TECO JSDEP Series Manual
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TECO JSDEP Series Manual

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■Warning and Alert:
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.
Install the fan if the temperature around is too high while the Servo driver is installed in the
Control Board.
Do not proceed to the Anti-Pressure-Test to the Servo driver.
Confirm the quick stop function is available before operate servo drive.
Matching up machine to change the user parameter setting before machine performs. If there is
no according correct setting number, it could lead to out of control or breakdown.
Safety proceeding:
Check the covering letter detail before installing, running, maintaining and examining. Furthermore, only
the profession-qualified people can proceed to the line-assembly.
Safety proceeding in the covering letter discriminate between "Warning"&"Alert".
Alarm
!
Warning
Read this covering letter detail before using Servo driver.
Indicating the possibility dangerous situation. It could cause the death or serious
damage if being ignored.
Indicating the possibility dangerous situation. It could cause smaller or lighter human
injured and damage of equipment.
Warning
!
Alert
1

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Summary of Contents for TECO JSDEP Series

  • Page 1 ■Warning and Alert: 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. Alert Install the fan if the temperature around is too high while the Servo driver is installed in the Control Board.
  • Page 2 First of all, thank you for using TECO Servo Driver JSDEP Series (“JSDEP” for short) and Servo Motors. JSDEP can be controlled by digital board or PC, and provide excellent performance for a wide range of applications and different requirement from customers.

  • Page 3: Table Of Contents

    Contents Chapter 1 Checking and Installing 1-1 Checking Products ..........................5 1-1-1 Confirming with Servo Drives ....................5 1-1-2 Confirming with Servomotors....................6 1-1-3 Servo motor Model Code display ...................7 1-2 A Brief Introduction of Operation for Drives..................9 1-3 Conditions for Installation of Drives....................10 1-3-1 Environmental Conditions.....................10 1-3-2 Direction and Distance......................
  • Page 4 2-3-3 Position Control Mode (Pi Mode)..................27 2-3-4 Speed Control Mode (S Mode) ....................28 2-3-5 Torque Control Mode (T Mode) .....................29 Chapter 3 Panel Operator / Digital Operator 3-1 Panel Operator on the Drives......................30 3-2 Trial Operation for Servomotor without Load................31 Chapter 4 Parameter Function 4-1 Explanation of Parameter Groups ....................

  • Page 5: Chapter 1 Checking And Installing

    (The Servo Motor with Mechanical-Brake can not be rotated directly) 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.

  • Page 6: Confirming With Servomotors

    1-1-2 Confirming with Servo Motors A – P S C 08 A H K B TECO AC Servo Machinery BK Product No. : No BK B:BK Motor Series: Spline Encode Grease Seal Series A IP67 (except shaft and connector) Motor Speed:...

  • Page 7: 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 dn08 preset is not according to the list below then contact your supplier. The motor model code is stored in parameter Cn30.
  • Page 8 Motor Standards dn-08 Display Encoder Drive Model Motor Model Cn030 Setting Watt Speed Specification (KW) (rpm) H1332 JSMA-PMB10AH 2000 8192 H1341 JSMA-PMH10AB 2500 1500 JSDEP-30A H1342 JSMA-PMH10AH 8192 H1351 JSMA-PMC10AB 2500 3000 H1352 JSMA-PMC10AH 8192 H1511 JSMA-PMA15AB 2500 1000 H1512 JSMA-PMA15AH 8192 H1521...

  • Page 9: A Brief Introduction Of Operation For Drives

    1-2 A Brief Introduction of Operation for Drives There are many kinds of control-mode. The detail modes display as fellow: Name Mode Explanation Position Mode Position control for the servo motor is achieved via an external (External Pulse pulse command. Position command is input from CN1. Command) Position Mode Position control for the servo motor is achieved via by 16...

  • Page 10: Conditions For Installation Of Drives

    1-3 Conditions for Installation of Drives 1-3-1 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 11: Direction And Distance

    1-3-2 Direction and Distance Over 10mm Over 30mm Over 30mm Over 25mm Over 25mm Over 25mm Over 10mm Air flow Air flow...

  • Page 12: Conditions For Installation Of Servomotors

    1-4 Conditions for Installation of Servo Motors 1-4-1 Environmental Conditions Ambient Temperature: 0 ~ + 40 ℃; Ambient humidity: Under 90% RH (No Frost). Storage Temperature: - 20 ~ + 60 ℃; Storage temperature: Under 90%RH (No Frost). Vibration: Under 2.5 G. In a well-ventilated and low humidity and dust location.

  • Page 13: Notice For Install Motor

    1-4-3 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 14: Chapter 2 Wiring

    Chapter 2 Wiring 2-1 Basic Wiring for Servo System 2-1-1 Wiring for Main Circuit and Peripheral Devices...

  • Page 15: 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. Please use the NFB to meet IEC (or UL Certification) between power supplier and servo drive.

  • Page 16: Specifications Of Wiring

    2-1-3 Specifications of Wiring mm² Servo Drives and Wire Specifications Connection Terminal (AWG) Connection Mark Name of Connect Terminal Terminal (Sign) 1.25 R, S, T Main Power Terminal (16) (14) 1.25 U, V, W Motor Terminal (16) (14) (12) 1.25 Power-Control Terminal (16) Terminal...

  • Page 17: Motor Terminal Layout

    2-1-4 Motor Terminal Layout A Table of Motor-Terminal Wiring (1) General Joint: Terminal Symbol Color Signal White Black Green Fine red DC +24V Brake control wire Fine yellow (2)Military Specifications Joint (No Brake): Terminal Color Signal White Black Green (3)Military Specifications Joint(Brake): Terminal Color Signal...
  • Page 18 Table of Motor-Encoder Wiring (1)General Joint: Terminal Symbol Color Signal White Black Green Blue Purple Yellow Orange Shield (2) Military Specifications Joint Terminal Symbol Color Signal White Black Green Blue Purple Yellow Orange Shield...

  • Page 19: Typical Wiring For Motor And Main Circuit

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

  • Page 20: Tb Terminal

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

  • Page 21: 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)

  • Page 22: Output Signals From The Servo Pack

    2-2-1 Output Signals from the Servo pack (1) Diagram of CN1 Terminal: P.S.: 1. If there is unused terminal, please do not connect it or let it be the relay terminal. 2. The Shielded Wire of I/O cable should connect to the ground.

  • Page 23: Encoder Connector (Cn2) Terminal Layout

    2-2-2 Encoder Connector (CN2) Terminal Layout (1) Diagram of CN2 Terminal: P.S.: Do not wire to the terminal, which is un-operated.
  • Page 24 2-2-3 Communication Connector (CN3/CN4) Terminal Layout Serial data receive Ground Serial data transmission Serial data transmission Serial data transmission Data + Data + Data - Serial data transmission - Data - Serial data transmission -...

  • Page 25: Typical Circuit Wiring Examples

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

  • Page 26: Position Control Mode (Pe Mode) (Open Collector)

    2-3-2 Position Control Mode (Pe Mode) (Open Collector) Pe mode =External pulse positioning command...

  • Page 27: Position Control Mode (Pi Mode)

    2-3-3 Position Control Mode (Pe Mode) (Pi Mode) Pi mode =Internal position command...

  • Page 28: Speed Control Mode (S Mode)

    2-3-4 Speed Control Mode (S Mode)

  • Page 29: Torque Control Mode (T Mode)

    2-3-5 Torque Control Mode (T Mode)

  • Page 30: 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 31: Trial Operation For Servomotor Without Load

    3-2 Trial Operation Before proceeding with trial run, please ensure that all the wiring is correct. Trial run description below covers the operation from keypad and also from an external controller such as a PLC. Trial run with external controller speed control loop (analog voltage command) and position control loop (external pulse command).

  • Page 32: Chapter 4 Parameter Function

    Chapter 4 Parameter 4-1 Explanation of Parameter groups. There are 9 groups of parameters as listed below. Control Mode Code Alarm Description Code Signal Control Mode Un-xx Status Display Parameters. All Control Mode dn-xx Diagnostics Parameters. Position Control Mode(Internal Positional Command ) AL-xx Alarm Parameters Position Control Mode(External Puls Command)
  • Page 33 Display Parameter Parameter Display Unit Explanation Signal Un-01 Actual Motor Speed Motor Speed is displayed in rpm. It displays the torque as a percentage of the rated torue. Un-02 Actual Motor Torque Ex: 20 are displayed. It means that the motor torque output is 20% of rated torque.
  • Page 34 Parameter Display Unit Explanation Signal Un-22 Position feedback pulse (Absolute) 2500/8192 ppr Encoder feedback ─ Un-23 Reserve Reserve ─ Un-24 Reserve Reserve ─ Un-25 Reserve Reserve ─ Un-26 Reserve Reserve ─ Un-27 Reserve Reserve It displays the torque command as a percentage of the rated torque. Un-28 Torque command Ex: Display.
  • Page 35 System Parameters Setting Address Parameter Name & Function Default Unit Range RS232 RS485 Control Mode selection Setting Explanation Torque Control Speed Control External Position Control (external pulse Command) External Position/Speed Control Switching │ ★ Cn001 510H 0001H Speed/Torque Control Switching External Position/Torque Control Switching Internal Position Control (internal position Command) Internal Position/Speed mode switching...
  • Page 36 Setting Address Parameter Name & Function Default Unit Range RS232 RS485 Output time setting for Mechanical Brake Signal Brake Signal Timing Sequence： -2000 │ Cn003 msec 511H 0003H 2000 Implementation a pin for dynamic brake signal(BI) as a output signal before to perform this function. Refer to sequence diagram above.
  • Page 37 Setting Address Parameter Name & Function Default Unit Range RS232 RS485 Encoder pulse output scale. For default set to the rated encoder number of pulses per revolution, such as 2500ppr. │ Encoder Encoder ppr can be scaled by setting a ppr in the range of 1 to ★...
  • Page 38 Setting Address Parameter Name & Function Default Unit Range 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. │ ★ Cn009 517H 0009H Deceleration by using dynamic brake to stop then hold in dynamic brake status.
  • Page 39 Setting Address Parameter Name & Function Default Unit Range RS232 RS485 PI/P control mode switch by Torque Command Cn016 Set the Cn015.0=0 first. │ C4BH 0010H If Torque Command is less than Cn016 PI control is selected. If Torque Command is greater than Cn016 P control is selected. PI/P control mode switch by Speed Command │...
  • Page 40 Setting Address Parameter Name & Function Default Unit Range RS232 RS485 Automatic gain 1& 2 switch condition (Acceleration Command) Set Cn015.1=2 first. When accel. command is less than Cn023 Gain 1 is selected. │ Cn023 rps/s 53FH 0017H When accel. command is greater than Cn023 Gain 2 is selected. 18750 When Gain 2 is active and acceleration command becomes less than Cn023 system will automatically switch back to Gain 1 the...
  • Page 41 Setting Address Parameter Name & Function Default Unit Range RS232 RS485 ─ ─ ─ ─ Cn027 Reserve ─ ─ ─ ─ Cn028 Reserve Reset parameters. Setting Explanation │ ★ Cn029 5FDH 001DH Disabled Reset all Parameters to default ( Factory setting) Servo motor model code Servo model code can be display and checked with parameter ★...
  • Page 42 Setting Address Parameter Name & Function Default Unit Range RS232 RS485 Panel display content selection Select display content for LED panel for power on status. Setting Explanation Display data set and drive status parameter. Refer 3-1 │ Cn035 541H 0023H Display Un-01 ~ Un-19 content.
  • Page 43 Torque-Control Parameter Setting Address Parameter Name & Function Default Unit Range RS232 RS485 Linear acceleration/deceleration method Setting Explanation Disabled. │ ★ Tn101 520H 0101H 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 44 Setting Address Parameter Name & Function Default Unit Range RS232 RS485 Torque Command, analog input voltage offset The offset amount can be adjusted by this parameter. -10000 │ Tn104 522H 0104H 10000 Preset Speed Limit 1. ( Torque control mode) In Torque control, input contacts SPD1 and SPD2 can be used to select Preset speed limit 1.
  • Page 45 Speed-Control Parameter Setting Address Parameter Name & Function Default Unit Range RS232 RS485 Internal Speed Command 1 In Speed control, input contacts SPD1 and SPD2 can be used to select 3 sets of internal speed command, select for speed - 4500 command 1 contact status shows below: │...
  • Page 46 Setting Address Parameter Name & Function Default Unit Range 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. Sn206 msec 52BH 0206H │...
  • Page 47 Setting Address Name & Function Default Unit Parameter Range RS232 RS485 S curve speed command acceleration and deceleration time setting. Set Sn205=3 to enable this function. In the period of Acc/Dec , drastic speed changing might cause vibration of machine. S curve speed command acc/dec time setting has the effect to smooth acc/dec curve.
  • Page 48 Setting Address Parameter Name & Functions Default Unit Range RS232 RS485 Speed loop Gain 2 │ Sn213 53AH 020DH Refer to Sn211 Speed loop Integral time 2 x0.2 │ Sn214 53BH 020EH Refer to Sn212 msec Value of zero speed Set the zero speed range in Sn215 │...
  • Page 49 Position Control Parameter Setting Address Parameter Name & Function Default Unit Range RS232 RS485 Position pulse command selection Setting Explanation ★ Pn301.0 (Pulse)+(Sign) │ (CCW)/(CW) Pulse AB-Phase pulse x 2 AB-Phase pulse x 4 Position- Pulse Command Logic ★ Pn301.1 Setting Explanation │...
  • Page 50 Setting Address Parameter Name & Function Default Unit Range RS232 RS485 Electronic Gear Ratio Numerator 4 Use input contacts GN1 & GN2 to select one of four electronic Gear Ratio Numerators. To select Numerator 4, the statue of the input-contacts │...
  • Page 51 Setting Address Parameter Name & Function Default Unit Range RS232 RS485 Position command smooth Acceleration/Deceleration Time Constant Set the time period for the Position command pulse frequency to rise from 0 to 63.2%. Position Pulse Command Frequency (%) Position Pulse Command Frequency │...
  • Page 52 Communication Setting Control Parameter Name & Function Default Unit Address Range Mode RS232 RS485 Internal Position Command Mode ★ Pn316.0 Setting Explanation │ Absolute Position Incremental Position Internal Position Command Hold (PHOLD) program select Setting Explanation When PHOLD is active then received PTRG Pn316.1 ★...
  • Page 53 Communication Setting Control Parameter Name & Function Default Unit Address Range Mode RS232 RS485 Once the home routine is activated , motor will search for Home Position switch in 1 speed in CW direction and sets the reference Home position as soon as the input contact ORG is activated.
  • Page 54 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 do not │...
  • Page 55 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 applicable to the mode...
  • Page 56 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 Position │ Pn401 568H 0701H Command 1 16000 Use input contacts POS1~POS5 to select Refer to 5-4-2. Internal Position Command 1 - Pulse Number -131072 Set the rotation pulse number of internal position...
  • Page 57 Communication Setting Control Parameter Name & Function Default Unit Address Range Mode RS232 RS485 Internal Position Command 6-Move Speed │ Pn418 57DH 0718H Please refer to Pn403 3000 Internal Position Command 7 -Rotation Number -16000 │ Pn419 580H 0719H Please refer to Pn401 16000 Internal Position Command 7-Pulse Number -131072...
  • Page 58 Communication Setting Control Address Parameter Name & Function Default Unit Range Mode RS232 RS485 Internal Position Command 13 -Rotation Number -16000 │ Pn437 598H 0731H Please refer to Pn401 16000 Internal Position Command 13-Pulse Number -131072 59AH 0732H │ Pn438 pulse Please refer to Pn402 59BH...
  • Page 59 Communication Setting Control Address Parameter Name & Function Default Unit Range Mode RS232 RS485 Internal Position Command 19 - Pulse Number -131072 5B2H 074AH │ Pn456 pulse 5B3H 074BH Please refer to Pn402 131072 Internal Position Command 19 - Move Speed │...
  • Page 60 Communication Setting Control Address Parameter Name & Function Default Unit Range Mode RS232 RS485 Internal Position Command 25 - Move Speed │ Pn475 5C9H 0764H Please refer to Pn403 3000 Internal Position Command 26 -Rotation Number -16000 │ Pn476 5CCH 0765H Please refer to Pn401 16000...
  • Page 61 Communication Setting Control Address Parameter Name & Function Default Unit Range Mode RS232 RS485 Internal Position Command 32 -Rotation Number -16000 │ Pn494 5E4H 077DH Please refer to Pn401 16000 Internal Position Command 32 - Pulse Number -131072 5E6H 077EH │...
  • Page 62 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 63 Multi-Function Input Parameters Communication Setting Control Parameter Name & Function Default Unit Address Range Mode RS232 RS485 DI-1 Function Seting Explanation Signal Functions Servo On ALRS Alarm Reset PCNT PI/P Switching CCWL CCW Limit CW Limit TLMT External Torque Limit Clear Pulse Error Value Servo Lock Emergency Stop...
  • Page 64 Communication Setting Control Name & Function Default Unit Parameter Address Range Mode RS232 RS485 DI-1 Active Level ★ Seting Explanation Hn601.2 │ C23H 0501H Low Active (short with IG24) High Active DI-2 │ ★ Hn602 C24H 0502H Plearse refer to Hn601 DI-3 │...
  • Page 65 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 Refer to ★ INS In Speed the cross Hn613.0 │ INP In Position reference Hn613.1 table on...
  • Page 66 The default value of Hn601~Hn616 on difference control mode Cn 001 Hn 6XX Hn 601 0001 0001 0001 0001 0001 0001 0001 0001 0001 0001 0001 Hn 602 0002 0002 0002 0002 0002 0002 0002 0002 0002 0002 0002 Hn 603 0003 0003 0003...

  • Page 67: Alarm Functions

    Chapter 5 Troubleshooting 5-1 Alarm functions The Alarm codes are displayed in a format such as that shown below. For any Alarm messages, refer to this section for identify the cause and dispel the error. to reset the Alarm message by following pages description. assistance.

  • Page 68: Troubleshooting Of Alarm And Warning

    5-2 Troubleshooting of Alarm and Warning Fault 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.

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