JPS JUPITER-STD User Manual
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JPS JUPITER-STD User Manual

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User Manual
VERSION：1.15

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Summary of Contents for JPS JUPITER-STD

  • Page 1 User Manual VERSION：1.15...

  • Page 2: Table Of Contents

    9. PARAMETER DESCRIPTION............................... 33 9.1 STD M ：S ......................... 33 TANDARD ARAMETER 9.2 EGEAR M ：S ..................40 TANDARD ULSE OMMAND ARAMETER 9.3 BP2P M ：B ....................... 41 ASIC OINT OINT ARAMETER 9.4 P ..................................44 ARAMETER 10. JMD GROUP DESCRIPTION..............................45 www.jps.com.tw...
  • Page 3 13.8.2 ECAM-Type2：Start Angle-Range Angle ......................81 13.20 16BIT SHIFTER B ........................... 82 LOCK UNCTION 13.20.1 16 BIT SHIFTER Block：Parameter ........................82 13.20.2 16 BIT SHIFTER Block：Digital Input ....................... 82 13.20.3 16 BIT SHIFTER Block：Digital Output ......................82 13.22 XY/AB-INDEX F ..............................86 UNCTION www.jps.com.tw...
  • Page 4 ※ 14.3.7.2 EGEAR Mode：Standard Pulse Command Mode：PID Demo ............108 14.4 BP2P M ：B ..........................110 ASIC OINT OINT 14.4.1 BP2P Mode：Basic Point To Point：Parameter .................... 110 ※ 14.4.1.1 BP2P Mode：Basic Point To Point：Parameter  Search Home Related ........110 www.jps.com.tw...
  • Page 5 14.4.6.2.4 Mode Curve：=6 P2P Full Sine Mode ....................139 ※ 14.4.6.3 BP2P Mode：Mark Mode Application & Curve Description .............. 140 14.4.6.3.1 BP2P Mark Adjustment-1 ........................140 14.4.6.3.2 BP2P Mark Adjustment-2 ........................141 14.4.7 BP2P Mode：Basic Point To Point：PID Gain ....................142 www.jps.com.tw...
  • Page 6 ※ 14.4.7.1 BP2P Mode：Basic Point To Point  PID Gain Curve ................. 142 15. ALARM MESSAGE AND MAINTENANCE ..........................144 15.1 A ：P ............................144 LARM ESSAG ANEL ISPLAY 15.2 A ................................144 LARM ISPLAY 15.2 A ：BIT ........................144 LARM ESSAGE ISPLAY INARY 15.3 A ................................... 145 LARM ROCESS www.jps.com.tw...
  • Page 7 Only qualified personnel may connect， start the system up and repair faults. These personnel must be  thoroughly acquainted with all the warnings and operating procedures contained with this manual. Certain parameter settings may cause the device to start up automatically after power on or power recover.  www.jps.com.tw...
  • Page 8 Keep these operating instructions within easy reach and give them to all users!  WARNING This is a Class A product. In a domestic environment this product may cause radio interference in which case the user may be required to take adequate measures. www.jps.com.tw...

  • Page 9: Product Introduction

    1.2 Description of Nameplate Content 1.2.1 The Label on the Packing Case JMD-STD-90A-(H) 380V The contents of indication: Jupiter Series。  Fireware Function（STD/RC/FS/FC/PRT/VRC） 。  Rated Current。  sign=(H)：380V type； without sign(H)：220V type。  380V 380V AC Input Suitable。  www.jps.com.tw...

  • Page 10: The Driver Rating Label

    FC：Fly Catch FS：Fly Saw Output Rated Current Current With (H)：220V type Without(H)：380V type INPUT ：3Ø220AC / 50/60HZ Power-Type A.C. 1 or 3 Phase, 220Volt. Power Frequency 50Hz/60Hz OUTPUT : 3Ø 220V / 90A Rated Voltage 3phase / 220V Rated Current www.jps.com.tw...

  • Page 11: The Specification Of Jupiter Series

    JMD-XXX-□ Output Current(A) Rated Capacity(KVA) Rated Power(KW) 0.75 22.5 Max Output Voltage Match 3 phase Input Voltage Dimension 380V Series： Horse Power(HP) JMD-XXX-□(H) Output Current(A) Rated Capacity(KVA) Rated Power(KW) 22.5 Max Output Match 3 phase Input Voltage Voltage Dimension www.jps.com.tw...

  • Page 12: The Specification Of Hardware

    RS485 Communication Interface Included Follow 220V： 1HP-10HP include Brake Discharge MOS-FET Type 380V：7.5HP-10HP include Over Heat Protect Function Included PG Feedback Interface Belong to Line-Drive 5V PG Encoder Output Divide from /1~ /64 External Received Interface Belong to 5V Photocoupler Input www.jps.com.tw...

  • Page 13: Condition Of Storage Environment

    Please consider the possible use of options， such as RFI suppression filters at the planning stage. WARNING To prevent electrical shock， do not open cover for at least 5 minutes after removing AC power to allow capacitors to discharge. www.jps.com.tw...

  • Page 14: Outline Dimension

    4. Outline Dimension P1：1HP~5HP Unit：mm P２：7.5 HP~10HP Unit：mm P３：15HP~30HP Unit：mm P４：40HP Unit：mm P５：50HP~60HP Unit：mm P６： 73~120HP Unit：mm www.jps.com.tw...
  • Page 15 P7：147HP~224HP Unit：mm www.jps.com.tw...

  • Page 16: Description Of Wiring

    5.2 The Control Signal Terminals WARNING! NOTE! All the input/output control signal lines， or remote panel lines and communication lines must be laid separately from the high current power/motor/brake lines. They must not be fed through the same cable conduit/trucking. www.jps.com.tw...

  • Page 17: Brake Resistor Terminals

    Refer to the list below when choosing resistor for braking discharge. The wattage of resistor can be increased for heavier re-generating energy or higher discharge duty. 220V 380V Resistance Wattage Resistance Wattage Rated Rated (HP) （ohm） (W)） （ohm） (W)） Current Current 1000 1000 1500 1500 Recommand Use Brake Module The discharge duty is 10 ％ www.jps.com.tw...

  • Page 18: The Input Reactor

    220V Current Inductance (HP) (Arms) (Arms) (mH) 0.71 0.53 0.35 0.26 0.18 0.13 0.09 220V Current Inductance (HP) (Arms) (Arms) (mH) 1.42 0.53 0.36 0.26 0.21 0.18 0.14 0.11 0.058 0.048 0.042 0.032 ＊Attend：220V and 380V do not mix。 www.jps.com.tw...

  • Page 19: The Proper Screw Drive For Power Terminals

    It is necessary to choose proper tool for wiring connection to avoid screw stripped or burst. Please refer to the list below to choose a proper screw drive for driving power terminals. A - B mm C mm D mm P mm L mm 0.6 - 3.3 C mm D mm P mm L mm www.jps.com.tw...

  • Page 20: Basic Wiring Diagram For Iris Series Drive

    Max:10M Hz Speed CKB+ (Line Driver 5V) QEP OUTPUT DI12- Photocoupler Isolation CKB- OR 250K,125K,62.5K OUTPUT 5V Line Receiver Multi-Function Analog Input Pulse\ Frequency Monitor AIx+ ±10 VDC INPUT  0 to 2VDC Output  AOx+ AIx- AOx- AOx=1~2 AIx=1~2 www.jps.com.tw...

  • Page 21: Basic Wire： 220V (3A~15A)

    5V LINE DRIVE DIGITAL OUTPUT DO4- DI10- AI1+ 0V ~ +10V RANGE AI1- AI2+ -10V ~ +10V RANGE AI2- ACOM 232TX RS232 232RX 通信界面 XY 外部 485A RS485 接收介面 COMM SCSI14 PIN 485B 通信界面 422TX RS422 422RX 通信界面 8,10 分頻輸出 RXSW www.jps.com.tw...

  • Page 22: Comm-Db9 Pin Terminal： 220V Type (3A~15A)

    COMM ( D-SUB-9 PIN) Signal 232TX 232RX RXSW RS232 Connection Recommend 485-A- 485-B Signal Description RXSW Do not care 232TX 232RX 0V (internal Gnd) RS485 Connection Recommend Signal Description RXSW Connect V5(Pin1 or Pin6) 485-A 485-B 0V (internal Gnd) www.jps.com.tw...

  • Page 23: I/O-Scsi36 Pin Terminal： 220V Type (3A~15A)

    SCSI36 PIN terminal，define I/O signals， include DI(digital input) /DO(digital output) / AI(analog input)/AO(analog output) / LAB(PG divided output) / XY(external signal)，about detail， please refer to as below。 (SCSI 36 PIN) Signal Signal DO2+ DO2- DO4+ DO4- ACOM DO1+ DO1- DO3+ DO3- AI1+ AI2+ AI1- AI2- www.jps.com.tw...

  • Page 24: Encoder-Scsi20 Pin Terminal： 220V Type (3A~15A)

    6.2.3 ENCODER-SCSI20 PIN Terminal： 220V Type (3A~15A) SCSI20 PIN terminal，define ENCODER and DI9/DI10(fast capture input signals)，include ENCODER(5V LINE-DRIVE) / DI9/DI10(fast capture photocoupler input )，about how to connect，please refer To as below。 ENCODER (SCSI 20 PIN) Signal DI9+ DI9- DI10+ DI10- www.jps.com.tw...

  • Page 25: Hardware Terminal Construction 220V Type (3A~15A)

    24V Power Reference Potential Other heavy loading。 Digital Output。 DO-(x) DOx+ (Reference Potential：G24) Planning for 24V voltage only Signal (SCSI36) from CPU to avoid affecting the stability DO1 ~ DO3 DOx- of the drive Setting from parameters。 Digital Output Open Collector www.jps.com.tw...
  • Page 26 220,1/4W (SCSI20) ENCODER Onlyuse 5VLineDriver Encoder to avoid noise effected。 LAB signal is buffered output。 (SCSI36) Belong to 5V LINE-DRIVE signal。 X and Y circuit are the same。 (SCSI36) XY pulse input use 5V fast Capture photocoupler input。 www.jps.com.tw...

  • Page 27: Basic Wire： 220V/380V Other Type

    DO3+ OPEN DO3- COLLECTER DO4+ DIGITAL OUTPUT DO4- XYI (DB9F) XY 外部 0V ~ +10V RANGE 接收介面 -10V ~ +10V RANGE ACOM DI9/DI10(24V) DI10 PHOTOCOUPLER 232TX COMM (DB9F) RS232 232RX 通信界面 LAB(DB9M) 485A 分頻輸出 485B RJ1 (RJ45) RS485 通信界面 www.jps.com.tw...

  • Page 28: Terminal Definition： 220V/380V Other Type

    (DB15/M) Signal Signal Signal PIN Signal PIN Signal Signal DO2+ 232RX DO2- 232TX DO3+ DO3- DO4+ DI10 DO4- AI1+ AI2+ ACOM COMM=COMMUNICATION LAB=PG BUFFER OUTPUT I/O=INPUT/OUTPUT DO1+ XYI=XY & DI9/DI10 INPUT DO1- +24V PG:ENCODER SIGNAL INPUT FFEMALE ; MMALE www.jps.com.tw...

  • Page 29: Hardware Terminal Construction： 220V/380V Other Type

    24V Power Reference Potential Other heavy loading。 Digital Output。 DO-(x) DOx+ (Reference Potential：G24) Planning for 24V voltage only Signal (DB25F) from CPU to avoid affecting the stability DO1 ~ DO3 DOx- of the drive Setting from parameters。 Digital Output Open Collector www.jps.com.tw...
  • Page 30 220,1/4W (DB15M) Onlyuse 5VLineDriver Encoder to avoid noise effected。 LAB signal is buffered output。 Belong to 5V LINE-DRIVE signal。 (DB9M) X and Y circuit are the same。 XY pulse input use 5V fast (DB9F) Capture photocoupler input。 www.jps.com.tw...

  • Page 31: Xysigal Input Description

     If use 24V Open Collector signal as digital input ， Just connect to terminal。 Need to connect limit resistance(2K，1W)。 2K,1W 220,1/4W 220,1/4W +24V ps：Y signal & X signal 。 ps：Y signal & X signal 。 Use 5V Line Driver signal，please refer to： Open Collector Signal，please refer to： www.jps.com.tw...

  • Page 32: Basic Start Method(Quick Start)

    8. Basic Start Method(Quick Start) 8.1 JOINT-PROGRAMMER Execute Motor AutoTuning Attention！ JOINT-PROGRAMMER release download，please visit our website http://www.jps.com.tw to download。 This action must be use JOINT-PROGRAMMER by under communication online status。 Make sure that the motor encoder feedback device specification meets the necessary requirements,...

  • Page 33: Joint-Programmer Software To Execute Speed Mode

    If in regular condition， the driver can drive motor normally and want to change the direction definition of motor. Please following the steps listed below: Make sure all th Digital-Input / Digital-Output function disabled。  Turn off th power。  Exchange motor wire：V / W。  Follow chapter 8.1 JOINT-PROGRAMMER JOINT-PROGRAMMER Execute Motor AutoTuning。  www.jps.com.tw...

  • Page 34: Parameter Description

    FR/W；R COMM PORT Group < Refer to chapter-10.2> Name Default Min. Max. Unit Type Unit Address FR/W；R BaudRate FR/W；R Error Counts 65535 Operation Mode Group < Refer to chapter-10.3> Name Default Min. Max. Unit Type Servo Mode Select R/W；R www.jps.com.tw...
  • Page 35 201 ENCODER ABC CHECK 202 ENCODER UVW CHECK 203 Motor Maximum Speed 1000 30000 R/W；R 204 ENCODER Present Position 65535 205 Present Position in Electrical Angle 359.9 degree 207 Rated Torque 6000.0 Kgf*cm FR/W 208 Rated Inertia(Jm) 0.00 0.00 600.00 Kg*cm*cm FR/W www.jps.com.tw...
  • Page 36 239 SpeedLoopGain Switch Selection 242 1'st Speed Loop Pgain 1000 % base Pgain 243 1'st Speed Loop Igain 1000 % base Igain 246 2'st Speed Loop Pgain 1000 % base Pgain 247 2'st Speed Loop Igain 1000 % base Igain www.jps.com.tw...
  • Page 37 -2000 2000 108 EAROM-SET1 / or Wave Frequency -2000 2000 mV / Hz 109 EAROM-SET2 / or Cosine Phase Lag -2000 2000 mV / Degree 157 Analog Output AO1 Monitor -2048 2048 158 Analog Output AO2 Monitor -2048 2048 www.jps.com.tw...
  • Page 38 Default Min. Max. Unit Type DOStatus 65535 DO Simulation 65535 FR/W 111 DO-1 function Select 112 DO-2 function Select 113 DO-3 function Select 114 DO-4 function Select 165 DO-15 function Select (Firmeare Modify) 166 DO-16 function Select (Firmeare Modify) www.jps.com.tw...
  • Page 39 Position Error Warning Level 65535 pulses (for DO compare ) 32 BIT-COUNTER Group < Refer to chapter -13.1> Name Default Min. Max. Unit Type 214 32 Bit Counter Content 4294967295 counts 216 32 Bit Counter Compare Level 4294967295 counts www.jps.com.tw...
  • Page 40 459 XY_INDEX1：ON pulses(Simulation) 30000 pulses 460 XY_INDEX1：OFF pulses(Simulation) 30000 pulses 461 XY_INDEX2：ON pulses(Simulation) 30000 pulses 462 XY_INDEX2：OFF pulses(Simulation) 30000 pulses 463 AB_INDEX1：ON pulses(Simulation) 30000 pulses 464 AB_INDEX1：OFF pulses(Simulation) 30000 pulses 465 AB_INDEX2：ON pulses(Simulation) 30000 pulses 466 AB_INDEX2：OFF pulses(Simulation) 30000 pulses www.jps.com.tw...

  • Page 41: Egear Mode：standard Pulse Command Parameter List

    055 E-GEAR Mul-3(EGEAR Mode) 10000 50000 110 E-GEAR X/Y Input Pulse Input Type R/W；R 209 E-GEAR JOG Rpm( EGEAR Mode) 3000 210 E-GEAR Maximum Speed Limit 1000 3000 211 E-GEAR Ramp Rate 10000 ms/Krpm 212 PRT High Gain Lock Time 1000 www.jps.com.tw...

  • Page 42: Bp2P Mode：basic Point To Point Parameter List

    300 Position Set13 (POSx SW=1101) 0.000 -1000000.000 1000000.000 302 Position Set14 (POSx SW=1110) 0.000 -1000000.000 1000000.000 304 Position Set15 (POSx SW=1111) 0.000 -1000000.000 1000000.000 306 P2P Mark Reference Position 0.000 0.000 1000000.000 MOTOR side PPM 50000 100000000 Pls/Meter FR/W；R (Input Pulses Per Meter) www.jps.com.tw...
  • Page 43 367 P2P Profile-C : S-Curve Jerk Time 3000.0 368 P2P Profile-D : Half-Sine Period Time 5000.0 369 P2P Profile-D : Top Speed Set 3000 370 P2P Profile-D : Acc/Dec Ramp Time 10.0 6000.0 ms/Krpm 371 P2P Profile-D : S-Curve Jerk Time 3000.0 www.jps.com.tw...
  • Page 44 394 P2P Position Mode-6 395 P2P Position Mode-7 396 P2P Position Mode-8 397 P2P Position Mode-9 398 P2P Position Mode-10 399 P2P Position Mode-11 400 P2P Position Mode-12 401 P2P Position Mode-13 402 P2P Position Mode-14 403 P2P Position Mode-15 www.jps.com.tw...

  • Page 45: Parameter Type

    The parameter is Monitor type. Only readable and no effect for writing this parameter. Factory set parameter， and should not be changed. To indicate that any change of this type of parameter have to Reset the driver to enable the change. www.jps.com.tw...

  • Page 46: Jmd Group Description

    EAROM Parameter setting, the setting value is not stored into EAROM, only written to RAM, Reset or power off, the settings will be restored. 【Note】After the reset, the set value of this parameter will be automatically cleared to 0。 www.jps.com.tw...
  • Page 47 This Driver has built an electronic thermo function. If the driver volume is large then the motor which is used， this function can prevent the motor overload. If this parameter sets to be 0， the Electronic Thermo protect function is disabled。 (Irms / Pr.017) 150% 110% Pr.133 TIME www.jps.com.tw...
  • Page 48 This parameters for the drive internal state of the state, refer to Pr.154 / Pr.155's instructions. Pr.495  Digital Input Qualifier  This parameter adjusts the digital input signal filtering capacity。 【NOTE】Drive at the factory pre-set this parameter, user should not need to set。 www.jps.com.tw...

  • Page 49: Comm Port Group

    Torque/Speed   EGEAR(STD)/PRT(Special) (STD)EGEAR Mode  include：(switch parameter=Pr.036) (Special)PRT Mode   SP2P(Smart Point To Point)    BP2P(Basic Point To Point)   RC(Rotary Cut) / VRC(Vocano Rotary Cut) (STD)RC Mode  include：(switch parameter=Pr.313) (Special)VRC Mode www.jps.com.tw...

  • Page 50: Motor / Encoder Group

    Pr.192  ENCODER Shift  This parameter sets the motor: Mechanical zero and encoder: electrical zero angle of deviation pulse. 【NOTE】This parameter via automatic tuning, that the deviation of the motor and the encoder pulse, do not set their own。 www.jps.com.tw...
  • Page 51 This parameter indicates the current position encoder. Pr.207  Rated Torque  According to information provided by the motor manufacturer to set: Rated Torque Pr.208  Rated Inertia(Jm)  According to information provided by the motor manufacturer to set: Rated Inertia(Jm)。 www.jps.com.tw...

  • Page 52: Pid Gain Group

    This parameter sets: pre-fill volume deceleration torque, acceleration and deceleration when severe conditions, increase this parameter, to enhance the response speed compensation. 【Recommend】increment: 250 Pr.182  Speed loop D-Gain  Pr.183  Speed Loop D-Time  This two parameter settings: Speed loop: D and D gain time. www.jps.com.tw...
  • Page 53 Speed Loop (2) Gain From Speed Loop (1) Gain From Pcmd Mode From SP2P Mode From RC Mode From Speed loop gain switching point From Speed Mode 【Note】Mode, the internal switch on their own, do not set their own. www.jps.com.tw...
  • Page 54 【Note】Average speed loop (2), defined as the speed gain。 【Recommend】Speed Loop (2)-P gain> Speed Loop (2)-I-gain 【Note】About how to adjust the PID, please refer to the relevant sections of 14 patterns, patterns PID tuning instructions. www.jps.com.tw...

  • Page 55: Analog Input Group

    【Speed Source = AI-1 (with Pr.124 & Pr.125 as limit)】 Pr.132  AI1 & AI2 Range Select  Setting Description AI1=Full Range / AI2=Full Range AI1=Postive Range / AI2=Full Range AI1=Full Range / AI2=Postive Range AI1=Postive Range / AI2=Postive Range www.jps.com.tw...

  • Page 56: Analog Output Group

    ※ 【1HP~3HP Type：】 Use with the I / O board, you can achieve the output voltage +10 V  ※ 【> 3HP Type:】 Use without I / O board, you can achieve the output voltage +10 V  www.jps.com.tw...
  • Page 57 【Note】This parameter is power and memory type, after reversion to keep the original settings. Pr.109  EAROM-SET2 / or Cosine Phase Lag  This parameter set AO output parameters: EAROM-SET2; applicable function selection: Pr.100 = 6 【Note】This parameter is power and memory type, after reversion to keep the original settings. www.jps.com.tw...

  • Page 58: Digital Input Group

     This parameter defaults to two: a special mode of the XY tracking input X / Y, (general standard mode, do not use)。 【Note】The two belong to 5V-OpenCollector fast optical coupler isolated digital input, scan execution time is 100us。 www.jps.com.tw...
  • Page 59 【Note】The four belong internal firmware analog digital input, scan execution time is 400us。 Reset function can not be set options. (Related options, refer to Chapter 11: Digital input terminal function selection). DI-15 and DO-15 internally connected together DI-16 and DO-16 are connected together internally www.jps.com.tw...

  • Page 60: Digital Output Group

    This parameter group to set the digital output terminal options。 【Note】The two belong internal firmware analog digital output, scan execution time is 400us。 Related options, refer to Chapter 12: Digital output terminal function selection。 DI-15 and DO-15 internally connected together DI-16 and DO-16 are connected together internally www.jps.com.tw...

  • Page 61: Miscellaneous Group

    Oscillator output ( x4 = 125.00Khz) No slope CKA/CKB QEP Output = 15.625Khz QEP clock ( x4 = 62.50Khz) Pr.170  Position Error Warning Level (for DO compare )  This parameter set value comparison of the position error。 www.jps.com.tw...

  • Page 62: Digital Input Function

    Function Function Description【Torque Mode】 Version Chapter ON：TORQUE mode, OFF：SPEED Mode ON：SPEED mode, OFF：TORQUE Mode 14.2.2 Torque Command SW0 Torque Command SW1 Function Function Description【32 BIT COUNTER Block】 Version Chapter 32 Bit Counter：UP 32 Bit Counter：DN 13.1 32 Bit Counter：CLR www.jps.com.tw...
  • Page 63 TIMER5 (Mono Pulse type) "Trig" input 13.3.5 Function Function Description【ECAM Block】 Version Chapter ECAM cycle Index Input 13.8 Function Function Description【16 BIT SHIFTER Block】 Version Chapter 16 bit Shifter：CLR 13.20 16 bit Shifter：SET 16 bit Shifter：DATA 16 bit Shifter：CK www.jps.com.tw...
  • Page 64 When you select this function, start the servo drive excitation。 DIx _ Select  249，EMERGENCY STOP  When this function is selected, the drive according to Pr.254: Emergency stop deceleration time setting, down to zero speed and failure messages EMS。 Speed Pr.254 www.jps.com.tw...

  • Page 65: Egear Mode - Dix(Digital Input Function)

    EGEAR：Switch to Speed-REV (By Pr.002 selection) EGEAR：/FLSW (Forward Limit Switch, N.C.contact) EGEAR：/RLSW (Reverse Limit Switch, N.C.contact) EGEAR：MULx_SW0 14.3 EGEAR：MULx_SW1 EGEAR：Switch to Speed-FWD (By Pr.002 selection) EGEAR：JOG Forward EGEAR：JOG Reverse EGEAR：Master Clk > ON=XY； OFF= Simulation EGEAR：Master Clk > ON=Simulation ；OFF=XY www.jps.com.tw...

  • Page 66: Bp2P Mode - Dix(Digital Input Function)

    P2P Enable Switch(For DIx(38)) P2P Check Mark then Move POS[15](constant) P2P Check Mark then Move POS[15] (controlled by DIx(36)) P2P Trigger Control : ON=disable , OFF=enable P2P Trigger Control : ON=enable , OFF=disable P2P MARK Sensor Input ( DIx, for Multi-Cancel/Continue) www.jps.com.tw...

  • Page 67: Digital Output Function

    Driver Torque-Current(%) > Pr.016：Warning Level Driver Torque-Current(%) <= Pr.016：Warning Level 14.2 Motor-Torque(%) > Pr.016：Warning Level Motor-Torque(%) <= Pr.016：Warning Level Function Function Description【32 BIT COUNTER Block】 Version Chapter 32 bit Counter >= Pr.216：Compare Level 13.1 32 bit Counter < Pr.216：Compare Level www.jps.com.tw...
  • Page 68 13.2.5 FlipFlop5(T-type)：/Q Function Function Description【TIMER Block】 Version Chapter TIMER1(On/Off)：Output 13.3.1 TIMER1：Output and SPDx_SWITCH Auto-Change TIMER2(On/Off)：Output 13.3.2 Timer3(Mono Type)：Q Timer3(Mono Type)：/Q 13.3.3 Timer3(Delay-On Type)：Q Timer3(Delay-On Type)：/Q Timer4(Mono Type)：Q Timer4(Mono Type)：/Q 13.3.4 Timer4(Delay-On Type)：Q Timer4(Delay-On Type)：/Q Timer5(Mono Type)：Q 13.3.5 Timer5(Mono Type)：/Q www.jps.com.tw...
  • Page 69 ECAM1 (Type2: Start-Angle & Range-Angle) ECAM2 (Type2: Start-Angle & Range-Angle) 13.8.2 ECAM3 (Type2: Start-Angle & Range-Angle) ECAM4 (Type2: Start-Angle & Range-Angle) ECAM4(Type2) & Motor-Torque > Pr.016：Warning Level Function Function Description【XY / AB INDEX Block】 Version Chapter XY-INDEX1：Output 13.22.1 XY-INDEX2：Output AB-INDEX1：Output 13.22.2 AB-INDEX2：Output www.jps.com.tw...
  • Page 70 16 bit Shifter：/Q bit-9 16 bit Shifter：/Q bit-10 16 bit Shifter：/Q bit-11 16 bit Shifter：/Q bit-12 16 bit Shifter：/Q bit-13 16 bit Shifter：/Q bit-14 16 bit Shifter：/Q bit-15 16 bit Shifter：PPF equal 7 16 bit Shifter：PPF not equal 7 www.jps.com.tw...
  • Page 71 When you choose this action, when the drive is no fault, the resulting digital output。 DOx _ Select  008，PG-C(10ms INDEX Output)  When you select this action, the signal is generated when the motor is at point C, the resulting digital output, fixed width 10ms。 www.jps.com.tw...

  • Page 72: Egear Mode - Dox(Digital Output Function)

    P2P：STATUS MATCH 14.4 P2P：Machine Position > FWD Travel Limit P2P：Ready + Search HOME OK P2P：MARK Window(Cancel/Continue mode) P2P：Ready ( no Cancelled pulse remaining in the buffer ) P2P：MARK Window P2P：MARK Loss(no mark in MarkRef window) P2P：Feed Length > POS[14] www.jps.com.tw...

  • Page 73: Built-In Multi-Function

    DOx _ Select  112，32 bit Counter >= Pr.216：Compare Level  When Pr.214：32 Bit Counter Content >= Pr.216：32 Bit Counter Compare Level， Output Action。 DOx _ Select  113，32 bit Counter < Pr.216：Compare Level  When Pr.214：32 Bit Counter Content < Pr.216：32 Bit Counter Compare Level， Output Action。 www.jps.com.tw...

  • Page 74: Flipflop Function

    ※ 13.2.2.3 FlipFlop 2：Digital Output DOx _ Select  053，FlipFlop2：Q  When SET is rising edge，output=1 When CLR is rising edge，output=0 DOx _ Select  054，FlipFlop2：/Q  When SET is rising edge，output =0 When CLR is rising edge，output =1 www.jps.com.tw...

  • Page 75: Flipflop3

    ※ 13.2.3.3 FlipFlop 3：Digital Output DOx _ Select  144，FlipFlop3：Q  When SET is rising edge，output=1 When CLR is rising edge，output=0 DOx _ Select  145，FlipFlop3：/Q  When SET is rising edge，output =0 When CLR is rising edge，output =1 www.jps.com.tw...

  • Page 76: Flipflop4(D-Type)

     DIx(53) DOx _ Select  120，FlipFlop5(T-type)：/Q  DIx(51) 【Note】 When trigger DIx(053)，status will be reverse， DIx(52) And send to DOx(119) 。 When trigger DIx(051)，DOx(119) = ON。 DOx(119) When trigger DIx(052)，DOx(119) = OFF。 DOx(120) = DOx(119) reverse output。 DOx(120) www.jps.com.tw...

  • Page 77: Timer Function

    This parameter sets the timer ON period and OFF cycle time. ※ 13.3.2.2 Timer2：Digital Input ※ 13.2.2.3 Timer2：Digital Output DOx _ Select  012，TIMER2(On/Off)：Output  【Note】 DOx(012) DOx(012) follow TimerXOn/Off Time to output。 T1=TimerX ON-Time，T2= TimerX OFF-Time。 T1 = Pr.232 ； T2 = Pr.233 www.jps.com.tw...

  • Page 78: Timer3(Mono Type / Delay-On Type)

    ※ DOx(109) = DOx(108) reverse output DOx(109) 2. Delay-On Type Timer： 2.1 When set DIx(110)=ON，DOx(110) = OFF， After Pr.234 after the set time will start； DIx(111) 2.3 When DIx(110) = OFF，DOx(110) output = OFF。 Pr.234 ※ DOx(111) = DOx(110) reverse output DOx(110) DOx(111) www.jps.com.tw...

  • Page 79: Timer4(Mono Type / Delay-On Type)

    ※ DOx(105) = DOx(104) reverse output DOx(105) 2. Delay-On Type Timer： 2.1 When set DIx(106)=ON，DOx(106) = OFF， After Pr.235 after the set time will start； DIx(106) 2.3 When DIx(106) = OFF，DOx(106) output = OFF。 Pr.235 ※ DOx(107) = DOx(106) reverse output DOx(106) DOx(107) www.jps.com.tw...

  • Page 80: Timer5(Mono Type)

    DOx _ Select  123，Timer5(Mono Type)：/Q  【Note】 Timer5 include one application： DIx(115) 1. Mono Type Timer： 1.1 When trigger DIx(115) rising edge，DOx(122) = ON Pr.236 DOx(122) After Pr.236 after the set time will disable。 ※ DOx(123) = DOx(122) reverse output DOx(123) www.jps.com.tw...

  • Page 81: Ecam Function

    DOx _ Select  099，ECAM4(Type1)：Include Motor-Torque > Pr.016：Warning Level  DOx _ Select  193，ECAM4(Type1)：Include Position-Error > Pr.170：Warning Level  【Note】 ECAM(Type1)：Means to set the starting point and end point。 Degree Pr,332 Pr.318 = 360° DIx(114)=0° Pr,333 Pr,332 Pr,333 DOx(95) www.jps.com.tw...

  • Page 82: Ecam-Type2：Start Angle-Range Angle

     DOx _ Select  198，ECAM4(Type2)：Start-Angle & Range-Angle  DOx _ Select  199，ECAM4(Type2)：Include Motor-Torque > Pr.016：Warning Level  【Note】ECAM-Type2：Means to set the starting angle, angle and action。 Degree Pr,332 Pr.318 = 360° DIx(114)=0° Pr,333 Pr.333 Pr,332 Range DOx(195) www.jps.com.tw...

  • Page 83: 16Bit Shifter Block Function

    DIx _ Select  123，16 bit Shifter：CK  13.20.3 16 BIT SHIFTER Block：Digital Output DOx _ Select  190，16 bit Shifter：PPF equal 7  DOx _ Select  191，16 bit Shifter：PPF not equal 7  Other related digital output, refer to the next page： www.jps.com.tw...
  • Page 84 When DI(120) ON , Pr.213=0000(Hex) DIx(120) DIx(121) When DIx(121) ON , Pr.213=FFFF(Hex) DOx(150+n)=16 Bit Q Output (n=0~15) DIx(123)                 DIx(122) DOx(166+n)=16 Bit /Q Output (n=0~15) www.jps.com.tw...
  • Page 85 ※ DOx(150)~DOx(165):16 Bit Shifter Q Output DI(120) DI(122) DI(123) DO(150)=Q0 DO(151)=Q1 DO(152)=Q2 DO(153)=Q3 DO(154)=Q4 DO(155)=Q5 DO(156)=Q6 DO(157)=Q7 DO(158)=Q8 DO(159)=Q9 DO(160)=Q10 DO(161)=Q11 DO(162)=Q12 DO(163)=Q13 DO(164)=Q14 DO(165)=Q15 www.jps.com.tw...
  • Page 86 ※ DOx(166)~DOx(181):16 Bit Shifter /Q Output DI(120) DI(122) DI(123) DO(166)=/Q0 DO(167)=/Q1 DO(168)=/Q2 DO(169)=/Q3 DO(170)=/Q4 DO(171)=/Q5 DO(172)=/Q6 DO(173)=/Q7 DO(174)=/Q8 DO(175)=/Q9 DO(176)=/Q1 DO(177)=/Q1 DO(178)=/Q1 DO(179)=/Q1 DO(180)=/Q1 DO(181)=/Q1 www.jps.com.tw...

  • Page 87: Xy/Ab-Index Function

    Pr.466 AB_INDEX2：OFF pulses(Simulation)  ON-PLS OFF-PLS ON-PLS ※ 13.22.2.2 AB-INDEX Function：Digital Intput AB-Index1 AB-Index2 ※ 13.22.2.3 AB-INDEX Function：Digital Output ON-PLS Pr.463 Pr.465 DOx _ Select  068，AB-INDEX1：Output  OFF-PLS Pr.464 Pr.466 DOx _ Select  069，AB-INDEX2：Output  AB-INDEX DOx(68) DOx(69) www.jps.com.tw...

  • Page 88: Control Mode Description

    Pr.266  Speed Set6 (EAROM)  Pr.267  Speed Set7 (EAROM)  This parameter group is speed setting, belonging EAROM patterns。 【Note】EAROM type: reset, this parameter setting is off Defensive。 For speed setting applications, refer to the relevant digital input DIx。 www.jps.com.tw...

  • Page 89: Speed Source Select=1【Speed Set From Ai-1 (Set Speed= Pr.119 * 0.1Rpm)

    【Note】Depending on the source of the speed command to read Pr.131 (AI2 Analog A / D conversion value), the value is multiplied by 0.1, as the speed command。 Pr.132(AI1/AI2 AI1 & AI2 Range Select) suitable：0/1/2/3 【Description】Assuming Pr.131 = 11200, then the current speed command = 1120.0 rpm www.jps.com.tw...

  • Page 90: Speed Source Select=3【Speed Set From Jog Speed (Pr.259)

    Pr.203 (maximum motor speed), As is the speed command。 Pr.132(AI1/AI2 AI1 & AI2 Range Select) suitable：0/1/2/3 【Description】Assuming that the input voltage = 5V, and full scale = 10V, Pr.203 (maximum motor speed) = 1000.0rpm Then the current speed command = 500.0 rpm www.jps.com.tw...

  • Page 91: Speed Source Select=5【Speed Set From Ai-2 ( 10V => Max Speed(Pr.203) )

    【Note】Depending on the source of the speed command to read Pr.119 (AI1 Analog A / D conversion value), the value is multiplied by 0.1, as the speed command.If DIx(013)set, the default control source = AI1。 Pr.132(AI1/AI2 AI1 & AI2 Range Select) suitable：0/1/2/3 【Description】Assuming Pr.119 = 11200, then the current speed command = 1120.0 rpm www.jps.com.tw...

  • Page 92: Speed Source Select=7【Speed Set From Ai-1 (With Pr.124 & Pr.125 As Limit)

    【Description】Assuming that the input voltage = 5V, and full scale = 10V, Pr.203 (maximum motor speed) = 1000.0rpm, Pr.124 (AI1 upper limit setting) = 32767, Pr.125 (AI1 lower limit setting) = 0 Then the time of the speed command = 500.0rpm www.jps.com.tw...
  • Page 93 Pr.250 (Scurve T1 time) =100 (ms) Pr.251 (Scurve T2 Time) =100(ms) Example: Explain how the S-curve Ta (totally acc. time) = affects the Acc. and Dec. timing. (0.5 x Scurve T1 Time) + (Acc. Time) + (0.5 x ScurveT2 Time) = 200ms www.jps.com.tw...

  • Page 94: Speed Mode：standard Speed Mode：digital Input

    DIx _ Select  049，JOG Reverse  When select DIx(048)，the running speed will be JOG Forward。 When select DIx(049)，the running speed will be JOG Reverse。 【Note】JOG Speed Parameter = Pr.259。 When forward and reverse command is repeated, forward command priority www.jps.com.tw...
  • Page 95 DIx _ Select  104，SPEED+AI2 Compensation ENABLE ( Speed +/- AI2*Pr.203/30000)  DIx _ Select  105，SPEED+AI2 Compensation POLARITY  DIx(105)=OFF；DIx(104)=ON，current speed command - AI2 compensation。 If DIx(105)=ON ；DIx(104)=ON，current speed command+AI2 compensation。 【Note】If the individual starts DIx (105), the non-action。 www.jps.com.tw...

  • Page 96: Speed Mode：standard Speed Mode：digital Output

     DOx _ Select  015，Actual-Speed <= Pr.010:Speed-Reference  When the actual speed> Pr.010, the resulting digital output。 Speed Pr.010 DOx(015) DOx(014) 【Note】Actual speed is defined: take the absolute value of the actual speed of the source as compared。 www.jps.com.tw...

  • Page 97: Speed Mode：standard Speed Mode：pid Gain

    Gain changing Versus Rpm PID (2)- Gain PID (1)- Gain Pr.184 2*Pr.184 Motor rpm 200 RPM Motor RPM Gain Changing Versus Rpm 100 RPM Pr.184 Threshold Rpm for SPZ 0 RPM Set=100 RPM PID (2)- Gain PID (1)- Gain www.jps.com.tw...

  • Page 98: Torque Mode：standard Torque Mode

    Pr.024  Torque DROOP Range  This parameter is a pure torque limiting velocity increment mode。 【Note】This parameter only applies DIx (026) or DIx (027) Function。 Torque limit is set on the application, you can refer to the relevant digital input DIx。 www.jps.com.tw...

  • Page 99: Torque Mode：standard Torque Mode：digital Input

    Torque limit the set percentage, will be the last by Pr.088: the ratio of the maximum percentage of the motor, determine the final value For example： When Pr.088=200；Torque-limit=10 %，finally Torque-limit value of Pr.017 = 20 % When Pr.088=300；Torque-limit=10 %，finally Torque-limit value of Pr.017 = 30 % www.jps.com.tw...

  • Page 100: Torque Mode：standard Torque Mode：digital Output

    【Note】DOx(084)=DOx(083) reverse output。 Pr.016：Torque Compare Level，is percentage of the motor rated current setting value comparison。 Pr.017：I_RMS( % Motor)。 14.2.7 Torque Mode：Standard Torque Mode：PID Gain ※ 14.2.7.1 Torque Mode：Standard Torque Mode：PID Gain 【Note】Please refer to the relevant sections 14.1.7 www.jps.com.tw...

  • Page 101: Egear Mode：standard Pulse Command Mode

    CW / CCW type X = Up / Y = Down UP / DN type =0 (X = QEP-A / Y = QEP-B) =1 (X = DIR / Y = Clock) =2 ( X = Up / Y = Down) www.jps.com.tw...
  • Page 102 The accumulation of errors due to the location, the drive must be XY cover all external pulse wave。 Pr.211  E-GEAR Ramp Rate  This parameter group set deceleration ramp。 Pr.212  PRT High Gain Lock Time  This parameter is set when the deceleration is stopped, to maintain high gain time。 www.jps.com.tw...

  • Page 103: Egear Mode：standard Pulse Command Mode：digital Input

    When this mode is selected, the state may decide to switch input pulse source XY = XY external pulse, or internal virtual pulse。 【Note】Both settings can not be established together。 When switching, pulse instantly disappear, avoid switching at high speed to avoid excessive instantaneous current。 www.jps.com.tw...

  • Page 104: Egear Mode：standard Pulse Command Mode：digital Output

    DOx _ Select  048，EGEAR：End  When themode selected, this function DIx (040) When Pr.212 = 0 the same。 DOx _ Select  049，EGEAR：End & In-Range  When the mode selected, means the drive in place, position error <= Pr.170。 www.jps.com.tw...

  • Page 105: Egear Mode：standard Pulse Command Mode：block

    Pr.110：Pulse category EGEAR Multiply Source Pr.009：XY counter Pr.037：Mul-0 DIx(70)：EGEAR-SW0 Pr.038：Mul-1 Pr.037：Mul-0 Pr.039：Mul-2 DIx(71)：EGEAR-SW1 Pr.040：Mul-3 Pr.038：Div-0 Enable EGEAR DIx(84)：XY source DIx(6)：Allow EGEAR DIx(61)： F-Limit DIx(66)：/F-Limit DIx(63)： R-Limit DIx(68)：/R-Limit Actual Command Digital Input Switch DIx(64)： R-Speed SW DIx(102):Servo-On DIx(78)： F-Speed SW www.jps.com.tw...

  • Page 106: Egear Mode：standard Pulse Command Mode：example

     After setting, perform the reset reset。  Enable DI4  EGEAR：Master Clk > ON=XY  Enable DI8 + DI1 Drive into the excitation state + EGEAR：EGEAR/PRT：START。   Enable XYexternal signals to perform EGEAR mode pulse tracing 。 www.jps.com.tw...

  • Page 107: Egear Mode：standard Pulse Command Mode：pid Adjustment

    1'st Position loop P gain Rpm/Pulse 1'st Speed Loop Pgain ％ 1'st Speed Loop Igain ％ 2'st Position loop P gain Rpm/Pulse 2'st Speed Loop Pgain ％ 2'st Speed Loop Igain ％ Line Speed Pr.212 Pr.184 High Gain Low Gain DIx(EGEAR Start) www.jps.com.tw...
  • Page 108 When PCMD SERVO Follow main speed for motion control, the moment will cause speed backward, so that the instantaneous error Larger point Pr.181 can be pre-compensated velocity error caused by the backward (Pr.181 Pr.177 size and the size of closely related) www.jps.com.tw...

  • Page 109: Egear Mode：standard Pulse Command Mode：pid Demo

    1’st Speed Loop I gain Pr.177 2’st Position loop P gain 0.50 Pr.246 2’st Speed Loop P gain Pr.247 2’st Speed Loop I gain Err:50Pulses/Grid Pr.181 ACC Torque compensation ＊plus to appear effected result Ditto figure (the location of the error amplifier) Err:20Pulses/Grid www.jps.com.tw...
  • Page 110 1’st Speed Loop P gain Pr.243 1’st Speed Loop I gain Pr.177 2’st Position loop P gain 1.50 Pr.246 2’st Speed Loop P gain Err:20Pulses/Grid Pr.247 2’st Speed Loop I gain Pr.181 ACC Torque compensation  ＊plus to appear effected result www.jps.com.tw...

  • Page 111: Bp2P Mode：basic Point To Point

    P2P HOME, Reverse DOG Pulse ( NonStop ) 【Note】About Home applications, refer to Section 14.4.6.1 Pr.270  Home Offset  This parameter sets to find the origin, the offset position of the origin of the signal。 【Note】About Home applications, refer to Section 14.4.6.1 www.jps.com.tw...

  • Page 112: Bp2P Mode：basic Point To Point：parameter  Mark Related

    【Note】About Mark applications, refer to Section 14.4.6.3 Pr.432  P2P ARC(Auto-Registration_Control) Limit  This parameter defines: When performing Mark calibration, calibration every time the maximum length correction。 【Note】About Mark applications, refer to Section 14.4.6.3 www.jps.com.tw...

  • Page 113: Bp2P Mode：basic Point To Point：parameter  Standard Related

    Motor Side Definition: Encoder Rule=2500(Pls/Rev)= 2500 *4=10000 (Pls/Rev) Motor Side MotorThe drive wheel circumference=200 (mm) GB (Gear B)=1 (The Motor Side rollers are driven by one turn = 1 * 10000 (Pulses) Pr.310 (MOTOR side PPM)  Pr.310 = ((1*4*2500)*1000))/200 =50000 (Pulses/Meter) www.jps.com.tw...
  • Page 114 Pr.370  P2P Profile-D : Acc/Dec Ramp Time  Pr.371  P2P Profile-D : S-Curve Jerk Time  This parameter group, set the【D】Profile of acceleration and deceleration Groups。 【Note】Half / full wave cycle time for position setting –P2P Mode Select = 5/6 www.jps.com.tw...
  • Page 115 Pr.402  P2P Position Mode-14  Pr.403  P2P Position Mode-15  Pr.404  P2P FORWARD Travel Limit  Pr.406  P2P REVERSE Travel Limit  This parameter defines the maximum limit of the forward stroke and backward maximum limit。 www.jps.com.tw...
  • Page 116 Enable excitation；P2P trigger length = 100 mm  Pr.416 =100 mm / Pr.478 =100 mm Disable excitation；Manually rotate motor 50 mm  Pr.416 = 150 mm/ Pr.478 =100 mm Enable excitation；P2P trigger length =200 mm Pr.416 =350 mm / Pr.478 =350 mm www.jps.com.tw...

  • Page 117: Bp2P Mode：basic Point To Point：digital Input

    This two functional group action is defined as when DIx (036) starts, Perform DIx(038)：P2P Check Mark then Move POS[15] (controlled by DIx(36))。 【Note】Relevant executive action,，similar with DIx(037)。 Do not use with DIx(037) at the same time。 DIx _ Select  135，P2P MARK Sensor Input ( DIx, for Multi-Cancel/Continue)  www.jps.com.tw...

  • Page 118: Bp2P Mode：basic Point To Point：digital Input  Standard Related

    Belong to trigger rising edge，trigger time = 30ms。 DIx _ Select  025，P2P Repeat Sinusoidal Motion  When performing this function, start repeating full-wave control command。 【Note】This feature only available for position Mode Select = 6: P2P full-wave-Full Sine www.jps.com.tw...
  • Page 119 DIx _ Select  124，P2P Trigger Control : ON=disable , OFF=enable  DIx _ Select  125，P2P Trigger Control : ON=enable , OFF=disable  When performing this function, the decision DIx (18): P2P trigger is established。 【Note】This function is not available while the establishment of two。 www.jps.com.tw...

  • Page 120: Bp2P Mode：basic Point To Point：digital Output

    DOx _ Select  081，P2P：MARK Loss(no mark in MarkRef window)  When the trigger among not found Mark, or appear outside the Window, output actived。 【Note】This feature is available with DIx (037) digital input function。 Relevant executive action, please refer to 14.4.6.3.1。 www.jps.com.tw...

  • Page 121: Bp2P Mode：basic Point To Point：digital Output  Standard Related

    When select this function，mean P2P actual length > Position[14]。 【Note】P2P actual length：Pr.426 ((M) Motor Travel Length(mm)) Position[14]：Pr.302(Position Set14 (POSx SW=1110)) DOx _ Select  079，P2P：Ready ( no Cancelled pulse remaining in the buffer )  When select this function , please refer to DIx(20) / DIx(21) description。 www.jps.com.tw...

  • Page 122: Bp2P Mode：basic Point To Point：block

    Pr.387 ： BP2P Profile-15 BP2P Position Setting Pr.274：BP2P Length-00 DIx(14)：Position-SW0 BP2P Mode Select DIx(15)：Position-SW1 Pr.304：BP2P Length-15 Pr.388：BP2P Mode-00 DIx(16)：Position-SW2 DIx(17)：Position-SW3 Pr.403：BP2P Mode-15 DIx(30)： P2P FWD Jog DIx(018)：P2P Trigger Actual Command DIx(31)： P2P REV Jog P2P Other Switch Command DIx(102):Servo-On www.jps.com.tw...

  • Page 123: Bp2P Mode：basic Point To Point：example

    After setting, perform the reset reset。  Enable DI8 Drive into the excitation state。   Enable DI5  Driver execute P2P JOG Forward command 100 rpm。  Enable DI6  Driver execute P2P JOG Reverse command 100 rpm。 www.jps.com.tw...

  • Page 124: Bp2P Mode：basic Point To Point：example  P2P Trigger (Incremental )

     set DI8= SERVO-ON   After setting, perform the reset reset。  Enable DI8 Drive into the excitation state。   Trigger DI1  Driver trigger P2P-Length/Position =100.000 mm。  After trigger 5 times，and trigger again；Length/Position will limit by Pr.404。 www.jps.com.tw...

  • Page 125: Bp2P Mode：basic Point To Point：description Of Curve

    Travel Length: records the desired target length or position for this particular motion profile.  Pr.318=Motor-Side-PPM, is the conversion factor between Metric-Length unit and equivalent  motor pulses. Maximum Speed: There is another setting not shown here, which is the maximum running speed  limit is 1000rpm. www.jps.com.tw...
  • Page 126 After the end of P2P function, the servomotor reaches to the predefined position, the P2P Ready signal will go active (=high) again, indicating the Jupiter is ready to accept next trigger. Therefore, this P2P Ready signal is often names as P2P End. www.jps.com.tw...

  • Page 127: Bp2P Mode：basic Point To Point：phases Of The Motion Profile

    Check by simple calculation, that, the total acceleration time required to reach the maximum speed is: T acc = S-Curve-Time + Ramp-Rate-Time * (Max. Speed / 1000rpm) In this example, S-Curve-Time = 50ms,  Ramp-Rate-Time = 100ms,  Max. Speed = 1000rpm,  Results to: T acc = 50ms + 100ms*(1000rpm/1000rpm) = 150ms www.jps.com.tw...
  • Page 128 Note, total travel time equals to: T total = T acc + T4 + T dec. Please verify the Total-Travel-Length = Vmax * [ T4 + (T acc + T dec)/2 ] Where in this example, Vmax=1000rpm, T4=30ms, Tacc=Tdec=150ms www.jps.com.tw...

  • Page 129: Bp2P Mode：basic Point To Point：dynamically-Shaped Short Target Length

    Motion Profile without Phase-II, Phase-IV and Phase-VI Compare this curve with the curves shown above, all operation settings are same except the Target Length=90mm. The motion profile generator cancels Phase-IV, Phase-II & Phase-VI automatically, and adjusts Phase-I, Phase-III, Phase-V & Phase-VII in the same time. www.jps.com.tw...

  • Page 130: Bp2P Mode：basic Point To Point (Description Of Curve = Search Home)

    DOx _ Select  067，P2P Ready (and Search HOME Complete)  14.4.6.1.2 Search Home Mode：=0 (Assigns the servomotor’s present location as HOME)  Under this mode, when an external signal triggers the digital input DIx(32), the present location of servomotor is now re-assigned (or renewed) as Home-Position. www.jps.com.tw...

  • Page 131: Search Home Mode：=1 P2P Home, Forward Dog Switch & Check Pg-Index

    Search Home Mode：=1 P2P HOME, Forward DOG Switch & check PG-INDEX Search DOG Move DOG to PG-INDEX PG-INDEX Offset=0 PG-INDEX + (+Offset) Offset=Plus Value PG-INDEX + (-Offset) Offset=Minus Value PG-INDEX DIx(32)P2P Home Search Start DIx(33)P2P Home DOG DOx(67)P2P Home Search OK www.jps.com.tw...

  • Page 132: Search Home Mode：=1 (P2P Home, Reverse Dog Switch & Check Pg-Index)

    Search Home Mode：=2 (P2P HOME, Reverse DOG Switch & check PG-INDEX) Search DOG Move DOG to PG-INDEX PG-INDEX +(Offset) Offset=0 PG-INDEX +(+Offset) Offset=Plus Value PG-INDEX +(-Offset) Offset=Minus Value PG-INDEX DIx(32)P2P Home Search Start DIx(33)P2P Home DOG DOx(67)P2P Home Search OK www.jps.com.tw...

  • Page 133: Search Home Mode：=3 (P2P Home, Forward Dog Switch)

    (with respect to the DOG point. In the mean time, DOx(32)=1, to indicate the end of the Home-Search function. Search Home Mode：=3 (P2P HOME, Forward DOG Switch) Search DOG Move DOG to (Offset) Offset=0 DOG+(+Offset) Offset=Plus Value DOG+(-Offset) Offset=Minus Value DIx(32)P2P Home Search Start DIx(33)P2P Home DOG DOx(67)P2P Home Search OK www.jps.com.tw...

  • Page 134: Search Home Mode：=4 (P2P Home, Reverse Dog Switch)

    (with respect to the DOG point. In the mean time, DOx(32)=1, to indicate the end of the Home-Search function. Search Home Mode：=4 (P2P HOME, Reverse DOG Switch) Search DOG Move DOG to (Offset) Offset=0 DOG+(+Offset) Offset=Plus Value DOG+(-Offset) Offset=Minus Value DIx(32)P2P Home Search Start DIx(33)P2P Home DOG DOx(67)P2P Home Search OK www.jps.com.tw...

  • Page 135: Search Home Mode：=5 (P2P Home, Forward Dog Pulse)

    Home-Search function. Search Home Mode： =5 (P2P HOME, Forward DOG Pulse) Search DOG Move DOG to (Offset) Offset=0 DOG+(+Offset) Offset=Plus Value DOG+(-Offset) Offset=Minus Value DIx(32)P2P Home Search Start DIx(33)P2P Home DOG DOx(67)P2P Home Search OK www.jps.com.tw...

  • Page 136: Search Home Mode：=6 (P2P Home, Reverse Dog Pulse)

    Home-Search function. Search Home Mode：=6 (P2P HOME, Reverse DOG Pulse) Search DOG Move DOG to (Offset) Offset=0 DOG+(+Offset) Offset=Plus Value DOG+(-Offset) Offset=Minus Value DIx(32)P2P Home Search Start DIx(33)P2P Home DOG DOx(67)P2P Home Search OK www.jps.com.tw...

  • Page 137: Search Home Mode：=7 (P2P Home, Forward Dog Pulse ( Nonstop ))

    (with respect to the DOG Pulse Rising edge. In the mean time, DOx(32)=1, to indicate the end of the Home-Search function. Search Home Mode：=7 (P2P HOME, Forward DOG Pulse ( NonStop )) Offset Minimun DOG + Offset DIx(32)P2P Home Search Start DIx(33)P2P Home DOG DOx(67)P2P Home Search OK www.jps.com.tw...

  • Page 138: Search Home Mode：=8 (P2P Home, Reverse Dog Pulse ( Nonstop ))

    (with respect to the DOG Pulse Rising edge. In the mean time, DOx(32)=1, to indicate the end of the Home-Search function. Search Home Mode：=8 (P2P HOME, Reverse DOG Pulse ( NonStop )) Offset Minimum DOG + Offset DIx(32)P2P Home Search Start DIx(33)P2P Home DOG DOx(67)P2P Home Search OK www.jps.com.tw...

  • Page 139: Bp2P Mode：basic Point To Point：mode Curve Description

    BP2P Mode when DIx(18) trigger，DOx(60) change status immediately ,Motor will Follow Ramp setting，run to Pr.274 setting position，DOx(60) recover original status。 In Absolute Mode，when finished search home，will set the Home point as zero。 Absolute Home =1*(Pr.274) No1.P2P Trigger No2.P2P Trigger =2*(Pr.274) No3.P2P Trigger =3*(Pr.274) www.jps.com.tw...

  • Page 140: Mode Curve：=5 P2P Half Sine Mode

    Description：(The demo use Profile-B Ramp Setting) In BP2P Mode ， when DIx(18) trigger ， DOx(60) change status immediately ， Motor will follow ramp setting to run P2P half-sine wave，run to Pr.274 position，and return backward to original position，DOx(60) recover original status。 www.jps.com.tw...

  • Page 141: Bp2P Mode：mark Mode Application & Curve Description

    Need to appear when speed under steady status。  ※ Action Description： When DIx(018) trigger，current position=0 mm。  When DIx(037) signal acknowledge：  Travel-length position will be record = Pr.428  According to Pr.428 record value，execute Pr.304 setting again。  www.jps.com.tw...

  • Page 142: Bp2P Mark Adjustment-2

     When DIx(034) appeared，Travel-length position will be record = Pr.428  If Pr.428 value inside DOx(080) range；then DOx(081)=OFF。  If Pr.428 value outside DOx(080) range；then DOx(081)=ON。  Mark Adjustment Rule：  If (Pr.428-Pr.306)* Pr.431(%) < Pr.432；Next Adjust-Value= (Pr.428-Pr.306)*Pr.431(%)  www.jps.com.tw...

  • Page 143: Bp2P Mode：basic Point To Point：pid Gain

    BP2P PID When Lock Time = 0 Motor Speed Pr.273=0 PID (2)-Gain PID (1)-Gain P2P Trigger BP2P PID When Lock Time > 0 & P2P Trigger When Finished Motor speed Pr.273 > 0 PID (2)- Gain PID (1)- Gain P2P Trigger www.jps.com.tw...
  • Page 144 BP2P PID When Lock Time > 0 & P2P Trigger When Not Finished Immediate change to Pr.273 > 0 High-Gain when trigger again PID (2) - Gain PID (1) - Gain P2P Trigger www.jps.com.tw...

  • Page 145: Alarm Message And Maintenance

    Emergency Stop。 Over Current。 Over Load。 15.2 Alarm Message Display：BIT of Binary 【Note】Alarm Meaasge Parameter： Read information from Pr.034。  Unit：BIT of Binary method。  When PG / EMS occurred at the same time，Pr.034 = PG(1)+EMS(4) = 5。  www.jps.com.tw...

  • Page 146: Alarm Process

    Is there any interference to cause the signal happened? If the emergency condition is indeed, contact with the system engineer to fix the condition. Unless the emergency condition is fixed completely, the driver shouldn’t be operated to run the motor. www.jps.com.tw...
  • Page 147 Check the drive input AC voltage is more than the drive rated range。 Check the setting of Pr.084（DCinput voltage is set）is correct or not。  Setting Pr.154 (AMP-Status4 choice(showing Pr.424) = 16(Drive data-DCBus  voltage) Check the setting of Pr.424（Drive data -DCBus voltage）is correct or not。 www.jps.com.tw...
  • Page 148 If the happened in the accelerating period, try to increase the setting (Acc Time). If the happened in the decelerating period, try to increase the setting (Dec Time). If the PID gain is too strong，try to the PID setting。 www.jps.com.tw...
  • Page 149 正頻企業股份有限公司 JOINT PEER SYSTEC CORP. TEL:886- -2 6866 FAX:886- -2 4889 http://www.jps.com.tw E-mail:jps.service@jps.com.tw www.jps.com.tw...

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