JPS JMD-STD-90A User Manual Download | Manualshive

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14.4.6.1.10

Search Home Mode：=8 (P2P HOME, Reverse DOG Pulse ( NonStop ))



Under this mode, when an external signal triggers the digital input DIx(32), the motion controller will
execute the following procedures in order to find the home position:

Step1：the servomotor start rotates in Reverse direction
Step2:：the servomotor stops when DIx(33)=1, meaning the DOG Pulse Rising edge
Step3:：the servomotor stops from the DOG Pulse Rising edge
Step4:：for the final step, the controller executes an P2P function commands the servomotor move to the

desired shift position (with respect to the DOG Pulse Rising edge. In the mean time, DOx(32)=1,
to indicate the end of the Home-Search function.

Offset Minimum

DOG + Offset

DIx(32)P2P Home Search Start

DIx(33)P2P Home DOG

DOx(67)P2P Home Search OK

Search Home Mode：=8 (P2P HOME, Reverse DOG Pulse ( NonStop ))

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Summary of Contents for JMD-STD-90A

Page 1: ...J JU UP PI IT TE ER R S ST TD D User Manual VERSION 1 15 ...

Page 2: ... SERIES DRIVE 19 6 1 INTERNAL BLOCK 19 6 2 BASIC WIRE 220V 3A 15A 20 6 2 1 COMM DB9 PIN Terminal 220V Type 3A 15A 21 6 2 2 I O SCSI36 PIN Terminal 220V Type 3A 15A 22 6 2 3 ENCODER SCSI20 PIN Terminal 220V Type 3A 15A 23 6 2 2 Hardware Terminal Construction 220V Type 3A 15A 24 6 3 BASIC WIRE 220V 380V OTHER TYPE 26 6 3 1 Terminal Definition 220V 380V Other Type 27 6 3 2 Hardware Terminal Construct...

Page 3: ...TPUT FUNCTION 71 13 BUILT IN MULTI FUNCTION 72 13 1 32 BIT COUNTER FUNCTION 72 13 1 2 32 BIT COUNTER Digital Input 72 13 1 3 32 BIT COUNTER Digital Output 72 13 2 FLIPFLOP FUNCTION 73 13 2 1 FlipFlop1 73 13 2 2 FlipFlop2 73 13 2 3 FlipFlop3 74 13 2 4 FlipFlop4 D Type 75 13 2 5 FlipFlop5 T Type 75 13 3 TIMER FUNCTION 76 13 2 1 Timer1 Standard Type 76 13 3 2 Timer2 Standard Type 76 13 3 3 Timer3 Mon...

Page 4: ...Torque Limit 0 97 14 2 1 2 Torque Limit Source 1 Torque Limit AI 1 Torque Limit 0 97 14 2 1 3 Torque Limit Source 2 Torque Limit AI 2 Torque Limit 0 97 14 2 2 Torque Mode Standard Torque Mode Digital Input 98 14 2 3 Torque Mode Standard Torque Mode Digital Output 99 14 2 7 Torque Mode Standard Torque Mode PID Gain 99 14 2 7 1 Torque Mode Standard Torque Mode PID Gain 99 14 3 EGEAR MODE STANDARD PU...

Page 5: ...iption of Curve 124 14 4 6 0 BP2P Mode Basic Point to Point Description of Curve 124 14 4 6 0 1 BP2P Mode Basic Point to Point Phases of the motion profile 126 14 4 6 0 2 BP2P Mode Basic Point to Point Dynamically shaped Short Target Length 128 14 4 6 1 BP2P Mode Basic Point to Point Description of Curve Search Home 129 14 4 6 1 1 Search Home Curve Standard Acc Dec S curve 129 14 4 6 1 2 Search Ho...

Page 6: ... 7 1 BP2P Mode Basic Point To Point PID Gain Curve 142 15 ALARM MESSAGE AND MAINTENANCE 144 15 1 ALARM MESSAG PANEL DISPLAY 144 15 2 ALARM LAMP DISPLAY 144 15 2 ALARM MESSAGE DISPLAY BIT OF BINARY 144 15 3 ALARM PROCESS 145 ...

Page 7: ...riate qualifications should work with this inverter These personnel must be familiar with all the warning signs and precautions laid out in these operating instructions for the transport installation and operation of this device The successful and safe use of this inverter depends on the correct installation commissioning operation and maintenance of the device This device operates at high voltage...

Page 8: ... proper precautions are not taken CAUTION For the purpose of this manual and product labels CAUTION indicates that minor personal injury or property damage CAN result if proper precautions are not taken NOTE For the purpose of this manual and product labels NOTES merely call attention to information that is especially significant in understanding and operating the inverter DANGER and WARNING Make ...

Page 9: ...se label is same or not Check the out looking of the device to make sure that there is no defect on it All screws should be tighten and exist If any miss or defect happened please contact with the agency to get resolve of the problem 1 2 Description of Nameplate Content 1 2 1 The Label on the Packing Case JMD STD 90A H 380V The contents of indication 1 JMD Jupiter Series 2 STD Fireware Function ST...

Page 10: ...A 22 5KW Serial NO 11121312 The contents of rating label are showed below Series Jupiter Series Firmware Function STD Standard type PRT Pulse Register Tracking RC Rotary Cut VRC Volcano Rotary Cut FC Fly Catch FS Fly Saw Output Current Rated Current H With H 220V type Without H 380V type MODEL JMD STD 90A H Power Type A C 1 or 3 Phase 220Volt Power Frequency 50Hz 60Hz INPUT 3Ø220AC 50 60HZ Rated V...

Page 11: ... 7 5 11 15 22 5 Max Output Voltage Match 3 phase Input Voltage Dimension P1 P2 P3 380V Series Horse Power HP 7 5 10 15 20 30 40 50 60 73 100 120 147 176 224 JMD XXX H 12 17 23 31 45 60 75 90 110 152 176 210 253 300 Output Current A 12 17 23 31 45 60 75 90 110 152 176 210 253 300 Rated Capacity KVA 9 5 13 19 25 34 46 50 60 72 100 116 138 167 197 Rated Power KW 5 5 7 5 11 15 22 5 30 37 45 55 75 90 1...

Page 12: ...og Output AO 2 12 bit RS232 Communication Interface Included Location at the same communication connector use hardware wire to switch RS485 Communication Interface Included Brake Discharge MOS FET Follow Type 220V 1HP 10HP include 380V 7 5HP 10HP include Over Heat Protect Function Included PG Feedback Interface 1 Belong to Line Drive 5V PG Encoder Output 1 Divide from 1 64 External Received Interf...

Page 13: ...regulations as well as the relevant regulations regarding the correct use of tools and personal protective gear Make sure that the unobstructed clearance for each of the cooling inlets and outlets above and below the inverter is at least 100mm Make sure that a space of 40mm is kept free at the sides of the inverter to permit the cooling air to escape from the side slits 10cm 4cm 10cm 4cm Cooling A...

Page 14: ...www jps com tw 13 4 Outline Dimension P1 1HP 5HP Unit mm P２ 7 5 HP 10HP Unit mm P３ 15HP 30HP Unit mm P４ 40HP Unit mm P５ 50HP 60HP Unit mm P６ 73 120HP Unit mm ...

Page 15: ...www jps com tw 14 P7 147HP 224HP Unit mm ...

Page 16: ...or system protection There are static sensitive components inside the Printed Circuit Board Avoid touching the boards or components with your hands or metal objects Make sure to connect the power terminals tight and correctly Make sure that the power source supplies the correct voltage and is designed for the necessary current The terminal has icon should be connected to Earth properly 5 1 2 The O...

Page 17: ...ing discharge The wattage of resistor can be increased for heavier re generating energy or higher discharge duty 220V 380V HP JMD Rated Current Resistance ohm Wattage W JMD Rated Current Resistance ohm Wattage W 1 3 100 200 1 5 6 60 250 3 9 60 250 5 15 40 300 7 5 24 30 500 12 100 500 10 33 20 600 17 75 750 15 46 15 1000 23 50 1000 20 61 10 1500 31 40 1500 30 90 45 40 60 Recommand Use Brake Module ...

Page 18: ...the list below to choose proper reactance HP 220V Arms Current Arms Inductance mH 1 3 6 1 8 1 5 6 6 1 8 3 9 9 0 71 5 15 17 0 53 7 5 24 24 0 35 10 33 33 0 26 15 46 46 0 18 20 61 61 0 13 30 90 120 0 09 HP 220V Arms Current Arms Inductance mH 7 5 12 15 1 42 10 17 20 1 0 15 23 30 0 7 20 31 40 0 53 30 45 60 0 36 40 60 80 0 26 50 75 100 0 21 60 90 120 0 18 73 110 150 0 14 100 152 200 0 11 120 176 220 0 ...

Page 19: ...erminals It is necessary to choose proper tool for wiring connection to avoid screw stripped or burst Please refer to the list below to choose a proper screw drive for driving power terminals A B mm C mm D mm P mm L mm 0 6 3 3 3 3 B C mm D mm P mm L mm 0 3 3 ...

Page 20: ...ital Input 24 VDC Open Collector Multi Function Digital Output 24 VDC Open Collector DOx 1 8 AIx 1 2 AOx 1 2 Multi Function Analog Input 10 VDC INPUT ENCODER BUFFER OUTPUT PG 4 N N 1 2 4 8 16 32 64 Line Driver 5V QEP OUTPUT OR 250K 125K 62 5K OUTPUT Fast Digital Input X Y Line Speed Input Max 10M Hz Speed Photocoupler Isolation 5V Line Receiver BKE Resistance AC Servo Motor Fast Digital Input CUT ...

Page 21: ...12 13 30 31 DO3 DO3 DO2 DO2 DO1 DO1 DO4 DO4 15 17 AI1 AI1 16 18 AI2 AI2 35 36 AO1 AO2 34 ACOM 23 25 X X 24 26 Y Y XY 外部接收介面 19 21 LA LA 20 22 LB LB PG 分頻輸出 I O SCSI36 PIN 9 11 232TX 232RX 2 4 VSS RS232 通信界面 1 3 485A 485B RS485 通信界面 RS422 通信界面 5 7 422TX 422RX 8 10 6 V5 RXSW COMM SCSI14 PIN 1 2 A A 3 B 4 5 B C 6 7 C U 8 9 U V 10 19 V W 20 W 12 14 11 13 5V 0V ENCODER 5V LINE DRIVE PG SCSI20 PIN DI9 ...

Page 22: ...wire please refer to wiring as below COMM D SUB 9 PIN PIN Signal 1 V5 2 232TX 3 232RX 4 RXSW 5 VSS 6 V5 7 485 A 8 485 B 9 VSS RS232 Connection Recommend PIN Signal Description 4 RXSW Do not care 2 232TX 3 232RX 5 9 VSS 0V internal Gnd RS485 Connection Recommend PIN Signal Description 4 RXSW Connect V5 Pin1 or Pin6 7 485 A 8 485 B 5 9 VSS 0V internal Gnd 21 www jps com tw ...

Page 23: ...put AO analog output LAB PG divided output XY external signal about detail please refer to as below I O SCSI 36 PIN PIN Signal PIN Signal 1 DI1 27 S S 2 DI2 28 DO2 3 DI3 29 DO2 4 DI4 30 DO4 5 DI5 31 DO4 6 DI6 32 7 DI7 33 VSS 8 DI8 34 ACOM 9 S S 35 AO1 10 DO1 36 AO2 11 DO1 12 DO3 13 DO3 14 15 AI1 16 AI2 17 AI1 18 AI2 19 LA 20 LB 21 LA 22 LB 23 X 24 Y 25 X 26 Y ...

Page 24: ...NCODER and DI9 DI10 fast capture input signals include ENCODER 5V LINE DRIVE DI9 DI10 fast capture photocoupler input about how to connect please refer To as below ENCODER SCSI 20 PIN PIN Signal 1 A 2 A 3 B 4 B 5 C 6 C 7 U 8 U 9 V 10 V 11 0V 12 V5 13 0V 14 V5 15 DI9 16 DI9 17 DI10 18 DI10 19 W 20 W ...

Page 25: ...AI1 Analog Input Input Range 10V Reference Potential ACOM I O SCSI36 AI2 5V 5V Power Output Attention 1 ACOM and G24 not connect inside do not confuse 2 5V and 24V only for signals please do not supply for Other heavy loading 0V 5V Power Reference Potential 24V 24V Power Output G24 24V Power Reference Potential I O SCSI36 DO1 DO3 Digital Output Reference Potential G24 Planning for 24V voltage only...

Page 26: ...rom parameters 4 7K G24 24V GND To CPU G24 DI x Digital Input PG SCSI20 ENCODER SignalA B and C circuit are totally different inside Onlyuse 5VLineDriver Encoder to avoid noise effected 220 1 4W A A A Vcc I O SCSI36 LAB LAB signalisbufferedoutput Belongto5VLINE DRIVEsignal I O SCSI36 XYI XandYcircuitarethesame XY pulse input use 5V fast Capturephotocouplerinput ...

Page 27: ...13 14 15 16 17 18 DO3 DO3 DO2 DO2 DO1 DO1 DO4 DO4 19 20 AI1 AI2 22 23 AO1 AO2 21 ACOM XY 外部接收介面 1 2 LA LA 3 4 LB LB PG 分頻輸出 3 2 232TX 232RX 5 0V RS232 通信界面 5 7 485A 485B RS485 通信界面 COMM DB9F 1 2 A A 3 B 4 5 B C 6 7 C U 8 9 U V 10 11 V W 12 W 13 14 15 5V 0V ENCODER 5V LINE DRIVE PG DB15M DI9 DI10 24V PHOTOCOUPLER 6 DI10 9 G24 5 DI9 RJ1 RJ45 3 4 0V 1 2 5V 1 X 2 X 3 Y 4 Y 7 5V 8 0V XYI DB9F 5 6 LC L...

Page 28: ...2 9 S S 21 ACOM 10 S S 22 AO1 11 DO1 23 AO2 12 DO1 24 24V 25 G24 PG DB15 M PIN Signal 1 A 2 A 3 B 4 B 5 C 6 C 7 U 8 U 9 V 10 V 11 W 12 W 13 V5 14 0V 15 0V LAB DB9 M PIN Signal 1 LA 2 LA 3 LB 4 LB 5 LC 6 LC 7 8 0V 9 XYI DB9 F PIN Signal 1 X 2 X 3 Y 4 Y 5 DI9 6 DI10 7 V5 8 0V 9 G24 COMM COMMUNICATION LAB PG BUFFER OUTPUT I O INPUT OUTPUT XYI XY DI9 DI10 INPUT PG ENCODER SIGNAL INPUT F FEMALE M MALE ...

Page 29: ...DB25F AI1 Analog Input Input Range 10V Reference Potential ACOM I O DB25F AI2 5V 5V Power Output Attention 3 ACOM and G24 not connect inside do not confuse 4 5V and 24V only for signals please do not supply for Other heavy loading 0V 5V Power Reference Potential 24V 24V Power Output G24 24V Power Reference Potential I O DB25F DO1 DO3 Digital Output Reference Potential G24 Planning for 24V voltage ...

Page 30: ... Setting from parameters 4 7K G24 24V GND To CPU G24 DI x Digital Input PG DB15M SignalA B and C circuit are totally different inside Onlyuse 5VLineDriver Encoder to avoid noise effected 220 1 4W A A A Vcc LAB DB9M LAB signalisbufferedoutput Belongto5VLINE DRIVEsignal XYI DB9F XandYcircuitarethesame XY pulse input use 5V fast Capturephotocouplerinput ...

Page 31: ... digital input Just connect to terminal 220 1 4W X X X Vcc ps Y signal X signal If use 24V Open Collector signal as digital input Need to connect limit resistance 2K 1W 220 1 4W 24V X X Vcc X 2K 1W ps Y signal X signal Use 5V Line Driver signal please refer to Open Collector Signal please refer to X X X 5V 0V 5V 0V 5V 0V X X 5V 0V 24V 0V ...

Page 32: ...conditions established in the connection click execute motor AutoTuning 1 2 3 4 5 6 step1 select motor connection step 2 select motor type step 3 comfirm motor type and download release parameters from comfirm button step 4 decide Digital Input Digital Output function reversed or not when execute action driver will clear Digital Input Digital Output to zero to avoid error action step 5 Execute sel...

Page 33: ...h setting enable DI8 the driver get into servo on status trigger DI5 the driver execute Run forward command the driver running according to accelement decelement ramp setting Attention if want to use external control after finish all the settings could connect hardware wiring 8 3 JOINT PROGRAMMER Software exchange direction Attention If in regular condition the driver can drive motor normally and ...

Page 34: ... FR W R 1 85 AMP_Rated_Current 5 0 0 5 3000 0 Ampere FR W R 1 89 AMP board Version 0 0 65535 Version M 1 97 MAIN board Version 0 0 65535 Version M 1 133 Thermal Time 3 0 120 sec FR W 1 154 AMP Status 4 Selection shown at Pr 424 0 0 65535 FR W 1 155 AMP Status 5 Selection shown at Pr 425 0 0 65535 FR W 1 169 I O Scan Time 0 1 0 0 6553 5 ms scan M 1 424 AMP_Data4 by Pr 154 selection 0 0 65535 M 1 42...

Page 35: ...0 1 FR W R 1 192 ENCODER Shift 0 0 65535 pulses FR W R 1 193 Motor Type 3 3 3 F 1 194 Motor Pole No 8 2 100 FR W R 1 196 ENCODER PPR CHECK 10000 0 65535 pulses rev FR W R 1 197 Hall UVW Sequence 2 0 65535 FR W R 1 198 Motor Ke Back Emf constant 0 0 0 0 6000 0 Volts 1000rpm FR W 1 199 Motor De Decoupling constant 0 0 0 0 6000 0 Volts 1000rpm I FR W 1 200 Motor Rated Speed 1000 0 30000 rpm FR W R 1 ...

Page 36: ...oop I gain 0 00 0 00 300 00 Rpm sec Pulse R W 1 179 2 st Position loop D gain motion 0 00 0 00 300 00 Rpm Krpm sec FR W 1 180 Position Loop D Time 2 0 0 0 12 7 ms FR W 1 181 ACC Torque compensation 0 0 30000 R W 1 182 Speed loop D Gain 0 0 30000 FR W 1 183 Speed Loop D Time 0 5 0 5 12 7 ms FR W 1 184 Threshold Rpm for SPZ 100 0 1000 rpm R W 1 185 Speed Error Limit 1000 0 60000 rpm FR W 1 186 Speed...

Page 37: ... AI1 AI2 Range Select 0 0 3 R W R 1 Analog Output Group Refer to chapter 10 7 No Name Default Min Max Unit Type W 100 Analog Output AO1 Data Select 0 0 250 R W 1 101 AO1 Offset Adjustment 0 2000 2000 mV R W 1 102 AO1 Span Adjustment 100 0 0 0 110 0 Gain R W 1 103 Analog Output AO2 Data Select 0 0 250 R W 1 104 AO2 Offset Adjustment 0 2000 2000 mV R W 1 105 AO2 Span Adjustment 100 0 0 0 110 0 Gain ...

Page 38: ... 0 0 255 R W 1 167 DI 11 function Select FDIX 0 0 10 R W 1 168 DI 12 function Select FDIY 0 0 10 R W 1 473 DI 13 function Select Firmeare Modify 0 0 255 R W 1 474 DI 14 function Select Firmeare Modify 0 0 255 R W 1 475 DI 15 function Select Firmeare Modify 0 0 255 R W 1 476 DI 16 function Select Firmeare Modify 0 0 255 R W 1 Digital Output Group Refer to chapter 10 9 No Name Default Min Max Unit T...

Page 39: ...EV Command Type 0 0 2 R W 1 259 JOG Speed Set 5 0 3276 8 3276 7 rpm R W 1 260 Speed Set0 RAM 0 0 3276 8 3276 7 rpm R W 1 261 Speed Set1 EAROM 0 0 3276 8 3276 7 rpm R W 1 262 Speed Set2 EAROM 0 0 3276 8 3276 7 rpm R W 1 263 Speed Set3 EAROM 0 0 3276 8 3276 7 rpm R W 1 264 Speed Set4 EAROM 0 0 3276 8 3276 7 rpm R W 1 265 Speed Set5 EAROM 0 0 3276 8 3276 7 rpm R W 1 266 Speed Set6 EAROM 0 0 3276 8 32...

Page 40: ...AM3 End Angle or Range Angle 0 0 0 0 360 0 Degree R W 1 338 ECAM4 Start Angle 0 0 0 0 360 0 Degree R W 1 339 ECAM4 End Angle or Range Angle 0 0 0 0 360 0 Degree R W 1 16 BIT SHIFTER Group Refer to chapter 13 20 No Name Default Min Max Unit Type W 213 16 bit Shifter Content 0 0 65535 Bit Pattern R W 1 219 16 bit Shifter SR_PPF Past Present Future Bits 0 0 7 Bits R W 1 228 16 bit Shifter Effective B...

Page 41: ... GEAR Mul 0 EGEAR Mode 10000 0 50000 R W 1 038 E GEAR Div 0 EGEAR Mode 10000 0 50000 R W R 1 039 E GEAR Mul 1 EGEAR Mode 10000 0 50000 R W 1 054 E GEAR Mul 2 EGEAR Mode 10000 0 50000 R W 1 055 E GEAR Mul 3 EGEAR Mode 10000 0 50000 R W 1 110 E GEAR X Y Input Pulse Input Type 0 0 2 R W R 1 209 E GEAR JOG Rpm EGEAR Mode 60 0 3000 rpm R W 1 210 E GEAR Maximum Speed Limit 1000 0 3000 rpm R W 1 211 E GE...

Page 42: ...t5 POSx SW 0101 0 000 1000000 000 1000000 000 mm R W 2 286 Position Set6 POSx SW 0110 0 000 1000000 000 1000000 000 mm R W 2 288 Position Set7 POSx SW 0111 0 000 1000000 000 1000000 000 mm R W 2 290 Position Set8 POSx SW 1000 0 000 1000000 000 1000000 000 mm R W 2 292 Position Set9 POSx SW 1001 0 000 1000000 000 1000000 000 mm R W 2 294 Position Set10 POSx SW 1010 0 000 1000000 000 1000000 000 mm ...

Page 43: ... 10 1 3000 rpm R W 1 362 P2P Profile B Acc Dec Ramp Time 10 0 1 0 6000 0 ms Krpm R W 1 363 P2P Profile B S Curve Jerk Time 5 0 1 0 3000 0 ms R W 1 364 P2P Profile C Half Sine Period Time 5 0 1 0 5000 0 ms R W 1 365 P2P Profile C Top Speed Set 50 1 3000 rpm R W 1 366 P2P Profile C Acc Dec Ramp Time 10 0 1 0 6000 0 ms Krpm R W 1 367 P2P Profile C S Curve Jerk Time 5 0 1 0 3000 0 ms R W 1 368 P2P Pro...

Page 44: ...84 P2P Run Profile 12 0 0 3 R W 1 385 P2P Run Profile 13 0 0 3 R W 1 386 P2P Run Profile 14 0 0 3 R W 1 387 P2P Run Profile 15 0 0 3 R W 1 388 P2P Position Mode 0 0 0 9 R W 1 389 P2P Position Mode 1 0 0 9 R W 1 390 P2P Position Mode 2 0 0 9 R W 1 391 P2P Position Mode 3 0 0 9 R W 1 392 P2P Position Mode 4 0 0 9 R W 1 393 P2P Position Mode 5 0 0 9 R W 1 394 P2P Position Mode 6 0 0 9 R W 1 395 P2P P...

Page 45: ...0 100 0 mm FR W 1 478 M P2P Cycle End Position 0 000 1000000 000 1000000 000 mm M 2 W mean 1 word or 2 word of parameter 9 4 Parameter Type The table showed below describing the different type of all the parameter of this manual Type Description R W The parameter is Readable and Writable and can be stored in EAROM FR W The parameter is Readable and Writable and can be stored in EAROM This type of ...

Page 46: ...ation This parameter displays the drive mode version Pr 043 UP AUTO RECOVER Eanble This parameter can be set when the UP low voltage faults you can enable or disable startup UP automatic recovery Note When you start the UP automatic recovery function the drive automatically performs an internal reset software reset all belonging to the communication virtual I O Will restore the initial state Setti...

Page 47: ...ver level 1 414 Pr 130 120 Under Potential trip level 1 414 Pr 130 70 UP recover level 1 414 Pr 130 80 CONTACTOR ON level 1 414 Pr 130 69 CONTACTOR OFF 1 414 Pr 130 65 NOTE The Contactor is inside the driver to short the charging resistor Brake Discharge start level 1 414 Pr 130 117 Pr 085 AMP_Rated_Current This parameter defines the rated output current of driver NOTE This parameter is set as the...

Page 48: ...ng to the observed value will be displayed on Pr 425 Setting Description 16 DC BUS xxx x Volt 50 Temperature Pr 169 I O Scan Time This parameter Display the once scan time of internal I O Pr 424 AMP Data4 by Pr 154 selection Pr 425 AMP Data5 by Pr 155 selection This parameters for the drive internal state of the state refer to Pr 154 Pr 155 s instructions Pr 495 Digital Input Qualifier This parame...

Page 49: ...te 19200 3 BaudRate 38400 4 BaudRate 57600 7 BaudRate 115200 Pr 081 Error Counts This parameter shows that when a communication failure or error every communication fails on plus 1 10 3 Operation Mode Group Pr 001 Servo Mode Select This parameter determines the drive control mode NOTE If you do not choose the appropriate models in some modes not working properly Relevant purchase pattern contained...

Page 50: ...arameters used refer to the motor on the supplier does enter Also available via the drive s auto tuning function automatically detect settings Pr 189 ENCODER TYPE This parameter is used to select proper encoder type for used Setting Description Memo 0 JBL Standard A B Z U V W Suitable standard encoder 1 JBL IRT 380 Series ABZ mix VWU 5ms delay Suitable encoder IRT380 type 2 JBL TS5214 Series ABZ m...

Page 51: ...by the motor manufacturer to set motor De values Pr 200 Motor Rated Speed According to information provided by the motor manufacturer to set motor rated speed Pr 201 ENCODER ABC CHECK This parameter can be displayed on the feedback signal A B C state For example A ＯN 1 B OFF 0 C OFF 0 this parameter display 4 Pr 202 ENCODER UVW CHECK This parameter can be displayed on the feedback signal U V W sta...

Page 52: ...ear Type Recommend 1 Square Root Type Pr 174 1 st Position loop P gain Pr 175 1 st Position loop I gain motion Pr 176 1 st Position loop D gain motion This three parameter settings position loop 1 of the PID gains Pr 177 2 nd Position loop P gain Pr 178 2 nd Position loop I gain motion Pr 179 2 nd Position loop D gain motion This three parameter settings position loop 2 of the PID gains Pr 180 Pos...

Page 53: ...7 Torque Command Filter This parameter setting Torque Loop filtering level Pr 237 Speed Loop Base Pgain Pbase Pr 238 Speed Loop Base Igain Pbase This two parameter is the speed loop Base P I gain parameter A load of the motor to achieve the best control performance in post And appropriate reaction speed avoid system shocks etc can be adjusted by this parameter Note This parameters will also affect...

Page 54: ...ecommend Speed Loop 1 P gain Speed Loop 1 I gain Pr 246 2 nd Speed Loop Pgain Pr 247 2 nd Speed Loop Igain This parameter is the speed loop two 2 P I gain parameter A load of the motor to achieve the best control performance in post And appropriate reaction speed avoid system shocks etc can be adjusted by this parameter Note Average speed loop 2 defined as the speed gain Recommend Speed Loop 2 P g...

Page 55: ...gain Pr 119 AI1 Result Value Pr 131 AI2 Result Value This parameter displays analog digital A D converter value Pr 124 AI1 UPPER LIMIT Pr 125 AI1 LOWER LIMIT This two parameter setting analog digital A D of the upper lower limit Note This parameter can only be set at two AI1 analog input source This feature applies Pr 002 speed command source selection 7 Speed Source AI 1 with Pr 124 Pr 125 as lim...

Page 56: ...16 Vout Vcmd Max Speed Pr 203 MOTION only Only For Motion Type 21 Vout Rpm absolute Max Vout when Rpm Pr 203 22 Vout Rpm signed 23 Vout Motor Torque absolute Max Torque Pr 088 24 Vout Motor Torque signed Note JUPITER models based on capacity the mix of different AO output hardware refer to the following instructions 1HP 3HP Type Use with the I O board you can achieve the output voltage 10 V 3HP Ty...

Page 57: ... not retentive power reset it will automatically cleared to 0 Pr 107 RAM SET2 This parameter set AO output parameters RAM SET2 applicable function selection Pr 100 4 Note This parameter is not retentive power reset it will automatically cleared to 0 Pr 108 EAROM SET1 or Wave Frequency This parameter set AO output parameters EAROM SET1 applicable function selection Pr 100 5 Note This parameter is p...

Page 58: ...ction Select Pr 063 DI 3 function Select Pr 064 DI 4 function Select Pr 065 DI 5 function Select Pr 066 DI 6 function Select Pr 067 DI 7 function Select Pr 068 DI 8 function Select This parameter group to set the status of the terminal options if the state of the terminal is activated the drive will perform the functions of the action Note The eight belonging 24V OpenCollector generally optically ...

Page 59: ...tus of the terminal communication options if the state of the terminal is activated the drive will perform the functions of the action Note The four belong internal firmware analog digital input scan execution time is 400us Reset function can not be set options Related options refer to Chapter 11 Digital input terminal function selection DI 15 and DO 15 internally connected together DI 16 and DO 1...

Page 60: ...0 0000 0101 Expanded by the binary bit status communication execution DO1 and DO3 state is ON the remaining terminals are OFF Pr 111 DO 1 function Select Pr 112 DO 2 function Select Pr 113 DO 3 function Select Pr 114 DO 4 function Select This parameter group to set the digital output terminal options Note The four belonging 24V OpenCollector generally optically coupled isolated digital input scan ...

Page 61: ... fixed oscillator output refer to the following detailed settings Setting Description Memo 0 CKA CKB QEP Output PGA PGB 1 Hardware based divider 1 CKA CKB QEP Output PGA PGB 2 2 CKA CKB QEP Output PGA PGB 4 3 CKA CKB QEP Output PGA PGB 8 4 CKA CKB QEP Output PGA PGB 16 5 CKA CKB QEP Output PGA PGB 32 6 CKA CKB QEP Output PGA PGB 64 8 CKA CKB QEP Output 62 50 Khz QEP clock x4 250 00Khz Oscillator o...

Page 62: ...OG Forward 49 JOG Reverse 60 Speed mode FLSW Forward Limit Switch N O contact 62 Speed mode RLSW Reverse Limit Switch N O contact 65 Speed mode FLSW Forward Limit Switch N C contact 67 Speed mode RLSW Reverse Limit Switch N C contact 73 Speed RUN or FWDRUN 74 Speed REV or REVRUN 104 SPEED AI2 Compensation ENABLE Speed AI2 Pr 203 30000 105 SPEED AI2 Compensation POLARITY Function Function Descripti...

Page 63: ...SET 42 FlipFlop4 D Type CLR 43 FlipFlop4 D Type CK 51 FlipFlop5 T Type SET 13 2 5 52 FlipFlop5 T Type CLR 53 FlipFlop5 T Type TOGGLE Function Function Description TIMER Block Version Chapter 110 TIMER3 START input 13 3 3 106 TIMER4 START input 13 3 4 115 TIMER5 Mono Pulse type Trig input 13 3 5 Function Function Description ECAM Block Version Chapter 114 ECAM cycle Index Input 13 8 Function Functi...

Page 64: ...orm reset reset Note This feature does not apply to virtual input terminals must be set in the actual hardware digital input DIx _ Select 102 SERVO ON When you select this function start the servo drive excitation DIx _ Select 249 EMERGENCY STOP When this function is selected the drive according to Pr 254 Emergency stop deceleration time setting down to zero speed and failure messages EMS Speed Pr...

Page 65: ... 63 EGEAR RLSW Reverse Limit Switch N O contact 64 EGEAR Switch to Speed REV By Pr 002 selection 66 EGEAR FLSW Forward Limit Switch N C contact 68 EGEAR RLSW Reverse Limit Switch N C contact 70 EGEAR MULx_SW0 71 EGEAR MULx_SW1 78 EGEAR Switch to Speed FWD By Pr 002 selection 82 EGEAR JOG Forward 83 EGEAR JOG Reverse 84 EGEAR Master Clk ON XY OFF Simulation 85 EGEAR Master Clk ON Simulation OFF XY ...

Page 66: ...tration Control 20 P2P Cancel Save remaining distance 21 P2P Continue the Saved distance 25 P2P Repeat Sinusoidal Motion 30 P2P JOG Forward 31 P2P JOG Reverse 32 P2P HOME SEARCH Start 33 P2P HOME DOG Switch 34 P2P MARK Sensor Input DIx 36 P2P Enable Switch For DIx 38 37 P2P Check Mark then Move POS 15 constant 38 P2P Check Mark then Move POS 15 controlled by DIx 36 124 P2P Trigger Control ON disab...

Page 67: ...pter 6 Forward Running ABS Rpm Pr 184 SPZrpm 14 1 7 Reverse Running ABS Rpm Pr 184 SPZrpm 9 SPZ ABS Rpm Pr 184 10 NSPZ ABS Rpm Pr 184 14 Actual Speed Pr 010 Speed Reference 15 Actual Speed Pr 010 Speed Reference Function Function Description Torque Mode Version Chapter 18 Driver Torque Current Pr 016 Warning Level 14 2 19 Driver Torque Current Pr 016 Warning Level 83 Motor Torque Pr 016 Warning Le...

Page 68: ... Q 119 FlipFlop5 T type Q 13 2 5 120 FlipFlop5 T type Q Function Function Description TIMER Block Version Chapter 11 TIMER1 On Off Output 13 3 1 100 TIMER1 Output and SPDx_SWITCH Auto Change 12 TIMER2 On Off Output 13 3 2 108 Timer3 Mono Type Q 13 3 3 109 Timer3 Mono Type Q 110 Timer3 Delay On Type Q 111 Timer3 Delay On Type Q 104 Timer4 Mono Type Q 13 3 4 105 Timer4 Mono Type Q 106 Timer4 Delay O...

Page 69: ... Torque Pr 016 Warning Level 193 ECAM4 Type1 Position Error Pr 170 Warning Level 194 ECAM4 Type2 Position Error Pr 170 Warning Level 13 8 2 195 ECAM1 Type2 Start Angle Range Angle 196 ECAM2 Type2 Start Angle Range Angle 197 ECAM3 Type2 Start Angle Range Angle 198 ECAM4 Type2 Start Angle Range Angle 199 ECAM4 Type2 Motor Torque Pr 016 Warning Level Function Function Description XY AB INDEX Block Ve...

Page 70: ...6 bit Shifter Q bit 11 162 16 bit Shifter Q bit 12 163 16 bit Shifter Q bit 13 164 16 bit Shifter Q bit 14 165 16 bit Shifter Q bit 15 166 16 bit Shifter Q bit 0 167 16 bit Shifter Q bit 1 168 16 bit Shifter Q bit 2 169 16 bit Shifter Q bit 3 170 16 bit Shifter Q bit 4 171 16 bit Shifter Q bit 5 172 16 bit Shifter Q bit 6 173 16 bit Shifter Q bit 7 174 16 bit Shifter Q bit 8 175 16 bit Shifter Q b...

Page 71: ... start digital output DOx _ Select 003 OL Warning When you reach the thermal relay operation time Pr 133 generate a digital output DOx _ Select 004 ALARM When you select this action when the drive fails to produce digital output DOx _ Select 005 NO ALARM When you choose this action when the drive is no fault the resulting digital output DOx _ Select 008 PG C 10ms INDEX Output When you select this ...

Page 72: ...DOx Digital Output Function Function Function Description Basic Point To Point Mode Version Chapter 16 P2P Position Error Pr 170 Warning Level 14 4 17 P2P Position Error Pr 170 Warning Level 32 P2P HOME Search OK 60 P2P Ready 61 P2P Ready IN_POSITION 62 P2P Running 63 P2P STATUS MATCH 66 P2P Machine Position FWD Travel Limit 67 P2P Ready Search HOME OK 78 P2P MARK Window Cancel Continue mode 79 P2...

Page 73: ...UP when the input is rising edge 32 BIT counters count 1 32 Bit Counter DN when input is rising edge 32 BIT counter value 1 32 Bit Counter CLR when input is rising edge 32 BIT counter has cleared 0 13 1 3 32 BIT COUNTER Digital Output DOx _ Select 112 32 bit Counter Pr 216 Compare Level When Pr 214 32 Bit Counter Content Pr 216 32 Bit Counter Compare Level Output Action DOx _ Select 113 32 bit Cou...

Page 74: ... is rising edge output 0 When CLR is rising edge output 1 13 2 2 FlipFlop2 13 2 2 1 FlipFlop 2 Parameter 13 2 2 2 FlipFlop 2 Digital Input DIx _ Select 044 FlipFlop2 SET DIx _ Select 045 FlipFlop2 CLR 13 2 2 3 FlipFlop 2 Digital Output DOx _ Select 053 FlipFlop2 Q When SET is rising edge output 1 When CLR is rising edge output 0 DOx _ Select 054 FlipFlop2 Q When SET is rising edge output 0 When CL...

Page 75: ... SET DIx _ Select 145 FlipFlop3 CLR 13 2 3 3 FlipFlop 3 Digital Output DOx _ Select 144 FlipFlop3 Q When SET is rising edge output 1 When CLR is rising edge output 0 DOx _ Select 145 FlipFlop3 Q When SET is rising edge output 0 When CLR is rising edge output 1 FlipFlop3 DIx 144 DOx 145 DOx 144 DIx 145 SET CLR Q Q SET CLR Q Q ...

Page 76: ... set together DIx 39 based FlipFlop4 DIx must be set FlipFlop can start to work 13 2 5 FlipFlop5 T Type 13 2 5 1 FlipFlop 5 Parameter 13 2 5 2 FlipFlop 5 Digital Input DIx _ Select 051 FlipFlop5 T Type SET DIx _ Select 052 FlipFlop5 T Type CLR DIx _ Select 053 FlipFlop5 T Type TOGGLE 13 2 5 3 FlipFlop 5 Digital Output DOx _ Select 119 FlipFlop5 T type Q DOx _ Select 120 FlipFlop5 T type Q Note Whe...

Page 77: ...t Note DOx 011 follow TimerXOn Off Time to output T1 TimerX ON Time T2 TimerX OFF Time 13 3 2 Timer2 Standard Type 13 3 2 1 Timer2 Parameter Pr 232 Timer2 ON Time Pr 233 Timer2 OFF Time This parameter sets the timer ON period and OFF cycle time 13 3 2 2 Timer2 Digital Input 13 2 2 3 Timer2 Digital Output DOx _ Select 012 TIMER2 On Off Output Note DOx 012 follow TimerXOn Off Time to output T1 Timer...

Page 78: ...mer3 Delay On Type Q DOx _ Select 111 Timer3 Delay On Type Q Note Timer3 include two application 1 Mono Type Timer 1 1 When set DIx 110 ON DOx 108 ON 1 2 After Pr 234 after the set time will disable DOx 109 DOx 108 reverse output 2 Delay On Type Timer 2 1 When set DIx 110 ON DOx 110 OFF 2 2 After Pr 234 after the set time will start 2 3 When DIx 110 OFF DOx 110 output OFF DOx 111 DOx 110 reverse o...

Page 79: ...mer4 Delay On Type Q DOx _ Select 107 Timer4 Delay On Type Q Note Timer4 include two application 1 Mono Type Timer 1 1 When set DIx 106 ON DOx 104 ON 1 2 After Pr 235 after the set time will disable DOx 105 DOx 104 reverse output 2 Delay On Type Timer 2 1 When set DIx 106 ON DOx 106 OFF 2 2 After Pr 235 after the set time will start 2 3 When DIx 106 OFF DOx 106 output OFF DOx 107 DOx 106 reverse o...

Page 80: ...MER5 Mono Pulse type Trig input 13 3 5 3 Timer5 Digital Output DOx _ Select 122 Timer5 Mono Type Q DOx _ Select 123 Timer5 Mono Type Q Note Timer5 include one application 1 Mono Type Timer 1 1 When trigger DIx 115 rising edge DOx 122 ON 1 2 After Pr 236 after the set time will disable DOx 123 DOx 122 reverse output T5 TIMER DOx 122 Q Mono SET Pr 236 DOx 123 Q DIx 115 T5 Input DIx 115 Pr 236 DOx 12...

Page 81: ...Pr 333 ECAM1 End Angle or Range Angle Pr 334 ECAM2 Start Angle Pr 335 ECAM2 End Angle or Range Angle Pr 336 ECAM3 Start Angle Pr 337 ECAM3 End Angle or Range Angle Pr 338 ECAM4 Start Angle Pr 339 ECAM4 End Angle or Range Angle This parameter group is set up to 4 electronic cam output start end angle or action angle 13 8 1 2 ECAM Type1 Digital Input DIx _ Select 114 ECAM cycle Index Input 13 8 1 3 ...

Page 82: ...arning Level DOx _ Select 195 ECAM1 Type2 Start Angle Range Angle DOx _ Select 196 ECAM2 Type2 Start Angle Range Angle DOx _ Select 197 ECAM3 Type2 Start Angle Range Angle DOx _ Select 198 ECAM4 Type2 Start Angle Range Angle DOx _ Select 199 ECAM4 Type2 Include Motor Torque Pr 016 Warning Level Note ECAM Type2 Means to set the starting angle angle and action Degree DOx 195 0 270 180 90 360 270 180...

Page 83: ... Set value Pr 229 16 Bit Shifter Leading Zeros in Effective Bits 13 20 2 16 BIT SHIFTER Block Digital Input DIx _ Select 120 16 bit Shifter CLR DIx _ Select 121 16 bit Shifter SET DIx _ Select 122 16 bit Shifter DATA DIx _ Select 123 16 bit Shifter CK 13 20 3 16 BIT SHIFTER Block Digital Output DOx _ Select 190 16 bit Shifter PPF equal 7 DOx _ Select 191 16 bit Shifter PPF not equal 7 Other relate...

Page 84: ...it 9 DO 160 16 bit Shifter Q bit 10 DO 176 16 bit Shifter Q bit 10 DO 161 16 bit Shifter Q bit 11 DO 177 16 bit Shifter Q bit 11 DO 162 16 bit Shifter Q bit 12 DO 178 16 bit Shifter Q bit 12 DO 163 16 bit Shifter Q bit 13 DO 179 16 bit Shifter Q bit 13 DO 164 16 bit Shifter Q bit 14 DO 180 16 bit Shifter Q bit 14 DO 165 16 bit Shifter Q bit 15 DO 181 16 bit Shifter Q bit 15 16 Bit Data Store in Pr...

Page 85: ... 150 DOx 165 16 Bit Shifter Q Output DI 123 DI 122 DI 120 DO 150 Q0 DO 151 Q1 DO 152 Q2 DO 153 Q3 DO 154 Q4 DO 155 Q5 DO 156 Q6 DO 157 Q7 DO 158 Q8 DO 159 Q9 DO 160 Q10 DO 161 Q11 DO 162 Q12 DO 163 Q13 DO 164 Q14 DO 165 Q15 ...

Page 86: ...DOx 166 DOx 181 16 Bit Shifter Q Output DI 123 DI 122 DI 120 DO 166 Q0 DO 167 Q1 DO 168 Q2 DO 169 Q3 DO 170 Q4 DO 171 Q5 DO 172 Q6 DO 173 Q7 DO 174 Q8 DO 175 Q9 DO 176 Q1 DO 177 Q1 DO 178 Q1 DO 179 Q1 DO 180 Q1 DO 181 Q1 ...

Page 87: ...igital Input 13 22 1 3 XY INDEX Function Digital Output DOx _ Select 038 XY INDEX1 Output DOx _ Select 039 XY INDEX2 Output 13 22 2 AB INDEX Function 13 22 2 1 AB INDEX Function Parameter Pr 463 AB_INDEX1 ON pulses Simulation Pr 464 AB_INDEX1 OFF pulses Simulation Pr 465 AB_INDEX2 ON pulses Simulation Pr 466 AB_INDEX2 OFF pulses Simulation 13 22 2 2 AB INDEX Function Digital Intput 13 22 2 3 AB IN...

Page 88: ... Pr 260 Pr 260 Speed Set0 RAM This parameter is speed setting belonging RAM type Note After the reset the set value of this parameter will be automatically cleared to 0 Pr 261 Speed Set1 EAROM Pr 262 Speed Set2 EAROM Pr 263 Speed Set3 EAROM Pr 264 Speed Set4 EAROM Pr 265 Speed Set5 EAROM Pr 266 Speed Set6 EAROM Pr 267 Speed Set7 EAROM This parameter group is speed setting belonging EAROM patterns ...

Page 89: ...1200 then the current speed command 1120 0 rpm Pr 129 AI2 Drift Pr 130 AI2 Gain Pr 131 AI2 Result Value AI2 Pr 132 AI1 AI2 Input Type Pr 249 Dec Ramp Pr 248 Acc Ramp Pr 250 S curveT1 Pr 251 S curveT2 Pr 252 S curveT3 Pr 253 S curveT4 DIx 10 Speed Command SW0 DIx 11 Speed Command SW1 DIx 12 Speed Command SW2 I O first Pr 260 Speed Set0 RAM Pr 267 Speed Set7 EAROM TO Pr 255 FWD REV Control Type Pr 2...

Page 90: ...Pr 117 AI1 Drift Pr 118 AI1 Gain Pr 119 AI1 Result Value AI1 Pr 132 AI1 AI2 Input Type Pr 249 Dec Ramp Pr 248 Acc Ramp Pr 250 S curveT1 Pr 251 S curveT2 Pr 252 S curveT3 Pr 253 S curveT4 DIx 10 Speed Command SW0 DIx 11 Speed Command SW1 DIx 12 Speed Command SW2 I O first Pr 260 Speed Set0 RAM Pr 267 Speed Set7 EAROM TO Pr 255 FWD REV Control Type Pr 203 Motor Max Speed Pr 002 Speed Source Select M...

Page 91: ...3 Pr 253 S curveT4 Pr 117 AI1 Drift Pr 118 AI1 Gain Pr 119 AI1 Result Value Pr 255 FWD REV Control Type Speed Cmd Pr 260 Speed Set0 RAM Pr 267 Speed Set7 EAROM TO DIx 10 Speed Command SW0 DIx 11 Speed Command SW1 DIx 12 Speed Command SW2 Note Depending on the source of the speed command to read Pr 119 AI1 Analog A D conversion value the value is multiplied by 0 1 as the speed command If DIx 013 se...

Page 92: ...escription Assuming that the input voltage 5V and full scale 10V Pr 203 maximum motor speed 1000 0rpm Pr 124 AI1 upper limit setting 32767 Pr 125 AI1 lower limit setting 0 Then the time of the speed command 500 0rpm AI1 SPEED BLOCK Pr 117 AI1 Drift Pr 118 AI1 Gain Pr 119 AI1 Result Value I O first Pr 124 AI1 upper limit Pr 125 AI1 lower limit Match Pr 203 Max Speed 3 AI1 Postive AI2 Postive Pr 132...

Page 93: ... need a total of 10 5 15 ms Pr 250 Scurve T1 time ACC Start Pr 251 Scurve T2 time ACC End Pr 252 Scurve T3 time DEC Start Pr 253 Scurve T4 time DEC End S curve characteristic can be reduced when the machine starts and stops the vibration generated setting the longer the more obvious the effect of delaying Because of the speed change caused by the vibration is smaller but the relative acceleration ...

Page 94: ...to the digital input Speed selection bit 0 bit 2 speed control mode selection table below Pr Speed Setting Speed SW2 DIx 12 Speed SW1 DIx 11 Speed SW0 DIx 10 Memo 260 Speed Set0 RAM 0 0 0 0 DI inactive 1 DI active 261 Speed Set1 EAROM 0 0 1 262 Speed Set2 EAROM 0 1 0 263 Speed Set3 EAROM 0 1 1 264 Speed Set4 EAROM 1 0 0 265 Speed Set5 EAROM 1 0 1 266 Speed Set6 EAROM 1 1 0 267 Speed Set7 EAROM 1 1...

Page 95: ...REV speed command down to 0 Note N O Normal Open means Q output NPN type A contact signal When the function is activated the internal fault message is not generated DIx _ Select 065 Speed mode FLSW Forward Limit Switch N C contact DIx _ Select 067 Speed mode RLSW Reverse Limit Switch N C contact When select DIx 065 and disabled Speed FWD speed command down to 0 When select DIx 067 and disabled Spe...

Page 96: ...reversed resulting in a digital output DOx _ Select 009 SPZ ABS Rpm Pr 184 DOx _ Select 010 NSPZ ABS Rpm Pr 184 When the ABS output speed Pr 184 the resulting digital output DOx 009 Speed Pr 184 DOx 010 DOx _ Select 014 Actual Speed Pr 010 Speed Reference DOx _ Select 015 Actual Speed Pr 010 Speed Reference When the actual speed Pr 010 the resulting digital output DOx 015 Speed Pr 010 DOx 014 Note...

Page 97: ...8 Speed Loop Base Igain Pbase 174 1 st Position loop P gain Rpm Pulse 242 1 st Speed Loop Pgain 243 1 st Speed Loop Igain 177 2 st Position loop P gain Rpm Pulse 246 2 st Speed Loop Pgain 247 2 st Speed Loop Igain Motor rpm PID 2 Gain PID 1 Gain Pr 184 Gain changing Versus Rpm 2 Pr 184 Speed Torque Mode PID Motor RPM PID 2 Gain PID 1 Gain Pr 184 Threshold Rpm for SPZ Set 100 RPM 200 RPM 100 RPM 0 ...

Page 98: ...Torque Limit AI 1 Torque Limit 0 When this option is selected the source of torque limit AI 1 Torque Limit 0 14 2 1 3 Torque Limit Source 2 Torque Limit AI 2 Torque Limit 0 When this option is selected the source of torque limit AI 2 Torque Limit 0 Pr 004 Torque Limit 0 EAROM Pr 005 Torque Limit 1 EAROM Pr 006 Torque Limit 2 EAROM Pr 007 Torque Limit 3 EAROM This parameter group is torque limit se...

Page 99: ...4 Pr 088 B when DIx 024 enabled Reverse speed command DIx _ Select 028 Torque Command SW0 DIx _ Select 029 Torque Command SW1 These two set of functions is used as a four segment preset torque selector switch In the torque setting 0 3 preset torque torque setting to the digital input switch Torque up select bit 0 bit a torque control mode selection table below Pr Torque Limit Torque Cmd SW1 DIx 29...

Page 100: ...e 2 x10 Generate a digital output Note DOx 019 DOx 018 reverse output Pr 016 Torque Compare Level is percentage of the motor rated current setting value comparison DOx _ Select 083 Motor Torque Pr 016 Warning Level DOx _ Select 084 Motor Torque Pr 016 Warning Level Active when the motor current to compare the percentage of Pr 016 Warning Level If the motor current percentage Pr 016 generate a digi...

Page 101: ...acking Mode Pulse Tracking MK Compensation Note PRT is special type This manual is only for standard type please contact the relevant special type from company Pr 038 E GEAR Div 0 EGEAR Mode This parameter sets the percentage of the divisor tracking Note This parameter is set you must reset the reversion effect Pr 037 E GEAR Mul 0 EGEAR Mode Pr 039 E GEAR Mul 1 EGEAR Mode Pr 054 E GEAR Mul 2 EGEAR...

Page 102: ...peed limit is too low it will affect tracking XY external pulse stops the drive continues to run for a period of time The accumulation of errors due to the location the drive must be XY cover all external pulse wave Pr 211 E GEAR Ramp Rate This parameter group set deceleration ramp Pr 212 PRT High Gain Lock Time This parameter is set when the deceleration is stopped to maintain high gain time ...

Page 103: ... 0 EGEAR multiplier 3 control mode as follows Pr E GEAR Mul X MULx_SW1 DIx 71 MULx_SW0 DIx 70 Memo 037 E GEAR Mul 0 0 0 0 DI inactive 1 DI active 039 E GEAR Mul 1 0 1 054 E GEAR Mul 2 1 0 055 E GEAR Mul 3 1 1 DIx _ Select 078 EGEAR Switch to Speed FWD By Pr 002 selection When enable this function switch to speed mode control and forward direction Note At this point control mode speed mode will be ...

Page 104: ...is selected the drive in place and wait for the command DIx 006 RPM Line Speed DOx 040 When Pr 212 0 Pr 212 DOx 040 When Pr 212 0 DOx _ Select 041 EGEAR Ramp Up DOx _ Select 042 EGEAR Max Speed DOx _ Select 043 EGEAR Ramp Down When select this function mean status Ramp Up Max Speed Ramp Down Note This function group command actual speed compared with each conditions are satisfied the resulting out...

Page 105: ...peration Mode Pr 002 2 Standard EGEAR Mode Pr 002 0 Speed Torque Mode X Y Pulse Signal Pr 110 Pulse category Pr 009 XY counter Pr 037 Mul 0 Pr 038 Mul 1 Pr 039 Mul 2 Pr 040 Mul 3 DIx 70 EGEAR SW0 DIx 71 EGEAR SW1 Pr 037 Mul 0 EGEAR Multiply Source Pr 038 Div 0 DIx 61 F Limit DIx 66 F Limit DIx 63 R Limit DIx 68 R Limit DIx 64 R Speed SW DIx 78 F Speed SW Enable EGEAR Digital Input Switch DIx 84 XY...

Page 106: ...set DI4 EGEAR Master Clk ON XY OFF Simulation Pr 068 102 set DI8 SERVO ON Pr 036 0 set EGEAR STD PRT Special Mode Selection EGEAR STD Pr 209 60 set E GEAR JOG Rpm EGEAR Mode Pr 210 3000 set E GEAR Maximum Speed Limit Pr 211 100 set E GEAR Ramp Rate After setting perform the reset reset Enable DI8 DI1 Drive into the excitation state EGEAR EGEAR PRT START Enable DI2 or DI3 Execute JOG FWD or JOG REV...

Page 107: ...ock Time ms 181 ACC Torque compensation 184 Threshold Rpm for SPZ Rpm 237 Speed Loop Base Pgain Pbase 238 Speed Loop Base Igain Pbase 174 1 st Position loop P gain Rpm Pulse 242 1 st Speed Loop Pgain 243 1 st Speed Loop Igain 177 2 st Position loop P gain Rpm Pulse 246 2 st Speed Loop Pgain 247 2 st Speed Loop Igain DIx EGEAR Start High Gain Low Gain Pr 212 Pr 184 Line Speed ...

Page 108: ...achine does not produce resonance or sound based PCMD MODE belong position mode Pr 174 Pr 177 must be 0 we advise you to increase the amount of 0 25 When adjusting the Speed Loop P I gain Pgain must I gain if Pgain must I gain the control may fail Fixed Speed Loop P gain can correct position errors of the amplitude Fixed Speed Loop I gain can correct position errors of the cycle If Speed Loop P I ...

Page 109: ...oop I gain 100 Pr 181 ACC Torque compensation 0 EGEAR Position loop P gain can not 0 00 plus to appear effected result Plus 1 st Speed Loop P gain Pr 184 Threshold RPM for SPZ 100 Pr 237 Speed Loop Base P gain 100 Pr 238 Speed Loop Base I gain 100 Pr 174 1 st Position loop P gain 0 50 Pr 242 1 st Speed Loop P gain 200 Pr 243 1 st Speed Loop I gain 100 Pr 177 2 st Position loop P gain 0 50 Pr 246 2...

Page 110: ... Speed Loop Base I gain 100 Pr 174 1 st Position loop P gain 0 50 Pr 242 1 st Speed Loop P gain 200 Pr 243 1 st Speed Loop I gain 100 Pr 177 2 st Position loop P gain 1 50 Pr 246 2 st Speed Loop P gain 500 Pr 247 2 st Speed Loop I gain 100 Pr 181 ACC Torque compensation 100 plus to appear effected result Err 20Pulses Grid ...

Page 111: ... 1 P2P HOME Forward DOG Switch check PG INDEX 2 P2P HOME Reverse DOG Switch check PG INDEX 3 P2P HOME Forward DOG Switch 4 P2P HOME Reverse DOG Switch 5 P2P HOME Forward DOG Pulse 6 P2P HOME Reverse DOG Pulse 7 P2P HOME Forward DOG Pulse NonStop 8 P2P HOME Reverse DOG Pulse NonStop Note About Home applications refer to Section 14 4 6 1 Pr 270 Home Offset This parameter sets to find the origin the ...

Page 112: ...1000mm DIx 18 P2P Trigger 0mm 800mm 0mm 800mm Pr 430 P2P MARK Window This parameter defines Pr 306 P2P Mark Reference Position is about to open Pr 430 as Mark correction Window Windows Note About Mark applications refer to Section 14 4 6 3 Pr 431 P2P ARC Auto Registration Control Ratio This parameter defines When Pr 306 P2P Mark Reference Position and Pr 428 Mark actual position observations resul...

Page 113: ...Sx SW 1100 Pr 300 Position Set13 POSx SW 1101 Pr 302 Position Set14 POSx SW 1110 Pr 304 Position Set15 POSx SW 1111 Pr 310 MOTOR side PPM Input Pulses Per Meter This parameter sets the coefficient associated with the institution unit Pulses Meter Note This parameter is set you must reset the reversion effect Motor Side Definition Encoder Rule EB Pls Rev EB 4 4EB Pls Rev Motor Side MotorThe drive w...

Page 114: ...ime This parameter group set the B Profile of acceleration and deceleration Groups Note Half full wave cycle time for position setting P2P Mode Select 5 6 Pr 364 P2P Profile C Half Sine Period Time Pr 365 P2P Profile C Top Speed Set Pr 366 P2P Profile C Acc Dec Ramp Time Pr 367 P2P Profile C S Curve Jerk Time This parameter group set the C Profile of acceleration and deceleration Groups Note Half ...

Page 115: ...ode 8 Pr 397 P2P Position Mode 9 Pr 398 P2P Position Mode 10 Pr 399 P2P Position Mode 11 Pr 400 P2P Position Mode 12 Pr 401 P2P Position Mode 13 Pr 402 P2P Position Mode 14 Pr 403 P2P Position Mode 15 Pr 404 P2P FORWARD Travel Limit Pr 406 P2P REVERSE Travel Limit This parameter defines the maximum limit of the forward stroke and backward maximum limit Setting Description 0 P2P Relative Incrementa...

Page 116: ...sition mm This parameter defines translated out of the motor rotation length position values for cumulative Note Whether or trigger P2P exciting itinerary will be executed Similar with Pr 478 Pr 426 M Motor Travel Length mm This parameter is defined as the trigger P2P stroke length position display value Note Both will be triggered every time from 0 Set stroke mm display Pr 478 M P2P Cycle End Pos...

Page 117: ...ol This function is defined as the action P2P ARC Mark Auto Adjustment start Note Relevant executive action refer to chapter 14 4 6 3 2 DIx _ Select 034 P2P MARK Sensor Input DIx This function is defined as the P2P STD Mark Input Note Relevant executive action refer to chapter 14 4 6 3 2 DIx _ Select 037 P2P Check Mark then Move POS 15 constant This function is defined as the P2P Check Mark then M...

Page 118: ...ive 1 DI active 276 Position Set1 0 0 0 1 278 Position Set 2 0 0 1 0 280 Position Set 3 0 0 1 1 282 Position Set 4 0 1 0 0 284 Position Set 5 0 1 0 1 286 Position Set 6 0 1 1 0 288 Position Set 7 0 1 1 1 290 Position Set 8 1 0 0 0 292 Position Set 9 1 0 0 1 294 Position Set 10 1 0 1 0 296 Position Set 11 1 0 1 1 298 Position Set 12 1 1 0 0 300 Position Set 13 1 1 0 1 302 Position Set 14 1 1 1 0 30...

Page 119: ... Select 031 P2P JOG Reverse When performing this function perform P2P forward and reverse JOG Note When both conditions are established at the same time P2P JOG Forward is the main command When DIx 18 triggers established this feature does not apply This function is activated must executive under Pr 415 P2P Status 0 DIx _ Select 124 P2P Trigger Control ON disable OFF enable DIx _ Select 125 P2P Tr...

Page 120: ...inue mode DOx _ Select 080 P2P MARK Window When Pr 306 P2P Mark Reference Position left and right open Pr 430mm When the condition is established output actived Note Relevant executive action please refer to 14 4 6 3 Steady Speed Pr 430 Pr 430 Position 0 DOx 080 P2P MARK window Pr 306 Mark Window whenPr 306 1 2 Length Theory Mark Window DOx 078 P2P MARK Window Cancel Continue mode Steady Speed Pr ...

Page 121: ... Note This function must be triggered after P2P excitation DOx _ Select 062 P2P Running When select this function mean P2P is runing and not finished Note action finished or not can see Pr 415 P2P Status DOx _ Select 063 P2P STATUS MATCH When select this function mean Pr 415 status Pr 413 setting output actived Note for detail please refer to Pr 415 description DOx _ Select 066 P2P Machine Positio...

Page 122: ...02 0 Speed Torque Mode DIx 14 Position SW0 DIx 15 Position SW1 DIx 30 P2P FWD Jog DIx 31 P2P REV Jog P2P Other Switch Command Pr 310 AB Pls Setting BP2P Machine Factor Setting Pr 388 BP2P Mode 00 BP2P Mode Select Pr 403 BP2P Mode 15 To Pr 372 BP2P Profile 00 BP2P Ramp Profile Select Pr 387 BP2P Profile 15 To Pr 274 BP2P Length 00 BP2P Position Setting Pr 304 BP2P Length 15 To DIx 16 Position SW2 D...

Page 123: ... JOG HOME Pr 359 100 0 set P2P Profile A S Curve Jerk Time For JOG HOME Pr 063 32 set DI3 P2P HOME SEARCH Start Pr 064 33 set DI4 P2P HOME DOG Switch Pr 068 102 set DI8 SERVO ON Pr 111 067 set DO1 P2P Ready Search HOME OK After setting perform the reset reset Enable DI8 Drive into the excitation state Trigger DI3 Driver trigger P2P HOME SEARCH Start DO1 status actived Driver follow Ramp profileset...

Page 124: ... Driver trigger P2P Length Position 100 000 mm 14 4 5 4 BP2P Mode Basic Point To Point Example P2P Trigger Absolutely Pr 310 by Actual needs set MOTOR side PPM Input Pulses Per Meter Pr 388 1 set P2P Position Mode 0 P2P Absolute Position Mode Pr 372 1 set P2P Run Profile 0 P2P Profile Type B Pr 361 1000 set P2P Profile B Top Speed Set Pr 362 200 0 set P2P Profile B Acc Dec Ramp Time Pr 363 100 0 s...

Page 125: ...After the Pcmd reaches the desired target position the motion controller generates a P2P Ready status in this example DO 01 is chosen as P2P Ready Of cause the Pcmd Vcmd and Acmd must follow the basic equations In the Note window it records some critical settings for this motion curve S curve defines the change rate for the Acmd Ramp Rate defines the rate of acceleration and deceleration Travel Le...

Page 126: ...he travel length or position command is expressed in motor pulses Digital trace 1 In this example DIx 18 Trigger Start signal function is assigned to DI 01 This trigger signal is effective only when the P2P Ready is active After trigger the controller will start a predefined motion profile in order to drive the servomotor to the target destination Digital trace 2 In this example DOx 60 P2P Ready s...

Page 127: ... the dominant parameter is S Curve time Phase II Velocity Ramp Up linearly constant Acmd After Acmd reaches the desired Ramp Rate setting the controller will maintain the Acmd fixed at the desired ramp rate acceleration rate for a certain period depending on the target distance setting In this example it maintains 50ms During this period the Vcmd increases linearly Check again in detail the Vcmd r...

Page 128: ...ote the Acmd 0 Phase VI Velocity Ramp down Linearly Examine the typical P2P curve again the duration from 230ms to 280 ms is a mirror mapping of Phase II note the Acmd 0 Phase VII Velocity Ramp down to stop with S Curve Examine the typical P2P curve again the duration from 280ms to 330 ms is a mirror mapping of Phase I note the Acmd 0 The above three Phases V VI VII are exactly the reverse mapping...

Page 129: ...hown above all operation settings are same except the Target Length 180mm The motion profile generator cancels Phase IV automatically and adjusts Phase II Phase IV in the same time Motion Profile without Phase II Phase IV and Phase VI Compare this curve with the curves shown above all operation settings are same except the Target Length 90mm The motion profile generator cancels Phase IV Phase II P...

Page 130: ...e A S Curve Jerk Time JOG HOME suggestion Pr 359 Pr 358 2 BP2P Mode Search Home curve is only according to P2P Profile A Pr 269 Search Home Mode Pr 270 Home Offset DIx _ Select 032 P2P HOME SEARCH Start DIx _ Select 033 P2P HOME DOG Switch DOx _ Select 067 P2P Ready and Search HOME Complete 14 4 6 1 2 Search Home Mode 0 Assigns the servomotor s present location as HOME Under this mode when an exte...

Page 131: ...witch is OFF again DIx 33 0 the servomotor continues to rotate in Reverser direction checking the PG Index of the motor encoder Step5 after the PG Index is checked the servomotor stops Step6 for the final step the controller executes an P2P function commands the servomotor move to the desired shift position with respect to the PG index point In the mean time DOx 32 1 to indicate the end of the Hom...

Page 132: ...h is OFF again DIx 33 0 the servomotor continues to rotate in Forward direction checking the PG Index of the motor encoder Step5 after the PG Index is checked the servomotor stops Step6 for the final step the controller executes an P2P function commands the servomotor move to the desired shift position with respect to the PG index point In the mean time DOx 32 1 to indicate the end of the Home Sea...

Page 133: ...aning the DOG switch ON Step3 the servomotor rotates in Reverser direction away from the DOG switch Step4 for the final step the controller executes an P2P function commands the servomotor move to the desired shift position with respect to the DOG point In the mean time DOx 32 1 to indicate the end of the Home Search function Search DOG DOG Offset DOG Offset Move DOG to Offset Offset 0 Offset Plus...

Page 134: ...aning the DOG switch ON Step3 the servomotor rotates in Forward direction away from the DOG switch Step4 for the final step the controller executes an P2P function commands the servomotor move to the desired shift position with respect to the DOG point In the mean time DOx 32 1 to indicate the end of the Home Search function Search DOG Move DOG to Offset DOG Offset DOG Offset Offset 0 Offset Plus ...

Page 135: ...Pulse Rising edge Step3 the servomotor rotates in Reverser direction away from the Pulse Rising edge Step4 for the final step the controller executes an P2P function commands the servomotor move to the desired shift position with respect to the DOG Pulse Rising edge In the mean time DOx 32 1 to indicate the end of the Home Search function Search DOG Move DOG to Offset DOG Offset DOG Offset Offset ...

Page 136: ...ulse Rising edge Step3 the servomotor rotates in Forward direction away from the DOG Pulse Rising edge Step4 for the final step the controller executes an P2P function commands the servomotor move to the desired shift position with respect to the DOG Pulse Rising edge In the mean time DOx 32 1 to indicate the end of the Home Search function Search DOG Move DOG to Offset DOG Offset DOG Offset Offse...

Page 137: ...e servomotor stops when DIx 33 1 meaning the DOG Pulse Rising edge Step3 the servomotor stops from the DOG Pulse Rising edge Step4 for the final step the controller executes an P2P function commands the servomotor move to the desired shift position with respect to the DOG Pulse Rising edge In the mean time DOx 32 1 to indicate the end of the Home Search function Offset Minimun DOG Offset DIx 32 P2...

Page 138: ...e servomotor stops when DIx 33 1 meaning the DOG Pulse Rising edge Step3 the servomotor stops from the DOG Pulse Rising edge Step4 for the final step the controller executes an P2P function commands the servomotor move to the desired shift position with respect to the DOG Pulse Rising edge In the mean time DOx 32 1 to indicate the end of the Home Search function Offset Minimum DOG Offset DIx 32 P2...

Page 139: ...n to Pr 274 setting position DOx 60 recover original status In Relative Mode when Motor finished setting position will be Next Start position Last End position 14 4 6 2 2 Mode Curve 1 P2P Absolute Mode RPM DIx 18 P2P Trigger Pr 274 DOx 60 P2P Ready No1 P2P Trigger No2 P2P Trigger Absolute Home No3 P2P Trigger 1 Pr 274 2 Pr 274 3 Pr 274 Pr 361 rpm Pr 362 Pr 362 Mode Curve 1 P2P Absolute Mode BP2P M...

Page 140: ...n to Pr 274 position DOx 60 recover original status Pr 274 DOx 60 P2P Ready Pr 361 14 4 6 2 4 Mode Curve 6 P2P Full Sine Mode Mode Curve 6 P2P Full Sine Mode RPM DIx 18 P2P Trigger Pr 360 ms Description The demo use Profile B Ramp Setting In BP2P Mode when DIx 18 trigger DOx 60 change status immediately Motor will follow ramp setting to run P2P half sine wave run to Pr 274 position and return back...

Page 141: ...Pr 430 P2P MARK Window DIx 037 P2P Check Mark then Move POS 15 DOx 080 P2P MARK Window DOx 081 P2P MARK Loss Target Length Pr 306 DOx 081 P2P MARK Loss BP2P Mark Adjustment1 Theory Mark Window Definitions Rules Pr 430 P2P Mark Window Pr 306 P2P Mark Reference Position left and right open Pr 430mm DIx 037 Need to appear inside the P2P Mark Window Need to appear when speed under steady status Action...

Page 142: ...tting length P2P Window will be 100 DOx 081 P2P MARK Loss is inactive at this kind of Mark adjustment Action Description When DIx 018 trigger current position 0 mm when Disable DIx 019 When DIx 034 appeared Travel length position will be record Pr 428 When Enable DIx 019 When DIx 034 appeared Travel length position will be record Pr 428 If Pr 428 value inside DOx 080 range then DOx 081 OFF If Pr 4...

Page 143: ...7 Speed Loop Base Pgain Pbase 238 Speed Loop Base Igain Pbase 174 1 st Position loop P gain Rpm Pulse 242 1 st Speed Loop Pgain 243 1 st Speed Loop Igain 177 2 st Position loop P gain Rpm Pulse 246 2 st Speed Loop Pgain 247 2 st Speed Loop Igain Motor Speed PID 2 Gain PID 1 Gain Pr 273 0 P2P Trigger BP2P PID When Lock Time 0 Motor speed PID 2 Gain PID 1 Gain Pr 273 0 P2P Trigger BP2P PID When Lock...

Page 144: ...www jps com tw 143 Immediate change to High Gain when trigger again P2P Trigger PID 2 Gain PID 1 Gain Pr 273 0 BP2P PID When Lock Time 0 P2P Trigger When Not Finished ...

Page 145: ...n reset and old records will shift 1 word 15 2 Alarm Lamp Display Green Lamp Red Lamp Alarm Description 1 X No Alarm 1 1 DRV MASTER CPU and SLAVE CPU communication error 1 2 PG PG feedback error 1 3 UP Under Power 1 4 OP Over Power 2 1 OH Over Heat 2 2 OD Over Discharge 2 3 EMS Emergency Stop 2 4 OC Over Current 3 1 OL Over Load 15 2 Alarm Message Display BIT of Binary 15 14 13 12 11 10 9 8 7 6 5 ...

Page 146: ...hen showing PG presents the encoder feed back signal error Check the connection of feed back cable Is there any broken or defect If the feed back cable is long make sure there is no serious interference to the cable Check the setting of Pr 189 Magnetic Sensor Check Time is proper or not B ecause the reason of this problem may includes magnetic sensor therefore before sending the driver for mainten...

Page 147: ... if the load exceeds the rating of motor Check if the variant of load exceeds the design specification OH OH Heat Sink Over Heat or External Over Heat Protect When showing OH that drive heatsink temperature exceeds 85 check the fan function If the fan is out of working replace it Check if the fan is stalled Check if the condition of driver fit in the installation environment Check if the ambient t...

Page 148: ...sents the output current exceeds the rating of driver Check if the type of motor fits in the driver s specification Check if the rating of motor s fits in the rating of driver Check if the connection of U V and W is properly or not Check if the power lines to motor is broken or short with other lines or any defect Check if the motor s wires are short or not Check the settings of parameter group BL...

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