Page 2 ■Warning and Caution: Warning  Do not proceed to the assembly of the line while electrifying.  Circuit & change components between entering shutting down the power supply and stopping showing CHARGE LED light of the Servo driver.  The output of Servo drive [U, V, W] must NOT touch the AC power. ...
Page 3 First of all, thank you for using TECO Servo Driver JSDAP Series (“JSDAP” for short) and Servo Motors. JSDAP can be controlled by digital board or PC, and provide excellent performance for a wide range of applications and different requirement from customers.
Page 4: Table Of Contents
Table of Contents Chapter 1 Checking and Installing 1-1 Checking Products…………………………………………………………………………….. 1-1 1-1-1 Confirming with Servo Drives…………………………………………………………. 1-1 1-1-2 Confirming with Servo motors…….………………………………………………….. 1-2 1-1-3 Servo motor Model Code display……………………….……………………………. 1-3 1-2 Surface and Panel Board……………………………………………………………………... 1-11 1-3 A Brief Introduction of Operation for Drives……………………………………………… 1-13 1-4 Conditions for Installation of Drives………………………………………………………...
Page 5 Chapter 4 Trial Operation 4-1 Trial Operation for Servomotor without Load…………………………………………….. 4-2 4-2 Trial Operation for Servomotor without Load from Host Reference………………….. 4-5 4-3 Trial Operation with the Servomotor Connected to the Machine……………………… 4-9 Chapter 5 Control Functions 5-1 Control Mode Selection………………………………………………………………………. 5-1 5-2 Torque Mode…………………………………………………………………………………….
Page 6 5-6-1 Programmable I/O Functions…………………………………………………………. 5-63 5-6-2 Switch for the Control Mode…………………………………………………………… 5-66 5-6-3 Auxiliary Functions……………………………………………………………………... 5-66 5-6-4 Brake Mode……………………………………………………………………………….. 5-67 5-6-5 Timing Diagram of Mechanical Brake………………………………………………... 5-67 5-6-6 CW/CCW Drive Inhibit Function………………………………………………………. 5-69 5-6-7 Selecting for External Regeneration Resistor……………………………………… 5-70 5-6-8 Fan Setting………………………………………………………………………………..
Page 7: Chapter 1 Checking And Installing
 There must be the “QC”-seal in each servo drive, if not, please do not proceed Power ON. If there is any bug or irregular under the situation above, please contact TECO’s Local sales representative or distributor instantly. 1-1-1 Confirming with Servo Drives JSD AP –15 A...
Page 8: Confirming With Servo Motors
1-1-2 Confirming with Servo Motors A – P S C 08 A TECO AC Servo M: Machinery BK Product No.  : No BK B: BK Motor Series: Encode Spline Grease Seal Series A  IP67 (except shaft and connector)
Page 9: Servo Motor Model Code Display
1-1-3 Servo motor Model Code display dn-08 (Servo motor Model Code display) Use dn-08 to display servo motor code and check the servo drive and motor compatibility according to the table below. If the collocation is discordant with that dn08 presented, reset parameter Cn030 or contact your supplier.
Page 10 dn-08 Display Motor Standards Drive Model Encoder Motor Model JSDAP Specification Cn030 Setting Watt(KW) Speed(rpm) H1147 JSMA-SC04A7 17 bit (Rated 3.5A) H1151 JSMA- (P)SC04AB 2500 15A(1) 3000 H1152 JSMA- (P)SC04AH 8192 (Rated 3.5A) H1155 JSMA-PSC04A5 15 bit(ABS) H1157 JSMA-PSC04A7 17 bit H1211 JSMA-PLC08AB 2500...
Page 11 dn-08 Display Motor Standards Drive Model Encoder Motor Model JSDAP Specification Cn030 Setting Watt(KW) Speed(rpm) H1265 JSMA-PSC04A5 15 bit(ABS) 3000 (Rated 3.5A) H1267 JSMA-PSC04A7 17 bit H1311 JSMA- (P)SC08AB 2500 H1312 JSMA-PSC08AH 8192 0.75 3000 H1315 JSMA-PSC08A5 15 bit(ABS) H1317 JSMA-PSC08A7 17 bit H1321...
Page 12 dn-08 Display Motor Standards Drive Model Encoder Motor Model JSDAP Specification Cn030 Setting Watt(KW) Speed(rpm) H1511 JSMA-PMA15AB 2500 H1512 JSMA-PMA15AH 8192 1000 H1515 JSMA-PMA15A5 15 bit(ABS) H1517 JSMA-PMA15A7 17 bit H1521 JSMA-PMB15AB 2500 H1522 JSMA-PMB15AH 8192 2000 H1525 JSMA-PMB15A5 15 bit(ABS) H1527 JSMA-PMB15A7 17 bit...
Page 13 dn-08 Display Motor Standards Drive Model Encoder Motor Model JSDAP Specification Cn030 Setting Watt(KW) Speed(rpm) H1717 JSMA-PMB30A7 2000 17 bit H1721 JSMA-PMC30AB 2500 H1722 JSMA-PMC30AH 8192 3000 H1725 JSMA-PMC30A5 15 bit(ABS) 75A3 H1727 JSMA-PMC30A7 17 bit H1732 JSMA-PMH30AH 8192 1500 H1735 JSMA-PMH30A5 15 bit(ABS)
Page 14 dn-08 Display Motor Standards Drive Model Encoder Motor Model JSDAP Specification Cn030 Setting Watt(KW) Speed(rpm) H1A12 JSMA-PMH75AH 8192 H1A15 JSMA-PMH75A5 15 bit(ABS) H1A17 JSMA-PMH75A7 17 bit 200A3 1500 H1A22 JSMA-PHH55AH 8192 H1A25 JSMA-PHH55A5 15 bit(ABS) H1A27 JSMA-PHH55A7 17 bit H1B12 JSMA-PMH110AH 8192 11.0...
Page 15 400V Class dn-08 Display Motor Standards Drive Model Encoder Motor Model JSDAP Specification Cn030 Setting Watt(KW) Speed(rpm) H1211 JSMA-PMB10BB 2500 H1212 JSMA-PMB10BH 8192 2000 H1215 JSMA-PMB10B5 15 bit(ABS) H1217 JSMA-PMB10B7 17 bit H1231 JSMA-PMB15BB 2500 H1232 JSMA-PMB15BH 8192 2000 H1235 JSMA-PMB15B5 15 bit(ABS) H1237...
Page 16 dn-08 Display Motor Standards Drive Model Encoder Motor Model JSDAP Specification Cn030 Setting Watt(KW) Speed(rpm) H1401 JSMA-PMB30BB 2500 H1402 JSMA-PMB30BH 8192 2000 H1405 JSMA-PMB30B5 15 bit(ABS) H1407 JSMA-PMB30B7 17 bit H1411 JSMA-PMH30BB 2500 H1412 JSMA-PMH30BH 8192 1500 H1415 JSMA-PMH30B5 15 bit(ABS) H1417 JSMA-PMH30B7 17 bit...
Page 17: Surface And Panel Board
1-2 Surface and Panel Board JSDAP-10A / 15A / 20A / 30A JSDAP-50A3 / 75A3 / 100A3 /25B / 35B / 50B 1-11...
Page 18 JSDAP-150A3 / 75B / 100B JSDAP-200A3 / 300A3 LED Display Serial Communication Interface Control Power Motor Encoder Interface Input Terminal I/O Interface *External Regenerative Main-Power Resistor Terminal Motor Terminal Input Terminal *Terminal P and PC can not be closed Ground Terminal 1-12...
Page 19: A Brief Introduction Of Operation For Drives
Key Board 1-3 A Brief Introduction of Operation for Drives There are many kinds of control-mode. The detail modes display as fellow: Name Mode Explanation Position Mode Position control for the servo motor is achieved via an external (External Pulse pulse command.
Page 20: Conditions For Installation Of Drives
1-4 Conditions for Installation of Drives 1-4-1 Environmental Conditions The product should be kept in the shipping carton before installation. In order to retain the warranty coverage, the AC drive should be stored properly when it is not to be used for an extended period of time. Some storage suggestions are: Ambient Temperature: 0 ~ + 55 ℃;...
Page 21: Direction And Distance
1-4-2 Direction and Distance 1-15...
Page 22: Conditions For Installation Of Servomotors
1-5 Conditions for Installation of Servo Motors 1-5-1 Environmental Conditions  Ambient Temperature: 0 ~ + 40 ℃; Ambient humidity: Under 90% RH (No Moisture).  Storage Temperature: - 20 ~ + 60 ℃; Storage temperature: Under 90%RH (No Moisture). ...
Page 23: Notice For Install Motor
1-5-3 Notice for install motor 1. Please using oil-seal-motor to avoid the oil from reduction gear flowing into the motor through the motor shaft. 2. The cable need to be kept dry. 3. Please fixing the wiring cable certainly, to avoid the cable ablating or breaking. 4.
Page 24: Chapter 2 Wiring
Chapter 2 Wiring 2-1 Basic Wiring for Servo System 2-1-1 Wiring for Main Circuit and Peripheral Devices 200V Class...
Page 25 400V Class...
Page 26: Wiring For Servo Drives
2-1-2 Wiring for Servo Drives  The wire material must go by “Wiring Specifications.”  Wiring Length: Command Input Wire: Less than 3m. Encoder Input Wire: Less than 20m. The Wiring goes by the shortest length.  Please wire according to the standard wiring schema. Don’t connect if no using. ...
Page 27: Specifications Of Wiring
2-1-3 Specifications of Wiring Connection Terminal Servo Drives and Wire Specifications mm² (AWG) Name of Connection Mark 100B Connect Terminal (Sign) Terminal 1.25 22.0 Main Power R、S、T (16) (14) (12) (10) (14) (14) (12) (12) (12) Terminal 1.25 14.0 22.0 U、V、W Motor Terminal (16)
Page 28 Connection Terminal Servo Drives and Wire Specifications Connection Position Position Name Terminal Number Position Command Input (Pulse、Sing、 14~17 /Pulse、/Sing) Encoder Signal Output 35~40 (PA、/PA、PB、/PB、 PZ、/PZ) 24V Open Collector 41,42 Sign Input (EXT1、 EXT2) PW Output Terminal 5V (+5E) PW Grounding 0.2mm ²...
Page 29: Motor Terminal Layout
2-1-4 Motor Terminal Layout  Table of Motor-Terminal Wiring (1) General Joint: Terminal Symbol Color Signal White Black Yellow / Green Fine White 1 Brake control wire Fine White 2 DC +24V (2) Military Specifications Joint (No Brake): Terminal Color Signal White Black...
Page 30  Table of Motor-Encoder Wiring  For 15 bits / 17 bits Encoders (1) General Joint: Color Signal Terminal Symbol 15bits 17bits 15bits 17bits White Black Brown Brown/ Black Blue Blue/ Purple Black Shield (2) Military Specifications Joint Color Signal Terminal Symbol 15bits 17bits...
Page 31  For 2500 / 8192 ppr Encoders (1) General Joint: Terminal Symbol Color Signal Black Blue Blue/ Black Green Green/ Black Yellow Yellow/ Black Shield (2) Military Specifications Joint Terminal Symbol Color Signal Black Blue Blue / Black Green Green / Black Yellow Yellow / Black Shield...
Page 32: Tb Terminal
2-1-5 TB Terminal Terminal Name Detail Sign 200V  Connecting to external AC Power.  Single Phase 200~230VAC +10 ~ -15% 50/60Hz ±5% Control circuit power input terminal 400V  Connecting to external DC Power.  Single Phase 24VDC ±10%. 200V ...
Page 33: Wiring For Mechanical Brake
2-1-6 Wiring for Mechanical Brake Uninstall BRAKE:  JSMA-S/L/T series: Use Red wire and yellow wire connecting to DC +24V voltage(No polarity)  JSMA-M/H series: BK outputs from A & F of Motor Power Joint, servo motor can operate normally after uninstalling.
Page 34: I/O Terminal
2-2 I/O Terminal There are 4 group terminal, which control signal terminal (CN1), encoder terminal(CN2) and communication connector(CN3/CN4). The diagram below displays all positions for the terminal. CN3, CN4 (Female) Communication Connector CN1 connector (Male) CN2 connector (Male) 2-11...
Page 35: Output Signals From The Servo Pack
2-2-1 Output Signals from the Servo pack (1) Diagram of CN1 Terminal: Speed Control Speed Command DI-1 /Torque Control Speed Control Torque Limit Speed Limit DI-2 /Torque control Torque Analog Signal Command Ground DI-3 PI/P Switch Terminal Analog Signal DI-4 Ground Terminal Analog Monitor...
Page 36 (2) CN1 Signal Name and Explanation: (a) General I/O Signal: Explanation of General I/O Signal Function Function Wired Function Wired Signal Pin No. Signal Pin No. Symbol Mode Symbol Mode Encoder Output Pulse Position Pulse A-Phase Command Input Encoder Output / A /Pulse Phase Encoder Output...
Page 37 Explanation of General I/O Signal Function Function Signal Name Mode I/O Operation and Function Symbol The Driver can receive 3 kinds of Command below: Pulse Position Pulse Command ． (Pulse)+ (Sign) Input /Pulse ． (CCW)/ (CW)Pulse Sign Position Sign Command Input ．AB Phase pulse /Sign...
Page 38 (b) Digital I/O Signal: For many kinds of application, the digital input/output terminal layout of all operation mode are accordingly different. In order to provide more functions, our drives can provide multi terminal layout settings. Users can set these functions for application. Digital input terminal layout provides 13 (Pin1~13) programmable terminal;...
Page 39 Digital Input Function (Except CCWL and CWL are high electric potential, other terminal layout are low electric potential. Please refer to 5-6-1 to see related parameters) Function Signal Name Mode I/O Function Sign SON and IG24 close loop: Servo ON ; SON and IG24 open loop: Servo On Servo OFF.
Page 40 Digital Input Function Explanation (Except CCWL and CWL are the high electric potential, other terminal layout are the low electric potential, please refer to 5-6-1 to check related parameters setting) Function Signal Name Mode I/O Function Symbol When MDC and IG24 close loop, current control mode will Control Mode Pe/S/T transform into default control mode, please refer to Cn001.
Page 41 Digital Input Function Explanation (Except CCWL and CWL are the high electric potential, other terminal layout are the low electric potential, please refer to 5-6-1 to check related parameters setting) Function Signal Name Mode I/O Function Symbol Internal position command select : Internal Position POS1 POS2...
Page 42 Digital Output Function Explanation (The terminal layout here from this explanation are all the low electric potential, please refer to 5-6-1 to check parameter settings) Function Signal Name Mode I/O Function Symbol Main power and control power input are normal. Under the Servo Ready situation of no alarm, terminal layouts RDY and IG24 close loop.
Page 43 (3) CN1 Interface Circuit and Wire Mode: The diagram below introduces all interface circuit of CN1 and wire-method of host controller. (a) Digital input interface circuit (IO1): Digital input interface circuit can be operated by relay or collector transistor circuit. The relay should be the low electric current, in order to avoid the faulty contacting.
Page 44 Pulse Command Input Interface Circuit(IO3): Suggesting to use the input method of Line Driver to send the pulse command. The maximum input command frequency is 500kpps. Using the input method of Open Collector will cause the decrease of input command frequency, the maximum input command frequency is 200kpps.
Page 45 (d) Encoder Output Interface Circuit (IO4): Encoder output interface circuit is the output method of Line Driver, please let end terminal resistance(R=200~330Ω) connect to Line Receiver input terminal. Encoder Output Interface Circuit (Line Driver) (e) Analog Input Interface Circuit (IO5): There is sometimes ripple inside the servo internal power.
Page 46 (f) Analog Output Interface Circuit (IO6): The maximum current of analog output is 5mA, so user needs to choose the device, which Impedance is larger. Analog Input Interface Circuit Servo Driver MON1 2-23...
Page 47: Encoder Connector (Cn2) Terminal Layout
2-2-2 Encoder Connector (CN2) Terminal Layout (1) Diagram of CN2 Terminal: (a) Diagram of Fewer Wiring Type Encoder: (b) Diagram of 15 bits / 17 bits Encoder: Terminal Function Layout Power Supply Battery(+) Output Battery(-) Serial Data Ground output(+) Serial Data output(-) P.S.: Do not wire to the terminal, which is un-operated.
Page 48 (2) Name and Explanation of I/O Signal: Encoder Output No. and Color Signal Name Code Terminal Layout Function General Joint Plug-in Joint 9 wires 15 wires (fewer (non-fewer Output No. wiring) wiring) 5V Power for encoder (provided from Power output driver).
Page 49: Cn3/Cn4 Communication Terminal Layout
2-2-3 CN3/CN4 Communication Terminal Layout Diagram of CN3/CN4 terminal： Terminal Terminal Function Function Layout Layout Serial Data Received Ground Serial Data Transmission Data + Serial Data(+) Data + Serial Data(+) Data - Serial Data(-) Data - Serial Data(-) Notes: Do not wire to the terminal, which is un-operated. 2-26...
Page 50: Typical Circuit Wiring Examples
2-3 Typical Circuit Wiring Examples 2-3-1 Position Control Mode (Pe Mode) (Line Driver) Notes: 1. Pe mode =External pulse positioning command 2. DOCOM means common port of digital input (DOCOM must connect to IG24 when using internal power supply) 2-27...
Page 51: Position Control Mode (Pe Mode) (Open Collector)
2-3-2 Position Control Mode (Pe Mode) (Open Collector) Notes: 1. Pe mode =External pulse positioning command 2. DOCOM means common port of digital input (DOCOM must connect to IG24 when using internal power supply) 2-28...
Page 52: Position Control Mode (Pi Mode)
2-3-3 Position Control Mode (Pi Mode) SERVO Supply Filter RS232 r, 24V Control Power s, 0V Supply Regeneration resistor DC 24V IP24 Internal +24V DC DICOM Digital input common SERVO MOTOR DI-1 (SON) Servo ON Encoder DI-4 CCW Limit ( CCWL) DI-5 CW Limit ( CWL)
Page 53: Speed Control Mode (S Mode)
2-3-4 Speed Control Mode (S Mode) SERVO Supply Filter RS232 r, 24V Control Power s, 0V Supply Regeneration resistor DC 24V IP24 Internal +24V DC DICOM Digital input common SERVO MOTOR DI-1 (SON) Servo ON Encoder DI-4 CCW Limit ( CCWL) DI-5 CW Limit ( CWL)
Page 54: Torque Control Mode (T Mode)
2-3-5 Torque Control Mode (T Mode) SERVO Supply Filter RS232 r, 24V Control Power s, 0V Supply Regeneration resistor DC 24V IP24 Internal +24V DC DICOM Digital input common SERVO MOTOR DI-1 Servo ON ( SON) Encoder DI-4 CCW Limit ( CCWL ) DI-5 ( CWL)
Page 55: Turret Mode (Pt Mode)
2-3-6 Turret Mode (Pt Mode) Notes: 1. DOCOM means common port of digital input (DOCOM must connect to IG24 when using internal power supply) 2-32...
Page 56: Chapter 3 Panel Operator / Digital Operator
Chapter 3 Panel Operator / Digital Operator 3-1 Panel Operator on the Drives The operator keypad & display contains a 5 digit 7 segment display, 4 control keys and two status LED displays. Power status LED (Green) is lit when the power is applied to the unit. Charge LED (Red) Indicate the capacitor ‘s charge status of main circuit.
Page 57 After power on, MODE button can be used to select 9 groups of parameter. By pressing the Mode key repeatedly once at a time you can scroll trough the displays below. Step Description LED Display after Operation Power on Drive status parameters. Diagnostic parameters.
Page 58 Once the first parameter in a parameter group is displayed use Increment or Decrement keys to select the required parameter then use Enter key in order to view and alter the parameter setting, once this is done then press Enter key again to save the change. Notes: On each parameter display the first digit will be flashing, the enter key can be used to move between digits.
Page 59 Some of the data entry in this drive are in the format shown below, for these data the Most significant digit will be shown by the Capital letter “H” as shown below. Ex: Home search function in position mode Pn317 = 0212. Each digit of this preset for Pn317 parameter defines a selection for a specific function.
Page 60 If the negative value has 5 digits follow the steps in the example below: Ex: Pn317 (internal position preset command 1) set to a negative value -10000 revolutions. Step Description Control Keys LED Display after Operation Power On On” power on “ Drive Status parameter is displayed. Pressing MODE-Key 8 times, position parameter Pn 301 will be displayed.
Page 61 The LED display contains status code and the digit of LED, the LED shows different meaning in Torque/Speed control mode and Position control mode, the statement is below. (1) Speed and Torque control mode： The following table describes the digit and status code. Description Digit Digit Lighting...
Page 62 (2) Position control mode： The following table describes the digit and status code. Description Digit Digit Lighting Digit Off Servo OFF Servo ON BASE BLOCK Position error was less than Position error was greater than Position Complete Pn307(Position complete value) Pn307(Position complete value) (INP) Motor speed was greater than...
Page 63: Signal Display
3-2 Signal Display 3-2-1 Status Display The following parameters can be used to display drive and motor Status. Parameter Displayed Unit Description Signal Actual motor speed rpm Actual Motor Speed is displayed in rpm. Un-01 It displays the torque as a percentage of the rated torue. Actual motor torque Ex: 20 are displayed.
Page 64 Parameter Displayed Unit Description Signal Pulse command – rotation After power on, it displays pulse command input rotation number Un-21 value(absolute value) in High Byte value. Position feedback pulse 2500/8192 ppr Encoder feedback. Un-22 15 bits encoder position pulse it displays absolute position for an incomplete rotation. Un-23 feedback Less than 1 rotation Communication encoder...
Page 65: Diagnostic Function
3-2-2 Diagnostic function The following diagnostics parameters are available: Parameter Name and Function Signal Control mode display dn-01 Output terminal status dn-02 Input terminal status dn-03 Software version (CPU version) dn-04 JOG mode operation dn-05 Reserve function dn-06 Auto offset adjustment of external analog command voltag dn-07 Servo model code dn-08...
Page 66 dn-02 (Output terminal status) Use dn-02 to check the status of output terminals. Output status display is described below: When output terminal signal has a low logic level (close loop with IG24), the corresponding LED will be on. When output terminal signal has a high logic level (open loop with IG24), the corresponding LED will be off.
Page 67 dn-03 (Input terminals status) Use dn-03 to check the status of Input terminals. Digital Input status display is described below: LED Number When Input terminal signal has a low logic level (close loop with IG24), the corresponding LED will be on. When Input terminal signal has a high logic level (open loop with IG24), the corresponding LED will be off.
Page 68 dn-04 (Version of Software) Use dn-04 to view the current software version of the Servo drive. Software version can be checked as below: Step Keys Description LED Display Power On On” power on Drive Status is displayed. Press MODE-Key twice to view diagnostics parameter dn-01. Press INCREMENT-Key 3 times to display dn-04.
Page 69 dn-07 (Auto offset adjustment of external analog command voltage) If the external torque or speed analog command is set to 0V and the motor is rotating slowly, this is due to analog input zero offset, use dn-07 to auto adjust this offset and stop the motor rotating. Follow the steps below: Step LED Display...
Page 70 dn-08 (Servo motor Model Code display) Use dn-08 to display servo motor code and check the servo drive and motor compatibility according to the table below. If the dn08 preset is not according to the list below then contact your supplier. The motor model code is stored in parameter Cn30.
Page 71 dn-08 Display Motor Standards Drive Model Encoder Motor Model JSDAP Specification Cn030 Setting Watt(KW) Speed(rpm) H1147 JSMA-SC04A7 17 bit (Rated 3.5A) H1151 JSMA- (P)SC04AB 2500 15A(1) 3000 H1152 JSMA- (P)SC04AH 8192 (Rated 3.5A) H1155 JSMA-PSC04A5 15 bit(ABS) H1157 JSMA-PSC04A7 17 bit H1211 JSMA-PLC08AB 2500...
Page 72 dn-08 Display Motor Standards Drive Model Encoder Motor Model JSDAP Specification Cn030 Setting Watt(KW) Speed(rpm) H1265 JSMA-PSC04A5 15 bit(ABS) 3000 (Rated 3.5A) H1267 JSMA-PSC04A7 17 bit H1311 JSMA- (P)SC08AB 2500 H1312 JSMA-PSC08AH 8192 0.75 3000 H1315 JSMA-PSC08A5 15 bit(ABS) H1317 JSMA-PSC08A7 17 bit H1321...
Page 73 dn-08 Display Motor Standards Drive Model Encoder Motor Model JSDAP Specification Cn030 Setting Watt(KW) Speed(rpm) H1511 JSMA-PMA15AB 2500 H1512 JSMA-PMA15AH 8192 1000 H1515 JSMA-PMA15A5 15 bit(ABS) H1517 JSMA-PMA15A7 17 bit H1521 JSMA-PMB15AB 2500 H1522 JSMA-PMB15AH 8192 2000 H1525 JSMA-PMB15A5 15 bit(ABS) H1527 JSMA-PMB15A7 17 bit...
Page 74 dn-08 Display Motor Standards Drive Model Encoder Motor Model JSDAP Specification Cn030 Setting Watt(KW) Speed(rpm) H1717 JSMA-PMB30A7 2000 17 bit H1721 JSMA-PMC30AB 2500 H1722 JSMA-PMC30AH 8192 3000 H1725 JSMA-PMC30A5 15 bit(ABS) 75A3 H1727 JSMA-PMC30A7 17 bit H1732 JSMA-PMH30AH 8192 H1735 JSMA-PMH30A5 1500 15 bit(ABS)
Page 75 dn-08 Display Motor Standards Drive Model Encoder Motor Model JSDAP Specification Cn030 Setting Watt(KW) Speed(rpm) H1A12 JSMA-PMH75AH 8192 H1A15 JSMA-PMH75A5 15 bit(ABS) H1A17 JSMA-PMH75A7 17 bit 200A3 1500 H1A22 JSMA-PHH55AH 8192 H1A25 JSMA-PHH55A5 15 bit(ABS) H1A27 JSMA-PHH55A7 17 bit H1B12 JSMA-PMH110AH 8192 11.0...
Page 76 400V Class dn-08 Display Motor Standards Drive Model Encoder Motor Model JSDAP Specification Cn030 Setting Watt(KW) Speed(rpm) H1211 JSMA-PMB10BB 2500 H1212 JSMA-PMB10BH 8192 2000 H1215 JSMA-PMB10B5 15 bit(ABS) H1217 JSMA-PMB10B7 17 bit H1231 JSMA-PMB15BB 2500 H1232 JSMA-PMB15BH 8192 2000 H1235 JSMA-PMB15B5 15 bit(ABS) H1237...
Page 77 dn-08 Display Motor Standards Drive Model Encoder Motor Model JSDAP Specification Cn030 Setting Watt(KW) Speed(rpm) H1401 JSMA-PMB30BB 2500 H1402 JSMA-PMB30BH 8192 2000 H1405 JSMA-PMB30B5 15 bit(ABS) H1407 JSMA-PMB30B7 17 bit H1411 JSMA-PMH30BB 2500 H1412 JSMA-PMH30BH 8192 1500 H1415 JSMA-PMH30B5 15 bit(ABS) H1417 JSMA-PMH30B7 17 bit...
Page 78: Chapter 4 Trial Operation
Chapter 4 Trial Operation Before proceeding with trial run, please ensure that all the wiring is correct. Trial run description below covers the operation from keypad and also from an external controller such as a PLC. Trial run with external controller speed control loop (analog voltage command) and position (1) No-load servo motor.
Page 79: Trial Operation For Servomotor Without Load
4-1 Trial Operation for Servomotor without Load To carry out a successful trial run follow the steps below and ensure that drive wiring is correct and as specified. In order to prevent potential damage,prior to trial run ensure that the driven mechanism, couplings and belts etc are disconnected from the motor.
Page 80 Steps for setting parameter Cn002.1 ( CCWL &CWL Rotation limit selection). Setp Keys LED Display Description Power on On” power on “ Drive Status is displayed. Press MODE-Key 4 times to display Cn001. Press INCREMENT-Key once to display Cn002. Press ENTER-Key for 2 secs to display the preset value of Cn002.
Page 81 Steps for setting JOG function: Step Keys LED Display Description Power on On” power on “ Drive Status is displayed. Press MODE-Key twice to view diagnostics parameter dn-01. Press INCREMENT-Key 4 times to display dn-5. Press ENTER-Key for 2 seconds to enter JOG MODE. Motor will power on immediately.
Page 82: Trial Operation For Servomotor Without Load From Host Reference
4-2 Trial Operation for Servo motor without Load from Host Reference Check and ensure that all power connections to the drive and motor and control signal connection between the host controller and the drive are correct.Motor must be mechanically disconnected from the load.
Page 83 Trial run in Speed control mode(Cn001=1). 1. Wiring check: Check and ensure that all power cable and control signal connections are correct as shown below. To be able to adjust the speed for test connect a potentiometer between terminals SIN (analog input voltage) and AG (Analog Ground).
Page 84 4. Connection with a host controller. Check and ensure that the wiring for the servo drive and host controller, speed analog signal input (SIN), and encoder output (PA, /PA, PB, /PB, PZ, /PZ) are all correct and according to the diagram below: 5.
Page 85 Position control mode trial run (Cn001=2). 1. Wiring: Check and ensure that all power connections to the drive and motor and control signal connections are correct as diagram below. 2. Setting electronic gear ratio. Set electronic gear ratio parameters Pn302~Pn306 as required for the positioning application. (refer to section 5-4-3).
Page 86: Trial Operation With The Servomotor Connected To The Machine
4-3 Trial Operation with the Servo motor Connected to the Machine Servo drive parameters must be set correctly otherwise damage to machinery and potential injury may result. Do not close to the machine after temporary power loss, the machine may restart unexpected. Please take the measures highlighted in the section below before trial run with load.
Page 87: Chapter 5 Control Functions
Chapter 5 Control Functions 5-1 Control Mode Selection There are three control modes in the servo drive, torque, speed and position modes can be selected individually or as a combination according to the selection table below: Default Control Parameter Name Setting Description Value...
Page 88: Torque Mode
5-2 Torque Mode Torque mode is used in applications such as printing machines, coil wiring machines, injection molding machines and specific application that requiring torque control. Diagram below shows the torque control process diagram. Analog voltage torque command is applied to the drive input terminals as shown below: Drive CN1-27 Analog Torque...
Page 89: Analog Speed Limit Proportion
5-2-2 Analog Speed Limit Proportion Setting Control Parameter Name Default Unit range Mode Tn109 Analog Speed Limited Proportion 3000 │ 4500 Setting example: (1) If Tn103 is set to 3000, the corresponding speed limited to the input voltage of 10V is 3000 rpm; if the input voltage is 5V, the corresponding speed should be limited to 1500 rpm.
Page 90: Torque Command Linear Acceleration And Deceleration
5-2-4 Torque Command Linear Acceleration and Deceleration A smooth torque command can be achieved by enabling acceleration/Deceleration parameter Tn101. Setting Control Parameter Name Setting Description range mode Disable ★ Linear acceleration/ Enable │ deceleration method Tn101 Enable Torque command smooth accel/decel time Constant.
Page 91: Definition Of Torque Direction
5-2-5 Definition of Torque Direction In torque mode, torque direction can be defined by one of the following three methods. (1) Input contacts RS1, RS2. (Torque command CW/CCW selectable by programmable input) (2) Parameter Cn004. (Motor rotation direction) (3) Input contact TRQINV. (reverse torque command) Caution! All 3 methods can be active at the same time.
Page 92: Internal Torque Limit
5-2-6 Internal Torque Limit In torque Control mode, user can set internal torque limit values as required. Set as below:- Parameter Name Default Unit Setting range Control mode CCW Torque Cn010 0~300 command limit -300 CW Torque Cn011 -250 -300~0 command limit -200 5-2-7 Limiting Servomotor Speed during Torque Control...
Page 93: Additional Torque Control Functions
5-2-8 Additional Torque Control Functions Torque Output Monitor When the torque level in CW or CCW directions becomes greater than the value set in Tn108 (torque level monitor value), the output contact INT is active. Parameter Name Default Unit Setting range Control mode Torque output monitor Tn108...
Page 94: Speed Mode
5-3 Speed Mode Speed Mode is necessary for applications that require precisely speed control, such as weaving, drilling and CNC type machines.Diagrams below shows the speed control system in two parts. First stage shows Speed processing and conditioning and the second stage shows the Speed controller With PI/P control modes, and controller1&2 selection and interface with torque control stage.
Page 95: Selection For Speed Command
5-3-1 Selection for Speed Command In Speed control, input contacts SPD1 and SPD2 can be used for selecting one of the two methods below for setting speed limits. (1) External Analog command (Default) : Analog signal is input from terminals SIC & AG (pins 26&...
Page 96: Analog Speed Command Ratio
5-3-2 Analog Speed Command Ratio Analog speed command ratio can be used to adjust the relationship between Input voltage speed command and actual speed command. Parameter Name Default Unit Setting range Control mode Analog speed Rated Sn216 rpm/10V 100~6000 command ratio Speed Setting Example: (1) With Sn216 set to 3000, a speed command input voltage of 10V, corresponds to...
Page 97: Analog Reference For Speed Command Limit
5-3-4 Analog Reference for Speed Command Limit A maximum limit for analog speed can be set by Sn218. Parameter Name Default Unit Setting range Control mode Analog speed Rated rpm Sn218 100~4500 command limit x 1.02 5-3-5 Encoder Signal Output Servo motor encoder pulse signal can be output to a host controller to establish an external control loop.
Page 98 B leads A A leads B TIME TIME 5-12...
Page 99: Smoothing The Speed Command
5-3-6 Smoothing the Speed Command Sn205 can be used to eliminate speed overshoot and motor vibration by selecting one of the acceleration /deceleration methods which is suitable for the application from the table below. Control Parameter Name Setting Description mode Disable accel/decel smooth function Speed command...
Page 100 Setting example: (1) To achieve 95% of speed command output in 30msec: 30(msec)   Sn206 10(msec) ln(1 95%) (2) To achieve 75% of speed command output in 30msec: 30(msec) Sn206 22(msec) ln(1 75%) ln= Natural log (2)Speed command linear acceleration/deceleration function: Set Sn205=2 to enable the use of speed command linear acceleration/deceleration function.
Page 101 S-Curve Speed Command Acceleration/Deceleration: Set Sn205=3 to enable the use of S-Curve speed command ac/deceleration function. Parameter Name Default Unit Setting range Control mode S-Curve speed command Sn208 msec 1~1000 accel/decel time setting S-Curve speed command Sn209 msec 0~5000 acceleration time setting S-Curve speed command Sn210 msec...
Page 102: Setting Rotation Direction
5-3-7 Setting Rotation Direction Motor rotation direction in speed mode can be set by parameter Cn004 (Motor rotation direction) and input contact SPDINV according to the tables below. Caution! Both methods can be operated at the same time. Ensure that these parameters are set correctly for the required direction. Control Parameter Name...
Page 103: Speed Loop Gain
5-3-8 Speed Loop Gain In speed mode there are two speed controller loops, with separate Gain (P) and Integral (I) functions. Speed controllers 1 or 2 can be selected by setting one of the multi- function input terminals, to selection G-SEL or by setting one of the parameters Cn20-Cn24 as required. Please refer to section 5-3-11 section B for more details.
Page 104: Notch Filter
5-3-9 Notch Filter The function of the Notch filter is to suppress mechanical system resonance. Resonance occurs due to low mechanical system rigidity (high springiness) of transmission systems used with servo motors such as couplings, bearings, lead screws, etc. Enter the mechanical system vibration (resonance frequency) in parameter Cn013 (Notch Filter frequency) and adjust Cn014 to set the filter bandwidth scaling factor.
Page 105: Torque Limit Of Speed Control Mode
5-3-10 Torque Limit of Speed Control Mode In speed mode, the motor torque limit input contact TLMT could be used to select one of the two methods below: (1) Internal toque limit: Using default Cn010 (CCW Torque command limit ) and Cn011 (CW Torque command limit).
Page 106: Gain Switched
5-3-11 Gain Switched PI/P control mode selection (Section A) Automatic gain 1& 2 switch (Section B) The selection of PI/P control mode switch and Automatic gain 1& 2 switch by parameters or from input terminals can be used in following conditions. (1) In speed control, to restrain acceleration/deceleration overshooting.
Page 107 (1) PI to P mode switch over by comparing Torque command. When the Torque command is less than Cn016 PI control is selected. When the Torque command is greater than Cn016 P control is selected.. As shown in diagram below: Speed Cn016 Torque Command...
Page 108 (3) PI to P mode switch over by comparing Acceleration command. When the Acceleration command is less than Cn018 PI control is selected. When the Acceleration command is greater than Cn018 P control is selected. As shown in diagram below: Speed Cn018 Acceleration Command...
Page 109 (B) Automatic gain 1& 2 switching Selection of Automatic gain 1& 2 switch with different P&I Gains is possible by setting Parameter Cn 015.1 to one of the selections listed in the table below. Parameter Cn 020 can be use for setting a switch delay time between different gains. (Gain 1 and Control Parameter Name...
Page 110  Automatic gain 1&2 switch condition (by torque command ). When torque command is less than Cn021, Gain 1 is selected. When torque command is greater than Cn021, Gain 2 is selected When Gain 2 is active and torque command becomes less than Cn021 system will automatically switch back to Gain 1 the switch time delay can be set by Cn020.
Page 111  Automatic gain 1&2 switch condition (by Acceleration command). When acceleration command is less than Cn023 Gain 1 is selected. When acceleration command is greater than Cn023 Gain 2 is selected. When Gain 2 is active and acceleration command becomes less than Cn023 system will automatically switch back to Gain 1 the switch time delay can be set by Cn020.
Page 112 (5) Automatic gain 1&2 switch condition by G-SEL input contact. When the G-SEL input contact is open Gain 1 is selected. When G-SEL input contact is closed Gain 2 is selected. When G-SEL input contact opens again then Gain 1 is selected and switch delay time can be set by Cn20. As show in the diagram below: Input Contact G-SEL Statu Motion...
Page 113: Other Functions
5-3-12 Other Functions When the speed level in CW or CCW directions becomes greater than the value set in Cn007 (Speed reached preset), the output contact INS operates. Speed reached preset Parameter Name Default Unit Setting Range Control Mode Signal Speed reached Rated rpm Cn007...
Page 114 To Zero the speed command according to preset level in Sn215 set Sn204 to selection 1. Parameter Control Name Setting Description Signal Mode No action Zero Speed Sn204 selection Regard Speed command as Zero. (According to Sn215 setting). Speed Command Previous Speed Command Zero speed preset level...
Page 115: Position Mode
5-4 Position Mode Position control mode is used for high-precision applications on machinery such as machine tools. The Position control mode offers two methods of control.  External pulse input position command  Internal position command. In external pulse command input mode, the positioning command is signaled to the drive by a host Controller to achieve a fixed position.
Page 116: External Pulse Command
5-4-1 External Pulse Command Four types of external position pulse command signals can be interfaced, These can be selected from the list below. Position pulse signal logic can be selected Positive or negative as required. Parameter Control Name Setting Description Signal Mode (Pulse)+(Sign)
Page 117 Two types of pulse command can be connected, (Open collector) and (Line driver). Please refer to section 2-2-1 for the pulse wiring method. Pulse command timing should be in accordance with the time sequence standard below. Pulse Command Time Sequence Diagram of Pulse Command Time Standard Types Line Driver:...
Page 118: Internal Position Command
5-4-2 Internal Position Command In internal position command mode, 32 preset position commands can be set by parameters (Pn401~Pn496), and can be activated by use of input contacts POS1 ~ POS5. Preset positions are programmable and can be selected according to the table below: Position Position POS5...
Page 119 Position Position POS5 POS4 POS3 POS2 POS1 Position Command Parameter Command Speed Parameter Rotation Number Pn467 Pn469 Pulse Number Pn468 Rotation Number Pn470 Pn472 Pulse Number Pn471 Rotation Number Pn473 Pn475 Pulse Number Pn474 Rotation Number Pn476 Pn478 Pulse Number Pn477 Rotation Number Pn479...
Page 120 PTRG. (Position Trigger). Once any preset position is selected by input contacts POS1~POS5 then require a trigger signal (PTRG) from the input contact, enable PTRG to start operation. Diagram below shows an example for 4 different absolute encoders. Absolute moves Position P=10 pulses, P8=10 pulses pulse...
Page 121 CLR (Clear position command). If the CLR input is activated when a position command is in process then the motor will stop immediately and the remaining positioning pulses will be cleared. Parameter Pn315 must be set to 1or 2 as required (refer to section 5-4-7).
Page 122: Electronic Gear
5-4-3 Electronic Gear Electronic gear ratio parameter can be used to scale the command output pulse. This would be useful in transmission applications where move distance per move command pulse has to be scaled due to mechanical requirements. Diagram and notes below describe the electronic gear ratio effect. Example of a transmission device and calculations that show the required number of pulses from a host controller to move the table by 10mm.
Page 123 Electronic Gear Ratio Calculation Follow the Steps below: 1. Define the requirements of the positioning system Establish the following:  Move distance per one revolution of load shaft.  Servo motor Encoder ppr (Pulse Per Revolution). (please refer to section 1-1-2 Servo Motor Standards).
Page 124 4. Parameter Setting for Electronic Gear Ratio Setting gear ratio Numerator and denominator parameters: Numerator and denominator values of the calculated electronic gear ratio must be entered in the required parameters. These two values have to be integer and with a value within the specified range in the table below. Parameter Setting Control...
Page 125 Electronic Gear Ratio setting examples Transmission System Setting Process 1. Main positioning specifications: a) Load Shaft(Ball Screw) pitch move distance per revolution= 5mm Ball Screw b) Motor Encoder ppr ( Pulse per revolution) = 2000pulses 2. Move distance per one pulse of move Command. Moving Distance of 1 Pulse Command =1μm 3.
Page 126 5-4-4 Smooth Acceleration Using the One Time Smooth Acceleration/Deceleration of Position Command” It smoothes the position pulse command frequency. Parameter Name Default Unit Setting Range Control Mode Signal External Position command ★ msec 0~10000 Pi/Pe Pn313 Accel/Decel Time Constant ★ New setting will become effective after re-cycling the power.
Page 127 S-curve time constant of the Internal Position Command S-curve time constant generator can smoothen the command, it provides continuous speed and acceleration which not only better the motor characteristic of acc/dec but also helps the motor to operate more smoothly in machinery structure.S-curve time constant generator is only applicable to the mode of internal position command input.
Page 128 x(t) v(t) a(t) j(t) S-Curve trip time definition 5-42...
Page 129: Definition Of Direction
5-4-5 Definition of Direction In position mode, user can use Pn314 (Position Command Direction Definition) to define motor rotation direction. The setting is showed as follow: Parameter Control Name Setting Description Signal Mode Definition of position command direction (from Clockwise (CW) motor load end) ★...
Page 130: Clear The Pulse Offset
5-4-7 Clear the Pulse Offset In position control mode, parameter Pn315 (Pulse Error clear mode) has three modes can be select. CLR input contact is used to clear the pulse error as required according to the list below. Control Parameter Name Setting Description...
Page 131: Homing Function
5-4-8 Homing Function Homing function is used to find and set a reference point for correct positioning. To set a HOME reference position, one of input contacts ORG (external sensor input), CCWL, or CWL can be used. An encoder Z phase (marker pulse) can also be used as home reference and can be search by CW or CCW direction.
Page 132 Control Parameter Name Setting Description Mode Once the Home Reference switch or signal is detected, motor reverses direction in 2 speed to find the nearest Z Phase pulse and sets this as the Home position, Once Reference then stops in accordance with Pn317.3 setting method. Home switch or Once the Home Reference switch or signal is detected, Signal, is found...
Page 133 Additional Home routine parameters Home search speed parameters 1st (Fast) and 2 (Slow) speeds are set according to table below: Parameter Name Default Unit Setting Range Control Mode Signal preset high speed of Pn318 0~2000 Pi/Pe HOME Pn319 preset low speed of HOME 0~500 Pi/Pe Parameters Pn320 and Pn 321 provide Home position offset feature for applications where the machine...
Page 134 Home routine Timing Chart During the Home routine if the SON (Servo On) is not activated or any alarm happens, Home routine is stopped and Home Complete output contact is reset (Cleared). Pn317.2=2 Pn317.2=1 (SHOME triggers HOME) (After Power ON, Home function will be automatically Turn ON operated when first time Servo ON) Power...
Page 135 Home Routine Speed /Position Timing Charts Following Sections Show the Speed/Position Timing charts according to Pn 317.0 and Pn317.1 selections. Pn317.0 Pn317.1 No Home routine  Pn317.0=0 or 2 (After starting HOME routine, run CCW in 1 preset high speed for HOME Reference (CCWL, CWL or ORG).
Page 136 Pn317.0=1or 3. After starting the HOME routine, run CW in 1 preset high speed to search for HOME  Reference (CWL, CCWL or ORG).  Pn317.1=0 . After finding HOME Reference, reverse direction in 2 preset low speed to search for the nearest Z Phase pulse to be set as the HOME position.
Page 137 Pn317.0=3(After Starting HOME routine, run CW in 1 preset high speed to search for HOME  Reference.(ORG)  Pn317.1=1. After finding HOME Reference, continues in the same direction in 2 preset low speed to find the nearest Z Phase to be set as the HOME position. Pn317.2=2 Input Contact SHOME Starts the HOME routine.
Page 138 Pn317.0=3. After Starting HOME routine, run CW in 1 preset high speed to search for HOME Reference.  (ORG).  Pn317.1=2. After Finding the HOME Reference, the Rising Edge of ORG sets the HOME Position.  Pn317.2=2 Input Contact SHOME Starts the HOME routine. Pn317.3=0 Reverse search for HOME position ...
Page 139 Pn317.0=5. After Starting HOME routine, run CW in 1 preset high speed to search for the nearest Z phase pulse. Pn317.1=2. After Finding the Z phase pulse, set this position as the HOME position. Pn317.2=2 Input Contact SHOME Starts the HOME routine. Pn317.3=0 Reverse search for HOME position Speed Pn319 (2...
Page 140: Other Position Function
5-4-9 Other Position Functions In position (Position Complete) As long as the position error value (counts) is less than the pulse counts set in Pn307 (Position Complete value) then INP output contact will be activated. Control Parameter Name Default Unit Setting Range Mode Pn307...
Page 141: Gain Adjustment
5-5 Gain Adjustment The Servo controller provides 3 control loops as diagram shown below: Control methods are: Current Control, Speed Control and Position Control. Speed Host Power Position Current Controllor Controllor Circuit Controllor Controllor Diagram above shows the three control loops. Current (Inner loop), Speed (middle loop) and position (outer loop).
Page 142 Speed Loop Gain Speed Loop Gain has a direct effect on the response Bandwidth of Speed Control Loop. Under the condition of no vibration or noise, when higher is the Speed Loop Gain Value is setting speed response is becoming faster. If Cn025 (Load Inertia Ratio) is correctly set then, Speed Loop Bandwidth = Sn211 (Speed Loop Gain1) or Sn213 (Speed Loop Gain2).
Page 143 Position Loop Gain Position Loop Gain has a direct effect on the response speed of Position Loop. Under the condition that there is no vibration or noise from servo motor, increasing the Position Loop Gain Value can enhance the response speed and hence reduce the positioning time. Position Loop Feed-Forward Gain Using Position Loop Feed-Forward Gain can enhance the response speed.
Page 144: Automatic Gain Adjustment
5-5-1 Automatic Gain Adjustment This device provides ON-LINE Auto tuning, which can quickly and precisely measure Load Inertia and adjust the Gain automatically. Setting is according to the table below: Control Parameter Name Setting Description Mode ★ Auto tuning Disabled Cn002.2 Auto tuning Pe/Pi/S...
Page 145 Applying conditions of Auto tuning The Servo drive provides Auto tuning and uses an advanced control technique “ON-LINE” to measure the Load Inertia Ratio to control the system to achieve default speed or Position Response Bandwidth. System must comply with the conditions below, so that the Auto tuning can operate normally. (1) The timing from stop to 2000rpm needs be less than 1 second.
Page 146 Process for Auto tuning The following diagram shows the process for Auto tuning. Note: After Auto tuning is complete Set 0 in Cn002.2, otherwise it will not record the present measured Load Inertia Ratio. If the power is cut off during Auto tuning then when the power is established, Servo controller will use the previously recorded setting of Load Inertia Ratio which is stored in parameter Cn025.
Page 147: Manual Gain Adjustment
5-5-2 Manual Gain Adjustment Manual Gain adjustment is made available for applications when auto tune is not providing a good and stable system response, or a system where there is no significant load variations and the auto tune is not used. Manual Gain Adjustment in Speed control Mode Step 1: Set Rigidity level in parameter Cn 26 (See section 5-5-1 for the selection table) and Cn25.
Page 148: Improving Resonance
5-5-3 Improving Resonance The Servo drive provides the function of Gain Switching and Position Loop Feed-Forward Gain to improve system response. Note: Both of these features must be used correctly to improve system response, otherwise the response will become worse. Refer to the description below: Gain Switch Following Gain Switching features are provided:- a) Speed Loop Gain PI/P Switching...
Page 149: Other Functions
5-6 Other Functions 5-6-1 Programmable I/O Functions Digital Inputs There are 12 DI (Digital Inputs) contacts and 4 DO (Digital Outputs) contacts which are programmable as listed below:- Control Parameter Name Setting Description Mode Signal Contactor Function Non-function setting NULL Servo On ALRS Alarm Reset...
Page 150 Parameter Control Name Setting Description Signal Mode Input contact state. NO (Normally Open). ★ Connecting (IG24) to inputs, enables the DI-1 Hn601.2 selected function. Logic State Input contact state. NC (Normally Closed). NO/NC Selection Disconnecting (IG24) from inputs, enables the selected function. ...
Page 151 Digital Outputs. There are 4 programmable Digital Outputs according to the table below: Control Parameter Name Setting Description Mode Signal Contactor functions Servo Ready ★ Alarm Hn613.0 Zero Speed ★ DO-1 terminal Brake Signal Hn613.1 functions In Speed In Position HOME HOME In Torque...
Page 152: Switch For The Control Mode
5-6-2 Switch for the Control Mode Set one of the programmable input terminals to MDC (Control mode) selection. The input then will select the preset control mode, which is set by Parameter Cn001. Selections are listed below: Control Parameter Name Setting Description Mode...
Page 153: Brake Mode
5-6-4 Brake Mode Brake function for servo motor and the external mechanical brake if it is used can be set according to the table below. Set the brake mode as required for Servo off, Emergency Stop and CCW/CW rotation inhibit functions. Control Parameter Name...
Page 154 Timing for Brake output signal Set the required time for the operation of brake output signal (BI) according to the following. BI output can be used to control the function of an external electro-mechanical brake. Parameter Name Default Default Setting Range Control Mode Output time setting for Cn003...
Page 155: Cw/Ccw Drive Inhibit Function
5-6-6 CW/CCW Drive Inhibit Function Stopping method of the servo motor as a result of CW/CCW Inhibit function can be selected according to the list below: Control Parameter Name Setting Description Mode When torque limit reached the setting value of (Cn010,Cn011), servo motor deceleration to stop in the zero clamp status.
Page 156: Selecting For External Regeneration Resistor
5-6-7 Selecting for External Regeneration Resistor In applications where a high inertia load is stopped rapidly, motor will generate an energy, which is regenerate power back to the servo drive ( Regeneration energy) (1) Short deceleration time with heavy loads. (2) In vertical load applications.
Page 157 Setting for the Power of External Regeneration Resistor When using external regeneration resistor, the power value (Watts) must be set in parameter Cn012. Parameter Name Default Unit Setting Range Control Mode Watts setting for Cn012 External Regeneration 0~10000 Resistor Wiring for External Regeneration Resistor When external Regeneration Resistor is used, must remove the link between PC and P1 on TB1 Terminal.
Page 158 Assess for an external resistor and calculate for the power consumption: Use the table below to determine, if an external regeneration Resistor is necessary. The table below shows the permitted number of no load operation cycles per minute for various servo motors in regeneration condition.
Page 159 Calculation for the allowable operation cycles per minute by motor speed and inertia. The formula below should be used to to calculate the permitted number of cycles/min in regenerative mode in accordance with the actual loading and the running speed of the motor. load operation cycles...
Page 160: Fan Setting
In such applications, calculate ER and hence regeneration resistor power according to the formula below. Item Formula Description for Symbols : Working Energy during the regenerative period. (J) ω : Motor running speed during the Calculate the working Energy π ω...
Page 161: Analog Monitor
5-6-11 Analog Monitor There are two analog output signals which can be used to monitor running Speed, Torque, Current and Position as follows: Setting Control Default Unit Parameters Name & Function Range Mode Analog monitor output selection (MON1) Setting Explanation Speed command (±10V/1.5 times of the rated speed) Speed feedback detection...
Page 162: Factory Setting Parameter
Analog monitor output zero offset can be adjusted by parameters Cn027&Cn028 as below. Parameter Name Default Unit Setting Range Control Mode Analog Monitor 1 Cn027 x40mV -250~250 Offset adjustment Analog Monitor 2 Cn028 x40mV -250~250 Offset adjustment Analog Monitor Output Voltage (V) Adjusting Value for Bias Voltage Time...
Page 163: Tool Turret Modes
5-7 Tool Turret Modes JSDAP series provided tool turret control mode, the related functions and procedures are set as following described. 5-7-1 Parameter Setting Parameter Name Setting Description ★ ● Control Mode Tool Turret mode selection Cn001 ★ Input Contact, Enables SON (Servo On).
Page 164 Parameter Name Setting Description Disabled ★ Reset parameters Reset all Parameters to default ( Factory setting) Cn029 Servo model code can be display and checked with parameter dn-08, refer 3-2-2 dn-08 table for more ★ information. Cn030 Servo motor model code Default Attention：Before operate your servo motor, check this parameter setting is compatible for servo drive and...
Page 165: Rigidity Setting
5-7-2 Rigidity Setting Parameter Name Setting Description Speed loop gain has a direct effect on the frequency response bandwidth of the Speed-control loop. ◆ Without causing vibration or noise Speed-loop-gain can │ Speed Loop Gain 1 be increased to obtain a faster speed response. qn501 1500 If Cn025 (load Inertia ratio) is correctly set, the...
Page 166: Tool Turret Mode Setting Flow Chart
5-7-3 Tool Tturret Mode Setting Flow Chart Cn030 Parameter setting Pn313(Acc/Dec) Pn327(Rotation speed of tool turret switching) Pn324(Total number of tool turret) Pn326(Reduction Gear Rate for CNC Tools Turret) qn501~qn507(Rigidity Setting) Control mode Homing Auto-selection mode swithing (MDC 1)(MDC 2) Tool turret Position Trigger selection...
Page 167: Timing Diagram Of Tool Turret Homing
5-7-4 Timing Diagram of Tool Turret Homing Servo ON Tool Turret selection (Pos 1) Tool Turret Tool Turret No. 6 selected selection(Pos 2) Tool Turret selection(Pos 3) Tool Turret selection(Pos 4) Position Trigger (PTRG) Control Mode switching (MDC 1) Control Mode switching (MDC 2) Motor Speed (rpm) In Position (INP)
Page 168: Timing Diagram Of Auto-Selection Mode
5-7-5 Timing Diagram of Auto-selection Mode Servo on Tool Turret selection (Pos 1) Tool Turret selection(Pos 2) Tool Turret Tool Turret No.4 selected Tool Turret No.11 selected selection(Pos 3) Tool Turret selection(Pos 4) Position Trigger (PTRG) Control Mode switching (MDC 1) Control Mode switching (MDC 2) Motor Speed...
Page 169: Timing Diagram Of Jog Mode
5-7-6 Timing Diagram of JOG Mode Servo ON Tool Turret selection (Pos 1) Tool Turret selection(Pos 2) Tool Turret selection(Pos 3) Tool Turret selection(Pos 4) Position Trigger (PTRG) Control Mode switching (MDC1) Control Mode switching (MDC2) Motor Speed (rpm) Pn313 Pn313 In Position (INP) Tool turret display...
Page 170: Chapter 6 Parameters
Chapter 6 Parameters 6-1 Explanation of Parameter groups There are 10 groups of parameters as listed below. Symbol Description Status Display Parameters. Un-xx Diagnostics Parameters. dn-xx Alarm Parameters AL-xx System Parameters Cn-xx Torque Control Parameters Tn1xx Speed Control Parameters Sn2xx Position Control Parameters Pn3xx Point to Point Control...
Page 171: Parameter Display Table
6-2 Parameter Display Table System Parameters Communication Setting Control Parameter Name & Function Default Unit Address Range Mode RS232 RS485 Control Mode selection Setting Explanation Torque Control Speed Control External Position Control (external pulse Command) External Position/Speed Control Switching ★● Speed/Torque Control Switching │...
Page 172 Communication Setting Control Parameter Name & Function Default Unit Address Range Mode RS232 RS485 Output time setting for Mechanical Brake Signal Brake Signal Timing Sequence： Cn003 (machinery brake signal output time) is negative -2000 Input Contacts SON msec 511H 0003H │...
Page 173 Communication Setting Control Parameter Name & Function Default Unit Address Range Mode RS232 RS485 Encoder pulse output scale. 2500 For default set to the rated encoder number of pulses per revolution, such as 2500ppr. Encoder ppr can be scaled by setting a ppr in │...
Page 174 Communication Setting Control Parameter Name & Function Default Unit Address Range Mode RS232 RS485 CW/CCW drive inhibit mode Setting Explanation When torque limit reached the setting value of (Cn010,Cn011), servo motor deceleration to stop in the zero clamp condition. Deceleration by using dynamic brake to stop ★...
Page 175 Communication Setting Control Parameter Name & Function Default Unit Address Mode Range RS232 RS485 Automatic gain 1& 2 switch Setting Explanation Switch from gain 1 to 2 if torque command is greater than Cn021. Switch from gain 1 to 2 if speed command is greater than Cn022.
Page 176 Communication Setting Control Parameter Name & Function Default Unit Address Range Mode RS232 RS485 Automatic gain 1& 2 switch condition (Speed Command) Set the Cn015.1=1 first. When speed command is less than Cn022 Gain 1 is selected. │ 53EH 0016H When speed command is greater than Cn022 Gain 2 Cn022 4500...
Page 177 Communication Setting Control Name & Function Default Unit Address Parameter Range Mode RS232 RS485 Analog monitor output 1, Offset adjustment Analog monitor output zero offset can be adjusted by parameter. Cn027 as below. -250 │ C03H 001BH Cn027 Analog monitor output 2, offset adjustment -250 │...
Page 178 Communication Setting Control Parameter Name & Function Default Unit Address Range Mode RS232 RS485 Motor Series Selection ● Setting Explanation Cn031.3 50EH 001FH │ The existing motor 01 motor (only for mainland China) Speed feedback smoothing filter │ 546H 0020H Restrain sharp vibration noise by the setting and Cn032 2500...
Page 179 Communication Setting Control Address Parameter Name & Function Default Unit Range Mode RS232 RS485 Communication RS232 is read and written to the selection of EEPROM. ★ Setting Explanation Cn037.3 │ 544H 0025H JSDAP Command address (E8~EC) JSDAP Command address (70~74) * While setting to 1, Pn407~Pn410 are prohibited from applying.
Page 180 Communication Setting Control Address Parameter Name & Function Default Unit Range Mode RS232 RS485 Low voltage protection level Set the delay time of Cn052, which triggers low Volt │ 5F0H 0033H Cn051 voltage protection alarm, when voltage of drive input power is lower than Cn051. Low voltage protection alarm delay time Set the delay time of Cn052, which triggers low x250...
Page 181 Torque-Control Parameter Communication Setting Control Address Parameter Name & Function Default Unit Range Mode RS232 RS485 Linear acceleration/deceleration method Setting Explanation ★ Disabled. C8CH 0101H │ Tn101 Enabled. Enable Torque command smooth accel/decel time Constant. Linear accel/decel time period. Time taken for the torque-command to linearly accelerate to the rated torque level or Decelerate to zero torque .
Page 182 Communication Setting Control Parameter Name & Function Default Unit Address Range Mode RS232 RS485 Torque Command, analog input voltage offset The offset amount can be adjusted by this parameter. -10000 Input Voltage (V) │ 522H 0104H Tn104 10000 Offset Voltage Torque Command Preset Speed Limit 1.
Page 183 Communication Setting Control Parameter Name & Function Default Unit Address Range Mode RS232 RS485 Torque command smooth accel/decel time Constant Set Tn101=2 to enable this function. Set the time period to rise to 63.2% of the full torque. Torque Command Torque Command msec │...
Page 184 Speed-Control Parameter Communication Setting Control Parameter Name & Function Default Unit Address Range Mode RS232 RS485 Internal Speed Command 1 In Speed control, input contacts SPD1 and SPD2 can be used to select 3 sets of internal speed -4500 command, select for speed command 1 contact 536H 0201H │...
Page 185 Communication Setting Control Parameter Name & Function Default Unit Address Range Mode RS232 RS485 Speed command smooth accel/decel time Constant. Set Sn205=1 to enable this function then set the time period for the speed to rise to 63.2% of the full speed. Speed Command (%) Speed Command msec...
Page 186 Communication Setting Control Parameter Name & Function Default Unit Address Range Mode RS232 RS485 S curve speed command acceleration time setting. msec C45H 0209H │ Sn209 Refer Sn208 5000 S curve speed command deceleration time setting. msec C46H 020AH │ Sn210 Refer Sn208 5000...
Page 187 Communication Setting Control Parameter Name & Functions Default Unit Address Range Mode RS232 RS485 Analog Speed Command offset adjust The offset amount can be adjusted by this parameter. Input Voltage (V) -10000 Offset │ 534H 0211H Sn217 Voltage 10000 Speed Command (rpm) Rate Analog speed command limited...
Page 188 Position Control Parameter Communication Setting Control Parameter Name & Function Default Unit Address Range Mode RS232 RS485 Position pulse command selection Setting Explanation ★ (Pulse)+(Sign) Pn301.0 │ (CCW)/(CW) Pulse AB-Phase pulse x 2 AB-Phase pulse x 4 Position- Pulse Command Logic ★...
Page 189 Communication Setting Control Parameter Name & Function Default Unit Address Range Mode RS232 RS485 Electronic Gear Ratio Numerator 3 Use input contacts GN1 & GN2 to select one of four electronic Gear Ratio Numerators. To select Numerator 3, the statue of the input-contacts │...
Page 190 Communication Setting Control Parameter Name & Function Default Unit Address Range Mode RS232 RS485 Position Loop Gain 2 551H 030BH │ Pn311 Refer to Pn310 1000 Position Loop Feed Forward Gain It can be used to reduce the track error of position control and speed up the response.
Page 191 Communication Setting Control arameter Name & Function Default Unit Address Range Mode RS232 RS485 Internal Position Command Mode Setting Explanation ★ │ Absolute Position Pn316 Incremental Position Internal Position Command Hold (PHOLD) program select Setting Explanation ★ When PHOLD is active then received PTRG Pn316.1 │...
Page 192 Communication Setting Control arameter Name & Function Default Unit Address Range Mode RS232 RS485 Setting for HOME routine Setting Explanation Once the home routine is activated , motor will search for Home position switch in 1 speed in CCW direction and sets the Home reference position as soon as the input contact ORG is activated.
Page 193 Communication Setting Control Parameter Name & Function Default Unit Address Range Mode RS232 RS485 Setting of Home Routine Start method Setting Explanation Homing routine is Disabled. On power up and activation of Servo on the home routine is started automatically. Pn317.2 This method is useful for applications that │...
Page 194 Communication Setting Control Parameter Name & Function Default Unit Address Range Mode RS232 RS485 S-Curve Time Constant for Internal Position command(TSL) S-curve time constant generator can smoothen the command, it provides continuous speed and acceleration which not only better the motor characteristic of acc/dec but also helps the motor to operate more smoothly in machinery structure.S-curve time constant generator is only...
Page 195 Internal Position Control Parameter Communication Setting Control Address Parameter Name & Function Default Unit Range Mode RS232 RS485 Internal Position Command 1 – Rotation Number -16000 Set the Rotation number of the internal │ 568H 0701H Pn401 Position Command 1 16000 Use input contacts POS1~POS5 to select Refer to 5-4-2.
Page 196 Communication Setting Control Address Parameter Name & Function Default Unit Range Mode RS232 RS485 -16000 Internal Position Command 6 -Rotation 57CH 0715H │ Pn416 Number 16000 Please refer to Pn401 -131072 Internal Position Command 6-Pulse 57EH 0716H pulse │ Pn417 Number 57FH 0717H...
Page 197 Communication Setting Control Parameter Name & Function Default Unit Address Range Mode RS232 RS485 -16000 Internal Position Command 12-Rotation 594H 072DH │ Pn434 Number 16000 Please refer to Pn401 -131072 Internal Position Command 12-Pulse Number 596H 072EH pulse │ Pn435 597H 072FH Please refer to Pn402...
Page 198 Communication Setting Control Address Parameter Name & Function Default Unit Range Mode RS232 RS485 -131072 Internal Position Command 18 - Pulse Number 5AEH 0746H pulse │ Pn453 5AFH 0747H Please refer to Pn402 131072 Internal Position Command 18 - Move Speed │...
Page 199 Communication Setting Control Address Parameter Name & Function Default Unit Range Mode RS232 RS485 Internal Position Command 24 - Move Speed 5C5H 0760H │ Pn472 Please refer to Pn403 3000 -16000 Internal Position Command 25 -Rotation Number │ 5C8H 0761H Pn473 Please refer to Pn401 16000...
Page 200 Communication Setting Control Address Parameter Name & Function Default Unit Range Mode RS232 RS485 -16000 Internal Position Command 31 -Rotation Number 5E0H 0779H │ Pn491 Please refer to Pn401 16000 -131072 Internal Position Command 31 - Pulse Number 5E2H 077AH pulse │...
Page 201 Quick Set-up Parameters Communication Setting Control Name & Function Default Unit Parameter Address Range Mode RS232 RS485 Speed Loop Gain 1. ( Same function as Sn211) Speed loop gain has a direct effect on the frequency response bandwidth of the Speed-control loop. ◆...
Page 202 Multi-Function Input Parameters All digital inputs D1 to D12 are programmable and can be set to one of the funhctions listed below. Hn 601 which includes Hn 601.0 ,Hn601.1, Hn601.2 is used for digital input 1 ( D1-1). Hn602 to Hn612 are used for setting digital inputs 2 to 12.( D1-2 to D1-12). Communication Setting Control...
Page 203 Communication Setting Control Name & Function Default Unit Parameter Address Range Mode RS232 RS485 DI-1 Active Level ★ Setting Explanation Hn601.2 │ C23H 0501H Low Active (short with IG24) High Active DI-2 ★ │ C24H 0502H Please refer to Hn601 Hn602 DI-3 ★...
Page 204 Communication Setting Control Parameter Name & Function Default Unit Address Range Mode RS232 RS485 DO-1 Functions Setting Explanation Signal Functions RDY Servo Ready ALM Alarm Zero Speed Brake Signal INS In Speed INP In Position HOME HOME INT In Torque Position Display 1 for Tool Turret ★...
Page 205 Communication Setting Control Parameter Name & Function Default Unit Address Range Mode RS232 RS485 Digital input control method selection. Select digital input (12 pins) control method by external terminal or communication. Convert Binary code to Hex code for setting this parameter. DI and binary bits table as below.
Page 206 Display Parameter Communication Parameter Display Unit Explanation Address Signal RS232 RS485 Actual Motor Speed 6C4H 0601H Motor Speed is displayed in rpm. Un-01 It displays the torque as a percentage of the rated torue. Actual Motor Torque 9B6H 0602H Un-02 Ex: 20 are displayed.
Page 207 Communication Parameter Display Unit Explanation Adress Signal RS232 RS485 Pulse command – rotation After power on, it displays pulse command input 8FAH 0615H Un-21 High Byte value(absolute value) rotation number in value. 6B0H 0616H Position feedback pulse 2500/8192 ppr Encoder feedback. Un-22 15 bits encoder position it displays absolute position for an incomplete...
Page 208 Diagnosis Parameter Communication Parameter Name & Function Address RS232 RS485 Selected control mode dn-01 Output terminal signal status. 6AFH dn-02 Input terminal signal status. 6CBH dn-03 Software version C42H dn-04 JOG mode operation dn-05 Reserved. C43H dn-06 Auto offset adjustment of external ana 5FCH dn-07 command voltage.
Page 209: Chapter 7 Communications Function
Chapter 7 Communications Function 7-1 Communications Function ( RS-232 & RS-485 ) The Servo drive provides RS232 communication. The description below shows the communication wiring and communication protocol. 7-1-1 Communication Wiring RS-232 Wiring Driver terminal MD-Type 8Pins PC terminal D-Type 9Pins(female) ※...
Page 210 RS-485 Wiring RS-232 Driver terminal MD-Type 8Pins RS-232 / RS-485 Converter Description Description Name Description Name Receive Data Serial transmission + Data + Serial transmission - Data - Ground Power Supply + VS Transmit Data Ground Serial transmission + Data + Serial transmission - Data - Power Supply...
Page 211 RS-232/RS-485 communication parameter Setting Control Parameter Name & Function Default Unit Range Mode Servo ID number ★ When using Modbus for communication,each servo │ Cn036 units has to setting a ID number. repeated ID number will lead to communication fail. Modbus RS-485 braud rate setting Setting Explanation...
Page 212 Parameter Setting Control Name & Function Default Unit Signal Range Mode Digital input control method selection. Select digital input (12 pins) control method by external terminal or communication. Convert Binary code to Hex code for setting this parameter. DI and binary bits table as below.
Page 213: Rs232 Communication Protocol And Format
7-1-2 RS-232 Communication Protocol and Format Baud rate 9600bps (Selection by Cn037.1 ) Parity Data bit Stop bit ※ Symbol H in folling sentence is for Hex representation. (1) Read a word from servo drive  Function code format: R5XxSs Xx : A request to read register “...
Page 214 (3) Write a word to drive  Function code format: W5XxYyZzSs Xx : Address for write data ( Unit :Byte、Hex representation) YyZz : Writes the data contents ( Unit :word, Hex representation) Ss : Check Sum，Ss =’W’+’5’+’X’+’x’+’Y’+’y’+’Z’+’z’ ( Unit :Byte, Hex representation) Ex3：Write data 0008H to register 30H ( Convert『W5300008』into ASCII codes ) Check Sum=57H+35H+33H+30H+30H+30H+30H+38H=1B7H...
Page 215: Modbus Communication Protocol For Rs485
7-1-3 Modbus Communication Protocol for RS-485 The MODBUS protocol allows an easy communication within types of network architectures,before start to communication with slave device, set the ID number ( Cn036 ) for Servo drive respectively, server distinguish ID number for controlling specific client station. Standard Modbus networks combine two transmission modes: ASCII or RTU: ASCII(American Standard Code for information interchange) Mode and RTU (Remote Terminal Unit) Mode, Use Cn038 to select ASCII or RTU mode.
Page 216 ASCII Mode Framing 10 bits Frame (7-bits Data) Start Stop Stop ←－－－ Data:7 bits －－－→ ←－－－－－－－ Character Frame：10 bits －－－－－－－→ Start Even Stop parity ←－－－ Data:7 bits －－－→ ←－－－－－－－－ Character Frame:10 bits －－－－－－－→ Start Stop parity ←－－－ Data:7 bits －－－→ ←－－－－－－－－...
Page 217 ASCII Mode Framing Symbol Name Description Comm. start 3AH, Char ’:‘ Include 2 ASCII code within 1-byte Comm. add : 1 ~ 254 convert to Hex representation ; Slave address Ex. Servo drive ADR is No.20 convert to 14H ; ADR = ’1‘...
Page 218 Common function codes 03H : Read the register contents Continuous read N words. * Largest number of N is 29 (1DH) Ex.: Read two words ( register 0200H and 0201H ) from Slave address 01H. ASCII Mode Query PC  Servo Response Servo ...
Page 219 06H : Write Single Register Write a word into register. Ex : Write data (0064H) into register address 0200H and slave ADR= 01 ASCII Mode Query PC  Servo Response ServoPC (OK) Servo  PC (ERROR) ‘ : ’ ‘ : ’ ‘...
Page 220 08H : Diagnostic function The sub-function code 0000H is able to check communication signal between Master and Slaver. Data content is random value. Ex: Use the diagnostic function for ID=01H ASCII Mode Query PC  Servo Response Servo  PC (OK) Servo ...
Page 221 10H : Write Multipile Registers Continuously write N words to register. * Largest number of N is 27 (1BH) Ex.: Write data (0064H) and (012CH) into register address 100H and 101H respectively. ASCII Mode Query PC  Servo Response Servo PC (OK) Servo ...
Page 222 RTU Mode Query PC  Servo Response Servo PC (OK) Servo  PC (ERROR) Function Code Function Code Function Code Exception (HI) (HI) Register Register code (Lo) (Lo) CRC(Lo) Data length Data length CRC(Hi) (word) (word) Byte counters CRC(Lo) Data (HI) CRC(Hi) 0100H...
Page 223 CRC Checking: CRC check code is from Slave Address to end of the data. The calculation method is illustrated as follow: (1) Load a 16-bit register with FFFF hex (all1’s). Call this the CRC register. (2) Exclusive OR the first 8-bit byte of the message with the low-order byte of the 16-bit CRC register, putting the result in the CRC register.
Page 224 CRC Generation Function unsigned short CRC16(puchMsg, usDataLen) unsigned char *puchMsg ; /* message to calculate CRC upon*/ unsigned short usDataLen ; /* quantity of bytes in message*/ unsigned char uchCRCHi = 0xFF ; /* high byte of CRC initialized*/ unsigned char uchCRCLo = 0xFF ; /* low byte of CRC initialized*/ unsigned uIndex ;...
Page 225 Low-Order Byte Table /* Table of CRC values for low-order byte */ static char auchCRCLo[] = { 0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7, 0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC, 0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3, 0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32, 0x36, 0xF6, 0xF7,...
Page 226: Chapter 8 Troubleshooting
Chapter 8 Troubleshooting 8-1 Alarm functions The Alarm codes are displayed in a format such as that shown below. For any Alarm messages , refer to this section for identify the cause and dispel the error. to reset the Alarm message by following pages description.
Page 227 Example: Following table are procedures to access the alarm history record parameter. Steps LED Display Procedures Turn On On” power on “ Drive Status parameter is displayed. the Power Press MODE key to enter the Alarm History record. Press Key to view the Alarm 1 message that previously happened and the alarm code is “03”...
Page 228: Troubleshooting Of Alarm And Warning
8-2 Troubleshooting of Alarm and Warning Alarm Alarm Name Reset Corrective Actions Code and Description Method — — Normal Under-voltage Use multi-meter to check whether the input Turn voltage is within the specified limit. If it can not be ALRS External power voltage is lower solved, there may be failure inside the Drive.
Page 229 Alarm Alarm Name Reset Corrective Actions Code and Description Method Emergency Stop 1. Disable Emergency stop signal input. 2. Internal mal-function. Turn When the input contact point ALRS Ensure that all connection are EMC is activated. Alarm 09 correct, refer to Chapter 2 Power and motor (DI) appears.
Page 230 Alarm Reset Methods 1. carry out the suggestions below to reset Alarm. (a) Reset by input signal : Once the cause of Alarm is rectified, disable SON signal (Switch off Servo ON), then activate input signal ALRS. Alarm condition should be cleared and the drive will be ready for operation. Reference 5-6-1 for setting SON and Alarm signal.
Page 231: Alarm Status Description
8-3 Alarm Status Description Alarm Status Digital Output Alarm Alarm Name Reset Code and Description Method CN1-25 CN1-24 CN1-23 CN1-22 BB/A3 ST/A2 PC/A1 LM/A0 If there is no Alarm, CN1-22~CN1-25 operates in Normal — accordance with default function. Please refer to 2-2-1.
Page 232: Chapter 9 Specifications
Chapter 9 Specifications 9-1 Specifications and Dimension for Servo Drives 200V Class 400V Class Servo Drives for JSDAP-□□□□ 50A3 75A3 100A3 150A3 200A3 300A3 100B SCP5 ─ SC04 SC08 MA15 MB30 MH44 MH55 MH75 MH110 MB10 MB20 MB30 MH44 MH75 SC01 SC08* MA10...
Page 233 200V Class 400V Class Servo Drives for JSDAP-□□□□ 50A3 75A3 100A3 150A3 200A3 300A3 100B Command Source External command/ Pulse command / 32-Stage internal register command Positive/Negative Edge Trigger Type : Direction + Pulse, CW/CCW Pulse , Phase difference Type External pulse ( A Phase + B Phase) Command/...
Page 234 200V Class 400V Class Servo Drives for JSDAP-□□□□ 50A3 75A3 100A3 150A3 200A3 300A3 100B Output Phase A, B, Z Line Drive /Phase Z Open Collector Type Position Output Pulse Output: 1 ~ encoder—pulse numbers (any arbitrary values set by Internal Encoder Ratio parameters)
Page 235 ※ Dimensions for JSDAP-10A/15A/20A/30A W(mm) JSDAP-10A/15A JSDAP-20A /30A Dimensions for JSDAP-50A3 / 75A3 / 100A3 / 25B / 35B / 50B ※...
Page 236 ※ Dimensions for JSDAP-150A3 / 75B / 100B ※ Dimensions for JSDAP-200A3 / 300A3...
Page 237: Specifications And Dimension For Servomotors
9-2 Specifications and Dimension for Servomotors Description for Servo Motor Type Number JSM A – P S C 08 A H K B TECO AC Servo Mechanical BK :  ： Product No. Without BK ： With Brake Motor Series :...
Page 238 ※ Standard Specifications for JSMA-PSC/PLC (200V Class) JSMA-P□□□□ Motor Mode Symbol Unit SCP5A SC01A SC02A SC04A SC08A LC03A LC08A Drive Model 10A/15A 10A/15A 15A/20A 20A/30A Rated Output 0.05 0.75 0.75 N．m Rated Torque 0.16 0.32 0.637 1.274 2.387 0.95 2.391 N．m Max.
Page 239 ※ Standard Specifications for JSMA-PM (200V Class) JSMA-P□□□□ Motor Mode Symbol Unit MA05A MA10A MA15A MB10A MB15A MB20A MB30A Drive Model 30A/50A3 30A/50A3 Rated Output 0.55 1.00 1.50 1.00 1.50 2.00 3.00 N．m Rated Torque 5.25 9.55 14.32 4.78 7.16 9.55 14.33 N．m...
Page 240 ※ Standard Specifications for JSMA-PM (200V Class) JSMA-P□□□□ Motor Mode Symbol Unit MC10A MC15A MC20A MC30A MH05A MH10A Drive Model 30A/50A3 30A/50A3 Rated Output 1.00 1.50 2.00 3.00 0.55 1.00 N．m Rated Torque 3.20 4.78 6.37 9.55 3.50 6.40 N．m Max.
Page 241 ※Standard Specifications for JSMA-PMH (200V Class) JSMA-P□□□□ Motor Mode Symbol Unit MH30A MH44A MH55A MH75A MH110A MH150A Drive Model 75A3 100A3 150A3 200A3 300A3 300A3 Rated Output 3.00 4.40 5.50 7.50 11.00 15.00 N．m Rated Torque 19.10 28.00 35.10 47.80 70.10 95.50 N．m...
Page 242: Ra Ω
※Standard Specifications for JSMA-PHH (200V Class) JSMA-P□□□□ Motor Mode Symbol Unit HH30A HH44A HH55A HH75A Drive Model 100A3 150A3 200A3 300A3 Rated Output 3.00 4.40 5.50 7.50 N．m Rated Torque 19.10 28.00 35.10 47.80 N．m Max. Torque 49.50 71.40 89.60 122.60 Rated Speed 1500...
Page 243 ※Standard Specifications for JSMA (400V Class) JSMA-P□□□□ Motor Mode Symbol Unit MB10B MB15B MB20B MB30B Drive Model Rated Output N．m Rated Torque 4.782 7.164 9.545 14.327 N．m Max. Torque 14.327 21.492 28.645 42.693 Rated Speed 1500 Max. Speed 2000 Rated Current 2.58 4.36 5.78...
Page 244 JSMA-P□□□□ Motor Mode Symbol Unit MH30B MH44B MH55B MH75B Drive Model 100B Rated Output N．m Rated Torque 19.1 28.0 35.1 47.8 N．m Max. Torque 47.8 70.0 87.8 119.5 Rated Speed 1500 Max. Speed 2000 Rated Current 11.5 16.0 22.0 Max. Armature Current 20.8 29.9 41.6...
Page 245 ※JSMA-PSC/PLC dimension diagram (200V Class) 200V Class ψ ψ ψ ψ Motor Mode LC03AB/H 113.4 Without LC08AB/H Brake LC08AB/H-0C JSMA-PL Series LC03AB/H 30 147.8 With LC08AB/H 35 183.2 Brake LC08AB/H-0C 35 183.2 SCP5AB/H 25.5 85.3 SC01AB/H 25 106.8 Without SC02AB/H 114.8 Brake SC04AB/H...
Page 246 ※ JSMA-PM/PH motor dimension diagram (200V Class) 200V Class ψ ψ ψ ψ Motor Mode MA05 130.4 163.8 MH05 130.4 163.8 MA10 130.4 213.8 MB10 130.4 163.8 MC10 130.4 148.8 MH10 130.4 213.8 MA15 130.4 263.8 MB15 130.4 184.8 MC15 130.4 163.8 MB20...
Page 247 200V Class ψ ψ ψ ψ Motor Mode MA05 130.4 218.3 MH05 130.4 218.3 MA10 130.4 268.3 MB10 130.4 218.3 MC10 130.4 203.3 MH10 130.4 268.3 JSMA-PM With JSMA-PH MA15 130.4 318.3 Brake Series MB15 130.4 238.3 MC15 130.4 218.3 MB20 130.4 268.3...
Page 248 ※ JSMA-PM/PH motor dimension diagram (400V Class) 400 Class ψ ψ ψ ψ Motor Mode MB10 130.4 163.8 MB15 130.4 183.8 MB20 130.4 213.8 MB30 Without 130.4 263.8 Brake MH30 13.5 114.3 JSMA-PM MH44 13.5 114.3 JSMA-PH MH55 13.5 114.3 Series MH75 13.5...
Page 249: Appendix A Accessories
Appendix A: Accessories...
Page 252: Appendix B Battery Module
Appendix B Battery Module For the absolute encoder, JSDAP series has an optional battery module, which is divided into two parts of the battery and installation, described as below. Battery Specification ITEMS Characteristics 2400 mAh (Continuosly discharged under 2mA current till 2.0V Nominal Capacity end-point voltage at the temperature of 23℃±3℃)
Page 253 b. Remove the protective cover c. Removed the protective cover, the customers can find the two connectors and select one of them, reference the attached manual which was in battery module for installation. Another connector is reserved for replacing the battery that is in order to avoid power supply outage.
Page 254 d. When the battery module is installed, pay attention to installation marked on the drive, as below. e. Installation completed.

This manual is also suitable for:

Jsdap-10a Jsdap-15a Jsdap-20a Jsdap-30a Jsdap-50a3 Jsdap-75a3 ... Show all

TECO JSDAP Series Manual

Chapter 1 Checking and Installing

Chapter 2 Wiring

Chapter 3 Panel Operator / Digital Operator

Chapter 4 Trial Operation

Chapter 5 Control Functions

Chapter 6 Parameters

Chapter 7 Communications Function

Chapter 8 Troubleshooting

Chapter 9 Specifications

Appendix A Accessories

Appendix B Battery Module

Quick Links

Troubleshooting

Related Manuals for TECO JSDAP Series

Summary of Contents for TECO JSDAP Series

This manual is also suitable for:

Table of Contents