TA8411取扱説明書 - SV
Contents
1.2. 101 MNL000131Y00 0001 18 SV NET L 34 IO8IWA6Q 5 seoswaoo EU9610 N O10 i N 030 EE a N 050 N 100 10m 2 1 0 E9610N1 734 105 WAGO EUA1139 NO010 N0030 N0050 EUAI39NOHHH a N0100 HHH
3. Kv 80 Ki
4. DB1 2 DB2 4 1 RG1 2 DB1 i RSS 4 DB2 30 80 120 220W 1 RG1 a 3 RG2 4 DB2 ON
5. 1 18 1 4 1 oo 2
6. Kp 3 1
7. 2 3 I O
8. 1 ID74 ID75 ID76 2 M OFF 0 71 MNL000131Y00 0001 13 3 1
9. a 61 MNL000131Y00 0001 11 Fe ID75 ID74 0 SV NET
10. CW CCW EE 70 0 ID145 Tuning KV P52 500 CCPmT EEEIEEEEEEEE Le eleelelelelsllelgls ID59
11. ID3 Revision Smartsyn Singlsyn ID 9 DEC 440 Revision 4 40 ID 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 Data ID 4 Indirect Data ID Indirect Data Indirect Data Indirect Data OIOIOIOIOIOIO OT No OT PI RIM sl O 1 Parameters init Parameters save Co Program Code Servo Status BitO Bit1 Bit2 Bit3 Bit4 Bit5 Bit6 OIOIOIOIO
12. LD Control Mode a Command wis oie te we on wo oo fo er fen fo fon fonee mn lolelelelelolelelelelelelelelelil CW 100 3000rpm 33 Target Velocity 3000 rpm 8 300000rpm sec 30000 10rpm seo serve Command lelelelelvlelelelelelylylele ne cemmand an a OOO EEE jojojojojolojololojojololelo ma Note Ei ID34 Acceleration
13. SVD DW MAC ID SV NET 40 MNL000131Y00 0001 ID ID
14. RCM BQZ 23 MNL000131Y00 0001 SV NET SV NET TA8411 x DC24V 109 SVD ALW 0 2A 0 6A SVD AMW 0 3A 0 7A SVD AHW 0 3A 0 7A SV NET 1 GND 5 DC24V SV NET PIN No 1 GND 2 CAN L 3 GND 4 CAN HC 5 DC 24V 734 105 WAGO a DC2
15. 72 MNL000131Y00 0001 ID Control Mode 1D30 Bit0 ON scvo Commond EEIEIEIEIEIEI lololelolelelelololololeleleleli a Po 1 pulse Accelerseon copmsso ON D30 Bit1 ON Servo Command B15 B14 B13 B12 B11 Bo B9 Bs B7 Be Bs B4 Bs Bz Bil Bo lelwlelelelelelelelelelvlele Servo Status D20 Bit1 Servo Stetus ID20 Bit1 0 ID20
16. 80 220W 30 DC24 0 4A EEPROM LED ON OFF LED 10 MNL000131Y00 0001 Singlsyn Smartsyn 2048C T 17Bit INC ABS LEAD LAG Z SV NET SV NET CAN
17. TBL V E1 TS4742 50W 42 TS4746 100W 56 4 TS4747 200W 56 4 TS4752 320W 86 TA8411N73 E111 TS4742 50W 42 TA8411N77 E111 TS4746 100W 56 4 TA8411N77 E112 TS4747 200W 56 4 TA8411N73 E114 TS4752 400W 86 Singlsyn TA8411N73 E112 TA8411N73 E113 TA8411N77 E113 TA8411N77 E114 TBL V E2 TS4734 5W 20 TS4735 10W 20 TS4737 20W 28 TS4738 30W 28 TA8411N72 E215 TA8411N72 E216 TA8411N72 E217 TA8411N72 E218 TS4734 5W 20 TS4735 10W 20 TS4738 30W 28 TA8411N76 E215 TA8411N76 E216 TA8411N76 E217 TS4737 20W 28 TA8411N76 E218 Smartsyn MNL000131Y00 0001 TBL V E8 130 N3011 TS4734 5
18. EU9635 gt ER17500VC A TA8411 1 RG1 2 DB1 3 RG2 4 DB2 30Q 30Q 80 120 220W CF TYPE 38 MNL000131Y00 0001
19. 2 A 1 0V ID119 2 402AHex 4 1V 819 0 01A 8 19 A 1 O V x 8 19 A 8 19 A 1024 2048 400 0 01A 4A 105 MNL000131Y00 0001 TA8411 SVD ALW SVD AMW_ AVD AHW TBL SERVO MOTOR SV NET DRIVER Unput circult 0 SENSOR COM 1 EE MCP604 ANA IN 2 1 gt equivalent 165kQ R PL
20. MAC ID SV NET IL O 1 MAC ID MAC ID MAO ID 0 MAC ID MAC ID 1 31 SV NET
21. SV NET TA8411 90 10 85 90 1000m 40 C 5 MNL000131Y00 0001 TA8411 NZllallgllogo
22. Hardware Error Parameters Error LD 30 S C d olelelelelelelelelelelelelele 96 MNL000131Y00 0001 Smartsyn Singlsyn Sensor Error INC 2048CT Sensor not Connect Error Sensor Error INC
23. Open collector AM26C31 equivalent NXxX2 Line Driver TC7SET14FU 4 equivalent lt Analog out 106 MNL000131Y00 0001 Sensor Connection Diagram SV NET DRIVER TBL SERVO MOTOR With RESOLVER TA8411 N7xx SENSOR mr SM Al 2 1 84 2 RESOLVER A2 Hl t B2 153 1 1 a3 Rl 1 B3 Re 1 XX 7 _ Shigld _ y GND4 B5 Cosa SV NET DRIVER TBL SERVO MOTOR With 17bit abs or 17bit inc TA8411 N3xx SENSOR Ok 0 A3 SD 1 vB B4 GND VB_ XX 45V _ 1 a GND XX 0 N Shield _j GND 4 BG Case TBL SERVO MOTOR SV NET DRIVER With Suved lnesJNC SENSOR jl II G6 TA8411 Nd lm 1 3B ENCODER A INC eS A 1 1 Suved lmpsJNC 5V_ 1 slo 1 _ sed 5 GND B6 Case 107 MNL000131Y00 0001
24. ID54 ID55 0 32767 3gB 1 CO CCT 1 Hz 0 1000 1 0 32767 68 MNL000131Y00 0001 ID80 Gain 1 Kp1 Kv1 Ki1 2 Kp2 Kv2 Ki2 1 2 ID ID 50 Kp1 1 60 Kp2 2 51 Kv1 1 61 Kv2 2 52 Ki 1 62
25. 2 65 MNL000131Y00 0001 Note ID30 Servo Command Bit7 Acceleration limit ON OFF ON ID35 Deceleration 30000 LID 3 9 Control Mode pa I serve Command leleleleleleleleleleleleslelelel 3000rpm 3000rpm Command Velocity 37 3000 rpm 0rpm
26. 0 0 ID91 Preset I O SV NET ID91 Preset I O SV NET ID91 Preset I O SV NET 1I O Home Senser O ID100 105 L O P49
27. 1 Pulse rev 1 Pulse rev Pulse Input Pulse Input 76 MNL000131Y00 0001 0O I O PIN No 10 C RST ON 0 ON OFF 0 ON ON C RST ON C RST SV ON Pulse
28. 17Bit ABS 17Bit INC Sensor Battery Error 17Bit ABS 1 ID30 ServoCommand Bit15 amp ID140 Abs Mode 0 Sensor not Connect Error Counter Overflow Error 17Bit ABS ID140 Abs Mode 0 1rev Count Error 1 17Bit 1
29. ID 9 co 0 ID30 Bit7 Acceleration limit ON ON ID34 ID35 SPPTEEEEREIEEEEEEIEIE lololelelololelelilolelelololele ON ON 1 Servo Command B15 B14 B13 B12 B11 imesg Orpm IO 1 ON ID37 Command Velocity 0 Note ID30 Servo Command Bit7 Acceleration limit ON ON ID34 Acceleration ID35 Deceleration 78 MNL000131Y00 0001 O 1
30. i I lt 0 ee AC100V 200V AC100V 200V 17Bit ABS AC100V 200V 1 I 3 i I I i P bb TBL IT TBL V 28 MNL000131Y00 0001 TA8433 TA8433 TA8433 SV NET RS232C SV NET PC Master of SV NET
31. NFB NF MC POWER AC100V AC200V O NFB NFB 1 NF SUP EQ MC OFF FR BAL
32. 12 MNL000131Y00 0001 2 LED SV NET I O1 MAC ID 0 I 02 M4 MNL000131Y00 0001 LED 3 LED OFF ON Control Mode Control Mode gt ID31 Control Mode P43 OFF 10 1 P95 SV NET
33. TA8433 RS232C RS422 SV NET RS232C RS485 SV NET TA8433 50 17 1 1 LED 1 0 i TATU0F CN1 CN3 SW1 CN4 CN2 3 SV NET DC24V RS232C RS422 RS485 2 5 0 2 M4 TA8433 SVNET TA8411 SV NET TA8433 SV NET Master of SVNET RS232C pi AC100V 200V 0E TBL IT TBL V DC24V DC24V 29 MNL000131Y00 0001 1 O1
34. Over Load ON ON Over Speed Counter Overflow 7000000Hex ON ON F LMT R LMT
35. INC Sensor Position1 17Bit ABS 17Bit 17Bit INC 17Bit 1 2 ID W M 50 Kp1 1 1 s 1 100 0 799 DEC 51 Kv1 O10 1 1 s 1 200 0 2000 bEd 52 ki 1 1 s 1 125 0 lt 2000 Ded 53 LPF f O Hz 1000 0 1000 DECI 54 NF f Hz 1000 0 lt 1000 DEC 55 NF d 0 32767 0 0 32767 DEC 56 Kcp1 O rad sec 2 2500 0 10000 DEC 57 Kcil rad sec 2 100 0 10000 DEC 58 Phase advance Gain O1O 2 34 0 512 DEC 59 O O gcm3 0 0 3000 DEC 60 Kp2
36. Servo Command Bit3 30 Servo Command ID30 Bit3 Clear Alarm ON 94 Hard Stop Servo Command Bit4 D WW see Gemmand oO Tae A ojojolojojolojojolojo ooo SV NET Hard Stop ON Hard Stop 89 MNL000131Y00 0001 Smooth Stop Servo Command Bit5 oo lelylelelelwlelelele le SV NET ID35 Deceleration ID30 Bit6 Direction
37. 1 MAC ID 1 9 MAO ID 9 2 MAC ID 2 A MAC ID 10 3 MAC ID 3 B MAC ID 11 4 MAC ID 4 C MAC ID 12 5 MAC ID 5 D MAO ID 13 6 MAC ID 6 MAC ID 14 7 MAC ID 7 F MAC ID 15 8 MAC ID 8 55 MNL000131Y00 0001 MAC ID SV NET MAC ID 1 OFF 2 MAC ID SV NET SV NET 3 0 4 ON 2
38. ON CW CCW ON 62 MNL000131Y00 0001 ID59 ID 59 gcm 0 0 3000 Note ID 2 Control Mode Mai serve Command lelelelelelelelelelelelelelele 3000rpm
39. 1 O 1 O 1 1 PPT lt UL2651 gt AWG28 1 O 1 a 5 2 AIN 3 Reverse PLS 4 Reverse PLS kN a 5 Forward PLS 6 Forward PLS 7 GND 8 AUX SE a 9 C RST O a a 10 ALM RST A O 11 Reverse LMT O 12 Forward LMT Os 13 SV ON O oO 14 INP 15 ALM 16 24V ALM GND 30 MNL000131Y00 0001 2 DC 10V DC 10V GND 1 7 GND MC
40. 6 Forward PLS P75 3 Reverse PLS 4 Reverse PLS NEI NET AMZ6C31 m TLP112A TLP112A Kk KK Forward Reverse 3 Reverse PLS 4 Reverse PLS 5 Forward PLS 6 Forward PLS 31 MNL000131Y00 0001 8 13 a DC5 24V i H DC3 5V 86 L DC1 0V 8 13 74VHC04 DC40V
41. OFF 0 OFF ON OFF ID 16 Parameters init 1 ON Servo Command Bit0 30 Servo Command ID30 BitO Servo ON ON ON ON
42. 2 I O ID 92 rrert C dC ommand Cu 001A 1 ON ID38 Command Current 0 80 MNL000131Y00 0001 O 1 ID 9 1800 0 01Arms OV 10V Arms 1800 5V 9Arms 131 NM 0 01Arms I O PIN No 2 O OV ID130 1800 5V 9Arms 5V
43. ID Enable OFF Time msee O00 DEG naple Ime msec 0 93 MNL000131Y00 0001 15 Fautt OFF LED ID20 Servo Status ID20 Servo Status Bit3 Fault Fault Bit3 Fault ON ID Dp 2 lelelwlelwlelelelelelele slele O
44. Over Speed Error 97 ID140 Abs Mode 0 MNL000131Y00 0001 LD 9 30 S C d gt ilelolelelelslelelelslelelelele 17Bit ABS INC 61 63 64 66 ID30 Servo Command B15 17Bit amp P96 Alarm History 1 Alarm History 4 16 gt Pe gl
45. 3 4 7 100 MNL000131Y00 0001
46. Command Velocity 37 Kv1 Ki1 Kv1 Ki1 LPF f Kv1 68 Note Kv1 1 0 lt 2000 Ki1 1 0 2000 LPF f Hz 0 1000 66 MNL000131Y00 0001 Kp1
47. ID ID EN lei 1 Device Code 2 x x 1 Servo Motor Driver 1 DEC 2 Product Code 2 x x 8411 DEC 3 Revision 2 x x DEC 4 Serial Number 4 x x 5 MAC ID 1 31 1 31 bed MAC ID 0 6 Baud Rate 1 O SV NET 4 0 2 DEC 0 125kHz or 1 250kHz 4 2 500kHz 4 1MHz 16 Parameters init 2 x 1 Parameter 0 0 1 DEC
48. ID72 Reference Direction 0 CW Note Forward Pulse and Reverse Pulse I O Reverse PLS Reverse PLS Forward PLS Forward PLS CCW Reverse PLS CW Forward PLS Pulse and Direction OI O Direction Direction PLS PLS CCW Direction Direction CW Direction 75 MNL000131Y00 0001 Pulse Input 121 2048 1 32767 Pulse Pulse Input ulse Input NS Pulse 2048 Pulse rev Pulse Input Pulse Input
49. 49 1 O 49 50 51 51 52 53 54 8 SV NET 55 MAC ID ee 55 57 ll 58 rr 59 10 60 60 62 PN 63 63 MNL000131Y00 0001 Om 64 re 65 ee 66 eee 68 69 1 72 73 74 IO 74
50. 5557 04R MOLEX 5556TL MOLEX 1 NN SVD AMW SVD AHW SVD ALW 13 M4 19 MNL000131Y00 0001 3 1 AC100V AC200V 1 SV NET 17Bit ABs TA8440 1 I I 1 I 1 I Re 17Bit ABS RE Ey i NFB 1 1 a I 1 Fa I _ Fr SV NET
51. ID L W M 140 Abs Mode 2 0 ON 0 0 1 1 Smartsyn Singlsyn 0 Q mm 17Bit ABS 1 17Bit INC 0 INC 0 1 141 Servo Select 2 O 0 00 00 HEX 142 143 Servo Off Delay 2 OO Servo Off Servo Off 20 0 lt 10000 DEC msec ON OFF ON OFF 144 Abs Offset 4 x Encoder Reset Homing
52. ID110 ID111 SSM5N15FE ET SS5N15FEA DG jp 14 IMP 111 OUT2 ID69 SW P49 15 ALM 110 OUT1 P46 6 14 INP 15 ALM ON ID77 IN Position ON P46 ON ID20 Servo Status Bit Bit
53. SV NET SV NET TA8433 TA8413 SV NET RS232C SV NET Master of SV NET MMI 1 1I SV NET O SV NET SV NET O 1 O
54. 3 MAC ID 2 ON ID 0 MAC ID 0 ykn MAC ID 2 ON uAc p z MAC ID 0 ON Dac p 2 ON SV NET SV NET SV NET gt MAC ID 1 MAC ID 2 MAC ID 3 11 MNL000131Y00 0001 SV NET SV NET SV NET 8 L O SV NET SV NET TA8440 SV NET
55. ID30 Servo Command Bit13 Home Senser Arm P44 ID91 Preset 82 MNL000131Y00 0001 Homing Homing 0 CW 1 CCW Homing O 1 Homing 83 MNL000131Y00 0001 Homing O LID Homing 0 0 Homing Type 2 3
56. SW Bit 1 OFF 0O 69 SW Bit0 0 1 ID 2 FB ID73 FB Bit7 ON ID73 Bit7 OFF 77 MNL000131Y00 0001 1 2 I O
57. Servo Off msec 0 149 1 0 0 1 DEC 0 Servo On Servo Off ON 154 ON 0 0 2 DEC 0 OFF 1 2 OFF 159 0 1 DEC ID200 ID211 1009 6 1000 21 160 0 1 C DEC 161 0 1V DEd ID 200 0 01A 0 2400 DEC 201 rpm 9000 0 10000 DEC 202 Smartsyn Singlsyn 2048 DEC
58. 17 Parameters save 1 x 1 Parameter 0 0 1 DEC 18 Program Code 2 x x HEX 41 MNLO00131Y00 0001 ID 20 Servo Status B0 Servo ON B1 Profile B2 In Position B3 Fault B4 Forward Limit B5 Reverse Limit B6 B7 B8 B10 Homing B11 Gain select B12 B13 21 1 O Status B0 B5 IN1 IN6 status B8 B10 OUT1 OUT3 status 22 Alarm Code Alarm Code 23 24 Alarm History 1 Alarm History 2 Alarm 1 Alarm 4 Alarm 5 Alarm 8 25 Alarm History 3 Alarm 9 Alarm 12 26 Alarm History 4 ol ol 0o10 Alarm 13 Alarm 16 ID 30 Servo Command B0 Servo ON B1 Start Profile B2 Cle
59. mom I O PIN No 2 O ONQD30 Bit0 ON serve Command lelwlelelelelvlelelvlelele cl 79 MNL000131Y00 0001 AC 1
60. RR 1 9 1 118 1 P50 3 10 2 119 2 2 GND 7 8 11 12 GND 1 2 1 2 I O 2 1 2 9 10 I 02 3 GND 3 gt 4 GND erawm 1 1 0 2 2 3 GND 4 GND 37 MNL000131Y00 0001 17Bit ABS
61. 75 76 77 78 78 1 70 79 80 80 IO 81 Homing 82 Homing 83 84 86 87 88 88 ON ree 88 eee 89 89 89 Hard Stop rr 89 Smooth Stop rr 90 rmt 90 90 91 ee 91
62. command olololololelolololeleolelolelo i Command olol1lololeololololelelelolel9 i 0 ID93 Homing ID94 Creep 0 0 ID91 Preset ID93 Homing ID91 Preset ID93 Homing ID94 Creep ID91 Prese Homing ID30 Control Mode 1 Homing
63. 0 12 Forward LMT 0 13 SV ON ON 0 ON ON 0 P77 Homing P82 ON OFF 1 2 P69 0 32 MNL000131Y00 0001 1
64. Smartsyn Singlsyn LEAD 1X 1 Z 1 N 8192 N 1 2048 2X 1 Z 2 N 4096 N 1 2048 2048C T 2000C T 4096C T INC N 8192 N 1 8192 LAG 17Bit INC ABS 2 8192C T Smartsyn Singlsyn R D Z 2048C T 2000C T 4096C T INC Z 17Bit INC ABS Z LEAD LAG Z i a 2 36 MNL000131Y00 0001 12 9 10 2 5V 2 5V ID 9 10 1
65. OOOO 121 Pulse Input 122 Pulse Input OO 123 124 125 126 127 128 129 130 131 132 O1OIO 133 134 121 MNL000131Y00 0001 17Bit INC ABS ID 4 Revision 1 50 135 136 137 138 139 140 Abs Mode 141 Servo Select Bit0 Bit1 Bit2 Bit3 Bit4 Bit5 Bit6 Bit7 142 143 Servo Off Delay 144 Abs Offset 145 Tuning KV 146 Tuning KI 147 Brake off Delay 148 Enable Off Time 149 O 153 Servo Message 154 155 159 O 160 O 161 O 200 O 201 O 202 203 204
66. Bit7 1 00 00 or 80 HEX 74 1 0 SV NET 00 00 01 75 1 0 SV NET B7 1 00 00 01 or 80 81 76 1 0 SV NET B7 1 00 00 01 or 80 81 HEX 77 dh IN Position ON Pulse 1 32767 DEC 78 Smoothing Smoothing 0 Smoothing 1 Smoothing DEC Ts sons no 46 MNL000131Y00 0001 wn ID M
67. 001A 0 DEC 88 O rpm 8500 0 10000 DEC Ts sons wwws 47 MNL000131Y00 0001 wn Homing ID M 90 Homing Type Homing 0 0 3 DEC 0 0O 1 2 3 91 Preset Homing 0 00000000 HEX Pulse FFFFFFFF 92 Homing Homing 0 0 1 DEC 0 1 93 Homing Homing rpm 500 0 10000 DEC 94 Creep rpm 50 0 lt 10000 DEC 95 Homing 200 0 lt 10000 DEC msec 96 Homing
68. 88 85 MNL000131Y00 0001 Homing ID 9 Homing Homnges Homing Ereeet Homing 2 0 CW 1 CCW Homing CT ED EET CT Homing ON ID30 Bit0 ON Homing servo EE EE EE EE EE Command o ololololololololololololololi ID93 Homing ID95 ID96 ID91 Preset ID30 Control Mode
69. Kp1 ID 1 67 MNL000131Y00 0001 100 300 Hz 0
70. Bit1 0 ID32 Target Position ID20 In Position Bit2 ON se Status ojolojojojojojololejojolo Note ID34 Acceleration 73 MNL000131Y00 0001 ID 5 9 D30 Bit0 ON ET EEE ID36 Command Position 1 O ID 72 0 F Pulse and R Pulse
71. Homing Homing 1 CCW Homing Creep O INPUT IN1 IN6 Home Senser 100 IN1 gt IN6 1 Bit7 1 ON Homing ON ID30 Bit0 ON Homing Se lololelolelelolelololelelelolo il 0 ID93 Homing ID94 Creep 0 0 ID91 Preset ID93 Homing ID91 Preset ID93 Homin
72. INC Pulse 17Bit ABS INC 4 x Pulse 32767 0 65535 ID202 sans 0 no ET 53 MNL000131Y00 0001 ID 203 Smartsyn Singlsyn 20480 DEC INC Pulse 17Bit ABS INC 4 x Pulse 32767 0 65535 204 degreeC 850 0 1000 DEC 205 0 1V 550 0 690 DEC 206 0 1V 180 0 690 DEC ID 8 250 Q Q DEC
73. 1 4 13 16 ek1o WM 1 16 10 1 16 100 200 300 400 x 100 96 98 MNL000131Y00 0001 AC100V AC200V AC90 115V AC180 253V N 2 N 3 N 4 N 6 N 7 N 8 2Arms max 4Arms max 6Arms max 2Arms max 4Arms max 6Arms max 6Arms max 8Arms max 12Arms max 6Arms max 8Arms max 12Arms max DC24V 10 0 2A 0 1A 0 4A 1 SV NET CAN 31 1 0 ON i G2 17Bit INC 2048 1 re
74. ON Fault ee 21 BO B5 IN1 IN6 rosews Status I O Alarm Code 94 a IPug 4 rpm 2 101A a mm EE 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 87 MNL000131Y00 0001 14 Dp 3 41 7 M
75. O 206 114 MNL000131Y00 0001 Revision 250 Q 251 Velocity 252 Position Error OIOIO 253 254 MNL000131Y00 0001 17Bit INC ABS 17Bit INC ABS 1D 440 Revision 4 40 9 Revision OOIOIOIOIOIOjg 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 OT No OT PI RIM sl O 1 Parameters init Parameters save Co Program Code Servo Status BitO Bit1 Bit2 Bit3 Bit4 Bit5 Bit6
76. ON 1 OFF 0 Servo Command Bit7 lelelelslelelele lolelelelelele 10rpm sec 10000 0 32767 DEc 10rpm sec 10000 0 lt 32767 DEc SV NET ID30 Bit7 Acceleration limit ON ON ID34 Acceleration ID35 Deceleration 90 MNL000131Y00 0001 Servo Command Bit8 30 S C d lolelelelelslellelelelelelelele ID30 Bit8 Analog Offset Adjust ON 0 1 ID132 O ID30 Bit8 Analog Offset Adjust ON Servo Command Bit11 ID 5 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 BO 30 Servo Command 01010
77. 1 TA8411 1 I a a SV NET LEAD LAG Z _ 1 ME ji SV NET 1 O TBL IT a TBL V AC100V 200V 20 MNL000131Y00 0001 5 22 23
78. O 205 O 206 122 MNL000131Y00 0001 17Bit INC ABS 250 Q Revision 251 Velocity 252 Position Error OO Oa 253 254 123 MNL000131Y00 0001 2048C T INC 2048C T INC jp 440 Revision 4 40 9 Revision Device Code Revision Product Code Serial Number MAC ID Baud Rate Device Group ID OIOIOIOIOIOIO OT No OT PI RIM Interrupt Data ID 1 sl Interrupt Data ID 3 Interrupt Data ID 2 Interrupt Data ID 4 O Indirect Data ID Indirect Data Indirect Data 1 Indirect Data Parameters init Parameters save Co Program Code
79. Over heat 60 P97 95 MNL000131Y00 0001 Over Voltage 0 Voltage Down Flash Memory Error k CPU
80. Servo Status Bit0 Bit1 Bit2 Bit3 Bit4 Bit5 Bit6 OIOIOIOIOIOIOIOIOIO 124 MNL000131Y00 0001 2048C T INC ID 20 Servo Status Bit7 Revision Bit8 Bit9 Bit10 Bit11 Bit12 OO 0O Bit13 Bit14 Bit15 21 I O Status 22 Alarm Code 23 Alarm History 1 24 Alarm History 2 25 Alarm History 3 26 30 Alarm History 4 Servo Command Bit0 Bit1 Bit2 Bit3 Bit4 Bit5 Bit6 Bit7 Bit8 OIOIOIOIOIOIOIOIOIOIOIOIOIOIO Bit9 Bit10 Bit11 QO Bit12 Bit13 Bit14 Bit15 31 Control Mode WlM OIOIOIOIOIOIO 125 MNL000131Y00 0001 2048C T INC ID 31 Control Mode Revision 15 16 32 Target Position 33 Target Velocity 34 Acceleration 35 Deceleration 36 Command Position 37 Command Velocity 38 Command Current 39 Reset Position
81. OIOIOIOIOIOIOIOIOIO 116 MNL000131Y00 0001 17Bit INC ABS ID 20 Servo Status Bit7 Revision Bit8 1 50 O O Bit9 Bit10 Bit11 Bit12 OO 0O Bit13 Bit14 Bit15 21 I O Status 22 Alarm Code 23 Alarm History 1 24 Alarm History 2 25 Alarm History 3 26 30 Alarm History 4 Servo Command Bit0 Bit1 Bit2 Bit3 Bit4 Bit5 Bit6 Bit7 Bit8 OIOIOIOIOIOIOIOIOIOIOIOIOIOIO Bit9 Bit10 Bit11 QO Bit12 Bit13 Bit14 Bit15 31 Control Mode OlM OIOIOIOIOIOIO 117 MNL000131Y00 0001 17Bit INC ABS 31 Control Mode 4 Revision 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 Actual Velocity 42 43 Actual Current Actual PVC 44 Actual SVC
82. 2 LEAD 3 LAG 4 LAG 5 Z 6 Z 7 GND 8 14 8 GND 9 1 10 2 11 GND 12 GND 13 NC 14 NC 35 MNL000131Y00 0001 LEAD LAG Z 1 6 1 O 2 1 6 TA8411N E N 3 7407 DC24V 30mA 7407 7407 LEAD LAG Z equivatent 1 3 5 lt 1 1 1 AM26C31 LEAD LAG Z AM26C3 equivatent 1 3 5 2 4 6 Ed LEAD LAG Z
83. Preset 00000000 HEX FFFFFFFF 145 Tuning KV 2 500 0 2000 DEC 2 500 2 3 1000 3 1500 146 Tuning KI 2 200 0 lt 2000 DEc sons wwws ET 52 MNL000131Y00 0001 ID 147 Break off Delay Servo ON Brake 0 0 10000 DEC msec 148 Enable Off Time SV NET 1000 0 6000 DEC
84. 121 Pulse Input 122 Pulse Input OO 123 124 125 126 127 128 129 130 131 132 O1OIO 133 134 113 MNL000131Y00 0001 ID 4 Revision 0 40 135 136 137 138 139 140 Abs Mode 141 Servo Select Bit0 Bit1 Bit2 Bit3 Bit4 Bit5 Bit6 Bit7 142 143 Servo Off Delay 144 Abs Offset 145 Tuning KV 146 Tuning KI 147 Brake off Delay 148 Enable Off Time 149 O 153 Servo Message 154 155 159 O 160 O 161 O 200 O 201 O 202 203 204 O 205
85. O 202 203 204 O 205 O 206 130 MNL000131Y00 0001 2048C T INC ID 250 Q Revision 251 Velocity 252 Position Error OO Ole 253 254 131 MNL000131Y00 0001 07 11 20 11 12 06 Master of SV NET I O D117 SW ID69 B13 ID20 Homing WS ING 2
86. MOOGOG EUA1139 LD EU9613 N0010 ER N0100 HH 7 L 102 MNL000131Y00 0001 9 178289 3 AMP 9 178129 6IAMP HG2I920M YWPOH NUM L 20 NO050 sm N0030 i 5m PVC EU9635 TBL IT NR SS 0 N0010 jn N0030 we VC Na EU9638 TBL V 8 9 9 1318118 6 AMP 9 29 1318118 6AMP 1318108 1 AMP Al A4B1 B4 L 1318108 1 AMP A1 A4 B1 B4 Dt 131810 IIAMP ASB5 6 9 1318107 IAM
87. 13 72 72 78 80 Homing 82 87 21 MNL000131Y00 0001 E AC100V AC200V _ NFB AC100V ia AC200V LAWG 18 P102 SV NET TA8411 22 MNL000131Y00 0001 SV NET 4 6 TA8411
88. MAC ID ON o Homing IO IO SVD DW
89. 10rpm sec 36 Command Position 4 Pulse 0 00000000 HEX FFFFFFFF 37 Command Velocity 2 rpm 0 10000 DEC 10000 38 Command Current 2 0 01A 0 DEC 39 Reset Position 4 Servo Command B14 1 0 00000000 HEX reset FFFFFFFF Ts sons wwws ET 43 MNL000131Y00 0001 ID L WM 40 Actual Position 4 x Xx Pulse ID140 Abs Mode ID72 Reference Direction a 41 Actual Velocity 2 x x rpm 42 Actual Current 2 x x Feedback 0 01A 43 Actual PVC 6 x x Actual Position Pulse 16Bit Actual Velocity rpm Actual Current 0 01A 6byte 44 Actual SVC 6 x Xx Sensor Position Pulse 16Bit Actual
90. ID130 1800 10V 9Arms OV 9Arms ID30 Analog in put offset adjustment Bit8 ON Se lelelelelelelelelelelelelelele ID132 EE 2 Tp 3 1 Bit7 1 6 ro PIN CT ON ID30 Bit0 ON mM lelelelelelolelelelelvlelelvle NMM 81 MNL000131Y00 0001 Homing Homing 2 3
91. 4 serve Command lelelelelwlelelelelelelelelele 500rpm Command Velocity 1000rpm Command Velocity Sorve Gammand a we oa oe wn ola falafel ee ee lelelelelelelelelelelelelelelele 5 58 MNL000131Y00 0001 6 LD 2 6 16 ca IT 0 Cemmand a ne lelflelelelelelelelelelelelelele Cemmand ja lelelelelele
92. 86 87 88 OIOIOIOIOIOIOIOIOIOIOIOIOIOIOIOIOIO 89 90 Homing Type CC IO 91 Preset 92 Homing 93 Homing OIOIOIOIOIOIO 127 MNL000131Y00 0001 2048C T INC ID 4 Revision 1 00 94 Creep 95 O 96 O 97 98 99 100 IN1 0 O 1 O 2 3 O 4 101 IN2 0 O 1 O 2 3 O 4 102 IN3 0 O 1 O 2 3 O 4 103 IN4 0 O 1 O 2 O 3 O 4 O 104 IN5 0 O 1 O 2 3 O 4 105 IN6 0 O 1 O 2 O 3 O 128 MNL000131Y00 0001 2048C T INC ID 105 IN6 4 Revision 1 00 106 107 108 109 110 OUT1 0 1 FFFF 111 OUT2 0 1 FFFF OIOIOI
93. L ON H OFF ID100 ID105 I O ID ET 8 AUX 105 IN6 9 C RST 104 IN5 P49 10 ALM RST 103 IN4 11 Reverse LMT 102 IN3 12 Forward LMT 101 IN2 P48 13 SV ON 100 IN1 W 8 AUX 0 9 C RST 0 10 ALM RST 0 11 Reverse LMT
94. SV NET 1 ON 2 SV NET Master of SV NET SV NET 1Mbps ID6 Baud Rate ID17 Parameter save 1 6 Baud Rate 0 125kHz 1 250kHz 2 500kHz 4 1MHz 17 Parameter save 1 4 1MHz 3 OFF 4 ON
95. SV NET PIN No 1 GND 2 CAN L Lod 3 GND 734 165 4 CAN H MA 5 DC 24V 734 105 WAGO 14 MNL000131Y00 0001 A1 S2 A B1 S4 A A2 S1 B B2 S3 B A3 R1 SD Z B3 R2 SD Z A4 VB 1376020 1 5 _ NN tyco Electronics AS 0 Ne AMP B5 GND GND AG6 NC B6 GND GND GND 1 1318118 6 tyco Electronics AMP 1318108 1 tyco Electronics AMP B A2 V ma ma A3 W rt 0 B1 B2 BK 1 17813 2 tyco Ele
96. 165ko 10kQ ID75 ID76 HO 6 P46 I O P79 I O P81 Note 9 5 9 5V A D 95 3 6 TLPII2A 500kHz ID74 P46 a
97. I O SVD DL I O2 15 ALM I O1 P30 ID22Alarm Code LED ID22 Alarm Code LD 2 Alarm Code 10 LED LED 1 94 MNL000131Y00 0001 Over Current ON
98. OR P49 24V 16 24V 109 6 SV NET 400mA GND 1 7 GND 34 MNL000131Y00 0001 1 O 2 1 O 2 1 O 2 1 O PT lt UL2651 gt AWG28 I O 2 1 7 1 LEAD O 2 1 6 2 NG 3 LAG N 4 NC 5 Z 6 NC TA8411N E 7 GND eo 1 ROR 1 LEAD
99. 3000rpm Command Velocity 37 3000 Orpm Command Velocity 37 63 MNL000131Y00 0001 TBL V Feedback
100. 734 105 WAGO SV NET 104 216 202W WAGO SV NET 734 105 2 MNL000131Y00 0001 O O A B x 1 A 0 6V ID118 1 2029Hex 2 1V 3277 rpm 0 6 V x 3277 rpm 1966 2 rpm A B
101. 79 Smoothing time Smoothing msec 50 0 102 DEC constant MAX 102ms 80 Gain O 0 1 0 0 5 DEC 1 or 2 9 3 4 1O I O 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 DECI rpm or pulse ID80 1 3 GainChangePoint_H 82 GainChangePoint_L Gain1 GainChangePoint L 4 0 32767 DEC Gain2 Gain1 2 83 O 0 0 0 1 PEGI 1 84 Pulse 40000000 00000000 HEX FFFFFFFF 85 Pulse C0000000 00000000 HEX FFFFFFFF 86 0 01A 0 DEC 87
102. B7 1 normally ON 105 IN6 O 0 Profile start 00 00 04 HEX 1 Home sensor or 2 External Fault 80 84 3 Gain 4 0 Analog B7 1 normally ON Input Input 1 O ID M 110 OUT1 00 Alarm 8 0000 HEX 0001 FFFF 111 OUT2 00 n Position 4 0000 HEX 0001 FFFF ID 20 Servo Status 0001 FFFF HEX 1Btt OR Ts sens 0 no 49 wn MNL000131Y00 0001 SVD DW ID L W M 117 O 2 1O O IO 5 5 DEC 200u
103. EE ES TAMAGAWA 160 170 10 5 180 Mel ABCDEF HKLMNOPGQ RSTUVWXYZ 160 170 20 5 180 I ver ABCDEF HKLMNOPG RSTUVWXYZ 130 60 MNL000131Y00 0001 PPE f I I I I 30mm I 1
104. 2 5 SV NET Master of SV NET 57 MNL000131Y00 0001 1 1 ON 2 2 LED 94 3
105. 1 126 Smartsyn Singlsyn 2048 1 8192 DEC 1X 1 Z 1 N 8192 8192 N 1 lt 2048 2048 2X 1 Z 2 N 4096 N 1 2048 2048 INC N 8192 N 1 8192 17Bit ABS INC 18192C T ID M 130 10V 6000 0 10000 DEC rpm 131 10V 1800 0 2400 DEC 0 01Arms 0 lt 32767 DEd Ts sons wwws 51 MNL000131Y00 0001 wn
106. 40 Actual Position 41 Actual Velocity 42 43 Actual Current Actual PVC 44 Actual SVC 45 Sensor Position1 46 Sensor Position2 OIOIOIOIOIOIOIOIOIOIOIOIOIOIOIOIOIO1O 47 48 49 50 Kp 1 51 Kv1 52 Ki1 53 LPF f 54 NF f 55 NF d 56 Kcp1 57 Kci1 58 Phase advance Gain 59 60 Kp2 61 Kv2 OIOIOIOIOIOIOIOIOIO1OIO 126 MNL000131Y00 0001 2048C T INC ID 62 Ki2 Revision 63 NF f2 64 NF d2 oolols 65 66 67 68 69 70 71 72 Reference Direction 73 FB Bit0 74 75 76 77 IN Position ON 78 Smoothing 79 Smoothing time constant 80 Gain 81 GainChangePoint_H 82 GainChangePoint L 83 84 85
107. 40 TA8411N 2 E 41 TS4601 30W 40 TA8411N 6 E 81 TS4602 50W 40 TA8411N 2 E 42 TS4602 50W 40 TA8411N 6 E 82 TS4603 100W 40 TA8411N 2 E 43 TS4603 100W 40 TA8411N 6 E 83 TS4604 150W 40 TA8411N 3 E 44 TS4604 150W 40 TA8411N 6 E 84 TS4606 100W 60 TA8411N 2 E 56 TS4606 100W 60 TA8411N 6 E 96 TS4607 200W 60 TA8411N 3 E 57 TS4607 200W 60 TA8411N 6 E 97 TS4609 400W 60 TA8411N 4 E 59 TS4609 400W 60 TA8411N 7 E 99 TS4610 600W 60 TA8411N 8 E 90 TS4611 200W 80 TA8411N 3 E 71 TS4611 200W 80 TA8411N 6 E 01 TS4612 400W 80 TA8411N 7 E 02 TS4613 600W 80 TA8411N 8 E 03 TS4614 50W 80 TA8411N 8 E 04 2 9 MNL000131Y00 0001 SV NET TA8411 AC100V 200V AC SV NET SV NET
108. Velocity rpm Actual Current 0 01A 6byte 45 Sensor Position1 4 x x Smartsyn Singlsyn ID 140 Abs Mode 1 0 ON 0 INC 1 17Bit ABS INC 17Bit 1 Ts sans we ET 44 MNL000131Y00 0001 2 ZIESCG 45 ID W M 46 Sensor Position2 x x Smartsyn Singlsyn 1 1x 8192ct Rev
109. AWG20 AWG20 AWG24 PV 7h 65410965M0 AWG24 178289 3 175218 2 AWG20 175217 2 AWG24 P103 EU9615 N Pv64 es4o1ssaM0 XX P103 26 MNL000131Y00 0001 TBL Kones AC DED AWG20 1 178129 6 AWG20 AWG20 AWG24 AWG24 PVC 654101955N40 AWG24 5559 06P MOLEX 5558TL MOLEX P103 EU9622 N PVG 654101953MO XX P103 27 MNL00013
110. ID 6000 rpm OV 10V rpm 6000 5V 3000rpm I O PIN No 2 O OV ID130 6000 5V 3000rpm 5V ID130 6000 10V 3000rpm OV 3000rpm Analog input offset adjustment ID30 Bit8 ON Se loleleolelelolelilelelelelelelele ID132 2 ID 130 1 i Bit7 1
111. a Pulse 1 Pulse and Direction Bit7 1 17 QD30 Bit0 ON chrtikuEiEEiEi lelolololololololelololelololelil 1 0 DPS ID121 ID122 ID78 Smoothing ID79 Smoothing time constant 74 MNL000131Y00 0001 0 Forward Pulse and Reverse Pulse Pulse 1 Pulse and Direction Bit7 1 I O Pulse 2
112. ee 91 ee 92 OFF 92 92 93 93 SV NET OFF 93 94 94 95 ee 9 7 98 gg 98 Ome 102 105 eee 106 108 MNL000131Y00 0001 Memo 4 MNL000131Y00 0001 SV NET
113. O 2 1 s 1 50 0 799 DEc 61 Kv2 2 1 s 1 175 0 2000 DEC 62 Ki2 2 1 s 1 100 0 2000 DEC 1 Kp Kv Ki 1 s MNL000131Y00 0001 69 SW Bit8 OUT1 1 1 Bit0 OFF 0 1 Bit 0 Bit9 OUT2 00 0000 FFFF 70 71 Smartsyn Singlsyn 2048 INC 8192 17Bit ABS INC 131072 2048 8192 131072 DEC DEC 72 Reference Direction 0 CW 1 CCW DEC 73 FB 0
114. SV NET 24 25 SV NET 3 28 29 1 O1 30 1 O2 35 37 38 37 6 40 7 41 8 SV NET 55 MAC ID 11 62 10 60 12 64
115. 45 Sensor Position1 46 Sensor Position2 OIOIOIOIOIOIOIOIOIOIOIOIOIOIOIOIOIOIOIg 47 48 49 50 Kp 1 51 Kv1 52 Ki1 53 LPF f 54 NF f 55 NF d 56 Kcp1 57 Kci1 58 Phase advance Gain 59 60 Kp2 61 Kv2 OIOIOIOIOIOIOIOIOIO1OIO 118 MNL000131Y00 0001 17Bit INC ABS ID 62 Ki2 Revision 63 NF f2 64 NF d2 OIOIOlg 65 66 67 68 69 70 71 72 Reference Direction 73 FB Bit0 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 OIOI
116. 120 mm POWER DRVE 5 XX AC100V 200V SV NET SV NET 216 202W WAGO 2 SV NET DC24V S Rs 216 202W WAGO P104 O ia TAMAGAWA TAMAGAWA Elew 1206 lp mw SV NET TA8440 SV NET TA8411 T 1 1 SV NET NI limrmrl EE a
117. 132 24 99 12 29 56 57 31 31 106 33 50 34 46 77 38 39 42 87 50 103 83 99 99 102 27 37 38 96 104 41 45 49 50 53 54 MNL000131Y00 0001
118. 600 0 DEC 0 01Arms IO ID M 100 IN1 0 Servo On 00 00 04 HE 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 HE 1 Home sensor or 2 External Fault 80 84 3 Gain 4 0 Analog B7 1 normally ON pews wwws 48 MNL000131Y00 0001 wn 1 ID M 102 IN3 0 Reverse Limit 00 00 04 HEX 1 Home sensor or 2 External Fault 80 84 3 Gain 4 0 Analog B7 1 normally ON 103 IN4 0 Alarm Reset 00 00 04 HEX 1 Home sensor or 2 External Fault 80 84 3 Gain 4 0 Analog B7 1 normally ON 104 IN5 O 0 00 00 04 HEX 1 Home sensor or 2 External Fault 80 84 3 Gain 4 0 Analog
119. ActualCurrent Vax NR Ki Kei Kp 7 O Kv 1 7 Kcp 1 S ActualVelocity ActualCurrent F V ActualPosition ActualVelocity Kp 50 60 Kp1 Kp2 Kv 51 61 Kv1Kv2 Ki 52 62 Ki1 Ki2 Ks Kcp 56 Kcp1 Koi 57 Koci1 VMAX 88 86 TLMT 87 53 LPF f 54 NF f 55 NF d Kp Kv Ki Gain ID80 Kp2 Kv2 Ki2 2 64 MNL000131Y00 0001
120. ID41 Actual Velocity 2000rpm 2 5 V 2 3x2000 rpm x 2 5 V 32768 3 72 V ID41 Actual Velocity 3000rpm 2 5 V 2 3x 3000 rpm x 2 5 V 32768 0 67 V P105 16Bit 32767 32767 32Bit 16Bit a ssa nen v aes sanae 50 MNL000131Y00 0001 ID M 120 Pulse 0 Forward Pulse and Reverse Pulse 00 00 01 HEX 1 Pulse and Direction or 01 81 B7 1 121 Pulse Input n m Pulse 2048 l DEC n m Pulses rev 1073741824 122 Pulse Input ID74 1 1 255 DEC
121. ON ID154 ON ID154 P53 0 OFF 1 2 OFF 39 MNL000131Y00 0001 6 SV NET SV NET 41 7
122. TA8440 SV NET I O Singlsyn Smartsyn INC 17Bit ABS 17Bit INC SVD DLW SVD DMW SVD DHW AE100V 100W AC100V 200W M AC100V 400W AC200V 200W AC200V 400W AC200V 750W 2 NN A tl SV NET Forward Reverse lt gt 6 000rpm 10V 18Arms 10V SV NET
123. MAC ID ON 5 SV NET Master of SV NET SV NET ID5 MAC ID 1 31 ID17 Parameter save 1 1MHz 5 MAC ID 1 31 Parameter save 1 7 OFF 8 ON 2 9 SV NET Master of SV NET MAC ID 10 1 SV NET MAC ID 56 MNL000131Y00 0001 1MHz
124. O ID117 1 O O CN7 ID 8 AUX 9 o RsT 10 RST 117 I O P50 11 Reverse LMT 0 12 Forward LMT 13 SV ON 0 0 33 MNL000131Y00 0001 14 15 100mA 30V
125. OFF 0 Homing 88 86 MNL000131Y00 0001 LID 3 9 20 Servo Status B0 Servo ON Servo ON 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 B12 ON B13
126. Reference Direction 1 CCW ID72 Reference Direction 1 CCW Reference Direction 4 LID 9 LID SV NET OFF SV NET OFF ID148 Enable Off Time 1000 msec 1 OFF 0
127. 0 Homing Type CC IO 91 Preset 92 Homing 93 Homing OIOIOIOIOIOIO 111 MNL000131Y00 0001 ID 4 Revision 0 40 94 Creep 95 O 96 O 97 98 99 100 IN1 0 O 1 O 2 3 O 4 101 IN2 0 O 1 O 2 3 O 4 102 IN3 0 O 1 O 2 3 O 4 103 IN4 0 O 1 O 2 O 3 O 4 O 104 IN5 0 O 1 O 2 3 O 4 105 IN6 0 O 1 O 2 3 112 MNL000131Y00 0001 ID 105 IN6 4 Revision 0 40 106 107 108 109 110 OUT1 0 1 FFFF 111 OUT2 0 1 FFFF OIOIOIO 112 113 114 115 116 117 118 1 119 2 120 Pulse OOOO
128. 11101010 1010 101010101010 ID30 Bit11 Gain change ON 2 Gain Chenge ID80 Gain 5 69 ON 1 2 OFF 0 1 Servo Command Bit13 ID 2 9 30 S C d lolelileleleylelelelelelelelelele Homing ID30 Bit13 Home Sensor Arm ON 82 Homing 91 MNL000131Y00 0001 Servo Command Bit14 oo le lelelelelelelelelelelelelele D FcsetPosiion Guss 0 oooooooFFFfFfFF Ex ID30 Bit14 Position Reset ON ID3
129. 1I O 13 32 ON 2 88 MNL000131Y00 0001 Servo Command Bit1 30 Servo Command SV NET ON ID30 Bit1 Strat Profile ON Servo Command Bit2 30 Servo Command ID30 Bit2 Clear Position error ON Clear Position error ON Bit 1 ON 0 OFF
130. 1Y00 0001 SV NET 3 TA8411 SV NET TBL V TBL i2 MOTOR PC SV NET z CAN w 1 CAN i KAN CAN 2 GND LL EO NN 2 6 12000 3RD 3 GND Lp SENSOR Ws i Ea pt Ct yl 5 2 1 pcazy Et USB MOTOR POWER DRIVE Xx 1 6ND AC100V 200V 41DC24V TA8411 TBL VZTBL i2 MOTOR i eh SV NET 7 M XX 1 4 DC24V a 7 0 1 SENSOR 1 MD ya mm 4 GND sl24W XX LA 4 Dc24V MOTOR RIVE H 2 6 0 WMT AC100V 200V TA8411 J TBL V TBL i2 MOTOR SV NET 1 3 3 ES
131. 28 1 0 i o 2 LEAD LAG Z EE 3 1 LEAD LEAD 2 NC LEAD 3 LAG LAG 4 NC LAG 3 2 6 NC Z 7 GND a GND HIF3BAF 14PA 2 54DS 1 1 A HIROSE 10 2 2 1 7 11 GND 12 GND 19 Nc 14 NC HIF3BA 14D 2 54R HIROSE 1 1 2 P50 18 MNL000131Y00 0001 PIN No 1 RG1 DB 1 RG2 DB2 5569 04A1 MOLEX
132. 4V OSV NET SV NET EU9610 N SV NET GND AWG24 CAN H DC24V NADNR24 MISUM1I SV NET P102 24 WAGO MISUMI MNL000131Y00 0001 O o TBL i I TBL iI AC 25 MNL000131Y00 0001 TBL L Tseries Ac TED 20 20 Pe Ra
133. 9 Reset Position OFF ID OFF 20 0 lt 10000 msec 143 Servo OFF Delay ON OFF OFF OFF OFF ID 1 Smoothing 78 Smoothing lon 0 Smoothing EZ SE Smoothing mwes 50 10 102bEG ID78 Smoothing 1 ID79 Smoothing Time Constant msec S 92 MNL000131Y00 0001 IID 2 0 CW 72
134. AC100V 200V AC TA8411 RoHS 0 MNL000131Y00 0001 Miotortronics 77272 RoHS gzzgww TAMAGAWA SEIKI CO LTD 1 MNL000131Y00 0001 SV NET I O SV NET SV NET 3 1 O 1 1 O 2 41 42 44 44 45 46 Homing 48 1 O
135. D 1 MAC ID MAC ID MAC ID MAC ID MAC ID MAC ID MAC ID MAC ID 2 3 4 5 6 8 9 MAC ID 10 MAC ID 11 MAC ID 12 MAC ID 13 MAC ID 14 nM OU ON PP O10 No 0 RwTNR MAC ID 15 17Bit ABS JAE IL 2P S3FP2 1 PIN No 1 GND 2 VB 17 MNL000131Y00 0001 I O 2 PIN No 1 1 2 2 3 GND HIROSE 4 GND DF11 4DS 2C HIROSE DF11 2428SC HIROSE AWG24
136. Elhiool TA8411 1 2048C T 3 17bit INC ABS 7 Singlsyn Smartsyn 2 AC100V 6Arms 3 AC100V 8Arms 4 AC100V 12Arms 6 AC200V 6Arms 7 AC200V 8Arms 8 AC200V 12Arms 1 BLACK 2 RED 3 SILVER 4 GREEN 5 BLUE 6 WHITE LO 1 2 100 1 Singlsyn 2 Smartsyn 5 2048C T INC 6 17Bit ABS 7 17Bit INC 8 Singlsyn Smartsyn 8 900 6 MNL000131Y00 0001
137. ID80 Gain 1 2 rpm 3 pulse 69 MNL000131Y00 0001 1 Kv1 Kp1 Ki1 2 KVv2 Kp2 Ki2 L H ID 80 ID 1 H 1 2 H L 3 L 2 Servo Command ID30 Servo Command Bit11 Gain Chenge ID8O Gain 5 LID 2 9 a OO OO Servo Command ololololilololo ON 1 2 OFF 0 1 70 MNLO00131Y00 0001
138. IOIOIOIOIO 108 MNL000131Y00 0001 20 Servo Status Bit7 Revision Bit8 Bit9 Bit10 Bit11 Bit12 OO 0O Bit13 Bit14 Bit15 21 I O Status 22 Alarm Code 23 Alarm History 1 24 Alarm History 2 25 Alarm History 3 26 30 Alarm History 4 Servo Command Bit0 Bit1 Bit2 Bit3 Bit4 Bit5 Bit6 Bit7 Bit8 OIOIOIOIOIOIOIOIOIOIOIOIOIOIO Bit9 Bit10 Bit11 QO Bit12 Bit13 Bit14 OO Bit15 31 Control Mode OlM OIOIOIO 109 MNL000131Y00 0001 31 Control Mode Revision 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 Actual Velocity 42 43 Actual Current Actual PVC 44 Actual SVC 45 Sensor Position1 46 Sensor
139. Ki2 2 Gain 1 1 O ServoCommand Bit11 2 0 1 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 L rpm or pulse 0 32767 Point L
140. N 3 12Arms 29 N 5 24Arms 21 N 3 12Arms 5Arms 5 12 x 2 6826 251 Velocity DEC 10000 rpm 32767 252 Position Error DEC Pulse 253 254 OTNEIEEC EC 54 MNL000131Y00 0001 SV NET MAC ID MAC ID 31 MAC ID MAC ID SV NET ID5TMAC ID MAC ID MAC ID 1 OFF 2 MAC ID MAC ID 1 15 3 MAC ID
141. O 112 113 114 115 116 117 118 1 119 2 120 Pulse OOOO 121 Pulse Input 122 Pulse Input OO 123 124 125 126 127 128 129 130 131 132 OO 0 133 134 129 MNL000131Y00 0001 2048C T INC ID 4 Revision 1 00 135 136 137 138 139 140 Abs Mode 141 Servo Select Bit0 Bit1 Bit2 Bit3 Bit4 Bit5 Bit6 Bit7 142 143 Servo Off Delay 144 Abs Offset 145 Tuning KV 146 Tuning KI 147 Brake off Delay 148 Enable Off Time 149 O 153 Servo Message 154 155 159 O 160 O 161 O 200 O 201
142. OIOIOIOIOIOIOIOIOIOIOIOIOIOIOIO 89 90 Homing Type CC IO 91 Preset 92 Homing 93 Homing OIOIOIOIOIOIO 119 MNL000131Y00 0001 17Bit INC ABS ID 4 Revision 1 50 94 Creep 95 O 96 O 97 98 99 100 IN1 0 O 1 O 2 3 O 4 101 IN2 0 O 1 O 2 3 O 4 102 IN3 0 O 1 O 2 3 O 4 103 IN4 0 O 1 O 2 3 O 4 104 IN5 0 O 1 O 2 O 3 O 4 105 IN6 0 O 1 O 2 O 3 O 120 MNL000131Y00 0001 17Bit INC ABS ID 105 IN6 4 Revision 1 50 106 107 108 109 110 OUT1 0 1 FFFF 111 OUT2 0 1 FFFF OIOIOIO 112 113 114 115 116 117 118 1 119 2 120 Pulse
143. P A5B5B6 2o L 20 a EU961 5 N001 0 PVC 9 AB A5 AZ A3 A2 AT EU9615 TBL IT ES AB A5 A4 43 A2 AT 34 7 9 1 1318115 6 AMP L 1318112 1IAMP 20 L 20 y 2 1318108 IAMPI EU9622 N0010 Pe ma N0030 5 HE EU9622 TBL V A nm is 3 RES ee 103 MNL000131Y00 0001 SV NET 734 365 WAGO SV NET ER17500VC 17Bit ABS EU9635 ER17500VC 3 6V SV NET
144. PA 2 54DS 9 C RST 2 HIROSE 10 ALM RST 2 11 Reverse LMT 2 12 Forward LMT 2 13 SV ON ON 2 14 InP 2 15 aL 2 16 24V COM HIF3BA 16D 2 54R HIROSE 1 P75 2 8 13 P32 16 MNL000131Y00 0001 MAc ID MAC ID MAC ID 1 15 0 MAC ID 31 MAC I
145. Position2 OIOIOIOIOIOIOIOIOIOIOIOIOIOIOIOIOIOIO 47 48 49 50 Kp 1 51 Kv1 52 Ki1 53 LPF f 54 NF f 55 NF d 56 Kcp1 57 Kci1 58 Phase advance Gain 59 60 Kp2 61 Kv2 OIOIOIOIOIOIOIOIOIO1OIO 110 MNL000131Y00 0001 62 Ki2 Revision 63 NF f2 64 NF d2 OIOIO 65 66 67 68 69 70 71 72 Reference Direction 73 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 OIOIOIOIOIOIOIOIOIOIOIOIOIOIOIOIOIO 89 9
146. S Ne F PLS COM TLP112A AUXN lt NB RST equivalen R LMT Tf 3 FRMT V3 SV 0N lt 150 IMP lt 1 ALM 15 F Fe 3 74VHC04 pczy squivolent ee 5V 02 ownher 1 F i LU SW NET CONTROLER ITA8440 Series 470Q rmp 1 EE DC24V amp SV NET pm 3 LA6 gt Open collector 4 5 1 1 2 lt 6 i Output circuit i Line Driver Fi 2 8SM5N15FE As i aco Power Supply I equivglent ln MONITOR OUT1 lt 9 cl AE1007200V MONITOR OUT2 lt 6 H LE 1 MONI 3 MONTOR 0UT1 1 BAT Battery 7407 MONITOR OUT2 2 equivalent 3 COMC EL1 DC3 6V typ 1 Nxxx1 Non COonnectioh Comnect to mechanical broke drectry if necessary 2 3 BATTERY 17bIt Batlery is used Note of 17b obs encoder ddtq hackup
147. W 20 TS4735 10W 20 TS4737 20W 28 TS4738 30W 28 TA8411N72 E801 TA8411N72 E802 TA8411N72 E803 TA8411N72 E804 TS4734 5W 20 TS4735 10W 20 TS4737 20W 28 TS4738 30W 28 TA8411N76 E801 TA8411N76 E802 TA8411N76 E803 TA8411N76 E804 1 50 N3012 TS4734 5W 20 TS4735 10W 20 TS4737 20W 28 TS4738 30W 28 TA8411N72 E805 TA8411N72 E806 TA8411N72 E807 TA8411N72 E808 TS4734 5W 20 TS4735 10W 20 TS4737 20W 28 TS4738 30W 28 TA8411N76 E805 TA8411N76 E806 TA8411N76 E807 TA8411N76 E808 1 100 TS4734 5W 20 TS4735 10W 20 TS4737 20W 28 TS4738 30W 28 N3013 TA8411N72 E809 TA8411N72 E810 TA8411N72 E811 TA8411N72 E812 TS4734 5W 20 TS4735 10W 20 TS4737 20W 28 TS4738 30W 28 TA8411N76 E809 TA8411N76 E810 TA8411N76 E811 TA8411N76 E812 MNL000131Y00 0001 TBL i I E2 E5 E6 E7 TS4601 30W
148. ar Position error B3 Clear Alarm B4 Hard Stop B5 Smooth Stop B6 direction B7 Acceleration limit ON B8 Analog input offset adjustment ON B11 Gain change B13 Home Sensor Arm B14 Position Reset B15 17Bit amp 00 0000 HEX FFFF Bit 0 sans we 42 wn MNL000131Y00 0001 ID LW M 31 Control Mode 1 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 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 O Smoothing 10000 0 32767 DEC Stop ID30 Bit5 ON
149. ctronics AMP BS BK 1 178129 6 tyco Electronics AMP 175218 2 tyco Electronics AMP 15 MNL000131Y00 0001 PT 5569 02A1 MOLEX PIN No 1 2 AC100V AC200V AC220V 5557 02R MOLEX 5556TL MOLEX I O 1 PIN No 1 0 1 GND COM a 7 2 3 Reverse PLS A 1 NN 4 Reverse PLS 1 5 Forward PLS 1 6 2 6 Forward PLS 1 7 GND COM 8 AUX Profile Start 2 HIF3BAF 16
150. g ID94 Creep ID91 Prese Homing ID30 Control Mode 1 Homing 88 84 MNL000131Y00 0001 Homing SV NET LID Homing 0 0 a ere 3 Homing Homing 1 CCW Homing 194 Creep pem Homing ONQD30 Bit0 ON Homing
151. lelelelelelelelelel CW 100 T t Positi 204800 1 2048 1000rpm 100000rpm sec 10000 10rpm sec Acceleration ME amp a cemmand elle lilelelelele le Gnnnnnanpngmgpn lelelelelelelelelelllllele 7 59 MNL000131Y00 0001 10 M4 Note SVD ALW SVD AMW SVD DHW 5 M4 x 2
152. s 5 32767 1ms 118 1 2 1 202A 0000 HEX ID42 Actual Current EOFF 119 2 2 2 2029 0000 HEX ID41 Actual Velocity EOFF 12Bit ID 001 OCE HEX 4Bit 0 E HEX 2 5 V 2 x 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
153. v 27 1 rev 2048 1 rev LEAD LAG Z TBL iI TBL V 400W 750W 8000rpm max 3 0 40 C 10 85 C 9096 CW 4 30 SVD ALW 180x 37 x 130 x x mm SVD AMW 180 x 37 x 130 x x SVD AHW 180 x 47 x 130 x x LED SVD ALW 0 6kg SVD AMW 0 6kg SVD AHW 0 9kg RoHS RoHS 1 1 O 2 4 3 4 99 MNL000131Y00 0001 17
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