TECO JSDG2S Series User Manual
  1. Manuals
  2. Brands
  3. TECO Manuals
  4. Chiller
  5. JSDG2S Series
  6. User manual
TECO JSDG2S Series User Manual

TECO JSDG2S Series User Manual

Hide thumbs Also See for JSDG2S Series:
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
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
Table of Contents

Advertisement

Quick Links

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the JSDG2S Series and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for TECO JSDG2S Series

Summary of Contents for TECO JSDG2S Series

  • Page 2 First of all, thank you for choosing TECO Servo Drive JSDG2S Series (hereinafter referred to as “JSDG2S”) and Servo Motor. JSDG2S can be operated by the digital keypad, PC or human-machine interface, 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 0 Safety Precautions Chapter 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 ................1-5  1-1-3 Servo Driver and Servo Motor Matching Comparison Table ........ 1-6  1-2 Servo Driver Outer Appearance...................
  • Page 5 2-2-3 CN3/CN4/CN5/CN6/CN8 Communication Signal Terminal Description ... 2-32  2-3 Control Signal Standard Wiring Diagram................2-35  2-3-1 Position Control (Pe Mode) Wiring Diagram (Line Driver) ........ 2-35  2-3-2 Position Control (Pe Mode) Wiring Diagram (Open Collector) ......2-36  2-3-3 Position Control (Pi Mode) Wiring Diagram ............2-38  2-3-4 Speed Control (S Mode) Wiring Diagram ............
  • Page 6 Chapter 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 ....5-6  5-2-2 Digital Torque Command ..................5-9  5-2-3 Torque Command Linear Acceleration / Deceleration ......... 5-10  5-2-4 Torque output direction definition ................
  • Page 7 5-5 Tool Magazine Specific Mode ..................... 5-87  5-5-1 Tool Magazine Contact Signal Operation Instructions ........5-91  5-5-2 Tool Magazine Dedicated Mode Setting Flow Chart ......... 5-102  5-5-3 Compound tool magazine dedicated mode setting ..........5-105  5-5-4 Tool Magazine Parameter Setting ..............5-111  5-6 Other Functions ........................
  • Page 8 6-4 Notch Filter .......................... 6-17  6-5 Low Frequency Vibration Suppression Function ..............6-23  6-6 Manual Gain Adjustment ..................... 6-27  6-7 Gain Switching Function ....................6-29  6-7-1 PI/P Switching Mode .................... 6-29  6-7-2 Two Stage Gain Switching Mode ................. 6-32  6-8 Improved Response Characteristics ..................6-36  6-9 OnLine-AutoTuning (Inertia Only Displays) ..............
  • Page 9 7-3-10 Tunning Parameters (tn8□□) ................. 7-111  7-3-11 E-Cam Parameteres (EC9□□) ............... 7-123  7-3-12 Monitoring Parameters (Un-□□) ..............7-132  7-3-13 Diagnostic Parameters (dn-□□) ..............7-140 7-3-14 Mapping Parameters Value Display (MdA□□) ..........7-141  7-3-15 Mapping Parameters Address Setting (MAb□□) .......... 7-142 Chapter 8 Communication Function 8-1 RS-485 Communication Function ..................
  • Page 10 8-3-6-1 State Machine ..................8-54 8-3-6-2 Servo Mode .................... 8-58 8-3-6-3 Unit Condition ..................8-60 8-3-6-4 Profile Position (PP) ................8-61 8-3-6-5 Profile Velocity (PV) ................8-66 8-3-6-6 Profile Torque (PT) ................. 8-68 8-3-6-7 Cyclic Synchronous Position (CSP) ............8-70 8-3-6-8 Cyclic Synchronous Velocity (CSV) ............
  • Page 11 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 ....................10-24  10-5-4 Full Closed Loop Wire ..................10-25  10-5-5 Communication Cable ..................10-26 Chapter 11 Appendix 11-1 Manual Revision History ....................

  • Page 12: Chapter 0 Safety Precautions

    Chapter 0 Safety Precautions Users are advised to carefully read the safety precautions required in this chapter before installing, testing and repairing the system. Any personnel injury and equipment loss caused by illegal operation are irrelevant to the company and bear any responsibility. 0.1 Before Supplying Power to the Drive Warning ...
  • Page 13  Never connect input power to the drive output terminals U, V, W.  Do not connect a contactor or switch in series with the drive and the motor.  Do not connect a power factor correction capacitor or surge suppressor to the drive output. ...
  • Page 14 0.6 Disposal of the Drive Caution  Please dispose of this unit with care as an industrial waste and according to your required local regulations.  The capacitors of drive main circuit and printed circuit board are considered as hazardous waste and must not be burned.
  • Page 15 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 ................1-5  1-1-3 Servo Driver and Servo Motor Matching Comparison Table ........ 1-6  1-2 Servo Driver Outer Appearance................... 1-11  1-3 Servo Driver Operation Mode Introduction ................

  • Page 16: 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 17: Servo Driver Model Verification

    1-1-1 Servo Driver Model Verification TECO AC Servo Optional model Driver Product Number (communications) L:Standard model □：CANopen Driver Series: E:EtherCAT G2: G2 Series G2S: G2S Series AC Input Voltage: A: AC 200V Single- phase/Three-phase Driver Model A3: AC 200V Three-phase...
  • Page 18 Servo drive models with EtherCAT are listed as follows: 200V Class 400V Class JSDG2S-10A-E JSDG2S-10B-E JSDG2S-10A-EL JSDG2S-15B-E JSDG2S-15A-E JSDG2S-25B-E JSDG2S-15A-EL JSDG2S-35B-E JSDG2S-20A-E JSDG2S-50B-E JSDG2S-20A-EL JSDG2S-75B-E JSDG2S-30A-E JSDG2S-100B-E JSDG2S-30A-EL JSDG2S-150B-E JSDG2S-50A3-E JSDG2S-200B-E JSDG2S-75A3-E JSDG2S-100A3-E JSDG2S-150A3-E JSDG2S-200A3-E JSDG2S-300A3-E...

  • Page 19: Servo Motor Model Verification

    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: Encoder Specifications:...

  • Page 20: 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 21 Motor dn-08 Displayed Value / Cn030 JSDG2S 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 22 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 23 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 24 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 25: Servo Driver Outer Appearance

    1-2 Servo Driver Outer Appearance JSDG2S-10A / 15A(-E) (200V class) Heat sink and regenerative resistor Function differs according to model number JSDG2S-E: Ether CAT communication connector JSDG2S: RS-485/CANopen communication connector RS-485 communication connector Screen cover USB communication connector Control power input connection terminal Master power input connection terminal Controller signal connector External regenerative resistor connection terminal...
  • Page 26 JSDG2S-20A / 30A(-E) (200V class) Heat sink, fan and regenerative resistor Function differs according to model number JSDG2S-E: Ether CAT communication connector JSDG2S: RS-485/CANopen communication connector RS-485 communication connector Screen cover USB communication connector Control power input connection terminal Master power input connection terminal Controller signal connector External regenerative resistor connection terminal...
  • Page 27 JSDG2S-10A / 15A-EL (200V class) Heat sink and regenerative resistor Ether CAT communication connector RS-485 communication connector Screen cover USB communication connector Master power input connection terminal Controller signal connector External regenerative/internal regenerative resistor connection terminal Motor encoder connector Motor connection terminal Ground FG connection terminal Fully closed loop encoder connector 1-13...
  • Page 28 JSDG2S-20A / 30A-EL (200V class) Heat sink, fan and regenerative resistor Ether CAT communication connector RS-485 communication connector Screen cover USB communication connector Master power input connection terminal Controller signal connector External regenerative/internal regenerative resistor connection terminal Motor encoder connector Motor connection terminal Ground FG connection terminal Fully closed loop encoder connector...
  • Page 29 JSDG2S-10A / 15A-L (200V class) Heat sink and regenerative resistor RS-485 communication connector RS-485 communication connector Screen cover USB communication connector Master power input connection terminal Controller signal connector External regenerative/internal regenerative resistor connection terminal Motor connection terminal Motor encoder connector Ground FG connection terminal Fully closed loop encoder connector 1-15...
  • Page 30 JSDG2S-20A / 30A-L (200V class) Heat sink, fan and regenerative resistor RS-485 communication connector RS-485 communication connector Screen cover USB communication connector Master power input connection terminal Controller signal connector External regenerative/internal regenerative resistor connection terminal Motor connection terminal Motor encoder connector Ground FG connection terminal Fully closed loop encoder connector 1-16...
  • Page 31 JSDG2S-50A3 / 75A3(-E) (200V Class) JSDG2S-10B/15B/25B/35B(-E) (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 32 JSDG2S-100A3 / 150A3(-E) (200V Class) JSDG2S- 50B/75B(-E) (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 33 JSDG2S-200A3(-E) (200V Class) JSDG2S- 100B(-E) (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 34 (10) JSDG2S-300A3(-E) (200V Class) JSDG2S- 150B/200B(-E) (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 35: 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 Mode Name Description Code The driver is a position loop and performs positioning control, Position Mode the external pulse command input mode is to receive the pulse (External Pulse...

  • Page 36: 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 37: 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 38: 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 39: 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 40 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 ................2-6  2-1-3 Electric Wire Specifications ................... 2-7  2-1-4 Motor Terminal Outlet Wire ................. 2-11  2-1-5 TB Terminal Description ..................

  • Page 41: System Assembly And Wiring

    2-1 System Assembly and Wiring 2-1-1 Wiring diagram of Servo Driver Power Supply and Peripheral Devices JSDG2S / JSDG2S-E 200V Class Input Power JSDG2S：CANopen / RS-485 Single-phase or Three-phase JSDG2S-E：EtherCAT AC 200V~230V Servo Driver (Varies by model) 200V No Fuse Breaker (NFB) Communication type controller/PLC...
  • Page 42 JSDG2S-EL 200V class Input power single phase or three phase AC 200~230V No fuse breaker CN6 communication Communication type CN5 communication IN controller /PLC CN4 communication Noise filter connection Personal computer Electromagnetic contactor Communication connection I/O signal connection PLC/PC BASE or movement control CN2 encoder connection CN8 fully...
  • Page 43 200V class JSDG2S-L Input power single phase or three phase AC 200~230V No fuse breaker CN6 communication Communication type CN5 communication IN controller /PLC CN4 communication connection Noise filter Personal computer Electromagnetic contactor Communication connection I/O signal connection PLC/PC BASE or movement control CN2 encoder connection External brake resistance...
  • Page 44 400V Class...

  • Page 45: 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 46: 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 47 Connection terminal Used Wire Specifications Connection Pin Number Pin Name terminal 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 48 Connection terminal Used Wire Specifications Connection Pin Number Pin Name terminal 1, 2 5V power output (Vcc) Power Supply Output Grounding 3, 4 (GND) 5, 6 Encoder A phase signal (A, /A) 0.2mm² or 0.3mm² double Motor twisted pair wire 7, 8 Encoder B phase signal (B, /B) Encoder...
  • Page 49 2. CN1 is 50 Pins SCSI Connector. 3. CN2 is 20 Pins SCSI Connector. 4. CN3 is 5 Pins Mini USB Connector. 5. CN4 is 8 Pins Mini-Din type Connector. 6. CN5/CN6 is 8 Pins RJ45 Connector. 7. JSDG2S-E(L) does not have TIC, SIC, MON1, MON2, +15V and -15V. 2-10...

  • Page 50: 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 51 ● Motor Encoder Outlet Wire Table  Communication Encoder: (1) General Connector: Wire Color Signal Terminal Absolute Absolute Symbol Incremental Incremental Value Value ＋5V White Black Brown Brown/Blac VB－ Blue Blue/Black Purple Shield (2) Military Specifications Connector: Wire Color Signal Terminal Absolute Absolute...
  • Page 52  Optical encoder: (1) General Connector: Terminal Wire Color Signal Symbol Black Blue Blue / Black Green Green / Black Yellow Yellow / Black Shield (2) Military Specifications Connector: Terminal Wire Color Signal Symbol Black Blue Blue / Black Green Green / Black Yellow Yellow / Black...

  • Page 53: 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 terminal 400V  Connect external DC power.  Single-phase 24VDC ±10% 200V  Connect External AC Power. ...

  • Page 54: 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 - 10A / 15A / 20A / 30A ------ (Pluggable Terminal) JSDG2S - 50A3 / 75A3 ------ (Pluggable Terminal) JSDG2S - 10B/15B/25B/35B JSDG2S -100A3 / 150A3...

  • Page 55: 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 terminal 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 56: I/O Signal Terminal Description

    2-2 I/O Signal terminal description The JSDG2S, JSDG2S-E and JSDG2S-L servo drivers provide seven sets of connection terminals, including the CN1 control signal connection terminal, CN2 encoder connection terminal, CN3/ CN4/CN5/CN6 communication connection terminals and CN8 fully closed loop encoder connection terminal.
  • Page 57 The JSDG2S-EL servo driver provides seven sets of connection terminals, including the CN1 control signal connection terminal, CN2 encoder connection terminal, CN3/ CN4/CN5/CN6 communication connection terminals, and the CN8 fully closed loop encoder connection terminal. The figure below is a diagram of the pin positions of the various connection terminals. CN5/6 communication connector CN4 (8 pins jack) communication connector...

  • Page 58: Cn1 Control Signal Terminal Description

    2-2-1 CN1 Control Signal Terminal Description (1) JSDG2S / JSDG2S-E / JSDG2S-L 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...
  • Page 59 (2) JSDG2S-EL CN1 terminal configuration diagram: Pin definitions Function Pin definitions Function PIN1 DI-1 Digital input contact 1 PIN14 Divided output/A phase PIN2 DI-2 Digital input contact 2 PIN15 Divided output B phase PIN3 DI-3 Digital input contact 3 PIN16 Divided output/B phase PIN4 DI-4...
  • Page 60 (3) CN1 Signal Name and Description: (a-1) JSDG2S, JSDG2S-E, JSDG2S-L 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 terminal...
  • Page 61 (a-2) JSDG2S-EL general I/O signal descriptions Function Wiring Wiring Signal Pin No. Function code Signal Pin No. code Mode Mode Divided output A DI1~DI8 Digital input 1~8 phase DI power shared Divided output/A DICOM terminal phase DO1~DO3 Digital output 1~3 9~11 Divided output B phase...
  • Page 62 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 63 Function Signal Name Mode I/O Operating Function Description Code Analog signal grounding: Grounding terminal of Analog Signal analog voltage pin, including Pin 26, 27, 28, 30, 31, Grounding terminal 33, 34 & 49 of CN1. +15V +15V power output ALL Provide ±15V output power (Max. 10mA) ; can be (Note 2) terminal used on servo driver external voltage command.
  • Page 64 (3) CN1 Interface Circuit and Wiring Mode: (JSDG2S as an example) 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 65 (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 66 (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 67 (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 terminal. 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 68 (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 69: Cn2 Encoder Signal Terminal Description

    2-2-2 CN2 Encoder Signal Terminal Description (1) CN2 Terminal Configuration Diagram (communication type encoder configuration diagram): Note: Please do not connect to any wiring to unused terminals. (2) CN2 terminal configuration diagram (optical encoder configuration diagram): Pin code Function Power output terminal Power output terminal...
  • Page 70 (3) I/O Signal Name and Description: Encoder output wire color Function Signal Name Pin Function Description Absolute Code Incremental type The encoder uses a 5V power supply (provided by Power Output White the driver), when the cable terminal is more than 20 meters, two power cables shall be used separately to prevent the encoder voltage from...

  • Page 71: 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 terminal ------- ---------------- Serial data transmission + ------- ---------------- Serial data transmission - ------- ---------------- Note: Please do not connect to any wiring to unused terminals. 2-32...
  • Page 72 JSDG2S CN5/CN6 Terminal configuration diagram (CANopen communication): Name CAN_H CAN_L JSDG2S CN5/CN6Terminal configuration diagram (RS-485 communication): Name JSDG2S-E / JSDG2S-EL CN5/CN6Terminal configuration diagram (EtherCAT communication): Name 2-33...
  • Page 73 CN8 Full-closed loop signal terminal configuration diagram: (Only for JSDG2S, JSDG2S-E, JSDG2S-L) Name CN8 Full-closed loop signal terminal configuration diagram: (Only for JSDG2S-EL) 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).

  • Page 74: Control Signal Standard Wiring Diagram

    2-3 Control Signal Standard Wiring Diagram 2-3-1 Position Control (Pe Mode) Wiring Diagram (Line Driver) *Note 1: JSDG2S-E model does not have the framed functions. *Note 2: Function of multifunction DI1~DI12 can be set by Hn601~Hn612. *Note 3: Function of multifunction DO1~DO8 can be set by Hn613~Hn616 & Hn619~Hn622. *Note 4: JSDG2S-EL model does not have the functions.

  • Page 75: Position Control (Pe Mode) Wiring Diagram (Open Collector)

    2-3-2 Position Control (Pe Mode) Wiring Diagram (Open Collector) Internal power Power filter Driver content r, 24V s, 0V Control power DC 24V Regenerative IP24 resistance +24V power output DICOM DI power shared terminal SERVO MOTOR DI-1 ( SON ) Servo start DI-2 ( ALRS)
  • Page 76 External power Power Driver content filter Control power Regenerative resistance DI power shared terminal (Represented by NPN mode) Servo start (SON) Encoder Abnormal alarm clear (ALRS) PI/P switch (PCNT) CCW direction drive prohibited (CCWL) Optical scale CW direction drive prohibited (CWL) (External encoder) External torque limit (TLMT) Pulse wave error amount clear (CLR)
  • Page 77 2-3-3 Position Control (Pi Mode) Wiring Diagram *Note 1: JSDG2S-E model does not have the framed functions. *Note 2: Function of multifunction DI1~DI12 can be set by Hn601~Hn612. *Note 3: Function of multifunction DO1~DO8 can be set by Hn613~Hn616 & Hn619~Hn622. *Note 4: JSDG2S-EL model does not have the functions.
  • Page 78 2-3-4 Speed Control (S Mode) Wiring Diagram *Note 1: JSDG2S-E model does not have the framed functions. *Note 2: Function of multifunction DI1~DI12 can be set by Hn601~Hn612. *Note 3: Function of multifunction DO1~DO8 can be set by Hn613~Hn616 & Hn619~Hn622. *Note 4: JSDG2S-EL model does not have the functions.

  • Page 79: Torque Control (T Mode) Wiring Diagram

    2-3-5 Torque Control (T Mode) Wiring Diagram Power Driver Content Filter r, 24V s, 0V Control Power 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 80: 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 81 2-3-7 CANopen mode (Cob CoC Mode) wiring diagram  Applicable to JSDG2S Power Filter Driver Content 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 82: Ethercat Mode (Ec Mode) Wiring Diagram  Applicable To Jsdg2(S)-E

    2-3-8 EtherCAT mode (EC Mode) wiring diagram Applicable to JSDG2S-E (JSDG2S, JSDG2S-L do not have this function setting; JSDG2S-EL is not applicable) Power Driver Content Filter r, 24V s, 0V Control Power Regenerative DC 24V Resistor IP24 +24V Power Output DICOM DI Power Common End SERVO...
  • Page 83 Applicable to JSDG2S-EL (JSDG2S and JSDG2S-L does not have this function setting; not applicable to JSDG2S-E) Power Driver content filter Regenerative resistance +24V power output DI power shared terminal Touch Probe1 (NULL) Encoder *Note 1 Touch Probe2 (NULL) PI/P switch (PCNT) CCW direction drive prohibited (CCWL) CW direction drive prohibited (CWL) External reference origin (ORG)

  • Page 84: Basic Block Diagram Of Servo System

    2-4 Basic block diagram of servo system § JSDG2S-10A ~ JSDG2S-15A (Built-in regenerative resistor) GATE Servo motor DRIVE CHANGE Regenerative processing circuit Surge absorber Encoder Relay Voltage Gate Current Dynamic Control Temperature Gate drive drive detection detection drive detection brakes power Surge absorber...
  • Page 85 § JSDG2S-20A ~ JSDG2S-200A3 (Built-in regenerative resistor and fan) GATE Servo motor DRIVE CHANGE Regenerative processing circuit Surge absorber Encoder Relay Voltage Gate Gate Current Dynamic Control Temperature drive detection drive detection drive detection brakes power Surge absorber (Control unit) Optical scale Panel operator...
  • Page 86 § JSDG2S-300A3 (built-in fan) GATE Servo motor DRIVE CHANGE Regenerative processing circuit Surge absorber Encoder Relay Voltage Gate Gate Current Dynamic Control Temperature detection drive drive detection drive detection brakes power Surge absorber (Control unit) Optical scale Panel operator CN5/CN6 EtherCAT RS-485 CANopen...
  • Page 87 Chap 3 Panel Operation Description 3-1 Driver Panel Operating Instructions ..................3-2 3-1-1 The Name and function of the Panel……………………………………………3-2 3-1-2 Toggle Function…………………………………………………………………3-3 3-1-3 Function Selection Type Setting…………………...……………………………3-5 3-1-4 Value Type Setting………………………….……...……………………………3-5 3-1-5 Panel Operating Example………………….……...…………………….………3-6 3-1-6 Status Display……………………………...……...…………………….………3-9 3-2 Monitoring Parameters(Un-□□) Function Description............. 3-11 3-3 Diagnostic Function Description ..................

  • Page 88: Driver Panel Operating Instructions

    3-1 Driver Panel Operating Instructions 3-1-1 The Name and function of the Panel 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.

  • Page 89: Toggle Function

    3-1-2 Toggle Function 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 90 Operation LED Display Screen Steps Description after Operation Press MODE Key once to enter Status Display Screen. Cycle through in sequence. ※Can be modified Cn035 to monitor parameters. §Monitoring display when power is turned on By setting Cn035 (panel status display content selection), the display content after power-on can be set to monitor parameter (Un-□□) display instead of the status display screen.

  • Page 91: Function Selection Type Setting

    3-1-3 Function Selection Type Setting 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 3-1-4 Value Type Setting The Positive / Negative Values of this Device are displayed as follows: Positive Value...

  • Page 92: Panel Operating Example

    3-1-5 Panel Operating Example 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...
  • Page 93 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 94 Operation LED Display Screen Steps Description after Operation 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...

  • Page 95: Status Display

    3-1-6 Status Display 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 96 (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 In Servo OFF Status In Servo ON Status BASE BLOCK Position error smaller than Pn307 Position error larger than Pn307 Positioning (Positioning completed determined...

  • Page 97: Monitoring Parameters(Un-□□) Function Description

    3-2 Monitoring Parameters(Un- □□ ) Function Description The user can use the Status Display Parameter to know all information of the current driver and motor operations: Parameter RS-485 Display Content Unit Description Index Code Address For example: The display of 120 indicates that Un-01 Actual Motor Speed 0601H...
  • Page 98 Parameter RS-485 Display Content Unit Description Index Code Address encoder feedback Communication Encoder Motor 0621H Position information in 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.
  • Page 99 Parameter RS-485 Display Content Unit Description Index Code Address Turret monitor Un-72 0653H parameter 2 Turret monitor Un-73 0654H parameter 3 Turret monitor Un-74 0655H parameter 4 Turret monitor Un-75 0656H parameter 5 Turret monitor 0657H Un-76 parameter 6 0: Incremental type Un-84 Encoder category ─...

  • Page 100: 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 101 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 102 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 103 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: Press Mode to switch LED No. 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 104 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 105 dn-07 (Automatic adjustment of external analog voltage offset ) JSDG2S-E(L) 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 106 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 107 dn-11.1 (Pulse encoder signal test) Pulse encoder signal test refers to when optical encoder is used with the servo motor, dn-11.1 functions can be used to test whether the ABZ signal and Hall UVW signal of the encoder are correct, AL.055 or AL.056 alarms will be generated if there are signal phase errors: Setting Description...
  • Page 108 Operation LED display screen Steps Description buttons after operation Press the UP button 1 time, and the value will become 1, meaning we want to execute offset automatic adjustment. Press and hold down the ENTER button for 2 seconds until -SET- appears, and then it will go back to the current parameter item selection screen immediately.

  • Page 109: 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 110 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 111 Chap 4 Trial Run Operation Description 4-1 No-load Servo Motor Trial Run ..................... 4-3  4-2 No-load Servo Motor with Supervisory Controller Trial Run ..........4-6  4-3 Connect the Load Servo Motor with Supervisory Controller Trial Run ......4-10  4-4 Program Jog Operation ......................4-11...
  • Page 112 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 113: 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 114 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 115 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 116: Load Servo Motor With Supervisory Controller Trial Run

    4-2 No-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 117 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 118 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 119 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 2. Set the Electronic Gear Ratio: Please set the required Position Control Parameter Electronic Gear Ratio Pn302~Pn306 or Single- turn Pulse Command Function Pn354 in accordance with the Servo Motor Encoder Specifications and Machine Application Specifications.

  • Page 120: 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 121: Program Jog Operation

    4-4 Program JOG Operation Program JOG operation is the function to execute continuous operations using preset operation modes (stroke direction, stroke moving distance, stroke moving speed, stroke acceleration/deceleration time and stroke stop time). This function is the same as JOG operation; action confirmation and simple positioning actions of the servo motor can be executed when no host device is connected in settings.
  • Page 122 § Program JOG operation parameter description tn832.1execution direction selection Related parameters tn832.0 Program Jog (Forward=>Reverse) Stroke operation flag ============= tn833 Program Jog Stroke stop time (Reverse=>Forward) ============= tn834 Program Jog Stroke acceleration/deceleration time ============= (Forward=>Forward) tn835 Program Jog Stroke moving speed ============= tn836 Program Jog...
  • Page 123 tn832.0 Program Jog operation flag Initial Value Unit Setting Range Effective RS-485 Address 0 ~ 1 Take effect after setting 1320H Setting description: Setting Description Disable stroke operation Enable stroke operation tn832.1 Program Jog execution direction selection Initial Value Unit Setting Range Effective RS-485 Address...
  • Page 124 § Program JOG operation instructions Click “Program JOG” in the “Adapt (A)” dialog box (please make sure the servo is at the Servo OFF status) Set the operation conditions and press “Write parameters” The operation mode will show an image display. 4-14...
  • Page 125 Press “Start execution” to start executing Program JOG (servo enters Servo ON status) Press “Stop” to end Program JOG (servo returns to Servo OFF status) 4-15...
  • Page 126 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 ......5-6  5-2-2 Digital Torque Command .................... 5-9  5-2-3 Torque Command Linear Acceleration / Deceleration ..........5-10  5-2-4 Torque output direction definition ................
  • Page 127 5-4-8 Torque Limit of Position Mode ................. 5-82  5-4-9 Other Position Control Functions ................5-85  5-5 Tool Magazine Specific Mode ....................5-87  5-5-1 Tool Magazine Contact Signal Operation Instructions ..........5-91  5-5-2 Tool Magazine Dedicated Mode Setting Flow Chart ..........5-102  5-5-3 Compound tool magazine dedicated mode setting ..........

  • Page 128: 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 129: Torque Mode

    5-2 Torque Mode The Torque Mode is used for printing machines, 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 130 Take effect Related Parameters Description Setting range Unit method chapter First stage CW direction torque Take effect CN011 0 ~ 300 5-2-5 command limit value after setting Torque command After Servo TN101.0 0 ~ 3 5-2-3 acceleration/deceleration method After Servo TN101.1 Torque command selection 0 ~ 1...
  • Page 131 5-2-1 Analog torque command  JSDG2S-E(L) 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 Cooperate with the analog torque command (TIC) to add a filter to make the torque command smooth.
  • Page 132 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 133 Tn104 Analog torque command offset adjustment  JSDG2S-E(L) 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 134: Digital Torque Command

    5-2-2 Digital Torque Command Tn101.1 Analog and Digital Torque Command Selection Initial Value Unit Setting Range Effective RS-485 Address 0 ~ 1 After Servo OFF 0101H Setting Description: When using Digital Torque Command, please set Tn101.1=1 Setting Description Use Analog TIC Torque Command Use Digital Tn113 Torque Command Tn113 Digital Torque Command Value Initial Value...

  • Page 135: 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 ~ 3 After Servo OFF 0101H Setting Description: Setting...
  • Page 136 (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 137 Tn117 Torque command straight line deceleration constant Initial Value Unit Setting Range Effective RS-485 Address 1 ~ 50000 After Servo OFF 0111H Setting description: The definition of torque command straight line deceleration constant is the time for the torque command to decrease in a straight line from the rated torque to zero. Torque command Rated torque...

  • Page 138: Torque Output Direction Definition

    5-2-4 Torque output direction definition In the torque mode, the user can use the following three methods to define the Motor Rotation Direction: (1) Digital Input Contacts RS1, RS2 (Forward and Reverse selection of Torque Command) (2) Cn004.0 (Motor Rotation Direction Definition) (3) Digital Input Contact TRQINV (Reverse of Torque Command) Attention ...
  • Page 139 (3) Digital Input Contact TRQINV (Reverse of Torque Command) Input Contact TRQINV Description Control Mode OFF (Switch does not Rotate in accordance with the current function) Torque Command Direction Reverse rotation in accordance with the ON (Switch functions) current Torque Command Direction Note) Please refer to “5-6-1 Digital Input / Output Contact Function Planning”...

  • Page 140: 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 141: Speed Limit Of Torque Mode

    5-2-6 Speed Limit of Torque Mode In Torque Control, Motor Speed Limit is achieved by using parameter Tn101.2 and Input Contact SPD1, SPD2 Switching: Input Contact Input Contact Tn101.2 Forward Speed Limit Reverse Speed Limit SPD2 SPD1 OFF (Switch does OFF (Switch does External analog speed limit SIC(CN1-26) not function)
  • Page 142 Tn114 Internal Forward Rotation Speed Limit Initial Value Unit Setting Range Effective RS-485 Address 0 ~ 1.5*Rated Speed Effective after Set 010EH Setting Description: Set Tn101.2=1, set the Forward Speed Limit value in Torque Mode with this parameter. Tn115 Internal Reverse Rotation Speed Limit Initial Value Unit Setting Range...
  • Page 143 Attention  Analog speed limit input voltage has no polarity. + oltage or – voltage are received as an absolute value. The speed limit of this absolute value is applied to forward and reverse direction. Even if Analog Speed limit is 0V, the Motor may rotate slowly; this is mainly caused by the minor Offset of External Analog Voltage.

  • Page 144: Other Torque Control Functions

    5-2-7 Other Torque Control Functions Torque Reached Function When Forward or Reverse Torque exceeds the Level set by Tn108 (Torque Reached Determined Value), Digital Output Contact INT operates; refer to following description: Tn108 Torque Reached Determined Value Initial Value Unit Setting Range Effective RS-485 Address...

  • Page 145: 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 146 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 Speed Controller 5-21...
  • Page 147 Take effect Related Parameters Description Setting range Unit method chapter Cn001 Control mode selection 1: Speed control Power reset Rotation direction selection (looking Cn004.0 0 ~ 1 Power reset 5-3-5 from the load of the motor) First stage CCW direction torque Take effect Cn010 0 ~ 300...
  • Page 148 Take effect Related Parameters Description Setting range Unit method chapter Analog speed command offset Take effect Sn217 -2500 ~ 2500 5-3-2 adjustment after setting 100 ~ 1.5* rated Take effect Sn218 Analog speed command limit 5-3-3 rotation speed after setting Take effect Sn226 Analog speed command filter...

  • Page 149: 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 150 5-3-2 Analog speed command  JSDG2S-E(L) 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(L) does not have this function Initial Value Unit Setting Range...
  • Page 151 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. Please refer to “3-3 Diagnostic Function Description”. Attention ...

  • Page 152: Speed Command Smoothing

    Sn227 ZS Zero speed judgement signal delay time 【5-3-2】 Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 5000 RS-485 CANopen EtherCAT 021BH 221BH 221BH Setting Description: When the Sn227 zero speed reaches the judgment value is met, and the time is greater than the Sn227 set time, the ZS signal is output.
  • Page 153 The following explains three Speed Command Smoothing operations. (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. Sn205.1 S-type speed command unit 【5-3-4】...
  • Page 154 Speed Command (%) Speed Command 63.2 Time (ms) Sn206 Setting Example: (1) To reach 95% of Speed Command output in 30ms, then 30(msec)   Sn206 10(msec) ln(1 95%) (2) To reach 75% of Speed Command output in 30ms, then 30(msec) Sn206 22(msec)
  • Page 155 (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 156 (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 157: Speed Rotation Direction Definition

    5-3-5 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 158: Torque Limit In Speed Mode

    5-3-6 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 159 (2) External Analog Command Torque Limit: The following is the External Analog Torque Limit Command Wiring Diagram: Driver CN1-27 Analog Torque Limit Input (±10V) CN1-29 Tn103 Analog torque limit proportioner  JSDG2S-E(L) does not have this function Initial Value Unit Setting Range Effective RS-485 Address...

  • Page 160: Other Speed Control Functions

    5-3-7 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 161 Zero Speed Function When the Speed is lower than the Speed set by Sn215 (Zero Speed Determined Value), Digital Output Contact ZS operates; refer to the following description: Sn215 Zero Speed Determined Value Initial Value Unit Setting Range Effective RS-485 Address 0 ~ 1.5*Rated Speed Effective after Set 020FH...

  • Page 162: 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 163 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 External Position Controller 5-38...
  • Page 164 Take effect Related Parameters Description Setting range Unit method chapter 2: External position Cn001 Control mode selection Power reset control First stage CCW direction torque Take effect Cn010 0 ~ 300 5-4-8 command limit value after setting First stage CW direction torque Take effect Cn011 0 ~ 300...
  • Page 165 Take effect Related Parameters Description Setting range Unit method chapter Take effect Pn315.0 Pulse wave error amount clear mode 0 ~ 2 5-4-6 after setting Take effect Pn315.1 Origin reset offset method setting 0 ~ 1 5-4-7 after setting Electronic gear ratio takes effect Pn315.3 0 ~ 1 Power reset...
  • Page 166 Internal Position Command Processing Unit Internal Position Controller Analog Torque Torque Limit Torque Voltage Limit TIC Un-12 Torque Offset Un-13 Proportioner Adjustment Tn103 Tn104 External Analog Internal Torque Limit 1 Torque Limit Voltage Limit Cn010/Cn011 Switching Un-11 Delay Time Internal Torque Limit 2 Cn058 Cn056/Cn057 Digital input...
  • Page 167 Take effect Related Parameters Description Setting range Unit method chapter 6: Internal position Control mode selection Power reset Cn001 control First stage CCW direction torque Take effect 0 ~ 300 Cn010 5-4-8 command limit value after setting First stage CW direction torque Take effect 0 ~ 300 Cn011...
  • Page 168 Take effect Related Parameters Description Setting range Unit method chapter Take effect Origin reset offset method setting 0 ~ 1 Pn315.1 5-4-7 after setting Electronic gear ratio takes effect Pn315.3 0 ~ 1 Power reset 5-4-3 immediately flag Internal positioning command mode 0 ~ 1 Power reset Pn316.0...
  • Page 169 Take effect Related Parameters Description Setting range Unit method chapter Sets 1~32 Internal position command - lap Take effect -16000 ~ 16000 5-4-2 number after setting Pn401 ~ Pn496 Internal position command - pulse Take effect -8388608 ~ 8388608 pulse 5-4-2 number after setting...

  • Page 170: 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 171 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 172 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 173 This device provides a pulse wave response filter to adjust the pulse wave command response. The larger the value, the faster the response. The recommended value is 2 times the position loop gain. Pn332.3 Pulse response filter flag Initial Value Unit Setting Range Effective...

  • Page 174: 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 175 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 176 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 177 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 178 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 179 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 180: Electronic Gear Ratio

    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 181 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 182 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 183 Pn302 Electronic Gear Ratio Numerator 1 Initial Value Unit Setting Range Effective RS-485 Address 1 ~ 536870912 Effective after Set 0302H/0303H Pn303 Electronic Gear Ratio Numerator 2 Initial Value Unit Setting Range Effective RS-485 Address 1 ~ 536870912 Effective after Set 0304H/0305H Pn304 Electronic Gear Ratio Numerator 3 Initial Value...
  • Page 184 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 185 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 186 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    3.14 2. Define One Pulse Command Moving Distance: One pulse command moving distance=10um 3.

  • Page 187: Position Command Acceleration / Deceleration Function

    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 None...
  • Page 188 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) ln(1 75%) (2) Internal Position Command S-type Smoothing Acceleration / Deceleration...
  • Page 189 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 190 (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 191 (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 ※...

  • Page 192: 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) Initial Value Unit Setting Range Effective RS-485 Address 0 ~ 1...
  • Page 193 5-4-7 Return 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 194 Setting Description After Return to Origin is activated, Motor searches the Origin with first stage Speed in Reverse Direction Digital and uses Input Contact ORG (External Detector Input Point) as Origin Reference Point. If Digital Pn317.1=2, system will directly search for the top edge closest to Input Contact Point ORG as Machine Origin without Origin reference point and stop according to the method set in Pn317.3.
  • Page 195 Setting Description After Mechanical Origin Signal is found, record this position as Mechanical Origin (both Un-14 Encoder Feedback Number of Revolutions, Un-16 Encoder Feedback Number of Pulse are all zero), Motor decelerates to stop, and returns to Mechanical Pn317.3 Origin Position with second stage speed after the motor stops. After Mechanical Origin Signal is found, record this position as Mechanical Origin (both Un-14 Encoder Feedback Number of Revolutions, Un-16 Encoder Feedback Number of Pulse are all...
  • Page 196 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 197 Pn361 Sensorless origin reset torque limit value Initial value Unit Setting range Effective Cn029 reset ★ 0~100 RS-485 CANopen EtherCAT 034DH Setting description: Used when Pn317 = 6~9; when the top reaches the setting value of Pn361 and continues for the time of Pn362, origin reset is completed. Pn362 Sensorless origin reset torque stabilization continuous time Initial value Unit...
  • Page 198 Pn315.1 = 0 Origin reset operation Un-14 = 0 Offset moves Un-16 = 0 Servo motor Work platform Home CCWL (Negative limit) Sensor (Positive limit) Pn315.1 = 1 Origin reset operation Offset does not move Un-14 = Pn321 Un-16 = Pn320 Servo motor Work platform...
  • Page 199 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. Note) Please refer to “5-6-1 Digital Input / Output Contact Function Planning”...
  • Page 200 (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 201 (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) (4) Pn317.0=3 (After activated Return to Origin, use first stage Speed Reverse Rotation Direction to...
  • Page 202 (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) Speed Pn318 (Stage 1 High Speed)
  • Page 203 (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) (8) Pn317.0=5 (After activated Return to Origin, use first stage Speed Reverse Rotation Direction to search for the closest Phase Z Pulse Origin)
  • Page 204 (9) Pn317.0=6, Pn317.1=2 (After the origin reset has started, the motor uses the first stage speed forward direction to search for the origin, and completes the origin reference position according to the setting conditions of Pn361 and Pn362) Pn361 (Origin reset torque limit value) Pn362 (Torque stabilization continuous time) Pn317.3=0 (Return to mechanical origin) Pn318 (First stage high speed)
  • Page 205 Speed Pn319 (Stage two low speed) Position Pn317.3=0 Pn318 (First stage high speed) After topped to the stop point of the mechanism and the load increased to the Pn361 value and continued for Motor encoder Z phase Pn362 time, set to the position reference point pulse Pn317.0=6...
  • Page 206 (12) Pn317.0=9, Pn317.1=2 (After the origin reset has started, the motor uses the first stage speed reverse direction to search for the origin, and completes the origin reference position according to the setting conditions of Pn361 and Pn362) Pn361 (Origin reset torque limit value) Pn362 (Torque stabilization continuous time) Speed After topped to the stop point of the...

  • Page 207: 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 208 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 209 (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(L) does not have this function Initial Value Unit Setting Range Effective RS-485 Address %/10V...

  • Page 210: 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 211 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 AL.011 (excessive position error alarm).

  • Page 212: Tool Magazine Specific Mode

    Non-absolute Type Encoders. The JSDG2S series provides a dedicated turret mode, which supports a total of 12 DI/8 DO. Using a combined signal method, it can control up to 64 tool positions. For related settings and procedures, please refer to the following chapters.
  • Page 213 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 command processing unit Reset to zero method Pn315.2 Tool magazine Set the current position as function switch zero point Origin reset Cn041.2, Pn355,...
  • Page 214 Take effect Related Parameters Description Setting range Unit method chapter 9: CNC tool magazine control Cn001 Control mode selection Power reset E: Compound tool magazine control First stage CCW direction torque Take effect Cn010 0 ~ 300 5-4-8 command limit value after setting First stage CW direction torque Take effect...
  • Page 215 Take effect Related Parameters Description Setting range Unit method chapter Stop mode setting after finding the Take effect Pn317.3 0 ~ 1 5-4-7 mechanical origin after setting Origin return to first stage of high 1 ~ rated rotation Take effect Pn318 5-4-7 speed...

  • Page 216: Tool Magazine Contact Signal Operation Instructions

    5-5-1 Tool Magazine Contact Signal Operation Instructions Servo Driver provides open DI/DO Control Interface, can be wired as NPN or PNP connection based on the customer requirements. For the wiring diagram of Turret Mode (Pt Mode), please refer to [2-3-6 Wiring Diagram of Turret Mode (Pt Mode)] Definition list of tool magazine control digital input/output preset pin: Parameter Setting...
  • Page 217 Compound tool magazine controldigital input/output default pin definition table Parameterc Name and function Settings Code Contact action function Control mode Compound tool magazine control (used Cn001 selection with absolute encoder) POS1 Tool magazine tool number Hn601 DI-1 pin function selection 1 POS2 Tool magazine tool number Hn602 DI-2 pin function...
  • Page 218 JSDG2S (-E) tool magazine can be switched through DI to providemultiplecontrol modes; the outlines of the various modes are as follows: Tool magazine control operation mode comparison table: Digital input contact MDC1 MDC2 MDC3 Mode Automatic tool selection shortest path tool selection mode Tool calibration reset to zero mode Forward manual single-step mode...
  • Page 219 Compound tool magazine controloperation mode comparison table: Digital input contact MDC1 MDC2 MDC3 MDC4 Mode Initial status of automatic tool selection and reset to zero mode Automatic tool selection shortest path mode Tool calibration reset to zero mode No function Initial status of the manual single-step mode Reverse manual single-step mode...
  • Page 220 Automatic tool selection shortest path tool selection mode: Uses shortest route tool selection (rotates towards the direction of the shortest distance); this determination is calculated by the internal software of the driver, and does not need to be written additionally by the controller. For example: Current position is at tool number 1 and tool number 3 is triggered;...
  • Page 221 Cn041.2 Setting Description Does not function Turret mode reset to zero After setting as 1, the driver will execute the turret reset function to zero function; when completed, the setting will be cleared to 0 automatically ※ If other tool tower mode operations were executed without performing the calibration tool reset to zero action, the AL.047 alarm will be generated.
  • Page 222 Current position is at tool number 1 and tool number 8 is triggered; at this time, it will rotate forward to tool number 8. Current position is at tool number 8 and tool number 1 is triggered; at this time, it will rotate reversely to tool number 1.
  • Page 223 Tool Number Position Contact Input Table: POS6 POS5 POS4 POS3 POS2 POS1 Tool Number Tool Number 1 Tool Number 2 Tool Number 11 Tool Number 12 Tool Number 63 Tool Number 64  OFF means the contact does not function (Open); ON means the contact functions (Closed). Absolute Value Type Encoder built-in Position Memory can permanently memorize the position information of each tool number.
  • Page 224 Compound tool magazine controltool number position contact output table: Tool number ALM/tool not yet calibrated Reserved Reserved Not on tool position Changing tools Tool number 1 Tool number 2 ： ： ： ： ： ： Tool number 11 Tool number 12 ：...
  • Page 225 If the rotation direction of the tool handle is in the opposite direction of what is needed, please set the Cn004 function to control the operation of the disc direction. Rotation direction definition table: Parameter setting Cn004 Tool number arrangement Motor rotation direction Counter-clockwise rotation...
  • Page 226 Tool disc deceleration ratio and setting: JSDG2S provides “mechanical deceleration ratio setting” parameters. In turret mechanisms, there usually is gear transmission to increase torque performance. The “mechanical deceleration ratio setting” function can have the driver deduce the number of laps and angles that the motor actually needs between tools, without the need to write controller programs.

  • Page 227: 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 / Deceleration) Pn322,Pn323,Pn333 (S-type Acceleration / Pn334 (PTRG Trigger Delay) Deceleration) Cn010(Stage 1 CCW Torque Limit) Pn329,Pn330 (Smoothing Filter) Cn011(Stage 1 CW Torque Limit) Pn327 (Tool Change Rotation Speed 1) Cn056(Stage 2 CCW Torque Limit) Pn335 (Tool Change Rotation Speed 2)
  • Page 228 5-5-2-1 Tool Magazine Cutter Setup Return to Zero Mode Time Sequence Diagram Mode Switching 1 DI-MDC1 Mode Switching 2/3 DI-MDC2/3 Signal Trigger DI-PTRG Signal Trigger Delay (Pn334) Tool Tray Return to Zero Position Used Tool Holder Return to Update Tool Holder Return (Pn325) to Zero Position Zero Position...
  • Page 229 5-5-2-3 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 Mode Switching 3 DI-MDC3 Signal Trigger DI-PTRG Signal Trigger Delay (Pn334) Motor Speed Command (rpm)

  • Page 230: Compound Tool Magazine Dedicated Mode Setting

    5-5-3 Compound tool magazine dedicated mode setting Boot up confirmation Cn030 Parameter setting Pn332.0 (acceleration/deceleration conditions) Pn313, (one-time smooth acceleration/ Pn331 (backlash compensation) deceleration) Pn334 (PTRG trigger delay) Pn322, Pn323, Pn333 (S-shaped Pn317~Pn321 (return to origin setting) acceleration/deceleration) Cn010 (first stage CCW torque limitation) Pn329, Pn330 (smooth filter) Cn011 (first stage CW torque limitation) Pn327 (tool change rotation speed 1)
  • Page 231 5-5-3-1 Compound tool magazine dedicated mode – tool magazine calibration reset to zero mode timing diagram Mode switch 1/3/4 DI-MDC1/3/4 Signal trigger DI-MDC2 Signal trigger delay (Pn334) Tool disc reset to Update tool handle reset to Old tool handle reset to zero zero postion zero position position...
  • Page 232 5-5-3-2 Compound tool magazine dedicated mode – tool magazine automatic tool selection mode timing diagram Second Second Torque limitationvalue First stage Second stage First stage stage stage Servo excitation DI-SON Mode switch 2/3/4 DI-MDC2/3/4 Tool number selection Tool Tool DI-POS 1~6 number 4 number 11 Signal trigger...
  • Page 233 5-5-3-3 Compound tool magazine dedicated mode – tool magazine manual forward single-step timing diagram Second Second Torque limitationvalue First stage Second stage First stage stage stage Servo excitation DI-SON Mode switch 3 DI-MDC3 Mode switch1/4 DI-MDC1/4 Signal triggerDI-MDC2 Signal trigger delay (Pn334) Motor speed command (rpm)
  • Page 234 5-5-3-4 Compound tool magazine dedicated mode – tool magazine forward manual continuous tool position mode Second Second Torque limitationvalue First stage stage stage Servo excitation DI-SON Mode switch 4 DI-MDC4 Mode switch1/3 DI-MDC1/3 Signal triggerDI-MDC2 Signal trigger delay (Pn334) Motor speed command (rpm) Tool number Any tool...
  • Page 235 5-5-3-5 Compound tool magazine dedicated mode – tool magazine forward manual continuous mode timing diagram Second Second Torque limitationvalue First stage stage stage Servo excitation DI-SON Mode switch 3/4 DI-MDC3/4 Mode switch1 DI-MDC1 Signal triggerDI-MDC2 Signal trigger delay (Pn334) Motor speed command (rpm) Tool number Any tool...

  • Page 236: Tool Magazine Parameter Setting

    5-5-4 Tool Magazine Parameter Setting Cn010/Cn056 CCW Direction Torque Command Limit Value Stage 1 / Stage 2 Initial Value Unit Setting Range Effective RS-485 Address 200 ~ 300 Each Parameter is 0 ~ 300 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 237 Pn307 Positioning Completed Determined Value Initial Value Unit Setting Range Effective RS-485 Address One thousandth pulse 41943040 Effective after Set 030CH/030DH of a Circle Setting Description: When the Position Error is lower than the number of Pulses set by Pn307 (Positioning Completed Determined Value), the Output Contact INP operates.
  • Page 238    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 Setting Range...
  • Page 239 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 240 Pn333 Internal Position Command S-type Deceleration Constant (TDEC) Initial Value Unit Setting Range Effective RS-485 Address 0.4ms 5000 Effective after Confirmed 032AH Setting Description: Please refer to PN322 Description Pn334 PTRG Trigger Delay Time Parameter Initial Value Unit Setting Range Effective RS-485 Address 0 ~ 2500...

  • Page 241: 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 242 Description Setting Code Contact Operation Function E-cam receives the cutting E-CUT completion signal HS_U U direction of HallSensor HS_V V direction of HallSensor HS_W W direction of HallSensor E-STOPI E-cam temporarily stopped Gantry simultaneous action DI gantryDI trigger is out of sync KSPD Second stage speed of turret Control mode selection 3 in tool...
  • Page 243 Input Code Function ALRS DI12 PCNT CCWL TLMT SPD1 DI10 DI10 DI10 DI10 DI10 DI10 SPD2 DI11 DI11 DI11 DI11 DI11 DI11 MDC1 DI12 DI12 DI12 DI12 DI12 DI12 DI12 DI12 DI12 DI12 SPDIN G-SEL PTRG DI10 PHOLD DI12 DI10 DI10 DI10 SHOME...
  • Page 244 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 Code No Function No Function Setting NULL Setting Servo Start...
  • Page 245 Function Signal Name Mode I/O Operating Function Description Code Control mode When MDC1 ON, will change the current Control Mode to switch/Control S/T/Pi/Pe the pre-determined Control Mode. Please refer to Cn001. mode MDC1 selection 1 in Turret control mode switch 1; work with Digital input contact tool magazine MDC2 to run turret function switching.
  • Page 246 Function Signal Name Mode I/O Operating Function Description Code Internal Position POS6 Tool Location Command Selection 6 Command Selection 6 Torque mode: When using Torque Mode, when TRQINV ON, Torque the set Torque Command Output Direction becomes Reverse Command Output. Reverse/ TRQINV Turret Second...
  • Page 247 Function Signal Name Mode I/O Operating Function Description Code JOG2 JOG1 Description No JOG function Turret input JOG1 JOG Excitation_Forward Rotation Pe/Pi JOG2 JOG Excitation_Reverse Rotation JOG Excitation_Zero Rotation 5-122...
  • Page 248 Hn613.0/Hn613.1~Hn616.0/Hn616.1 DO-1~ DO-4 Pin Function Hn619.0/Hn619.1~Hn622.0/Hn622.1 DO-5~ DO-8 Pin Function Initial Value Unit Setting Range Effective RS-485 Address Each parameter is Change with Mode 00 ~ 20 Power Re-set different Setting Description: Description Sett Description Setti Code Contact Operation Function Code Contact Operation Function Not Used...
  • Page 249 Hn613.2~Hn616.3 DO-1~ DO-4 Pin Function Operation Potential Hn619.2~Hn622.3 DO-5~ DO-8 Pin Function Operation Potential Initial Value Unit Setting Range Effective RS-485 Address Each parameter is 0 ~ 1 Power Re-set different Setting Description: Please refer to Hn601 Description for the Setting Method. Setting Description When the function activates, the output pin is...
  • Page 250 Function Signal Name Mode I/O Operating Function Description Code Signals Virtual Contact When VDI ON, the set Digital Output VDO will Digital Output follow ON. When the Motor Output Torque is limited by Torque in internal torque limit values (Cn010 & Cn011) or Pi/Pe/S/T Restriction External Torque Limit Command (PIC&NIC), pin...
  • Page 251 Input Functio NULL DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO6 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO8 DO4 DO4 DO4 DO4 DO4 DO4 DO4 DO4 DO1 DO4 DO4 DO4 DO4 DO7 HOME DO3 DO3 DO3 DO3 DO3 DO3...
  • Page 252 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 253 Hn623 Digital output contact control method selection Initial RS-485 Unit Setting Range Effective Value Address Effective after H0000 H0000 ~ H00FF (hexadecimal) 0517H Confirm Key Setting description: Determines the output status of the DO contact through bit setting; the bit setting adopts the conversion from binary to hexadecimal.

  • Page 254: 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 ~ E Power Re-set 0001H Setting Description:...

  • Page 255: Contact Auxiliary Function

    5-6-3 Contact Auxiliary Function The User can select whether the corresponding function of Digital Input Contacts SON, CCWL and CWL is activated. The setting is as follows: Cn002.0 Contact Auxiliary Function - Digital Input Contact SON Function Selection Initial Value Unit Setting Range Effective...

  • Page 256: 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 257: 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 258 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 259: 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 260 When the user issues a positive command due to a wiring error, but reaches a negative limit, an AL.014 alarm will be generated; if the user does not want to have this AL.014 alarm function protection, the driver can be disabled through Cn009.1 to disable abnormal protection function. Work platform Servo motor Negative command issue...

  • Page 261: 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 262 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 25.6 JSDG2S-50B 19.3 JSDG2S-75B 19.3 JSDG2S-100B 12.9 JSDG2S-150B --(No) --(No) --(No) JSDG2S-200B --(No) --(No)
  • Page 263 Cn012 External Regenerative Resistor Power Setting Initial Value Unit Setting Range Effective RS-485 Address Default varies by driver model 0 ~ 10000 Effective after Confirmed 000DH Setting Description: Please set the selected external resistor power value correctly in Cn012. Model Initial Value 10A / 15A / 20A / 30A 50A3 / 75A3...

  • Page 264: 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 265: Low Voltage Protection

    5-6-9 Low voltage protection When the voltage of the main circuit’s input power is lower than the setting value of Cn051 (low voltage protection level) and exceeded the time of Cn052 (low voltage protection alarm delay time), the AL.001 alarm (when the input voltage of the 200V driver is lower than 170V, and the input voltage of the 400V driver is lower than 340V, without counting the time, the alarm will be generated directly).
  • Page 266 The User can set the Low Voltage Protection Automatic Reset Function according to the requirements, the setting is as follows: Cn031.1 Low voltage protection (AL001) automatic return selection Initial Value Unit Setting Range Effective RS-485 Address 0 ~ 1 Effective after Confirmed 0022H Setting Description: This parameter can set low voltage protection (AL001) return method Setting...

  • Page 267: Absolute Value Encoder

    5-6-10 Absolute Value Encoder 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 Effective...
  • Page 268 Cn041.0 absolute encoder multi-turn clearing function Initial value Unit Setting range Effective RS-485 address Effective after 0 ~ 2 002CH Confirmed Setting description: Setting Description Does not function Clear internal status of encoder Clears internal status and number of turns of encoder “Absolute encoder data reading”...
  • Page 269 +32767 Forward Reverse Multi-turn position information -32768 Motor rotation number “Used with absolute encoder for the first time” When using the absolute encoder for the first time, the driver will generate AL.016 (absolute encoder number of turns abnormal) alarm; after installing the batteries correctly, using Cn041=2 (encoder multi-turn data will be reset to zero), then disconnect and reconnect the power again to allow the driver to resume normal operation.
  • Page 270 5-6-11 Analog monitoring  JSDG2S-E(L) 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(L) does not have this function Initial Value Unit Setting Range Effective...
  • Page 271 Cn044 Analog monitoring output MON2 output proportion  JSDG2S-E(L) does not have this function Initial Value Unit Setting Range Effective RS-485 Address -1000 ~ 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 272: 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: Dividing Processing means the number of pulse signals generated with one revolution of the Motor Encoder that is converted into number of pulse signals pre-set by Cn005.
  • Page 273 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 rotates one cycle Dividing Output Pulse Signal Definition is as follows: Control...
  • Page 274 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 Unit Setting Range...

  • Page 275: Full Closed Loop Position Control Function

    5-6-13 Full Closed Loop Position Control Function The 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 optical ruler as the feedback signal, it is possible to achieve the connection to control board CN8 interface;...
  • Page 276 Pn346.1 Full-closed loop origin signal source selection Initial Value Unit Setting Range Effective RS-485 Address 0 ~ 1 Power Re-set 0337H Setting Description: Setting Description Servo motor encoder External encoder Pn346.2 Full-closed loop function dividing selection Initial Value Unit Setting Range Effective RS-485 Address 0 ~ 1...
  • Page 277 Pn349 Full-closed loop operation direction setting Initial Value Unit Setting Range Effective RS-485 Address 0 ~ 1 Power Re-set 033CH Setting Description: Setting Description Phase A leading phase B Phase B leading phase A Fully closed loop function block diagram Current Speed Unit...
  • Page 278 When the external encoder or optical ruler 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 optical ruler: Screw Pitch Pn348 Resolution corresponded to one cycle of full closed loop Encoder...

  • Page 279: 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 AL.022 correct Pn349.

  • Page 280: 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 281 Parameter Description Parameter Description EC901 Set as 1 EC907 Main axle encoder resolution EC902.0 Physical/Virtual axle selection EC908 Auxiliary axle encoder resolution EC902.2 If to use return to origin EC909 Main axle EC903 Cutting quantity selection EC910 Auxiliary axle diameter EC904 Cutter quantity selection EC911...
  • Page 282 EC906 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 283 EC909 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 EC910 E-Cam cutter diameter Address Initial Value Unit Setting Range Effective RS-485 0.1mm 1 ~ 10000 Effective after Confirmed 080AH...
  • Page 284 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. AL.023 will occur when the direction is incorrect. Setting Description Phase A leading phase B...
  • Page 285 Parameter Description Parameter Description Full-closed loop rotation direction Pn349 EC914 Synchronization zone time selection EC901 Set as 2 EC915 Synchronization zone DO delay time EC902.0 Physical/Virtual axle selection EC916 Auxiliary axle screw pitch Maximum proceed distance of auxiliary EC902.2 If to use return to origin EC917 axle EC903...
  • Page 286 EC911 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 287 Speed Feeding speed Time Servo DO output level Synchronous signal Time EC915 EC917 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 288 EC922 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. EC923 E-Cam parameter fine-tune factor Initial Value Unit Setting Range...

  • Page 289: 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 290 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 291 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 292: Instructions For Using With Linear Motors

    5-6-17 Instructions for using with linear motors When the servo driver is used with a linear motor, use the optical ruler as the feedback signal; by connecting the driver’s CN2 port, the A, B and Z phase signals (optical ruler or encoder) will be supported.
  • Page 293 Wiring: Input power JSDG2S：CANopen / RS-485 single phase or three phase JSDG2(S)-E：EtherCAT AC 200~230V (varies according to model type) Servo driver 200V No fuse breaker (NFB) Communication type controller /PLC CN6 Communication OUT JSDG2S：RS-485 CANopen Noise filter CN5 Communication IN JSDG2(S)-E：EtherCAT Communication connection...
  • Page 294 When Hall’s signal is used, and the signal is an open collector output, the sample wiring diagram is as follows: Power filter Driver content r, 24V s, 0V Control power Regenerative DC 24V resistance IP 24 Linear +24V power output motor DICOM DI power shared terminal...
  • Page 295 DI-1~ DI12 pin function ★ Description Hn601.0~Hn612.0 Setting ★ Code Contact action function Hn601.1~Hn612.1 HS_U Hall Sensor’s U direction HS_V Hall Sensor’s V direction HS_W Hall Sensor’s W direction DI-1~ DI12 pin function action potential ★ Hn601.2 ~ Hn612.2 Setting Description When the pin is low potential (short-circuit with the IG24 pin), the function works.
  • Page 296 If used with Hall’s signal and the signal is a line driver output, the sample wiring diagram is as follows: Power filter Driver content Regenerative r, 24V resistance Control power s, 0V Linear motor DC 24V IP24 +24V power output DICOM DI power shared terminal +5V、0V、A、/A、B、/B、Z、/Z...
  • Page 297 If used with analog over-temperature signal, please connect it to the SIC pin or TIC pin of the servo driver’s CN1, and set the servo parameters Cn009.3 (analog voltage over-temperature protection function setting) and Cn086 (analog voltage over-temperature protection function). When exceeded the value set, AL.052 external sensor over-temperature will be generated.
  • Page 298 Preliminary test items: ● The positive direction of the motor is set as shown in the figure below: Positive direction of the motor ● Linear motor UVW phase sequence Oscilloscope measurement point R: Resistance of over 1K Ohm Oscilloscope Locations of three measurement point Linear measurement points...
  • Page 299 ● Optical ruler ABZ signal phase sequence Positive direction of the motor A phase surpasses B phase Time Suppose the encoder’s rotation direction is opposite to the figure above. In that case, if the wiring is not to be adjusted, the phase sequence of A phase and B phase can be changed by modifying the Cn097.2 parameter.
  • Page 300 Cn090.3 No detection of linear motor encoder Z phase disconnection function Initial Value Unit Setting Range Effective RS-485 Address 0 ~ 1 Power reset 005DH Setting description: Setting Description Disable the do not detect pulse encoder Z phase disconnection function Enable the do not detect pulse encoder Z phase disconnection function Every time the driver uses the dn-11.0 pole angle for automatic detection, it will check whether the...
  • Page 301 ● Linear motor Hall signal phase sequence Positive direction of the motor U phase output V phase output W phase output 5-176...
  • Page 302 Instructions for establishing linear motor parameters: Open PC link and clickConnect. Click the custom motor electrical parameter setting in the custom motor field. Click the Linear Motor option. Enter the motor parameters, and beware whether the values match the unit, in which 0~4 can be entered for motor number.
  • Page 303 5-178...
  • Page 304 Confirm whether the values are correct; press Yes, and “write ok!” will appear if they are correct. Next, press “OK” to restart the power and “reconnect”. ※ Once the power is restarted, Cn029 “Parameter reset” will be executed once automatically. Except for the electrical parameters, all other parameters will be restored to the factory default values.
  • Page 305 Copying the motor parameter table Open the custom motor interface and press Save. Once saved, wait until the next time to copy the same motor parameters to other drivers. Loading the motor parameter table Open the custom motor interface and press open. Click the motor parameter file previously saved.
  • Page 306 Linear motor PC link alignment Click the custom motor field, and then boot-up the magnetic pole alignment option. Adjust the magnetic pole detection voltage level according to the weight of the load, and then press Start after the setting is completed. 5-181...
  • Page 307 The status dialog box will appear during alignment, and Auto will be displayed on the keypad panel. Whether alignment was successful or failed will both be displayed on the status dialog box; if alignment fails, the driver will display AL.032 linear motor magnetic pole alignment abnormal.
  • Page 308 Linear motor keypad alignment Set the Cn085 magnetic pole detection voltage level. Set automatic detection of the dn-11.0 magnetic pole position to 1; Auto will be displayed on the keypad panel. After aligned successfully, the panel will again display dn-11; if alignment fails, it will display AL.032 linear motor magnetic pole alignment abnormal.
  • Page 309 Feedback parameter confirmation After setting the linear motor electrical parameters, first, push the linear motor manually  Use Un-14 (motor feedback-number of pulses within one pole of movement) and Un-16 (motor feedback-moving distance) to confirm whether the value of the motor optics is correct.

  • Page 310: Emergency Stop (Emc) Function

    5-6-18 Emergency stop (EMC) function The emergency stop (EMC) function is the function to use signals sent by upper devices of external machines to force the servo motor to stop.The AL.009 (emergency stop) alarm will be generated when the emergency stop function is activated. When using an emergency stop, one of the pins from the multifunction digital input contact function (Hn601~Hn612) must be selected to the emergency stop (EMC) function.There are two options for stopping the motor: stop immediately or stop decelerating.
  • Page 311 Cn087 EMC stop speed linear deceleration constant Initial Value Unit Setting Range Effective RS-485 Address Takes effect after 0 ~ 50000 005AH confirmation Setting description: Set Cn097.1=1 to enable the EMC stop speed command deceleration function. The definition of the speed command linear deceleration constant is the time for the rated rotation speed to decelerate linearly to zero.
  • Page 312 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 ........... 6-9  6-4 Notch Filter .......................... 6-17  6-5 Low Frequency Vibration Suppression Function ..............6-23  6-6 Manual Gain Adjustment .....................

  • Page 313: 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 314: 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: In theory, the control loop bandwidth of the inner layer must be higher than the outer layer; otherwise, the entire control system will be unstable and cause vibrations or poor response.
  • Page 315 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 316 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 317 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 318 Speed Loop Integration Time Constant 1 5 Speed Loop Gain 1          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 2π 800 0.01ms Position Loop Gain Pn310 or Pn311...
  • Page 319 Gain Adjustment Shortcut Parameter qn501 ~ qn507 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 320: 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 321 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 322 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 323 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 324 3. In automatic gain adjustment 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 325 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 automatic gain adjustment. 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: AL.003 Motor Overload...
  • Page 326 Cn026 Rigidity setting Initial Value Unit Setting Range Effective RS-485 Address Effective after 1 ~ 21 001DH confirmation Setting description: When the value of the rigidity setting changes, the values of the three parameters Pn310, Sn211, and Sn212 will also change simultaneously Description Position Speed...
  • Page 327 Cn060 OFFLine-tuning operation command lap setting Initial Value Unit Setting Range Effective RS-485 Address Effective after 0.1rev 5 ~ 2000 003FH confirmation Setting description: Setting it as 30 means that the tuning process command will be within 3 laps Cn061 OFFLine-tuning operation maximum rotation speed Initial Value Unit Setting Range...

  • Page 328: 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. There are five sets of resonance suppression that can be set for driver;...
  • Page 329 Cn065/Cn068/Cn071/Cn074/Cn077 Notch 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 330 (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 331 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 332 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, causing the software...
  • Page 333 • 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 334: Low Frequency Vibration Suppression Function

    6-5 Low Frequency Vibration Suppression Function Machine lools 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 335 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 336 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 337 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. 6-26...

  • Page 338: Manual Gain Adjustment

    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 339 Use Rigidity Meter to adjust Gain Step 1: To set the rigidity level and get the correct load inertia ratio, please refer to [6-3 Automatic gain tuning instructions] and [6-9 OnLine-auto tuning (inertia only display)] to obtain the load inertia ratio. Step 2: Adjust Cn026 (rigidity meter), adjust the value up or down, change 1 at a time, until the required system response.

  • Page 340: 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 341 (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 342 (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 343: 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 344 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 The relationship between delay time and switching time when switching gains: Cn020 Two Stage Gain Mode Switching Delay Time 2 Initial Value Unit Setting Range...
  • Page 345 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.
  • Page 346 (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; when the acceleration command is greater than the Cn023 switching condition, then switch to the second stage gain control. If the acceleration command is less than the Cn023 switching condition again, it will switch to the first stage gain control.

  • Page 347: 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 348: 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 349: Speed Reference Control

    6-10 Speed reference control Speed reference control can compensate for the influence of the following factors that cause the system to produce overshoot Overshoot caused by controller compensation Overshoot caused by system delay Overshoot caused by feedback delay tn839.0: Speed reference control flag tn840: Speed reference control gain tn839.0 Speed model reference control flag Initial Value...
  • Page 350 tn840 Speed model reference control gain Initial Value Unit Setting Range Effective RS-485 Address 10 ~ 1000 Effective after Set 1328H Setting description: Speed model reference control gain Speed reference control adjustment method Please set the speed reference control parameters as the default values. Please set the load inertia ratio (Cn025) correctly.If the load inertia ratio was not set correctly, it may not be able to be controlled normally and vibrations will be generated.

  • Page 351: Friction Compensation Control

    6-11 Friction compensation control The friction compensation function can compensate for the effects of nonlinear friction generated by the following status changes Changes in viscous resistance of the sliding parts of machines Friction resistance changes caused by mechanical deviation Friction resistance changes caused by the aging of machines tn841.0: Friction compensation control flag tn842: Friction compensation control limit value tn843: Friction compensation control gain...
  • Page 352 tn842 Friction compensation control limit value Initial Value Unit Setting Range Effective RS-485 Address 0 ~ 100 Effective after Set 132AH Setting description: Limits the maximum output of friction compensation control; if set as 100, then the restriction value is the rated current value. tn843 Friction compensation control gain Initial Value Unit...

  • Page 353: Speed Observer

    6-12 Speed observer  The speed observer can improve system response.  Enabling the speed observer under high response status can allow the system not to generate vibrations as easily.  The speed observer uses load models to perform the estimation, and to perform the compensation to the feedback speed.
  • Page 354 Speed observer precautions  The speed observer can easily be affected by the accuracy of the system inertia ratio Cn025; the correct load inertia must first be set when using the speed observer.  The system response will change after enabling the speed observer function; please readjust the control gain (position gain Pn310, speed gain Sn211 and speed integral constant Sn212).

  • Page 355: Model Tracking Control

    6-13 Model tracking control  Model tracking control can improve system response and shorten positioning time.  The position command is sent through the upper device, then controlled by model tracking. The reference position command, speed feedforward and torque feedforward are outputted to the instruction terminal of the various circuits and added to the original instructions to improve system response.
  • Page 356 tn850.0 Model tracking control switch Initial Value Unit Setting Range Effective RS-485 Address 0 ~ 1 Effective after Set 1332H Setting description: Setting Description Disable model tracking control Enable model tracking control Note: It cannot be used if the encoder resolution is less than 17bit (not including 17bit) tn851 Model tracking control gain...
  • Page 357 Notes  Model tracking control can only be used under position control mode.  Model tracking control can only operate under 17bit and 23bit encoders.  When model tracking control is used, please disable the on-line tuning function (tn837.0 = H'□□□X).

  • Page 358: Disturbance Observer

    6-14 Disturbance Observer Use the disturbance observer to estimate the external disturbance torque in order to reduce the impact of disturbance torque, and further reduce speed ripples. External disturbance force Torque command Torque control Motor Load Cn025 load inertia ratio Load model Filter tn845.2 Disturbance observer speed feedback selection...
  • Page 359 tn847 Disturbance observer limit value Initial Value Unit Setting Range Effective RS-485 Address 0 ~ 100 Effective after Set 132FH Setting description: Disturbance observer compensation limit value Notes The machine model of the disturbance observer is influenced by the load inertia ratio; therefore, it is recommended to use this block after entering the correct inertia ratio or auto-tuning.

  • Page 360: On-Line Tuning

    6-15 On-line tuning On-line tuning instructions On-line tuning is the function to obtain stability through auto-tuning regardless of the machine type or load change status.When the On-line tuning function is enabled, the system will adjust automatically. 　 Notes ‧ The On-line tuning function is invalid under torque control mode. ‧...
  • Page 361 On-line tuning parameter descriptions tn837.0 On-line tuning flag Initial Value Unit Setting Range Effective RS-485 Address 0 ~ 1 Effective after Set 1325H Setting description: Setting Description Disable the on-line tuning function Enable stroke operation to enable on-line tuning function tn837.1 On-line tuning load convergence selection Initial Value Unit...
  • Page 362 Instructions Currently, the function can only be executed from the keypad; the following are the execution instructions: 1. Select the parameter tn837.0 and enable the On-line tuning function (tn837.0 = H'□□□1). 2. Keep the load convergence selection as the default value (tn837.1 = H'□□1□). 3.
  • Page 363 Chap 7 Parameter function 7-1 Parameter Group Description ....................7-2  7-2 Parameter Function List ......................7-3  7-3 Parameter Function Detail description ................7-20  7-3-1 System Parameters (Cn0□□) ................7-20  7-3-2 CANopen parameter (Cn0□□)  ..7-55  Only JSDG2S model contains this function 7-3-3 Torque Control Parameters (Tn1□□) ..............

  • Page 364: 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 365 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 function Cn002.0 ★ selection Auxiliary function—Digitalinput contact CCWL & 0002H 2002H Cn002.1 ★...
  • Page 366 Parameter Code Name and Function Unit RS485 Index (Acceleration Command) Two Stage Gain Mode Switching Condition (Position Cn024 pulse 001AH/001BH 2018H Error) Cn025 Load Inertia Ratio 001CH 2019H Cn026 Rigidity Setting 001DH 201AH ● Cn027 Analog monitoring output 1 offset adjustment (Note 1) 40mV 001EH 201BH...
  • Page 367 Parameter Code Name and Function Unit RS485 Index Value Second Stage CW Direction Torque Command Limit Cn057 003CH 2039H Value Delay Time of Switch Stage 1 Torque Limit to Stage 2 Cn058 003DH 203AH Torque Limit Cn059.0 AutoTuning Enabling Selection 003EH 203BH OFFLine-tuning Operation Command Number of...
  • Page 368  CANopen parameter (Cn0□□)  Only JSDG2S model contains this function Parameter Code Name and Function Unit RS485 Index ★ Cn078.0 CANopen communication write-in selection (Note 2) 0051H 204EH Cn078.2 CANopen communication transmission rate (Note 2) 0051H 204EH ★ Cn079 CANopen ID setting (Note 2) 0052H 204FH...
  • Page 369 Parameter Code Name and Function Unit RS485 Index Speed Command One Time Smoothing Acceleration / Sn206 0206H 2206H Deceleration Time Constant Speed Command Linear Acceleration / Deceleration Sn207 0207H 2207H Time Constant S-type Speed Command Acceleration / Deceleration Sn208 0208H 2208H Time Setting Sn209...
  • Page 370  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 Pn302 Electronic Gear Ratio Numerator 1 0302H/0303H...
  • Page 371 Parameter Code Name and Function Unit RS485 Index Deceleration Smoothing Constant (TSL) Internal Position Command S-type Acceleration / Pn323 0.4ms 031EH Deceleration Constant (TACC) Pn324 CNC Tool Magazine Quantity Setting 031FH Pn325 CNC Tool Tray Return to Zero Position pulse 0320H/0321H Pn326 CNC Tool Tray Reduction Ratio...
  • Page 372 Parameter Code Name and Function Unit RS485 Index Pn351 Gantry synchronization controller gain value rad/s 033EH Pn352 Gantry synchronization maximum error tolerance pulse 033FH/0340H Pn354 Single Revolution Pulse Command Function pulse 0342H/0343H 2336H ★ Pn355 Return to Origin function operating mode 0344H 2337H Pn356...
  • Page 373  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 374 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 375 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 376 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 377 Parameter Code Name and Function Unit RS485 Index En704 CiA 402 speed unit change (denominator) En705 CiA 402 acceleration unit change (numerator) En706 CiA 402 acceleration unit change (denominator) En707 CiA 402 stalling allowed times En708 EtherCAT communication ID selection En709.0 Cia402 torque mode speed limit switching flag En710...
  • Page 378 Parameter code Name and function Unit RS485 Index tn845.2 Disturbance observer speed feedback selection 132DH 2D2DH tn846 Disturbance observer filter constant 132EH 2D2EH tn847 Disturbance observer limit value 132FH 2D2FH tn848 Speed feedforward smooth filter 1330H 2D30H tn849 Speed feedforward differential gain 1331H 2D31H tn850.0...
  • Page 379 Parameter Code Name and Function Unit RS485 Index EC915 E-Cam rotary cut DO delay time 200us 080FH 270FH EC916 E-Cam auxiliary axle screw pitch 0.1mm 0810H 2710H Maximum proceeding distance of E-Cam rotary EC917 0.1mm 0811H 2711H cut auxiliary axle Average proceeding speed of E-Cam rotary cut EC918 0812H...
  • Page 380 Parameter Code Name and Function Unit RS485 Index Un-30 Digital Output Contact Status (DO) 0626H 281EH Un-31 Digital Input Contact Status (D1) 0627H 281FH Un-43 Motor Electrical Angle 0633H 282BH Motor Model Number Read by the Un-44 0634H 282CH Communication Encoder Un-45 OnLine_AutoTuning Inertia Estimation 0635H...
  • Page 381 Parameter Code Name and Function Unit RS485 Index dn-11.0 Automatic Detection of Magnetic Angle Position 0F0BH dn-11.1 Pulse encoder signal test 0F0BH dn-15.0 Clear abnormal alarm history 0F0FH Note 1: JSDG2S-E(L) does not have this function Note 2: Only JSDG2S contains this function Note 3: Only JSDG2S-E contains this function 7-19...

  • Page 382: Parameter Function Detail Description

    7-3 Parameter Function Detail description 7-3-1 System Parameters (Cn0□□) Cn001 Control Mode Selection【5-1】 Initial Value Unit Setting Range Effective Cn029 Reset ● 0 ~ Ｅ ★ RS-485 CANopen EtherCAT 0001H 2001H 2001H Setting Description: Setting Description Setting Description Torque Control Internal Position / Torque Control Switching CNC Tool Magazine Automatic Tool Selection Speed Control...
  • Page 383 Cn002.1 Contact Auxiliary Functions--Digital Input Contact CCWL and CWL Function Selection【5-6-3】 Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 1 ★ RS-485 CANopen EtherCAT 0002H 2002H 2002H Setting Description: Setting Description Control CCW and CW Drive Prohibit by Digital Input Contacts CCWL and CWL.
  • Page 384 Setting Description: The Time Sequence Diagram is as follows 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.  【5-2-4】 Cn004.0 Motor Rotation Direction Definition (from Motor Load End) ...
  • Page 385 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 386 Cn007 Speed Reached Determined Value【5-3-8】 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【5-6-4】...
  • Page 387 Cn008.1 Forced action of mechanical brake【5-6-4】 RS-485 Initial Value Unit Setting Range Effective Address 0 ~ 1 Effective after Confirm Key 0009H Setting Description: Mechanical brake is forced action. Note: If the relevant parameters of the mechanical brake are not set, the forced action function is invalid.
  • Page 388 Setting Description: Setting Description Drive prohibition abnormal protection (AL.014) setting disable Drive prohibition abnormal protection (AL.014) setting enable Ex: When Cn009.1=1, when the servo motor is running in the positive direction, if it encounters a negative limit alarm, AL.014 alarm will be generated. Cn009.2 Alignment setting when power is connected to the linear motor for the ...
  • Page 389 etting description: Setting Description Not used The TIC function switch is an over-temperature protection signal The SIC function switch is an over-temperature protection signal Cn010 CCW Direction Torque Command Limit Value【5-2-5】【5-3-7】 【5-4-8】 Initial Value Unit Setting Range Effective Cn029 Reset 200 ~ 300 Note) 0 ~ 300 RS-485...
  • Page 390 JSDG2S Matching Motor Torque command limit value Cn030 setting value Matching Motor Model Cn010(%) Cn011(%) Capacity JSMA-PUC02A□ H119□ -300 JSMA-PBC02A□ H11A□ -300 JSMA-PLC03A□ H112□ -300 JSMA-SC04A□ H114□ -240 JSMA-PSC04A□ H115□ -300 JSMA-PUC04A□ H11D□ -300 JSMA-PBC04A□ H11E□ -300 JSMA-SC04A□ H122□ -300 JSMA-PSC04A□...
  • Page 391 JSDG2S Matching Motor Torque command limit value Cn030 setting value Matching Motor Model Cn010(%) Cn011(%) Capacity JSMA-PBH13A□ H174□ -300 JSMA-PBH18A□ H175□ -260 JSMA-PBH18-18A□ H176□ -240 JSMA-PLC20A□ H571□ -320 JSMA-PMB30A□ H171□ -300 75A3 JSMA-PMC30A□ H172□ -300 JSMA-PMH30A□ H173□ -260 JSMA-PIH30A□ H177□ -250 JSMA-PMB40A□...
  • Page 392 400V Class JSDG2S 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 393 JSDG2S Matching Motor Torque command limit value Cn030 setting value Matching Motor Model Cn010(%) Cn011(%) Capacity JSMA-PBH44B□ H265□ -250 JSMA-PBH55B□ H266□ -250 JSMA-PIH55B□ H26B□ -250 JSMA-PMH75B□ H261□ -260 100B JSMA-PBH75B□ H267□ -200 JSMA-PIH75B□ H269□ -260 JSMA-PIH110B□ H26A□ -200 JSMA-PBD110B□ H26E□ -210 JSMA-PBH75B□...
  • Page 394 Setting Description: Please input the frequency when vibration occurs in Cn013 to eliminate vibrations or noises caused by resonance, etc. Cn014 Notch filter quality factor (first set)【6-4】 Initial Value Unit Setting Range Effective Cn029 Reset 1 ~ 100 RS-485 CANopen EtherCAT 000FH 200EH...
  • Page 395  【6-7-1】 Cn016 Switch condition of PI/P mode (torque command) Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 399 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;...
  • Page 396  【6-7-2】 Cn020 Switch delay time 2 of two stage gain mode Initial Value Unit Setting Range Effective Cn029 Reset 0.2ms 0 ~ 10000 RS-485 CANopen EtherCAT 0016H 2014H 2014H 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.
  • Page 397 Setting Description: Set Cn015.1=2 first, when the Acceleration Command is less than the Cn023 switching condition, use the first stage gain control; when the Acceleration Command is greater than the Cn023 switching condition, then switch to the second stage gain control. If the Acceleration Command is less than the Cn023 switching condition again, it will switch to the first stage gain control in accordance with Cn020 Switching Delay Time.
  • Page 398 Description Speed Loop Torque Position Position Speed Loop Torque Speed Integration command Speed Loop Setti Loop Integration command Setti Loop Gain Time smoothing Loop Gain Gain Gain Time Constant smoothing Sn211 Constant filter Sn211 Pn310 Pn310 Sn212 filter [Hz] Sn212 Cn034 [Hz] [1/s]...
  • Page 399 Cn029 Parameter Reset【5-6-14】 Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 1 ★ RS-485 CANopen EtherCAT 0020H 201DH 201DH Setting Description: Setting Description Not Functioning All Parameters returned to Factory Default Value Cn030 Serialized Model Setting【1-1-3】 Initial Value Unit Setting Range Effective...
  • Page 400 Cn031.1 Low voltage protection (AL.001) automatic return selection【5-6-9】 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 Description When the SON status displays run, AL.001 Low Voltage Error Alarm is immediately displayed when a low voltage is detected;...
  • Page 401 Cn032 Speed feedback smoothing filter【6-2】 Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 2500 RS-485 CANopen EtherCAT 0023H 2020H 2020H 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 402 Cn036 ID Setting【8-1】 Initial Value Unit Setting Range Effective Cn029 Reset 1 ~ 254 ★ RS-485 CANopen EtherCAT 0027H 2024H 2024H 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 403 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 ) 8 , E , 1 ( Modbus , RTU ) 8 , N , 2 ( Modbus , ASCII )
  • Page 404 Cn041.2 Turret mode return to zero function【5-5】 Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 1 RS-485 CANopen EtherCAT 002CH 2029H 2029H 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 405 Cn044 Analog monitoring output MON2 output proportion  JSDG2S-E does not have this function【5-6-11】 Initial Value Unit Setting Range Effective Cn029 Reset -1000 ~ 1000 RS-485 CANopen EtherCAT 002FH 202CH 202CH Setting Description: Tlease refer to the setting description of Cn043. Cn048 Switch delay time 1 of two stage gain mode【6-7-2】...
  • Page 406 Cn051 Low voltage protection level【5-6-9】 Initial Value Unit Setting Range Effective Cn029 Reset 200V: 190 200V: 170 ~ 190 Volt 400V: 380 400V: 340 ~ 380 RS-485 CANopen EtherCAT 0036H 2033H 2033H Setting Description: When the Driver input power supply voltage is less than Cn051, after delaying the Cn052 setting time, trigger the Low Voltage Protection Alarm.
  • Page 407 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 408 Cn058 Delay time when switching from first stage to second stage torque limit 【5-4-8】 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 409 Cn063.0 Automatic mechanical suppression enablement selection【6-4】 Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 5 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 Vibration Frequency...
  • Page 410 Cn066 Notch filter frequency【6-4】 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. ...
  • Page 411  【6-4】 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 412  【6-4】 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 413 Cn084.3 Automatically detect communication type encoder model selection Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 1 RS-485 CANopen EtherCAT 0057H 2054H 2054H Setting Description: Setting Description Automatically detect communication type encoder model selection disable. Automatically detect communication type encoder model selection enable.
  • Page 414 Cn089 Regenerative Resistor Resistance Setting【5-6-7】 Initial Value Unit Setting Range Effective Cn029 Reset System setting x0.1 ohm 0 ~ 10000 RS-485 CANopen EtherCAT 005CH 2059H 2059H Setting description: Please set the resistance value of the regenerative resistor used. Note) Setting 0 means that regeneration is not used. Cn090.3 No detection of linear motor encoder Z phase disconnection function Initial Value Unit...
  • Page 415 Setting Description: Setting Description AL.009 will be generated immediately when the EMC function is received. After the EMC function is received, it will decelerate to zero speed according to the Cn087 setting and generate AL.009. Note) If mechanical brake sequence is used, AL.009 will only be generated after the sequence is satisfied ...
  • Page 416 Cn099 Overload limit value Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 120 RS-485 CANopen EtherCAT 0066H 2063H 2063H Setting Description: When the effective load rate exceeds this limit value, AL.051 will be triggered. 7-54...
  • Page 417 7-3-2 CANopen parameter (Cn0□□)  Only JSDG2S model contains this function Cn078.0 CANopen communication write-in selection  Only JSDG2S model contains  【8-2】 this function Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 1 ★ RS-485 CANopen EtherCAT 0051H 204EH 204EH...
  • Page 418 Cn095 CANopen detection bus off and disconnection level  Only JSDG2S model  【8-2】 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, AL.029 alarm will occur. Cn096 CANopen disconnection clearing comparison level ...

  • Page 419: Torque Control Parameters (Tn1□□)

    7-3-3 Torque Control Parameters (Tn1□□) Tn101.0 Torque Command Acceleration / Deceleration Method【5-2-3】 Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 3 ▲ 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 420 Tn102 Torque Command Linear Acceleration / Deceleration Constant【5-2-3】 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 421 Tn104 Analog torque command offset adjustment  JSDG2S-E(L) does not have this  【5-2-1】 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. Tn105 Internal Speed Limit 1【5-2-6】...
  • Page 422 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【5-2-6】...
  • Page 423 Tn110 Torque Command One Time Smoothing Acceleration / Deceleration Constant【5-2-3】 Initial Value Unit Setting Range Effective Cn029 Reset 1-10000 ▲ RS-485 CANopen EtherCAT 010AH 210AH 210AH Setting Description: Set Tn101 = 2 to activate the Torque Command One Time Smoothing Acceleration / Deceleration Function.
  • Page 424 Tn115 Internal Reverse Rotational Speed Limit【5-2-6】 Initial Value Unit Setting Range Effective Cn029 Reset -100 -1.5*rated rotational speed ~ 0 RS-485 CANopen EtherCAT 010FH Setting Description: Set Tn101.2=1, switch the Forward Reverse Rotational Speed Limit value Speed Control Parameter by Positive and Negative Torques. Tn116 Analog torque command filter【5-2-1】...

  • Page 425: Speed Control Parameters (Sn2□□)

    7-3-4 Speed Control Parameters (Sn2□□) Sn201 Internal Speed Command 1【5-3-1】 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 426 Sn204.0 Zero Speed Determined Operation【5-3-7】 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 Sn205.0 Speed Command Acceleration / Deceleration Method【5-3-4】...
  • Page 427 Sn205.1 S-type speed command unit【5-3-4】 Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 1 RS-485 CANopen EtherCAT 0205H 2205H 2205H Setting Description: Setting Description Modify Sn208~210 Unit: 1ms Modify Sn208~210 Unit: 10ms Sn206 Speed Command One Time Smoothing Acceleration / Deceleration Time Constant【5-3-4】...
  • Page 428 Sn207 Speed command linear acceleration/deceleration constant【5-3-4】 Initial Value Unit Setting Range Effective Cn029 Reset 1-50000 RS-485 CANopen EtherCAT 0207H 2207H 2207H Setting Description: Set Sn205=2 to activate Speed Command Linear Acceleration / Deceleration Function. The definition of Speed Command Linear Acceleration / Deceleration Time Constant is the time of Speed from zero linear to rise to Rated Speed, the schematic diagram is as follows: Sn208 S-type Speed Command Acceleration / Deceleration Time Setting (t ...
  • Page 429  【5-3-4】 Sn209 S-type Speed Command Acceleration Time Setting (t Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 5000 RS-485 CANopen EtherCAT 0209H 2209H 2209H Setting Description: Please refer to Sn208 Description  【5-3-4】 Sn210 S-type Speed Command Deceleration Time Setting (t Initial Value Unit Setting Range...
  • Page 430 Sn213 Speed Loop Gain 2【6-2】 Initial Value Unit Setting Range Effective Cn029 Reset 2 ~ 1500 RS-485 CANopen EtherCAT 020DH 220DH 220DH Setting Description: Please refer to Sn211 Description for Setting Method Sn214 Speed Loop Integration Time Constant 2【6-2】 Initial Value Unit Setting Range Effective...
  • Page 431 Sn216 Analog speed command proportioner  JSDG2S-E(L) does not have this  【5-3-2】 function Initial Value Unit Setting Range Effective Cn029 Reset Rated Speed rpm/10V 100 ~ 10000 RS-485 CANopen EtherCAT 0210H Setting Description: Used to adjust the slope of Voltage Command relative to the Speed Command. Note): This Parameter is the same as Tn109, with different Functions under different Modes Sn217 Analog speed command offset adjustment ...
  • Page 432  【5-3- Sn218 Analog speed command limit  JSDG2S-E(L) does not have this function 3】 Initial Value Unit Setting Range Effective Cn029 Reset 1.02* 100 ~ 1.5*Rated Rotational Rated Speed Speed RS-485 CANopen EtherCAT 0212H Setting Description: The user can set Sn218 to limit the Maximum Speed of the Analog Input. Sn226 Analog speed command filter【5-3-2】...

  • Page 433: Speed Control Parameters (Pn3□□)

    7-3-5 Speed Control Parameters (Pn3□□) Pn301.0 Position Pulse /command Pattern Selection【5-4-1】 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【5-4-1】...
  • Page 434 Pn301.3 Position Pulse Command Filter Width Selection【5-4-1】 Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 7 ★ 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【5-4-3】...
  • Page 435 Pn304 Electronic Gear Ratio Numerator 3【5-4-3】 Initial Value Unit Setting Range Effective Cn029 Reset 1 ~ 536870912 RS-485 CANopen EtherCAT 0306H/0307H 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...
  • Page 436 Pn307 Positioning Completed Determined Value【5-4-9】 Initial Value Unit Setting Range Effective Cn029 Reset One thousandth of a Revolution pulse 0 ~ 41943040 RS-485 CANopen EtherCAT 030CH/030DH 2307H 2307H Setting Description: When Position Error is lower than the pulse number set by Pn307 (Positioning Completed Determined Value), Digital Output Contact INP operates.
  • Page 437 Pn311 Position Loop Gain 2【6-2】 Initial Value Unit Setting Range Effective Cn029 Reset rad/s 1 ~ 2000 RS-485 CANopen EtherCAT 0311H 230BH 230BH Setting Description: Please refer to Pn310 Description for the Setting Method Pn312 Position Loop Feed Forward Gain【6-2】 Initial Value Unit Setting Range...
  • Page 438  【5-4- Pn314.0 Position Command Direction Definition (from Motor Load End) 5】 Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 1 ★ RS-485 CANopen EtherCAT 0314H 230EH 230EH Setting Description: Setting Description Clockwise Rotation (CW) Counterclockwise Rotation (CCW) Pn315.0 Pulse Error Clearing Mode【5-4-6】...
  • Page 439 Pn315.1 Origin reset offset method setting 【5-4-7】 Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 1 RS-485 CANopen EtherCAT 0314H 230EH 230EH Setting Description: Setting Description Move according to the origin offset (Pn320 & Pn321) as the new mechanical origin;...
  • Page 440 Pn315.3 Electronic gear ratio takes effect immediately flag 【5-5】 Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 1 RS-485 CANopen EtherCAT Setting Description: Setting Description Turn off the electronic gear ratio to take effect immediately Turn on the electronic gear ratio Pn306 and Pn354 to take effect immediately Pn316.0 Internal position command mode【5-4-2】...
  • Page 441 Pn316.2 Encoder Signal Dividing Output Phase【5-6-12】 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【5-6-12】...
  • Page 442 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 443 Pn317.1 After Found Origin Reference Point, the Moving Method Setting for Searching Mechanical Origin【5-4-7】 Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 2 RS-485 CANopen EtherCAT 0317H Setting Description: Setting Description After founding the Reference Origin, the Motor will with a second stage return speed to search the closest Phase...
  • Page 444 Pn317.3 Stop Mode Setting after the Mechanical Origin is Found【5-4-7】 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 445 Pn321 Number of Pulse of Return to Origin Offset【5-4-7】 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 ...
  • Page 446 Pn324 CNC tool magazine quantity setting【5-5】 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【5-5】 Initial Value Unit Setting Range Effective...
  • Page 447 Setting Description: Can select Filter Smoothing Time. Pn330 Pulse Command Moving Filter【5-4-4】 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 7-85...
  • Page 448 Pn331 Turret Magazine Backlash Compensation Parameters【5-5】 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【5-4- 4】 Initial Value Unit Setting Range Effective Cn029 Reset...
  • Page 449  【5- Pn333 Internal Position Command S-type Deceleration Constant (TDEC) 4-4】 Initial Value Unit Setting Range Effective Cn029 Reset 0.4ms 1 ~ 5000 RS-485 CANopen EtherCAT 032AH Setting Description: Please refer to PN322 description Pn334 PTRG Trigger Delay Time Parameter【5-4-2】 Initial Value Unit Setting Range...
  • Page 450 Pn337 Automatic Low Frequency Vibration Suppression Delay【6-5】 Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 1000 RS-485 CANopen EtherCAT 032EH 2325H 2325H Setting Description: Automatically detects the delay time of low frequency vibration frequency Pn338 Low Frequency Swinging Detection Level【6-5】...
  • Page 451  【6-5】 Pn341 Low frequency suppression frequency (second set) Initial Value Unit Setting Range Effective Cn029 Reset 1000 0.1Hz 10 ~ 1000 RS-485 CANopen EtherCAT 0332H 2329H 2329H Setting Description: Used to eliminate the Low Frequency Vibration generated by insufficient mechanism rigidity. ...
  • Page 452 Pn346.0 Full-closed loop function activation【5-6-13】 Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 1 ★ RS-485 CANopen EtherCAT 0337H 232EH 232EH Setting Description: Setting Description Close Activate Pn346.1 Full-closed loop origin signal source selection【5-6-13】 Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 1...
  • Page 453  【5-6-13】 Pn346.3 Full-closed loop function speed feedback selection Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 1 ★ RS-485 CANopen EtherCAT 0337H 232EH 232EH Setting Description: Setting Description Encoder Full-closed loop  【5-6-13】 Pn347 Maximum full-closed loop error Initial Value Unit Setting Range...
  • Page 454 Pn349 Full-closed loop operation direction setting【5-6-13】 Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 1 ★ RS-485 CANopen EtherCAT 033CH 2331H 2331H Setting Description: Setting Description Phase A leading phase B Phase B leading phase A  【5-6-16】 Pn350.0 Enable gantry synchronization function Initial Value Unit...
  • Page 455 Pn351 Gantry synchronization controller gain value【5-6-16】 Initial Value Unit Setting Range Effective Cn029 Reset rad/s 0 ~ 10000 RS-485 CANopen EtherCAT 033EH 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【5-6-16】...
  • Page 456 Pn356 Pulse Response Filter Initial Value Unit Setting Range Effective Cn029 Reset 1 ~ 1000 RS-485 CANopen EtherCAT 0345H Setting Description: Adjust the pulse command response, the larger the value, the faster the response. ※The recommended value is 2 times the position loop gain. Pn357 Positive software limit Initial Value Unit...
  • Page 457 Pn360 INP and tool number output delay time of Turret & Tool magazine Initial Value Unit Setting Range Effective Cn029 Reset ★ 0 ~ 10000 RS-485 CANopen EtherCAT 034CH Setting Description: When entering the INP condition and continuously meeting the set time, INP and tool number will be output.
  • Page 458 Pn379 Turret parameter 2 Initial Value Unit Setting Range Effective Cn029 Reset ★ 1 ~ 2500 RS-485 CANopen EtherCAT 035FH Setting Description: Turret parameter 2. Pn378 Turret parameter 3 Initial Value Unit Setting Range Effective Cn029 Reset ★ 1 ~ 2500 RS-485 CANopen EtherCAT...

  • Page 459: Control Parameter For Multi-Position Control (Pn4□□)

    7-3-6 Control Parameter for Multi-position Control (Pn4□□) Internal Position Command 1~32-Number of Revolutions【5-4-2】 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 460 Internal Position Command 1~32 - Number of Pulses【5-4-2】 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 461 Internal Position Command 1~32 - Moving Speed【5-4-2】 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 Paramete Parameter Parameter Name RS-485 Parameter Name RS-485...

  • Page 462: Shortcut Parameters (Qn5□□)

    7-3-7 Shortcut Parameters (qn5□□) qn501 Speed loop gain 1【6-2】 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【6-2】 Initial Value Unit Setting Range Effective Cn029 Reset...
  • Page 463 qn506 Position loop gain 2【6-2】 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【6-2】 Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 100 ◆...

  • Page 464: Multifunction Contact Planning Parameters (Hn6□□)

    7-3-8 Multifunction Contact Planning Parameters (Hn6□□) Hn601.0/Hn601.1 DI-1 Pin Function【5-6-1】 Initial Value Unit Setting Range Effective Cn029 Reset Change with Mode 00 ~ 2D ★ RS-485 CANopen EtherCAT 0501H 2601H 2601H Setting Description: Description Description Setting Setting Code Contact Operation Function Code Contact Operation Function Internal Position Command...
  • Page 465 Description Description Setting Setting Code Contact Operation Function Code Contact Operation Function Control mode selection 4 in tool SHOME Start to Return to Origin MDC4 magazine mode External Reference Origin KTI1 Turret input 1 Internal Position Command POS1 KTI2 Turret input 2 Selection 1 (tool number 1) Hn601.2 DI-1 Pin Function Operation Electric Potential【5-6-1】...
  • Page 466 Hn613.0/Hn613.1 DO-1 Pin Function【5-6-1】 Initial Value Unit Setting Range Effective Cn029 Reset Change with Mode 00 ~ 20 ★ RS-485 CANopen EtherCAT 050DH 260DH 260DH Setting Description: Description Description Setting Setting Code Contact Operation Function Code Contact Operation Function Encoder Battery Abnormality Not Used Signal Servo Ready...
  • Page 467  【5-6-1】 Hn614-Hn616 DO Pin Function Operation Potential (DO-2~DO-4)  【5-6-1】 Hn619-Hn622 DO Pin Function Operation Potential (DO-5~DO-8) Initial Value Unit Setting Range Effective Cn029 Reset Change with H0000 ~ H0119 ★ Mode RS-485 CANopen EtherCAT Please refer to the Please refer to the Please refer to the Table below...
  • Page 468 Hn618 Communication Control Digital Input Contact Status【5-6-1】 Initial Value Unit Setting Range Effective Cn029 Reset H0000 ~ H0FFF H0000 (Hexadecimal) RS-485 CANopen EtherCAT 0512H Setting Description: Determine the Contact State when the 12-bit Digital Input Contact uses communication control by the Bit Setting Method;...
  • Page 469  【5-6-1】 Hn623 Digital output contact control mode selection Initial Value Unit Setting Range Effective Cn029 Reset H0000 H0000 ~ H00FF RS-485 CANopen EtherCAT 0517H 2617H 2617H-- Setting Description: The output state of the digital output contact is determined by the bit setting method, and the bit setting adopts the binary conversion hexadecimal method.

  • Page 470: Cia 402 Parameters (Ec7□□)

    7-3-9 CiA 402 Parameters (EC7□□) En701 CiA 402 Position unit change (numerator) 【8-2-3】【8-3-3】 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.  【8-2-3】  【8-3-3】 En702 CiA 402 Position unit change (denominator) Initial Value Unit...
  • Page 471  【8-2-3】  【8-3-3】 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.  【8-2-3】  【8-3-3】 En706 CiA402 Acceleration unit change (denominator) Initial Value Unit...
  • Page 472 En709.0 Cia402 torque mode speed limit switching flag【8-3-3】 Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 1 Communication position Use Mode RS-485  0: The use of object 2104 (Tn105) is a limited value and can support SDO. ...
  • Page 473 7-3-10 Tuning parameters (tn8□□) tn826.0 AutoTuning enable option【6-3】 Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 2 RS-485 CANopen EtherCAT 131AH 2D1AH 2D1AH Setting description: Same as Cn059.0 Setting Description Disable AutoTuning Enable OFFLine-AutoTuning (Inertia, gain and resonance*2) Enable OnLine-AutoTuning (Inertia only display) tn827 OFFLine-tuning run command lap setting【6-3】...
  • Page 474 tn830.0 OFFLine-tuning load gain selection Initial value Unit Setting range Effective Cn029 reset 1 ~ 3 RS-485 CANopen EtherCAT 131EH 2D1EH 2D1EH Setting description: Setting Description Enable load inertia ratio gain judgement (low response mode) Enable load inertia ratio gain judgement (standard response mode) Enable load inertia ratio gain judgement (high response mode)
  • Page 475 tn831.0 OFFLine-tuning inertia ratio selection Initial value Unit Setting range Effective Cn029 reset 0 ~ 1 RS-485 CANopen EtherCAT 131FH 2D1FH 2D1FH Setting description: Setting Description Do not tune the load inertia ratio automatically Tune the load inertia ratio automatically tn832.0 Program Jog stoke running flag【4-4】...
  • Page 476 tn833 Program Jog stroke stop time【4-4】 Initial value Unit Setting range Effective Cn029 reset 2500 0.4ms 5 ~ 25000 RS-485 CANopen EtherCAT 1321H 2D21H 2D21H Setting description: Program Jog stroke stop time tn834 Program Jog stroke acceleration/deceleration time【4-4】 Initial value Unit Setting range Effective...
  • Page 477 tn837.0 On-line tuning flag Initial value Unit Setting range Effective Cn029 reset 0 ~ 1 RS-485 CANopen EtherCAT 1325H 2D25H 2D25H Setting description: Setting Description Disable the on-line tuning function Enable stroke operation to enable on-line tuning function tn837.1 On-line tuning load convergence selection Initial value Unit Setting range...
  • Page 478 tn838.0 Speed observer【6-12】 Initial value Unit Setting range Effective Cn029 reset 0 ~ 1 RS-485 CANopen EtherCAT 1326H 2D26H 2D26H Setting description: Setting Description Not used Speed observer tn839.0 Speed model reference control flag【6-10】 Initial value Unit Setting range Effective Cn029 reset 0 ~ 1 RS-485...
  • Page 479 tn842 Friction compensation control limit value【6-11】 Initial value Unit Setting range Effective Cn029 reset 0 ~ 100 RS-485 CANopen EtherCAT 132AH 2D2AH 2D2AH Setting description: Limits the maximum output of friction compensation control; if set as 100, then the restriction value is the rated current value.
  • Page 480 tn846 Disturbance observer filter constant【6-14】 Initial value Unit Setting range Effective Cn029 reset 0 ~ 1000 RS-485 CANopen EtherCAT 132EH 2D2EH 2D2EH Setting description: Disturbance observer filter constant tn847 Disturbance observer limit value【6-14】 Initial value Unit Setting range Effective Cn029 reset 0 ~ 100 RS-485 CANopen...
  • Page 481 tn850.0 Model tracking control switch【6-13】 Initial value Unit Setting range Effective Cn029 reset 0 ~ 1 RS-485 CANopen EtherCAT 1332H 2D32H 2D32H Setting description: Setting Description Disable model tracking control Enable model tracking control Note: It cannot be used if the encoder resolution is less than 17bit (not including 17bit) tn851 Model tracking control gain【6-13】...
  • Page 482 tn854 Torque feedforward smooth filter Initial value Unit Setting range Effective Cn029 reset 0~2500 RS-485 CANopen EtherCAT 1336H 2D36H 2D36H Setting description: Processes the torque feedforward command smoothly. tn855 Load inertia ratio【6-2】 Initial value Unit Setting range Effective Cn029 reset 0~2000 RS-485 CANopen...
  • Page 483 tn858 Speed circuit gain 1【6-2】 Initial value Unit Setting range Effective Cn029 reset 2 ~ 1500 RS-485 CANopen EtherCAT 133AH 2D3AH 2D3AH Setting description: Same as Sn211, the speed circuit gain determines the respond bandwidth of the speed control circuit directly;...
  • Page 484 tn862 Position circuit gain 1【6-2】 Initial value Unit Setting range Effective Cn029 reset rad/s 1 ~ 2000 RS-485 CANopen EtherCAT 133EH 2D3EH 2D3EH Setting description: Same as Pn310, under the premise of the machine system which is not generating vibration or noise, increase the position circuit gain value to increase response speed and shorten positioning time.Generally speaking, the position circuit bandwidth must not be higher than the speed circuit bandwidth;...

  • Page 485: E-Cam Parameteres (Ec9□□)

    7-3-11 E-Cam Parameteres (EC9□□) EC901 E-Cam function selection【5-6-15】 Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 2 RS-485 CANopen EtherCAT 1330H Setting Description: Setting Description Flying shear function Rotary cut function EC902.0 E-Cam main axle feedback source【5-6-15】 Initial Value Unit Setting Range Effective...
  • Page 486 EC903 E-Cam cutting quantity【5-6-15】 Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 65535 RS-485 CANopen EtherCAT 0803H Setting Description: Setting Description Unlimited 1-65535 Not Used EC904 E-Cam cutter quantity selection【5-6-15】 Initial Value Unit Setting Range Effective Cn029 Reset 1 ~ 4 RS-485 CANopen...
  • Page 487 EC907 Encoder resolution of E-Cam main axle【5-6-15】 Initial Value Unit Setting Range Effective Cn029 Reset 2500 1 ~ 32768 RS-485 CANopen EtherCAT 0807H Setting Description: Main axle (feeding axle) encoder resolution EC908 Encoder resolution of E-Cam Auxiliary axle【5-6-15】 Initial Value Unit Setting Range Effective...
  • Page 488 EC912 Distance between E-Cam Sensor to cutter point【5-6-15】 Initial Value Unit Setting Range Effective Cn029 Reset 0.1mm 1 ~ 50000 RS-485 CANopen EtherCAT 080CH Setting Description: Measure the distance between the sensor of item to be cut and the cutter point EC913 Acceleration/Deceleration smoothing constant of E-Cam S-curve【5-6- 15】...
  • Page 489 EC916 E-Cam auxiliary screw pitch【5-6-15】 Initial Value Unit Setting Range Effective Cn029 Reset 0.1mm 1 ~ 50000 RS-485 CANopen EtherCAT 0810H Setting Description: E-Cam auxiliary axle screw pitch EC917 Maximum proceeding distance of E-Cam rotary cut auxiliary axle【5-6- 15】 Initial Value Unit Setting Range Effective...
  • Page 490 EC920 Maximum return speed of E-Cam rotary cut【5-6-15】 Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 3000 RS-485 CANopen EtherCAT 081CH Setting Description: Set the maximum return speed of rotary cut. The program will run internal calculation by itself when the setting is 0.
  • Page 491 EC924 E-Cam rotary cut return origin return function【5-6-15】 Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 1 RS-485 CANopen EtherCAT 0820H Setting Description: Setting Description Original curve Return to Origin EC925 The number of points of the E-cam self-built curve【5-6-15】...
  • Page 492 EC928 E-cam cursor DI detection compensation amount【5-6-15】 Initial Value Unit Setting Range Effective Cn029 Reset -536870912 ~ 536870912 RS-485 CANopen EtherCAT 0825H/0826H  【5-6-15】 EC929 E-cam cursor DI detection compensation number Initial Value Unit Setting Range Effective Cn029 Reset 0 ~ 65535 RS-485 CANopen EtherCAT...
  • Page 493 EC932 E-cam cursor DI detection compensation amount【5-6-15】 Initial Value Unit Setting Range Effective Cn029 Reset Pulse -536870912 ~ 536870912 RS-485 CANopen EtherCAT 082AH/082BH  【5-6-15】 EC933 E-cam cursor DI signal filter length Initial Value Unit Setting Range Effective Cn029 Reset 0.01mm 1 ~ 500000 RS-485...

  • Page 494: Monitoring Parameters (Un-□□)

    7-3-12 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 495 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 Voltage is 310V. 060CH 280AH 280AH Un-11 External analog voltage limit value  JSDG2S-E does not have this function Unit Communication position Parameters description...
  • Page 496 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 command input under Servo ON condition. (After the power is 0619H 2814H 2814H on, the value is 0)
  • Page 497 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 498 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 499 Un-72 Turret monitoring parameter 2 Unit Communication position Parameters description RS-485 CANopen EtherCAT 0653H Un-73 Turret monitoring parameter 3 Unit Communication position Parameters description RS-485 CANopen EtherCAT 0654H Un-74 Turret monitoring parameter 4 Unit Communication position Parameters description RS-485 CANopen EtherCAT 0655H Un-75 Turret monitoring parameter 5...
  • Page 500 Un-90 Effective load rate Unit Communication position Parameters description RS-485 CANopen EtherCAT Effective load rate 0665H 285AH 285AH Un-91 Color mark distance Unit Communication position Parameters description RS-485 CANopen EtherCAT 0.1mm The travel distance of the spindle corresponding to two DI signals 0666H 285BH 285BH...
  • Page 501 Un-97 System unit volume position command Unit Communication position Parameters description RS-485 CANopen EtherCAT unit/PLS System unit volume position command 066EH 2861H 2861H 066FH 7-139...

  • Page 502: Diagnostic Parameters (Dn-□□)

    7-3-13 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 503: Mapping Parameters Value Display (Mda□□)

    7-3-14 Mapping Parameter Value Display (MdA□□) Parameter code Name and function RS-485 communication address Corresponds to parameter MAb01, displays the 1801H MdA01 MAb01 mapping parameter value 1802H Corresponds to parameter MAb02, displays the 1803H MdA02 MAb02 mapping parameter value 1804H Corresponds to parameter MAb03, displays the 1805H MdA03...
  • Page 504 7-3-15 Mapping Parameter Address Setting (MAb□□) Parameter code Name and function RS-485 communication address 1901H MAb01 Mapping parameterMAb01 address setting 1902H 1903H MAb02 Mapping parameterMAb02 address setting 1904H 1905H MAb03 Mapping parameterMAb03 address setting 1906H 1907H MAb04 Mapping parameterMAb04 address setting 1908H 1909H MAb05...
  • Page 505 Description: Set the RS485 address of the parameter to map; when completed, set MAb09 as 1. Two mapping addresses can be set as MAb01, but they cannot be set to the following types. Otherwise, AL.063 will be generated. One of them is long parameter address; the other is word parameter address or 0. Both addresses are long parameters, but they have two different long parameter addresses Note: After AL.063 is generated, the MdA01 parameter will display FFFFFFF 7-143...

  • Page 506: 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 ............8-9 8-1-4 Example of RS-485 communication position control ..........8-18 8-1-5 Example of RS-485 communication speed control ...........
  • Page 507 8-3-6-4 Profile Position (PP) ..................8-61  8-3-6-5 Profile Velocity (PV) ................... 8-66  8-3-6-6 Profile Torque (PT) ..................8-68  8-3-6-7 Cyclic Synchronous Position (CSP) ............8-70  8-3-6-8 Cyclic Synchronous Velocity (CSV) ............8-72  8-3-6-9 Cyclic Synchronous Torque (CST).............. 8-74  8-3-6-10 Homing Mode (HM) ................. 8-76  8-3-6-11 Digital I/O ....................

  • Page 508: 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 509 CN5 / CN6 Wiring method  JSDG2S-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 Functions vary by model JSDG2S-E: Communication Cable EtherCAT...

  • Page 510: 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 511 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 512 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 513  【5-6-1】 Hn623 Digital output contact control method selection Initial Value Unit Setting Range Effective RS-485 Address H0000 ~ H0FFF H’0000 Effective after Set 0517H (Hexadecimal) Setting description: Uses bit setting method to determine the contact output status of thedigital output, binary to hexadecimal conversion is used for the bit setting;...

  • Page 514: 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 515 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 516 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 517 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 518 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 519 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 520 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 521 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 522 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 523: Example Of Rs-485 Communication Position Control

    8-1-4 Example of RS-485 communication position control 1. Digital input pin definitions +24V power output DI power shared terminal Servo ON (SON) Abnormal alarm reset (ALRS) Internal position command selection 1 (POS1) Internal position command selection 2 (POS2) Internal position command selection 3 (POS3) Internal position command trigger (PTRG) Emergency stop (EMC) Start returning to origin (SHOME)
  • Page 524 2. Setting parameters Parameters Description Setting Description Cn001 Control mode selection Internal position control Do not use digital input contactsCCWL andCWL to Cn002.1 Auxiliary function-input controlforwardandreverse directiondrive prohibited, (according to contact CCWL and CWL ignore theforwardandreverse directiondrive prohibited customer needs) function selection function Cn036...
  • Page 525 3. Control and monitor parameters Parameters Description Address Initial value Unit Internal position command 1- lap Pn401 0701H number Internal position command 1- pulse Pn402 0702H/0703H pulse number Internal position command 1- Pn403 0704H moving speed Communication control digital input Hn618 0512H contact status...
  • Page 526 ● Stop internal JOG, control SPD1 OFF: Hn618 = H0001 [DI-01 (SON)=ON, DI-06 (SPD1)=OFF] Send: 01 06 05 12 00 01 E8 C3 (the last two 2 codes are CRC) ● Control return to the origin start, control SHOME ON: Hn618 = H0201 (after touching ORG, go look for Z) [DI-01(SON)=ON, DI-10(SHOME)=ON] Send: 01 06 05 12 02 01 E9 A3 (the last 2 codes are CRC)

  • Page 527: Example Of Rs-485 Communication Speed Control

    8-1-5 Example of RS-485 communication speed control 1. Definitions of default digital input pins Servo ON (SON) Abnormal alarm reset (ALRS) PI/P switch (PCNT) CCW direction drive prohibited (CCWL) CW direction drive prohibited (CWL) External torque limit (TLMT) Speed command reverse (SPDINV) Servo stop (LOK) Emergency stop (EMC) Internal speed command selection 1 (SPD1)
  • Page 528 Parameters Description Setting Description Speed command one-time smooth Sn206 Unit: ms acceleration/deceleration time constant Speed command straight line Sn207 acceleration/deceleration Unit: ms constant S-type speed command Sn208 acceleration/deceleration time Unit: ms setting S-type speed command Sn209 Unit: ms acceleration time setting S-type speed command Sn210 Unit: ms...

  • Page 529: Example Of Rs-485 Communication Torque Control

    8-1-6 Example of RS-485 communication torque control 1. Definitions of default digital input pins Servo ON (SON) Abnormal alarm reset (ALRS) PI/P switch (PCNT) CCW direction drive prohibited (CCWL) CW direction drive prohibited (CWL) External torque command forward/reverse selection 1 (RS1) External torque command forward/reverse selection 2 (RS2) Torque command reverse (TRQINV) Emergency stop (EMC)
  • Page 530 3. Control and monitor parameters Parameters Description Address Initial value Unit Tn105 Internal speed limit 1 0105H Tn113 Digital torque command value 010DH 0.1% Communication control digital input Hn618 0512H contact status Un-01 Actual motor speed 0601H Un-02 Actual motor torque 0602H Un-30 Digital output contact status (Do)

  • Page 531: Canopen Communication Function  Only Jsdg2S Contains This 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 532: Canopen Parameter Setting

    8-2-3 CANopen Parameter Setting Cn001 Control Mode Selection Initial Value Unit Setting Range Effective RS-485 Address 0 ~ E 0001H Power Re-set 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 533 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 534 En702 Position unit change (denominator) Initial Value Unit Setting Range Effective RS-485 Address 1 ~ 536870911 Effective after Set Setting description: Same function as CiA402 object 6093 subobject 2. En703 Speed unit change (numerator) Initial Value Unit Setting Range Effective RS-485 Address 1 ~ 536870911 Effective after Set...

  • Page 535: 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 536 Boot up Initialization (15) Reset application (10) (11) (16) Reset communication (14) Pre-operation mode (13) Stop mode Operation mode 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)
  • Page 537 Service data Object SDO Object dictionary bridges application and communication. All data entries of CANopen equipment are managed by the object dictionary. Each object dictionary entry can be addressed by index or subindex. CANopen defines the parameter setting of SDO mainly using on the master node to the slave node.
  • Page 538 described from a specific slave angle. For example: I/O equipment transmits its input data in TPDO; for equipment receives this TPDO data, this TPDO is the device’s RPDO. CAN identifier of PDO CANopen protocol has pre-defined default identifiers for TPDO 1~4 and RPDO 1~4 according to node ID.
  • Page 539 Transmission type Transmission type description Note The master station transmits one synchronous message to the slave station every synchronous cycle. When RPDO data changes, RPDO data is transmitted to the slave station and the data received from the Synchronously RPDO slave station becomes valid until receiving the next synchronous non-cyclic message.
  • Page 540  Time of prohibition The function of time of prohibition equals to PDO sending filtering program. When PDO input data changes for the first time, this PDO data will be sent directly without any delay. After that, if PDO changes again, PDO transmission will not be triggered immediately. Time of prohibition defines the least time interval when sending two PDO with same CAN identifiers;...

  • Page 541: 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 542: Ethercat Overview

    8-3 EtherCAT communication function  Only JSDG2S-E(L) contain 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 543 EtherCAT connection indicator (LINK/ACTIVITY) Indicator Status Description Not connected Connection not established Connection established but no data Connected transmission Data transmitting; the indicator flickers Network connected and data Flickering with a frequency of 50ms ON, 50ms transmitting EtherCAT operation indicator (RUN) Indicator Status Description...
  • Page 544 EtherCAT error indicator (ERR) Indicator Status Description No error EtherCat communication normal CPU response timeout (PDI CPU did not respond to the Ethercat Watchdog timeout) communication in time Parameter setting error, causing the system to be unable to switch status; please Invalid Blinking confirm the control program.

  • Page 545: Ethercat Parameter Setting

    8-3-3 EtherCAT Parameter Setting Cn001 Control Mode Selection Initial Value Unit Setting Range Effective RS-485 Address 0 ~ E Re-start Power 0001H Setting Description: Setting Description EtherCAT Mode En701 CiA402 Position unit change (numerator) Initial Value Unit Setting Range Effective RS-485 Address 1 ~ 536870911 Effective after Set...
  • Page 546 En705 CiA402 Acceleration unit change (numerator) Initial Value Unit Setting Range Effective RS-485 Address 1 ~ 536870911 Effective after Set Setting description: Same function as CiA402 object 6097 subobject 1. En706 CiA402 Acceleration unit change (denominator) Initial Value Unit Setting Range Effective RS-485 Address 1 ~ 536870911...
  • Page 547 En711 unit conversion (denominator) 【8-3-3】 Initial Value Unit Setting Range Effective Cn029 reset 0 ~ 536870911 Setting description: Same function as CiA402 object 6091 sub-object 2. En712 CiA402 positioning completed determination value【8-3-3】 Initial Value Unit Setting Range Effective Cn029 reset 0 ~ 536870911 Setting description: Same function as CiA402 object 6067.

  • Page 548: Ethercat Status Display

    8-3-4 EtherCAT Status Display Under EtherCAT mode, the servo driver provides status display page and the Keypad panel shows current communication status. There are three parts in the display panel; 7-segment display from left to right are: communication status, control mode status and servo driver status. Communication status Control mode Servo driver status...
  • Page 549 (2) EtherCAT control mode EtherCAT protocol provides various control modes for users. Use the second 7-segment display from the left of Keypad panel as its status. The following list shows each mode and corresponding numbers the driver supports now. Number displayed Control Mode none IP (Only for CANopen model)
  • Page 550 (4) Servo driver communication alarm EtherCAT/CANopen communication CiA402 error AL.029 0xff00-80-0029 disconnected code EtherCAT communication disconnected. EtherCAT communication cable fell off. Poor EtherCAT communication quality. Cause of CANopen communication error count exceeded the setting of Cn095. alarm CANopen communication cable fell off. Terminal resistance not added to the CANopen communication circuit of the final driver.
  • Page 551 EtherCAT/CANopen communication CiA402 error AL.043 0xff04-80-0043 mode abnormal Son code Cause of After using PDO of EtherCAT/CANopen communication, the use of the non- alarm CiA402 protocol method SON is prohibited. Inspection and Do not use the JOG function and power connection Son function after Handling EtherCAT/CANopen mode is connected.
  • Page 552 EtherCAT CSP and IP position CiA402 error AL.054 0xff00-80-0054 command incremental error code Cause of The position command increment exceeded 6600rpm in a single time alarm Inspection and Confirm whether the encoder resolution matches the position command. Handling Methods to Switch reset clear alarms EtherCAT synchronization manager...
  • Page 553 EtherCAT/CANopen ControlWord CiA402 error AL.072 0xff00-80-0072 input error code The upper controller inputs ControlWord; the input should have an appropriate Cause of value assigned that corresponds to the movement mode. This error will occur if the alarm wrong value is assigned. Inspection and Please refer to the CiA402 movement control mode.

  • Page 554: 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 JSDG2S-E servo driver can provide for using and related settings. (2) Communication specification...
  • Page 555 (3) Communication structure EtherCAT communication can be applied to various application protocols. The application layer protocol which JSDG2S-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 556 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. Symbol Direction (=>) Corresponding action description INIT TO PREOP Start Mailbox communication PREOP TO INIT Stop Mailbox communication...
  • Page 557 (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 558 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 559: Ethercat Servo Control

    8-3-6 EtherCAT servo control JSDG2S-E servo driver’s subprotocol to EtherCAT communication support is CANopen over EtherCAT(Co-E). Therefore, when using CiA402 protocol of CANopen, the user can achieve the control over JSDG2S-E servo driver through the setting of object dictionary. 8-3-6-1 State Machine A state machine is designed in CiA402 protocol;...
  • Page 560 [Before Shift]→ [After] Event / Action Event: Execute automatically after servo driver control power [Start] → [Not ready to Switch on] is activated. Action: Servo driver operation initialization. [Not ready to Switch on] → [Switch on Event: Automatic execution. Disabled] Action: Servo driver allows communication.
  • Page 561 ● 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 562 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 JSDG2S-E servo driver has changed. Controlword Statusword [Before Shift]->[After] (6040h)

  • Page 563: 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 564 After the user inputs the setting mode to Object 6060h, when he/she wants to check if JSDG2S-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 565: Unit Condition

    8-3-6-3 Unit Condition JSDG2S-E servo drivers has the system unit used by the system. The user can directly choose to use that unit or change the unit through setting the unit condition object (6093h, 6095h, 6097h). After finishing the unit change setting, for objects using that unit, the user can directly type in the customized unit value.

  • Page 566: 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 JSDG2S-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 JSDG2S-E servo driver system will automatically generate the operation travel based on these parameter settings.
  • Page 567 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 568 In PP mode, the definition of the control object 0x6040 (Control Word) is as follows: 1. Bit4 = New Set-point, the function is to inform the drive that it needs to receive a new command. 2. Bit8 = Halt, the function is to request the motor to stop running. Control Word (6041h) bit Name Value...
  • Page 569 reached).  C point: The controller will read the position of the current motor (object 0x6064 Positon Actual Vaule), and fill it into the position command (object 0x607A Target Position). Controller settings to Change Set Immediately and New Set-Point notify the driver that it needs to receive new commands and this command will be an immediate command.
  • Page 570 ● Operation: 1. Set “6060h” as profile position mode (6060h = 01h). 2. Set “607Ah” as the target position. (Unit: Pos Unit) 3. Set ”6081h” velocity. (Unit: Vel Unit) 4. Set “6083h” acceleration slope. (Unit: Acc Unit) 5. Set “6084h” deceleration slope. (Unit: Acc Unit) 6.

  • Page 571: 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 JSDG2S-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 572 ● Related object: Data Object Subobject Name Access Unit Type mapping 6040h Control Word UINT 605Ah Quick stop option code 606Dh Velocity window UINT Vel unit 606Eh Velocity window time UINT Vel unit 607Fh Max Profile Velocity UDINT Vel unit 6083h Profile Acceleration UDINT...

  • Page 573: 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 Motor...
  • Page 574 ● Related object: Data Object Subobject Name Access Unit Type mapping CCW Direction Torque 200Ah Command Limit Value CCW Direction Torque 200Bh Command Limit Value 6040h Control Word UINT 6071h Target torque 0.1% ms from 0 to 6087h Torque slope UDINT 100% rated torque 6041h...

  • Page 575: 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. [0.1%] Torque offset (60B2h) Velocity...
  • Page 576 ● Related object: Data Object Subobject Name Access Unit Type mapping 6040h Control Word UINT 605Ah Quick stop option code 6065h Following error window UDINT Pos unit 6066h Following window time out UINT 607Ah Target Position DINT Pos unit 6085h Quick stop deceleration UDINT Acc unit...

  • Page 577: 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 JSDG2S-E servo driver will generate commands by linear interpolation to process speed control. Torque offset (60B2h) [0.1%] Velocity offset (60B1h)
  • Page 578 ● Related object: Object Subobject Name Access Data Type Unit mapping 6040h Control Word UINT 605Ah Quick stop option code Vel unit 606Dh Velocity window UINT Vel unit 606Eh Velocity window time UINT Vel unit 607Fh Max Profile Velocity UDINT Vel unit 60B1h Velocity Offset...

  • Page 579: 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 JSDG2S-E servo driver will generate commands by linear interpolation to process torque control. [0.1%] Target torque (6071h) Torque...
  • Page 580 ● Related object: Subobjec Data Object Name Access Unit Type mapping CCW Direction Torque Command 200Ah Limit Value CCW Direction Torque Command 200Bh Limit Value 6040h Control Word UINT 6071h Target torque 0.1% 60B2h Torque Offset 0.1% 6041h Status Word UINT 6063h Position actual internal value...

  • Page 581: Homing Mode (Hm)

    8-3-6-10 Homing Mode (HM) There are 30 ways of Return to origin for JSDG2S-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 582 Homing method Stop Start direction Return signal Zero point signal (6098h) direction dependent on home switch negative negative limit, positive home Encoder Z puls dependent on home switch positive negative limit, negative home Encoder Z puls dependent on home switch negative negative limit, negative home Encoder Z puls...
  • Page 583 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 Control Word (6041h) bit Name Value Description...
  • Page 584  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 585  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  8-80...
  • Page 586  Method 7 to 14 : Homing on the home switch and index pulse   Method 19 to 20 : Homing without an index pulse.    8-81...
  • Page 587  Method 33 to 34 : Homing on the index pulse.   Method 35 & 37: 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 588: Digital I/O

    8-3-6-11 Digital I/O When using EtherCAT communication, JSDG2S-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 JSDG2S-E servo driver.
  • Page 589 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 1: Remove original DO function 1: Retain original DO function DO-3 1: Enable 2: Disable...

  • Page 590: Touch Probe

    8-3-6-12 Touch Probe JSDG2S-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. JSDG2S-E servo driver supports 2 sets of Touch Probe function objects and both positive and negative edges are possible to set.
  • Page 591 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 592 ● Operation: There are two modes available for JSDG2S-E servo driver Touch Probe function: single triggering and continuous triggering. 1. Single triggering mode 2. Continuous triggering mode 8-87...
  • Page 593 ● Related item: Data Object Subobject Name Access type mapping 60B8h Touch probe function UINT 60B9h Touch probe state UINT 60BAh Touch probe1 positive edge position stored DINT 60BBh Touch probe1 negative edge position stored DINT 60BCh Touch probe1 positive edge position stored DINT 60BDh Touch probe1 negative edge position stored...

  • Page 594: Emergency Stop

    8-3-6-13 Emergency Stop (6-1) Failure shutdown When error alarm occurs, JSDG2S-E(L) servo driver will immediately switch the state machine to Switch On Disable status and turn JSDG2S-E(L) servo driver to Servo OFF right away; at this time, the dynamic brake becomes valid to stop motor operation. (6-2) Quick shutdown According to the Shutdown command given to the state machine by the user, JSDG2S-E(L) servo driver can rapidly stop motor operation and turn JSDG2S-E(L) servo driver to Servo OFF.

  • Page 595: Restoration

    8-3-6-14 Restoration When JSDG2S-E servo driver generates errors, it is possible to acquire CiA402 error code from Object 603Fh. Based on this error code, the user can check the list to identify the corresponding error alarm code and alarm clearing method. Signal reset can give Fault Reset command (80h) to Object 6040h;...

  • Page 596: 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 597 (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 1 bit 1 or 0 Unsigned 8 USINT 1 byte...
  • Page 598 (3) Object 1003h: Pre-defined error field INDEX 1003 Name Pre-defined error field Object Code RECORD Data Type UNSIGNED32 Access PDO Mapping Sub-Index Description Number of entries Data Type UNSIGNED8 Access PDO Mapping ValueRange 0x0A Default Value 0x0A Sub-Index 1~10 Description standard error field Data Type UNSIGNED32...
  • Page 599 (6) Object 1008h：Manufacturer device name INDEX 1008 Name Manufacturer device name Object Code Data Type STRING Access PDO Mapping ValueRange Default Value (7) Object 100Ah：Manufacturer software version INDEX 100A Name Manufacturer software version Object Code Data Type STRING Access PDO Mapping ValueRange Default Value (8) Object 100Ch：Gurad Time...
  • Page 600 Access PDO Mapping Sub-Index Description number of entries Data Type UNSIGNED8 Access PDO Mapping ValueRange Default Value Sub-Index Description Save all parameters Data Type UNSIGNED32 Access PDO Mapping ValueRange UNSIGNED32 Default Value 0x00000001 (11) Object 1014h：Emergency COB ID INDEX 1014 Name Emergency COB ID Object Code...
  • Page 601 Sub-Index Description Consumer Heartbeat Time Data Type UNSIGNED32 Access PDO Mapping ValueRange UNSIGNED32 Default Value 0x00000000 (13) Object 1017h：Producer Heartbeat Time INDEX 1017 Name Producer Heartbeat Time Object Code Data Type UNSIGNED16 Access PDO Mapping ValueRange UNSIGNED16 Default Value 0x0000 (14) Object 1018h：Store parameters INDEX 1018...
  • Page 602 ValueRange UNSIGNED32 Default Value 0x47325300 Sub-Index Description Revisionnumber Data Type UNSIGNED32 Access PDO Mapping ValueRange UNSIGNED32 Default Value 0x0001000 (15) Object 1200h：Server SDO parameter (no support) INDEX 1200 Name Server SDO parameter Object Code Record Data Type SDO Parameter Access PDO Mapping Sub-Index Description...
  • Page 603 Object Code RECORD Data Type Access PDO Mapping Sub-Index Description largest sub-index supported Data Type UNSIGNED8 Access PDO Mapping ValueRange Default Value Sub-Index Description COB-ID used by PDO Data Type UNSIGNED32 Access PDO Mapping ValueRange UNSIGNED32 Default Value Index 1400 ：200 + Node-ID Index 1401...
  • Page 604 Value Range 0：deactivated 1~4：activated Default Value Sub-Index Description PDO mapping for the nth application object to be mapped Data Type UNSIGNED32 Access PDO Mapping ValueRange UNSIGNED32 Default Value 8-99...
  • Page 605 (18) Object 1800h~1803h: Transmit PDO Communication Parameter INDEX 1800 ~1803 Name transmit PDO parameter Object Code RECORD Data Type Access PDO Mapping Sub-Index Description largest sub-index supported Data Type UNSIGNED8 Access PDO Mapping ValueRange Default Value Sub-Index Description COB-ID used by PDO Data Type UNSIGNED32 Access...
  • Page 606 Sub-Index Description inhibit time Data Type UNSIGNED16 Access PDO Mapping ValueRange UNSIGNED16 Default Value Sub-Index Description reserved Data Type UNSIGNED8 Access PDO Mapping ValueRange UNSIGNED8 Default Value Sub-Index Description event timer Data Type UNSIGNED16 Access PDO Mapping ValueRange UNSIGNED16 Default Value (19) Object 1A00h~1A03h: Transmit PDO Mapping Parameter INDEX 1A00...
  • Page 607 Sub-Index Description PDO mapping for the nth application object to be mapped Data Type UNSIGNED32 Access PDO Mapping ValueRange UNSIGNED32 Default Value EtherCAT communication object (1) Object 1000h：Device type INDEX 1000 Name device type Object Code Data Type UNSIGNED32 Access PDO Mapping ValueRange UNSIGNED32...
  • Page 608 (4) Object 100Ah：Manufacturer software version INDEX 100A Name Manufacturer software version Object Code Data Type STRING Access PDO Mapping ValueRange Default Value (5) Object 1010h：Store parameters INDEX 1010 Name Store parameters Object Code ARRAY Data Type UNSIGNED32 Access PDO Mapping Sub-Index Description number of entries...
  • Page 609 Sub-Index Description number of entries Data Type UNSIGNED8 Access PDO Mapping ValueRange UNSIGNED8 Default Value Sub-Index Description Vendor-ID Data Type UNSIGNED32 Access PDO Mapping ValueRange UNSIGNED32 Default Value 0x0000081B Sub-Index Description Product code Data Type UNSIGNED32 Access PDO Mapping ValueRange UNSIGNED32 Default Value 0x47322D45...
  • Page 610 Sub-Index Description number of entries Data Type UNSIGNED8 Access PDO Mapping ValueRange UNSIGNED8 Default Value Sub-Index Description Local Error Reaction Data Type UNSIGNED32 Access PDO Mapping ValueRange UNSIGNED32 Default Value 0x00000001 Sub-Index Description Sync Error Counter Limit Data Type UNSIGNED16 Access PDO Mapping ValueRange...
  • Page 611 PDO Mapping ValueRange UNSIGNED32 Default Value (9) Object 1A00h~1A03h: Transmit PDO Mapping Parameter INDEX 1A00 ~1A03 Name Transmit PDO mapping Object Code RECORD Data Type PDO Mapping Access PDO Mapping Sub-Index Description Number of objects in this PDO Data Type UNSIGNED8 Access PDO Mapping...
  • Page 612 Sub-Index Description Index of assigned RxPDO1 Data Type UNSIGNED16 Access PDO Mapping ValueRange UNSIGNED16 Default Value 0x1601 (11) Object 1C13h：TxPDO assign INDEX 1C13 Name TxPDO assign Object Code ARRAY Data Type UNSIGNED16 Access PDO Mapping Sub-Index Description Number of assigned PDOs Data Type UNSIGNED8 Access...
  • Page 613 Sub-Index Description Synchronization Type Data Type UNSIGNED16 Access PDO Mapping ValueRange UNSIGNED16 Default Value Sub-Index Description Cycle Time Data Type UNSIGNED32 Access PDO Mapping ValueRange UNSIGNED32 Default Value 0x003D0900 Sub-Index Description Synchronization Type supported Data Type UNSIGNED16 Access PDO Mapping ValueRange UNSIGNED16 Default Value...
  • Page 614 Sub-Index Description Number of entries Data Type UNSIGNED8 Access PDO Mapping ValueRange Default Value Sub-Index Description Synchronization Type Data Type UNSIGNED16 Access PDO Mapping ValueRange UNSIGNED16 Default Value Sub-Index Description Cycle Time Data Type UNSIGNED32 Access PDO Mapping ValueRange UNSIGNED32 Default Value 0x003D0900 Sub-Index...
  • Page 615 Default Value 0x000124FB Cia402 application object (1) Object 603Fh:Error code INDEX 603F Name Error code Object Code Data Type UNSIGNED 16 Access PDO Mapping Value Range UNSIGNED 16 Default Value (2) Object 6040h:Control word INDEX 6040 Name Control word Object Code Data Type UNSIGNED 16 Access...
  • Page 616 Description Support Ready to switch on Switch on Operation enabled Fault Voltage enabled Quick stop Switch on disable Warning Manufacturer specific Remote Target reached Internal limit active 12 - 13 Operation mode specific Manufacturer specific Return to zero completed (for V1.5 & above) (4) Object 605Ah: Quick stop option code INDEX 605A...
  • Page 617 (6) 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 (7) Object 605Dh: Halt option code INDEX...
  • Page 618 (9) 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：Profile Position Mode 3：Profile Velocity Mode 4 : Profile Torque Mode Value Range 6：Homing Mode 8：Cyclic synchronous position mode 9：Cyclic synchronous velocity mode A ：...
  • Page 619 (12) 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 (13) Object 6065h: Position error window INDEX 6065 Name Position error window Object Code Data Type...
  • Page 620 (16) 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 (17) Object 606Bh: Velocity demand value INDEX 606B Name Velocity demand value Object Code Data Type INTEGER 32...
  • Page 621 (20) 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 (21) Object 606Fh: Velocity threshold INDEX 606F Name Velocity threshold Object Code Data Type UNSIGNED 16...
  • Page 622 (24) Object 6072h: Max torque INDEX 6072 Name Max torque Object Code Data Type Unsigned16 Access PDO Mapping Value Range Unsigned16 Default Value Comment Unit: 0.1% (25) Object 6074h: Target demand value INDEX 6074 Name Target demand value Object Code Data Type INTEGER 16 Access...
  • Page 623 (28) Object 6078h: Current actual value INDEX 6078 Name Current actual value Object Code Data Type INTEGER 16 Access PDO Mapping Value Range INTEGER 16 Default Value Comment Unit: Per thousand of rated current (29) Object 607Ah: Target position INDEX 607A Name Target position...
  • Page 624 (32) 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 (33) Object 6081h: Profile velocity INDEX 6081 Name Profile velocity Object Code Data Type...
  • Page 625 (36) 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 (37) Object 6087h: Torque Slope INDEX 6087 Name Torque Slope Object Code Data Type UNSIGNED 32...
  • Page 626 Sub-Index Description Motor revolutions Data Type UNSIGNED 32 Access PDO Mapping ValueRange UNSIGNED 32 Default Value (39) Object 6091h: Gear ratio INDEX 6091 Name Gear ratio Object Code ARRAY Data Type UNSIGNED 32 Access PDO Mapping Value Range UNSIGNED 32 Sub-Index Description Number of entries...
  • Page 627 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 Data Type UNSIGNED 32 Access PDO Mapping ValueRange UNSIGNED 32 Default Value Parameter No.
  • Page 628 Default Value Sub-Index Description Numerator Data Type UNSIGNED 32 Access PDO Mapping ValueRange UNSIGNED 32 Default Value Parameter No. En703 Sub-Index Description Feed constant Data Type UNSIGNED 32 Access PDO Mapping ValueRange UNSIGNED 32 Default Value Parameter No. En704 (42) Object 6097h: Acceleration factor INDEX 6097 Name...
  • Page 629 Sub-Index Description Feed constant Data Type UNSIGNED 32 Access PDO Mapping ValueRange UNSIGNED 32 Default Value Parameter No. En706 (43) Object 6098h: Homing method INDEX 6098 Name Homing method Object Code Data Type INTEGER 8 Access PDO Mapping Value Range 0~35 Default Value (44) Object 6099h: Homing speeds...
  • Page 630 Sub-Index Description Speed during search for zero Data Type UNSIGNED 32 Access PDO Mapping Value Range UNSIGNED 32 Default Value 50000 Comment Unit: Vel. Unit (45) Object 609Ah: Homing acceleration INDEX 609A Name Homing acceleration Object Code Data Type Unsigned32 Access PDO Mapping Value Range...
  • Page 631 (48) Object 60B2h: 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% (49) Object 60B8h: Touch probe function INDEX 60B8 Name Touch probe function Object Code Data Type UNSIGNED 16...
  • Page 632 (52) 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 (53) Object 60BCh: Touch probe1 positive edge position stored INDEX 60BC Name...
  • Page 633 Sub-Index Description Number of entries Data Type UNSIGNED 8 Access PDO Mapping Value Range Default Value Sub-Index Description The first parameter of ip function Data Type SIGNED 32 Access PDO Mapping Value Range SIGNED 32 Default Value (56) Object 60C2h: Digital Output INDEX 60C2 Name...
  • Page 634 Value Range SIGNED 8 Default Value (57) Object 60E0h: Positive torque limit value INDEX 60E0 Name Positive torque limit value Object Code Data Type UNSIGNED 16 Access PDO Mapping Value Range UNSIGNED 16 Default Value 3000 Comment Unit: 0.1% (58) Object 60E1h: Negative torque limit value INDEX 60E1 Name...
  • Page 635 (61) Object 60FDh: Digital input INDEX 60FD Name Digital input Object Code Data Type UNSIGNED32 Access PDO Mapping Value Range UNSIGNED 32 (62) Object 60FEh: Digital output INDEX 60FE Name Digital output Object Code ARRAY Data Type UNSIGNED 32 Access PDO Mapping Sub-Index Description...
  • Page 636 (63) Object 60FFh: Target Velocity INDEX 60FF Name Target Velocity Object Code Data Type INTEGER32 Access PDO Mapping Value Range INTEGER32 Default Value Comment Unit: Vel. Unit (64) Object 6502h: Supported drive modes INDEX 6502 Name Supported drive modes Object Code Data Type UNSIGNED 32 Access...
  • Page 637 (67) Object 2F04h: Torque Mode Speed Limit INDEX 2F04 Name Torque Mode Speed Limit Object Code Data Type Unsigned32 Access PDO Mapping Value Range Unsigned32 Default Value Comment Unit：rpm (68) Object 3001h: System Alarm INDEX 3001 Name System Alarm Object Code Data Type Unsigned16 Access...

  • Page 638: Summary List Of Objects

    8-3-8 Summary List of Objects 8-3-8-1 Summary List – CANopen communication objects Supported mode Saving Param Data Lower Index Subindex Name Access Default Value Unit eter Upper Limit Type Mapping Limit EEPROM ● 1000h Device type UDINT 0x00020192 ● 1001h Error register USINT Pre-defined error field...
  • Page 639 Supported mode Saving Param Data Lower Index Subindex Name Access Default Value Unit eter Upper Limit Type Mapping Limit EEPROM Largest subindex ● USINT supported 0x000 ● Save all parameter UDINT 0x00000001 0x00000001 00000 0x00000080 + ● 1014h Emergency COB ID UDINT Node-ID Consumer Heartbeat Time...
  • Page 640 Supported mode Saving Param Data Lower Index Subindex Name Access Default Value Unit eter Upper Limit Type Mapping Limit EEPROM Receive PDO3 parameter ● Number of entries USINT 1402h 0x00000400 + ● COB-ID used by PDO UDINT Node-ID ● Transmission type USINT Receive PDO4 parameter Number of entries...
  • Page 641 Supported mode Saving Param Data Lower Index Subindex Name Access Default Value Unit eter Upper Limit Type Mapping Limit EEPROM ● Mapping entry 5 UDINT 0x000000000 0xFFFFFFFF ● Mapping entry 6 UDINT 0x000000000 0xFFFFFFFF ● Mapping entry 7 UDINT 0x000000000 0xFFFFFFFF ●...
  • Page 642 Supported mode Saving Param Data Lower Index Subindex Name Access Default Value Unit eter Upper Limit Type Mapping Limit EEPROM Transmit PDO1 Communication Parameter ● Number of entries USINT 0x00000180 + ● COB-ID used by PDO UDINT Node-ID ● 1800h Transmission type USINT ●...
  • Page 643 Supported mode Saving Param Data Lower Index Subindex Name Access Default Value Unit eter Upper Limit Type Mapping Limit EEPROM ● Transmission type USINT ● inhibit time UINT 0x0064 ● reserved USINT 0x00 ● event timer UINT 0x0064 1st Transmit PDO Mapping Number of objects in USINT ●...
  • Page 644 Supported mode Saving Param Data Lower Index Subindex Name Access Default Value Unit eter Upper Limit Type Mapping Limit EEPROM 3rd Transmit PDO Mapping Number of objects in ● USINT this PDO ● Mapping entry 1 UDINT 0x60410010 0xFFFFFFFF ● Mapping entry 2 UDINT 0x60640020...

  • Page 645: Summary List - Ethercat Communication Objects

    8-3-8-2 Summary List – EtherCAT communication objects Supported mode Saving Param Data Lower Index Subindex Name Access Default Value Unit eter Upper Limit Type Mapping Limit EEPROM ● 1000h Device type UDINT 0x00020192 ● 1008h Device name STRING JSDG2-E ● 1009h Hardware version STRING...
  • Page 646 Supported mode Saving Param Data Lower Index Subindex Name Access Default Value Unit eter Upper Limit Type Mapping Limit EEPROM ● Mapping entry 5 UDINT 0xFFFFFFFF ● Mapping entry 6 UDINT 0xFFFFFFFF ● Mapping entry 7 UDINT 0xFFFFFFFF ● Mapping entry 8 UDINT 0xFFFFFFFF 2nd Receive PDO Mapping...
  • Page 647 Supported mode Saving Param Data Lower Index Subindex Name Access Default Value Unit eter Upper Limit Type Mapping Limit EEPROM 4th Receive PDO Mapping Number of objects in ● USINT this PDO ● Mapping entry 1 UDINT 0x60400010 0xFFFFFFFF ● Mapping entry 2 UDINT 0x60600008...
  • Page 648 Supported mode Saving Param Data Lower Index Subindex Name Access Default Value Unit eter Upper Limit Type Mapping Limit EEPROM ● Mapping entry 3 UDINT 0xFFFFFFFF ● Mapping entry 4 UDINT 0xFFFFFFFF ● Mapping entry 5 UDINT 0xFFFFFFFF ● Mapping entry 6 UDINT 0xFFFFFFFF ●...
  • Page 649 Supported mode Saving Param Data Lower Index Subindex Name Access Default Value Unit eter Upper Limit Type Mapping Limit EEPROM ● Mapping entry 7 UDINT 0xFFFFFFFF ● Mapping entry 8 UDINT 0xFFFFFFFF RxPDO assign Number of assigned USINT ● 1C12h PDOs Index of assigned 0x160...
  • Page 650 8-3-8-3 Summary List – CiA402 application objects Supported mode Saving Param Data Lower Index Subindex Name Access Default Value Unit eter Upper Limit Type Mapping Limit EEPROM ● 603Fh Error Code UINT ● 6040h Control Word UINT 0xFFFF 6041h Status Word UINT ●...
  • Page 651 Supported mode Saving Param Data Lower Index Subindex Name Access Default Value Unit eter Upper Limit Type Mapping Limit EEPROM 0.10 ● ● ● ● 6072h Max Torque UINT Torque Demand 0.10 ● 6074h Value 0.00 ● ● ● ● 6076h Motor rated torque UDINT...
  • Page 652 Supported mode Saving Param Data Lower Index Subindex Name Access Default Value Unit eter Upper Limit Type Mapping Limit EEPROM Driving shaft ● UDINT En711 536870911 revolutions Position factor ● ● ● Number of entries USINT 6093h* ● ● ● Numerator UDINT En701...
  • Page 653 Supported mode Saving Param Data Lower Index Subindex Name Access Default Value Unit eter Upper Limit Type Mapping Limit EEPROM Touch probe1 Pos. ● 60BAh positive edge DINT Unit position stored Touch probe1 Pos. ● 60BBh negative edge DINT Unit position stored Touch probe2 Pos.

  • Page 654: Summary List - System Parameter Objects

    8-3-8-4 Summary List – System parameter objects Supported mode Data Saving to Paramet Lower Index Subindex Name Access Default Value Unit Upper Limit Type Mapping EEPROM er No. Limit ● 2001h* Control Mode selection UINT Cn001 Terminal Auxiliary ● 2002h* UINT 0x0000 Cn002...
  • Page 655 Supported mode Data Saving to Paramet Lower Index Subindex Name Access Default Value Unit Upper Limit Type Mapping EEPROM er No. Limit Switching conditions of ● ● ● ● ● 2013h PI/P mode (position UDINT pulse Cn019 41943040 error) Delay time switching of x0.2 ●...
  • Page 656 Supported mode Data Saving to Paramet Lower Index Subindex Name Access Default Value Unit Upper Limit Type Mapping EEPROM er No. Limit 202Bh MON1 output proportion UINT ● Cn043 -1000 1000 ● 202Ch MON2 output proportion UINT Cn044 -1000 1000 Delay time switching of x0.2 2030h...
  • Page 657 Supported mode Data Saving to Paramet Lower Index Subindex Name Access Default Value Unit Upper Limit Type Mapping EEPROM er No. Limit 3rd point of resonance ● ● ● ● ● 2046h suppression filter quality UINT Cn070 factor 3rd pointof resonance ●...
  • Page 658 Supported mode Data Saving to Paramet Lower Index Subindex Name Access Default Value Unit Upper Limit Type Mapping EEPROM er No. Limit Acceleration/deceleration ● ● 2205h operation of speed UINT Sn205 command Acceleration/deceleration time constant of single ● ● 2206h UINT msec Sn206...
  • Page 659 Supported mode Data Saving to Paramet Lower Index Subindex Name Access Default Value Unit Upper Limit Type Mapping EEPROM er No. Limit Automatic Low ● ● ● 2324h Frequency Vibration UINT Pn336 Suppression Auto low-frequency ● ● ● 2325h UINT msec Pn337 1000...
  • Page 660 Supported mode Data Saving to Paramet Lower Index Subindex Name Access Default Value Unit Upper Limit Type Mapping EEPROM er No. Limit 260Dh* DO-1 function UINT Default ● Hn613 0x0000 0x0120 ● 260Eh* DO-2 function UINT Default Hn614 0x0000 0x0120 260Fh* DO-3 function UINT...
  • Page 661 Supported mode Data Saving to Paramet Lower Index Subindex Name Access Default Value Unit Upper Limit Type Mapping EEPROM er No. Limit Communication encoder 281Bh UINT ● Un27 message ● 281Ch Torque command UINT Un28 281Dh Load inertia ratio UINT ●...
  • Page 662 Chap 9 Error Alarm Clearing 9-1 Error Alarm List ........................9-2  9-2 Countermeasures to Clear Error .................... 9-5 ...

  • Page 663: Error Alarm List

    9-1 Error Alarm List Error Alarm 603F 3001 Alarm Clearing Error Alarm Description Number Error code Error Code Method AL.000 No Alarm Currently 0x0000 — AL.001 Power Supply Voltage Too Low 0x3220-04-0001 Cn031.1 AL.002 Power Supply Voltage Too High 0x3210-04-0002 Switch Reset AL.003 Motor Overload...
  • Page 664 Error Alarm 603F 3001 Alarm Clearing Error Alarm Description Number Error code Error Code Method AL.027 Synchronous error is too large 0x8611-01-0027 Switch Reset AL.028 Self-build Motor Parameter Error 0x5220-01-0028 Power Re-set CANopen/EtherCAT AL.029 0xff00-80-0029 Switch Reset communication Disconnected Modbus Communication Timeout AL.030 0x7510-01-0030 Switch Reset...
  • Page 665 Error Alarm 603F 3001 Alarm Clearing Error Alarm Description Number Error code Error Code Method Error AL.051 Motor overload 0x3230-02-0051 Switch reset AL.052 External sensor over-temperature 0x4210-08-0052 Switch reset AL.053 EtherCAT WDT abnormal 0xff00-80-0053 Switch reset EtherCAT CSP, IP position AL.054 0xff00-80-0054 Switch reset...

  • Page 666: Countermeasures To Clear Error

    9-2 Countermeasures to Clear Error AL.001 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 667 AL.003 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 668 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 669 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 670 AL.009 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 671 AL.012 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 672 AL.015 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 673 AL.019 MCU Error 3 CiA402 Error Code 0x6100-80-0019 Alarm Cause CPU Software and FPGA Software Version Compatibility Error Check and Please contact Dealer or Manufacturer Handling Alarm Clearing Power Re-set Method AL.020 Motor Wire Disconnection Error CiA402 Error Code 0xff03-80-0020 Alarm Cause Motor UVW Power Line Disconnection Error Check and...
  • Page 674 AL.023 E-Cam Function Error CiA402 Error Code 0x6320-01-0023 Incorrect E-Cam parameter setting 1. Excessive S-type time. 2. Excessive initial angle. Alarm Cause 3. Excessive synchronous angle. 4. Travel error. 5. Certain curves do not support a cutter number larger than 1. 6.
  • Page 675 AL.027 Synchronized Error is too large CiA402 Error Code 0x8611-01-0027 Feedback pulse difference between 2 axes exceeds the setting of Pn352. 1. Pulse command asynchronous Alarm Cause 2. Mechanism error 3. Linear scale (or diving) data error 4. Pn351 (Synchronized gain value) is too small 1.
  • Page 676 Modbus Communication Timeout AL.030 CiA402 Error Code 0x7510-01-0030 Error The Modbus Communication Timeout exceeded the set value of Cn039. 1. The setting of Cn039 (communication timeout setting) is too small. Alarm Cause 2. Poor Modbus communication quality. 3. Incorrect setting of Cn036 ~ Cn039 communication parameter 1.
  • Page 677 AL.035 Auto tuning Error CiA402 Error Code 0x6100-01-0035 Alarm Cause The abnormality caused by system cannot converge in the Auto tuning process. The System generates Vibration Resonance or Acoustic Resonance. Decrease Check and Cn026 system rigidity until no vibration occurs or execute Handling PC-link Mechanical Characteristics Analysis Function Observation to observe if the resonance occurs in the system and suppress it.
  • Page 678 Full-closed Loop Encoder Matching AL.039 CiA402 Error Code 0x7305-80-0039 Error Alarm Cause Encoder Matching Error 1. The full-closed loop function of used driver model (G2S-E, G2-E) prohibits the use of the motor matching pulse type encoder. Check and 2. Confirm if the driver correctly matches Cn030 motor model; please refer to Handling “Servo driver and servo motor matching comparison table”...
  • Page 679 EtherCAT/CANopen Communication AL.043 CiA402 Error Code 0xff04-80-0043 Mode is Abnormal Son After using PDO of EtherCAT/CANopen communication, it is prohibited to use SON Alarm Cause of non-CiA402 protocol. Check and DO NOT use JOG function, power on Son function after connection under Handling EtherCAT/CANopen mode.
  • Page 680 EtherCAT/CANopen Communication AL.048 CiA402 Error Code 0x6320-80-0048 Mode Setting Error 1. The driver receives Servo ON command while the state machine of CiA402 is Alarm Cause not under operation yet. 2. The operation mode which object 6060h setting does not support. Check and 1.
  • Page 681 AL.052 External sensor overtemperature CiA402 Error Code 0x4210-08-0052 Alarm Cause External sensor over-temperature detected. 1. Please correct the operation method when overheating occurs repeatedly. Check and Handling 2. Confirm whether the setting values of Cn009.3 and Cn086 are correct. Alarm Clearing Switch reset Method EtherCAT Watchdog operation...
  • Page 682 Pulse encoder ABZ signal AL.056 CiA402 Error Code 0x7305-01-0056 abnormal 1. Motor encoder failure or poor cable used to connect the encoder. Alarm Cause 2. Encoder signal wiring error. 1. Check whether the wiring of the motor encoder is connected to the driver. 2.
  • Page 683 EtherCAT synchronization signal AL.060 CiA402 Error Code 0xff00-80-0060 abnormal Alarm Cause Signal interference or hardware damage. 1. Confirm the hardware wiring and cables. Check and 2. If the alarm still occurred during operation after reconnecting the power, confirm Handling whether the driver is damaged. (Please consult the dealer or the manufacturer). Alarm Clearing Switch reset Method...
  • Page 684 AL.065 Turret alarm 1 CiA402 Error Code 0xff04-80-0065 Alarm Cause Turret alarm 1 Check and Please consult the dealer or manufacturer Handling Alarm Clearing Switch reset Method AL.066 Turret alarm 2 CiA402 Error Code 0xff04-80-0066 Alarm Cause Turret alarm 2 Check and Please consult the dealer or manufacturer Handling...
  • Page 685 AL.071 Turret alarm 7 CiA402 Error Code 0xff04-80-0071 Alarm Cause Turret alarm 7 Check and Please consult the dealer or manufacturer Handling Alarm Clearing Switch reset Method EtherCAT/CANopen ControlWord AL.072 CiA402 Error Code 0x6320-80-0072 input error The upper controller inputs ControlWord; an appropriate value must be assigned to Alarm Cause the corresponding movement mode.
  • Page 686 Descriptions on the clearing methods of abnormal alarms: 1. Switch reset: The following two methods can be used to clear abnormal alarms: (a) Digital input contact reset: When the abnormality is eliminated, first release the SON action of the digital input contact (which is releasing the motor excitation status), then make the digital input contact ALRS act to clear the abnormal alarm and make the driver resume normal operation.As for the digital input contact effective logic, please set them by referring to “5-6-1 Digital input/output contact function plan”.
  • Page 687 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 ....................

  • Page 688: Detailed Specification Of Servo Driver

    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 689 Servo Driver Model 200V Class JSDG2S-□□□□(-L) JSDG2S-□□□□-E(L) 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 690 Servo Driver Model 400V Class 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 691 Servo Driver Model JSDG2-□□□□-E 200V class / 400V class JSDG2S-□□□□(-L) JSDG2S-□□□□-E(L) 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 692 Servo Driver Model JSDG2-□□□□-E 200V class / 400V class JSDG2S-□□□□(-L) JSDG2S-□□□□-E(L) 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, abnormal alarm clear, P/PI switching, CCW/CW direction drive prohibition, external torque limit, pulse error removal, servo lock,...

  • Page 693: Servo Drive Dimension

    10-2 Servo Drive Dimension (1) JSDG2S-10A / 15A (-E) (200V Class) (2) JSDG2S- 20A / 30A (-E) (200V Class) 10-7...
  • Page 694 (3) JSDG2S- 10A / 15A -EL (200V Class) (4) JSDG2S- 20A / 30A –EL (200V Class) 10-8...
  • Page 695 (5) JSDG2S- 10A / 15A –L (200V class) (6) JSDG2S- 20A / 30A –L (200V Class) 10-9...
  • Page 696 (7) JSDG2S-50A3 / 75A3 (-E) (200V Class) JSDG2S -10B/15B/25B/35B(-E) (400V Class) (8) JSDG2S -100A3 / 150A3(-E) (200V Class) JSDG2S- 50B/75B (-E) (400V Class) 10-10...
  • Page 697 (9) JSDG2S -200A3(-E) (200V Class) JSDG2S - 100B(-E) (400V Class) (10) JSDG2S -300A3(-E) (200V Class) JSDG2S - 150B/200B(-E) (400V Class) 10-11...

  • Page 698: Servo Motor Specifications

    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 699 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 700 Up to 130 Frame Series Up to 220 Frame Series 10-14...

  • Page 701: 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 702 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 703 Up to 130 Frame Series MB Series BH Series Up to 130 Frame Series LL (Without brake) LL (With brake) 10-17...
  • Page 704 Up to 220 Frame Series IH Series Up to 130 Frame Series LL (Without brake) LL (With brake) 10-18...
  • Page 705 Up to 220 Frame Series BH Series MH Series Up to 130 Frame Series LL (Without brake) LL (With brake) 10-19...

  • Page 706: Accessories

    10-5 Accessories 10-5-1 Motor Power Cable § Motor power cable § JSSLMP – 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 707 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 708: Encoder Trunk

    § Motor power connector § (Include brake connector) (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 709 § 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 710: I/O Connector

    10-5-3 I/O Connector § I/O connector terminal § § I/O connector wire + terminal block § Only for JSDG2S / JSDG2S-E / JSDG2S-L Length (m) Only for JSDG2S-EL Length (m) 10-24...

  • Page 711: Full Closed Loop Wire

    10-5-4 Full Closed Loop Wire § Full-closed loop wire § Only for JSDG2S / JSDG2S-E / JSDG2S-L Length (m) Only for JSDG2S-EL Length (m) 10-25...

  • Page 712: 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 § 10-26...
  • Page 713 Chap 11 Appendix 11-1 Manual Revision History ....................11-2  11-1...

  • Page 714: Chapter 11 Appendix

    11-1 Manual Revision History Version Add/Revision Description Added data ● 7-2 Parameter Function List  AddUn & dn parameters Added chapter ● 10-3 Servo Motor Specification ● 10-4 Servo Motor Dimension ● 10-5 Accessories ● 10-5-1 Motor Power Cable ● 10-5-2 Encoder Trunk ●...
  • Page 715 Version Add/Revision Description ● 5-5 Tool magazine special mode  Mode function modification ● Chap 7 Parameter Function  Cn012 (External regenerative resistor power setting) 400V model default revision Revision  Change Cn027 (Analog monitoring output 1 offset adjustment), Cn028 (Analog monitoring output 2 offset adjustment) to effective after rebooting.
  • Page 716 Version Add/Revision Description ● Modified the alarm description for AL.020 and AL.043 ● Modified the description for 5-4-7 Return to origin ● Modified the description for 5-5 Tool magazine dedicated mode Revision ● Modified the description for 5-6-6 CW/CCW drive prohibition ●...
  • Page 717 Version Add/Revision Description V1.52 ● 6-15 On-line tuning Ver.B V1.52 Revision ● 8-3-6-10 Homing Mode description Ver.C V1.52 ● Modified EtherCAT related description, complies with ETG Revision Ver.D association specifications ● Added AL.057~AL.060, Hn623~Hn624, and En708 V1.53 ● Added DI function code 0x28 Ver.A Revision ●...

This manual is also suitable for:

Jsdg2s-15a-eJsdg2s-10a-eJsdg2s-10a-elJsdg2s-15a-elJsdg2s-20a-eJsdg2s-20a-el ... Show all

Table of Contents

Save PDF