TECO J5DG2-E Series User Manual
  1. Manuals
  2. Brands
  3. TECO Manuals
  4. DC Drives
  5. J5DG2-E Series
  6. User manual

TECO J5DG2-E Series User Manual

Hide thumbs
1
2
3
Table Of Contents
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
Table of Contents

Advertisement

Quick Links

Download this manual
User Manual

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the J5DG2-E Series and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for TECO J5DG2-E Series

Summary of Contents for TECO J5DG2-E Series

  • Page 1 User Manual...
  • Page 2 First of all, thank you for choosing TECO Motor Servo Drive JSDE2 Series (hereinafter referred to as “JSDE2”) and Servo Motor. JSDE2 can be operated by the digital panel manipulator or through the PC man-machine program to provide various functions that enable the product to further address customers’ different application requirements.
  • Page 3 Attention • When the servo driver is installed in the control panel, if the ambient temperature is too high, please install a cooling fan. • Do not conduct pressure resistance test on the Servo Driver. • Before the machine starts to operate, confirm whether or not the emergency stop switch can be started at any time to stop the machine.

  • Page 4: Table Of Contents

    Table of Contents Chapter 1 Product Inspection and Installation 1-1 Product Inspection....................... 1-2 1-1-1 Confirmation of Servo Driver Model ..............1-3 1-1-2 Confirmation of Servo Motor Model ..............1-4 1-1-3 Servo Driver and Servo Motor Matching Comparison Table......... 1-5 1-2 Servo Driver Appearance ..................1-10 1-3 Servo Driver Operation Mode Introduction ...............
  • Page 5 2-3 Control Signal Standard Wiring Diagram ..............2-27 2-3-1 Position Control (Pe Mode) Wiring Diagram (Line Driver) ........ 2-27 2-3-2 Position Control (Pe Mode) Wiring Diagram (Open Collector) ......2-28 2-3-3 Position Control (Pi Mode) Wiring Diagram ............2-29 2-3-4 Speed Control (S Mode) Wiring Diagram ............2-30 2-3-5 Torque Control (T Mode) Wiring Diagram ............
  • Page 6 5-2-5 Internal Torque Limit Setting ................5-11 5-2-6 Speed Limit of Torque Mode ................5-11 5-2-7 Other Torque Control Functions ................. 5-14 5-3 Speed Mode ......................5-15 5-3-1 Select Speed Command ..................5-17 5-3-2 Analog Speed Command Proportioner..............5-18 5-3-3 Analog Speed Command Offset Adjustment ............5-19 5-3-4 Analog Speed Command Limit ................
  • Page 7 5-5-6 Tool Magazine Parameter Setting ............... 5-75 5-6 Other Functions......................5-80 5-6-1 Digital Input / Output Contact Function Planning ..........5-80 5-6-2 Control Mode Switching ..................5-90 5-6-3 Contact Auxiliary Function ................5-90 5-6-4 Brake Mode ....................... 5-92 5-6-5 Mechanical Brake Time Sequence ..............5-93 5-6-6 CW/CCW Drive Prohibited Method ..............
  • Page 8 6-7-2 Two Stage Gain Switching Mode ............... 6-30 6-8 Improved Response Characteristics ................6-34 6-9 OnLine-AutoTuning (Inertia Only Displays) ............. 6-35 Chapter 7 Parameter Functions 7-1 Parameter Group Description ..................7-2 7-2 Parameter Function List ....................7-3 7-3 Parameter Function Detailed Description ..............7-15 7-3-1 System Parameters (Cn0□□) ................
  • Page 9 8-2-2 CANopen Basic Features ................... 8-17 8-2-3 CANopen Parameter Setting ................8-18 8-2-4 CANopen Protocol ..................... 8-21 8-2-5 CANopen Servo Control ..................8-26 8-2-6 CANopen Object List ..................8-26 8-3 EtherCAT Communication Function................8-27 8-3-1 EtherCAT Overview ................... 8-27 8-3-2 EtherCAT Basic Features ................... 8-27 8-3-3 EtherCAT Parameter Setting ................
  • Page 10 Chapter 9 Error Alarm Clear 9-1 Error List ........................9-2 9-2 Countermeasures to Clear Error .................. 9-5 Chapter 10 Comprehensive Specification 10-1 Servo Driver Detailed Specification ................ 10-2 10-2 Servo Driver Dimension ..................10-7 10-3 Servo Motor Specification ..................10-12 10-4 Servo Motor Dimension ..................
  • Page 11 Chap 1 Product Inspection and Installation 1-1 Product Inspection ......................1-2 1-1-1 Servo Driver Model Verification ................. 1-3 1-1-2 Servo Motor Model Verification ................. 1-4 1-1-3 Servo Driver and Servo Motor Matching Comparison Table ....... 1-5 1-2 Servo Driver Appearance....................1-10 1-3 Servo Driver Operation Mode Introduction ..............

  • Page 12: Product Inspection

    Check with the hand whether or not the servo motor rotor shaft can rotate smoothly. (Servo motor attached with mechanical brake cannot be rotated directly! ) If there is any failure or abnormal indication mentioned above, please contact TECO Electric & Machinery sales representatives or local distributors immediately from whom you have purchased this...
  • Page 13 1-1-1 Servo Driver Model Verification TECO AC Servo Optional model Driver Product Number (communications) E:EtherCAT Driver Series: G2: G2 Series G2S: G2S Series AC Input Voltage: A: AC 200V Single- phase/Three-phase Driver Model A3: AC 200V Three-phase B: AC 400V Three-phase...
  • Page 14 1-1-2 Servo Motor Model Verification Mechanical Brake: TECO AC  : No Brake ServoMotor Product B: With Number Mechanical Brake Motor Series Coding Key slot Oil seal A Series  IP67 Rating (except Axis and Joints) Motor Inertia: S/U: Ultra low inertia...

  • Page 15: Servo Driver And Servo Motor Matching Comparison Table

    1-1-3 Servo Driver and Servo Motor Matching Comparison Table Attention • Before the machine starts to operate, make sure to confirm the parameter Cn030: serial model settings, and select the correct Driver and Motor matching combination! Confirm the parameter Cn001 control mode selection. Users can use dn-08 to check the driver/motor combination set in the driver currently.
  • Page 16 Motor dn-08 Displayed Value / Cn030 JSDG2(S) Matching Motor Specifications Setting Value Motor Model Encoder Specifications (The last code represents the (The last code represents the difference of encoder Matching Power Speed difference of encoder specifications) specifications) Capacity (kW) (rpm) Incremental type: 7 (17bit) / C (23bit) Incremental type: 7 (17bit) / 3 (23bit) Absolute type: 5 (15Bit)/ A (17bit)/ D...
  • Page 17 Motor dn-08 Displayed Value / JSDG2S Matching Motor Specifications Cn030 Setting Value Encoder Specifications Motor Model (The last code represents the (The last code represents the Matching Power Speed difference of encoder specifications) difference of encoder specifications) Capacity (kW) (rpm) Incremental type: 7 (17bit) / 3 (23bit) Incremental type: 7 (17bit) / C (23bit) Absolute type: 5 (15Bit)/ A (17bit)/ W...
  • Page 18 400V Class Motor dn-08 Displayed Value / JSDG2S Matching Motor Specifications Cn030 Setting Value Encoder Specifications Motor Model (The last code represents the (The last code represents the Matching Power Speed difference of encoder specifications) difference of encoder specifications) Capacity (kW) (rpm) Incremental type: 7 (17bit) / 3 (23bit)
  • Page 19 Motor dn-08 Displayed Value / JSDG2S Matching Motor Specifications Cn030 Setting Value Encoder Specifications Motor Model (The last code represents the (The last code represents the Matching Power Speed difference of encoder specifications) difference of encoder specifications) Capacity (kW) (rpm) Incremental type: 7 (17bit) / 3 (23bit) Incremental type: 7 (17bit) / C (23bit) Absolute type: 5 (15Bit)/ A (17bit)/ W...

  • Page 20: Servo Driver Appearance

    1-2 Servo Driver Appearance JSDG2S-(E)-10A / 15A / 20A / 30A (200V Class) Function varies by model JSDG2(S)-E: EtherCAT Heat Sink Communication Connector JSDG2S: RS-485/CANopen Communication Connector RS-485 Communication Connector Monitor Cover USB Communication Connector Control Power Input Connection Terminal Main Power Input Connection Control Signal Connector Terminal...
  • Page 21 JSDG2S-(E)-50A3 / 75A3 (200V Class) JSDG2S-(E)-10B/15B/25B/35B (400V Class) Heat Sink Function varies by model JSDG2(S)-E: EtherCAT Communication Connector JSDG2S: RS-485/CANopen Communication Connector Monitor Cover USB Communication Connector RS-485 Communication Connector Control Power Input Connection Terminal 200V: r, s 400V: 24V, 0V Control Signal Connector Main Power Input Connection Terminal...
  • Page 22 JSDG2S-(E)-100A3 / 150A3 (200V Class) JSDG2S-(E)- 50B/75B (400V Class) Heat Sink Function varies by model JSDG2(S)-E: EtherCAT Communication Connector JSDG2S: RS-485/CANopen Communication Connector Monitor Cover USB Communication Connector Control Power Input Connection Terminal RS-485 Communication Connector 200V: r, s 400V: 24V, 0V Control Signal Connector Main Power Input Connection Terminal...
  • Page 23 JSDG2S-(E)-200A3 (200V Class) JSDG2S-(E)- 100B (400V Class) Heat Sink Function varies by model JSDG2(S)-E: EtherCAT Communication Connector JSDG2S: RS-485/CANopen Communication Connector Monitor Cover USB Communication Connector RS-485 Communication Connector Main Power Input Connection Terminal Control Signal Connector External Regenerative Resistor Connection Motor Encoder Connector Terminal Internal Regenerative...
  • Page 24 JSDG2S-(E)-300A3 (200V Class) JSDG2S-(E)- 150B/200B (400V Class) RS-485 Communication Connector USB Communication 5-digit Display Connector Function varies by model Full Closed Loop Encoder Connector JSDG2(S)-E: EtherCAT Communication Connector JSDG2S: RS-485/CANopen Communication Connector Control Power Input Connection Terminal Control Signal Connector 200V:r, s Motor Encoder Connector 400V:24V, 0V...

  • Page 25: Servo Driver Operation Mode Introduction

    1-3 Servo Driver Operation Mode Introduction This Driver provides several operating modes that can be selected by the user, the detailed modes are as follows: Mode Name Mode Code Description The driver is a position loop and performs positioning Position Mode control, the external pulse command input mode is to (External Pulse receive the pulse command output by the Supervisory...
  • Page 26 Pe-Pi Pe and Pi can be switched via digital input pins. 1-16...

  • Page 27: Servo Driver Installation Environment Conditions And Methods

    1-4 Servo Driver Installation Environment Conditions and Methods 1-4-1 Installation Environment Conditions The environment where the servo driver is installed has a direct impact on the normal function of the driver and its service life, therefore, the installation environment of the driver must conform to the following conditions: •...

  • Page 28: Installation Direction And Spacing

    1-4-2 Installation Direction and Spacing JSDG2S-10A / 15A / 20A / 30Av More than 10 mm More than More than More than More than More than 30 mm 5 mm 5 mm 5 mm 30 mm More than 10 mm Ventilation direction Ventilation direction JSDG2S-50A3 / 75A3 / 100A3 / 150A3 / 200A3 / 300A3...

  • Page 29: Servo Motor Installation Environment Conditions And Methods

    1-5 Servo Motor Installation Environment Conditions and Methods 1-5-1 Installation Environment Conditions • Ambient Temperature: 0 ~ + 40 °C; Ambient Humidity: 90% RH or less (without condensation conditions). • Storage Temperature: - 20 ~ + 60 °C; Storage Humidity: 90% RH or less (without frosting conditions).

  • Page 30: Other Pre-Cautions

    1-5-3 Other Pre-cautions In order to prevent the oil in the reducer from penetrating the inside of the motor through the motor shaft, please use a motor with an oil seal. The connection cable needs to be kept dry. In order to prevent the cable from falling off or breaking due to mechanical movement, the connection cable shall be securely fixed.
  • Page 31 Chap 2 Wiring Preparation 2-1 System Assembly and Wiring ..................... 2-2 2-1-1 Wiring diagram of Servo Driver Power Supply and Peripheral Devices ....2-2 2-1-2 Servo Driver Wiring Instructions ................ 2-4 2-1-3 Electric Wire Specifications ................2-5 2-1-4 Motor Terminal Outlet Wire ................2-9 2-1-5 TB Terminal Description ..................

  • Page 32: System Assembly And Wiring

    2-1 System Assembly and Wiring 2-1-1 Wiring diagram of Servo Driver Power Supply and Peripheral Devices 200V Class Input Power JSDG2S：CANopen / RS-485 Single-phase or Three-phase JSDG2(S)-E：EtherCAT AC 200V~230V Servo Driver (Varies by model) 200V No Fuse Breaker (NFB) Communication type controller/PLC CN6 Communication JSDG2S：RS-485...
  • Page 33 400V Class Input Power Three-phase AC 380V~480V JSDG2S：CANopen / RS-485 JSDG2(S)-E：EtherCAT Servo Driver No Fuse Breaker (NFB) 400V Noise Filter Communication type controller/PLC CN6 Communication JSDG2S：RS-485 DC +24V CANopen Control CN5 Communication Power JSDG2(S)-E：EtherCAT Magnetic Contactor (MC) Communication Connector Personal Computer Communication Connector...

  • Page 34: Servo Driver Wiring Instructions

    2-1-2 Servo Driver Wiring Instructions • The wiring materials shall be used in accordance with the "Wire Specifications." • Wiring Length: Within 3 meters of the Command Input Wire. Within 20 meters of the Encoder Input Wire. Please connect with the shortest distance when wiring. •...

  • Page 35: Electric Wire Specifications

    • After completing the wiring, check the connection status of each connector (such as cold soldering of solder joints, short circuit of solder joints, improper pin sequence, etc.), press the connector to make sure whether or not it is properly connected with the driver and whether or not the screws are tightly fastened, and cannot have any conditions of cable damage, pulling or heavy pressure, etc.
  • Page 36 Connection End Used Wire Specifications Connection Pin Number Pin Name Analog speed command/Limit 26 (Note 7) (SIC) Analog torque command/Limit 27 (Note 7) 0.2mm² or 0.3mm² and analog (TIC) grounded double twisted pair 30, 31 (Note Analog monitoring output 1, 2 wire (MON1, MON2) (with isolation wire)
  • Page 37 Connection End Used Wire Specifications Connection Pin Number Pin Name Connection End Used Wire Specifications Connection End Pin Number Pin Name VBUS Computer USB 2.0 A Male-Mini 5P Anti- Connection interference signal Wire Communication (Length of 1.0M or less) Connector 0.2mm²...
  • Page 38 7. JSDG2S-E does not have TIC, SIC, MON1, MON2, +15V and -15V...

  • Page 39: Motor Terminal Outlet Wire

    2-1-4 Motor Terminal Outlet Wire ● Motor Power Outlet Wire Table (1) General Connector: Terminal Wire Color Signal Symbol White Black Yellow/Green Mechanical Thin White 1 Brake Control Thin White 2 DC +24V Wire (2) Military Specifications Connector (without Mechanical Brake): Terminal Wire Color Signal...
  • Page 40 ● Motor Encoder Outlet Wire Table Communication Encoder:  (1) General Connector: Wire Color Signal Terminal Absolute Absolute Symbol Incremental Incremental Value Value White ＋ 5V Black Brown VB ＋ Brown/Black VB － Blue Blue/Black Purple Shield (2) Military Specifications Connector: Wire Color Signal Terminal...

  • Page 41: Tb Terminal Description

    2-1-5 TB Terminal Description Terminal Name Detailed Description Symbol 200V  Connect External AC Power.  Single-phase 200~230VAC +10 ~ -15% 50/60Hz ±5% Control Circuit Power Input End 400V  Connect external DC power.  Single-phase 24VDC ±10% 200V  Connect External AC Power. ...

  • Page 42: Motor With Mechanical Brake Wiring Instructions

    TB terminal maximum screw locking strength table Maximum screw locking strength (kgf-cm / in-lbs) Servo Model Number Control Circuit Primary Circuit Other Terminals Terminals JSDG2S-(E) - 10A / 15A / 20A / 30A ------ (Pluggable Terminal) JSDG2S-(E) - 50A3 / 75A3 ------ (Pluggable Terminal) JSDG2S-(E) - 10B/15B/25B/35B JSDG2S-(E) -100A3 / 150A3...

  • Page 43: Recommend Specification Of Circuit Breaker/ Fuse/Noise Filter

    2-1-7 Recommend specification of circuit breaker/ fuse/noise filter • Please make sure to install IEC-standard or UL-certified circuit breakers and fuses between the input power supply end and the servo driver. • To avoid any environmental interference caused by servo driver operation, the combination of appropriate noise filter can effectively decrease EMI as well as eliminate environmental interference.

  • Page 44: I/O Signal Terminal Description

    2-2 I/O Signal terminal description The servo driver offers 7 sets of connection terminals, including CN1 control signal connection terminal, CN2 encoder connection terminal, CN3/ CN4/CN5/CN6 communication connection terminal, and CN8 full- closed loop encoder connection terminal. Refer to the following diagram for pin mapping.

  • Page 45: Cn1 Control Signal Terminal Description

    2-2-1 CN1 Control Signal Terminal Description (1) CN1 Terminal Configuration Diagram: Name Function Analog Speed DI-1 Digital input 1 (Note 3) Command/Limit Analog Torque DI-2 Digital input 2 (Note 3) Command/Limit Analog Signal DI-3 Digital input 3 Ground End Analog Signal DI-4 Digital input 4 Ground End...
  • Page 46 (2) CN1 Signal Name and Description: (a) General I/O Signal Description Function Wiring Function Wiring Signal Signal Code Mode Code Mode Digital output DO1~DO8 18~25 DI1~DI12 Digital input 1~12 1~12 Origin Signal Output DI Power DO Power DICOM DOCOM Common End Common End Dividing Output Pulse...
  • Page 47 Function Signal Name Mode I/O Operating Function Description Code Pulse The Driver can receive the following three different Position Pulse types of pulse commands: Command Input /Pulse Pe/Pt Pulse/ Sign  Sign Position Sign CCW / CW pulse  Command Input /Sign A / B phase pulse ...
  • Page 48 Function Signal Name Mode I/O Operating Function Description Code Analog signal grounding: Grounding end of analog Analog Signal voltage pin, including Pin 26, 27, 28, 30, 31, 33, 34 & Grounding End 49 of CN1. +15V +15V power output ALL Provide ±15V output power (Max. 10mA) ; can be (Note 2) used on servo driver external voltage command.
  • Page 49 (3) CN1 Interface Circuit and Wiring Mode: The following will introduce the interface circuit of each CN1 contact and the connection method with the Supervisory Controller. (a) Digital Input Interface Circuit (IO1): The Digital Input Interface Circuit can be controlled by relay or open collector transistor circuit. The relay needs to select a low-current relay to avoid poor contact.
  • Page 50 (b) Digital Output Interface Circuit (IO2): When using an external power supply, pay attention to the polarity of the power supply, reverse polarity will cause damage to the driver. The digital output is an Open Collector method, the maximum external voltage is limited to 24V, and the maximum current is 10mA. In terms of load, when using a relay or other inductive loads, it is necessary to add a diode in parallel with the inductive load, if the polarity of the diode is reversed it will cause damage to the driver.
  • Page 51 (c) Pulse Command Input Interface Circuit (IO3): We recommend using Line Driver input to accurately pulse ..command; maximum input command frequency is 4000kpps. The use of Open Collector Input Method will cause the input command frequency to decrease and the maximum input command frequency is 200kpps. The Servo Driver only provides 24V power and other power supplies need to be self-prepared.
  • Page 52 (d) Dividing Output Interface Circuit (IO4): For the Dividing Output Interface Circuit of Line Drive Input Method, please connect the terminal resistor (R=200-330Ω) to the Line Receiver Input End. Dividing Output Interface Circuit (Line Driver) (e) Analog Input Interface Circuit (IO5): Because of the internal power supply of the driver sometimes it will carry a ripple, therefore, use an external power supply as much as possible.
  • Page 53 (f) Analog output interface circuit (IO6): Maximum drive current of analog output is 5mA; please select a measuring device with larger impedance. Analog output interface circuit Servo Driver Output ±10V Max. 5mA 30 MON1 31 MON2 29 AG (g) Absolute position encoder battery interface circuit (IO7): If the battery is already installed in the encoder or on encoder wire, please DO NOT make this circuit connected.

  • Page 54: Cn2 Encoder Signal Terminal Description

    2-2-2 CN2 Encoder Signal Terminal Description (1) CN2 Terminal Configuration Diagram (communication type encoder configuration diagram): Function Code Power Battery Power Output End Positive Polarity Battery Power Power Negative Output End Polarity Serial Data Power Output Positive Ground End Polarity Serial Data Power Output Negative...

  • Page 55: Cn3/Cn4/Cn5/Cn6/Cn8 Communication Signal Terminal Description

    2-2-3 CN3/CN4/CN5/CN6/CN8 Communication Signal Terminal Description CN3 Terminal Configuration Diagram: Name VBUS CN4 Terminal Configuration Diagram: Name Function ------- ---------------- ------- ---------------- Signal grounding end ------- ---------------- Serial data transmission + ------- ---------------- Serial data transmission - ------- ---------------- Note: Please do not connect to any wiring to unused terminals. 2-25...
  • Page 56 JSDG2S CN5/CN6 Terminal configuration diagram (CANopen communication): Name CAN_H CAN_L JSDG2S CN5/CN6Terminal configuration diagram (RS-485 communication): Name JSDG2(S)-E CN5/CN6Terminal configuration diagram (EtherCAT communication): Name 2-26...
  • Page 57 CN8 Full-closed loop signal terminal configuration diagram: Name Note 1: Support encoder of A/B phase signal and 5V voltage only. Note 2: Maximum resolution for encoder support is 1000000 pulse/rev (pulse equals to the corresponded full-closed loop 4-time maximum when the motor rotates 1 cycle). 2-27...

  • Page 58: Control Signal Standard Wiring Diagram

    2-3 Control Signal Standard Wiring Diagram 2-3-1 Position Control (Pe Mode) Wiring Diagram (Line Driver) Driver Content Power Filter r, 24V Control Power s, 0V Regenerative DC 24V Resistor IP24 +24V Power Output DICOM DI Power Common End SERVO MOTOR DI-1 Servo Start (SON) Encoder...

  • Page 59: Position Control (Pe Mode) Wiring Diagram (Open Collector)

    2-3-2 Position Control (Pe Mode) Wiring Diagram (Open Collector) Power Filter Driver Content r, 24V Control Power s, 0V DC 24V Regenerative IP24 Resistor +24V Power Output DICOM DI Power Common End SERVO MOTOR DI-1 Servo Start (SON) DI-2 Error Alarm Clearing Encoder (ALRS) DI-3...

  • Page 60: Position Control (Pi Mode) Wiring Diagram

    2-3-3 Position Control (Pi Mode) Wiring Diagram Driver Content Power Filter r, 24V s, 0V Control Power Regenerative Resistor DC 24V IP24 +24V Power Output DICOM DI Power Common End SERVO MOTOR DI-1 Servo Start (SON) Encoder DI-2 Error Alarm Clearing (ALRS) DI-3 Internal Position Command Selection 1 (POS1)

  • Page 61: Speed Control (S Mode) Wiring Diagram

    2-3-4 Speed Control (S Mode) Wiring Diagram Power Driver Content Filter r, 24V s, 0V Control Power Regenerative Resistor DC 24V IP24 +24V Power Output SERVO DICOM DI Power Common End MOTOR DI-1 Encoder Servo Start (SON) DI-2 Error Alarm Clearing (ALRS) DI-3 PI/P Switching (PCNT) Linear Scale...

  • Page 62: Torque Control (T Mode) Wiring Diagram

    2-3-5 Torque Control (T Mode) Wiring Diagram Driver Content Power Filter r, 24V Control Power s, 0V Regenerative Resistor DC 24V IP24 +24V Power Output SERVO DICOM MOTOR DI Power Common End Encoder DI-1 Servo Start (SON) DI-2 Error Alarm Clearing (ALRS) DI-3 PI/P Switching (PCNT) DI-4...

  • Page 63: Tool Magazine Mode (Pt Mode) Wiring Diagram

    2-3-6 Tool Magazine Mode (Pt Mode) Wiring Diagram Power Driver Content Filter r, 24V Control Power s, 0V Regenerative DC 24V Resistor IP24 +24V Power Output DICOM DI Power Common End SERVO MOTOR DI-1 Servo Start (SON) Encoder DI-2 Error Alarm Clearing (ALRS) DI-3 Tool Position Command Selection 1 (POS1)
  • Page 64 2-3-7 CANopen mode (Cob CoC Mode) wiring diagram Applicable to  JSDG2S Power Driver Content Filter r, 24V s, 0V Control Power Regenerative DC 24V Resistor IP24 +24V Power Output DICOM DI Power Common End SERVO MOTOR DI-1 Not Used (NULL) Encoder DI-2 Error Alarm Clearing (ALRS)
  • Page 65 2-3-8 EtherCAT mode (EC Mode) wiring diagram Applicable to JSDG2(S)-E  Power Driver Content Filter r, 24V s, 0V Control Power Regenerative DC 24V Resistor IP24 +24V Power Output DICOM DI Power Common End SERVO MOTOR DI-1 Touch Probe1 (NULL) Encoder *Note 1 DI-2...
  • Page 66 Chap 3 Panel Operation Description 3-1 Driver Panel Operating Instructions ..................3-2 3-2 State Display Function Description .................. 3-10 3-3 Diagnostic Function Description ..................3-12 3-4 Alarm Monitoring Description ..................3-20...

  • Page 67: Driver Panel Operating Instructions

    3-1 Driver Panel Operating Instructions This Device contains five LED seven-segment displays, four operating keys and a CHARGE Indicator, as shown in the following Figure. When CHARGE indicator (red) is on, it means power still exists in the primary circuit of the device when the power is switched off. Users must disconnect the cables until this indicator completely goes out.
  • Page 68 When the power is on, users can use MODE key to select from 12 parameters, described as follows, offered by this device. Operation LED Display Screen Steps Description after Operation Turn on When the power is turned on, Enter the Status Power Display Screen.
  • Page 69 The following provides a setting example. All key functions are used. Users can operate once to understand the function of each key, for example, to set Sn203 (Internal Speed Command 3) to 100rpm, please follow the steps below: Operation LED Display Screen Steps Description after Operation...
  • Page 70 Some parameters of this Device are displayed in Hexadecimal, if the highest digit of the setting screen shows H, indicating that this parameter is set in Hexadecimal. Setting Example Description: Suppose Pn317 (Return to Origin Mode Setting)=0212, then the Display Screen is The Positive / Negative Values of this Device are displayed as follows: Positive Value Negative Value...
  • Page 71 The negative setting of this Device is explained as follows: (1) If the settable value range is less than or equal to 4 digits, for example, set Sn201 (Internal Speed Command 1)=100 to -100 Operation LED Display Screen Steps Description after Operation Turn on When the power is turned on, Enter the Status...
  • Page 72 the current parameter item selection screen immediately. (3) If the settable range is more than 5 digits, for example, set Pn402 (Internal Position Command 1- Number of Pulses)=0 to -100000. Operation LED Display Screen Steps Description after Operation Turn on When the power is turned on, Enter the Status Power Display Screen.
  • Page 73 When the power of this device is on, the screen of LED display will indicate device status by bit data and status display codes. Definitions of speed control mode, torque control mode and position control mode differ from the displayed content under status display screen. The following are the descriptions: (1) Speed/Torque control mode: The Display Codes related to Bit Data and Status are described as follows: Description...
  • Page 74 (2) Position Control Mode: The Display Codes related to Bit Data and Status are described as follows: Description Bit Data Bit Indicator ON Bit Indicator OFF BASE BLOCK In Servo OFF Status In Servo ON Status Position error smaller than Pn307 Position error larger than Pn307 Positioning (Positioning completed determined...

  • Page 75: State Display Function Description

    3-2 State Display Function Description The user can use the Status Display Parameter to know all information of the current driver and motor operations, please refer to [7-3-11 Monitoring Parameters] for detail description: Parameter RS-485 Display Content Unit Description Index Code Address For example: The display of 120 indicates that the...
  • Page 76 Parameter RS-485 Display Content Unit Description Index Code Address single rotation  The Range is more than 5 digits Communication Un-27 ─ Feedback communication type encoder status 0623H 281BH Encoder Message Expressed by the percentage of Rated Torque. For example: The display of 50 indicates that the Torque Command 0624H 281CH...

  • Page 77: Diagnostic Function Description

    3-3 Diagnostic Function Description The user can use the Diagnostic Parameters to know the current system information, as described below: RS-485 Parameter Name and Function Communication Code Address dn-01 Current Control Mode Display 0F01H dn-02 Digital Output Contact Signal Status 0F02H dn-03 Digital Input Contact Signal Status...
  • Page 78 dn-01 (Current Control Mode Display) The user can use dn-01 to know the current Control Mode of this Device, Control Mode and Panel Display Comparison Table is as follows: dn-01 Cn001 Control Mode (Current Control Mode Display) Torque Control – T –...
  • Page 79 dn-02 (Digital output contact signalstatus) Users can use dn-02 to check current digital output contact signal status. The following is the description of panel display: When a digital output contact signal status is ON, the corresponding LED will light up. When a digital output contact status is OFF, the corresponding LED will not light up.
  • Page 80 dn-03 (Digital input contact signal status) Users can use dn-03 to check current digital input contact signal status. The following is the description of panel display: When a digital input contact signal status is ON, the corresponding LED will light up; when a digital input contact signal status is OFF, the corresponding LED will not light up.
  • Page 81 dn-04 (Software Version Display) The User can use dn-04 to know the current Software Version of this Device, the Panel Display Description is as follows: Operation LED Display Screen Steps Description after Operation Turn on When the power is turned on, Enter the Status Power Display Screen.
  • Page 82 dn-07 (Automatic adjustment of external analog voltage offset ) JSDG2S-E does not have this function When the External Torque or Speed Analog Command Input is 0V, the Motor may still rotate slowly, the User can use dn-07 to automatically adjust and correct the Analog Command Offset, the External Voltage Offset can be checked with Un-09 and Un-11 after automatically adjusted, and the Automatic Adjustment Procedure is described as follows: Operation...
  • Page 83 dn-08 (Display Serialized Models) Users can use dn-08 to check driver/motor combination set in the driver currently. If the displayed combination differs from actual condition, please refer to “1-1-3 Matching list of servo driver and motor” to reset parameter Cn030 or consult local distributor. dn-09 (ASIC software version display) The User can use dn-09 to know the current ASIC Version of this Device, the Panel Display Description is as follows:...
  • Page 84 For the automatic alignment function of the Encoder Magnetic Angle, the operation steps are as follows: 1. Motor U, V, W are wired in accordance with TECO Phase Sequence 2. Connect the Encoder Wiring 3.

  • Page 85: Alarm Monitoring Description

    3-4 Alarm Monitoring Description When the leftmost 2 LEDs display , it means the device cannot function normally. Users can run troubleshooting according to the solutions in “9-2 Countermeasures to Clear Error” and operate the device by normal procedures. If the error alarm still cannot be cleared, please contact the distributor or manufacturer for further countermeasures.
  • Page 86 Please follow the steps below to use the Error Alarm History Parameters to inquire the past nine Error Alarms. Operation LED Display Screen Steps Description after Operation Turn on When the power is turned on, Enter the Status Power Display Screen. Press MODE Key three times to enter the Error Alarm History Parameter.
  • Page 87 Chap 4 Trial Run Operation Description 4-1 No-load Servo Motor Trial Run ..................4-3 4-2 Non-load Servo Motor with Supervisory Controller Trial Run ..........4-6 4-3 Connect the Load Servo Motor with Supervisory Controller Trial Run ......4-10...
  • Page 88 Please make sure all wiring are completed before trial run. The following describes the three-stage Trial Run Operations and Purpose in sequence, and will describe with the Speed Control Loop (Analog Voltage Command) and Position Control Loop (External Pulse Command) when working with the Supervisory Controller.

  • Page 89: Load Servo Motor Trial Run

    4-1 No-load Servo Motor Trial Run Attention • During the Trial Run, make sure to separate the Servo Motor from the Machine, such as Couplers and Belts. • In order to avoid damage to the machine during a Trial Run, the Trial Run of the Servo Motor must be under no load conditions.
  • Page 90 Setting Operations Description is as follows: Operation LED Display Screen Steps Description after Operation Turn on When the power is turned on, Enter the Status Power Display Screen. Press MODE Key 4 times to enter the System Parameters. Press UP Key 1 time to select Cn002 Item. Press and hold the ENTER Key for 2 seconds to enter Cn002 Setting Screen.
  • Page 91 Attention • The JOG Speed operates in accordance with Sn201 (Internal Speed Command 1), therefore, set Sn201 before executing this function. • No matter the motor is excited by using digital input contact SON or not, it will be excited immediately after entering JOG mode.

  • Page 92: Non-Load Servo Motor With Supervisory Controller Trial Run

    4-2 Non-load Servo Motor with Supervisory Controller Trial This Stage of the Trial Run can determine whether or not the Control Signal Wiring between the Servo Driver and the Supervisory Controller is correct and whether or not the control signal electric potential is correct.
  • Page 93 Attention • Please enter speed/position command for motor activation or operation stop after servo start contact (SON) signal is activated! Speed Control Mode Trial Run (Cn001-1): 1. Check the Wiring: Check if servo driver power and control signal wiring are correct; check if speed analog signal input is 0V.
  • Page 94 3. Confirm the relationship between the Motor Speed and Speed Analog Command Input: Gradually increase the Speed Analog Command Voltage, monitor the Motor Actual Speed through the Status Parameter Un-01, observe whether or not the Analog Speed Command Proportioner Sn216, the analog speed command limit Sn218 are correct, and confirm whether or not the Motor Rotation Direction is correct, if the Rotation Direction is incorrect, please adjust the System Parameter Cn004.
  • Page 95 C. Position Control Mode Trial Run (Cn001=2): 1. Check the Wiring: Confirm whether or not the Servo Driver Power Supply and the Control Signal Wiring are correct. The Wiring Diagram is as follows IP24 CN1-45 DICOM CN1-47 CN1-1 CCWL CN1-4 CN1-5 IG24 CN1-48...

  • Page 96: Connect The Load Servo Motor With Supervisory Controller Trial Run

    4-3 Connect the Load Servo Motor with Supervisory Controller Trial Run Attention • Please connect the load trial run in accordance with the following steps accurately. • The Servo Motor operates under the condition of connecting to a machine, if the setting is incorrect, the machine may be damaged or the personnel may be injured.
  • Page 97 Chap 5 Control Functions 5-1 Control Mode Selection ...................... 5-3 5-2 Torque Mode ........................5-4 5-2-1 Analog torque command JSDG2S-E does not have this function ......5-5  5-2-2 Digital Torque Command ..................5-7 5-2-3 Torque Command Linear Acceleration / Deceleration ..........5-8 5-2-4 Torque output direction definition ................
  • Page 98 5-4-8 Torque Limit of Position Mode ................5-62 5-4-9 Other Position Control Functions................5-65 5-5 Tool Magazine Specific Mode ..................5-67 5-5-1 Tool Contact Signal Operation Instructions ............5-69 5-5-2 Tool Magazine Dedicated Mode Setting Flow Chart ..........5-73 5-5-3 Tool Magazine Cutter Setup Return to Zero Mode Time Sequence Diagram ..5-74 5-5-4 Tool Magazine Automatic Tool Selection Mode Time Sequence Diagram ....

  • Page 99: Control Mode Selection

    5-1 Control Mode Selection This Device provides control modes for Torque, Speed, External Position, Internal Position, Tool Magazine Automatic Tool Selection and communication; in addition to operating single control mode, it can also use mixed modes to switch control modes. The following is the description of the Control Mode Parameter Selection Cn001 Control Mode Selection Initial Value...

  • Page 100: Torque Mode

    5-2 Torque Mode The Torque Mode is used for printing presses, winding machines and injection molding machines that need to perform Torque Control. The user shall set Cn001 (Control Mode Selection) in accordance with the mode to be used. The setting method is as follows: Cn001 Control Mode Selection Initial Value Unit...

  • Page 101: Analog Torque Command

    5-2-1 Analog torque command JSDG2S-E does not have this function  Use TIC external analog voltage to control Motor Torque. The following is the wiring diagram: Driver CN1-27 Analog Torque Command Input (± 10V) CN1-29 Adjust the slope of Voltage Command relative to Torque Command in coordination with Analog Torque Command Proportioner Tn103, and Tn104 to correct Analog torque command voltage offset.
  • Page 102 Setting Example: (1) If Tn103 is set to 300, it means Analog Input Voltage 10V corresponds to 300% rated Torque Command; if Input Voltage is 5V at this time, then it corresponds to 150% rated Torque Command. (2) If Tn103 is set to 200, it means Analog Input Voltage 10V corresponds to200% rated Torque Command;...

  • Page 103: Digital Torque Command

    Tn104 Analog torque command offset adjustment  JSDG2S-E does not have this function Initial Value Unit Setting Range Effective RS-485 Address -2500 ~ 2500 Effective after Set 0104H Setting Description: Used to correct offset when the Analog Torque Command Voltage generated offset phenomenon.

  • Page 104: Torque Command Linear Acceleration / Deceleration

    5-2-3 Torque Command Linear Acceleration / Deceleration If users need the Smooth Torque Command, set Tn101.0 to activate the function first. Tn101.0 Torque Command Acceleration / Deceleration Method Initial Value Unit Setting Range Effective RS-485 Address 0 ~ 2 After Servo OFF 0101H Setting Description: Setting...

  • Page 105: Torque Output Direction Definition

    (2) Use torque command one time smoothing acceleration/deceleration function To use this function,must set Tn101.0=2 to activate Torque Command One time Smoothing Acceleration / Deceleration Function. Tn110 Torque Command One Time Smoothing Acceleration / Deceleration Constant Initial Value Unit Setting Range Effective RS-485 Address 1 ~ 10000...
  • Page 106 (1) Digital Input Contacts RS1, RS2 (Forward and Reverse selection of Torque Command) Input Contact Control Description Mode OFF (Switch does not OFF (Switch does not No Torque generated function) function) OFF (Switch does not Rotate in accordance with the current ON (Switch functions) function) Torque Command Direction...

  • Page 107: Internal Torque Limit Setting

    5-2-5 Internal Torque Limit Setting In Torque Control, the user can set the Internal Torque Limit value based on the requirements, setting is as follows: Cn010 CCW Direction Torque Command Limit Value Initial Value Unit Setting Range Effective RS-485 Address 200 ~ 300 0 ~ 300 Effective after Set...
  • Page 108 Tn105 Internal Speed Limit 1 Initial Value Unit Setting Range Effective RS-485 Address 0 ~ 1.5*Rated Speed Effective after Set 0105H Setting Description: In Torque Control, Digital Input Contact SPD1, SPD2 can be used to switch 3 sets of Internal Speed Limit when the setting is Tn101.2=0. Tn106 Internal Speed Limit 2 Initial Value Unit...
  • Page 109 Following is External Analog Speed Limit Command Wiring Diagram: Driver CN1-26 Analog Speed Limit Input (±10V) CN1-29 Adjust the slope of Voltage Command relative to Torque Command in coordination with Analog Torque Command Proportioner Tn109, and Sn217 to correct Analog torque command voltage offset. Tn109 Analog speed limit proportioner ...

  • Page 110: Other Torque Control Functions

    Even if Analog Speed limit is 0V, the Motor may rotate slowly; this is mainly caused by the minor Offset of External Analog Voltage. In this case, the user can manually adjust Sn217 to correct the offset or use Automatic Adjustment. Please refer to “3-3 Diagnostic Function Description”. Attention ...

  • Page 111: Speed Mode

    5-3 Speed Mode Speed Mode is used in situations where precise speed control is required, such as Braiding Machines, Drilling Machines, and CNC Machines. The user shall set Cn001 (Control Mode Selection) in accordance with the mode to be used. The setting method is as follows: Cn001 Control Mode Selection Initial Value Unit...
  • Page 112 The Speed Loop Control Block Diagram is shown in the following two Figures; detailed functions of each block are described in the following Sections. Speed Command Processing Unit Zero Speed Digital Input Determination Contact Not Used Sn204.0 SPD1 Sn215 SPD2 Once Analog Speed Smoothing...

  • Page 113: Select Speed Command

    5-3-1 Select Speed Command This Device provides two Input Command Methods which are achieved by Digital Input Contact SPD1, SPD2 switching the following two methods: (1) Internal Speed Command: Internal pre-set three-stage Speed Command. (2) External Analog speed Command: Control speed by inputting a set of Analog Voltage Command signals to SIC (CN1-26).

  • Page 114: Analog Speed Command Proportioner

    5-3-2 Analog speed command proportioner JSDG2S-E does not have this  function Adjust the slope of Voltage Command relative to the Speed Command in coordination with the Analog Speed Command Proportioner. Sn216 Analog speed command proportioner  JSDG2S-E does not have this function Initial Value Unit Setting Range...

  • Page 115: Analog Speed Command Offset Adjustment

    5-3-3 Analog speed command offset adjustment JSDG2S-E does not have this  function Even if Analog Speed Command is 0V, the Motor may rotate slowly; this is mainly caused by the minor Offset of External Analog Voltage. In this case, the user can manually adjust the Sn217 to correct the offset or use Automatic Adjustment.

  • Page 116: Analog Speed Command Limit

    5-3-4 Analog speed command limit JSDG2S-E does not have this function  The user can limit the Analog Speed Command, setting is as follows: Sn218 Analog speed command limit  JSDG2S-E does not have this function Initial Value Unit Setting Range Effective RS-485 Address 1.02*...
  • Page 117 (1) Speed Command One Time Smoothing Acceleration / Deceleration: To use this function, Sn205.0=1 must be set to activate Speed Command One time Smoothing Acceleration / Deceleration Function. Sn206 Speed Command One Time Smoothing Acceleration / Deceleration Time Constant Initial Value Unit Setting Range Effective...
  • Page 118 (2) Speed Command Linear Acceleration / Deceleration Function: To use this function, Sn205.0=2 must be set to activate Speed Command Linear Acceleration / Deceleration Function. Sn207 Speed command linear acceleration/deceleration constant Initial Value Unit Setting Range Effective RS-485 Address 1 ~ 50000 Effective after Set 0207H Setting Description: Set Sn205.0=2 to activate Speed Command Linear Acceleration / Deceleration...
  • Page 119 (3) S-type Speed Command Acceleration / Deceleration: To use this function, Sn205.0=3 must be set to activate S-type Speed Command Acceleration / Deceleration Function. Sn208 S-type Speed Command Acceleration / Deceleration Time Setting (t Initial Value Unit Setting Range Effective RS-485 Address 1 ~ 1000 Effective after Set...

  • Page 120: Speed Rotation Direction Definition

    5-3-6 Speed Rotation Direction Definition In speed mode, the user can use Cn004.0 (Motor Rotation Direction Definition) and Digital Input Contact SPDINV to define Motor Rotation Direction; refer to following description: Attention  Both Methods can function simultaneously; the user shall confirm the final motor rotation direction definition to avoid confusion.

  • Page 121: Torque Limit In Speed Mode

    5-3-7 Torque Limit in Speed Mode In Speed Control, Motor Torque Limit is achieved by using Digital Input Contact TLMT to switch the two following methods: (1) Internal Torque Limit: Use the internally pre-set Cn010 (CCW Direction Torque Command Limit Value) and Cn011 (CW Direction Torque Command Limit Value). (2) External Analog Command Torque Limit: Use Analog Voltage Command Signal input to TIC (CN1-27) to limit the CCW Direction Torque and CW Direction Torque.
  • Page 122 (2) External Analog Command Torque Limit: The following is the External Analog Torque Limit Command Wiring Diagram: Tn103 Analog torque limit proportioner  JSDG2S-E does not have this function Initial Value Unit Setting Range Effective RS-485 Address %/10V 0 ~ 600 Effective after Set 0103H Setting Description: Used to adjust the slope of Voltage Command relative to the Torque Command...

  • Page 123: Other Speed Control Functions

    5-3-8 Other Speed Control Functions This Section explains other functions related to Speed Control. Speed Reached Function When Forward or Reverse Speed exceeds the speed set by Cn007 (Speed Reached Determined Value), Digital Output Contact INS operates; refer to following description: Cn007 Speed Reached Determined Value Initial Value Unit...
  • Page 124 Speed Sn215 Zero Speed Determined Value Digital Output Contact ZS State The user can set Sn204.0 (Zero Speed Determined Operation) to 1, and when the Zero Speed is determined, the Speed Command is treated as Zero, as described below: Sn204.0 Zero Speed Determined Operation Initial Value Unit Setting Range...

  • Page 125: Position Mode

    5-4 Position Mode Position Mode is used in the system that requires precision positioning, such as all types of processing machines, industrial machinery, etc. The Position Mode Command of this Device has two input modes: 1. The External Pulse Command Input Mode is to receive the Pulse Command output by the Supervisory Controller to achieve the Positioning Function.
  • Page 126 The Position Loop Control Block Diagram is shown in the following Figure; detailed functions of each block are described in the following Sections. External Position Command Processing Unit Digital Input Acceleration / Contact Deceleration ORG, SHOME Methods Digital Input Electronic CWL, CCWL Pn332.0 Digital Input...
  • Page 127 Internal Position Command Processing Unit Acceleration / PTRG Trigger Delay Rotary cut/Fly shear Digital Input Deceleration Pn334 functions Electronic Gear Contact Methods ECA parameter group Pn354 GN1,GN2 Pn332.0 Once Smoothing Input Contact Acceleration / POS1~POS5 Deceleration Electronic Gear PTRG 0~63 Pn313 Pn302~ HOLD...

  • Page 128: External Pulse Command Mode

    5-4-1 External Pulse Command Mode The Pulse Command in this Mode is provided by an external device there are three pulse patterns can be selected, each pulse pattern can also be programmed as positive or negative logic. The user sets the corresponding pattern based on the External Input Pulse Command pattern.
  • Page 129 There are two types of Pulse Command Input Interfaces, Open Collector and Line Driver respectively. Please refer to "2-2-1 CN1 Control Signal Terminal Description"for the wiring method. Please input the Pulse Command in accordance with the time sequence specifications. Pulse Time Command Pulse command Time Sequence Diagram...
  • Page 130 Pn301.1 Position Pulse Command Logic Selection Initial Value Unit Setting Range Effective RS-485 Address 0 ~ 1 Power Re-set 0301H Setting Description: Setting Description Positive Logic Negative Logic Pn301.2 Drive inhibits Command Receiving Selection Initial Value Unit Setting Range Effective RS-485 Address 0 ~ 1 Power Re-set...

  • Page 131: Internal Position Command Mode

    5-4-2 Internal Position Command Mode The Command Source of this Mode is thirty-two sets of Command Register (Pn401~Pn496) which are used to switch the corresponding position command according to the planned input contacts POS1~POS5. Each set of position command works with a moving speed register to set the moving speed of this position command set as shown in the following table: Position Moving Speed...
  • Page 132 Position Moving Speed POS5 POS4 POS3 POS2 POS1 Position Command Parameter Command Parameter Number of Pulses Pn453 Number of Revolutions Pn455 Pn457 Number of Pulses Pn456 Number of Revolutions Pn458 Pn460 Number of Pulses Pn459 Number of Revolutions Pn461 Pn463 Number of Pulses Pn462 Number of Revolutions Pn464...
  • Page 133 The Internal Position Command Mode can select two types of Positioning Pattern, Absolute Type and Relative Type according to Pn316.0, the setting is as follows: Pn316.0 Internal position command mode Initial Value Unit Setting Range Effective RS-485 Address 0 ~ 1 Power Re-set 0326H Setting Description:...
  • Page 134 After the User selects the corresponding Position Command using the Input Contacts POS1~POS5, the Input Contact PTRG must be triggered, this Device will officially accept the Position Command and the Motor starts operation. Please refer to the following Time Sequence Diagram: Absolute type P1=10pulses, P8=-10pulses...
  • Page 135 When Pn316.1=0 and Digital input contact PTRG is triggered again, the motor will continue to complete the rest pulse command to reach the target position set before Digital input contact PHOLD is triggered. Please refer to the following timing diagram: Absolute type Pn316.1=0 P1=30pulses, P8=-10pulses...

  • Page 136: Electronic Gear Ratio

    If the user wishes to ignore this Position Command and stop the Motor during the position movement process, simply trigger Digital Input Contact CLR (Pn315.0 must be set to 1 or 2, please refer to ”5-4-7 Pulse Error Clearing”setting); the Motor will stop immediately and the uncompleted Pulse Command will be cleared.
  • Page 137 Control must follow the above steps to calculate the Pulse Command. TECO Servo provides two methods to set the Electronic Gear Ratio: (1) Directly Set the number of Pulse Commands of the Single Rotation - Pn354 (2) Use the Numerator of the Electronic Gear Ratio and Denominator of Electronic Gear Ratio ─...
  • Page 138 Electronic gear ratio setting method (1) – Directly set the number of pulse command for a single rotation 1. Understand the overall system specifications Obtain the System Specification first in order to determine the Electronic Gear Ratio, such as: Reduction Ratio, Gear Ratio, the quantity of movement for one revolution of the Load Axis, and the diameter of Roller.
  • Page 139 Electronic Gear Ratio Setting Method (2) - Using the Electronic Gear Ratio Numerator and Electronic Gear Ratio Denominator 1. Understand the overall system specifications Obtain the System Specifications first in order to determine the Electronic Gear Ratio, such as: Reduction Ratio, Gear Ratio, the quantity of movement for one revolution of the Load Axis, the diameter of the Roller and the Number of Pulses in One Revolution of the Motor Encoder, Please refer to "1-1-2 Confirmation of Servo Motor Model".
  • Page 140 Pn302 Electronic Gear Ratio Numerator 1 Initial Value Unit Setting Range Effective RS-485 Address 1 ~ 8388608 Effective after Set 0302H/0303H Pn303 Electronic Gear Ratio Numerator 2 Initial Value Unit Setting Range Effective RS-485 Address 1 ~ 8388608 Effective after Set 0304H/0305H Pn304 Electronic Gear Ratio Numerator 3 Initial Value...
  • Page 141 Example of Electronic Gear Ratio Setting Steps Transmission System Setting Steps Method 1: Directly set the Pulse Command Number of Single Rotation 1. Understand the Overall System Specifications: Load Axis (Ball Screw) One Revolution Movement=5mm/rev 2. Define One Pulse Command Moving Distance: One pulse command moving distance=1um 3.
  • Page 142 Transmission System Setting Steps Method 1: Directly set the Pulse Command Number of Single Rotation 1. Understand Overall System Specification: Deceleration Ratio =1/5 Load Axis (Index Plate) One Revolution Movement=360 ﾟ 2. Define One Pulse Command Moving Distance: One pulse command moving distance=0.1 ﾟ 3.
  • Page 143 Transmission System Setting Steps Method 1: Directly set the Pulse Command Number of Single Rotation 1. Understand Overall System Specification: Deceleration Ratio = 1/8 Load Axis (Roller) One Revolution Movement 2. Define One Pulse Command Moving Distance: One pulse command moving distance=10um 3.

  • Page 144: Position Command Acceleration / Deceleration Functions

    5-4-4 Position Command Acceleration / Deceleration Function Acceleration / External Pulse Item Internal Position Command Mode Deceleration Function Command Mode One Time Smoothing Turn on when Pn332.0=0 Turn on when Pn332.0=0 Acceleration / Deceleration Related Parameter: Pn313 Related Parameter: Pn313 S-type Acceleration / Turn on when Pn332.0=1 Deceleration...
  • Page 145 Position Pulse Command Frequency (%) Position Pulse Command Frequency 63.2 Time (ms) Pn313 Setting Example: (1) To reach 95% of Position Pulse Command Frequency Output in 30msec, then 30(ms) Pn313   10(ms) ln(1 95%) (2) To reach 75% of Position Pulse Command Frequency Output in 30msec, then 30(ms) Pn313 22(ms)
  • Page 146 Pn323 Internal Position Command S-type Acceleration / Deceleration Constant (TACC) Initial Value Unit Setting Range Effective RS-485 Address 0.4ms 1 ~ 5000 Effective after Set 031EH The Input Time Parameters are defined here as TSL and TACC. First, Determine the Acceleration / Deceleration Travel by the input time parameter.
  • Page 147 (3) Internal Position Command S-type Smooth Acceleration / Deceleration Separation Function is equivalent to (2) Internal Position Command S-type Smooth Acceleration / Deceleration, the difference is in the separation of TACC and TDEC. Pn322 Internal Position Command S-type Acceleration / Deceleration Smoothing Constant (TSL) Initial Value Unit...
  • Page 148 (4) Pn329 Pulse command smoothing filter Initial Value Unit Setting Range Effective RS-485 Address 0 ~ 2500 Effective after Set 0325H (5) Pn330 Pulse command moving filter Initial Value Unit Setting Range Effective RS-485 Address 0.4ms 0 ~ 250 Effective after Set 0326H The purpose of activating Pulse Command Smoothing Filter and Pulse Command Moving Filter on Position Instruction is to enable a smooth servo motor rotation.

  • Page 149: Position Command Direction Definition

    5-4-5 Position Command Direction Definition In Position Mode, the User can use Pn314.0 (Position Command Direction Definition) to define the Motor Rotation Direction, the settings are as follows: Pn314.0 Internal Position Command (from the Motor Load End) Initial Value Unit Setting Range Effective RS-485 Address...

  • Page 150: Reset To Origin

    5-4-7 Reset to Origin Return to Origin Mode Description When using Return to Origin Function, the user can use Digital Input Contact ORG (External Detector Input Point), CCWL or CWL can be used as Origin Reference Point. The user can also use ZPulse as Origin Reference Point .
  • Page 151 Setting Description After finding the Reference Origin, the Motor will return with second stage speed to search the closest Phase Z Pulse as the Mechanical Origin and stops according to the method set in Pn317.3. After the Reference Origin is found, the Motor will continue forward with second stage speed to search the closest Phase Z Pn317.1 Pulse as the Mechanical Origin and stops according to the...
  • Page 152 Other Return to Origin Setting Description Return to Origin Speed Setting is as follows: Pn318 Return to Origin First Stage High Speed Initial Value Unit Setting Range Effective RS-485 Address 1 ~ rated rotational speed 0318H Setting Description: Set the Moving Speed of Return to Origin First Stage High Speed Pn319 Return to Origin Second Stage Low Speed Initial Value Unit...
  • Page 153 Return to Origin Activation Mode Time Sequence Diagram If Input Contact SON (Servo ON) operation is cancelled or any alarm is generated during Return to Origin procedure, Return to Origin function is discontinued and Digital Output Contact HOME (Complete Return to Origin) does not operate. Pn317.2=2 Pn317.2=1 (Input Contact SHOME Trigger Return to Original)
  • Page 154 (1) Pn317.0=0 or 2 (After activated Return to Origin, use first stage Speed Forward Rotation Direction to search the Origin Reference Point CCWL, CWL or ORG) Pn317.1=0 (After found the Origin Reference Point, use second stage Speed Return to search for the closest Phase Z Pulse to be used as the Mechanical Origin) Pn317.2=2 (Digital input contact SHOME activates Return to origin) Pn317.3=0 (Return to Mechanical Origin)
  • Page 155 (3) Pn317.0=2 (After activated Return to Origin, use first stage Speed Forward Rotation Direction to search the Origin Reference Point ORG) Pn317.1=1 (After foundthe Origin Reference Point, use second stage Speed to continue forward and search the closest Phase Z Pulse to be used as the Mechanical Origin) Pn317.2=2 (Digital input contact SHOME activates Return to Origin) Pn317.3=0 (Return to Mechanical Origin) Speed...
  • Page 156 (5) Pn317.0=2 (After activated Return to Origin, use first stage Speed Forward Rotation Direction to search for the Origin Reference Point ORG) Pn317.1=2 (Found the Origin Reference Point ORG Top Edge to be used as the Mechanical Origin) Pn317.2=2 (Digital input contact SHOME activates Return to origin) Pn317.3=0 (Return to Mechanical Origin) (6) Pn317.0=3 (After activated Return to Origin, use first stage Speed Reverse Rotation Direction to search for the Origin Reference Point ORG)
  • Page 157 (7) Pn317.0=4 (After activated Return to Origin, use first stage Speed Forward Rotation Direction to search for the closest Phase Z Pulse Origin) Pn317.1=2 (Found the Phase Z Pulse to be used as the Mechanical Origin) Pn317.2=2 (Digital input contact SHOME activates Return to origin) Pn317.3=0 (Returnt o Mechanical Origin) Speed Pn318 (Stage 1 High Speed)

  • Page 158: Torque Limit Of Position Mode

    5-4-8 Torque Limit of Position Mode In Position Control, Motor Torque Limit is achieved by switching the following two methods using Digital Input Contact TLMT: (1) Internal Torque Limit: Use internally to set Cn010, Cn056 (CCW Direction Torque Command Limit Value) and Cn011, Cn057 (CW Direction Torque Command Limit Value). ...
  • Page 159 Cn011/Cn057 CW Direction Torque Command Limit Value Stage 1 / Stage 2 Initial Value Unit Setting Range Effective RS-485 Address -300 ~ -200 Each Parameter is -300 ~ 0 Effective after Set Note) different Note) Default and setting range of parameter Cn010/Cn056/Cn011/Cn057 vary by driver model. Refer to “7-3-1 System parameters (Cn0□□)”...
  • Page 160 (2) External Analog Torque Limit: The following is External Analog Torque Limit Command Wiring Diagram: Driver CN1-27 Analog Torque Limit Input (±10V) CN1-29 Tn103 Analog torque limit proportioner  JSDG2S-E does not have this function Initial Value Unit Setting Range Effective RS-485 Address %/10V...

  • Page 161: Other Position Control Functions

    5-4-9 Other Position Control Functions This Section describes other functions related to Position Control. Positioning Completed Function When Position Error is lower than the number of Pulses set by Pn307 (Positioning Completed Determined Value), Digital Output Contact INP operates. Refer to the following description: Pn307 Positioning Completed Determined Value Initial Value Unit...
  • Page 162 Pn309 Negative Maximum Position Error Determined Value Initial Value Unit Setting Range Effective RS-485 Address 5000 0.001rev 0 ~ 50000 Effective after Set 030FH Setting Description: When position error is higher than the pulse number set by Pn309 (negative maximum position error determined value), this device generates AL011 (excessive position error alarm).

  • Page 163: Tool Magazine Specific Mode

    5-5 Tool Magazine Specific Mode JSDG2S Series provides Turret-specific Mode; please refer to the following Sections for related settings and processes. Attention  Turret Mode only supports ABS type encoders (Cn030 ended with 5, A, D); when Turret mode is used by non-ABS type encoders, the system will generate AL040 Turret Mode prohibits use of Non-absolute Type Encoders.
  • Page 164 The Tool Magazine Loop Control Block Diagram is shown in the Figure below; detailed functions of each Block are described in the following Sections. Tool Magazine Processing Unit Tool Magazine Cutter Setup Function Switching Return to Zero Digital Input Contact Acceleration / Deceleration MDC, MDC2...

  • Page 165: Tool Contact Signal Operation Instructions

    5-5-1 Tool Contact Signal Operation Instructions Servo Driver providesOpen DI/DO Control Interface, can be wired as NPN or PNP connection based on the customer requirements Definition list of digital input/output preset pin: Parameter Setting Name and Function Code Contact Operation Function Code Value Control Mode...
  • Page 166 contact; instead, the user only needs to control digital input contact PRTG. Each trigger will move tool position by one step. 4. External pulse mode: Work with cutter setup. During the first installation of servo motor and machine accelerations, position of the first tool on disc may be very far from the actual required position.
  • Page 167 Absolute Value Type Encoder built-in Position Memory can permanently memorize the position information of each tool number. When start the machine after powered off, the Driver will automatically output the (DO) status to the controller; the controller performs binary decoding on the signal to obtain the current position of tool number, and does not need to perform the Return to Origin operation.
  • Page 168 If the rotation direction of the tool holder is opposite to what is required, please set the DI pin SPDINV Function to control the disc rotation reverse operations. Rotation Direction Definition Table: Digital input contact Tool Number Arrangement SPDINV Motor Rotation Direction Method OFF (Contact does not Tool Number Arranged according...

  • Page 169: Tool Magazine Dedicated Mode Setting Flow Chart

    5-5-2 Tool Magazine Dedicated Mode Setting Flow Chart Power ON Confirmation Cn030 Parameter Setting Pn332.0(Acceleration/Deceleration condition) Pn313,(One Time Smoothing Acceleration / Pn334 (PTRG Trigger Delay) Deceleration) Cn010(Stage 1 CCW Torque Limit) Pn322,Pn323,Pn333 (S-type Acceleration / Cn011(Stage 1 CW Torque Limit) Deceleration) Cn056(Stage 2 CCW Torque Limit) Pn329,Pn330 (Smoothing Filter)
  • Page 170 5-5-3 Tool Magazine Cutter Setup Return to Zero Mode Time Sequence Diagram Mode Switching 1 DI-MDC1 Mode Switching 2 DI-MDC2 Signal Trigger DI-PTRG Signal Trigger Delay (Pn334) Tool Tray Return to Zero Position Used Tool Holder Return to Update Tool Holder Return (Pn325) Zero Position to Zero Position...

  • Page 171: Tool Magazine Manual Single Step Time Sequence Diagram

    5-5-5 Tool Magazine Manual Single Step Time Sequence Diagram Torque Limit Value Stage 2 Stage 1 Stage 2 Stage 1 Stage 2 Servo Excitation DI-SON Mode Switching 1 DI-MDC1 Mode Switching 2 DI-MDC2 Tool Number Selection Regardless DI-POS1~6 Signal Trigger DI-PTRG Signal Trigger Delay (Pn334)
  • Page 172 Cn041.2 Turret mode return to zero function Initial Value Unit Setting Range Effective RS-485 Address 0 ~ 1 Effective after Confirmed 002CH Setting Description: Setting Description Not Functioning The driver execute turret return to zero function after setting as 1; will automatically clear the setting to 0 after completed.
  • Page 173 a(t) a(t) Cannot Achieve Figure: Definition of Travel Time for S-type Curve. Pn323 Internal Position Command S-type Acceleration / Deceleration Constant (TACC) Initial Value Unit Setting Range Effective RS-485 Address 0.4ms 5000 Effective after Set 031EH Setting Description: Please refer to Pn322 Description. Pn333 Internal Position Command S-type Deceleration Constant (TDEC) Initial Value Unit...
  • Page 174 Pn327 Tool change rotational speed 1 Initial Value Unit Setting Range Effective RS-485 2*rated rotational speed Effective after Confirmed 0323H Setting Description: Set digital input contact TRQINV=OFF under tool magazine mode and will change tool by the speed of tool change rotational speed 1. Pn329 Pulse Command Smoothing Filter Initial Value Unit...
  • Page 175 Pn332.0 Internal/External Position Command Acceleration / Deceleration Method Initial Value Unit Setting Range Effective RS-485 Address Effective after Confirmed 0327H/0328H Setting Description: Setting Description Use Position Command One Time Smoothing Acceleration / Deceleration Use Internal Position Command S-type Acceleration / Deceleration (external position command does not have this function) Use Internal Position Command S-type Acceleration /...

  • Page 176: Other Functions

    5-6 Other Functions 5-6-1 Digital input/output contact function planning This Device has 12 Digital Input Contact Functions and 4 Digital Output Contact Functions can be planned, the description is as follows: Hn601.0/Hn601.1~ Hn612.0/Hn612.1 DI-1~DI12 Pin Function Initial Value Unit Setting Range Effective RS-485 Address Please refer to Parameter...
  • Page 177 Hn601.2~ Hn612.2 DI-1~ DI-12 Pin Function Operation Potential Initial Value Unit Setting Range Effective RS-485 Address Change with Mode 0 ~ 1 Power Re-set Please refer to Parameter Description Setting Description: Setting Description When the pin is in conduction, the function activates. When the pin is open, the function activates.
  • Page 178 Input Code Function POS3 POS4 TRQINV DI10 DI11 MDC2 DI11 POS5 POS6 Multifunction Planning Digital Input Function Description This explains that except for the default value of CCWL and CWL is high-potential operation; the other pins are low-potential operation. Function Signal Name Mode I/O Operating Function Description...
  • Page 179 Function Signal Name Mode I/O Operating Function Description Code Internal Speed Setting and Limits Description: Internal Speed In Torque In Speed Mode Command/ Mode In Position Mode SPD2 SPD1 (Speed (Speed Limits (DI JOG) Limit Command) Commend) selection 1/ External Speed Internal Speed No JOG Function DI_Jog_1...
  • Page 180 Function Signal Name Mode I/O Operating Function Description Code External When ORG is ON (top edge trigger), the Servo Driver will Reference Pe/Pi/Pt use this as the External Reference Point of Return to Origin. Origin Internal Position Mode: POS1~POS5 represent Internal POS1 Position Command Selection 1~5 respectively, please refer Internal...
  • Page 181 Hn613.0/Hn613.1~Hn616.0/Hn616.1 DO-1~ DO-4 Pin Function Initial Value Unit Setting Range Effective RS-485 Address Change with Mode 00 ~ 12 Power Re-set 050DH Setting Description: Description Description Setting Setting Code Contact Operation Function Code Contact Operation Function NON Not Used Servo Ready Tool Magazine Mode Selection Tool Position ALM Servo Error...
  • Page 182 Hn613.2~Hn616.3 DO-1~ DO-4 Pin Function Operation Potential Initial Value Unit Setting Range Effective RS-485 Address 0 ~ 1 Power Re-set 050DH Setting Description: Please refer to Hn601 Description for the Setting Method. Setting Description When the function activates, the output pin is short-circuited.
  • Page 183 Fixed Digital Output Function Description This means pin default is low potential action. Please refer to “5-6-1 Digitalinput/output contact function planning” for related parameter setting Function Signal Name Mode I/O Operating Function Description Code When the Motor Output Torque is limited by Internal Torque Limit Values (Cn010 &...
  • Page 184 Attention  DO-1~DO-4 Pin Function cannot be repeated; otherwise AL007 (5-5-1 Digital Input / Output Contact Function Planning Error Alarm) will occur. Input Code Function NULL HOME 5-88...
  • Page 185 Hn617 Digital Input Contact Control Method Selection Initial Value Unit Setting Range Effective RS-485 Address H0000 ~ H0FFF H0000 Effective after Confirm Key 0511H (Hexadecimal) Setting Description: Determine the 12-bit Digital Input Contact controlled by external terminal or communication through Bit setting method; correspond Digital Input Contacts DI-1 ~ DI-12 to the binary 0th ~ 11th bits individually first, then convert the binary bits completed planning into hexadecimal for setting.

  • Page 186: Control Mode Switching

    5-6-2 Control Mode Switching The user can use Digital Input Contact MDC1 to switch the Control Mode set by Cn001. The setting is as follows: Cn001 Control Mode Selection Initial Value Unit Setting Range Effective RS-485 Address 0 ~ D Power Re-set 0001H Setting Description:...
  • Page 187 Cn002.1 Contact Auxiliary Functions--Digital Input Contact CCWL and CWL Function Selection Initial Value Unit Setting Range Effective RS-485 Address 0 ~ 1 Power Re-set 0002H Setting Description: Setting Description Control CCW and CW Drive Prohibit by Digital Input Contacts CCWL and CWL. Do not control CCW and CW Drive Prohibit by Digital Input Contacts CCWL and CWL;...

  • Page 188: Brake Mode

    5-6-4 Brake Mode The user can customize the brake combination when Servo off, EMC and CCW/CW drive prohibition. The setting is as follows: Cn008.0 Brake Mode Initial Value Unit Setting Range Effective RS-485 Address 0 ~ 5 Effective after Confirm Key 0009H Setting Description: The Brake Combination of Servo off, Emergency Stop (EMC), and when CCW/CW Drive is Prohibited.

  • Page 189: Mechanical Brake Time Sequence

    5-6-5 Mechanical Brake Time Sequence When Servo System is vertically loaded, to prevent the load from being displaced due to gravity when the power is OFF, usually a Servo Motor with Mechanical Brake will be used. This Device provides Digital Output Contact BI to control the operation of the mechanical brake and then cooperate with Cn003 ( Mechanical Brake Signal Output Time) to control the Mechanical Brake Time Sequence.
  • Page 190 Cn003 (Mechanical Brake Signal Output Time) is positive Digital Input Contact SON Servo Excitation Digital Output Contact BI Cn003 (Mechanical Brake Signal Output Time) Attention  Cn008.0 (Brake mode) must set as 1, 3 or 5. When the Servo System is vertical load, please set Cn003 to a positive value. (1) Cn003(Mechanical Brake Signal Output Time) is positive value : When the servo is not excited, it will be excited immediately when Digital input contact SON operates.

  • Page 191: Cw/Ccw Drive Prohibited Method

    5-6-6 CW/CCW Drive Prohibited Method When CW/CCW Drive is prohibited, the Motor Deceleration Stop Mode setting is as follows: Cn009.0 CW/CCW Drive Prohibited Method Initial Value Unit Setting Range Effective RS-485 Address 0 ~ 2 Power Re-set 000AH Setting Description: Setting Description Use the pre-set Torque Limit (Cn010, Cn011) to...

  • Page 192: Selection Of External Regenerative Resistor

    5-6-7 Selection of External Regenerative Resistor When the Servo Motor is operating in the Generator Mode, the Electrical Energy will flow from the Motor to the Driver, which is called Regenerative Power. The following conditions will enable the Servo Motor to operate in the Generator (Regeneration) Mode: (1) The period from deceleration to stop when the Servo Motor is operating in Acceleration / Deceleration.
  • Page 193 Built-in regenerative Regenerative power Minimum resistor specification (W) can be resistance Driver Model consumed by built-in tolerance Resistance Power regenerative resistor (Ω) (Ω) (Average value) JSDG2S-10B JSDG2S-15B JSDG2S-25B JSDG2S-35B JSDG2S-50B JSDG2S-75B JSDG2S-100B JSDG2S-150B --(No) --(No) --(No) JSDG2S-200B --(No) --(No) --(No) Attention ...
  • Page 194 Model Initial Value 10A / 15A / 20A / 30A 50A3 / 75A3 100A3 / 150A3 10B / 15B / 25B / 35B / 50B / 75B 250A3 / 100B 300A3 / 150B / 200B External Regenerative Resistor Wiring The user must prepare the Regenerative Resistor. When installing, the user must remove the wiring of P1 Contact and the PC Contact of TB1 terminal and then serially connect the regenerative resistor between P contact and PC contact.

  • Page 195: Fan Operation Settings

    5-6-8 Fan Operation Settings The User can set the fan operation state according to the requirements, the setting is as follows: Cn031.0 Fan Operation Settings (Only Suitable to the Models equipped with Fan) Initial Value Unit Setting Range Effective RS-485 Address 0 ~ 3 Effective after Confirmed 0022H...

  • Page 196: Absolute Value Encoder Battery Error Alarm Output

    5-6-10 Absolute Value Encoder Battery Error Alarm Output When the Absolute Value Encoder Battery is abnormal, the User can set the panel display and abnormal contact status with this parameter, setting is as follows: Cn031.2 Absolute Value Encoder Battery Error Alarm Output Initial Value Unit Setting Range...

  • Page 197: Analog Monitoring

    5-6-11 Analog monitoring JSDG2S-E does not have this function  This device provides two analog signals to monitor motor operation status. Refer to the following setting: Cn006.0 Analog monitoring output MON1  JSDG2S-E does not have this function Initial Value Unit Setting Range Effective...
  • Page 198 Cn044 Analog monitoring output MON2 output proportion  JSDG2S-E does not have this function Initial Value Unit Setting Range Effective RS-485 Address 1 ~ 1000 Effective after Confirmed 002FH Setting Description: Please refer to the setting description of Cn043. Following diagram shows the wiring of analog monitoring output: When offset of analog monitoring output voltage occurs, the user can manually adjust Cn027, Cn028 to correct the offset.

  • Page 199: Encoder Signal Dividing Output

    5-6-12 Encoder Signal Dividing Output The Encoder Signal of Motor can be dividing processed by this Device and output to the Supervisory Control. Refer to the following diagram: Supervisory Controller Servo Driver Division cycle signal PA, /PA Encoder PB, /PB Signal PZ, /PZ Dividing...
  • Page 200 Attention  The Setting Range cannot exceed the Number of Pulses in One Revolution of Motor Encoder. For example: Following is the output example of the encoder diving pulse phase A (PA) signal and phase B (PB) when Cn005=16 (Output 16 pulses per rotation). Motor turn one cycle Dividing Output Pulse Signal Definition is as follows: Control...
  • Page 201 Phase B Leading Phase A Leading Phase B Phase A Time Time Pn316.2 Encoder Signal Dividing Output Phase Initial Value Unit Setting Range Effective RS-485 Address 0 ~ 1 Power Re-set 0316H Setting Description: Setting Description Dividing Output Phase A leading Phase B Dividing Output Phase A behind Phase B Pn316.3 Encoder Signal Dividing Output Frequency Elimination Initial Value...

  • Page 202: Full Closed Loop Position Control Function

    5-6-13 Full Closed Loop Position Control Function The so-called full-closed loop refers to the system which detects the mechanical position of controlled target by externally connected encoder and feedback it to the servo unit. If the user wishes to use external encoder or linear scale as the feedback signal, it is possible to achieve the connection to control board CN8 interface;...
  • Page 203 Pn346.2 Full-closed loop function dividing selection Initial Value Unit Setting Range Effective RS-485 Address 0 ~ 1 Effective after Set 0337H Setting Description: Setting Description Pn346.2 Servo motor encoder External encoder Pn347 Maximum full-closed loop error Initial Value Unit Setting Range Effective RS-485 Address 5000...
  • Page 204 Full-closed loop function block diagram Position Mechanical Current Speed Motors Command Electronic Unit converting Position Engineering Controller Controller Gear Ratio Pn348 Controller Differential Servo Motor Encoder Dividing Output Dividing Output AL022 Cn005 External Unit converting Encoder Pn348 Division cycle source Pn346.2 Full-closed loop function Operation step of full-closed loop function:...
  • Page 205 When the external encoder or linear scale is used to control full-closed loop, it is necessary to set Pn348 (resolution corresponded to one cycle of full-closed loop Encoder) first. The following is an example when using the screw with linear scale: Screw Pitch Pn348 ( Resolution corresponded to one cycle of full −...

  • Page 206: Parameter Reset

    Full-closed loop related alarm Error Alarm Error Alarm Alarm Clearing Clearing countermeasure Number Description Method 1. Check if the connector falls out from the mechanism. 2. Check if internal and external count directions are the same; Excessive Error between Switch AL022 correct Pn349.

  • Page 207: E-Cam Function Description

    5-6-15 E-Cam Function Description Traditional mechanical Cam needs go through special processing to achieve the required cam curve. Whenever an procedure adjustment is required, the user has to change to the corresponding mechanical cam and this can result in the problem and inconvenience of correction. The idea of E-Cam has thus derived.
  • Page 208 Parameter Description Parameter Description ECA01 Set as 1 ECA07 Main axle encoder resolution ECA02.0 Physical/Virtual axle selection ECA08 Auxiliary axle encoder resolution ECA02.2 If to use return to origin ECA09 Main axle ECA03 Cutting quantity selection ECA10 Auxiliary axle diameter ECA04 Cutter quantity selection ECA11...
  • Page 209 ECA06 Start angle of E-Cam Initial Value Unit Setting Range Effective RS-485 Address 0.01 degree -9000 ~ 9000 Effective after Confirmed 0806H Setting Description: When the flying shear function is selected, the synchronized angle refers to the angle the auxiliary axle travels when the main axle and auxiliary axle shares the same speed (Definition: 1 revolution = 360-degree).The definition is “the start angle of the first tool touching the cutting point”...
  • Page 210 ECA09 E-Cam feeding diameter Initial Value Unit Setting Range Effective RS-485 Address 0.1mm 1 ~ 10000 0809H Effective after Confirmed Setting Description: Main axle (feeding axle) diameter ECA10 E-Cam cutter diameter Address Initial Value Unit Setting Range Effective RS-485 0.1mm 1 ~ 10000 Effective after Confirmed 080AH...
  • Page 211 Pn349 Full-closed loop operation direction setting Initial Value Unit Setting Range Effective RS-485 Power Re-set 033CH Setting Description: It is necessary to consider main axle feedback direction when choosing the physical main axle. AL023 will occur when the direction is incorrect. Setting Description External encoder positive direction corresponding counterclockwise (CCW) rotation,...
  • Page 212 Parameter Description Parameter Description Full-closed loop rotation direction Pn349 ECA14 Synchronization zone time selection ECA01 Set as 2 ECA15 Synchronization zone DO delay time ECA02.0 Physical/Virtual axle selection ECA16 Auxiliary axle screw pitch Maximum proceed distance of auxiliary ECA02.2 If to use return to origin ECA17 axle ECA03...
  • Page 213 ECA11 E-Cam cutting length Initial Value Unit Setting Range Effective RS-485 Address 0.1mm 1 ~ 50000 080BH Effective after Confirmed Setting Description: The total length of a single item to be cut.Set the cutting length of the item; this size must match the diameters of main/auxiliary axle. If the setting value is small, then the diameters of main/auxiliary axle should not be too long to avoid AL023 resulted from incorrect cutting curve planning.
  • Page 214 Speed Feeding speed Time Servo DO output level Synchronous signal Time ECA17 Maximum proceeding distance of E-Cam rotary cut auxiliary axle Initial Value Unit Setting Range Effective RS-485 Address 10000 0.1mm 1 ~ 50000 0811H Effective after Confirmed Setting Description: Maximum axle moving distance. This parameter is the maximum movable distance of auxiliary axle screw and will determine if the range is exceeded in combination of other parameters.
  • Page 215 ECA22 Enable E-Cam parameter change write-in Initial Value Unit Setting Range Effective RS-485 Address 0 ~ 1 081EH Effective after Confirmed Setting Description: Set this parameter as 1 when changing the parameter to enable parameter change. ECA23 E-Cam parameter fine-tune factor Initial Value Unit Setting Range...

  • Page 216: Gantry Synchronization Function Description

    5-6-16 Gantry Synchronization Function Description Servo motor application is getting more and more popular in industrial machines. Almost all precise movement and speed requirement are controlled by the servo motor. Many machines have to be set up in gantry way. So two axle synchronous control of the servo motor becomes very important. The servo motor has built-in gantry synchronization function;...
  • Page 217 Pn351 Gantry synchronization controller gain value Initial Value Unit Setting Range Effective RS-485 Address rad/s 0 ~ 10000 033EH Effective after Confirmed Setting Description: Gantry synchronization controller gain value. The larger the value, the smaller the synchronization error can be suppressed. Pn352 Gantry synchronization maximum error tolerance Initial Value Unit...
  • Page 218 How to use:  After the wiring is completed, give the position command without activating compensation and observe Un-52 value; this value shows the synchronous error of both machines.  Then activate gantry synchronous compensation function, set Pn350=1 (both drivers) and adjust Pn351 gain value by observing Un-52 value.
  • Page 219 Chap 6 Servo Gain Adjustment 6-1 Servo Gain Adjustment Flowchart ..................6-2 6-2 Servo Gain Adjustment Parameter Description ..............6-3 6-3 Automatic Gain Adjustment (Off-line tuning) Instructions ..........6-10 6-4 Notch Filter ........................6-16 6-5 Low Frequency Vibration Suppression Function............... 6-22 6-6 Manual Gain Adjustment ....................

  • Page 220: Servo Gain Adjustment Flowchart

    6-1 Servo Gain Adjustment Flowchart Adjustment is a function to improve the responsiveness by adjusting the Servo Gain of the Servo Unit. The basic Adjustment Procedure is as shown in the flowchart below. Please make the appropriate adjustments after considering the mechanical conditions or operating conditions used. Start Operate with Factory Parameter Setting...

  • Page 221: Servo Gain Adjustment Parameter Description

    6-2 Servo Gain Adjustment Parameter Description This Device includes three Loops of Current Control, Speed Control and Position Control. The block diagram is as follows: Position Control Circuit Speed Control Circuit Current Control Circuit Position Speed Current Supervisory Electric Controller Controller Controller Controller...
  • Page 222 Current Control Loop Bandwidth (the innermost layer) Cn034 Torque Command Smoothing Filter Initial Value Unit Setting Range Effective RS-485 Address 0 ~ 5000 Effective after Set 0025H Setting Description: When the system generates a sharp vibration noise, this parameter can be adjusted to suppress the vibration noise, adding this filter will also delay the response speed of the Servo System.
  • Page 223 Sn212 Speed Loop Integration Time Constant 1 Initial Value Unit Setting Range Effective RS-485 Address 2000 0.01ms 50000 Power Re-set 020CH Setting Description: Adding integration components to the Speed Control Loop can effectively eliminate the speed steady-state error and quickly respond to subtle speed changes.
  • Page 224 Pn311 Position Loop Gain 2 Initial Value Unit Setting Range Effective RS-485 Address rad/s 1 ~ 2000 Effective after Set 0311H Setting Description: Please refer to Pn310 Description for the Setting Method Pn312 Position Loop Feed Forward Gain Initial Value Unit Setting Range Effective...
  • Page 225 Torque Command Smoothing Filter When the system generates sharp vibration noise, Cn034 (Torque Command Smoothing Filter) can be adjusted to suppress the vibration noise, adding this filter will delay the Servo System Response Speed at the same time. Speed Loop Gain The Speed Loop Gain directly determines the Response Bandwidth of the Speed Control Loop.
  • Page 226 Setting Example: If Cn025 (Load Inertia Ratio) is set correctly, and expect the Speed Loop Bandwidth reaches 100Hz, then set ���������� ( Speed Loop Gain 1 ) = 100(Hz) ���������� ( Speed Loop Integration Time Constant 1 ) ≥ 5 × = 8ms 2π...
  • Page 227 Gain Adjustment Shortcut Parameter The Device provides Gain Adjustment Shortcut Parameter, centralizes the Gain Adjustment related parameters in the Shortcut Parameter to facilitate the user operations during Manual Gain Adjustment and increase the convenience of machine tuning. When the user enters the Shortcut Parameter to change the value of the parameter, the value will be written into storage and be effective immediately, without having to press the Enter key again to store.

  • Page 228: Automatic Gain Adjustment (Off-Line Tuning) Instructions

    6-3 Automatic Gain Adjustment (Off-line tuning) Instructions Automatic gain adjustment refers to the Servo Driver that can be automatically operated (Forward and Reverse reciprocating motions) without Commands issued by the Supervisory Device and run adjusting function in accordance with mechanical system characteristics during operations. The following are the parameters that will be automatically adjusted: Parameter Initial Value...
  • Page 229 Rigidity Table Setting When using Automatic Gain Adjustment Function, the Rigidity level needs to be set in accordance with the required gain of the application situation, the rigidity setting range corresponding to all types of application situations is shown in the table below. Description Speed Loop Integration Time Setting...
  • Page 230 Automatic Gain Adjustment Use Limit The following are the limits when using Automatic Gain Adjustment: (1) The System cannot be executed • When the Mechanical System can only operate in a single direction • When the Mechanical System's rotating range is less than 3 revolutions (2) The System cannot be executed correctly •...
  • Page 231 Automatic Gain Adjustment Operating Procedure The following is the Operating Procedure when using Automatic Gain Adjustment. The Procedure is described with the PC-link Automatic Gain Adjustment page. 1. Click “Tuning (T)” on the tool bar and select “automatic gain adjustment” item. 2.
  • Page 232 3. Off-line tuning Page, can perform parameter setting. Completed parameter setting, click on "Parameter Write" Followed by clicking on "Start Tuning," the Motor starts rotation to conduct adjustment. The parameter setting method can click on "Parameter Description" part to understand. Click on "Parameter Write,"...
  • Page 233 5. When Tuning fails and generates an Alarm, adjustment can be performed according to the handling guidelines. When completed tuning, you can select whether or not to Write Parameter. Lastly, click on "Exit" to complete Off-line tuning. Automatic Gain Adjustment Alarm and Handling Actions When an error occurs in the Automatic Gain Adjustment process, adjustments can be made through the following counter-measures: AL003 Motor Overload...

  • Page 234: Notch Filter

    6-4 Notch Filter When the machine rigidity is low and the machine can no longer increase the Controller Gain due to vibration or noise caused by bearing twisting or other resonances while the vibration frequency is higher than 100Hz, this Device provides Notch Filter to eliminate this phenomenon. Mechanical Frequency Domain Gain Response Diagram When Resonating...
  • Page 235 Cn065/Cn068/Cn071/Cn074/Cn077Notch Filter Depth (First/Second/Third/Fourth/Fifth Set) Initial Value Unit Setting Range Effective RS-485 Address 0 ~ 1000 Effective after Set Each Parameter is different Setting Description: Used to adjust the frequency depth to be suppressed, the smaller the value of the Cn065/068/071/074/077, the deeper the frequency depth of suppression, the User can adjust according to the actual situation.
  • Page 236 (2) Use PC-Link to run automatic mechanical resonance suppression enablement selection parameter to look for suppression frequency Click “Tuning (T)” on the tool bar and select “Online Notch (N)” Set Cn063.0 (automatic mechanical suppression enabling selection)=1~5 and select “write in” key to enable automatic detection of mechanical vibration frequency.
  • Page 237 Cn063.0 Automatic Mechanical Vibration Suppression Enabling Selection Initial Value Unit Setting Range Effective RS-485 Address 0 ~ 5 Effective after Set 0042H Setting Description: Setting Description Disable Automatic Detection of Mechanical Vibration Frequency Enable Automatic Detection of First Set Mechanical Vibration Frequency Enable Automatic Detection of Second Set Mechanical Vibration Frequency Enable Automatic Detection of Third Set Mechanical Vibration Frequency Enable Automatic Detection of Fourth Set Mechanical Vibration Frequency...
  • Page 238 1. On Tool Bar, click "Parameter(P)", and select "Mechanical Characteristics Analysis" option 2. In the Mechanical Characteristic Analysis screen, Loading Torque can be selected, and the setting range is 1%~100%. The User can search in different Torque to increase the accuracy of search; the Loading Torque is based on not damaging the Machine as the standard, to estimate with different Loading Torques, and the Loading Torque too low may not enable the Machine to excite resonance, the variation in the Motor Current Feedback Signal Change is not large enough,...
  • Page 239 • 34Hz: belongs to low frequency suppression frequency range (1~100Hz); set the value to the first set of low frequency suppression frequency Pn339 in servo driver. • 459Hz: belongs to resonance suppression range (above 100Hz); set the value to the first set of Notch Filter frequency Cn013 in servo driver.

  • Page 240: Low Frequency Vibration Suppression Function

    6-5 Low Frequency Vibration Suppression Function Machine Tools Equipment are low-flexibility or rigid, which can easily cause the front end Low- frequency Vibration of the workpiece when the Motor in rapid acceleration / deceleration. This Device provides low-frequency vibration suppression function to eliminate this phenomenon, and the low- frequency vibration suppression is mainly used to perform vibration suppression on the vibration frequency below 100 Hz.
  • Page 241 This Driver has two methods of using Low Frequency Vibration Suppression: (1) Use panel keys to run automatic mechanical resonance suppression enabling selection parameter to look for suppression frequency 1. Set Pn337 (automatic low frequency suppression delay) to adjust the delay time of automatically capturing suppression frequency and set Pn338 (low frequency swinging detection level) according to equipment needs.
  • Page 242 Pn338 Low Frequency Swinging Detection Level Initial Value Unit Setting Range Effective RS-485 Address 0.1 % 1 ~ 1000 Effective after Set 032FH Setting Description: The detection level when executing automatic low frequency vibration suppression (Pn336=1~3), this value setting method is used to set the percentage of the positioning completion determined value (Pn307), adjusting the low frequency swinging detection level (Pn338) can adjust the detection sensitivity, and the lower the setting the easier for the noise to be determined incorrectly.

  • Page 243: Manual Gain Adjustment

    4. If low frequency vibration frequency cannot be found, Pn336.0 automatically returns to 0 after searching for low frequency vibration frequency for a period of time. 6-6 Manual Gain Adjustment Speed Control Mode Manual Gain Adjustment Step 1: Set the Rigidity Level and receive correct Load Inertia Ratio, can refer to 6-3 Automatic Gain Adjustment Instructions and 6-9 Online-Auto Tuning (Inertia Only Displays) to obtain Load Inertia Ratio.
  • Page 244 First set the Sn212 (Speed Loop Integration Time Constant 1) higher than the value after being adjusted by automatic gain, and then increase the speed loop gain until no vibration or noise is generated. Then, adjust the speed loop gain slightly and increase the position loop gain of the supervisory controller until no vibration or noise is generated.

  • Page 245: Gain Switching Function

    6-7 Gain Switching Function The Gain Switching Function of this Device can be divided into two types of Speed Loop Gain PI/P Switching and Two-stage Gain Switching. The purposes of the function are as follows: (1) In Speed Control, suppress the Acceleration / Deceleration overshoot. (2) In Position Control, suppress the amplitude of oscillations caused by positioning and shortens the settling time.
  • Page 246 (1) Determine the Torque Command to switch PI/P Mode When the Torque Command is smaller than the Cn016 Switching Condition, it is PI control; when the Torque Command is greater than the Cn016 Switching Condition, then switch to only P Control, the schematic diagram is as follows: Cn016 PI/P Mode Switching Condition (Torque Command) Initial Value...
  • Page 247 (3) Determine the Acceleration Command to switch to PI/P Mode When the Acceleration Command is less than the Cn018 switching condition, it is PI control; when the Acceleration Command is greater than the Cn018 switching condition, then switch to P control only, the schematic diagram is as follows: Cn018 PI/P Mode Switching Condition (Acceleration Command) Initial Value...

  • Page 248: Two Stage Gain Switching Mode

    (5) Use Digital Input Contact PCNT to switch PI/P Mode When the Digital Input Contact PCNT does not operate, it is PI Control, when the Digital Input Contact PCNT operates, then switch to P Control only, the schematic diagram is as follows: Note) Please refer to 5-6-1 Input / Output Contact Function Planning to set the Driver Effective Logic.
  • Page 249 Switch Gain Combination Switch Gain Position Loop Gain Speed Loop Gain Speed Integration Time Parameter First Gain Pn310 Sn211 Sn212 Second Gain Pn311 Sn213 Sn214 Delay Time 1 Cn048 Cn015.1 Switching Time 1 Cn049 Condition True First Set Gains First Set Gains Pn311 Pn310 Sn213...
  • Page 250 Cn048 Two Stage Gain Mode Switching Delay Time 1 Initial Value Unit Setting Range Effective RS-485 Address 0.2ms 10000 Effective after Confirmed 0033H Setting Description: When using the Two Stage Gain Mode, the Delay Time from the First Stage Gain to the Second Stage Gain can be set. Cn049 Two Stage Gain Mode Switching Time 1 Initial Value Unit...
  • Page 251 Cn022 Two Stage Gain Mode Switching Condition (Speed Command) Initial Value Unit Setting Range Effective RS-485 Address 1.5*Rated Speed Effective after Confirmed 0018H (3) Determine Acceleration Command to Switch Two Stage Gain Mode When the Acceleration Command is less than the Cn023 switching condition, use the first stage gain control;...

  • Page 252: Improved Response Characteristics

    6-8 Improved Response Characteristics The Server provides gain switching function and position loop feed forward gains to improve system response. Attention! These two functions must be used correctly to improve the response characteristics, otherwise the response will deteriorate. Description as follows: Gain Switching Function The Gain Switching Function of this Device can be divided into two types of Speed Loop Gain PI/P Switching and Two Stage Gain Switching.

  • Page 253: Online-Autotuning (Inertia Only Displays)

    6-9 OnLine-AutoTuning (Inertia Only Displays) If the User does not understand the Actual Inertia Ratio, the OnLine-AutoTuning (Inertia only Displays) function can be used. In case of supervisory controller issues Motion Control, the Driver will perform the Inertia evaluation and generate the Inertia Ratio result to Un-45 “OnLine_AutoTuning Inertia Estimation”...
  • Page 254 Chap 7 Parameter function 7-1 Parameter Group Description ..................... 7-2 7-2 Parameter Function List ..................... 7-3 7-3 Parameter Function Detail description ................7-16 7-3-1 System Parameters (Cn0□□) ................7-16 7-3-2 CANopen parameter (Cn0□□) Only JSDG2S model contains this function 7-46 ...

  • Page 255: Parameter Group Description

    7-1 Parameter Group Description Parameter Group Code Description Code Description Un-xx Status Display Parameter dn-xx Diagnostic Parameter System parameter (including CANopen AL0xx Error Alarm History Parameter Cn0xx parameter) Tn1xx Torque Control Parameter Sn2xx Speed Control Parameter Pn3xx Position Control Parameter Pn4xx Point to Point Position Control Parameter qn5xx...
  • Page 256 7-2 Parameter Function List  System Parameter (Cn0□□) Parameter Code Name and Function Unit RS485 Index ● Cn001 Control Mode Selection 0001H 2001H ★ Auxiliary function—Digitalinput contact SON Cn002.0 ★ function selection Auxiliary function—Digitalinput contact CCWL & 0002H 2002H Cn002.1 ★...
  • Page 257 Parameter Code Name and Function Unit RS485 Index Cn026 Rigidity Setting 001DH 201AH Analog monitoring output 1 offset adjustment (Note ● Cn027 40mV 001EH 201BH Analog monitoring output 2 offset adjustment (Note ● Cn028 40mV 001FH 201CH Cn029 Parameter Reset 0020H 201DH ★...
  • Page 258 Parameter Code Name and Function Unit RS485 Index Delay Time of Switch Stage 1 Torque Limit to Cn058 003DH 203AH Stage 2 Torque Limit Cn059.0 AutoTuning Enabling Selection 003EH 203BH OFFLine-tuning Operation Command Number of Cn060 003FH 203CH Revolutions Setting Cn061 OFFLine-tuning Operation Maximum Speed 0040H...
  • Page 259 Parameter Code Name and Function Unit RS485 Index ▲ Tn101.2 Speed Limit Value Switching Function Torque Command Linear Acceleration / ▲ Tn102 0102H 2102H Deceleration Constant Tn103 Analog Torque Command Proportioner (Note 1) %/10V 0103H Analog Torque Command Offset Adjustment (Note Tn104 0104H Tn105...
  • Page 260 Position Control Parameter (Pn3□□)  Parameter Code Name and Function Unit RS485 Index Pn301.0 Position Pulse Command pattern Selection ★ Pn301.1 Position Pulse Command Logic Selection ★ 0301H Pn301.2 Drive Prohibited Command Receiving Selection ★ Pn301.3 Position Pulse Command Filter Width Selection ★...
  • Page 261 Parameter Code Name and Function Unit RS485 Index Pn324 CNC Tool Magazine Quantity Setting 031FH Pn325 CNC Tool Tray Return to Zero Position pulse 0320H/0321H Pn326 CNC Tool Tray Reduction Ratio 0322H Pn327 Tool Change Rotational Speed 1 0323H Pn329 Pulse Command Smoothing Filter 0325H 231DH...
  • Page 262 Multi-position Stage Position Control Parameters (Pn4□□)  Parameter Code Name and Function Unit RS485 Index Pn401 Internal position command 1-Number of revolutions 0701H Pn402 Internal Position Command 1-Number of Pulses pulse 0702H/0703H Pn403 Internal Position Command 1-Moving Speed 0704H Pn404 Internal position command 2-Number of revolutions 0705H Pn405...
  • Page 263 Parameter Code Name and Function Unit RS485 Index revolutions Pn438 Internal position command 13-Number of pulses pulse 0732H/0733H Pn439 Internal Position Command 13-Moving Speed 0734H Internal position command 14-Number of Pn440 0735H revolutions Pn441 Internal position command 14-Number of pulses pulse 0736H/0737H Pn442...
  • Page 264 Parameter Code Name and Function Unit RS485 Index revolutions Pn471 Internal position command 24-Number of pulses pulse 075EH/075FH Pn472 Internal Position Command 24-Moving Speed 0760H Internal position command 25-Number of Pn473 0761H revolutions Pn474 Internal position command 25-Number of pulses pulse 0762H/0763H Pn475...
  • Page 265 Parameter Code Name and Function Unit RS485 Index qn505 Position Loop Gain 1 rad/s 0405H ◆ qn506 Position Loop Gain 2 rad/s 0406H ◆ qn507 Position Loop Feed Forward Gain 0407H ◆ Multifunction Contact Planning Parameters (Hn6□□)  Parameter Code Name and Function Unit RS485...
  • Page 266 Parameter Code Name and Function Unit RS485 Index ECA10 E-Cam cutter diameter 0.1mm 080AH 270AH ECA11 E-Cam cutting length 0.1mm 080BH 270BH ECA12 Distance between E-Cam sensor and cutting point 0.1rpm 080CH 270CH Acceleration/deceleration smoothing constant of ECA13 080DH 270DH E-Cam S-curve ECA14 E-Cam rotary cut synchronous time...
  • Page 267 Parameter Code Name and Function Unit RS485 Index Un-11 External Analog Voltage Limit Value 060DH 280BH External CCW Direction Torque Limit Command Un-12 060EH 280CH Value External CW Direction Torque Limit Command Un-13 060FH 280DH Value Motor Feedback - Number of Pulses in one Un-14 pulse 0610H/0611H...
  • Page 268 Parameter Code Name and Function Unit RS485 Index dn-05 Jog Mode Operation dn-06 Reserved dn-07 External Voltage Offset Automatic Adjustment 0F07H dn-08 Display Serialized Models 0F08H dn-09 ASIC Software Version Display 0F09H dn-11 Automatic Detection of Magnetic Angle Position 0F0BH Note 1: JSDG2S-E does not have this function Note 2: Only JSDG2S contains this function Note 3: Only JSDG2(S)-E contains this function...

  • Page 269: System Parameters (Cn0□□)

    7-3 Parameter Function Detail description 7-3-1 System Parameters (Cn0□□) Cn001 Control Mode Selection Initial Value Unit Setting Range Effective Cn029 Reset ● 0 ~ D ★ RS-485 CANopen EtherCAT 0001H 2001H 2001H Setting Description: Setting Description Setting Description Torque Control Internal Position / Speed Control Switching Speed Control Internal Position / Torque Control Switching...
  • Page 270 RS-485 CANopen EtherCAT 0002H 2002H 2002H Setting Description: Setting Description Control CCW and CW Drive Prohibit by Digital Input Contacts CCWL and CWL. Do not control CCW and CW Drive Prohibit by Digital Input Contacts CCWL and CWL; ignore CCW and CW Drive Prohibit Functions.
  • Page 271 Setting Description: The Time Sequence Diagram is as follows Cn003 (Mechanical Brake Signal Output Time) is positive Digital Input Contact SON Servo Excitation Digital Output Contact BI Cn003 (Mechanical Brake Signal Output Time) Note) Before using this function, it is necessary to plan one mechanical brake signal (BI) digital output pin. Cn008.0 (brake mode) must be set as 1, 3 or 5.
  • Page 272 RS-485 CANopen EtherCAT 0005H/0006H 2005H 2005H Setting Description: Dividing Process means the number of pulse signals generated with one revolution of Motor Encoder that are converted into number of pulse signals preset by Cn005. Example: The Motor Encoder is a 131072 pulse output with one revolution; to obtain a 1000 pulse dividing output, please set Cn005=1000 directly.
  • Page 273 Cn007 Speed Reached Determined Value Initial Value Unit Setting Range Effective Cn029 Reset Rated speed*1/3 0 ~ 1.5*Rated Speed RS-485 CANopen EtherCAT 0008H 2007H 2007H Setting Description: When the Forward or Reverse Speed exceeds the speed set by Cn007 (Speed Reached Determined Value), Digital Output Contact INS activates Cn008.0 Brake Mode Initial Value...
  • Page 274 servo system. Use ±300% Torque Limit to decelerate, and in Zero Speed Clamping State after stopped. 7-21...
  • Page 275 Cn010 CCW Direction Torque Command Limit Value Initial Value Unit Setting Range Effective Cn029 Reset 200 ~ 300 Note) 0 ~ 300 RS-485 CANopen EtherCAT 000BH 200AH 200AH Setting Description: To limit the Torque Command of CCW direction with doubled Rated Torque, set Cn010=200. Cn011 CW direction torque command limit value Initial Value Unit...
  • Page 276 JSDG2(S) Matching Motor Torque command limit value Cn030 setting value Matching Motor Model Cn010(%) Cn011(%) Capacity JSMA-PLC08A□ H121□ -300 JSMA-PSC08A□ H123□ -260 JSMA-PUC08A□ H12D□ -260 JSMA-PBC08A□ H12E□ -260 JSDG2(S) Matching Motor Torque command limit value Cn030 setting value Matching Motor Model Cn010(%) Cn011(%) Capacity...
  • Page 277 JSDG2(S) Matching Motor Torque command limit value Cn030 setting value Matching Motor Model Cn010(%) Cn011(%) Capacity JSMA-PMB40A□ H178□ -250 JSMA-PMB45A□ H179□ -250 JSDG2(S) Matching Motor Torque command limit value Cn030 setting value Matching Motor Model Cn010(%) Cn011(%) Capacity JSMA-PBH29A□ H185□ -240 JSMA-PHH30A□...
  • Page 278 400V Class JSDG2(S) Matching Motor Torque command limit value Cn030 setting value Matching Motor Model Cn010(%) Cn011(%) Capacity JSMA-PUC04B□ H201□ -300 JSMA-PBC04B□ H202□ -300 JSMA-PUC08B□ H203□ -220 JSMA-PBC08B□ H204□ -220 JSMA-PUC08B□ H211□ -300 JSMA-PBC08B□ H212□ -300 JSMA-PBH09B□ H213□ -240 JSMA-PMB10B□ H214□...
  • Page 279 JSDG2(S) Matching Motor Torque command limit value Cn030 setting value Matching Motor Model Cn010(%) Cn011(%) Capacity JSMA-PIH55B□ H26B□ -250 JSMA-PMH75B□ H261□ -260 JSMA-PBH75B□ H267□ -200 JSMA-PIH75B□ H269□ -260 JSMA-PIH110B□ H26A□ -200 JSMA-PBH75B□ H271□ -250 JSMA-PMH110B□ H272□ -260 150B JSMA-PIH110B□ H278□ -250 JSMA-PMH150B□...
  • Page 280 Cn014 Notch filter quality factor (first set) Initial Value Unit Setting Range Effective Cn029 Reset 1 ~ 100 RS-485 CANopen EtherCAT 000FH 200EH 200EH Setting Description: Used to adjust the frequency range to be suppressed, the smaller the Cn014 value is, the wider the frequency range of suppression is, and the user can adjust according to actual conditions.
  • Page 281 RS-485 CANopen EtherCAT 0011H 2010H 2010H Setting Description: First set Cn015.0=0, When the Torque Command is smaller than the Cn016 Switching Condition, it is PI control; when the Torque Command is greater than the Cn016 Switching Condition, then switch to only P Control.
  • Page 282 Setting Description: When using the Two Stage Gain Mode, the Delay Time from the Second Stage Gain to the First Stage Gain can be set. Switch condition of Cn021 two stage gain mode (torque command) Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 399...
  • Page 283 Setting Description: Set Cn015.1=3 first, when the Position Error is less than the Cn024 switching condition, use the first stage gain control; when the Position Error is greater than the Cn024 switching condition, then switch to the second stage gain control. If the Position Error is less than the Cn024 switching condition again, it will switch to the first stage gain control in accordance with Cn020 Switching Delay Time.
  • Page 284 RS-485 CANopen EtherCAT 001EH 201BH 201BH Setting Description: Used to correct the offset when it occurs on analog monitoring output 1 voltage. Cn028 analog monitoring output 2 offset adjustment JSDG2S-E does not have this function Initial Value Unit Setting Range Effective Cn029 Reset ●...
  • Page 285 Setting Description: Setting Description Temperature Sensing Automatic Operation Operates when Servo starts Continuous Operation Stop Operation Cn031.1 Low voltage protection (AL001) automatic return selection Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 1 RS-485 CANopen EtherCAT 0022H 201FH 201FH Setting Description: This parameter can set low voltage protection (AL001) return method Setting...
  • Page 286 Setting Description: Setting Description When the battery is abnormal after power is turned ON, the panel displays AL016 and the digital output contact outputs ALM; the device cannot operate normally at this time. When the battery is abnormal after power is turned ON, the panel displays no abnormality and the digital output contact does not output ALM and the Motor can still operate normally, but the multi-revolution address cannot be memorized after the...
  • Page 287 Cn033 Speed Feed Forward Smoothing Filter Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 1000 RS-485 CANopen EtherCAT 0024H 2021H 2021H Setting Description: Smooth the Speed Feed Forward Command. Cn034 Torque command smoothing filter Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 5000...
  • Page 288 Cn037.0 Modbus RS-485 Communication Transmission Rate Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 5 ★ RS-485 CANopen EtherCAT 0028H 2025H 2025H Setting Description: Setting Description Setting Description 4800 bps 38400 bps 9600 bps 57600 bps 19200 bps 115200 bps Cn037.2 RS-485 Communication Write Selection Initial Value...
  • Page 289 Cn039 Communication Timeout Setting Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 20 ★ RS-485 CANopen EtherCAT 002AH 2027H 2027H Setting Description: If the setting value is greater than 0, the Communication Timeout Function is turned on immediately and must conduct communication within the set time, otherwise, a communication error will appear.
  • Page 290 Cn043 Analog monitoring output MON1 output proportion  JSDG2S-E does not have this function Initial Value Unit Setting Range Effective Cn029 Reset 1 ~ 1000 RS-485 CANopen EtherCAT 002EH 202BH 202BH Setting Description:Take 10V/1.5x rotational speed = 100% as example, if the analog monitoring output proportion is changed to 10V/0.75x rotational speed, set the parameter as 200% Cn044 Analog monitoring output MON2 output proportion ...
  • Page 291 Cn050 Switch time 2 of two Stage Gain Mode Initial Value Unit Setting Range Effective Cn029 Reset 0.2ms 0 ~ 10000 RS-485 CANopen EtherCAT 0035H 2032H 2032H Setting Description: When using the Two Stage Gain Mode, the Conversion Time from the second stage gain to the first stage gain can be set.
  • Page 292 Cn054 Driver warning setting (AL001-AL016) Initial Value Unit Setting Range Effective Cn029 Reset 0000 ~ FFFF RS-485 CANopen EtherCAT 0039H 2036H 2036H Setting Description: Cn054 is a 16-bit parameter, each bit represents each Alarm separately. Setting the corresponding bit of the Alarm to 1 is the Warning Mode. When the alarm occurs, the Driver issues a warning first, and triggers the Alarm after continuous operation for the time set by Cn055.
  • Page 293 Cn058 Delay time when switching from first stage to second stage torque limit Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 32767 RS-485 CANopen EtherCAT 003DH 203AH 203AH Setting Description: After the digital output contact INP delays according to the time set by Cn058, the torque limit switch from (Cn010, Cn011) to (Cn056, Cn057) and from (Cn056, Cn057) to (Cn010, Cn011) after PTRG operates.
  • Page 294 Cn063.0 Automatic mechanical suppression enablement selection Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 5 Communication position Index position Use Mode RS-485 CANopen EtherCAT 0042H 203FH 203FH Setting Description: Setting Description Disable Automatic Detection of Mechanical Vibration Frequency Enable Automatic Detection of First Set Mechanical Vibration Frequency Enable Automatic Detection of Second Set Mechanical...
  • Page 295 Cn066 Notch filter frequency Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 2000 RS-485 CANopen EtherCAT 0045H 2042H 2042H Setting Description: When to eliminate the vibration or noise caused by resonance, etc., please input the frequency when vibration occurs in Cn066. Cn067 Notch filter quality factor (second set) Initial Value Unit...
  • Page 296 Cn070 Notch filter quality factor (third set) Initial Value Unit Setting Range Effective Cn029 Reset 1 ~ 100 RS-485 CANopen EtherCAT 0049H 2046H 2046H Setting Description: Used to adjust the frequency range to be suppressed, the smaller the Cn070 value is, the wider the frequency range of suppression, and the User can adjust according to the actual conditions.
  • Page 297 Cn074 Notch filter quality depth (fourth set) Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 1000 RS-485 CANopen EtherCAT 004DH 204AH 204AH Setting Description: Used to adjust the frequency depth to be suppressed, the smaller the Cn074 value is, the deeper the frequency depth to be suppressed, and the User can adjust according to actual conditions.
  • Page 298 Cn097 Motor disconnection protection flag Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 1 RS-485 0064H Setting Description: Setting Description Disable motor cable disconnection protection Enable motor cable disconnection protection. Note: When speed command is 0, it is determined by position error. Maximum and minimum can be set by Pn308 &...
  • Page 299 7-3-2 CANopen parameter (Cn0□□) Only JSDG2S model contains this function  Cn078.0 CANopen communication write-in selection  Only JSDG2S model contains this function Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 1 ★ RS-485 CANopen EtherCAT 0051H 204EH 204EH Setting Description: Setting...
  • Page 300 Cn095 CANopen detection bus off and disconnection level  Only JSDG2S model contains this function Initial Value Unit Setting Range Effective Cn029 Reset 128 ~ 256 ★ RS-485 CANopen EtherCAT 0062H 205FH Setting Description: When CANopen Error Counter is greater than the set level, AL029 alarm will occur. Cn096 CANopen disconnection clearing comparison level ...

  • Page 301: Torque Control Parameters (Tn1□□)

    7-3-3 Torque Control Parameters (Tn1□□) Tn101.0 Torque Command Acceleration / Deceleration Method Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 2 ▲ RS-485 CANopen EtherCAT 0101H 2101H 2101H Setting Description: Setting Description Do not use Torque Command Linear Acceleration / Deceleration Function Use Torque Command Linear Acceleration / Deceleration Function...
  • Page 302 Tn102 Torque Command Linear Acceleration / Deceleration Constant Initial Value Unit Setting Range Effective Cn029 Reset 1 ~ 50000 ▲ RS-485 CANopen EtherCAT 0102H 2102H 2102H Setting Description: The Torque Command Linear Acceleration/Deceleration Constant is defined as the time for the Torque Command to rise from zero linearly to the Rated Torque.
  • Page 303 Tn104 Analog torque command offset adjustment  JSDG2S-E does not have this function Initial Value Unit Setting Range Effective Cn029 Reset -2500 ~ 2500 RS-485 CANopen EtherCAT 0104H Setting Description: Used to correct offset when the Analog Torque Command Voltage generated offset phenomenon. Before Offset Adjustment Input Voltage Offset Voltage...
  • Page 304 Setting Description: In Torque Control, the Digital Input Contact SPD1, SPD2 can be used to switch 3 sets of Internal Speed Limit. When using Internal Speed Limit 2, the DigitalInput Contact SPD1, SPD2 states are as the following combination: Digital Input Contact SPD2 Digital Input Contact SPD1 Tn107 Internal Speed Limit 3 Initial Value...
  • Page 305 Setting Description: Set Tn101 = 2 to activate the Torque Command One Time Smoothing Acceleration / Deceleration Function. Torque Command One Time Smoothing Acceleration / Deceleration Time Constant is defined as the time for the Torque one time delayed rise from 0% to 63.2% of the current Torque Command.

  • Page 306: Speed Control Parameters (Sn2□□)

    7-3-4 Speed Control Parameters (Sn2□□) Sn201 Internal Speed Command 1 Initial Value Unit Setting Range Effective Cn029 Reset -1.5*Rated Rotational Speed~1.5*Rated Rotational Speed RS-485 CANopen EtherCAT 0201H 2201H 2201H Setting Description: In Speed Control, the DigitalInput Contact SPD1, SPD2 can be used to switch 3 sets of Internal Speed Limit.
  • Page 307 Sn204.0 Zero Speed Determined Operation Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 1 RS-485 CANopen EtherCAT 0204H 2204H 2204H Setting Description: Setting Description Does not operate Treat Speed Command as Zero Speed Speed Command Original Speed Command Sn215 Zero Speed Determined Value...
  • Page 308 Sn206 Speed Command One Time Smoothing Acceleration / Deceleration Time Constant Initial Value Unit Setting Range Effective Cn029 Reset 1-10000 RS-485 CANopen EtherCAT 0206H 2206H 2206H Setting Description: Set Sn205=1 to activate Speed Command One time Smoothing Acceleration / Deceleration Function. The definition of Speed Command One Time Smoothing Acceleration / Deceleration Time Constant is the time for the Speed one time delayed rise from Zero Speed to 63.2% of the Speed Command, the schematic diagram is as follows:...
  • Page 309 Sn208 S-type Speed Command Acceleration / Deceleration Time Setting (t Initial Value Unit Setting Range Effective Cn029 Reset 1-1000 RS-485 CANopen EtherCAT 0208H 2208H 2208H Setting Description: Set Sn205=3 to activate S-type Speed Command Acceleration / Deceleration Function. During Acceleration / Deceleration, due to the severe Acceleration / Deceleration Changes when activating Stop that resulted in machine oscillation, adding S-type Acceleration / Deceleration to Speed Command can achieve the function of smooth operations.
  • Page 310 RS-485 CANopen EtherCAT 020BH 220BH 220BH Setting Description: The Speed Loop Gain directly determines the Response Bandwidth of the Speed Control Loop. Under the premise of the mechanical system does not generate vibration or noise, increasing the Speed Loop Gain value will speed up the Speed Response. If Cn025 (Load Inertia Ratio) is set correctly, the Speed Loop Bandwidth equals the Speed Loop Gain.
  • Page 311 Setting Description: When speed is lower than the speed set by Sn215 (zero speed determined value), digital output contact ZS activates. Sn215 Speed Zero Speed Determined Value Digital Output Contact ZS Sate Sn216 Analog speed command proportioner  JSDG2S-E does not have this function Initial Value Unit Setting Range...
  • Page 312 Setting Description: Used to correct offset when the Analog Speed Command Voltage generates the offset phenomenon. After Offset Adjustment Before Offset Adjustment Input Voltage Input Voltage Offset Voltage Offset Voltage Correction Speed Speed Command (rpm) Command (rpm) Sn218 Analog speed command limit ...

  • Page 313: Speed Control Parameters (Sn3□□)

    7-3-5 Speed Control Parameters (Sn3□□) Pn301.0 Position Pulse /command Pattern Selection Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 3 ★ RS-485 CANopen EtherCAT 0301H Setting Description: Setting Description Pulse+Sign CCW+CW Pulse A phase+ B phase pulse * 2 A phase+ B phase pulse * 4 Pn301.1 Position Pulse Command Logic Selection Initial Value...
  • Page 314 RS-485 CANopen EtherCAT 0301H Setting Description: Setting Description Setting Description 4500KHz 370KHz 2500KHz 190KHz 1200KHz 90KHz 750KHz 40KHz Pn302 Electronic Gear Ratio Numerator 1 Initial Value Unit Setting Range Effective Cn029 Reset 1 ~ 8388608 RS-485 CANopen EtherCAT 0302H/0303H Setting Description: Please check if Pn354 = 0~63 is set when using functions of Pn302~Pn306. DigitalInput Contact GN1, GN2 can be used to switch four sets of Electronic Gear Ratio Numerators.
  • Page 315 Setting Description: Please check if Pn354 = 0~63 is set when using functions of Pn302~Pn306. DigitalInput Contact GN1, GN2 can be used to switch four sets of Electronic Gear Ratio Numerators. When using Electronic Gear Ratio Numerator 1, the DigitalInput Contact GN1, GN2 states are as the following combination: Digital input contact GN2 Digital input contact GN1...
  • Page 316 Pn308 Positive Maximum Position Error Determined Value Initial Value Unit Setting Range Effective Cn029 Reset 5000 0.001rev 0 ~ 50000 RS-485 CANopen EtherCAT 030EH 2308H 2308H Setting Description: When Position Error is higher than the pulse number set by Pn308 (Positive Maximum Position Error Determined Value), this device generates AL011 (Excessive Position Error Alarm).
  • Page 317 RS-485 CANopen EtherCAT 0312H 230CH 230CH Setting Description: It can reduce the tracking error of position control and speed up reaction. If the feed forward gain is too large, speed overshoot and repeatedly turn on/off of output contact INP (positioning completion signal) may occur.
  • Page 318 Pn315.0 Pulse Error Clearing Mode Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 2 RS-485 CANopen EtherCAT 0315H Determined by the Setting Setting Description: Setting Description When the Input Contact CLR operates, clear the Pulse Error. When Digital Input Contact CLR triggers, cancel Position Command to interrupt the Motor operation, re-set Mechanical Origin, and clear Pulse Error.
  • Page 319 Pn316.2 Encoder Signal Dividing Output Phase Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 1 ★ RS-485 CANopen EtherCAT 0316H 2310H 2310H Setting Description: Setting Description Dividing Output Phase A leading Phase B Dividing Output Phase A behind Phase B Pn316.3 Encoder Signal Dividing Output Frequency Elimination Initial Value Unit...
  • Page 320 Setting Description: Setting Description After Return to Origin is activated, Motor searches for Origin with first stage Speed in Forward Direction, and uses Digital Input Contact Point CCWL or CWL as Origin Reference Point. After Return to Origin and positioning are completed, Digital Input Contact CWL or CCWL becomes the Limit Function again. When using this Function, Pn317.1 cannot be set to 1 or 2.
  • Page 321 Setting Description: Setting Description After founding the Reference Origin, the Motor will with a second stage return speed to search the closest Phase Pulse as the Mechanical Origin and stops according to the method set in Pn317.3 After the Reference Origin is found, the Motor will with the continue forward second stage speed to search the closest Phase...
  • Page 322 Pn317.3 Stop Mode Setting after the Mechanical Origin is Found Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 1 RS-485 CANopen EtherCAT 0317H Setting Description: Setting Description After the Mechanical Origin Signal is found, record this position as the Mechanical Origin (both Un-14 Encoder Feedback Number of Revolutions, Un-15 Encoder Feedback Number of Pulse are all zero), the Motor decelerates to stop, and after the Motor stopped, return moving to the...
  • Page 323 Pn321 Number of Pulse of Return to Origin Offset Initial Value Unit Setting Range Effective Cn029 Reset -32767~32767:8192ppr, 15bit pulse -131071~131071:17bit -8388607~8388607:23bit RS-485 CANopen EtherCAT 031BH/031CH Setting Description: Return to Origin Offset Position =Pn320 (Number of Revolutions) x Number of Pulses in One Revolution of Encoder +Pn321(Number of Pulses) Pn322 Internal Position Command S-type Acceleration / Deceleration Smoothing Constant (TSL)
  • Page 324 Pn324 CNC tool magazine quantity setting Initial Value Unit Setting Range Effective Cn029 Reset 1 ~ 64 RS-485 CANopen EtherCAT 031FH Setting Description: Total Number of Tool Holders on Tool Tray Pn325 CNC Tool Tray Return to Zero Position Initial Value Unit Setting Range Effective...
  • Page 325 Setting Description: Can select Filter Smoothing Time. Pn330 Pulse Command Moving Filter Initial Value Unit Setting Range Effective Cn029 Reset 0.4ms 0 ~ 250 RS-485 CANopen EtherCAT 0326H 231EH 231EH Setting Description: Pulse Command Moving Filter Position Pulse Command (%) Before Filtering After Filtering Time (ms)
  • Page 326 Pn331 Turret Magazine Backlash Compensation Parameters Initial Value Unit Setting Range Effective Cn029 Reset pulse -8388607 ~ 8388607 RS-485 CANopen EtherCAT 0327H/0328H Setting Description: Set Backlash Compensation Value Pn332.0 Internal Position Command Acceleration / Deceleration Method Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 2...
  • Page 327 Pn335 Tool change rotational speed 2 Initial Value Unit Setting Range Effective Cn029 Reset 1 ~ rated rotational speed RS-485 CANopen EtherCAT 032CH Setting Description: Set digital input contact TRQINV=ON under tool magazine mode and will change tool by the speed of tool change rotational speed 2.
  • Page 328 Pn339 Low frequency suppression frequency (first set) Initial Value Unit Setting Range Effective Cn029 Reset 1000 0.1 Hz 10 ~ 1000 RS-485 CANopen EtherCAT 0330H 2327H 2327H Setting Description: Used to eliminate the Low Frequency Vibration generated by insufficient mechanism rigidity. Pn340 Low frequency suppression parameter (first set) Initial Value Unit...
  • Page 329 Pn344 Low frequency suppression parameter (third set) Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 30 RS-485 CANopen EtherCAT 0335H 232CH 232CH Setting Description: Used to adjust the frequency range to be suppressed, greater the value, wider the frequency range of suppression is, the recommended setting is 10.
  • Page 330 Pn348 Corresponded resolution of Full-closed loop Encoder one revolution Initial Value Unit Setting Range Effective Cn029 Reset 1250 256 ~ 1048576 ★ RS-485 CANopen EtherCAT 033AH/033BH 232FH 232FH Setting Description: The number of pulses corresponding to the External Optical Finger when the Motor rotates one resolution (Encoder resolution of the Fully Closed Loop CN8 connection) Pn349 Full-closed loop operation direction setting Initial Value...
  • Page 331 Pn350.1 Gantry synchronization triggered to enable asynchronous function Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 1 ★ RS-485 CANopen EtherCAT 033DH Setting Description: Setting Description Close Activate Pn351 Gantry synchronization controller gain value Initial Value Unit Setting Range Effective Cn029 Reset rad/s...

  • Page 332: Control Parameter For Multi-Position Control (Sn4□□)

    7-3-6 Control Parameter for Multi-position Control (Sn4□□) Internal Position Command 1~32-Number of Revolutions Initial Value Unit Setting Range Effective Cn029 Reset -16000 ~ 16000 RS-485 CANopen EtherCAT According to Parameters Setting Description: Set Number of Rotations of Internal Position Command Use digital input contact POS1~POS5 to select the use of position command.
  • Page 333 Internal Position Command 1~32 - Number of Pulses Initial Value Unit Setting Range Effective Cn029 Reset pulse -8388608 ~ 8388608 RS-485 CANopen EtherCAT According to Parameters Setting Description: Set the Number of Rotation Pulse for the Internal Position Command, the following is the relevant parameter list.
  • Page 334 Internal Position Command 1~32 - Moving Speed Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 2*rated rational speed RS-485 CANopen EtherCAT According to Parameters Setting Description: Set the Moving Speed of the Internal Position Command Parameter Parameter Parameter Name Parameter Name Code Code...
  • Page 335 Parameter Parameter Parameter Name Parameter Name Code Code Internal Position Pn445 Internal Position Command 15-Moving Speed 073CH Pn493 Command 31-Moving 077CH Speed Internal Position Pn448 Internal Position Command 16-Moving Speed 0740H Pn496 Command 32-Moving 0780H Speed 7-82...

  • Page 336: Shortcut Parameters (Qn5□□)

    7-3-7 Shortcut Parameters (qn5□□) qn501 Speed loop gain 1 Initial Value Unit Setting Range Effective Cn029 Reset 2 ~ 1500 ◆ RS-485 CANopen EtherCAT 0401H Setting Description: Same as Sn211 qn502 Speed Loop Integration Time Constant 1 Initial Value Unit Setting Range Effective Cn029 Reset...
  • Page 337 qn506 Position loop gain 2 Initial Value Unit Setting Range Effective Cn029 Reset rad/s 1 ~ 2000 RS-485 CANopen EtherCAT 0406H Setting Description: Same as Pn311. qn507 Position Loop Feed Forward Gain Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 100 ◆...

  • Page 338: Multifunction Contact Planning Parameters (Hn6□□)

    7-3-8 Multifunction Contact Planning Parameters (Hn6□□) Hn601.0/Hn601.1 DI-1 Pin Function Initial Value Unit Setting Range Effective Cn029 Reset Change with 00 ~ 20 ★ Mode RS-485 CANopen EtherCAT 0501H 2601H 2601H Setting Description: Description Description Setting Setting Contact Operation Code Code Contact Operation Function Function...
  • Page 339 Hn601.2 DI-1 Pin Function Operation Electric Potential Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 1 ★ RS-485 CANopen EtherCAT 0501H 2601H 2601H Setting Description: Setting Description When the pin is in conduction, the function activates. When the pin is open, the function activates. Hn602-Hn612 DI Pin Function Operation Potential (DI-2~DI-12) Initial Value Unit...
  • Page 340 Hn613.0/Hn613.1 DO-1 Pin Function Initial Value Unit Setting Range Effective Cn029 Reset Change with 00 ~ 12 ★ Mode RS-485 CANopen EtherCAT 050DH 260DH 260DH Setting Description: Description Description Setting Setting Code Contact Operation Function Code Contact Operation Function Tool Magazine Mode Selection Not Used Tool Position Display 2 Servo Ready...
  • Page 341 Setting Description: Please refer to Hn613 Description for the Setting Method. RS-485 Index position Parameter Parameter Name Communication Code CANopen EtherCAT position Hn614 DO-2 Pin Function Planning 050EH 260EH 260EH Hn615 DO-3 Pin Function Planning 050FH 260FH 260FH Hn616 DO-4 Pin Function Planning 0510H 2610H 2610H...
  • Page 342 Hn 601~Hn 616 Corresponding to the Factory Setting Value of Different Model Cn001 Parameter Code Hn 601 0001 0001 0001 0001 0001 0001 0001 0001 0001 0001 0001 0000 0000 0000 Hn 602 0002 0002 0002 0002 0002 0002 0002 0002 0002 0002...

  • Page 343: E-Cam Parameteres (Eca□□)

    7-3-9 E-Cam Parameteres (ECA□□) ECA01-Cam function selection Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 2 RS-485 General Mode CANopen mode 0801H 2701H Setting Description: Setting Description Flying shear function Rotary cut function ECA02.0 E-Cam main axle feedback source Initial Value Unit Setting Range...
  • Page 344 Setting Description: Setting Description Unlimited 1-65535 Not Used ECA04 E-Cam cutter quantity selection Initial Value Unit Setting Range Effective Cn029 Reset 1 ~ 4 RS-485 General Mode CANopen mode 0804H 2704H Setting Description: Tool number per resolution ECA05 E-Cam synchronous angle Initial Value Unit Setting Range...
  • Page 345 RS-485 General Mode CANopen mode 0808H 2708H Setting Description: Auxiliary axle (cutter axle) encoder resolution. ECA09 E-Cam feeding diameter Initial Value Unit Setting Range Effective Cn029 Reset 0.1mm 1 ~ 10000 RS-485 General Mode CANopen mode 0809H 2709H Setting Description: Main axle (feeding axle) diameter ECA10 E-Cam cutter diameter Initial Value Unit...
  • Page 346 RS-485 General Mode CANopen mode 080DH 270DH Setting Description: Acceleration/Deceleration smoothing constant of E-Cam S-curve ECA14 E-Cam rotary cut synchronous time Initial Value Unit Setting Range Effective Cn029 Reset 1~ 65535 RS-485 General Mode CANopen mode 080EH 270EH Setting Description: Time of rotary cut synchronous zone ECA15 E-Cam rotary cut DO delay time Initial Value Unit...
  • Page 347 Setting Description: Average proceeding speed of E-Cam rotary cut main axle ECA19 Cumulative pulse quantity of E-Cam virtual axle Initial Value Unit Setting Range Effective Cn029 Reset 1 ~ 200 RS-485 General Mode CANopen mode 0813H 2713H Setting Description: Cumulative number of pulse by every 200us of virtual main axle ECA20 Maximum return speed of E-Cam rotary cut Initial Value Unit...
  • Page 348 Setting Description: Fine-tune cutting length to correct machine error ECA24 E-Cam rotary cut return origin return function Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 1 RS-485 General Mode CANopen mode 0820H 2718H Setting Description: Setting Description Original curve Return to Origin 7-95...

  • Page 349: Cia 402 Parameter (Ec7□□)

    7-3-10 CiA 402 parameter (EC7□□) En701 CiA 402 Position unit change (numerator) Initial Value Unit Setting Range Effective Cn029 Reset 1 ~ 536870911 Communication position Use Mode RS-485 Setting Description: Same as object CiA402 subobject 6093 function 1. En702 CiA 402 Position unit change (denominator) Initial Value Unit Setting Range...
  • Page 350 En705 CiA402 Acceleration unit change (numerator) Initial Value Unit Setting Range Effective Cn029 Reset 1 ~ 536870911 Communication position Use Mode RS-485 Setting Description: Same as object CiA402 subobject 6097 function 1. En706 CiA402 Acceleration unit change (denominator) Initial Value Unit Setting Range Effective...

  • Page 351: Monitoring Parameters (Un-□□)

    7-3-11 Monitoring Parameters (Un-□□) Un-01 Actual motor speed Unit Communication position Parameters description RS-485 CANopen EtherCAT For example: The display of 120 indicates that the current Motor Speed is 120 rpm. 0601H 2801H 2801H Un-02 Actual motor torque Unit Communication position Parameters description RS-485 CANopen...
  • Page 352 Un-10 Primary circuit (Vdc Bus) voltage Unit Communication position Parameters description RS-485 CANopen EtherCAT For example: The display of 310 indicates that the Main Circuit 060CH Voltage is 310V. 280AH 280AH Un-11 External analog voltage limit value  JSDG2S-E does not have this function Unit Communication position Parameters description...
  • Page 353 Un-20 Pulse command-rotation number Range greater than 5-digit number Unit Communication position Parameters description RS-485 CANopen EtherCAT After the power is on, count and display cycle number of pulse 0619H command input under Servo ON condition. (After the power is 061AH 2814H 2814H...
  • Page 354 Un-31 Digital input contact status (DI) Unit Communication position Parameters description RS-485 CANopen EtherCAT Displays the Status of Digital Input Contact (DI) in Hexadecimal For example: H0XXX (0000 DI-12/11/10/9 DI-8/7/6/5 DI- 0627H 281FH 281FH 4/3/2/1) Un-43 Motor Electrical Angle Unit Communication position Parameters description RS-485...
  • Page 355 Un-52 Error between external and motor encoders Range greater than 5-digit number Unit Communication position Parameters description RS-485 CANopen EtherCAT The Error of External Encoder and Motor Encoder When pulse 063DH Operating with a Fully Closed Loop Function 2834H 2834H 063EH Un-53 Current alarm number Unit...

  • Page 356: Diagnostic Parameters (Dn-□□)

    7-3-12 Diagnostic Parameters (dn-□□) RS-485 Parameter Name and Function Communication Code Address dn-01 Current Control Mode Display 0F01H dn-02 Digital Output Contact Signal Status 0F02H dn-03 Digital Input Contact Signal Status 0F03H dn-04 CPU Software Version Display 0F04H dn-05 Jog Mode Operation dn-06 Reserved dn-07...

  • Page 357: Chapter 8 Communication Function

    Chap 8 Communication function 8-1 RS-485 Communication Function ................... 8-3 8-1-1 RS-485 Communication Wiring ................8-3 8-1-2 RS-485 Communication Related Parameters ............8-5 8-1-3 RS-485 Communication Protocol and Format ............8-8 8-2 CANopen communication function  Only JSDG2S contains this function ......8-17 8-2-1 CANopen Overview ....................8-17 8-2-2 CANopen Basic Features ..................8-17 8-2-3 CANopen Parameter Setting ...................8-18...
  • Page 358 8-3-6-7 Cyclic Synchronous Position (CSP) ............8-51 8-3-6-8 Cyclic Synchronous Velocity (CSV) ............8-53 8-3-6-9 Cyclic Synchronous Torque (CST) ............8-55 8-3-6-10 Homing Mode (HM) ................8-57 8-3-6-11 Digital I/O ....................8-64 8-3-6-12 Touch Probe ....................8-66 8-3-6-13 Emergency Stop ..................8-69 8-3-6-14 Restoration ....................8-71 8-3-7 EtherCAT Object List .....................8-72...

  • Page 359: Communication Function

    8-1 RS-485 Communication Function This Servo Driver provides RS-485 Communication Function and the following describes the communication wiring and communication protocol. 8-1-1 RS-485 Communication Wiring CN4 Wiring Method Servo Driver CN4 Personal Computer USB/RS-485 converter Driver end uses MD-Type 8Pins RS-485 converter Pin Name Symbol...
  • Page 360 CN5 / CN6 Wiring method  JSDG2(S)-E does not have this function It is necessary to add a Terminal Resistor between the D+ and D- pins at the last Servo Driver Servo Driver CN5 / CN6 Communication Cable JSSRTR0001~ JSSRTR0050 Terminal Resistor Servo Driver...

  • Page 361: Communication Related Parameters

    8-1-2 RS-485 Communication Related Parameters Cn036 ID Setting Initial Value Unit Setting Range Effective RS-485 Address 1 ~ 254 Power Re-set 0027H Setting Description: When using the Modbus Communication Interface, each set of Drivers needs to set different IDs in this parameter in advance; if the IDs are set repeatedly, it will result in communication not being operated normally.
  • Page 362 Cn038 Communication Protocol Initial Value Unit Setting Range Effective RS-485 Address 0 ~ 8 Power Re-set 0029H Setting Description: Setting Description Setting Description 7 , N , 2 ( Modbus , ASCII ) 8 , O , 1 ( Modbus , ASCII ) 7 , E , 1 ( Modbus , ASCII ) 8 , N , 2 ( Modbus , RTU ) 7 , O , 1 ( Modbus , ASCII )
  • Page 363 Hn617 Digital Input Contact Control Method Selection Initial Value Unit Setting Range Effective RS-485 Address H0000 ~ H0FFF H’0000 Effective after Set 0511H (Hexadecimal) Setting Description: Digital Input Contact (12 contacts in total) is determined by Bit Setting Method with external terminal or communication control;...

  • Page 364: Communication Protocol And Format

    8-1-3 RS-485 Communication Protocol and Format When using the RS-485 Modbus communication interface, each set of drivers must set its driver ID in advance in parameter Cn036. The Supervisory Control Unit can then perform communication control on the individual Drivers based on the ID. Communication method utilizes Modbus network communication and can use the following two protocols: ASCII (American Standard Code for information interchange) mode and RTU (Remote Terminal Unit) mode.
  • Page 365 Byte Structure 10 bit Character Frame (for 7-bit Byte Data) Start Stop Stop ← －－－ －－－ → Data: 7 bits ← －－－－－－－－ －－－－－－－－ → Character Frame: 10 bits Start Even Stop parity ← －－－ －－－ → Data: 7 bits ← －－－－－－－－ －－－－－－－－...
  • Page 366 Communication Data Structure ASCII Mode Code Name Content Description Communication 3AH; Character ’:‘ Starts 1-byte includes 2 ASCII Codes For the communication address range is 1 ~ 254 must be Communication converted to hexadecimal first; Address For example, the Driver ID is 20, hexadecimal is 14H, ADR = ’1‘...
  • Page 367 Commonly Used Command Instruction Code 03H: Read Register Read N words in succession, N maximum is 29 (1DH). For Example: Read 2 words in succession from the starting address 0200 of the Driver with ID 01H. ASCII Mode Command message PC  Servo Response message Servo ...
  • Page 368 06H: Write Single Register Write 1 word to Register Write 100 (0064H) in the starting address 0200H of the Driver with ID 01. ASCII Mode Command message PC  Servo Response message Servo  PC (OK) Servo  PC (ERROR) ‘...
  • Page 369 08H: Diagnostic Function Use Sub-function Code 0000H to check the Transmission Signal between Master and Slaver. The Data Content can be any number. For example: Use Diagnostic Function on the Driver with ID 01H. ASCII Mode Command message PC  Response message Servo ...
  • Page 370 10H: Write multiple registers (Long word parameters need to use Write multiple registers (10H) to complete) Write N words to consecutive registers, N maximum is 27 (1BH). For example: Write 100 (0064H), 300 (012CH) in two consecutive registers of starting address 0100H Servo Driver with ID 01.
  • Page 371 RTU Mode Command message PC  Servo Response message Servo  PC (OK) Servo  PC (ERROR) Starting (MSB) Starting (MSB) Error Code Data Data (LSB) (LSB) CRC LSB Address Address CRC MSB Data Length Data Length (Calculated by word) (Calculated by word) Data CRC LSB...
  • Page 372 CRC Check Digit: RTU Mode uses CRC (Cyclical Redundancy Check) Check Digit. CRC Check Calculation Method is as follows: 1. Load a 16-bit CRC register with FFFFH; 2. Perform XOR (Exclusive OR) calculation on the first 8-bit byte value of the data content with the low byte of the CRC Register, and store the result in the CRC Register.

  • Page 373: Canopen Communication Function

    8-2 CANopen communication function Only JSDG2S contains this function  8-2-1 CANopen Overview In this chapter, we will introduce CANopen communication specification, communication structure, object utilization and mode control of JSDG2S servo driver. The chapter will be divided into: system parameter setting, basic characteristics, CANopen communication, servo control and detailed description of object list.

  • Page 374: Canopen Parameter Setting

    8-2-3 CANopen Parameter Setting Cn001 Control Mode Selection Initial Value Unit Setting Range Effective RS-485 Address 0 ~ D Power Re-set 0001H Setting Description: Setting Description CANopen-complete (JSDG2S function) CANopen-simple (JSDG2S function) C mode-CANopen simple; can rapidly switch to Operation enabled under status machine state. Mode 0x6040H (Controlword) B mode...
  • Page 375 Cn078.2 CANopen communication transmission rate  Only JSDG2S model contains this function Initial Value Unit Setting Range Effective RS-485 Address 0 ~ 5 Power Re-set 0051H Setting Description: Setting Description Setting Description 125k 500k 100k 250k Cn079 CANopen ID setting  Only JSDG2S model contains this function Initial Value Unit...
  • Page 376 En702 Position unit change (denominator) RS-485 Address Initial Value Unit Setting Range Effective 1 ~ 536870911 Effective after Set Setting description: Same as object CiA402 subobject 6093 function 2. En703 Speed unit change (numerator) Initial Value Unit Setting Range Effective RS-485 Address 1 ~ 536870911 Effective after Set...

  • Page 377: Canopen Protocol

    8-2-4 CANopen Protocol G2S CANopen contains the following protocols:  NMT(Network Mangement Object)   SDO(Service Data Object)   PDO(Process Data Object )   Special function object  Network management: used to activate network and monitor equipment (heartbeat, enable message). In network management, the same network only allows one master node and one or multiple slave nodes and follow the master-slave model.
  • Page 378 Steps Definition Command specifier Automatic initialization Enter pre-operation mode automatically (3),(6) Open remote node (4),(7) Enter pre-operation mode (5),(8) Enter stop mode (9),(10),(11) Reset node (12),(13) ,(14) Reset communication Equipment monitoring Monitoring equipment (error control) services and protocols are used to detect if the equipment in the network is online and its status.
  • Page 379 COB-ID 0x600+ Message (8byte) Node-ID Client Server Write request Idx2 Idx1 Sidx data 4byte data data 3byte data data 2byte data data 1byte data data COB-ID 583h+ Message (8byte) Client Node-ID Server Idx2 Idx1 Sidx data Write response error response error code Process data object PDO PDO uses producer-consumer model to transmit real-time data.
  • Page 380 Object COB-ID Object dictionary position Map dictionary position PDO 1 (transmit) 181h-1FFh 1800h 1A00h PDO 1 (receive) 201h-27Fh 1400h 1600h PDO 2 (transmit) 281h-2FFh 1801h 1A01h PDO 2 (receive) 301h-37Fh 1401h 1601h PDO 3 (transmit) 381h-3FFh 1802h 1A02h PDO 3 (receive) 401h-47Fh 1402h 1602h...
  • Page 381 Transmission type Transmission type description Note The master station transmits one synchronous message to the slave station every synchronous cycle. The master station transmits RPDO Synchronous RPDO data once every two synchronous cycles; RPDO received by the slave cyclic station will become valid until receiving the next synchronous message. The master station transmits one synchronous message to the slave station every synchronous cycle.

  • Page 382: Canopen Servo Control

    ESD document When using CANopen communication, the user can configure CANopen controller through CANopen electronic data sheet (EDS) provided by TECO. EDS file consists of all object information JSDG2S servo driver can provide for using and related settings. 8-2-5 CANopen Servo Control Please refer to “8-3-6 EtherCAT servo control”...

  • Page 383: Ethercat Communication Function

    8-3 EtherCAT communication function Only JSDG2(S)-E contains this  function 8-3-1 EtherCAT Overview In this chapter, we will introduce EtherCAT communication specification, communication structure, object utilization and mode control of the servo driver. The chapter will be divided into: system parameter setting, basic characteristics, EtherCAT communication, servo control and detailed description of object list.

  • Page 384: Ethercat Parameter Setting

    (3) Communication Cable When using Ethernet, the controller and servo driver use standard Ethernet cable CAT5e. It is recommended to use shielded Ethernet cable if an ideal communication quality is required. 8-3-3 EtherCAT Parameter Setting Cn001 Control Mode Selection Initial Value Unit Setting Range Effective...

  • Page 385: Ethercat Status Display

    En704 CiA402 Speed unit change (denominator) RS-485 Address Initial Value Unit Setting Range Effective 1 ~ 536870911 Effective after Set Setting description: Same as object CiA402 subobject 6095 function 2. En705 CiA402 Acceleration unit change (numerator) Initial Value Unit Setting Range Effective RS-485 Address 1 ~ 536870911...
  • Page 386 (1) EtherCAT communication status State machine of EtherCAT can be divided into four modes: Init, Pre-OP, Safe-OP and OP. Use the leftmost 7-segment display of the Keypad panel as the status. The following shows the numbers when four modes are shown in the 7-segment display. Number displayed Communication status none...

  • Page 387: Ethercat Communication

    (1) ESI document When using EtherCAT communication, the user can configure EtherCAT controller through EtherCAT slave information file (ESI) provided by TECO. ESI file consists of all object information JSDG2(S)-E servo driver can provide for using and related settings. (2) Communication norm...
  • Page 388 (3) Communication structure EtherCAT communication can be applied to various application protocols. The application layer protocol which JSDG2(S)-E servo driver utilizes is IEC 61800-7─CANOpen motion control subprotocol. In the servo driver, the system structure related to EtherCAT communication can be divided into three parts: physical layer, data-link layer and application layer.
  • Page 389 The state of state machine will stay under Init mode when the power is on. The switch among each status needs to be done by the controller giving commands to the servo driver. Init (PI) (IP) Pre-Operational (PS) (SP) (SI) Safe-Operational (OI) (OP)
  • Page 390 (5) Mailbox In EtherCAT protocol, Mailbox uses master-slave method to exchange data; the transmitter and receiver need to continuously confirm if the data is successfully transmitted through handshaking. Through several handshaking processes, it can make sure the data can be received by the receiver accurately.
  • Page 391 PDO mapping Preset PDO mapping object 1st PDO Mapping RxPDO1 Controlword Target Position Target Velocity Mode of Operation (1600h) (6040h) (607Ah) (60FFh) (6060h) Velocity Actual Mode of Operation TxPDO1 Statusword Position Actual Value Value Display (1A00h) (6041h) (6064h) (606Ch) (6061h) PDO mapping Preset PDO mapping object 2st PDO Mapping(Cyclic synchronous Position):default PDO assignment...

  • Page 392: Ethercat Servo Control

    (8-1) Free Run Free Run uses the cycle time generated from JSDG2(S)-E servo driver system and receives commands regularly. Under this mode, cycle time is fixed at 4ms. (8-2) DC mode DC makes all slave stations use all system time; through controller’s adjustment to error, the time of receiving the control command of all slave stations can be adjusted to almost the same and thus achieve synchronous control.
  • Page 393 Start Not ready to switch on Fault Switch on disabled Ready to switch on Control Power: Main Power: ON/OFF Servo ON/OFF: Switched on Control Power: Main Power: Fault Servo ON/OFF: reaction active Operation enabled Control Power: Main Power: Servo ON/OFF: ●...
  • Page 394 [Before Shift]→ [After] Event / Action Event: Execute automatically after servo driver control power [Start]→ is activated. [Not ready to Switch on] Action: Servo driver operation initialization. [Not ready to Switch on] → [Switch on Event: Automatic execution. Disabled] Action: Servo driver allows communication. Event: Controller gives 6040h [Shut down] command (Bit2, 1, [Switch on Disabled] →...
  • Page 395 ● State machine control command In CiA402 protocol, the control over state machine must be the control command given from Object 6040h. 8 sets of state machine command are provided in this object. The user can switch the status of state machine by these 8 sets of command as desired.
  • Page 396 The user can also refer to the following table to use control command Object 6040h to control the state machine and then have status Object 6041h read the value to confirm if the status JSDG2(S)-E servo driver has changed. Controlword Statusword [Before Shift]->[After] (6040h)

  • Page 397: Servo Mode

    8-3-6-2 Servo mode Object 6502h defines all modes can be used in EtherCAT protocol and shows all modes supported by the slave station. The user can understand modes supported by the servo driver by the following table. Supported drive modes (6502h) bit Mode Support Reserved...

  • Page 398: Unit Condition

    After the user inputs the setting mode to Object 6060h, when he/she wants to check if JSDG2(S)-E servo driver has switched to that mode, the user can read its status by Object 6061h to confirm if status value is identical to the setting value of Object 6060h (when entering Operation enabled, the function set by Object 6060h becomes valid and will be displayed in Object 6061h).
  • Page 399 Position_Factor (6093h) JSDG2(S)-E Numerator System Unit Object Unit Divisor Position User Divisor Numerator Velocity_Factor (6095h) JSDG2(S)-E Numerator System Unit Object Unit Divisor Velocity User inc/s Divisor Numerator JSDG2(S)-E Acceleration_Factor System Unit Object Unit (6097h) Numerator Acceleration 10^4*inc/s^2 User Divisor JSDG2(S)-E Object Unit System Unit Torque...

  • Page 400: Profile Position (Pp)

    8-3-6-4 Profile Position (PP) Profile Position is an operation of command planning type and mainly used to the point-to-point positioning application. The supervisory controller needs to give JSDG2(S)-E servo driver target position value (absolute or relative), command acceleration/decelertaion value and travel speed. After receiving these parameters, the internal trajectory generator of JSDG2(S)-E servo driver system will automatically generate the operation travel based on these parameter settings.
  • Page 401 Profile Position mode provides two ways for the user to select: Immediately & Single set point. “Immediately” refer to the condition when receiving a new command, new command travel will be operated. It can plan the next travel with current speed without decelerating the speed to 0. “Single set point”...
  • Page 402 ● Related object: Object Subobject Name Access PDO mapping Unit 6040h Control Word 605Ah Quick stop option code 6065h Following error window Pos unit 6066h Following window time out 6067h Position window Pos unit 6068h Position window time 607Ah Target Position Pos unit 607Fh Max Profile Velocity...

  • Page 403: Profile Velocity (Pv)

    8-3-6-5 Profile Velocity (PV) Profile Velocity is speed control. Under this mode, speed output will run speed command planning to JSDG2(S)-E servo driver according the acceleration/deceleration and target speed set by the user. Target velocity (60FFh) Velocity Velocity [Vel unit] [inc/s] Velocity Factor...
  • Page 404 ● Related object: Object Subobject Name Access PDO mapping Unit 6040h Control Word 605Ah Quick stop option code 606Dh Velocity window Vel unit 606Eh Velocity window time Vel unit 607Fh Max Profile Velocity Vel unit 6083h Profile Acceleration Acc unit 6084h Profile Deceleration Acc unit...

  • Page 405: Profile Torque (Pt)

    8-3-6-6 Profile Torque (PT) Profile Torque is torque control. Under this mode, the user plans the torque command and slope to JSDG2(S)-E servo driver. [0.1%] Target torque (6071h) Torque Torque slope (6087h) [0.1%] Torque demand trajectory (6074h) Torque limit values (200Ah and 200Bh) [1%] generator Motors...
  • Page 406 ● Related object: Object Subobject Name Access PDO mapping Unit CCW Direction Torque 200Ah Command Limit Value CCW Direction Torque 200Bh Command Limit Value 6040h Control Word 6071h Target torque 0.1% ms from 0 to 6087h Torque slope 100% rated torque 6041h Status Word 6063h...

  • Page 407: Cyclic Synchronous Position (Csp)

    8-3-6-7 Cyclic Synchronous Position (CSP) Cyclic Synchronous Position is the cyclic command mode. Under this mode, the user must use PDO communication to provide new commands cyclically. And JSDG2(S)-E servo driver will generate commands by linear interpolation to process position control. Torque offset (60B2h) [0.1%] Velocity...
  • Page 408 ● Related object: Object Subobject Name Access Unit mapping 6040h Control Word 605Ah Quick stop option code 6065h Following error window Pos unit 6066h Following window time out 607Ah Target Position Pos unit 6085h Quick stop deceleration Acc unit 60B0h Position Offset Pos unit 60B1h...

  • Page 409: Cyclic Synchronous Velocity (Csv)

    8-3-6-8 Cyclic Synchronous Velocity (CSV) Cyclic Synchronous Velocity is the cyclic command mode. Under this mode, the user must use PDO communication to provide new commands cyclically. And JSDG2(S)-E servo driver will generate commands by linear interpolation to process speed control. Torque offset (60B2h) [0.1%] Velocity offset (60B1h)
  • Page 410 ● Related object: Object Subobject Name Access PDO mapping Unit 6040h Control Word 605Ah Quick stop option code Vel unit 606Dh Velocity window Vel unit 606Eh Velocity window time Vel unit 607Fh Max Profile Velocity Vel unit 60B1h Velocity Offset Vel unit 60B2h Torque Offset...

  • Page 411: Cyclic Synchronous Torque (Cst)

    8-3-6-9 Cyclic Synchronous Torque (CST) Cyclic Synchronous Torque is the cyclic command mode. Under this mode, the user must use PDO communication to provide new commands cyclically. And JSDG2(S)-E servo driver will generate commands by linear interpolation to process torque control. [0.1%] Target torque (6071h) Torque...
  • Page 412 ● Related object: Object Subobject Name Access PDO mapping Unit 200Ah CCW Direction Torque Command Limit Value 200Bh CCW Direction Torque Command Limit Value 6040h Control Word 6071h Target torque 0.1% 60B2h Torque Offset 0.1% 6041h Status Word 6063h Position actual internal value 6064h Position actual value unit...

  • Page 413: Homing Mode (Hm)

    8-3-6-10 Homing Mode (HM) There are 30 ways of Return to origin for JSDG2(S)-E servo driver. The user can set Object 6098h to determine the way of return. Each method are categorized by different activation directions, stop directions, origin signals and zero point signals. The use of each way of Return to origin is completely based on CiA402(Cia Draft Standard Proposal 402) protocol.
  • Page 414 Homing method Stop Start direction Return signal Zero point signal (6098h) direction dependent on home switch negative negative limit, negative home Encoder Z puls negative positive negative limit negative limit positive negative positive limit positive limit dependent on home switch positive positive home positive home...
  • Page 415 Control Word (6040h) bit Name Value Description Enable Return to Origin Mode 1→0 Start Return to Origin Homing operation start Enable Return to Origin Mode 0→1 Stop Return to Origin Execute Return to Origin Halt Pause Target position not reached Target reached Target position has reached Current travel not completed...
  • Page 416  Method 1: Homing on the negative limit switch and index pulse.   Method 2 : Homing on the positive limit switch and index pulse.   Method 3 and 4: Homing on the positive home switch and index pulse. ...
  • Page 417  Method 5 and 6 : Homing on the negative home switch and index pulse.   Method 7 to 14 : Homing on the home switch and index pulse  8-61...
  • Page 418  Method 7 to 14 : Homing on the home switch and index pulse   Method 19 to 20 : Homing without an index pulse.    8-62...
  • Page 419  Method 33 to 34 : Homing on the index pulse.   Method 35: Homing on current position (obsolete)  With this way, current position is defined as the origin position. This way can be implemented even if the servo driver is not under OperationEnabled condition. ●...

  • Page 420: Digital I/O

    8-3-6-11 Digital I/O When using EtherCAT communication, JSDG2(S)-E servo driver also supports the user to use digital I/O; respectively controlled by Object Digital Input (60FDh) & Digital Output (60FEh). Under EtherCAT communication, Digital Input (60FDh) can acquire the physical DI data of JSDG2(S)-E servo driver.
  • Page 421 DO-1 state when Bit Mask.n=1 DO-1 state when Bit Mask.n=0  n=16~23, x=n-15 Digital Output(60FEh) Physical Output Bit Mask Signal Description Signal Description 1: Retain original DO function DO-1 1: Enable 0: Disable DO-1 0: Remove original DO function 1: Retain original DO function DO-2 1: Enable 1: Disable DO-2...

  • Page 422: Touch Probe

    8-3-6-12 Touch Probe JSDG2(S)-E servo driver supports Touch Probe function. This function can receive the specific signal source during the operation, capture the position and store in the specified objects. JSDG2(S)-E servo driver supports 2 sets of Touch Probe function objects and both positive and negative edges are possible to set.
  • Page 423 Touch probe status (60B9h) bit Value Description Disable Touch Probe 1 Enable Touch Probe 1 Touch Probe1 positive edge triggering position does not occur Touch Probe1 positive edge triggering position has occurred Touch Probe1 negative edge triggering position does not occur Touch Probe1 negative edge triggering position has occurred Reserved...
  • Page 424 ● Operation: There are two modes available for JSDG2(S)-E servo driver Touch Probe function: single triggering and continuous triggering. 1. Single triggering mode 2. Continuous triggering mode 8-68...

  • Page 425: Emergency Stop

    ● Related item: Object Subobject Name Access PDO mapping 60B8h Touch probe function 60B9h Touch probe state 60BAh Touch probe1 positive edge position stored 60BBh Touch probe1 negative edge position stored 60BCh Touch probe1 positive edge position stored 60BDh Touch probe1 negative edge position stored 8-3-6-13 Emergency Stop (6-1) Failure shutdown When error alarm occurs, JSDG2(S)-E servo driver will immediately switch the state machine to...
  • Page 426 Error Alarm Comparison Table: Error 603F 3001 Alarm Alarm Error Alarm Description Error Error clearing Number Code Code No alarm currently 0x0000 0x0000 Signal reset Low power voltage 0x3220 0x0001 High power voltage Signal reset 0x3210 0x0002 Regeneration error Signal reset Motor Overload 0x3230 0x0003 Power Re-set Driver Overcurrent...

  • Page 427: Restoration

    Error Alarm Comparison Table: Error 603F 3001 Alarm Alarm Error Alarm Description Error Error clearing Number Code Code Signal reset Modbus communication error 0x7510 0x0030 Reserved Linear Motor Magnetic Pole Alignment Error Signal reset 0xFF03 0x0032 The wrong contraposition of linear motor Signal reset FPGA error 0x5220 0x0033...

  • Page 428: Ethercat Object List

    User self-defined 1 2000h~4FFFh TECO self-defined object (open for user) block User self-defined 2 5000h~5FFFh TECO self-defined object (not open for user) block CiA402 agreement 6000h~9FFFh Object in CiA402 agreement object block A000h~FFFFh Reserved block...
  • Page 429 (4) Data type Object data types used in JSDG2(S)-E servo driver are listed as follows. All CANopen/EtherCAT communication related data types in this document are based on this list Data type Code Size Range Boolean BOOL 1bit 1 or 0 Unsigned 8 USINT 1byte...
  • Page 430 Bit definition: 15~11 10~9 Operation Manufacturer Fault Enable Quick Enable Switch N/A halt Mode specific Reset operation Stop voltage specific (3) Object 6041h:Statusword INDEX 6041 Name Status word Object Code Data Type UNSIGNED 16 Access PDO Mapping Value Range UNSIGNED 16 Description Support Ready to switch on...
  • Page 431 (5) Object 605Ch: Disable option option code INDEX 605C Name Disable option option code Object Code Data Type INTEGER 16 Access PDO Mapping 0: Disable drive, motor is free to rotate Value Range 1: Slow down on slow down ramp Default Value (6) Object 605Dh: Halt option code INDEX...
  • Page 432 (8) Object 6061h: Modes of operation display INDEX 6061 Name Modes of operation display Object Code Data Type INTEGER 8 Access PDO Mapping 0: No mode used 1: Position Mode 3: Velocity Mode 4: Profile torque mode 6: Homing Mode 7: Interpolated position mode (do not support) Value Range 8: Cyclic synchronous position mode (CANopen does not...
  • Page 433 (11) Object 6064h: Position actual value INDEX 6064 Name Position actual value Object Code Data Type INTEGER 32 Access PDO Mapping Value Range INTEGER 32 Default Value Comment Unit: Pos. Unit (12) Object 6065h: Position error window INDEX 6065 Name Position error window Object Code Data Type...
  • Page 434 (15) Object 6068h: Position window time INDEX 6068 Name Position window time Object Code Data Type UNSIGNED 16 Access PDO Mapping Value Range UNSIGNED 16 Default Value Comment Unit: millisecond (16) Object 606Bh: Velocity demand value INDEX 606B Name Velocity demand value Object Code Data Type INTEGER 32...
  • Page 435 (19) Object 606Eh: Velocity window time INDEX 606E Name Velocity window time Object Code Data Type UNSIGNED 16 Access PDO Mapping Value Range UNSIGNED 16 Default Value Comment Unit: millisecond (20) Object 606Fh: Velocity threshold INDEX 606F Name Velocity threshold Object Code Data Type UNSIGNED 16...
  • Page 436 (23) Object 6074h: Target demand value INDEX 6074 Name Target demand value Object Code Data Type INTEGER 16 Access PDO Mapping Value Range INTEGER 16 Default Value Comment Unit: 0.1% (24) Object 6077 : Torque actual value INDEX 6077 Name Torque actual value Object Code Data Type...
  • Page 437 (27) Object 607Fh: Max Profile velocity INDEX 607F Name Max Profile velocity Object Code Data Type UNSIGNED 32 Access PDO Mapping Value Range UNSIGNED 32 Default Value 13107200 Comment Unit: Vel. Unit (28) Object 6081h: Profile velocity INDEX 6081 Name Profile velocity Object Code Data Type...
  • Page 438 (31) Object 6085h: Quick stop deceleration INDEX 6085 Name Quick stop deceleration Object Code Data Type UNSIGNED 32 Access PDO Mapping ValueRange UNSIGNED 32 Default Value Comment Unit: Acc. Unit (32) Object 6093h: Position factor INDEX 6093 Name Position factor Object Code ARRAY Data Type...
  • Page 439 (33) Object 6095 : Velocity factor INDEX 6095 Name Velocity factor Object Code ARRAY Data Type UNSIGNED 32 Access PDO Mapping Value Range UNSIGNED 32 Sub-Index Description Number of entries Data Type UNSIGNED 8 Access PDO Mapping ValueRange Default Value Sub-Index Description Numerator...
  • Page 440 Data Type UNSIGNED 8 Access PDO Mapping ValueRange Default Value Sub-Index Description Numerator Data Type UNSIGNED 32 Access PDO Mapping ValueRange UNSIGNED 32 Default Value Parameter No. En705 Sub-Index Description Feed constant Data Type UNSIGNED 32 Access PDO Mapping ValueRange UNSIGNED 32 Default Value Parameter No.
  • Page 441 Sub-Index Description Number of entries Data Type UNSIGNED 8 Access PDO Mapping Value Range Default Value Sub-Index Description Speed during search for switch Data Type UNSIGNED 32 Access PDO Mapping Value Range UNSIGNED 32 Default Value 50000 Comment Unit: Vel. Unit Sub-Index Description Speed during search for zero...
  • Page 442 (39) Object 60B2 : Torque offset INDEX 60B2 Name Torque offset Object Code Data Type INTEGER 8 Access PDO Mapping Value Range INTEGER 8 Default Value Comment Unit: 0.1% (40) Object 60B8h: Touch probe function INDEX 60B8 Name Touch probe function Object Code Data Type UNSIGNED 16...
  • Page 443 (43) Object 60BBh: Touch probe1 negative edge position stored INDEX 60BB Name Touch probe1 negative edge position stored Object Code Data Type INTEGER 32 Access PDO Mapping Value Range INTEGER 32 Default Value Comment Unit: Pos. Unit (44) Object 60BCh: Touch probe1 positive edge position stored INDEX 60BC Name...
  • Page 444 (47) Object 60E1h: Negative torque limit value INDEX 60E1 Name Negative torque limit value Object Code Data Type UNSIGNED 16 Access PDO Mapping Value Range UNSIGNED 16 Default Value 3000 Comment Unit: 0.1% (48) Object 60F4h: Following error actual value INDEX 60F4 Name...
  • Page 445 (51) Object 60FEh: Digital output INDEX 60FE Name Digital output Object Code ARRAY Data Type UNSIGNED 32 Access PDO Mapping Sub-Index Description Number of entries Data Type UNSIGNED 8 Access PDO Mapping Value Range Default Value Sub-Index Description Physical Output Data Type UNSIGNED 32 Access...
  • Page 446 (53) Object 6502h: Supported drive modes INDEX 6502 Name Supported drive modes Object Code Data Type UNSIGNED 32 Access PDO Mapping Value Range UNSIGNED 32 Default Value 0x03A5 (54) Object 2F00h: Encoder Resolution INDEX 2F00 Name Supported drive modes Object Code Data Type UNSIGNED 32 Access...
  • Page 447 Subindex Name Data Type Access Lower Limit Upper Limit Unit Mapping EEPROM Value 1000h Device type UDINT 0x00020192 TECO- 1008h Device name STRING JSDG2 1009h Hardware version STRING 100Ah Software version STRING Identity Object Number of entries USINT Vendor ID...
  • Page 448 Saving to Default Parameter Index Subindex Name Data Type Access Lower Limit Upper Limit Unit Mapping EEPROM Value Mapping entry 3 UDINT 0x607A0020 0xFFFFFFFF Mapping entry 4 UDINT 0xFFFFFFFF Mapping entry 5 UDINT 0xFFFFFFFF Mapping entry 6 UDINT 0xFFFFFFFF Mapping entry 7 UDINT 0xFFFFFFFF Mapping entry 8...
  • Page 449 Saving to Default Parameter Index Subindex Name Data Type Access Lower Limit Upper Limit Unit Mapping EEPROM Value 1603h Mapping entry 8 UDINT 0xFFFFFFFF 1st Transmit PDO Mapping Number of objects in this PDO USINT Mapping entry 1 UDINT 0x60410010 0xFFFFFFFF Mapping entry 2 UDINT...
  • Page 450 Saving to Default Parameter Index Subindex Name Data Type Access Lower Limit Upper Limit Unit Mapping EEPROM Value Mapping entry 3 UDINT 0xFFFFFFFF Mapping entry 4 UDINT 0xFFFFFFFF Mapping entry 5 UDINT 0xFFFFFFFF 1603h Mapping entry 6 UDINT 0xFFFFFFFF Mapping entry 7 UDINT 0xFFFFFFFF Mapping entry 8...
  • Page 451 Saving to Default Parameter Index Subindex Name Data Type Access Lower Limit Upper Limit Unit Mapping EEPROM Value Cycle Time UDINT 0x003D0900 Synchronization Type supported UINT 0x0005 Minimum Cycle Time UDINT 0x000186A0 1C32h Calc and Copy Time UDINT 0x000186A1 Get Cycle Time UINT 0x8480 SM input parameter...
  • Page 452 Saving to Default Parameter Index Subindex Name Data Type Access Lower Limit Upper Limit Unit Mapping EEPROM Value 6066h Following Error Time Out UINT 65535 6067h Position Window UDINT 1073741823 Pos. Unit 6068h Position Window Time UINT 65535 606Bh Velocity Demand Value DINT Vel.
  • Page 453 Saving to Default Parameter Index Subindex Name Data Type Access Lower Limit Upper Limit Unit Mapping EEPROM Value Number of entries USINT Numerator UDINT 1073741823 En703 Divisor UDINT 1073741823 En704 Acceleration factor Number of entries USINT 6097h Numerator UDINT 1073741823 En705 Divisor UDINT...
  • Page 454 Saving to Default Parameter Index Subindex Name Data Type Access Lower Limit Upper Limit Unit Mapping EEPROM Value 60F4h Following Error Actual Value DINT Pos. Unit 60FCh Position Demand Internal Value DINT Inc. 60FDh Digital Input UDINT Digital Output Number of entries USINT 60FEh Physical Output...
  • Page 455 Chap 9 Error Alarm Clearing 9-1 Error List..........................9-2 9-2 Countermeasures to Clear Error ..................9-5...

  • Page 456: Error List

    9-1 Error List Alarm Alarm Code Output Error Alarm CiA402 Error Alarm Description Clearing Number Error Code A1 A2 A3 A4 Method Operate according to preset function AL000 No Alarm Currently 0x0000 — when there’s no error alarm Power Supply Voltage Too AL001 0x3220-04-0001 Cn031.1...
  • Page 457 Alarm Alarm Code Output Error Alarm CiA402 Error Alarm Description Clearing Number Error Code A1 A2 A3 A4 Method motor and load AL023 E-Cam Function Error 0x6320-01-0023 Power Re-set X Driver Voltage Class AL025 0x6320-01-0025 Power Re-set X Switching Error (200/400V) Full-closed Loop ABZ Phase AL026 0x7305-01-0026 Power Re-set X...
  • Page 458 Alarm Alarm Code Output Error Alarm CiA402 Error Alarm Description Clearing Number Error Code A1 A2 A3 A4 Method Turret Origin Return to Zero AL047 0xff04-80-0047 Switch Reset Error EtherCAT/CANopen AL048 Communication Mode Setting 0x6320-80-0048 Switch Reset Error AL049 EtherCAT Synchronous Error 0xff00-80-0049 Switch Reset Absolute Type Encoder...

  • Page 459: Countermeasures To Clear Error

    9-2 Countermeasures to Clear Error AL001 Power Supply Voltage Too Low Cia402 Error Code 0x3220-04-0001 Primary circuit input power voltage is smaller than the setting value of Cn051 (low voltage protection level) and exceeds the time of Cn052 (low voltage protection alarm delay time).
  • Page 460 AL003 Motor Overload Cia402 Error Code 0x3230-02-0003 If continuing to use the Driver more than the Rated Load, this Error Alarm will be generated, please refer to the Overload Protection Curve. Overload Protection Curve under 1kW Overload Protection Curve 1000 200, 6.75 300, 3.00 Torque (%)
  • Page 461 4. Please confirm if Cn030 is the correct motor/driver matching; please refer to “Servo driver and servo motor matching comparison table” for Cn030 motor code. 5. Improve mechanical factors. 6. Driver error; please send the device back to the distributor or manufacturer to overhaul.
  • Page 462 3. Please confirm if Cn030 is the correct motor/driver matching; please refer to “Servo driver and servo motor matching comparison table” for Cn030 motor code. 4. Check if motor grounding end is grounded correctly. If the encoder signal wire is separated from the power of the circuit with large current to avoid any generation of interferences source.
  • Page 463 AL009 Emergency Stop Cia402 Error Code 0x5442-01-0009 Digital input contact EMC (emergency stop) generates action. Alarm Cause 1. Digital input contact EMC (emergency stop) activates. 2. Caused by the driver is interfered by the noise internally. 1. Disable digital input contact EMC action. Check and 2.
  • Page 464 AL012 Motor Over Speed Cia402 Error Code 0x8400-01-0012 The detected motor speed exceeds 1.75 times of the rated speed. 1. Change of speed input command is too serious. Alarm Cause 2. Improper setting of E-Cam ratio. 3. Improper setting of speed loop gain (Sn211 & Sn213). 4.
  • Page 465 AL015 Driver Overheat Cia402 Error Code 0x4210-08-0015 Detected the Power Transistor Temperature exceeded the Temperature Resistance of the Component. 1. Continuous use with excessive motor rated load. Alarm Cause 2. Ambient temperature too high. 3. The installation director of the servo unit and its spacing between other servo units are not reasonable.
  • Page 466 Check and Please contact Dealer or Manufacturer Handling Alarm Clearing Power Re-set Method Auto tune Motor Wire Disconnection AL020 Cia402 Error Code 0xff03-80-0020 Error Alarm Cause Motor UVW Power Line Disconnection Error Check and Check if motor wiring (U, V, W) is normal. Please wire according to servo driver Handling power and peripheral wiring diagram in Chapter 2.
  • Page 467 Check and Please refer to “5-6-15 E-Cam function description”. Handling Alarm Clearing Power Re-set Method Driver Voltage Class Switching Error AL025 Cia402 Error Code 0x6320-01-0025 (200/400V) Motor Model Number Setting Error or Automatic Identification Function Error. Alarm Cause 1. The driver does not match the servo motor 2.
  • Page 468 Check and Please check one parameter groups one by one and set the self-defined motor Handling parameters to appropriate values. Alarm Clearing Power Re-set Method CANopen/EtherCAT communication AL029 Cia402 Error Code 0xff00-80-0029 Disconnected EtherCAT communications disconnected. 1. EtherCAT communications cable falls out. 2.
  • Page 469 Linear Motor Magnetic Pole Alignment AL032 Cia402 Error Code 0xff03-80-0032 Error During alignment, incorrect wiring and setting will result in error. 1. Incorrect wiring between power cable and encoder wire. Alarm Cause 2. Incorrect setting of linear scale resolution. 3. Magnetic Pole Alignment Error 1.
  • Page 470 Alarm Clearing Switch Reset Method AL037 Regenerative Error Cia402 Error Code 0xff04-20-0037 Excessive primary capacitor voltage (Un-03 regenerative load ratio exceeds 100) resulted from excessive regenerative energy. 1. Error occurs under operation condition; acceleration/deceleration executed by Alarm Cause the device is over spec. 2.
  • Page 471 Handling Alarm Clearing Power Re-set Method AL041 Control Mode Selection Error Cia402 Error Code 0x6320-80-0041 This driver model does not support such control mode. Alarm Cause 1. JSDG2(S)-E control mode setting error 2. JSDG2S control mode setting error 1. Check Cn001 control mode; JSDG2(S)-E does not contain b & c modes Check and (CANopen mode) Handling...
  • Page 472 Alarm Clearing Power Re-set Method AL046 Encoder Feedback Value Error Cia402 Error Code 0xff05-80-0046 Alarm Cause Encoder Speed Error is too High. Check and The Alarm still occurs after power is re-connected for operations, need to confirm if Handling the Encoder is damaged. (please contact Dealer or Manufacturer) Alarm Clearing Power Re-set Method...
  • Page 473 Error Alarm Clearing Method Description: 1. Switch Re-set: Can use the following two methods to clear Error Alarms: (a) Digital Input Contact Reset: After Error is resolved, release Digital Input Contact SON operation first (i.e. release the Motor Excitation State), and then enable the Digital Input Contact ALRS operation.

  • Page 474: Servo Driver Dimension

    Chap 10 Comprehensive specification 10-1 Detailed specification of servo driver ................10-2 10-2 Servo drive dimension ....................10-7 10-3 Servo Motor Specifications ..................10-12 10-4 Servo Motor Dimension ....................10-15 10-5 Accessories........................10-20 10-5-1 Motor Power Cable ..................10-20 10-5-2 Encoder Trunk ....................10-22 10-5-3 I/O Connector ....................
  • Page 475 10-1 Detailed specification of servo driver 200V Class Servo Driver Model JSDG2-□□□□-E 50A3 75A3 Servo 0.75 capacity[kW] Continuous Output Current 14.0 [A rms] Maximum Output Current 11.3 17.0 28.3 42.4 [A rms] Primary Three-phase Single-phase or Three-phase circuit AC 200 ~ 230V, - AC 200 ~ 230V, -15~+10% R, S, T 15~+10%...
  • Page 476 200V Class Servo Driver Model JSDG2S-□□□□ JSDG2S-□□□□-E 50A3 75A3 100A3 150A3 200A3 300A3 Servo 0.75 15.0 capacity[kW] Continuous Output Current 14.0 25.3 33.2 42.1 [A rms] Maximum Output Current 11.3 17.0 28.3 42.4 56.6 84.9 113.0 170.0 [A rms] Primary Single-phase or Three-phase Three-phase circuit...
  • Page 477 400V Class Servo Driver Model JSDG2S-□□□□ JSDG2S-□□□□-E 100B 150B 200B Servo 0.75 11.0 15.0 22.0 capacity[kW] Continuous Output Current 11.5 16.0 22.0 41.0 52.0 [A rms] Maximum Output Current 14.0 19.8 28.3 42.4 56.6 84.9 113.0 [A rms] Primary Three-phase circuit AC 380~480V, ±10% R, S, T...
  • Page 478 Servo Driver Model JSDG2-□□□□-E 200V class / 400V class JSDG2S-□□□□ JSDG2S-□□□□-E Command Control External Instruction Pulse Command / 32 Sets Internal Register Command Method Pulse+direction (pulse+sign), CCW pulse+CW pulse, phase differential pulse Pattern External (phase A+ phase B) Command Waveform Differential Line Driver (+5V Level), Open Collector (+5 ~ +24V Level) Pulse Maximum...
  • Page 479 Servo Driver Model JSDG2-□□□□-E 200V class / 400V class JSDG2S-□□□□ JSDG2S-□□□□-E Output Phase A, B, Z differential Output / Phase Z Open Collector Output Type Position Output ÷ Division Pulse output: 1 ~ pulse number of one encoder revolution Ratio (Internal parameter random value setting) Servo start, error alarm clear, P/PI switching, CCW/CW direction drive prohibition, external torque limit, pulse error removal, servo lock,...
  • Page 480 10-2 Servo drive dimension (1) JSDG2S- (E)-10A / 15A (2) JSDG2S- (E)- 20A / 30A (200V Class) 10-7...
  • Page 481 (3) JSDG2S- (E)-50A3 / 75A3 (200V Class) JSDG2S- (E)-10B/15B/25B/35B (400V Class) (4) JSDG2S- (E)-100A3 / 150A3 (200V Class) JSDG2S- (E)- 50B/75B (400V Class) 10-8...
  • Page 482 (5) JSDG2S- (E)-200A3 (200V Class) JSDG2S- (E)- 100B (400V Class) (6) JSDG2S- (E)-200A3 (200V Class) JSDG2S- (E)- 100B (400V Class) 10-9...
  • Page 483 (1) JSDG2-E-10A / 15A (200V Class) (2) JSDG2-E-20A / 30A (200V Class) 10-10...
  • Page 484 (3) JSDG2-E-50A3 / 75A3 (200V Class) 10-11...
  • Page 485 10-3 Servo Motor Specifications Low Inertia Series JSMA Low Inertia Series Symbol Unit UCP5 UC01 UC02 UC04 UC08 LC03 LC08 JSMA- P 口口口口 A Rated Output Power 0.05 0.75 0.75 Rated Torque 0.16 0.032 0.64 1.27 2.39 0.95 2.39 Instantaneous Maximum Torque 0.48 0.095 1.91...
  • Page 486 High Inertia Series JSMA High Inertia Series Symbol BC01 BC02 BC04 BC08 BC09 BH13 BH18 BH29 BH44 BH55 BH75 JSMA-P 口口口口 A 18_18 Rated Output Power 0.75 0.85 Rated Torque 0.32 0.64 1.27 2.39 5.39 8.34 11.5 11.5 18.5 28.4 Instantaneous Maximum 0.95 1.91...
  • Page 487 Up to 130 Frame Series Up to 220 Frame Series 10-14...

  • Page 488: Servo Motor Dimension

    10-4 Servo Motor Dimension Up to 80 Frame Series JSMA-PUC Series Up to 80 Frame Series LL (Without brake) LL (With brake) 10-15...
  • Page 489 Up to 80 Frame Series JSMA-PBC Series JSMA-PLC Series Up to 80 Frame Series LL (Without brake) LL (With brake) 10-16...
  • Page 490 Up to 130 Frame Series MB Series BH Series Up to 130 Frame Series LL (Without brake) LL (With brake) 10-17...
  • Page 491 Up to 220 Frame Series IH Series Up to 130 Frame Series LL (Without brake) LL (With brake) 10-18...
  • Page 492 Up to 220 Frame Series BH Series MH Series Up to 130 Frame Series LL (Without brake) LL (With brake) 10-19...

  • Page 493: Accessories

    10-5 Accessories 10-5-1 Motor Power Cable § Motor power cable § JSSLM – use with motors of UC / BC / LC03~08 series Length (m) JSSMLM –use with motors of MA / MB / MC / BH09~BH18 series Length (m) 10-20...
  • Page 494 JSSBLM –use with motors of IH44~IH75 / BH44~BH55 series Length (m) JSSILM –use with motors of BH29 series Length (m) JSSFLM –use with motors of IH110~150 / BH75 series Length (m) 10-21...

  • Page 495: Encoder Trunk

    § Motor power connector § (Brake connector) (Include brake connector) 10-5-2 Encoder Trunk § Incremental encoder trunk § JSSLG – use with motors of UC / BC / LC03~08 series Length (m) JSSMLG –use with motors of MA / MB / MC / BH / IH series Length (m) 10-22...
  • Page 496 § Absolute encoder trunk § JSSLG – use with motors of UC / BC / LC series Encoder trunk (use with absolute value type encoder) Length (m) JSSMLG –use with motors of MA / MB / MC / BH / IH series Length (m) §...

  • Page 497: I/O Connector

    10-5-3 I/O Connector § I/O connector terminal § § I/O connector wire + terminal block § Length (m) 10-5-4 Full closed loop wire § Full-closed loop wire § Length (m) 10-24...

  • Page 498: Communication Cable

    10-5-5 Communication Cable § Computer communication cable § Length (m) § Ethernet / CANopen / RS-485 communication cable § Length (m) Length (m) § CANopen / RS-485 terminal resistor § 10-25...
  • Page 499 Chap 11 Appendix 11-1 Manual Revision History ....................11-2 11-1...

  • Page 500: Chapter 11 Appendix

    11-1 Manual Revision History Version Add/Revision Description Revised chapter description ● 1-1-3 Servo Driver and Servo Motor Matching Comparison Table ● 3-2 State display function description ● 3-3 Diagnostic Function Description ● 5-5-6 Tool magazine parameter setting ● 5-6-10 Absolute Value Encoder Battery Error Alarm Output Revision ●...
  • Page 501 Version Add/Revision Description ● Chap 7 Parameter Function Cn012 (External regenerative resistor power setting) 400V  model default revision Change Cn027 (Analog monitoring output 1 offset  Revision adjustment), Cn028 (Analog monitoring output 2 offset adjustment) to effective after rebooting. Change the effective method of Cn031.3 (motor series ...

This manual is also suitable for:

Jsdg2s series

Table of Contents