TA8410取扱説明書
Contents
1.2. 3 1 TA8413 3 1
3. 99 MNL000212Y00 0100 19 SV NET mwe EU9610 010 Im NK030 3 18 5m 1 0 E9610N1 TEET H
4. Kp
5. ID75 ID74 0 SV NET CW CCW F D BEE
6. TTH 3 Vo 71 MNL000212Y00 0100 ID Control Mode ID30 ON PEB Com
7. ON Servo Command Bit0 ID 15 B14 B13 B12 B11 B10 B9 90 Servo Command 9 ololololololololololololololil 1030 BitO Servo ON ON ON ON I O 13 33 ON 2 86 MNL000212Y00 0100 Servo Command Bit1 SV NET ON ID30 Biti Start Profile ON
8. 90 1000m 40C 5 MNL000212Y00 0100 N BEROA TA8
9. 100 300 Hz 0 ID Hz ID55 1064 0 32767 3gB 54 NF f 1 Hz 0 1000 1 0 32767
10. ID121 ID122 ID78 Smoothing ID79 Smoothing time constant 73 MNL000212Y00 0100 D O 0 Forward Pulse and Reverse Pulse Pulse 1 Pulse and Direction Bit7 1 Pulse 2 ID72 Reference Direction 0 CW Note Pulse and Reverse Pulse O10 PIN 3 Reverse PLS 4 Reverse PLS 5 Forwa
11. ID3 Revision Smartsyn Singlsyn ID 9 Bl 440 Revision 4 40 ID Revision 4 40 4 51 4 60 6 30 1 Device Code O O O O 2 Product Code O O 3 Revision O O 1 4 Serial Number O O O O 5 MAC ID 6 Baud Rate O O O 7 Device Group ID O O O O 8 Interrupt Data ID 1 9 Interrupt Data ID 2 10 Interrupt Data ID 3 11 Interrupt Data ID 4 12 Indirect Data ID 13 Indirect Data 14 Indirect Data 15 Indirect Data 16 Parameters init O O O O 17 Parameters save O O O O 18 Program Code O O O O 20 Servo Status Bit0 O O O O Bit1 Bit2 Bit3 Bit4 Bit5 Bit6
12. 1D30 ON T gt ID36 Command Position O D D 74 0 F Pulse and R Pulse Pulse 1 Pulse and Direction 120 Bit7 1 QD30 Bit0 ON Se lololelolelelelelololelelelole il I O ID120 Pulse
13. 7 L 1 EU9613 NO0010 im 1 N0030 EU9613N UL1007 AWG18 5557 02R MOLEX N0050 3NOHHH 07 AWGI8 yyy25557 02RIMOLEX i 00087 72882 9556 MOLEX 100 10m L 3 5 10m EU9613 N1010 g N1030 35557 02RIMOLEX EU9613N1000 11007 AW618 25557 02RIMOLEX N1050 5556MOLEX 5556 MOLEX N1100 EU9613N1 TA8413 21 Meaza 175218 2AMPIUVWFOH 175217 2 AMP BKA 127294937 5557 06IMOLEX 20 L 20 959671 EU9614 N0030 m PVC m Q EU9614 TBL IT EF aoo 5559 06PIMOLEX
14. A 2 3 4 7 98 MNL000212Y00 0100
15. L D NIA Control Mode e WN 2 Servo Command oo o o 3000rpm 3000rpm Command Velocity 37 3000 Orpm Command Velocity 37 62 M
16. SVD DL SVD DW AC 3 A W x 3 V 1 22 MNL000212Y00 0100
17. Homing P81 ON OFF 1 2 P68 0 33 MNL000212Y00 0100 14 15 100mA 30V ID110 ID111 DG SSM5N15FE SV NET SS5N15FEA 14 IMP 111 OUT2 15 ALM 110 OUT1 B B 14 INP
18. 40 8 MAC ID Y K ON Homing IO IO
19. PIN 1 0 9 1 GND COM 2 AIN 7 3 Reverse PLS A 1 d D 4 Reverse PLS 1 5 Forward PLS A 1 6 Forward PLS 1 HIROSE N 22 7 GND COM 8 AUX Profile Start 2 4 7 I m h Pa 9 C RST 2 10 ALM RST 2 N 1 N 5 N 8 HIF3BA 16PA 2 54DS 11 Reverse LMT 2 y 12 Forward LMT 2 3 N 6 N 9 5 HIF3F 16PA 2 54DS 13 SV ON ON 2 4 14 INP C 2 7 N 2
20. 39 MNL000212Y00 0100 ID D m r A 1 Device Code 2 x 1 Servo Motor Driver 1 2 Product Code 2 x 8410 3 Revision 2 x O 4 Serial Number 4 x 5 MAC ID 1 O O 31 1 31 DEC MAC ID 0 6 Baud Rate 1 SV NET 4 0 2 DEC 0 125kHz or 1 250kHz 4 2 500kHz 4 1000kHz
21. TA8413 48V ID205 65V Voltage Down Flash Memory Error CPU Hardware Error CPU Parameters Error 22 T 30 S C d elglelslel
22. MAC ID MAC ID MAC ID 0 MAC ID MAC ID 1 31 SV NET 3 MAC ID 2 ON 17 10 0 o 6 2 0 9 4 t SV NET SV NET SV NET MAO ID 1 MAO ID 2 MAC ID 3
23. 2 500 2 3 1000 3 1500 146 Tuning KI 2 200 0 2000 DEC e 51 MNL000212Y00 0100 ID 38 147 Brake off Delay Servo ON Brake 0 0 10000 DEC msec 148 Enable Off Time SV NET 1000 0 10000 DEC Servo Off msec 0 149 1 0 1 DEC 0 Servo On Servo Off ON 159
24. 1 O MNL000212Y00 0100 129
25. I O P78 I O P80 MCP604 1 65kQ 3 6 m 500kHz 3 Reverse PLS K ID74 P45 5FonwardtPLS 0 6 Forward PLS 1898 1 P74 Forward Reverse 3 Reverse PLS 4 Reverse PLS 5 For
26. 3 64 MNL000212Y00 0100 Note ID30 Servo Command Bit7 Acceleration limit ON OFF ON ID35 Deceleration 30000 ID M Servo Command 3000rpm 3000rpm Command Velocity 37 3000 rpm 0rpm Command Velocity 37 amA CPU ons Kv1 Ki1 Kv1
27. ON ON Forward LMT Reverse LMT 51 Over heat 61 60 69 P95 93 MNL000212Y00 0100 Over Voltage
28. 13 63 14 71 72 77 79 Homing 81 85 21 MNL000212Y00 0100 SV NET
29. Hard Stop ON Hard Stop 87 MNL000212Y00 0100 Smooth Stop Servo Command Bit5 5 30 Servo commana n n se n ns na SV NET ID35 Deceleration K Servo Command Bit6 E 1030 Bit6 Direction ON 0 Servo Command Bit7 ID EEE ar E SV NET ID30 Bit7 Acceleration limit ON ON ID34 Acceleration ID35 Deceleration 88 MNL000212Y00 0100
30. SV NET SV NET OFF ID148 Enable Off Time 1000 msec 1 OFF 0 D 148 Enable Off imer msec 0 91 MNL000212Y00 0100 16 Fault OFF
31. D20 Servo Status ID20 Servo Status Bit3 Fault Fault Bit3 Fault ON 20 S Stat B olelelvlelelelelelelelellelele I O SVD DL 1 02 15 ALM I O SVD DL 1 0 2 P31 ID22Alarm Code LED ID22 Alarm Code ID 145 81 LED 1
32. Byte5 Byte4 Byte3 Byte2 Byte 1 Byte0 ID40 Actual Position ID41 Actual Velocity ID42 Actual Current Actual PVC 2Byte Pulse rpm 0 01A ID45 Sensor Position1 ID41 Actual Velocity ID42 Actual Current 2Byte Pulse rpm 0 01A Actual SVC 85 MNL000212Y00 0100 15 ID 17 Parameters save 1 40 8 M ID17 0 OFF ON OFF ID 24 16 Parameters init 1
33. 57 MNL000212Y00 0100 6 m ID nen 0 i Servo Commana Commana CW 100 204800 1 2048 1000rpm apee mm 0 33 1000 B 100000rpm sec 10000 10rpm sec Acceleration B Servo Command lI 81 Servo Command 1 7
34. 0N 1 0 Li I LEAD LAG Z l I i X22222 I l 20 MNL000212Y00 0100 5 22 SV NET SV NET 3 29 30 1 O 1 31 O0 2 35 SV NET 7 39 8 40 9 SV NET 54 MAC ID 11 59 12 61
35. 2 M 0 20 MNL000212Y00 0100 3 1 2
36. LED OFF LED 8 MNL000212Y00 0100 SVD DW Singlsyn Smartsyn 2048C T 17Bit INC ABS LEAD LAG Z SV NET SV NET CAN MAC ID SV NET 1 0 1
37. 58 MNL000212Y00 0100 11 M4 Note M4 x2 M4 x2 p 15 75 r 15 15 3 4 520 3 1 1 4 1 TAMAGAWA LED CO CN2 CONTROLCAM TAB4ipweEwe KONIROL SV NED g CN5 ala ens TI ENSOR L 9 o w L ABCDEF ABCDEF 9 5 8le HKLMNOP0 T TEX RSTUVWXYZ 8 RSTUVWXYZ Prr ao 29 SVD DL 1 1 OO CN7 100 qp D 5 CN7 vo D LEDI L l CN2 CN5 CN3 CN1 3 QQWRQ SVNET 000 HHH HHHH
38. Battery is used for 17b bs encoder data backup LISAH 0 241 5V 5109 SSM5NI5FE equivalent Output circuit Power Supply DC24V 48V A equivalent 7407 1 Nx4x Nx5x Nx6x Open collector 0 6 31 equivalent Nx 7x Nx8x Nx9x Line Driver TCSET14FU equivalent Analog out 103 MNL000212Y00 0100 Sensor Connection Diagram SV NET DRIVER TBL SERVO MOTOR With RESOLVER TA8410 NTxx SENSOR RESOLVER GND4 B6 Cuse SV NET DRIVER TBL SERVO MOTOR With 1Tbit abs 17bit inc TA8410 N3xx SENSOR B3 ENCODER Tops 11 7bt ABSI 1 17bit INC B5 GND GND4 JB6 Cose TBL SERVO MOTOR With Saved IinesJNC SV NET DRIVER TA8410 Saved lines JNC GND 104 MNL000212Y00 0100
39. SV NET ID5 TMAC ID MAC ID MAC ID 1 OFF 2 MAC ID MAC ID 1 15 3 MAC ID MAC ID 1 MAC ID 9 MAC ID 2 MAOC ID 10 MAC ID 3 MAC ID 11 MAC ID 4 MAC ID 12 MAC ID 5 MAC ID 13 MAC ID 6 MAC ID 14 MAC ID 7 MAC ID 15 No MAC ID 8 MNL000212Y00 0100 MAC ID SV NET
40. 16 Parameters init 2 x 1 Parameter 0 0 1 17 Parameters save 1 x 1 Parameter 0 1 DEC 18 Program Code 2 x x 40 MNL000212Y00 0100 20 Servo Status M x B0 Servo ON B1 Profile 2 1 Position B3 Fault B4 Forward Limit B5 Reverse Limit B6 B7 8 B10 Homing B11 Gain select B12 4 21 I O Status x B0 B5 IN1 IN6 status B8 B10 OUT1 OUT3 status 22 Alarm Code Alarm Code 23 Alarm History 1 Alarm 1 Alarm 4 24 Alarm History 2 Alarm 5 Alarm 8 25 Alarm History 3 Alarm 9 Alarm 12 26 Alarm History 4 Alarm 13 Alarm 16
41. ID Revision 4 40 4 51 4 60 6 30 94 Creep O O O O 95 O O O O 96 O O O O 97 98 99 100 IN1 0 O O O O 1 O O O O 2 O O O O 3 O O O O 4 O O O O 101 IN2 0 O O O O 1 O O O O 2 O O O O 3 O O O O 4 O O O O 102 IN3 0 O O O O 1 O O O O 2 O O O O 3 O O O O 4 O O O O 103 IN4 0 O O O O 1 O O O O 2 O O O O 3 O O O O 4 O O O O 104 IN5 0 O O O O 1 O O O O 2 O O O O 3 O O O O 4 O O O O 105 IN6 0 O O O O 1 O O O O 2 O O O O 3 109 MNL000212Y00 0100 ID Revision 4 40 4 51 4 60 6 30 105 IN6 106 107 108 109 110 OUT1 0 O O O O 1 FFFF O 111 OUT2 0 O O O O 1 FFFF O 112 113 114 115 116 117 118 1 119 2 120 Pulse 0 O O O O 1 O O O O 2 3 4 121 Pulse Input O O O 122 Pulse Input
42. 16Bit 32767 32767 32Bit 16Bit E 49 MNL000212Y00 0100 ID M 120 Pulse 0 Forward Pulse and Reverse Pulse 00 00 01 1 Pulse and Direction or 01 81 B7 1 121 Pulse Input n m Pulse 2048 1 DEC n m Pulses rev 1073741825 122 Pulse Input O ID74 1 1 255 DEC 126 O Smartsyn Singlsyn 2048 1 8192 DEC 1X 1 Z 1 N 8192 8192 N 12048 2048 2X 1 Z
43. Servo Command Bit2 30 Servo Command ID30 Bit2 Clear Position error ON Clear Position error ON Bit 1 ON 0 OFF Servo Command Bit3 30 Servo Command ID30 Bit3 Clear Alarm 92 Hard Stop Servo Command Bit4 ID sa Oa Servo Commana ojojolojojolojojolojo ooo SV NET
44. ID B 3 ON 1 Servo Command TA Command Current 1 ON ID38 Command Current 0 79 MNL000212Y00 0100 O 1 D 1800 0 01Arms OV 10V Arms 1800 5V 9Arms 1 0 PIN No 2 0 ID130 1800 5V 9Arms ID130 1800 10V 9Arms 9Arms
45. 0 1 DEC ID200ID211 100 1000 20 160 0 1 C z DEC 161 0 1V DEC ID 200 0 01A 0 2400 DEC 201 rpm 9000 0 10000 DEC 202 Pulse 17Bit INC ABS 4 x Pulse 2048 0 32767 DECI ID202 203 Pulse 17Bit INC ABS 4 x Pulse 20480 0 32767 DEC 5 52 MNL000212Y00 0100
46. Smartsyn Singlsyn 0 m 17Bit ABS 1 17Bit INC 0 INC 0 1 141 Servo Select 2 0 00 00 HEX 142 143 Servo Off Delay 2 Servo Off Servo Of 20 0 10000 DEC msec ON OFF ON OFF 144 Abs Offset 4 x O Encoder Reset Homing Preset 00000000 HEX FFFFFFFF 145 Tuning KV 2 O 500 0 2000 DEC
47. Ki1 LPF f Kv1 67 Note Kv1 1 Kil 1 LPF f Hz 65 MNL000212Y00 0100 Kp1 ID Control Mode B Servo Command
48. L H 10 80 ID 1 H 1 2 H L 3 L 2 Servo Command ID30 Servo Command Bit11 Gain Change ID80 Gain 5 ON 1 2 OFF 0 1 69 MNL000212Y00 0100 1 ID74 ID75 ID76
49. Motortronic 292 RoHS amuqaua TAMAGAWA SEIKI CO LTD 1 MNL000212Y00 0100 ii 8 8 SVD DW 9 9 SV NET 10 rmt 10 O mmm 10 2 ee 11 SVD DL 11 SVD DW 12 13 14 7 SVD DL 19 SVDEDW DE 20 CECT 5 HERE 22 23 EER 5 SV NET 24 26 SV NET 3 29 1 O SVD DL 1 0 1 SVD DW 31 VO 2 SVD DW 35 SVD DW
50. 72 Reference Direction 79 FB 74 75 76 77 IN Position ON 78 Smoothing 79 Smoothing time constant 80 Gain 81 GainChangePoint_H 82 GainChangePoint_L 83 84 85 86 87 88 89 90 Homing O O C IN O 91 Preset 92 Homing 93 Homing MNL000212Y00 0100
51. ID91 Preset I O SV NET ID91 Preset I O SV NET ID91 Preset I O SV NET 1 0 Home Sensor 1 0 ID100 105 gt AM P47 1030 Servo Command Bit13 Home Senser Arm
52. PIN No 2 0 ON ID30 Bit0 ON Servo Command 78 MNL000212Y00 0100 1 2 1 0
53. 1Mbps ID6 Baud Rate ID17 Parameter save 1 6 Baud Rate 0 125kbps 1 250kbps 2 500kbps 4 1Mbps 17 Parameter save 1 4 1Mbps 3 OFF 4 ON 2 5 SV NET Master of SV NET I 56 MNL000212Y00 0100 1
54. 2048C T INC ID Revision 31 Control 15 16 32 Target Position 33 Target Velocity 34 Acceleration 35 Deceleration 36 Command Position 37 Command Velocity 38 Command Current 39 Reset Position 40 Actual Position 41 42 Actual Velocity Actual Current 43 Actual PVG 44 Actual SVC 45 Sensor Position1 46 Sensor Position2 47 48 49 50 1 51 Kv1 52 Ki1 53 LPF f 54 NF f 55 56 1 57 Kci1 58 Phase advance Gain 59 60 Kp2 61 Kv2 129 MNL000212Y00 0100 2048C T INC ID Revision 62 Ki2 63 NF f2 64 NF d2 ooo s 65 66 67 68 69 70 71 72 Reference Direction
55. SVD DW SVD DW MAC ID SV NET
56. 2 1 O oen 1030 Bit7 Acceleration limit ON ON ID34 ID35 Servo Command 0rpm 1 ID37 Command Velocity 0 Note ID30 Servo Command Bit7 Acceleration limit ON ON ID34 Acceleration 1035 Deceleration 77 MNL000212Y00 0100 1 N 6000 rpm
57. S NET 734 365 WAGO S NET SV NET 734 105 WAGO SV NET 216 202W WAGO SV NET 734 105 2 ER175000VG HHHHH 17Bit ABS ER175000VC 3 6V 101 MNL000212Y00 0100 TA8410 SVD DL SV NET DRIVER TBL Input circuit MP604 isa gquivolent 1 65kQ 10kQ 1 Vreft 1 65V TLP112A equivalent MET ay 1358 equivalent 5V MP604 4709 SV NET CONTROLER 8440 Series DC24V SV NET
58. SV NET Master of SV NET I MMI 1 oO I O SV NET O SV NET SV NET O 1 O 10 MNL000212Y00 0100 SVD DL oey A WT ses w TAMAGAWA SEIKI 1 MADE IN JAPAN ABCDEF RSTUVWXYZ LED SV NET IO 0 MAC ID
59. Smoothing 10000 0 32767 DEC Stop ID30 Bit5 ON 10rpm sec 36 Command Position 4 Pulse 0 00000000 HEX FFFFFFFF 37 Command Velocity 2 O O rpm 0 10000 DEC 10000 38 Command Current 2 0 01A 0 DEC 39 Reset Position 4 O O Servo Command B14 1 0 00000000 reset FFFFFFFF 5 es 42 MNL000212Y00 0100 ID RE 40 Actual Position Pulse 10140 Abs Mode 1072 Reference Direction 41 Actual Velocity rpm 42 Actual Current Feedback 0 01A 43 Actual PVC Actual Position Pulse 16Bit Actual Velocity rpm Actual Current 0 01A 6byte 4
60. IO O N ID80 Gain 1 3 H 1 L 2 1 2 GainChange H rpm or pulse 0 32767 Point_H ID80 Gain 1 2 rpm 3 pulse GainChange H rpm or pulse 0 32767 Point L ID80 Gain 1 2 rpm 3 pulse 68 MNL000212Y00 0100 1 Kv1 Kp1 Ki1 2 KV2 Kp2 Ki2
61. 1 1 2 2 3 GND 4 GND 37 MNL000212Y00 0100 SVC DW 17Bit ABS ER175000VC 2 VB 38 MNL000212Y00 0100 7 SV NET SV NET
62. I O 1 SVD DW 2 AIN 3 Reverse PLS 4 Reverse PLS 5 Forward PLS 6 Forward PLS 7 GND 8 AUX 9 C RST 0 0 10 ALM RST oO 11 Reverse LMT _ _______8 8 12 Forward LMT 5 13 SV ON 7 5 14 INP 15 ALM 16 24V 31 MNL000212Y00 0100 2 m DC 10V DC 10V GND 1 7 GND ID75 ID76 MM P45
63. Master of SV NET I MAC ID 10 1 SV NET MAC ID 55 MNL000212Y00 0100 1Mbps SV NET 1 ON 2 SV NET Master of SV NET I SV NET
64. SVD DL SVD DW SVD DL SV NET Forward Reverse lt gt 6 000rpm 10V 18Arms 10V SV NET 1596 Singlsyn Smartsyn DC24 0 4A EEPROM
65. ERE ET 7407 equivatent 7407 1 3 5 AM26C31 E AM26C31 Be I AM26C31 equivatent T 2 4 6 LEAD LAG Z Smartsyn Singlsyn 1X 1 Z 1 N 8192 1 2048 LEAD 2X 1 Z 2 N 4096 N 1 2048 2048C T INC N 8192 N 1 8192 LAG 17Bit INC ABS 2 8192C T Smartsyn Singlsyn R D Z 2048C T INC Z 17Bit INC ABS Z LEAD LAG Z LEAD LEAD UU w z M 36 MNL000212Y00 0100 E 1 1112 5 9
66. O 0 5 HD D AWe20 PVC7 6541019540 AWG20 175217 2 AWG24 P100 AWG26 LBT 7 7 654101953N40 XX P101 27 MNL000212Y00 0100 TBI Series AC T AWG20 awa 2 5556TL MOLEX AWG20 654101955N40 AWG24 5559 06 MOLEX AWG24 5558TL MOLEX o o EU9622 N TE
67. O O 123 124 125 126 127 128 129 130 7 131 7 1 132 O O O O 133 134 110 MNL000212Y00 0100 ID Revision 4 40 4 51 4 60 6 30 135 136 137 138 139 140 Abs O O O O 141 Servo Select Bit0 O O O O Bit1 Bit2 Bit3 O O O O Bit4 O O 1 Bit5 Bit6 Bit7 1 142 143 Servo Off Delay O O O O 144 Abs Offset O O O 145 Tuning KV O O O O 146 Tuning KI O O O O 147 Brake off Delay O 148 Enable Off Time O 149 153 Servo Message 154 155 159 O O 160 O O O O 161 O O O 200 O O O O 201 O O O O 202 203 O O
68. 5557 06R MOLEX 5558TLIMOLEX 20 L 20 3470 EU9621 7 7 S Ef EU9621 TBL V 100 MNL000212Y00 0100 9 1318118 6 AMP 1318108 1 Al A4 B1 B4 1318107 1 5 5 6 L 20 1 1318118 6IAMP 1318108 1 Al A4 B1 B4 Dt 1318107 1 AMP 5 5 6 20 EU9615 N0010 im L EU9615 N0010 3 71 N0050 5m EU9615 TBL I 1 Pr L 1 1318118 6 AMP 38MMP 20 L _ 20 1318108 1AMP FUO622 mm N0030 T E ____ 0050 5m gt NO050 5m EU9622 TBL V
69. E 1 LEAD VO 2 1 6 2 NC 3 LAG 4 5 Z 6 NC TA8410N E 7 GND T 4 6 1 7 7 8 1 LEAD 2 LEAD 3 LAG 4 LAG 5 7 6 Z 7 GND m 8 14 9 1 10 2 11 GND 12 GND 13 NC 14 NC 35 MNL000212Y00 0100 LEAD LAG Z 1 6 1 0 2 1 6 TA8410N LI E 7 7407 DC24V 30mA E
70. K J e ID145 Tuning KV P51 145 Tunig KV 500 E 1 k ID59 ON CW CCW ON 61 MNL000212Y00 0100 ID59 ID 59 gcm 0 0 3000 Note
71. 0 1 0 0 5 DEC 1 or 2 9 3 4 1 O 70 1 01 8 13 OFF Gain1 ON Gain2 5 ServoCommand Bit11 0 Gain1 1 Gain2 9 2 81 GainChangePoint_H O H L 50 0 32767 DEC rpm orlpulse ID80 1 3 GainChangePoint H 82 GainChangePoint L O Gain1 GainChangePoint L 4 0 32767 DEC Gain2 Gain1 2 83 0 0 0 1 DEC 1 84 O Pulse 40000000 00000000 HEX FFFFFFFF 85 O Pulse C0000000 00000000 HEX FFFFFFFF 86 O 001A 0 DEC 87 O 001A o DEC 88 O rpm 8500 0 1
72. SD Z 1376020 1 4 VB Tyco Electronics B4 GND VB 5 Vcc Vcc B5 GND GND GND A6 VCC GND GND GND E 1 1318118 6 tyco Electronics AMP 1318108 1 Electronics AMP U v W BK BK 5569 06A1 MOLEX 5557 06R MOLEX 5556TL MOLEX 15 MNL000212Y00 0100 5569 02A1 MOLEX PIN No 1 GND 2 DC24V lt 48V 5557 02R MOLEX 5556TL MOLEX 6 SVD DL 1 SVD DW
73. TA8413 TA8433 TA8433 SV NET RS232C SV NET PC Master of SV NET I TA8433 RS232C RS422 SV NET RS232C RS485 SV NET SV NET TA8410 TAMAGAWA SV NET TA8433 SV NET Master of SV NET Es T DC24V 48V DC24V 30 MNL000212Y00 0100 I O SVD DL 1 01 SVD DW SVD DL 1 7 2 I O SVD DL 18 SVD DW Te lt UL2651 gt AWG28
74. 100 IN1 0 Servo On 00 00 04 1 Home sensor or 2 External Fault 80 84 3 Gain 4 0 Analog B7 1 normally ON 101 IN2 O 0 Forward Limit 00 00 04 1 Home sensor or 2 External Fault 80 84 3 Gain 4 0 Analog B7 1 normally ON 5 ea 47 MNL000212Y00 0100 1 ID L W M 38 102 IN3 1 O O 0 Reverse Limit 00 00 04 HEX 1 sensor or 2 External Fault 80 84 3 Gain 4 0 Analog B7 1 normally ON 103 IN4 1 O O 0 Alarm Reset 00 00 04 1 sensor 2 External Fault 80 84 3 Gain 4 0 Analog B7 1 normally ON 104 IN5 1 O O 0 00 00 04 1 sensor 2 External Fault 80 84 3 Gain 4 0 Analog B7 1 normally ON 105 IN6 1 O O 0 Profile start 00 00 04 1 sensor
75. 59 MNL000212Y00 0100 10mm DEHE HKLMNOPOQ RSTUVWXYZ vcoe 60 MNL000212Y00 0100 12
76. P41 ID91 Preset 81 MNL000212Y00 0100 Homing O ID X22368 Homing 0 0 Homing Type 2 3 Homing Homing 1 CCW 4 Homing 6 10 INPUT IN1 ING Home Sensor 100 IN1 gt IN6 1 Bit7 1 ON Homing ONQD30 Bit0 ON Homing Servo Command ew s sia mre pia pno o m
77. 0 Smoothing D van sen Smootine mono 0 102 DEC ID78 Smoothing 1 ID79 Smoothing Time Constant msec S 90 MNL000212Y00 0100 D 2 0 CW 72 Reference Direction 1 CCW ID72 Reference Direction 1 CCW Reference Direction D BEM 84 D 9 D
78. 82 MNL000212Y00 0100 Homing SV NET D Homing 0 0 n Jutt 3 Homing Homing 1 CCW 4 Homing Creep Homing D ONQD30 ON Homing K Servo rs er sre er on oro o7 ee ee es e z 9 Command Home Sensor 1030 Bit13 ON Command olo l1lololeololololelolelolel9 i 0 ID93 Homing IDA Creep 0
79. I O PIN No 10 C RST HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH HHHHHHHHHHHHTHTHHHHHHHHHHHHHHHHHHHHHHH HHONHHHHHHHHHHHHHHHHOFFHHHHHHHHHHHHHHHH HHHHHUHHUHHHHHHHHHHHHHHHHHHHHHHHHHHUHHHHH HHHHHHHHHHHHHHHHHONHHHHHHHHHHHHH ON C RST ON C RST SV ON Pulse D niiz m Mnnnnnnnn ID73 FB Bit7 ON ID73 Bit7 OFF 76 MNL000212Y00 0100 1
80. 63 omron 64 65 JIMAN 67 68 OO 70 72 72 73 VO 73 74 75 76 76 er 77 11 77 1 0 78 oe eee 79 79 1 0 80 Homing 81 86 86 ON 86 ereere 87 87 87 Hard Stop re 87 Smooth Stop 88 O rere
81. O 160 O 161 200 201 202 203 204 205 206 O 119 MNL000212Y00 0100 17Bit INC ABS ID Revision 2 10 250 Q 251 Velocity 252 Position Error 253 254 120 MNL000212Y00 0100 2048C T INC 2048C T INC ID Revson bed Bl 440 Revision 4 40 Revision Device Code Product Code Revision Serial Number MAC ID Baud Rate Device Group ID Interrupt Data ID 1 Interrupt Data ID 2 Interrupt Data ID 3 Interrupt D
82. 37 SVD DW 38 40 40 41 41 43 44 45 Homing 47 s 47 48 49 50 50 51 52 53 MAC ID 61 62 MNL000212Y00 0100
83. SV NET 216 202W WAGO 2 SV NET 216 202W WAGO SV NET P101 29 MNL000212Y00 0100 TA8413 TA8413 SV NET RS232C PC Master of SV NET I Master of SV NET II
84. 1 ON 2 2 LED 9 3 4 i Ek Servo Commend 500rpm Command Velocity B 1000rpm Command Velocity 1000 Servo Commana BI 5
85. 11 12 13 MAC ID 14 nM P O O O O GO N MAC ID 15 8 SVD DW NA 17Bit ABS IL 2P S3FP2 1 PIN No 1 GND le 2 VB JAE ER17500VC 17 MNL000212Y00 0100 9 SVD DW OZ 2 PIN No 1 1 2 2 DF11 4DP 2DF 3 GND HIROSE 4 GND DF11 4DS 2C HIROSE DF11 2428SC HIROSE AWG24 28 1 2 SVD DW LEAD LAG Z PIN No 1 LEAD LEAD 2 NC LEAD
86. 9 MNL000212Y00 0100 SV NET SV NET SV NET 8 1 0 SV NET SV NET TA8440 M 2 SV NET SV NET SV NET TA8433 TA8413 SV NET RS232C
87. Servo Command Bit8 D 2 90 Servo Command 010101010101010 a 8 1 ID30 Bit8 Analog Offset Adjust ON 0 1 ID132 0 ID30 Bit8 Analog Offset Adjust ON Servo Command Bit11 mishan Servo Command ololo 1030 Bit11 Gain change ON 2 Gain Change ID80 Gain 5 66 ON 1 2 OFF 0 1 Servo Command Bit13 D EE S Homing ID30 Bit13 Home Sensor Ar
88. MNL000212Y00 0100 ID 2 Revision 4 51 6 30 20 Servo Status Bit7 Bit8 4 60 Bit9 Bit10 Bit11 Bit12 OOO Bit13 Bit14 Bit15 21 I O Status 22 Alarm Code 23 Alarm History 1 24 Alarm History 2 25 26 Alarm History 3 Alarm History 4 30 Servo Command O O O O O O O O 3 Control Mode MNL000212Y00 0100 Revision gt 6 30 31 Control 32 Target Position 33 Target Velocity 34 Acceleration 35 Deceleratio
89. 1 0 N N TA8410 N7 N7 0 N7 1 N7 3 TA8410 N7 1 E 11 MNL000212Y00 0100 SVD DW J TAMAGAWA wo 7 STATUS O H e TYPE TA8410NewwEw DATE CN2 SV NET 55 w RoHS TAMAGAWA SEIKI CO LTD MADE IN JAPAN sem m Ve ABCDEF GHKLMNOPQ RSTUVWXYZ CN3 MOTOR Mco POWER SVD DW FH LED SV NET 6 1 0 1 D MAC ID I O 2 1 O1 1 02 N N TA8410
90. 92 MNL000212Y00 0100 E 3 ON 11 Over Current ON 21 Over Load ON 31 Over Speed 7000000Hex 41 Counter Overflow
91. Smartsyn Singlsyn 1 1x 8192ct Rev INC Sensor Position1 17Bit ABS 17Bit 17Bit INC 17Bit 1 ID W M 50 Kp1 O O 1 1 s 1 100 0 799 DEC 51 Kvi O O 1 1 s 1 200 0 2000 DEC 52 Kil O O 1 1 s 1 125 0 2000 DEC 53 LPF f O O Hz 1000 0 lt 1000 DEC 54 NF f Hz 1000 0 1000 DEC 55 NF d O O 0 32767 0 0 32767 DEC 56 Kcp1 rad sec 2 6000 0 lt 10000 DEC 57 Kcil rad sec 2 100 0 10000 DEC 58 Phase advance Gain O O
92. a Homing msec 6 Homing Control Mode ON ID30 Bit0 ON Homing ES Command ololololololololololololelolelr ID93 Homing ID95 ID96 ID91 Preset ID30 Control Mode OFF 0 Homing 86 84 MNL000212Y00 0100 ID 20 Servo Status B0 Servo ON Servo ON
93. 0 ID91 Preset ID93 Homing ID91 Preset ID93 Homing ID94 Creep ID91 Preset Homing ID30 Control Mode 1 Homing 86 servo 83 MNL000212Y00 0100 Homing ID Homing ore Te Homing Homing
94. 67 MNL000212Y00 0100 ID80 Gain 1 Kp1 Kv1 Ki1 2 2 2 2 N 17 2 ID ID 50 Kp1 1 60 Kp2 2 51 Kv1 1 61 Kv2 2 52 Kil 1 62 Ki2 2 ID 80 Gain 1 Vo ServoCommand Bit11 2 0 1
95. ID M hBi 30 Servo Command Servo B1 Start Profile B2 Clear Position error B3 Clear Alarm B4 Hard Stop 5 Smooth Stop direction B7 Acceleration limit ON B8 Analog input offset adjustment B11 Gain change B13 Home Sensor Arm B14 Position Reset B15 17Bit amp 00 0000 HEX gt Bit 0 e e E 41 MNL000212Y00 0100 ID L W M RE 31 Control Mode 1 O O 0 Servo OFF 0 0 5 DEC 1 Position Control or 2 Velocity Control 15 3 Torque Control 4 Homing 5 Auto tuning 15 Demo 32 Target Position 4 O Profile Pulse 0 00000000 HEX FFFFFFFF 33 Target Velocity 2 O Profile rpm 1000 0 10000 DEC 34 Acceleration 2 Profile 10000 0 32767 DEC 10rpm sec 35 Deceleration 2
96. ID W M 204 O degreeC 850 0 1000 DEC 205 O O O1M 550 0 690 DEC 206 O O 041v 180 0 690 DEC ID W M 250 Q HEJ x x Q DEC N 3 J 12Arms 2 4 N 5 J 24Arms 2 4 N 3 12Arms 5Arms 5 12 x 2 4 6826 251 Velocity x x DEC 10000 rpm 32767 252 Position Error x x DEC Pulse 253 254 5 53 MNL000212Y00 0100 SV NET MAC ID MAC ID 31 MAC ID MAC ID
97. ON B1 Profile ON B2 In Position ON B3 Fault ON B4 Forward Limit ON B5 Reverse Limit ON B6 ON B7 ON B8 ON B10 Homing Homing ON B11 Gain select 2 ON Fault BO B5 IN1 IN6 I O Status fas e B 92 41 rpm ZE S
98. 0 O 1 O 2 O 3 O 4 O 104 IN5 0 1 2 3 4 105 IN6 0 1 O 2 O 3 O 125 MNL000212Y00 0100 2048C T INC ID Revision 1 00 105 IN6 4 106 107 108 109 110 OUT1 0 1 FFFF 111 OUT2 0 1 FFFF 112 119 114 115 116 117 118 1 119 2 120 Pulse F OO OO 121 Pulse Input 122 Pulse Input O O 123 124 125 126 127 128 129 130 131 132 133 134 126 MNL000212Y00 0100 2048C T INC ID
99. 0 15kg 0 30kg RoHS RoHS 1 2 MNL000212Y00 0100 18 1 18 Jl 1 4 1
100. iD250 Q 119 2 1 2 20FB 0000 HEX ID251 Velocity 12Bit 10 001 0CE HEX 4Bit 0 E HEX 2 5 V 2 x 2 5 V 32768 1 ID41 Actual Velocity 8 ID118 1 3029 HEX 3 029 HEX ID 41 DEC 029 HEX 2 3 2 3 8 2 5V 2 5V ID41 Actual Velocity 2000rpm 2 5 V 2 3 x 2000 x 2 5 V 8276853 72 V ID41 Actual Velocity 3000rpm 2 5 V 2 3x 3000 rpm x 2 5 V 327680 67 V
101. 11 Reverse LMT 102 IN3 12 Forward LMT 101 IN2 P47 13 SV ON 100 IN1 8 AUX 0 9 C RST 0 10 ALM RST 0 11 Reverse LMT 0 12 Forward LMT 0 13 SV ON ON 0 ON ON 0 P76
102. GND 9 GND NADNR24 MISUMI Boan H DC24V DC24V NADNR24 MISUMI AWG 8 P100 25 MNL000212Y00 0100 SVD DL SVD DW SVD DW SVD DW 17Bit INC ABS INC SVD DL SVD DW TBL V TA8410 TBL i lI 26 MNL000212Y00 0100 series AC
103. ID30 Analog in put offset adjustment Bit11 ON 0 01Arms ID132 2 ID 9 1 Bit7 1 PIN No ONQD30 Bit0 ON Servo Command lelelelelelelelelelelelelelele iss 80 MNL000212Y00 0100 Homing Homing 2 3 0 0O
104. OV 10V rpm 6000 5V 3000rpm 130 I O PIN No 2 0 ID130 6000 5V 3000rpm 5V ID130 6000 10V 3000rpm OV 3000rpm Analog input offset adjustment ID30 Bit11 ON Servo Command 55 2 ID 1 BEEPER Bit7 1 mom
105. 2 External Fault 80 84 3 Gain 4 0 Analog B7 1 normally ON Input Input 1 ID L W M RE 110 OUT1 1 00 Alarm 77 0000 0000 HEX 0001FFFF 111 OUT2 1 Position 0000 0000 HEX 0001FFFF ID 20 Servo Status 0001 FFFF HEX 1BIt OR 5 sons ke 48 MNL000212Y00 0100 SVD DW ID 118 1 1 O 1 20FA 0000 HEX
106. 3 LAG LAG 4 NC LAG 5 Z 7 6 NC 7 7 GND HIF3BAF 14PA 2 54DS 8 GND HIROSE 9 1 1 10 2 1 11 GND 12 GND 13 NC 14 NC HIF3BA 14D 2 54R HIROSE 38 1 1 2 P49 MNL000212Y00 0100 SV NET TA8440 1 O 8 7 SVD DL DC24V SV NET x Z SV NET TAMAGAWA STATUS SV NET SV NET TA8410 S
107. 4 Revision 1 00 135 136 137 138 139 140 Abs Mode 141 Servo Select Bit0 Bit1 Bit2 Bit3 Bit4 Bit5 Bit6 Bit7 142 149 Servo Off Delay 144 Abs Offset 145 Tuning KV 146 Tuning KI 141 Brake off Delay 148 Enable Off Time 149 153 Servo Message 154 155 159 O 160 O 161 200 201 202 203 204 205 206 O 127 MNL000212Y00 0100 2048C T INC ID Revision 250 Q 251 Velocity 252 Position Error OO O s 253 254 128 MNL000212Y00 0100 ww 07 03 12 07 11 20 0100 SVD DL SVD DW
108. Bi lelelelelelelelelelelelelelel CW 100 204800 1 2048 ER 300000rpm sec D Servo Commana e Jee gt a sua ojo ojojo ojojojojojojojo o AAGO PEG Command Note ID34 Acceleration Kp1 ID 1 66 MNL000212Y00 0100
109. IN6 4 106 107 108 109 110 OUT1 0 1 FFFF 111 OUT2 0 1 FFFF 112 119 114 115 116 117 118 1 119 2 120 Pulse OO OO 121 Pulse Input 122 Pulse Input O O 123 124 125 126 127 128 129 130 131 132 133 134 118 MNL000212Y00 0100 17Bit INC ABS ID 4 Revision 2 10 135 136 137 138 139 140 Abs Mode 141 Servo Select Bit0 Bit1 Bit2 Bit3 Bit4 Bit5 Bit6 Bit7 142 149 Servo Off Delay 144 Abs Offset 145 Tuning KV 146 Tuning KI 141 Brake off Delay 148 Enable Off Time 149 153 Servo Message 154 155 159
110. N 4 N 6 N 5 N 7 N 6 N 8 TA8410 N 5 E TA8410 N 7 E 12 MNL000212Y00 0100 LED SV NET I O MAC ID G 1 0 N TA8410 N 4 E N7 00 N7 01 py N7 02 N7 03 TA8410 N7 03 E 13 MNL000212Y00 0100 1 LED 3 OF
111. Output circuit SSMNISFE equivalent Power Supply DC24V 48V i 1 NOh ConneCtiIon Connect to mechanical brake directry if necessory Nte HHHHHHHHHHH Sensor Connection Diagram SV NET DRIVER TBL SERVO MOTOR With RESOLVER TA8410 NYX K sa 1122 71 0 RESOLVER LS A2 B2 H3 j XX 11 R I 62 DX _ Shield _ v GND4 B Cuse 102 MNL000212Y00 0100 TA8410 SENSOR SVD DW SV NET DRIVER TBL SERVO MOTOR circuit MP604 Msa equivalent I 1 65kQ Vref 1 55V TLP112A equivulent 74MHCO4 SV NET CONTROLER 8440 Series equivalent LA6 1 COM MONITOR 1 MONITOR 2 MONITOR 1 MONITOR OUT2 COM Non Connection Connect to mechanical brake directry it necessary 2 BATTERY 17bIt
112. 15 ALM ON ID77 IN Position ON P45 ON ID20 Servo Status Bit Bit OR P48 24V 16 24V 10 SV NET 400mA GND 1 7 GND 34 MNL000212Y00 0100 1 70 2 SVD DW NA 2 Te lt UL2651 gt AWG28 2 1 7
113. 38 Command Current 39 Reset Position 40 Actual Position 41 42 Actual Velocity Actual Current 43 Actual 44 Actual SVC 45 Sensor Position1 46 Sensor Position2 47 48 49 50 1 51 Kv1 52 Ki1 53 LPF f 54 NF f 55 56 1 57 Kci1 58 Phase advance Gain 59 60 Kp2 61 Kv2 115 MNL000212Y00 0100 17Bit INC ABS Revision N 62 Ki2 63 NF f2 64 NF d2 65 66 67 68 69 70 71 72 Reference Direction 79 FB Bit7 74 75 76 77 IN Position ON 78 Smoothing 79 Smoothing time constant 80 Gain 81 GainChangePoint_H 82 G
114. 10 m 2 2 5V ID 9 10 iD 1 Q 9 1 118 1 P49 10 2 119 2 2 E GND 7 8 11 12 GND m 1 2 1 2 02 1 2 9 10 02 E GND 3 4 GND
115. SVD DL SVD DW DC24V 0 1A TA8410 0 1A x DC24 V 1096 23 MNL000212Y00 0100 SV NET SVD DL SVD DW DC24V DC24V DC48V TBL V TA8410 DC24V DC48V 24 MNL000212Y00 0100 OSV NET GND T
116. or 0 80 Bit7 1 74 00 00 01 HEX 1 0 SV NET 75 00 00 01 HEX 1 or 0 SV NET 80 81 B7 1 76 00 00 01 1 or 0 SV NET 80 81 B7 1 77 IN Position Pulse 4 1 32767 DEC ON 78 Smoothing O Smoothing 0 0 1 DEC 0 Smoothing 1 Smoothing 79 Smoothing time Smoothing msec 50 0 102 DEC constant MAX 102ms 5 nen 45 MNL000212Y00 0100 HESE ID M 80 Gain
117. MAC ID 1 OFF 2 MAC ID SV NET SV NET 3 0 4 ON 2 MAC ID ON 5 SV NET Master of SV NET II SV NET D5 MAC ID 1 31 ID17 Parameter save 1 1Mbps 5 MAC ID 1 31 2 17 Parameter save 1 7 OFF 8 ON 2 9 SV NET
118. 0000 DEC 5 46 HESE MNL000212Y00 0100 Homing 1 M 90 Homing Type Homing 0 0 3 0 0 1 2 3 91 Preset Homing 0 00000000 HEX Pulse FFFFFFFF 92 Homing Homing 0 0 1 DECI 0 1 93 Homing Homing rpm 500 0 lt 10000 DEC 94 Creep rpm 50 0 lt 10000 DEC 95 Homing 200 0 lt 10000 DEC msec 96 Homing 600 o DEC 0 01Arms 1 1 M
119. 2 N 4096 N 1 2048 2048 INC N 8192 N 1 lt 8192 8192 17Bit ABS INC 18192C T ID M 130 10V 6000 0 lt 10000 DEC rpm 131 10V 1800 0 2400 DEC 0 01Arms 132 7 O 0 32767 DEC 50 MNL000212Y00 0100 ID L W M 140 Abs Mode 2 0 ON 0 0 1 1
120. 4 Actual SVC Sensor Position Pulse 16Bit Actual Velocity rpm Actual Current 0 01A 6byte 45 Sensor Position1 Smartsyn Singlsyn ID 140 Abs Mode 1 0 ON 0 INC 4993A 1 17Bit ABS INC 17Bit 1 5 es 43 MNL000212Y00 0100 2 5 44 ID W M RE 46 Sensor Position2 x
121. 410 1 2048C T 1 3 17bit INC ABS 1 7 Synglesyn Smartsyn 1 3 SVD DW LO 12Arms 24Arms 3 4Arms 5 8Arms 0 1 BLACK 2 RED 3 SILVER 4 GREEN 5 BLUE 6 WHITE 0 1 O IF EE 1 1 O IF 2 I OIF 2 3 1 OIF 4 1 OIF 3 5 OIF 3 6 VO IF 3 7 1 O IF 3 8 1 O
122. 410NA5 E 43 TS4603 100W 40 TA8410N 3 EA83 TS4606 100W 60 TA8410NA5 EA56 TS4606 100W 60 TA8410N 3 EA96 TS4607 100W 60 TA8410NA5 EA57 TS4607 200W 60 TA8410N 5 E 97 gt TS4609 200W 60 TA8410NA5 EA99 N7 E2 N1 E5 N3 E6 3 7 m AU Smartsyn 2048C T 17Bit ABS 17Bit INC MNL000212Y00 0100 SV NET TA8410 DC24V 48V SV NET SV NET TA8440 SV NET 1 0 TA8410
123. 512 34 0 512 DEC 59 O O 0 0 3000 DEC 60 2 O O 2 1 s 1 50 0 799 DEC 61 Kv2 O O 2 1 s 1 175 0 2000 DEC 62 Ki2 O O 2 1 s G 1 100 2000 DEC 11 Kp Kv Ki 1 s MNL000212Y00 0100 ID M 70 2048 DEC n 8192 Smartsyn Singlsyn 131072 2048 71 O INC 8192 1 DEC m 17Bit ABS INC 131072 72 Reference Direction 0 0 1 DEC 0 CW 1 CCW 73 FB 00 00 HEX
124. 6 TLMT 87 53 LPF f 54 NF f 55 NF g gt ActualVelocity X Kp Kv Ki Gain ID80 Kp2 Kv2 Ki2 2 63 MNL000212Y00 0100 Kv 80 Kix
125. 79 FB Bit7 74 75 76 77 IN Position ON 78 Smoothing 79 Smoothing time constant 80 Gain 81 GainChangePoint_H 82 GainChangePoint_L 83 84 85 86 87 88 89 90 Homing 91 Preset 92 Homing 93 Homing 124 MNL000212Y00 0100 2048C T INC ID 4 Revision 1 00 94 Creep 95 96 97 98 99 100 IN1 0 1 2 3 4 101 IN2 0 1 2 3 4 102 IN3 0 1 2 9 O 4 O 103 IN4
126. 8Arms max 4Arms max 8Arms max 12Arms max 24Arms max 12Arms max 24Arms max DC24V 10 0 1A SV NET CAN 316 Singlsyn Smartsyn INC Smartsyn 2048 1 rev 2048 1 rev 217 1 2048 1 rev LEAD LAG Z TBL i TBL V 200W 8000rpm max 1 0 40 C 10 85 C 9096 CW 2 30 SVD DL 116 x 30 x 75 SVD DW 116 x 35x75 mm 100x30x75 x x LED LED
127. EN BT Pvo 7 654101953N40 XX 28 MNL000212Y00 0100 SV NET 3 h TA840 SNT PC TBL V TBL i2 MOTOR 1 CAN 3 r t AIAN 2 LS 109 SENSOR m 1 1 W 1 1 6ND 1 5lDc24V tn th MOTOR no hw RW XX TA8410 TBL V TBL i2 MOTOR 2 4 E S3 SENSOR 1 C24V XX 5 lt 2 32 S PORR Tm x 1 DR VE RURA DC24 48V 8410 TBL V TBL i2 MOTOR DC24 48V 1208Q SV NET
128. F ON Control Mode Control Mode 5 ID31 Control Mode P42 HE OFF AR 10 1 P92 SV NET SV NET PIN No GND IL L MN CAN L GND CAN H DC 24V 734 165 WAGO OO N 734 105 WAGO 14 MNL000212Y00 0100 SVD DL SVD DW A1 S2 A B1 S4 A A2 S1 B B2 S3 B R1 SD Z B3 R2
129. IF 3 9 1 OIF 3 2 2 3 4 9 SVD DW 100 1 Singlsyn 2 Smartsyn 5 2048C T INC 6 17Bit ABS 7 17Bit INC 900 6 MNL000212Y00 0100 O TBL V TS4742 50W 50W 42 TA8410N75 E111 TS4746 96W 100W 56 4 TA8410N75 E112 TS4747 132W 200W 056 4 TA8410N75 E113 Singlsyn NA O TBL iTI TS4601 30W 40 TA8410N 3 EA41 TS4601 30W 40 TA8410NA3 EA81 TS4602 50W 40 TA8410NA3 EA42 TS4602 50W 40 TA8410NA3 EA82 TS4603 100W 40 TA8
130. NL000212Y00 0100 TBL Vx Ki LMT ActualPosition Kv 1 5 ActualVelocity 5 Kcp 1 ActualCurrent Feedback ActualCurrent Kp 50 60 Kp1 Kp2 X Kv 51 61 Kv1 Kv2 Ki 52 62 Ki1 Ki2 X Kcp 56 Kcp 1 Kci 57 Kcil VMAX 88 8
131. O O 204 O O O 205 O O O O 206 O O O 111 MNL000212Y00 0100 ID 4 Revision 4 40 4 51 4 60 6 30 250 HEJ O 251 Velocity O 252 Position Error O 253 254 112 MNL000212Y00 0100 17Bit INC ABS 17Bit INC ABS D Revson bed 440 Revision 4 40 Revision N Device Code Product Code Revision Serial Number MAC ID Baud Rate Device Group ID Interrupt Data ID 1 Interrupt Data ID 2 Interrupt Data ID 3 Interrupt Data ID 4 Indirect Data ID Indirect Data Indirect Data Indirect Data O OI N Parameters init Parameters save Pr
132. VD DL L rO 19 MNL000212Y00 0100 SV DW SV NET TA8440 17Bit ABS SV NET 17Bit ABS NN EZ SV NET O i DC24V DC48V
133. _ HIF3BA 16PA 2 54DSA 15 ALM 75 2 16 24v HIF3BA 16D 2 54R HIROSE 1 P74 2 8 13 P33 16 MNL000212Y00 0100 7 MAC ID MAC ID MAC ID 1 15 0 MAC ID 31 MAC ID 1 MAC ID 2 MAC ID 3 MAC ID 4 MAC ID 5 MAC ID 6 MAC ID 7 MAC ID 8 MAC ID 9 MAC ID 10
134. ainChangePoint_L 83 84 85 86 87 88 89 90 Homing 91 Preset 92 Homing 93 Homing 116 MNL000212Y00 0100 17Bit INC ABS ID Revision 2 10 94 Creep 95 96 97 98 99 100 IN1 0 1 2 3 4 101 IN2 0 1 2 3 4 102 IN3 0 1 2 9 O 4 O 103 IN4 0 O 1 O 2 O 3 O 4 O 104 IN5 0 1 2 3 4 105 IN6 0 1 O 2 O 3 O 117 MNL000212Y00 0100 17Bit INC ABS ID Revision 2 10 105
135. ata ID 4 Indirect Data ID Indirect Data Indirect Data Indirect Data N Parameters init Parameters save Program Code Servo Status Bit1 Bit2 Bit3 Bit4 Bit5 Bit6 N 121 MNL000212Y00 0100 2048C T INC ID Revision 20 Servo Status Bit7 Bit8 Bit9 Bit10 Bit11 Bit12 Bit13 Bit14 Bit15 21 I O Status 22 Alarm Code 23 Alarm History 1 24 Alarm History 2 25 26 Alarm History 3 Alarm History 4 30 Servo Command Bit1 Bit2 Bit3 Bit4 Bit5 Bit6 Bit 7 Bit8 Bit9 Bit10 Bit11 Bit12 Bit13 Bit14 Bit15 31 Control Mode CO N 122 MNL000212Y00 0100
136. e lololelololelolelololelelelole il O ID93 Homing ID94 Creep 0 0 ID91 Preset ID93 Homing ID91 Preset ID93 Homing ID94 Creep ID91 Preset Homing ID30 Control Mode 1 Homing 86
137. elelelelelelelr le 94 MNL000212Y00 0100 Smartsyn Singlsyn BINC 2048CT Sensor Error 1 E 1 E Sensor not 63 Sensor Error 65 17Bit ABS 17Bit INC Sensor Battery Error 17Bit ABS ID30 ServonCommand Bit15 amp ID140 Abs Mode 0O Sensor
138. it amp P94 Alarm History 1 Alarm History 4 16 1 4 5 6 1 16 ENIN 100 200 300 400 x 100 96 MNL000212Y00 0100 SVD DL SVD DW DC 24V 48V 10 N 3 N 5 N 3 N 5 4Arms max
139. m ON 79 Homing 89 MNL000212Y00 0100 Servo Command Bit14 e e 1 0 30 Servo Command ID 39 Reset Position pulse 0 00000000 FFFFFFFFHEX 1030 Bit14 Position Reset ON ID39 Reset Position ID BEE OFF 20 0 10000 DEC msec 143 Servo OFF Delay ON OFF OFF OFF D 1 Smoothing 78 Smoothing
140. mand o o z f e lolololelelololelelololeleloleli 0 Actual Poston owo O O O pulse Acceleration 10rpm sec ON ID30 Biti E cm lolelolelolelelelelolololololili 6 Servo Status D20 Bit1 Servo Status ew ero ere en ewo wo eo ee 8 ID20 Bit1 0 ID20 Bit1 0 ID32 Target Position ID20 In Position Bit2 ON paa lolelelelelolelelelolololelileli Note ID34 Acceleration 72 MNL000212Y00 0100
141. n 88 89 89 89 90 90 S 90 91 91 SV NET OFF 91 92 92 93 94 ee 95 96 00 96 96 w 100 102 105 MNL000212Y00 0100 Memo 4 MNL000212Y00 0100 SV NET
142. n 36 Command Position 37 Command Velocity 38 Command Current 39 Reset Position 40 Actual Position 41 42 Actual Velocity Actual Current 43 Actual PVG 44 Actual SVC 45 Sensor Position1 46 Sensor Position2 47 48 49 50 1 51 Kv1 52 Ki1 53 LPF f 54 NF f 55 56 1 57 Kci1 58 Phase advance Gain 59 60 Kp2 61 Kv2 MNL000212Y00 0100 Revision 4 40 4 51 4 60 6 30 62 Ki2 63 NF f2 64 NF d2 65 66 67 68 69 70 71
143. not Connect Error Counter Overflow Error 17Bit ABS ID140 Abs Mode 0 1rev Count Error 1 17Bit 1 Over Speed Error 95 ID140 Abs Mode 0 MNL000212Y00 0100 DE ss OO 30 S C d 17Bit ABS INC 61 63 64 66 ID30 Servo Command B15 17B
144. ogram Code Servo Status Bit1 Bit2 Bit3 Bit4 Bit5 Bit6 N 119 MNL000212Y00 0100 17Bit INC ABS ID 2 Revision 20 Servo Status Bit7 Bit8 Bit9 Bit10 Bit11 Bit12 Bit13 Bit14 Bit15 21 I O Status 22 Alarm Code 23 Alarm History 1 24 Alarm History 2 25 26 Alarm History 3 Alarm History 4 30 Servo Command Bit1 Bit2 Bit3 Bit4 Bit5 Bit6 Bit 7 Bit8 Bit9 Bit10 Bit11 Bit12 Bit13 Bit14 Bit15 31 Control Mode CO N 114 MNL000212Y00 0100 17Bit INC ABS Revision N 31 Control Mode 4 15 16 32 Target Position 33 Target Velocity 34 Acceleration 35 Deceleration 36 Command Position 37 Command Velocity
145. rd PLS 6 Forward PLS CCW Reverse PLS CW Forward PLS WPulse and Direction OLIO Direction Direction PLS PLS CCW Direction Direction CW Direction 74 MNL000212Y00 0100 Pulse Input 121 2048 1 32767 H Pulse Pulse Input ulse Input i Pulse 2048 Pulse rev Pulse Input Pulse Input 1 Pulse rev 1 Pulse rev Pulse Input Pulse Input 75 MNL000212Y00 0100
146. ward PLS 6 Forward PLS SV NET AM26C31 38 TLP112A 1509 32 MNL000212Y00 0100 8 13 m DC5 24V DC3 5V DC1 0V H L ON H 155388 5V 1 8 13 74VHC04 DC40V ID100ID105 F ID 8 AUX 105 IN6 9 C RST 104 IN5 P48 10 ALM RST 103 IN4
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