Teco Electro Drives TSTA Series Installation And Operation Manual
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Teco Electro Drives TSTA Series Installation And Operation Manual

Ac servo system
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Summary of Contents for Teco Electro Drives TSTA Series

  • Page 2 Read this covering letter detail before using Servo driver. First of all, thank you for using TED Servo Driver TSTA Series (“TSTA” for short) and Servo Motors. TSTA can be controlled by digital board or PC, and provide excellent performance for a wide range of...
  • Page 3 Servo System control function, running testing and procedures adjusted. Explanation for all parameter of Servo Driver. 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.

  • Page 4: Table Of Contents

    Contents Chapter 1 Checking and Installing 1-1 Checking Products..........................1-1 1-1-1 Confirming with Servo Drives ....................1-1 1-1-2 Confirming with Servomotors....................1-2 1-2 Appearance and Panel Board......................1-3 1-3 A Brief Introduction of Operation for Drives.................1-4 1-4 Conditions for Installation of Drives .....................1-5 1-4-1 Environmental Conditions....................1-5 1-4-2 Direction and Distance......................1-6 1-5 Conditions for Installation of Servomotors ..................1-7 1-5-1 Environmental Conditions....................1-7...
  • Page 5 Chapter 5 Control Functions 5-1 Control Mode Selection........................5-1 5-2 Torque Mode ............................5-2 5-2-1 Analog Ratio ..........................5-3 5-2-2 Adjusting the Reference Offset....................5-4 5-2-3 Linear Acceleration and Deceleration ................5-5 5-2-4 Output Direction ........................5-6 5-2-5 Internal Torque Limit ......................5-7 5-2-6 Limiting Servomotor Speed during Torque Control ............5-7 5-2-7 Additional Torque Control Functions..................5-8 5-3 Speed Mode .............................5-9 5-3-1 Setting Parameters ......................5-10...
  • Page 6 5-6-7 Selecting the External Regeneration Resistor ..............5-69 5-6-8 Fan Setting ...........................5-73 5-6-9 Analog Monitor ........................5-73 5-6-10 Paramerter .........................5-74 Chapter 6 Parameter Function 6-1 Explanation of Parameter Group ....................6-1 6-2 Parameter Display Table ........................6-2 Chapter 7 Communications Function 7-1 RS232 & RS485 ..........................7-1 7-1-1 Communication wiring ......................7-1 7-1-2 RS232 Communication Protocol and Format ..............7-2...

  • Page 7: Chapter 1 Checking And Installing

    If there is any bug or irregular under the situation above, please contact TED’s Local sales representative or distributor instantly. 1-1-1 Confirming with Servo Drives TSTA – 15 A Drive Series: TSTA SERIES AC Input Voltage A : single phase 110V Drive Model: B: single phase 220V...

  • Page 8: Confirming With Servomotors

    1-1-2 Confirming with Servo Motors TSB 07 301 C - 2 N H 3 * Motor Series: Others Frame sizes: Lead Wire length A:Military Conn. Rated power 3:300mm long 050: 50 W 101:100W 201: 200 W Encolder: 301: 300 W F : 2000 ppr 401: 400 W H:2500ppr...

  • Page 9: Appearance And Panel Board

    1-2 Appearance and Panel Board TSTA-15 / TSTA-20 TSTA-30 TSTA-50 / TSTA-75 Key Board External Regenerative Resistor Terminal Internal Regenerative Resistor Terminal...

  • Page 10: A Brief Introduction Of Operation For Drives

    1-3 A Brief Introduction of Operation for Drives There are many kinds of control-mode. The detail modes display as fellow: Name Mode Explanation Position Mode Position control for the servo motor is achieved via an external (External Pulse pulse command. Position command is input from CN1. Command) Position Mode Position control for the servo motor is achieved via by 16...

  • Page 11: Conditions For Installation Of Drives

    1-4 Conditions for Installation of Drives 1-4-1 Environmental Conditions The product should be kept in the shipping carton before installation. In order to retain the warranty coverage, the AC drive should be stored properly when it is not to be used for an extended period of time. Some storage suggestions are: Ambient Temperature: 0 ~ + 55 ℃;...

  • Page 12: Direction And Distance

    1-4-2 Direction and Distance...

  • Page 13: Conditions For Installation Of Servomotors

    1-5 Conditions for Installation of Servo Motors 1-5-1 Environmental Conditions Ambient Temperature: 0 ~ + 40 ℃; Ambient humidity: Under 90% RH (No Frost). Storage Temperature: - 20 ~ + 60 ℃; Storage temperature: Under 90%RH (No Frost). Vibration: Under 2.5 G. In a well-ventilated and low humidity and dust location.

  • Page 14: Others

    1-5-3 Notice for install motor 1. Please using oil-seal-motor to avoid the oil from reduction gear flowing into the motor through the motor shaft. 2. The cable need to be kept dry. 3. Please fixing the wiring cable certainly, to avoid the cable ablating or breaking. 4.

  • Page 16: Chapter 2 Wiring

    Chapter 2 Wiring 2-1 Basic Wiring for Servo System 2-1-1 Wiring for Main Circuit and Peripheral Devices 200W~1KW Single Phase/3 Phase 200~230VAC 2KW~3KW 3 Phase 200~230VAC No Fuse Break Noise Filter Bectromagnetic Contactor (MC) PLC / PC BASE or Motion Module For I/O Connection For Encoder Connection External braking resistor is...

  • Page 17: Wiring For Servo Drives

    2-1-2 Wiring for Servo Drives The wire material must go by “Wiring Specifications.” Wiring Length: Command Input Wire: Less than 3m. Encoder Input Wire: Less than 20m. The Wiring goes by the shortest length. Please wire according to the standard wiring schema. Don’t connect if no using. Motor output terminal (U,V,W) must be connected correctly.

  • Page 18: Specifications Of Wiring

    2-1-3 Specifications of Wiring Connection Terminal Servo Drives and Wire Specifications Connection Mark Name of Connect TSTA-15 TSTA-20 TSTA-30 TSTA-50 TSTA-75 Terminal (Sign) Terminal 2.0mm ² 2.0mm ² 2.0mm ² 2.0mm ² 3.5mm ² R, S, T Main Power Terminal A.W.G.14 A.W.G.14 A.W.G.14...

  • Page 19: Motor Terminal Layout

    2-1-4 Motor Terminal Layout A Table of Motor-Terminal Wiring (1) General Joint: Terminal Symbol Color Signal White Black Green Fine red DC +24V Brake control wire Fine yellow (2)Military Specifications Joint (No Brake): Terminal Color Signal White Black Green (3)Military Specifications Joint (Brake): Terminal Color Signal...
  • Page 20 Table of Motor-Encoder Wiring (1)General Joint: Terminal Symbol Color Signal White Black Green Blue Purple Yellow Orange Shield (2) Military Specifications Joint Terminal Symbol Color Signal White Black Green Blue Purple Yellow Orange Shield...

  • Page 21: Typical Wiring For Motor And Main Circuit

    2-1-5 Typical Wiring for Motor and Main Circuit * The Wiring Example of Single Phase Main Power (Less than 1KW) * The Wiring Example of 3 Phase Main Power (More than 1KW) Power ON Power OFF MC/a White MC/R Black MC/S Power Filter Green...

  • Page 22: Tb Terminal

    2-1-6 TB Terminal Terminal Name Detail Sign Control circuit power input Connecting to external AC Power. terminal Single Phase 200~230VAC +10 ~ -15% , 50/60Hz ±5% Main circuit power input Connecting to external AC Power. terminal Single / 3 Phase 200~230VAC +10 ~ -15% , 50/60Hz ±5% External regeneration Please refer to Cn012 to see resistance value, when using external resistance terminal...

  • Page 23: Wiring For Mechanical Brake

    2-1-7 Wiring for Mechanical Brake Release BRAKE: 200/300/400/750W series: Use Red wire and yellow wire connecting to DC +24V voltage (No polarity) 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. 200/300/ 550/1K/ Yellow Wire...

  • Page 24: I/O Terminal

    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

    2-2-1 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. 2-10...
  • Page 26 (2) CN1 Signal Name and Explanation: (a) General I/O Signal: Explanation of General I/O Signal Function Function Wired Function Wired Signal Pin No. Signal Pin No. Symbol Mode Symbol Mode Encoder Output Pulse Position Pulse A-Phase Command Input Encoder Output / A /Pulse Phase Encoder Output...
  • Page 27 Explanation of General I/O Signal Function Function Signal Name Mode I/O Operation and Function Chapter Symbol The Driver can receive 3 kinds of Command below: Pulse Position Pulse ． (Pulse)+ (Sign) Command Input /Pulse 5-4-1 ． (CCW)/ (CW)Pulse Sign Position Sign ．AB Phase pulse Command Input /Sign...
  • Page 28 Function Signal Name Mode I/O Operation and Function Chapter Symbol +24V PW Output IP24 ALL +24V power output terminal(Max. 0.2A). ― +24V PW Ground IG24 ALL +24V power grounding terminal ― Terminal Shielded Wire ALL Connect to Shield wire of signal cable. ―...
  • Page 29 (b) Digital I/O Signal: For many kinds of application, the digital input/output terminal layout of all operation mode are accordingly different. In order to provide more functions, our drives can provide multi terminal layout settings. Users can set these functions for application. Digital input terminal layout provides 13 (Pin1~13) programmable terminal;...
  • Page 30 Digital Input Function (Except CCWL and CWL are high electric potential, other terminal layout are low electric potential. Please refer to 5-6-1 to see related parameters) Function Signal Name Mode I/O Function Chapter Sign SON and IG24 close loop: Servo ON ; SON and IG24 open loop: 5-6-3 Servo On Servo OFF.
  • Page 31 Digital Input Function Explanation (Except CCWL and CWL are the high electric potential, other terminal layout are the low electric potential, please refer to 5-6-1 to check related parameters setting) Function Signal Name Mode I/O Function Chapter Symbol When MDC and IG24 close loop, current control mode will Control Mode Pe/S/T transform into default control mode, please refer to Cn001.
  • Page 32 Digital Input Function Explanation (Except CCWL and CWL are the high electric potential, other terminal layout are the low electric potential, please refer to 5-6-1 to check related parameters setting) Function Signal Name Mode I/O Function Chapter Symbol Internal position command select : Internal Position POS1 POS2...
  • Page 33 Digital Output Function Explanation (The terminal layout here from this explanation are all the low electric potential, please refer to 5-6-1 to check parameter settings) Function Signal Name Mode I/O Function Chapter Symbol Main power and control power input are normal. Under the Servo Ready situation of no alarm, terminal layouts RDY and IG24 close ―...
  • Page 34 (3) CN1 Interface Circuit and Wire Mode: The diagram below introduces all interface circuit of CN1 and wire-method of host controller. (a) Digital input interface circuit (IO1): Digital input interface circuit can be operated by relay or collector transistor circuit. The relay should be the low electric current, in order to avoid the faulty contacting.
  • Page 35 Pulse Command Input Interface Circuit(IO3): Suggesting to use the input method of Line Driver to send the pulse command. The maximum input command frequency is 500kpps. Using the input method of Open Collector will cause the decrease of input command frequency, the maximum input command frequency is 200kpps.
  • Page 36 (d) Encoder Output Interface Circuit (IO4): Encoder output interface circuit is the output method of Line Driver, please let end terminal resistance(R=200~330Ω) connect to Line Receiver input terminal. Encoder Output Interface Circuit (Line Driver) (e) Analog Input Interface Circuit(IO5): There is sometimes ripple inside the servo internal power. Adverse external power polarity will cause severe damage.
  • Page 37 (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 Servo Driver 2-22...

  • Page 38: Encoder Connector (Cn2) Terminal Layout

    2-2-2 Encoder Connector (CN2) Terminal Layout (1) Diagram of CN2 Terminal: (a) Diagram of Fewer Wiring Type Encoder: (b) Diagram of non-Fewer Wiring Type Encoder: P.S.: Do not wire to the terminal, which is un-operated. 2-23...
  • Page 39 (2) Name and Explanation of I/O Signal: Encoder Output No. and Color General Plug-in Signal Name Code Terminal Layout Function Joint Joint 9 wires 15 wires Output (fewer (non-fewer wiring) wiring) Power output 5V Power for encoder (provided from driver). white + Terminal When the cable is more than 20m, user should...

  • Page 40: Typical Circuit Wiring Examples

    2-3 Typical Circuit Wiring Examples 2-3-1 Position Control Mode (Pe Mode) (Line Driver) Pe mode =External pulse positioning command 2-25...

  • Page 41: Position Control Mode (Pe Mode) (Open Collector)

    2-3-2 Position Control Mode (Pe Mode) (Open Collector) Pe mode =External pulse positioning command 2-26...
  • Page 42 2-3-3 Position Control Mode (Pe Mode) (Pi Mode) SERVO Supply Filter RS232 Regeneration resistor DC 24V IP24 Internal +24V DC DICOM Digital input common SERVO MOTOR DI-1 ( SON) Servo ON Encoder DI-4 ( CCWL) CCW Limit DI-5 CW Limit ( CWL) DI-9 Encoder Output A Phase...

  • Page 43: Speed Control Mode (S Mode)

    2-3-4 Speed Control Mode (S Mode) SERVO Supply Filter RS232 Regeneration resistor DC 24V IP24 Internal +24V DC DICOM Digital input common SERVO MOTOR DI-1 Servo ON ( SON) Encoder DI-4 CCW Limit ( CCWL) DI-5 CW Limit ( CWL) DI-9 Emergency stop Encoder Output A Phase...

  • Page 44: Torque Control Mode (T Mode)

    2-3-5 Torque Control Mode (T Mode) SERVO Supply Filter RS232 Regeneration resistor DC 24V IP 24 Internal +24 V DC DICOM Digital input common SERVO MOTOR DI-1 Servo ON ( SON) Encoder DI-4 CCW Limit ( CCWL) DI-5 CW Limit ( CWL) DI-9 Encoder Output A Phase...

  • Page 46: Chapter 3 Panel Operator / Digital Operator

    Chapter 3 Panel Operator / Digital Operator 3-1 Panel Operator on the Drives The operator keypad & display contains a 5 digit 7 segment display, 4 control keys and two status LED displays. Power status LED (Green) is lit when the power is applied to the unit. Charge LED (Red) Indicate the capacitor ‘s charge status of main circuit.
  • Page 47 After power on, MODE button can be used to select 9 groups of parameter. By pressing the Mode key repeatedly once at a time you can scroll trough the displays below. Step Description LED Display after Operation Power on Drive status parameters. Diagnostic parameters.
  • Page 48 Once the first parameter in a parameter group is displayed use Increment or Decrement keys to select the required parameter then use Enter key in order to view and alter the parameter setting, once this is done then press Enter key again to save the change. Notes: On each parameter display the first digit will be flashing, the enter key can be used to move between digits.
  • Page 49 will be shown by the Capital letter “H” as shown below. Ex: Home search function in position mode Pn365 = 0212. Each digit of this preset for Pn365 parameter defines a selection for a specific function. Bit0 corresponds to a selection for parameter Pn 365.0 and bit1 setting for Pn 365.1 … etc. Parameter Pn 365 Format for the 5 digits data value is shown below: Display of Positive and Negative values: Description of Positive/Negative Display...
  • Page 50 Step Description Control Keys LED Display after Operation Power On On” power on “ Drive Status parameter is displayed. Pressing MODE-Key 6 times, position parameter Pn 301 will be displayed. Use INCREMENT- Key to display Pn317. To view the Pn317 preset press ENTER-Key for 2 seconds. To move to the most significant digit press the ENTER-Key 4 times.

  • Page 51: Signal Display

    3-2 Signal Display 3-2-1 Status Display Following parameters can be used to display drive and motor Status. Parameter Displayed Unit Description Signal Un-01 Actual motor speed rpm Actual Motor Speed is displayed in rpm. It displays the torque as a percentage of the rated torue. Un-02 Actual motor torque Ex: 20 are displayed.
  • Page 52 3-2-2 Diagnostic function Following diagnostics parameters are available: Parameter Name and Function Signal Control mode display dn-01 dn-02 Output terminal status dn-03 Input terminal status Software version (CPU version) dn-04 dn-05 JOG mode operation dn-06 Reserve function dn-07 Auto offset adjustment of external analog command voltag dn-08 Servo model code dn-09...
  • Page 53 dn-02 (Output terminal status) Use dn-02 to check the status of output terminals. Output status display is described below: When output terminal signal has a low logic level (close loop with IG24), the corresponding LED will be on. When output terminal signal has a high logic level (open loop with IG24), the corresponding LED will be off.
  • Page 54 dn-03 (Input terminals status) Use dn-03 to check the status of Input terminals. Digital Input status display is described below: LED Number When Input terminal signal has a low logic level (close loop with IG24), the corresponding LED will be on. When Input terminal signal has a high logic level (open loop with IG24), the corresponding LED will be off.
  • Page 55 dn-04 (Version of Software) Use dn-04 to view the current software version of the Servo drive. Software version can be checked as below: Step Keys Description LED Display Power On On” power on Drive Status is displayed. Press MODE-Key twice to view diagnostics parameter dn-01. Press INCREMENT-Key 3 times to display dn-04.
  • Page 56 dn-07 (Auto offset adjustment of external analog command voltage) If the external torque or speed analog command is set to 0V and the motor is rotating slowly, this is due to analog input zero offset, use dn-07 to auto adjust this offset and stop the motor rotating. Follow the steps below: Step LED Display...
  • Page 57 dn-08 (Servo motor Model Code display) Use dn-08 to display servo motor code and check the servo drive and motor compatibility according to the table below. If the dn08 preset is not according to the list below then contact your supplier. The motor model code is stored in parameter Cn30.
  • Page 58 dn-08 Display Motor Standards Encoder Cn030 Setting Drives Model Motor Model Watt Speed Specification (rpm) H0310 8CC751C-3DEBE 2000 3000 H1313 TST08751C-3NT3 2500 H1314 TST08751C-3NL3 8192 H0321 TSB13102A-3NHA 2500 1000 H0322 TSB13102A-3NLA 8192 H0331 TSB13102B-3NHA 2500 2000 H0332 TSB13102B-3NLA 8192 1000 H0341 TSB13102H-3NHA 2500...

  • Page 60: Chapter 4 Trial Operation

    Chapter 4 Trial Operation Before proceeding with trial run, please ensure that all the wiring is correct. Trial run description below covers the operation from keypad and also from an external controller such as a PLC. Trial run with external controller speed control loop (analog voltage command) and position control loop (external pulse command).

  • Page 61: Trial Operation For Servomotor Without Load

    4-1 Trial Operation Servo motor without Load To carry out a successful trial run follow the steps below and ensure that drive wiring is correct and as specified. Warning! In order to prevent potential damage,prior to trial run ensure that the driven mechanism, couplings and belts etc are disconnected from the motor.
  • Page 62 Steps for setting parameter Cn002.1 ( CCWL &CWL Rotation limit selection). Setp Keys LED Display Description Power on On” power on “ Drive Status is displayed. Press MODE-Key 4 times to display Cn001. Press INCREMENT-Key once to display Cn002. Press ENTER-Key for 2 secs to display the preset value of Cn002.
  • Page 63 Steps for setting JOG function: Step Keys LED Display Description Power on On” power on “ Drive Status is displayed. Press MODE-Key twice to view diagnostics parameter dn-01. Press INCREMENT-Key 4 times to display dn-5. Press ENTER-Key for 2 seconds to enter JOG MODE. Motor will power on immediately.

  • Page 64: Trial Operation For Servomotor Without Load From Host Reference

    4-2 Trial Operation for Servo motor without Load from Host Reference Check and ensure that all power connections to the drive and motor and control signal connection between the host controller and the drive are correct.Motor must be mechanically disconnected from the load. Following section describes the trial run when using a host controller such as a PLC.
  • Page 65 Trial run in Speed control mode(Cn001=1). 1. Wiring check: Check and ensure that all power cable and control signal connections are correct as shown below. To be able to adjust the speed for test connect a potentiometer between terminals SIN (analog input voltage) and AG (Analog Ground).
  • Page 66 4. Connection with a host controller. Check and ensure that the wiring for the servo drive and host controller, speed analog signal input (SIN), and encoder output (PA, /PA, PB, /PB, PZ, /PZ) are all correct and according to the diagram below: 5.
  • Page 67 Position control mode trial run (Cn001=2). 1. Wiring: Check and ensure that all power connections to the drive and motor and control signal connections are correct as diagram below. 2. Setting electronic gear ratio. Set electronic gear ratio parameters Pn302~Pn306 as required for the positioning application. (refer to section 5-4-3).

  • Page 68: Trial Operation With The Servomotor Connected To The Machine

    4-3 Trial Operation with the Servo motor Connected to the Machine Servo drive parameters must be set correctly otherwise damage to machinery and potential injury may result. Do not close to the machine after temporary power loss, the machine may restart unexpected. Please take the measures highlighted in the section below before trial run with load.

  • Page 70: Chapter 5 Control Functions

    Chapter 5 Control Functions 5-1 Control Mode Selection There are three control modes in the servo drive, torque, speed and position modes can be selected individually or as a combination according to the selection table below: Default Control Parameter Name Setting Description Value...

  • Page 71: Torque Mode

    5-2 Torque mode Torque mode is used in applications such as printing machines, coil wiring machines, injection molding machines and specific application that requiring torque control. Diagram below shows the torque control process diagram. Analog voltage torque command is applied to the drive input terminals as shown below: Caution! Care should be taken in selection of required torque direction CW/CCW.
  • Page 72 5-2-1 Analog Torque command Ratio. Analog torque command ratio can be used to adjust the relationship between Input voltage torque command and actual torque command. Parameter Name Default Unit Setting range Control Mode Analog torque Tn103 %/10V 0~300 command ratio Setting example: refer to the following diagram.
  • Page 73 5-2-2 Adjusting the analog torque command offset For a torque command of 0V, motor could possibly be rotating slowly. To rectify this effect by adjusting offset value in 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).

  • Page 74: Linear Acceleration And Deceleration

    5-2-3 Torque command linear acceleration and deceleration An smooth torque command can be achieved by enabling acceleration /Deceleration parameter Tn101. Control Parameter Name Setting Description mode Disable Linear acceleration/ ★ Tn101 deceleration method 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:- Control Parameter...
  • Page 75 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.

  • Page 76: Internal Torque Limit

    5-2-5 Internal Torque Limit In torque Control mode, user can set internal torque limit values as required. Set as below:- Parameter Name Default Unit Setting range Control mode CCW Torque Cn010 0~300 command limit CW Torque Cn011 -300 -300~0 command limit 5-2-6 Limiting Servomotor Speed during Torque Control In torque control, input contacts SPD1 and SPD2 can be used for selecting one of the two methods below for setting speed limits.

  • Page 77: Additional Torque Control Functions

    5-2-7 Additional torque control functions Torque Output Monitor When the torque level in CW or CCW directions becomes greater than the value set in Tn108 (torque level monitor value), the output contact INT is active. Parameter Name Default Unit Setting range Control mode Torque output monitor Tn108...

  • Page 78: Speed Mode

    5-3 Speed Mode Speed Mode is necessary for applications that require precisely speed control, such as weaving, drilling and CNC type machines.Diagrams below shows the speed control system in two parts. First stage shows Speed processing and conditioning and the second stage shows the Speed controller With PI/P control modes, and controller1&2 selection and interface with torque control stage.
  • Page 79 5-3-1 Selection for speed command In Speed control, input contacts SPD1 and SPD2 can be used for selecting one of the two methods below for setting speed limits. (1) External Analog command (Default) : Analog signal is input from terminals SIN & AG (pins 26& 29 on CN1) (2) Internal speed command: Selection of Three presentable Limits according to the table below.

  • Page 80: Adjusting The Reference Offset

    5-3-2 Analog speed command Ratio Analog speed command ratio can be used to adjust the relationship between Input voltage speed command and actual speed command. Parameter Name Default Unit Setting range Control mode Analog speed Sn216 3000 rpm/10V 100~4500 command ratio Setting Example: (1) With Sn216 set to 3000, a speed command input voltage of 10V, corresponds to 3000rpm;...

  • Page 81: Encoder Signal Output

    Refer to the following diagrams: Input Voltage (V) Input Voltage (V) Bias Voltage Bias Voltage Adjusting Value Speed Command(rpm) Speed Command(rpm) 5-3-4 Analog reference for speed command limit A maximum limit for analog speed can be set by Sn218. Parameter Name Default Unit...
  • Page 82 Control Parameter Name Default Unit Setting range mode Encoder Encoder pulse pulse 1~ Encoder PPR Pulse Per ★Cn005 output scale Revolution 　 New setting will become effective after re-cycling the power. Encoder pulse output terminal description: Pin NO. of Control Name mode Encoder pulse output A Phase...

  • Page 83: Smoothing

    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. Control Parameter Name Setting Description mode Disable accel/decel smooth function Speed command...
  • Page 84 Setting example: (1) To achieve 95% of speed command output in 30msec: 30(msec) Sn206 10(msec) ln(1 95%) (2) To achieve 75% of speed command output in 30msec: 30(msec) Sn206 22(msec) ln(1 75%) ln= Natural log Speed command linear acceleration/deceleration function: Set Sn205=2 to enable the use of speed command linear acceleration/deceleration function.
  • Page 85 S-Curve Speed Command Acceleration/Deceleration: Set Sn205=3 to enable the use of S-Curve speed command ac/deceleration function. Parameter Name Default Unit Setting range Control mode S-Curve speed command Sn208 msec 1~1000 accel/decel time setting S-Curve speed command Sn209 msec 0~10000 acceleration time setting S-Curve speed command Sn210 msec...
  • Page 86 5-3-7 Setting rotation direction Motor rotation direction in speed mode can be set by parameter Cn004 (Motor rotation direction) and input contact SPDINV according to the tables below. Caution! Both methods can be operated at the same time. Ensure that these parameters are set correctly for the required direction. Control Parameter Name...

  • Page 87: Speed Loop Gain 1

    5-3-8 Speed Loop Gain In speed mode there are two speed controller loops, with separate Gain ( P) and Integral (I) functions. Speed controllers 1 or 2 can be selected by setting one of the multi- function input terminals, to selection G-SEL or by setting one of the parameters Cn20-Cn24 as required. Please refer to section 5-3-11 section B for more details.

  • Page 88: Notch Filter

    5-3-9 Notch Filter The function of the Notch filter is to suppress mechanical system resonance. Resonance occurs due to low mechanical system rigidity (high springiness) of transmission systems used with servo motors such as couplings, bearings, lead screws, etc. Enter the mechanical system vibration (resonance frequency) in parameter Cn013 (Notch Filter frequency) and adjust Cn014 to set the filter bandwidth scaling factor.
  • Page 89 5-20...
  • Page 90 5-3-10 Torque limit of speed control mode In speed mode, the motor torque limit input contact TLMT could be used to select one of the two methods below: (1) Internal toque limit: Using default Cn010 (CCW Torque command limit ) and Cn011(CW Torque command limit ).

  • Page 91: Gain Switched

    5-3-11 Gain Switched PI/P control mode selection (Section A) Automatic gain 1& 2 switch (Section B) The selection of PI/P control mode switch and Automatic gain 1& 2 switch by parameters or from input terminals can be used in following conditions. (1) In speed control, to restrain acceleration/deceleration overshooting.
  • Page 92 (1) PI to P mode switch over by comparing Torque command. When the Torque command is less than Cn016 PI control is selected. When the Torque command is greater than Cn016 P control is selected.. As shown in diagram below: PI to P mode switch over by comparing Speed command.
  • Page 93 PI to P mode switch over by comparing Acceleration command. When the Acceleration command is less than Cn018 PI control is selected. When the Acceleration command is greater than Cn018 P control is selected. As shown in diagram below: Speed Cn018 Acceleration Command PI/P-Mode Switching Condition...
  • Page 94 (B) Automatic gain 1& 2 switching Selection of Automatic gain 1& 2 switch with different P&I Gains is possible by setting Parameter Cn 015.1 to one of the selections listed in the table below. Parameter Cn 020 can be use for setting a switch delay time between different gains. (Gain 1 and 2) Control Parameter Name...
  • Page 95 (1) Automatic gain 1&2 switch condition ( by torque command ). When torque command is less than Cn021 , Gain 1 is selected. When torque command is greater than Cn021, Gain 2 is selected When Gain 2 is active and torque command becomes less than Cn021 system will automatically switch back to Gain 1 the switch time delay can be set by Cn020.
  • Page 96 (3) Automatic gain 1&2 switch condition (by Acceleration command ). When acceleration command is less than Cn023 Gain 1 is selected. When acceleration command is greater than Cn023 Gain 2 is selected. When Gain 2 is active and acceleration command becomes less than Cn023 system will automatically switch back to Gain 1 the switch time delay can be set by Cn020.
  • Page 97 (5) Automatic gain 1&2 switch condition by G-SEL input contact. When the G-SEL input contact is open Gain 1 is selected. When G-SEL input contact is closed Gain 2 is selected. When 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 : Input Contact G-SEL Statu Motion...

  • Page 98: Other Functions

    5-3-12 Other Functions When the speed level in CW or CCW directions becomes greater than the value set in Cn007 (Speed reached preset), the output contact INS operates. Speed reached preset Parameter Name Default Unit Setting Range Control Mode Signal Speed reached Rated rpm Cn007...
  • Page 99 Zero Speed preset When the speed is less than the speed set in Sn215 (Value of ZS), the output contact ZS operates. Parameter Name Default Unit Setting Range Control Mode Signal Sn215 Value of zero speed 0~4500 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 100: Position Mode

    Speed Feed Back Smooth Filter When there is system abnormal vibration or noise, Set Cn032 (speed feed back smoothing filter) to restrain vibration or noise. Addition of this filter will delay the speed response of servo system. Parameter Name Default Unit Setting Range Control Mode...

  • Page 101: External Pulse Command

    5-4-1 External Pulse Command Four types of external position pulse command signals can be interfaced, These can be selected from the list below. Position pulse signal logic can be selected Positive or negative as required. Parameter Control Name Setting Description Signal Mode (Pulse)+(Sign)
  • Page 102 Two types of pulse command can be connected, (Open collector) and (Line driver). Please refer to section 2-2-1 for the pulse wiring method. Pulse command timing should be in accordance with the time sequence standard below. Pulse Command Time Sequence Diagram of Pulse Command Time Standard Types Line Driver:...

  • Page 103: Internal Position Command

    5-4-2 Internal Position Command 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. Preset positions are programmable and can be selected according to the table below: Position Position POS4...
  • Page 104 For internal positioning mode there are two types of moves incremental move or absolute move, selectable byparameter Pn316 as below. Parameter Control Name Setting Description Signal Mode Internal position Absolute mode command mode ★Pn316 selection Incremental mode 　 New setting will become effective after re-cycling the power. Example below shows the difference between absolute and incremental moves.
  • Page 105 PHOLD. (Position Hold) The Position command can be inhibited (Held) at any time by input contact signal PHOLD. Once PHOLD is initiated the motor will decelerate and stop. As soon as the input contact PTRG is triggered again the original position command will be Completed. Diagram below shows PHOLD function with incremental encoder.

  • Page 106: Electronic Gear

    5-4-3 Electronic Gear Electronic gear ratio parameter can be used to scale the command output pulse. This would be useful in transmission applications where move distance per move command pulse has to be scaled due to mechanical requirements. Diagram and notes below describe the electronic gear ratio effect. Example of a transmission device and calculations that show the required number of pulses from a host controller to move the table by 10mm.
  • Page 107 Electronic Gear Ratio Calculation Follow the Steps below: 1. Define the requirements of the positioning system Establish the following: Move distance per one revolution of load shaft. Servo motor Encoder ppr (Pulse Per Revolution). (please refer to section 1-1-2 Servo Motor Standards). Motor / load Shaft deceleration ratio.
  • Page 108 4.Parameter Setting for Electronic Gear Ratio Setting gear ratio Numerator and denominator parameters: Numerator and denominator values of the calculated electronic gear ratio must be entered in the required parameters. These two values have to be integer and with a value within the specified range in the table below. Parameter Setting Control...
  • Page 109 Electronic Gear Ratio setting examples Transmission System Setting Process 1. Main positioning specifications: a) Load Shaft(Ball Screw) pitch move distance per revolution= 5mm Ball Screw b) Motor Encoder ppr ( Pulse per revolution) = 2000pulses 2. Move distance per one pulse of move Command. Moving Distance of 1 Pulse Command =1μm 3.
  • Page 110 5-4-4 Smooth Acceleration Using the One Time Smooth Acceleration/Deceleration of Position Command” It smoothes the position pulse command frequency. Parameter Name Default Unit Setting Range Control Mode Signal Position command Accel/Decel Time msec 0~10000 Pi/Pe ★Pn313 Constant 　 New setting will become effective after re-cycling the power. Time Constant 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.

  • Page 111: Definition Of Direction

    5-4-5 Definition of Direction In position mode, user can use Pn314 (Position Command Direction Definition) to define motor rotation direction. The setting is showed as follow: Parameter Control Name Setting Description Signal Mode Definition of position command direction (from Clockwise (CW) motor load end) ★Pn314 Counter Clockwise (CCW)
  • Page 112 5-4-7 Clear the Pulse Offset In position control mode, parameter Pn315 (Pulse Error clear mode) has three modes can be select. CLR input contact is used to clear the pulse error as required according to the list below. Control Parameter Name Setting Description...

  • Page 113: Original Home

    5-4-8 Original Home Home routine is used to find and set a reference point for correct positioning. To set a HOME reference position, one of input contacts ORG (external sensor input), CCWL, or CWL can be used. An encoder Z phase (marker pulse) can also be used as home reference and can be search by CW or CCW direction.
  • Page 114 Control Parameter Name Setting Description Mode Once the Home Reference switch or signal is detected, motor reverses direction in 2 speed to find the nearest Z Phase pulse and sets this as the Home position, Once Reference then stops in accordance with Pn365.3 setting method. Home switch or Once the Home Reference switch or signal is detected, Signal, is found...
  • Page 115 Additional Home routine parameters Home search speed parameters 1st (Fast) and 2 (Slow) speeds are set according to table below: Parameter Name Default Unit Setting Range Control Mode Signal preset high speed of Pn366 0~2000 Pi/Pe HOME Pn367 preset low speed of HOME 0~500 Pi/Pe Parameters Pn368 and Pn 369 provide Home position offset feature for applications where...
  • Page 116 Home routine Timing Chart During the Home routine if the SON (Servo On) is not activated or any alarm happens, Home routine is stopped and Home Complete output contact is reset (Cleared). Pn365.2=2 Pn365.2=1 (SHOME triggers HOME) (After Power ON, Home function will be automatically Turn ON operated when first time Servo ON) Power...
  • Page 117 Home Routine Speed /Position Timing Charts Following Sections Show the Speed/Position Timing charts according to Pn 365.0 and Pn365.1 selections. Pn365.0 Pn365.1 No Home routine Pn365.0=0 or 2 (After starting HOME routine, run CCW in 1 preset high speed for HOME Reference (CCWL, CWL or ORG).
  • Page 118 Pn365.0=1or 3. After starting the HOME routine, run CW in 1 preset high speed to search for HOME Reference (CWL, CCWL or ORG). Pn365.1=0 . After finding HOME Reference, reverse direction in 2 preset low speed to search for the nearest Z Phase pulse to be set as the HOME position.
  • Page 119 Pn365.0=3(After Starting HOME routine, run CW in 1 preset high speed to search for HOME Reference.( ORG) Pn365.1=1. After finding HOME Reference, continues in the same direction in 2 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.
  • Page 120 Pn365.0=2. After Starting HOME routine, run CCW in 1 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 Speed Pn366 (1...
  • Page 121 Pn365.0=4. After Starting HOME routine, run CCW in 1 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 Speed Pn366 (1...

  • Page 122: Other Position Functions

    5-4-9 Other Position Function In position (Position Complete) As long as the position error value (counts) is less than the pulse counts set in Pn307 (Position Complete value) then INP output contact will be activated. Control Parameter Name Default Unit Setting Range Mode Pn307...

  • Page 123: Gain Adjustment

    Gain Adjustment The Servo controller provides 3 control loops as diagram shown below: Control methods are: Current Control, Speed Control and Position Control. Speed Host Power Position Current Controllor Controllor Circuit Controllor Controllor Diagram above shows the three control loops. Current ( Inner loop), Speed ( middle loop) and position (outer loop).
  • Page 124 Speed Loop Gain Speed Loop Gain has a direct effect on the response Bandwidth of Speed Control Loop. Under the condition of no vibration or noise, when higher is the Speed Loop Gain Value is setting speed response is becoming faster. If Cn025 (Load Inertia Ratio) is correctly set then, Speed Loop Bandwidth = Sn211 (Speed Loop Gain1) or Sn213 (Speed Loop Gain2).
  • Page 125 Position Loop Gain Position Loop Gain has a direct effect on the response speed of Position Loop. Under the condition that there is no vibration or noise from servo motor, increasing the Position Loop Gain Value can enhance the response speed and hence reduce the positioning time. Position Loop Feed-Forward Gain Using Position Loop Feed-Forward Gain can enhance the response speed.

  • Page 126: Automatic Adjusting

    5-5-1 Automatic Adjusting This device provides ON-LINE Auto tuning, which can quickly and precisely measure Load Inertia and adjust the Gain automatically. Setting is according to the table below: Control Parameter Name Setting Description Mode Cn002.2 Auto tuning Disabled Auto tuning Pe/Pi/S Enable Auto tuning When Cn002.2 is set to 0 (Auto tuning Disabled), following Gain adjust parameters must be set.
  • Page 127 Apply conditions of Auto tuning The Servo drive provides Auto tuning and uses an advanced control technique “ON-LINE” to measure the Load Inertia Ratio to control the system to achieve default speed or Position Response Bandwidth. System must comply with the conditions below, so that the Auto tuning can operate normally. (1) The timing from stop to 2000rpm needs be less than 1 second.
  • Page 128 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.

  • Page 129: Manual Adjusting

    5-5-2 Manual Adjustting Manual Gain adjustment is made available for applications when auto tune is not providing a good and stable system response, Or a system where there is no significant load variations and the auto tune is not used. Manual Gain Adjustment in Speed control Mode Step 1: Set Rigidity level in parameter Cn 26 (See section 5-5-1 for the selection table) and Cn25.

  • Page 130: Improving Resonance

    5-5-3 Improving Resonance The Servo drive provides the function of Gain Switching and Position Loop Feed-Forward Gain to improve system response. Note: Both of these features must be used correctly to improve system response, otherwise the response will become worse. Refer to the description below: Gain Switch Following Gain Switching features are provided:- a) Speed Loop Gain PI/P Switching...

  • Page 131: Other Functions

    5-6 Other Functions 5-6-1 Programmable I/O Functions Digital Inputs. There are 13 DI (Digital Inputs) contacts and 4 DO (Digital Outputs) contacts which are programmable as listed below:- Control Parameter Name Setting Description Mode Signal Contactor Function Servo On ALRS Alarm Reset PCNT PI/P Switching...
  • Page 132 Control Parameter Name Description Mode DI-2 Programmable ★Hn502 DI-3 Programmable ★Hn503 DI-4 Programmable ★Hn504 DI-5 Programmable ★Hn505 DI-6 Programmable ★Hn506 DI-7 Programmable ★Hn507 Refer to Hn501 for programmable options. DI-8 Programmable ★Hn508 DI-9 Programmable ★Hn509 DI-10 Programmable ★Hn510 DI-11 Programmable ★Hn511 DI-12 Programmable ★Hn512...
  • Page 133 Digital Outputs. There are 4 programmable Digital Outputs according to the table below: Control Parameter Name Setting Description Mode Code Contactor functions Servo Ready Alarm ★Hn514.0 Zero Speed ★Hn514.1 DO-1 Logic Brake Signal state In Speed In Position HOME HOME In Torque ★Hn514.2 Close, when the output is activated.

  • Page 134: Auxiliary Functions

    5-6-2 Switch for the Control Mode Set one of the programmable input terminals to MDC (Control mode) selection. The input then will select the preset control mode, which is set by Parameter Cn001. Selections are listed below: Control Parameter Name Setting Description Mode...

  • Page 135: Brake Mode

    5-6-4 Brake Mode Brake function for servo motor and the external mechanical brake if it is used can be set according to the table below. Set the brake mode as required for Servo off, Emergency Stop and CCW/CW rotation inhibit functions. Control Parameter Name...
  • Page 136 Timing for Brake output signal Set the required time for the operation of brake output signal (BI) according to the following. BI output can be used to control the function of an external electro-mechanical brake. Parameter Name Default Default Setting Range Control Mode Output time setting for Cn003...

  • Page 137: Cw/Ccw Inhibit Function

    5-6-6 CW/CCW Drive Inhibit Function Stopping method of the servo motor as a result of CW/CCW Inhibit function can be selected according to the list below: Control Parameter Name Setting Description Mode When torque limit reached the setting value of (Cn010,Cn011), servo motor deceleration to stop in the zero clamp status.

  • Page 138: Selecting The External Regeneration Resistor

    5-6-7 Selecting for External Regeneration Resistor In applications where a high inertia load is stopped rapidly, motor will generate an energy, which is regenerate power back to the servo drive (Regeneration energy) (1) Short deceleration time with heavy loads. (2) In vertical load applications. (3) High inertia rotary load applied to the motor shaft.
  • Page 139 Setting for the Power of External Regeneration Resistor When using external regeneration resistor, the power value (Watts) must be set in parameter Cn012. Parameter Name Default Unit Setting Range Control Mode Watts setting for Cn012 External Regeneration 60 ~150 0~10000 Resistor Wiring for External Regeneration Resistor When external Regeneration Resistor is used, must remove the link between PC and P1 on TB1 Terminal.
  • Page 140 Assess for an external resistor and calculate for the power consumption: Use the table below to determine, if an external regeneration Resistor is necessary. The table below shows the permitted number of no load operation cycles per minute for various servo motors in regeneration condition.
  • Page 141 Calculation for the allowable operation cycles per minute by motor speed and inertia. The formula below should be used to to calculate the permitted number of cycles/min in regenerative mode in accordance with the actual loading and the running speed of the motor. load operation cycles...

  • Page 142: Fan Setting

    In such applications, calculate ER and hence regeneration resistor power according to the formula below. Item Formula Description for Symbols : Working Energy during the regenerative period. (J) ω : Motor running speed during the Calculate the working Energy π ω...
  • Page 143 Circuit diagram for analog monitor shows below: Analog monitor output zero offset can be adjusted by parameters Cn027&Cn028 as below. Parameter Name Default Unit Setting Range Control Mode Analog Monitor 1 Cn027 x40mV -250~250 Offset adjustment Analog Monitor 2 Cn028 x40mV -250~250 Offset adjustment...

  • Page 144: Chapter 6 Parameter Function

    Chapter 6 Parameter 6-1 Explanation of Parameter groups. There are 9 groups of parameters as listed below. Symbol Description Un-xx Status Display Parameters. dn-xx Diagnostics Parameters. AL-xx Alarm Parameters Cn-xx System Parameters Tn1xx Torque Control Parameters Sn2xx Speed Control Parameters Pn3xx Position Control Parameters qn4xx...

  • Page 145: Parameter Display Table

    6-2 Parameter Display Table System Parameters Setting Control Parameter Name & Function Default Unit Chapter Range Mode Control Mode selection Setting Explanation Torque Control Speed Control Position Control (external pulse Command) │ ★Cn001 Position/Speed Control Switching Speed/Torque Control Switching 5-6-2 Position/Torque Control Switching Position Control...
  • Page 146 Setting Control Parameter Name & Function Default Unit Chapter Range Mode Output time setting for Mechanical Brake Signal Brake Signal Timing Sequence： -2000 Cn003 msec │ 5-6-5 2000 Implementation a pin for dynamic brake signal(BI) as a output signal before to perform this function. Refer to sequence diagram above.
  • Page 147 Setting Control Parameter Name & Function Default Unit Chapter Range Mode Encoder pulse output scale. For default set to the rated encoder number of pulses per revolution, such as 2500ppr. Encoder │ Encoder ppr can be scaled by setting a ppr in the range pulse 5-3-5 pulse per...
  • Page 148 Setting Control Name & Function Default Unit Chapter Parameter Range Mode CCW Torque command Limit. 5-2-5 │ Cn010 Ex: For a torque limit in CCW direction which is twice the 5-3-10 rated torque , set Cn10=200. CW Torque command Limit. -300 5-2-5 Cn011...
  • Page 149 Setting Control Name & Function Default Unit Chapter Parameter Range Mode PI/P control mode switch by Torque Command Set the Cn015.0=0 first. If Torque Command is less than Cn016 PI control is Cn016 │ 5-3-11 selected. If Torque Command is greater than Cn016 P control is selected.
  • Page 150 Setting Control Parameter Name & Function Default Unit Chapter Range Mode Automatic gain 1& 2 switch condition (Acceleration Command) Set Cn015.1=2 first. When accel. command is less than Cn023 Gain 1 is selected. When accel. command is greater than Cn023 Gain 2 is Cn023 rps/s │...
  • Page 151 Setting Control Name & Function Default Unit Chapter Parameter Range Mode Analog monitor output 1, Offset adjustment Analog monitor output zero offset can be adjusted by parameter. Cn027 as below. -250 Cn027 │ 5-6-9 Analog monitor output 2, offset adjustment -250 Cn028 │...
  • Page 152 Setting Control Parameter Name & Function Default Unit Chapter Range Mode Servo ID number When using Modbus for communication,each servo Cn036 │ units has to setting a ID number. repeated ID number will lead to communication fail. Modbus RS-485 braud rate setting Setting Explanation 4800...
  • Page 153 Torque-Control Parameter Setting Control Parameter Name & Function Default Unit Chapter Range Mode Linear acceleration/deceleration method Setting Explanation │ 5-2-3 ★Tn101 Disabled. Enabled. Linear accel/decel time period. Time taken for the torque-command to linearly accelerate to the rated torque level or Decelerate to zero torque .
  • Page 154 Setting Control Parameter Name & Function Default Unit Chapter Range Mode Torque Command, analog input voltage offset The offset amount can be adjusted by this parameter. Input Voltage (V) -10000 Tn104 │ 5-2-2 10000 Offset Voltage Torque Command Preset Speed Limit 1. ( Torque control mode) In Torque control, input contacts SPD1 and SPD2 can be used to select Preset speed limit 1.
  • Page 155 Speed-Control Parameter Setting Control Parameter Name & Function Default Unit Chapter Range Mode Internal Speed Command 1 In Speed control, input contacts SPD1 and SPD2 can be used to select 3 sets of internal speed command, -3000 select for speed command 1 contact status shows 5-3-1 Sn201 │...
  • Page 156 Setting Control Parameter Name & Function Default Unit Chapter Range Mode Speed command smooth accel/decel time Constant. Set Sn205=1 to enable this function then set the time period for the speed to rise to 63.2% of the full speed. msec 5-3-6 Sn206 │...
  • Page 157 Setting Control Name & Function Default Unit Chapter Parameter Range Mode S curve speed command acceleration and deceleration time setting. Set Sn205=3 to enable this function. In the period of Acc/Dec , drastic speed changing might cause vibration of machine. S curve speed command acc/dec time setting has the effect to smooth acc/dec curve.
  • Page 158 Settin Defaul Control Parameter Name & Functions Unit Chapter Mode Range Speed loop Gain 2 5-3-8 Sn213 │ Refer to Sn211 Speed loop Integral time 2 x0.2 5-3-8 Sn214 │ msec Refer to Sn212 Value of zero speed Set the zero speed range in Sn215 Sn215 │...
  • Page 159 Position Control Parameter Setting Control Parameter Name & Function Default Unit Chapter Range Mode Position pulse command selection Setting Explanation ★Pn301.0 (Pulse)+(Sign) │ (CCW)/(CW) Pulse AB-Phase pulse x 2 5-4-1 AB-Phase pulse x 4 Position- Pulse Command Logic ★Pn301.1 Setting Explanation │...
  • Page 160 Setting Control Parameter Name & Function Default Unit Chapter Range Mode Electronic Gear Ratio Numerator 4 Use input contacts GN1 & GN2 to select one of four electronic Gear Ratio Numerators. To select Numerator 4, the statue of the input-contacts 5-4-3 Pn305 │...
  • Page 161 Setting Control Name & Function Default Unit Chapter Parameter Range Mode Position command smooth Acceleration/Deceleration Time Constant Set the time period for the Position command pulse frequency to rise from 0 to 63.2%. Position Pulse Command Frequency (%) Position Pulse Command Frequency msec │...
  • Page 162 Setting Control Parameter Name & Function Default Unit Chapter Range Mode Internal Position Command Mode Setting Explanation │ 5-4-2 ★Pn316 Absolute Position Incremental Position Internal Position Command Hold (PHOLD) program select Setting Explanation When PHOLD is active then received PTRG Pn316.1 ★...
  • Page 163 Settin Control Parameter Name & Function Default Unit Chapter Mode Range Internal Position Command 5 -Rotation Number -30000 Pn329 5-4-2 │ Please refer to Pn317 30000 Internal Position Command 5-Pulse Number -32767 pulse 5-4-2 Pn330 │ Please refer to Pn318 32767 Internal Position Command 5-Move Speed Pn331...
  • Page 164 Setting Control Parameter Name & Function Default Unit Chapter Range Mode Internal Position Command 10-Move Speed Pn346 5-4-2 │ Please refer to Pn319 3000 -30000 Internal Position Command 11 -Rotation Number Pn347 │ 5-4-2 Please refer to Pn317 30000 Internal Position Command 11-Pulse Number -32767 Pn348 pulse...
  • Page 165 Setting Control Name & Function Default Unit Chapter Parameter Range Mode Internal Position Command 16-Pulse Number -32767 Pn363 pulse 5-4-2 │ Please refer to Pn318 32767 Internal Position Command 16-Move Speed 5-4-2 Pn364 │ Please refer to Pn319 3000 Setting for HOME routine. Setting Explanation Once the home routine is activated, motor will s...
  • Page 166 Setting Control Parameter Name & Functions Default Unit Chapter Range Mode Once the home routine is activated , motor will search for Home position in 1 speed in CCW direction and sets the Home reference position as soon as the nearest Z (marker pulse) is detected. When using this function, set Pn365.1=2 .
  • Page 167 Setting Control Parameter Name & Function Default Unit Chapter Range Mode Setting of stopping mode after finding Home signal. Setting Explanation After detecting the Home signal, it sets this position to be the Home reference (Un-14 encoder feed back rotating number and Un-15 encoder feed back pulse number are Pn365.3 all 0), motor decelerates and stops.
  • Page 168 Quick Set-up Parameters Setting Control Name & Function Default Unit Parameter Chapter Range Mode Speed Loop Gain 1. ( Same function as Sn211) Speed loop gain has a direct effect on the frequency response bandwidth of the Speed-control loop. 5-3-8 │...
  • Page 169 Multi-Function Input Parameters All digital inputs D1 to D13 are programmable and can be set to one of the funhctions listed below. Hn 501 which includes Hn 501.0 ,Hn501.1, Hn501.2 is used for digital input 1 ( D1-1). Hn502 to Hn513 are used for setting digital inputs 2 to 13.( D1-2 to D1-13). Setting Control Parameter...
  • Page 170 Setting Control Parameter Name & Function Default Unit Chapter Signal Range Mode DI-2 5-6-1 ★Hn502 │ Plearse refer to Hn501 DI-3 5-6-1 │ ★Hn503 Plearse refer to Hn501 DI-4 │ 5-6-1 ★Hn504 Plearse refer to Hn501 DI-5 5-6-1 │ ★Hn505 Plearse refer to Hn501 DI-6 │...
  • Page 171 Setting Control Parameter Name & Function Default Unit Chapter Range Mode DO-1 Setting Explanation Signal Functions Servo Ready Hn514.0 ★ Alarm Hn514.1 ★ │ Zero Speed Brake Signal 5-6-1 In Speed In Position HOME HOME In Torque DO-1 Hn514.2 ★ Setting Explanation │...
  • Page 172 Parameter Setting Control Name & Function Default Unit Chapter Signal Range Mode Digital input control method selection. Select digital input (13 pins) control method by external terminal or communication. Convert Binary code to Hex code for setting this parameter. DI and binary bits table as below.
  • Page 173 Display Parameter Parameter Display Unit Explanation Signal Un-01 Actual Motor Speed Motor Speed is displayed in rpm. It displays the torque as a percentage of the rated torue. Un-02 Actual Motor Torque Ex: 20 are displayed. It means that the motor torque output is 20% of rated torque.
  • Page 174 Diagnosis Parameter Chapter Parameter Name & Function dn-01 Selected control mode dn-02 Output terminal signal status. dn-03 Input terminal signal status. dn-04 Software version 3-2-2 dn-05 JOG mode operation dn-06 Hold position. dn-07 Auto offset adjustment of external analog command volta dn-08 Servo model code.
  • Page 176 PC terminal D PC terminal D PC terminal D PC terminal D- - - - Type 9Pins(female) Type 9Pins(female) Type 9Pins(female) Type 9Pins(female) D D D D - - - - Type 9Pin Type 9Pin Type 9Pin Type 9Pin Description Description Description Description...

  • Page 177: Rs232 Communication Protocol And Format

    7-1-2 RS-232 Communication protocol and format Baud rate 9600bps (Selection by Cn037.1 ) Parity Data bit Stop bit ※ Symbol H in folling sentence is for Hex representation. (1) Read a word from servo drive Function code format: R5XxSs Xx : A request to read register “ Xx ” from slave device( Unit :Byte, Hex representation) Ss : Check Sum Ss =’R’+’5’+’X’+’x’...
  • Page 178 (2) Read consecutive 2 words from drive Function code format: L5NnSs Nn : A request to read register “ Nn ” from slave device ( Unit :Byte, Hex representation) Ss : Check Sum、Ss =’L’+’5’+’N’+’n’ ( Unit : Byte, Hex representation) Ex2: Read data from register address 60H and ( Convert『L560』into ASCII codes ) Check Sum=4CH+35H+36H+30H=E7...
  • Page 179 (3) Write a word to drive Function code format: W5XxYyZzSs Xx : Address for write data ( Unit :Byte、Hex representation) YyZz : Writes the data contents ( Unit :word, Hex representation) Ss : Check Sum，Ss =’W’+’5’+’X’+’x’+’Y’+’y’+’Z’+’z’ ( Unit :Byte, Hex representation) Ex3：Write data 0008H to register 30H ( Convert『W5300008』into ASCII codes ) Check Sum=57H+35H+33H+30H+30H+30H+30H+38H=1B7H...

  • Page 180: Modbus Communication Protocol For Rs-485

    7-1-3 Modbus communication protocol for RS-485 The MODBUS protocol allows an easy communication within types of network architectures,before start to communication with slave device, set the ID number ( Cn036 ) for Servo drive respectively, server distinguish ID number for controlling specific client station. Standard Modbus networks combine two transmission modes: ASCII or RTU: ASCII(American Standard Code for information interchange) Mode and RTU (Remote Terminal Unit) Mode, Use Cn038 to select ASCII or RTU mode.
  • Page 181 ASCII Mode Framing 10 bits Frame (7-bits Data) Start Stop Stop ←－－－ Data:7 bits －－－→ ←－－－－－－－ Character Frame：10 bits －－－－－－－→ Start Even Stop parity ←－－－ Data:7 bits －－－→ ←－－－－－－－－ Character Frame:10 bits －－－－－－－→ Start Stop parity ←－－－ Data:7 bits －－－→ ←－－－－－－－－...
  • Page 182 ASCII Mode Framing Symbol Name Description Comm. start 3AH, Char ’:‘ Include 2 ASCII code within 1-byte Comm. add : 1 ~ 254 convert to Hex representation ; Slave address Ex. Servo drive ADR is No.20 convert to 14H ; ADR = ’1‘...
  • Page 183 Common function codes 03H：Read the register contents Continuous read N words. * Largest number of N is 29 (1DH) Ex.: Read two words ( register 0200H and 0201H ) from Slave address 01H. ASCII Mode Query PC Servo Response Servo PC OK) Servo PC (ERROR)
  • Page 184 06H：Write Single Register Write a word into register. Ex︰Write data (0064H) into register address 0200H and slave ADR= 01 ASCII Mode Query PC Servo Response Servo PC (OK) Servo PC (ERROR) ‘ : ’ ‘ : ’ ‘ : ’ ‘...
  • Page 185 08H：Diagnostic function The sub-function code 0000H is able to check communication signal between Master and Slaver. Data content is random value. Ex: Use the diagnostic function for ID=01H ASCII Mode Query PC Servo Response Servo PC (OK) Servo PC (ERROR) ‘...
  • Page 186 10H：Write Multipile Registers Continuously write N words to register. * Largest number of N is 27 (1BH) Ex.: Write data (0064H) and (012CH) into register address 100H and 101H respectively. ASCII Mode Query PC Servo Response Servo PC (OK) Servo PC (ERROR) ‘...
  • Page 187 RTU Mode Query PC Servo Response Servo PC (OK) Servo PC (ERROR) Function Code Function Code Function Code Exception (HI) (HI) Register Register code (Lo) (Lo) CRC(Lo) Data length Data length CRC(Hi) (word) (word) Byte counters CRC(Lo) Data (HI) CRC(Hi) 0100H (Lo) Data...
  • Page 188 CRC Checking: CRC check code is from Slave Address to end of the data. The calculation method is illustrated as follow: (1) Load a 16-bit register with FFFF hex (all1’s). Call this the CRC register. (2) Exclusive OR the first 8-bit byte of the message with the low-order byte of the 16-bit CRC register, putting the result in the CRC register.
  • Page 189 CRC Generation Function unsigned short CRC16(puchMsg, usDataLen) unsigned char *puchMsg ; /* message to calculate CRC upon*/ unsigned short usDataLen ; /* quantity of bytes in message*/ unsigned char uchCRCHi = 0xFF ; /* high byte of CRC initialized*/ unsigned char uchCRCLo = 0xFF ; /* low byte of CRC initialized*/ unsigned uIndex ;...
  • Page 190 Low-Order Byte Table /* Table of CRC values for low-order byte */ static char auchCRCLo[] = { 0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7, 0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC, 0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3, 0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32, 0x36, 0xF6, 0xF7,...

  • Page 191: Communication Address Table

    7-2 Communication address table All parameters allow to write data by communication excluding display parameters. System parameters Address Parameter Name of parameter RS485 RS232 0001 510H Cn001 Control Mode 0002 51DH Cn002 DI Contacts function and Auto tunning 0003 511H Cn003 Output time setting for Mechanical Brake Signal 0004...
  • Page 192 RS485 RS232 0024 51BH Cn036 Servo ID number 0025 544H Cn037 Braud rate setting for (Modbus RS-485 / PC Software RS-232) 0026 545H Cn038 Communication protocol selection 0027 567H Cn039 Communication time-out dection time 0028 579H Cn040 Communication response delay time Torque control parameters Address Parameter...
  • Page 193 Address Parameter Name of parameter RS485 RS232 0210 533H Sn216 Analog Speed Command Ratio 0211 534H Sn217 Analog Speed Command offset adjust 0212 599H Sn218 Analog Speed Command Limit Position control parameters Address Parameter Name of parameter RS485 RS232 Position command selection (for pulse type、logic and 0301H 550H Pn301...
  • Page 194 Address Parameter Name of parameter RS485 RS232 031FH 59EH Pn331 Internal Position Command 5- Move Speed 0320 59FH Pn332 Internal Position Command 6-Rotation Number 0321 5A0H Pn333 Internal Position Command 6-Pulse Number 0322 5A1H Pn334 Internal Position Command 6- Move Speed 0323 5A2H Pn335...
  • Page 195 Quick Setup parameters Address Parameter Name of parameter RS485 RS232 0401 530H qn401 Speed Loop Gain 1 0402 531H qn402 Integral Time constant for Speed Loop 1 0403 53AH qn403 Speed Loop Gain 2 0404 53BH qn404 Integral Time constant for Speed Loop 2 0405 55AH qn405...
  • Page 196 Display parameters Address Parameter Name of parameter RS485 RS232 0601 6E4H Un-01 Actual Motor Speed 0602 9B6H Un-02 Actual Motor Torque 0603 691H Un-03 Regenerative load rate 0604 693H Un-04 Accumulated load rate 0605 694H Un-05 Max load rate 0606 678H Un-06 Speed Command...

  • Page 197: Chapter 8 Troubleshooting

    Chapter 8 Troubleshooting 8-1 Alarm functions The Alarm codes are displayed in a format such as that shown below. For any Alarm messages , refer to this section for identify the cause and dispel the error. to reset the Alarm message by following pages description. assistance.
  • Page 198 Example: Following table are procedures to access the alarm history record parameter. Steps LED Display Procedures Turn On On” power on “ Drive Status parameter is displayed. the Power Press MODE key to enter the Alarm History record. Press Key to view the Alarm 1 message that previously happened and the alarm code is “03”...

  • Page 199: Troubleshooting Of Alarm And Warning

    8-2 Troubleshooting of Alarm and Warning Fault Status Digital Output Alarm Alarm Name Reset Corrective Actions Code and Description Method CN1-25 CN1-24 CN1-23 CN1-22 BB/A3 ST/A2 PC/A1 LM/A0 If there is no Alarm, CN1-22~CN1-25 Normal — — operates in accordance with default function.
  • Page 200 Alarm Status Digital Output Alarm Alarm Name Reset Corrective Actions CN1-25 CN1-24 CN1-23 CN1-22 Code and Description Method BB/A3 ST/A2 PC/A1 LM/A0 Encoder ABZ phase signal Reset error Power Motor’s encoder Supply 1.Check the motor’s encoder failure or encoder connections. connection 2.Check the encoder if short circuit, problem.
  • Page 201 Alarm Status Digital Output Alarm Alarm Name Reset Corrective Actions Code and Description Method CN1-25 CN1-24 CN1-23 CN1-22 BB/A3 ST/A2 PC/A1 LM/A0 Position error 1. Increase the position loop gain (Pn310 and Pn311) setting value. The deviation 2. Increase in position tolerance value between Pulse Turn by (Pn307) for a better motor...
  • Page 202 Alarm Reset Methods 1. carry out the suggestions below to reset Alarm. (a) Reset by input signal: Once the cause of Alarm is rectified, disable SON signal (Switch off Servo ON), then activate input signal ALRS. Alarm condition should be cleared and the drive will be ready for operation. Reference 5-6-1 for setting SON and Alarm signal.

  • Page 203: Chapter 9 Specifications

    Chapter 9 Specifications 9-1 Specifications and Dimension for Servo Drives Servo motor for TSTA- Servo motor capacity [KW] Max. Continuous output 5.16 9.18 14.00 current [A rms] Max. output current [A rms] 10.5 13.8 15.50 27.50 42.00 Main Circuit Single/Three Phase 170 ~ 253Vac Three Phase 170 ~ 253Vac Input R/S/T...
  • Page 204 Command Source External Pulse Control / 16-Stage internal register control Positive/Negative Edge Trigger Type : CW/CCW, CLK+DIR, A Phase + B Type Phase Input Waveform Line Driver(+5V), Open Collector Pulse Max. 500 KHz(Line Driver) / 200 KHz(Open Collector) Frequency Electronice Gear 1/200≦...
  • Page 205 Voltage Command 0~±10Vdc / 0~±3000rpm Torque Control Input Impedance About 10k ohm Mode Torque Time Time Constant 0~50sec Constant Output A, B, Z Line Drive Output Type Position Output Encoder 1 ~ 8192 Encoder Ratio (any Arbitrary Value) Ratio Servo ON, P/PI switching, inhibit forward/reverse drive, error pulse clear, servo lock, Emergency stop, internal speed choice, run mode switching, inhibit position Optional DI[NPN/...
  • Page 206 ※ Dimension for TSTA-15 and TSTA-20...
  • Page 207 Dimension for TSTA-30 ※...
  • Page 208 Dimension for TSTA-50 and TSTA-75 ※...

  • Page 209: Specifications And Dimension For Servomotors

    9-2 Specifications and Dimension for Servomotors Description for Servo Motor Type Number TSB 07 301 C - 2 N H 3 * Motor Series: Others Frame sizes: Lead Wire length A:Military Conn. Rated power 3:300mm long 050: 50 W 101:100W 201: 200 W Encolder: 301: 300 W...
  • Page 210 TSB 07/08 SERIES SPECIFICATION 1（kgf．cm）＝0.0980665（N．m） 1（gf．cm．s ）＝0.980665（kg．cm ） To customize motors, please contact with us or our agent. ●...
  • Page 211 TSB 07/08 SERIES DIMENSION...
  • Page 212 TSB 13 SERIES SPECIFICATION 1（kgf．cm）＝0.0980665（N．m） 1（gf．cm．s ）＝0.980665 （kg．cm ） To customize motors, please contact with us or our agent. ● 9-10...
  • Page 213 TSB 13 SERIES SPECIFICATION 1（kgf．cm）＝0.0980665（N．m） 1（gf．cm．s ） ＝0.980665（kg．cm ） To customize motors, please contact with us or our agent. ● DIMENSION 9-11...

  • Page 216: Appendix A: Peripheral For Servo Motors

    Appendix A: Peripheral for Servo motors Part No. Description Model DTY2C3MMDR20P0000 Encoder Connector (3M 20pin) DTY2C3MMDR50P0000 I/O Connector (3M 50pin) Power Connector + PIN DTY3FAMPUVW000000 (AMP 4pin) Encoder Connector + PIN DTY3FAMPP0PG000000 (AMP 9pin) DTY3CMS08A2004S00 Power Connector (MS 4pin) DTY3CMS08A2018S00 Encoder Connector (MS 9pin) DTY3CMS06A2004S00 Power Connector (MS 4pin)
  • Page 217 Part No. Description Model DTY3FCB01MUVWMB00 1M L-type Power Cable (MSL) DTY3FCB03MUVWMB00 3M L-type Power Cable (MSL) DTY3FCB05MUVWMB00 5M L-type Power Cable (MSL) DTY3FCB10MUVWMB00 10M L-type Power Cable (MSL) 1M L-type Encoder Cable DTY3FCB01M0PGMB00 (MSL+D-SUB) 3M L-type Encoder Cable DTY3FCB03M0PGMB00 (MSL+D-SUB) 5M L-type Encoder Cable DTY3FCB05M0PGMB00 (MSL+D-SUB)

This manual is also suitable for:

Tsta-15Tsta-20Tsta-75Tsta-30Tsta-50

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