Page 1 JAWD Series AC Servo Driver user manual Address:Building B, Jiayu Science Park, Jin'an Road, Matian Street, Guangming District, Shenzhen China. Tel：0755-26509689 400 189 0098 Fax：0755-26509289 E- mail:info@jmc-motion.com Http: //www.szjmc.com...
Page 2: Preface
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Preface All the contents of this manual, the copyright property of which belongs to Shenzhen JMC Electronics Co., Ltd., without the permission of Shenzhen JMC Electromechanics Co., Ltd., any unit or individual shall not copy, copy or copy at will.
Page 3: Table Of Contents
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Catalog Preface ..................... 1 Chapter 1 Safety Precautions ..............6 1.1 Precautions for receiving and installing ........6 1.2 Wiring Precautions ..............6 1.3 Precautions for operation and operation ........7 1.4 Precautions for maintenance and inspection ......7 Chapter 2 Product Introduction ..............
Page 4 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 3.4 Driver CN3/CN4 port description ..........24 3.5 Driver CN5 port description .............24 3.6 Power supply and motor power cable port description .... 25 Chapter 4 Installation Instructions ............26 4.1 Installation Dimension ............. 26 4.2 Installation environment ............27...
Page 5 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 7.3.1 Basic parameters ............48 7.3.2 gain switching ..............51 7.3.3 feedforward function ............. 52 7.3.5 Suppression of Machine Resonance ......53 Chapter 8 Parameter & Function ............58 8.1 Parameter list ................58 8.2 Parameter Description .............. 70 8.2.1 P00-xx Motor and drive parameters ......71...
Page 6 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 10.4 function number ..............129 10.4.1 Function number 03: read holding register ....129 10.4.2 Function No. 06: Adjust a single register ....130 10.4.3 Function number 10: Adjust register ......131 10.4.4 Data start address ............131 10.5 dead time ................
Page 7: Chapter 1 Safety Precautions
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Chapter 1 Safety Precautions In order to prevent harm to personal and property safety, please be sure to observe the following precautions, and the following marks are specially marked for distinction: Indicates a high risk of death or serious injury...
Page 8: Precautions For Operation And Operation
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 4、Please confirm that the driver shell and the motor are grounded. Poor grounding may cause electric shock. Notice ：1. Please do not bind the motor power line and signal line together or pass through the same pipeline to prevent interference to the signal.
Page 9 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 2. Within 5 minutes after the power is turned off, do not touch the power supply and power terminals to prevent electric shock. 3.Do not change the connecting wire while the power is on, in case of electric shock or personal injury 4.
Page 10: Chapter 2 Product Introduction
2.1 Servo Driver 2.1.1 overview JAWD series general-purpose servo driver is a high-performance AC servo unit developed by JMC. This series of servo driver adopts advanced MCU chip for motor control, large-scale programmable gate array (FPGA) and IPM power module. It has small size, high integration, stable performance and reliable protection. It has abundant digital and analog I/O interfaces, can be used with various host computer devices, and supports MODBUS communication protocol to facilitate networking.
Page 11: Driver Specifications
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 8. There are programmable 6-way INPUT and 4-way OUTPUT ports, users can customize the input and output through parameter settings, and the application is flexible. 9. Support 17-bit and 23-bit high-precision absolute encoders.
Page 12 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Temperature work：0～55℃ storage：-25～85℃ humidity Temperature work：10%～90% Altitude <1000m, when it is higher than 1000m, it should be derated according to GB/T 3859.2-93 Conditions of use Protection class: IP10, cleanliness: 2 No corrosive gas, flammable gas...
Page 13 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. switching input 3, position command clear input, magnetic pole Detection input, command pulse input multiplier switching input Points: 4 Functions: alarm output, brake release output, servo ready output, positioning complete output, positioning...
Page 14: Servo Drive Nameplate And Model Description
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 2.1.4 Servo drive nameplate and model description 1、Description of nameplate content Product number Rated input Rated output Barcode and Production Date Serial Number Barcode and production date 2、Model Description： JAWD Power Power supply...
Page 15: Servo Motor
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 2.2 Servo motor 2.2.1 overview JASM series servo motors are high-speed, high-precision servo motors developed by JMC to meet the requirements of modern automatic control; this series of servo motors can control speed and position accuracy very accurately, and can convert voltage signals into torque and Speed to drive the control object.
Page 16 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 2、 Model Description： JASM - XX Flange size (mm) 60、80、110、130 Power supply Encoder lines JASM AC series servo 110V 17BC/M17BC motor 220V M23B pole pairs Motor rated speed Four (default) 1500 RPM...
Page 17: Servo Control System Wiring Diagram
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 2.3 Main circuit wiring of the servo control system 2.3.1 Servo control system wiring diagram The servo driver is directly connected to the industrial power supply without isolation from power supplies such as transformers. In order to prevent cross-shock accidents in the servo system, please use a fuse or a circuit breaker for wiring on the input power supply.
Page 18: Main Power Circuit Connection
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 2.3.2 Main power circuit connection 1、Single-phase power wiring method 2、Three-phase power wiring method...
Page 19: Chapter 3 Port Description And Wiring
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Chapter 3 Port Description and Wiring 3.1 Port distribution of the servo driver 1. Power Indicator 2. Current axis indicator light The axis with the green light always on represents the current operation axis...
Page 20: Description Of Servo Driver Cn1 Control Port
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 3.2 Description of servo driver CN1 control port 3.2.1 CN1 Control port definition Host control and drive connection interface, used for host computer control drive and drive feedback output Definition of each pin of the terminal：...
Page 21 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. digital input 3 24VGND A-axis encoder A-phase positive 5V differential output A OA+ output A-axis encoder B-phase positive 5V differential output A OB+ output A-axis encoder Z-phase positive 5V differential output A OZ+...
Page 22: Cn1 Control Port Connection Instructions
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Digital Ground/Analog Ground Digital Ground/Analog Ground Digital output port 1 positive DO1+ high level terminal DO1+ Digital output port 1 negative DO1-Low level terminal DO1- Digital output port 2 positive DO2+ high level terminal...
Page 23 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Serve driver 4.7K DICOM 24 DC24V DI1 23 Digital output DO (DO1-DO4) output can be connected with relays, optocouplers, etc. (the output port is equivalent to a passive, polarized switch). Power supply voltage range 5-24V. (For the function setting of the output I/O port, please refer to the description of P06-xx I/O parameters in Chapter 8.2.7)
Page 24: Brake Control Connection Diagram
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 3.2.3 Brake Control Connection Diagram Serve driver Serve driver 24VDC 24VDC D02+ D04+ Relay Relay D02- D04- DC24V DC24V Brake Brake A-axis B-axis Note: 1. The brake function of the drive is controlled by DO2 (pin 34, 35)/D04 (pin 22, 7) in CN1 to control the relay coil, and the relay switch controls the brake coil.
Page 25: Driver Cn3/Cn4 Port Description
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 3.4 Driver CN3/CN4 port description PIN1 PIN8 pin# mark Definition PIN1 CANH CNAH for bus servo only PIN2 CANL CNAL for bus servo only PIN3 CGND CGND for bus servo only PIN4...
Page 26: Power Supply And Motor Power Cable Port Description
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 3.6 Power supply and motor power cable port description mark Definition Description L1、L2、L3 Main circuit power input Connect to single-phase/three-phase 220V AC, it is terminal recommended to use three-phase power supply for 2KW, single/ three-phase power supply for 750W L1C、L2C...
Page 27: Chapter 4 Installation Instructions
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Chapter 4 Installation Instructions 4.1 Installation Dimension 750-1000W AC servo driver （unit：mm） 1500W/2000W AC servo driver （unit：mm）...
Page 28: Installation Environment
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Notice: 1. The normal installation direction of the servo driver must be vertical and upright, with the top facing up for heat dissipation. 2. When the driver is installed, ensure that the equipment is well ventilated. When multiple drivers are used side by side in the cabinet, the distance between them should not be less than 5CM.
Page 29 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. measures to ensure the normal operation of the driver (the noise filter will increase the leakage current, it is necessary to install an isolation transformer at the input end of the drive power supply).
Page 30: Chapter 5 Panel Display And Settings
Chapter 5 Panel Display and Settings 5.1 Function introduction of the panel The JAWD series AC servo panel uses six LED digital tubes to display the status; 5-digit keys to input commands, and the specific key functions are as follows:...
Page 31: Switching Process Of Operation Mode
Shenzhen Just Motion Control Electromechanics Co., Ltd. 5.2 Switching process of operation mode JAWD series AC servo has four functional modes, which are status display mode, monitoring mode, parameter setting mode, and auxiliary mode. The switching process between them is as follows:...
Page 32: Status Display
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 5.3 Status Display The display discrimination is as follows: Status Display bit data meaning: Display Meaning Display Meaning Control circuit power on Main circuit power supply ready Speed and torque control: Speed...
Page 33: Parameter Setting And Save Method
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Related operation completed correctly The servo is in the enabled state and cannot be operated. The enable must be turned off before it can be operated. Invalid value entered, the servo does not perform the current operation...
Page 34: Chapter 6 Control Mode And Setting
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Chapter 6 Control Mode and Setting 6.1 Position Control 6.1.1 Position Control Wiring Diagram 3-phase 220V JAWD series A Phase differential signals AC Power supply AC Serve driver B Phase differential signals...
Page 35 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 6.1.2 Position control wiring diagram Position control commands are commonly used as differential signals and open-collector signals. It is recommended to use twisted-pair shielded wire for position signal connection wire, which can improve the anti-interference ability.
Page 36: Description Of Position Control Mode Parameters
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 6.1.3 Description of position control mode parameters 1、Motor and driver control parameters Para code Name range Default Description 0：position mode 1：speed mode 2：torque mode P01-01 Control mode 3：speed, torque 4：position, torque 5：position, torque 0：pulse command...
Page 37: Example Of Electronic Gear Ratio Calculation
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. parameter description for details 1st Electronic Gear Set according to user P03-40 1-1073741822 Molecule needs, See 8.2 1st Electronic Gear parameter description P03-42 1-1073741822 Denominator for details Set according to user Threshold...
Page 38 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 10000 The electronic gear ratio is :(B is the numerator, A is the denominator) Β 8388608 1048576    Α 10000 Finally, the parameter p03-40 is set to 1048576, and P03-42 is set to 625 Belt pulley drive 2、...
Page 39 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Assumptions: echanical parameters: the deceleration ratio R is 10/1, and the rotation Angle of （1）M the load axis for one turn is 360° esolution of each turn of position ring of absolute value encoder: （2）R...
Page 40: Speed Control
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 6.2 Speed control 6.2.1 Speed control wiring diagram JAWD series 3-phase 220V A Phase differential signals AC Serve driver AC Power supply B Phase differential signals Z Phase differential signals Controller 4.7K...
Page 41: Description Of Speed Control Mode Parameters
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 6.2.2 Description of speed control mode parameters Motor and driver control parameters 1、 Para code Name Range Default Description 0：position mode 1：speed mode 2：torque mode P01-01 Control mode 3：speed, torque 4：position, speed 5：position, torque...
Page 42: Torque Control
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 6.3 Torque Control 6.3.1 Torque control wiring diagram A Phase differential signals B Phase differential signals Z Phase differential signals Controller 4.7K DICOM AB Servo ON A Phase differential signals 4.7K AB Alarm clear B Phase differential signals 4.7K...
Page 43: Description Of Torque Control Mode Parameters
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 6.3.2 Description of torque control mode parameters Motor and driver control parameters 1、 Para Defaul Name Range Description code position mode 0： 1：speed mode 2：torque mode Control Mode P01-01 3：speed, torque 4：position, speed 5：position, torque...
Page 44: Chapter 7 Trial Operation And Parameter Adjustment
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Chapter 7 Trial Operation and Parameter Adjustment 7.1 Running test 7.1.1 Pre-run testing In order to avoid damage to the servo driver or mechanism, please remove all loads of the servo motor before operation, and carefully check whether the following precautions are normal, and then power on for a no-load test;...
Page 45: Load Trial Run Test
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 7.1.2 No-load trial run test 1、Jog mode no-load trial run test, the user does not need to connect additional wiring, for the sake of safety, before Jog no-load speed test, please fix the motor base to prevent the reaction force caused by the change of motor speed...
Page 46 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 2、Select the Jog mode for trial operation according to the flow chart below Power on Automatically enter status (status display mode) run/rdy display Press the M button three times (auxiliary mode) F01.JoG...
Page 47: Parameter Adjustment
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 7.2 Parameter adjustment According to the equipment requirements, after selecting the appropriate control mode, the servo gain parameters need to be adjusted reasonably. Make the servo drive can drive the motor quickly and accurately, maximize the mechanical performance.
Page 48 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. The process of gain adjustment can be carried out according to the following figure:...
Page 49: Manual Gain Adjustment
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 7.3 Manual Gain Adjustment 7.3.1 Basic parameters If the automatic gain adjustment fails to achieve the expected effect, you can manually fine-tune the gain to optimize the effect. The servo system consists of three control loops, the basic control block diagram is as follows: Gain adjustment needs to follow the order of the inner loop first and then the outer loop.
Page 50 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. feedforward smoothing constant). 2：Positioning mode. In this mode, parameters P02-00, P02-01, P02-10, P02-11, P02-13, P02-14, P08-20, P08-21 will be set according to the rigidity level of P01-03 Automatically set, manually adjusting these parameters will have no effect.
Page 51 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Speed The feedforward gain of the speed loop, the larger the Feedforw parameter value, the smaller the system position tracking ard Gain error and the faster the response. However, if the P02-03...
Page 52: Gain Switching
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 7.3.2 gain switching The gain switching function can be triggered by the internal state of the servo or the external DI port, and it is only valid in the position control and speed control modes. Using gain switching, it can play the following roles: Switch to a lower gain when the motor is stationary (servo enabled) to suppress vibration;...
Page 53: Feedforward Function
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 7.3.3 feedforward function Speed feedforward: During position control, the required speed control command is calculated from the position command and added to the output of the position regulator, which can reduce the position deviation and improve the response of position control.
Page 54: Suppression Of Machine Resonance
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 7.3.5 Suppression of Machine Resonance If the servo system is too rigid and responds too quickly, it may cause resonance in the mechanical system. This situation can be improved by reducing the gain of the control loop. Resonance suppression can also be performed by using low-pass filters and notch filters without reducing the gain.
Page 55 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Manually perform frequency identification and set notch filter parameters You can use the auxiliary function of the drive to identify the vibration frequency and set the notch filter parameters at the same time. Note: This function is only to scan the maximum point of each frequency amplitude of the machine.
Page 56 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. a) Confirm whether the first notch filter and the second notch filter are allowed to be set. It can be judged by checking parameter P08-24. If both the first notch filter and the second notch filter are enabled. It is necessary to set the parameters of the first or second notch filter to the third notch filter, and set the corresponding P08-24.0/1 to 0.
Page 57 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Notch Filter Width Class 陷波宽度陷波宽度等级陷波中心频率 The width of the notch filter indicates the frequency bandwidth of the amplitude attenuation rate of -3dB relative to the center frequency of the notch filter...
Page 58 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Setting range: 0-1000 Notch Depth Class for Notch Filter 1 1st Notch filter P08-32 The ratio relationship between the input and output for the center frequency of depth the notch filter The larger this parameter, the smaller the notch depth and the weaker the effect...
Page 59: Chapter 8 Parameter & Function
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Chapter 8 Parameter & Function 8.1 Parameter list P00-xx Motor and drive parameters P01-xx Main control parameter P02-xx Gain parameters P03-xx Position parameters P04-xx Velocity parameters P05-xx Torque parameters P06-xx I/O parameters...
Page 60 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Encoder (Disable overheat alarm) Restart Encoder (Disable multi-turn alarm) Restart Encoder (Disable battery alarm) Restart Encoder zero offset P00-08 0-360 Restart Rated voltage P00-09 1-600 Restart Rated power P00-10 0.01kW 1-65535 Restart...
Page 61 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Three-phase power input selection Restart RST power-on signal isolate P00-39 Restart Axis alarm association Restart Temperature Compensation Settings P00-40 °C -20-20 Real time Over Temperature Alarm Settings P00-41 °C 0-150 Real time...
Page 62 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Carrier Wave Settings P00-80 Restart Rotation direction P01-00 Restart Control mode P01-01 Restart Adjustment mode P01-02 Restart Rigidity level P01-03 0-31 Restart Inertia ratio P01-04 0-20000 Real time mute adjustment Restart Self-adjusting type...
Page 63 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Rotation state, speed threshold when P01-31 0-6000 Real time the brake is OFF Rotation state, delay from servo OFF to P01-32 0-1000 Real time brake OFF Z signal width setting P01-35 0.1ms...
Page 64 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Mode switch function selection P02-40 Real time Mode switch torque command threshold P02-41 0-350 Real time Mode switch speed command threshold P02-42 0-6000 Real time Mode Switch acceleration threshold P02-43 1rpm/s 0-30000...
Page 65 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 2nd model control gain compensation P02-69 0.1% 500-2000 1000 Real time Speed vibration suppression settings P02-70 0-0x1121 0x0010 Real time Speed vibration suppression frequency P02-71 0.1Hz 10-20000 1000 Real time 2nd Speed vibration suppression P02-72 0.1Hz...
Page 66 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Pulses for one motor revolution P03-09 0-10737418 10000 Restart Threshold of position deviation fault P03-15 comman 0-10737418 90000 Real time d unit Position command moving average time P03-17 0.1ms 0-10000 Real time...
Page 67 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. deviation fault Gantry function synchronous position P03-55 0-500 Real time proportional gain Speed command selection setting P04-00 Restart JOG speed command setting value P04-01 0-6000 Real time Speed command digital setting value...
Page 68 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Torque control speed limit value P05-02 0-6000 1000 Real time Torque command digital setting value P05-03 -300-300 Real time Torque limiting source setting P05-05 Real time Torque limit detection signal output P05-06...
Page 69 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. DI5 Terminal settings - Function selection 00-1E Restart P06-15 DI5 Terminal settings - Logic selection Restart DI6 Terminal settings - Function selection 00-1E Restart P06-16 DI6 Terminal settings - Logic selection Restart...
Page 70 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. turn Inertia identification maximum speed P08-03 10-2000 Real time Inertia identification acceleration time P08-04 20-800 Real time Waiting time after a inertia identification P08-05 50-10000 1000 Real time completed Program JOG mode...
Page 71: Parameter Description
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Friction compensation function selection Real time Adaptive1st notch filter mode setting Real time P08-25 Adaptive 2nd notch filter mode setting Real time 1st notch filter frequency P08-30 50-5000 5000 Real time 1st notch filter width P08-31 0.01...
Page 72: P00-Xx Motor And Drive Parameters
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 8.2.1 P00-xx Motor and drive parameters Para Name Description Code Factory set, no need to reset 0: P00-00 ~ P00-19 works P00-00 Motor number 2000: Absolute encoder motor, automatically identified by the drive (P00-01 ~ P00-19 ) Setting range: 1-6000;...
Page 73 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Max speed Max speed P00-12 Stator resistor Stator resistor P00-13 Stator inductance Stator inductance (Lq) P00-14 (Lq) Stator inductance Stator inductance (Ld) P00-15 (Ld) Line Back EMF Line Back EMF Coefficient P00-16...
Page 74 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Modbus response Setting range: 0-100, unit: 01mS. Default 0 delay When the parameter is set to 0, it responds according to standard P00-26 communication. When the parameter is set to a value, the Modbus...
Page 75 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Compensation Temperature Compensation Settings Settings Over Temperature Setting range: 0-150 P00-41 Alarm Settings Over Temperature Alarm Settings Over Temperature Setting range: 0-150 P00-42 Warning Setting Over Temperature Warning Setting Fan Start Setting range: 0-150...
Page 76: Main Control Parameter
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. W-phase current Setting range: 0-1 feedback abnormal 0: Close fault 1: Allow fault (E.072) Setting range: 0-1 Power line off-line 0: Close fault fault setting (E.305) P00-47 1: Allow fault FPGA Clock...
Page 77 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. for switch, and set the function selection of the selected DI port input port to 5 (Control mode switching). The control mode can be switched by controlling the logic state of this port.
Page 78 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. P08-20 will be set automatically according to the rigidity level set by P01-03, manual adjustment of these parameters will not work. The following parameters are fixed values and cannot be changed: P02-03 (speed feed-forward gain): 30.0% P02-04 (velocity feed-forward smoothing constant): 0.50...
Page 79 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. value The higher the value, the greater the model load Setting range: 0-2 Useful when P01-02 is set to 4 The higher the value, the greater the model load Vibration detection Setting range: 0-2...
Page 80 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. free running state after shutdown 0: Use the settings in P01-20.nnnX. 1: Set the torque deceleration stop according to P01-21, and use the Stop method when settings in P01-20.nnnX after shutdown. forced to stop 2: Decelerate and stop according to P01-22 deceleration time, and use the settings in P01-20.nnnX after shutdown.
Page 81: P02-Xx Gain Parameter
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. delay from servo The maximum waiting time of the holding brake output when the enable OFF to brake time is turned off and the motor is in rotation. Setting range: 0-1000, unit: 0.1ms...
Page 82 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Setting range: 10-20000, unit: 0.1Hz The greater the speed proportional gain, the greater the servo stiffness, and the faster the speed response, but excessive vibration and noise are easily P02-10 Speed loop gain generated.
Page 83 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Torque feedforward Setting range: 0-6400, unit: 0.01ms P02-20 filter time This parameter is used to set the torque feed-forward filter time constant Setting range: 10-1000, unit: 0.1% Set parameters for responsiveness to external interference. The higher the...
Page 84 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 0: Positioning completes the output signal ON 1: Positioning the output signal OFF 2: Locate close to the output signal ON P02-30 3: Locate close to the output signal OFF 4: Position command filter output = 0 and command pulse input OFF...
Page 85 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. acceleration When the acceleration is less than P02-43, it is PI control, and if it is greater than it, it is P control position The position deviation is less than deviation P02-45 when the threshold is set for PI...
Page 86 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. P02-53 Viscous friction Setting range: 0-100, unit: 1% compensation value Setting range: 0-1 Low frequency 0: P02-58, P02-59 is invalid vibration P02-57 1: Effective suppression In position mode, it is used to suppress machine shaking caused by setting positioning.
Page 87 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Vibration P02-65 suppression 1 Vibration suppression 1 frequency A frequency A Vibration suppression 1 P02-66 Vibration suppression 1 frequency B frequency B Setting range: 10-10000 Units: 0.1% Even if you adjust the model control gain, model control bias (forward...
Page 88: P03-Xx Position Parameter
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Speed vibration P02-73 suppression gain Setting range: 0-1000 Units: 1% compensation Speed vibration Setting range: 0-300 units: 1% suppression P02-74 The higher the value, the stronger the vibration suppression effect attenuation gain...
Page 89 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 0: Quadrature pulse command (90° phase difference two-phase Command pulse pulse) pattern 1: Direction + pulse command 2 or 3: Double pulse command (CW+CCW) P03-01 0: Pulse port input of this axis...
Page 90 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. P03-42) The positioning completion range is used as the basis for determining the position gain tuning in the one-key autotuning function. Pulses for one motor Setting range: 0-1073741823 revolution Used to set the number of command pulses for one revolution of P03-09 motor rotation.
Page 91 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. alarm value ON, if it exceeds the set value, it will alarm E.503, and it will not be detected when it is set to 0 Servo ON position Setting range: 0-100 units:%...
Page 92: P04-Xx Speed Parameter
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. noise when the setting is too large. 8.2.5 P04-xx Speed parameter Para Name Description code 0: Analog instructions Speed command 1: Setpoint of P04-02 P04-00 selection settings 2: Bus instructions 3: Built-in multi-segment speed...
Page 93 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. detection speed Set the motor rotation detection threshold, above which the motor speed can be displayed via an LED panel value Speed reach signal Setting range: 0-2000, unit: rpm Set the threshold value of the speed consistent signal, and when the...
Page 94: P05-Xx Torque Parameter
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. P04-37 8.2.6 P05-xx Torque parameter Para Name Description code 0: Analog instructions Torque command 1: The setpoint of P05-03 P05-00 selection settings 2: Bus instructions 3: Built-in multi-stage torque 0: Speed analog command...
Page 95 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. When the torque output reaches the limit value, the torque limit signal can be output through the DO port Negative internal torque Setting range: -350-0 Unit: 1% Limit the reverse output of the motor, 100 means 1 times the...
Page 96: P06-Xx I/O Parameter
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Setting range: -300—300, unit: % Parameters P05-14 to P05-17 set the internal torque 1 to the internal torque 4, respectively The internal speed switching is implemented as follows: When the torque loop is controlled, P05-00 sets 3, The corresponding input port functions are defined as 11, 12 Example: Use input signal ports DI3 and DI4.
Page 97 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Setting range: 00-1E Factory setting: 0x00: None 0x01: Servo enable 0x02: Alarm clearance 0x03: Forward overtravel 0x04: Reverse overtravel 0x05: Control mode switching 0x06: P control command input 0x07: Forward external torque limit value switching...
Page 98 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 0X1C: Probe 2 input signal 0X1D: Pole detection request signal 0X1E: The position command takes the negative signal Note: For low-speed terminals, the active level can only be confirmed if the active level exceeds 3.2ms...
Page 99 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Setting range: 0-13, factory setting: 0x03 servo ready output 0x00: None 0x01: Servo alarm 0x02: Holding brake 0x03: Servo ready 0x04: Positioning complete 0x05: Positioning approach 0x06: Speed consistent checkout 0x07: Zero speed detection...
Page 100: P08-Xx Advanced Feature Parameters
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. selection Setting range: 10-2000, unit 1rpm/V The analog 1V Sets the coefficient between the analog command input to CN1 P06-40 corresponds to the and the speed control command speed value Example: 500 means that every V corresponds to 500 revolutions per minute Setting range: 0-2500, unit: 0.01ms...
Page 101 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. identification mode 0: Default mode (set according to P08-03, P08-04 parameters) P08-00 1: Internal setting mode (P08-03, P08-04 automatic setting) Online inertia identification mode 设定范围：0-1 Inertia Setting range: 0-20000, unit: 1%. P08-01 Identification Initial Set the initial value of inertia identification inertia.
Page 102 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 4: (waiting time P08-11->forward rotation movement P08-07->waiting time P08-11->reverse rotation movement P08-07)*movement times P08-12. 5: (waiting time P08-11->reverse movement P08-07->waiting time P08-11->forward movement P08-07)*moving times P08-12. Program JOG Setting range: 1-2000, unit: 0.1 circle.
Page 103 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. The larger the setting value, the larger the bandwidth of the Gain speed observer. When it is set to 500, the observer is invalid. Setting range: 0-500, unit: %. Velocity Observer P08-18...
Page 104 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Adaptive1st notch Setting range: 0-1 filter mode setting 0: invalid 1: Allow the driver to automatically set the first notch filter P08-25 Adaptive 2nd notch Setting range: 0-1 filter mode setting 0: invalid...
Page 105: List Of Monitoring Items
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Frequency sweep Setting range: 1-300 P08-51 torque amplitude When the auxiliary function F22 is executed, this set value is used as the maximum value of the frequency sweep torque. 8.3 List of monitoring items...
Page 106 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. servo motor when it is running. This parameter can monitor the servo given torque d09.C.tq Torque command ％ when the servo motor is running. This parameter can monitor the torque feedback d10.F.tq Actual torque ％...
Page 107 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 0-8388607 for one revolution This parameter can monitor the number of Absolute encoder d21.ASH revolutions of the multi-turn absolute encoder Decimalism multi-turn value motor. This parameter can monitor the real-time inertia of d22.J-L...
Page 108: Auxiliary Function
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Parameter number with This parameter can query the abnormal parameter d38.P.Er unusual value number when alarm 107 Advanced Function This parameter can query the warning code when the d39.Adu Exception Codes advanced function is abnormal 8.4 Auxiliary function...
Page 109 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. zero automatic calibration is completed. 3. Press the M button to exit this mode Same as F03.Ai1 Current sensor Note: When performing this function, the servo must be turned off F05.Ai3 automatic zero...
Page 110 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Restore all parameters (including hidden parameters) 1. Press the M button on the operation panel to switch to the auxiliary mode F**, operate the Up/Down button to F11.Err, press the ENT button, and the past 8 historical fault information will be displayed.
Page 111 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. the software. 2. Press the M button to exit this mode. 1. Press the M button on the operation panel to switch to the auxiliary mode F**, operate the Up/Down button to F18.PJG, and press the ENT button to execute the program JOG function.
Page 112: Chapter 9 Fault Analysis And Treatment
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Chapter 9 Fault Analysis and Treatment 9.1 Fault alarm information table Alarm type Serial number Alarm content EEPROM parameter exception E.051 FPGA communication error E.052 Initial failure E.053 Operation timeout E.054 Hardware match exception E.060...
Page 113 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Overvoltage E.402 Instantaneous overload E.410 Continuous overload E.412 Motor overspeed E.420 Out of control detection E.421 Malfunction Abnormal regeneration E.430 regeneration overload E.431 Inrush current limiting resistor overload E.435 DB overload E.436 Abnormal drive temperature E.440...
Page 114: Fault Alarm Causes And Solutions
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. A.905 Auxiliary (F**) function cannot be executed when servo is ON A.910 Overload A.911 Vibration A.912 The temperature of the control board is abnormal A.913 Abnormal drive temperature A.920 Regeneration overload A.921...
Page 115 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. E.054：Operation timeout Fault alarm reason Fault alarm check treatment measures Operation timeout Power on again If it persists, replace the drive E.060：Hardware match error Fault alarm reason Fault alarm check treatment measures...
Page 116 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. E.071： Abnormal detection of U-phase current Fault alarm reason Fault alarm check treatment measures The sampling data of the current Check whether the UVW wiring is Correct wiring sensing device is abnormal correct and whether the connection Set P00-46.2 to 0 to turn off the...
Page 117 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Parameter exception Check whether the parameter range, Set parameters correctly etc. are reasonable Perform parameter initialization E.108： Parameter setting out of range Fault alarm reason Fault alarm check treatment measures Parameter setting out of range...
Page 118 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Fault alarm reason Fault alarm check treatment measures The input voltage of the main Check whether the wiring of the Make sure the wiring is correct, use circuit is lower than the rated...
Page 119 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Improper setting of control 1. Is the mechanical system 1. Adjust the control loop gain system parameters installed? 2. Acceleration and deceleration 2. The acceleration setting is too setting time slows down large 3.
Page 120 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. resistor or no external regenerative resistor and whether Regeneration Resistor regenerative resistor the resistance and power of the regenerative resistor are appropriate Incorrect parameter setting Confirm whether the parameters Correctly set parameter values P00-30~P00-35 are correct E.435：...
Page 121 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. The gain value is set too small Confirm whether the gain Re-adjust the gain parameters parameters are set properly correctly The internal torque limit value is Confirm the internal torque limit Re-adjust the internal torque limit...
Page 122 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. of P00-00~P00-19 E.622： Encoder built-in data verification error Fault alarm reason Fault alarm check treatment measures Encoder built-in data verification Check encoder wiring If the connection is normal, please error Confirm that the encoder shielding...
Page 123 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. absolute motor cannot rotate in one parameter P00-07 direction for a long time. E.646： Encoder communication failure Fault alarm reason Fault alarm check treatment measures Encoder communication failure Check encoder Correctly install the encoder E.649：...
Page 124 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Fault alarm reason Fault alarm check treatment measures overload warning It can be monitored through d13.oL. Properly increase P00-51 (overload in the monitoring mode warning value) 1. Is the mechanical system 1. Adjust the control loop gain...
Page 125 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. regenerative resistor are appropriate A.930： Absolute encoder battery failure Fault alarm reason Fault alarm check treatment measures Check the voltage of the external The battery voltage is lower than Absolute encoder battery failure battery of the encoder and confirm 3.0V, replace the battery...
Page 126: Chapter 10 Communication
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Chapter 10 Communication 10.1 Modbus communication parameter setting Para Name Explanation code The setting range：0-255， default 1 P00-23 slave address Set according to equipment requirements The setting range：0-7， default 2 485 communication 0：2400...
Page 127: Modbus Communication Supports Reading And Writing Parameter Settings
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 10.2 Modbus communication supports reading and writing parameter settings Support reading the address list of monitored items monitoring definition unit Decimal communication items address (double address, high order first) Sum of position command pulses d00.C.PU...
Page 128 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Absolute encoder single-turn value d20.ASS 2126-2127 Absolute encoder multi-turn value d21.ASH 2128 Inertia ratio d22.J-L 2129 Main circuit voltage (DC value) d23.dcp 1Vdc 2130 Drive temperature d24.Ath 1 Celsius 2131 Cumulative running time d25.tiE...
Page 129: Overview Of Modbus Communication Protocol
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 10.3 Overview of Modbus communication protocol 10.3.1 introduction Nexus monitors can communicate with other devices using the RTU transfer mode of the AEG Modicon Modbus protocol. This communication works with both RS-232 and RS-485 standards.
Page 130: Function Number
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. register and presetting multiple registers, respectively. See Tables 1.3 and 1.4. 10.4 function number The function number of a packet tells the addressed slave what action to perform. Nexus supports the following Modus function numbers.
Page 131: Function No. 06: Adjust A Single Register
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. host package definition Hexadecimal Slave package definition Hexadecimal address address slave address slave address function number function number Data start address high byte Number of bytes Data start address low byte 1st Data high byte...
Page 132: Function Number 10: Adjust Register
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. data high byte data high byte data low byte data low byte CRC low byte CRC low byte CRC high byte CRC high byte 10.4.3 Function number 10: Adjust register This function allows the host to modify a set of consecutive registers on the Nexus slave.
Page 133: Dead Time
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Set point number high byte Set point number high byte Set point number low byte Set point number low byte Bytes CRC low byte 1st Data high byte CRC high byte 1st Data low byte...
Page 134 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. number packet illegal address The slave does not recognize the address of the data area in the transmitted request packet illegal data The data mentioned in the transfer request packet is not...
Page 135: Chapter 11 Instructions For Using Special Functions
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. Chapter 11 Instructions for using special functions 11.1 Use method of gantry function 11.1.1 Functional description The large-span machinery now basically adopts the connection mode of the gantry beam, and is driven by two motors.
Page 136: Gantry Function Realization Connection Diagram
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 11.1.2 Gantry function realization connection diagram 3-phase 220V JAWD series A Phase differential signals AC Power supply AC Serve driver B Phase differential signals Z Phase differential signals Controller 4.7K DICOM+ AB Servo ON...
Page 137 0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. port selection 1： Another axis pulse port input It is used to adjust the counting direction of the pulse command (set the A axis, and it is used to reverse the direction...
Page 138: Synchronization Setting Open Method And Steps
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. P06-16 DI6 terminal - function A axis is set to 0; B axis is set to 3/4, forward/reverse selection overtravel Note: The parameters are set according to the actual situation of the A and B axes 11.1.4 Synchronization setting open method and steps...
Page 139: Absolute Encoder Use
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 11.2 Absolute encoder use 11.2.1 Functional description By using a servo motor with an absolute encoder, an absolute value detection system can be constructed from a host device. With the absolute value detection system, it is no longer necessary to perform a return-to-origin operation every time the power is turned on.
Page 140: Absolute Data Address Based On Modbus Communication
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. 11.2.3 Absolute data address based on MODBUS communication The servo provides 2 kinds of length encoder data options, you can choose one according to your needs, and the corresponding addresses are as follows:...
Page 141: Absolute Encoder Battery Replacement
0755-26509689 Shenzhen Just Motion Control Electromechanics Co., Ltd. details) A.930 Absolute encoder battery Check the encoder Replace the battery, and clear the failure external battery voltage alarm through F06.EN0 (see Chapter 8.4 for details) 11.2.5 Absolute Encoder Battery Replacement If any of the following conditions occurs to the driver, please replace the battery to avoid loss of absolute position data.

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