TECO JSDG2S Series User Manual Download

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5-22

Parameters

Description

Setting range

Unit

Take effect

method

Related

chapter

Cn001

Control mode selection

1: Speed control

Power reset

5-3

Cn004.0 Rotation direction selection (looking

from the load of the motor)

0 ~ 1

Power reset

5-3-5

Cn010

First stage CCW direction torque

command limit value

0 ~ 300

Take effect

after setting

5-3-6

Cn011

First stage CW direction torque

command limit value

0 ~ 300

Take effect

after setting

5-3-6

Tn103

Analog torque command proportioner

0 ~ 600

%/10V

Take effect

after setting

5-3-6

Tn104

Analog torque command offset

adjustment

-2500 ~ 2500

Take effect

after setting

5-3-6

Tn116

Analog torque command filter

0 ~ 5000

Take effect

after setting

5-3-6

Sn201

Internal speed command 1

-1.5*rated rotation

speed~1.5*rated

rotation speed

rpm

Take effect

after setting

5-3-1

Sn202

Internal speed command 2

-1.5*rated rotation

speed~1.5*rated

rotation speed

rpm

Take effect

after setting

5-3-1

Sn203

Internal speed command 3

-1.5*rated rotation

speed~1.5*rated

rotation speed

rpm

Take effect

after setting

5-3-1

Sn204.0 Zero Speed Determined Operation

0 ~ 1

Take effect

after setting

5-3-7

Sn205.0 Speed command

acceleration/deceleration method

0 ~ 3

Take effect

after setting

5-3-4

Sn205.1 S-type speed command unit

0 ~ 1

Take effect

after setting

5-3-4

Sn206

Speed command one-time smooth

acceleration/deceleration time

constant

1 ~ 10000

Take effect

after setting

5-3-4

Sn207

Speed command straight line

acceleration/deceleration constant

1 ~ 50000

Take effect

after setting

5-3-4

Sn208

S-type speed command

acceleration/deceleration time setting

0 ~ 10000

Take effect

after setting

5-3-4

Sn209

S-type speed command acceleration

time setting

1 ~ 20000

Take effect

after setting

5-3-4

Sn210

S-type speed command deceleration

time setting

1 ~ 20000

Take effect

after setting

5-3-4

Sn215

Zero speed determination value

0 ~ 1.5* rated

rotation speed

rpm

Take effect

after setting

5-3-7

Sn216

Analog speed command proportioner

100 ~ 10000

rpm/10V

Take effect

after setting

5-3-2

Summary of Contents for JSDG2S Series

Page 1: ......

Page 2: ...ervo System control function trial run and adjustment steps Description of all Servo Driver parameters The rated specifications of the standard model In order to facilitate routine inspections and mai...

Page 3: ...o confirm the parameter Cn030 serial model settings and select the correct Driver and Motor matching combination Confirm the parameter Cn001 control mode selection Safety Pre cautions Please read this...

Page 4: ...or Installation Environment Conditions and Methods 1 24 1 5 1 Installation Environment Conditions 1 24 1 5 2 Installation Methods 1 24 1 5 3 Other Pre cautions 1 25 Chapter 2 Wiring Preparation 2 1 Sy...

Page 5: ...ng diagram Applicable to JSDG2 S E 2 43 2 4 Basic block diagram of servo system 2 45 Chapter 3 Panel Operating Instructions 3 1 Driver Panel Operating Instructions 3 2 3 1 1 The Name and function of t...

Page 6: ...and JSDG2S E L does not have this function 5 25 5 3 3 Analog speed command limit JSDG2S E L does not have this function 5 27 5 3 4 Speed Command Smoothing 5 27 5 3 5 Speed Rotation Direction Definitio...

Page 7: ...7 Selection of External Regenerative Resistor 5 136 5 6 8 Fan Operation Settings 5 139 5 6 9 Low Voltage Protection 5 140 5 6 10 Absolute Value Encoder 5 142 5 6 11 Analog monitoring JSDG2S E L does...

Page 8: ...ntrol 6 44 6 14 Disturbance Observer 6 47 6 15 On line tuning 6 49 Chapter 7 Parameter Functions 7 1 Parameter Group Description 7 2 7 2 Parameter Function List 7 3 7 3 Parameter Function Detail descr...

Page 9: ...ation position control 8 18 8 1 5 Example of RS 485 communication speed control 8 22 8 1 6 Example of RS 485 communication torque control 8 24 8 2 CANopen communication function Only JSDG2S contains t...

Page 10: ...3 6 13 Emergency Stop 8 89 8 3 6 14 Restoration 8 90 8 3 7 EtherCAT Object List 8 91 8 3 8 Summary List of Objects 8 133 8 3 8 1 Summary List CANopen communication objects 8 133 8 3 8 2 Summary List E...

Page 11: ...15 10 5 Accessories 10 20 10 5 1 Motor Power Cable 10 20 10 5 2 Encoder Trunk 10 22 10 5 3 I O Connector 10 24 10 5 4 Full Closed Loop Wire 10 25 10 5 5 Communication Cable 10 26 Chapter 11 Appendix 1...

Page 12: ...aulty connections Warning This product is sold subject to IEC 61800 3 In a domestic environment this product may cause radio interference in which case the user may need to apply corrective measures 0...

Page 13: ...which emergently shuts down the drive output in the case of danger Make sure it is safe to operate the drive and motor before performing a rotational auto tune Do not touch drive terminals when energ...

Page 14: ...oard will release harmful gases if burned Equipment containing electrical components may not be disposed of together with domestic waste It must be separately collected with electrical and electronic...

Page 15: ...Servo Driver Outer Appearance 1 11 1 3 Servo Driver Operation Mode Introduction 1 21 1 4 Servo Driver Installation Environment Conditions and Methods 1 22 1 4 1 Installation Environment Conditions 1 2...

Page 16: ...eck whether or not the appearance of servo driver and servo motor are damaged or scratched Do not wire or connect to power when there is damage during shipping Check whether or not there is any poor a...

Page 17: ...W 20A 750W 150A3 5 5kW 25B 2 0kW 150B 15 0kW 30A 1 0kW 200A3 7 5kW 35B 3 0kW 200B 22 0kW 50A3 2 0kW 300A3 15 0kW 50B 4 4kW TECO AC Servo Driver Product Number Driver Series G2 G2 Series G2S G2S Series...

Page 18: ...2S 10B E JSDG2S 10A EL JSDG2S 15B E JSDG2S 15A E JSDG2S 25B E JSDG2S 15A EL JSDG2S 35B E JSDG2S 20A E JSDG2S 50B E JSDG2S 20A EL JSDG2S 75B E JSDG2S 30A E JSDG2S 100B E JSDG2S 30A EL JSDG2S 150B E JSD...

Page 19: ...0V Mechanical Brake No Brake B With Mechanical Brake Motor Rated Power P5 50 W 15 1 5 kW 01 100 W 18 1 8 kW 03 300 W 20 2 0 kW 04 400 W 29 2 9 kW 05 550 W 30 3 0 kW 08 750 W 44 4 4 kW 09 850 W 55 5 5...

Page 20: ...r Model The last code represents the difference of encoder specifications Incremental type 7 17bit 3 23bit Absolute type 5 15Bit A 17bit W 23bit Power kW Speed rpm Encoder Specifications The last code...

Page 21: ...3B JSMA PBC08A 0 75 3000 H13C JSMA PBH09A 0 85 1500 H13E JSMA PMA10A 1 0 1000 H132 JSMA PMB10A 1 0 2000 H133 JSMA PMH10A 1 0 1500 H134 JSMA PMC10A 1 0 3000 H135 JSMA PUC10A 1 0 3000 H13F JSMA PLC10A 1...

Page 22: ...PHH30A 3 0 1500 H183 JSMA PMH44A 4 4 1500 H182 JSMA PIH44A 4 4 1500 H186 JSMA MA44A 4 4 1500 H18D JSMA MB45A 4 5 2000 H187 JSMA PIC50A 5 0 3000 H18B JSMA MB55A 5 5 2000 H184 150A3 JSMA PHH44A 4 4 1500...

Page 23: ...000 H202 JSMA PUC08B 0 75 3000 H203 JSMA PBC08B 0 75 3000 H204 15B JSMA PUC08B 0 75 3000 H211 JSMA PBC08B 0 75 3000 H212 JSMA PBH09B 0 85 1500 H213 JSMA PMB10B 1 0 2000 H214 25B JSMA PMB10B 1 0 2000 H...

Page 24: ...00 H250 JSMA PBH44B 4 4 1500 H252 JSMA PIH44B 4 4 1500 H257 JSMA PMH55B 5 5 1500 H251 JSMA PBH55B 5 5 1500 H253 JSMA PIH55B 5 5 1500 H258 JSMA PIH75B 7 5 1500 H259 100B JSMA PBH44B 4 4 1500 H265 JSMA...

Page 25: ...unication connector RS 485 communication connector Screen cover USB communication connector Controller signal connector Motor encoder connector Fully closed loop encoder connector Control power input...

Page 26: ...ctor RS 485 communication connector Screen cover USB communication connector Controller signal connector Motor encoder connector Fully closed loop encoder connector Control power input connection term...

Page 27: ...unication connector Screen cover USB communication connector Controller signal connector Motor encoder connector Fully closed loop encoder connector Master power input connection terminal External reg...

Page 28: ...mmunication connector Screen cover USB communication connector Controller signal connector Motor encoder connector Fully closed loop encoder connector Master power input connection terminal External r...

Page 29: ...ication connector Screen cover USB communication connector Controller signal connector Motor encoder connector Fully closed loop encoder connector Master power input connection terminal External regen...

Page 30: ...r USB communication connector Controller signal connector Motor encoder connector Fully closed loop encoder connector Master power input connection terminal External regenerative internal regenerative...

Page 31: ...itor Cover USB Communication Connector Control Signal Connector Motor Encoder Connector Full Closed Loop Encoder Connector External Regenerative Resistor Connection Internal Regenerative Resistor Conn...

Page 32: ...over USB Communication Connector Control Signal Connector Motor Encoder Connector Full Closed Loop Encoder Connector Main Power Input Connection Terminal External Regenerative Resistor Connection T i...

Page 33: ...USB Communication Connector Control Signal Connector Motor Encoder Connector Full Closed Loop Encoder Connector Main Power Input Connection Terminal External Regenerative Resistor Connection Terminal...

Page 34: ...unication Connector USB Communication Connector RS 485 Communication Connector Control Signal Connector Motor Encoder Connector Full Closed Loop Encoder Connector 5 digit Display Main Power Connection...

Page 35: ...analog voltage 10V 10V Turret Mode Pt Match the driver with communication absolute type encoder servo motor for CNC servo tool magazine turrent tool selection control Monitor through DI DO can achieve...

Page 36: ...sufficient space between each device to ensure enough air for heat dissipation Meanwhile please add heat dissipation fan to keep ambient temperature of servos under 50 degrees Celsius When installing...

Page 37: ...More than 5 mm More than 30 mm More than 10 mm Ventilation direction Fan More than 10 mm JSDG2S 50A3 75A3 100A3 150A3 200A3 300A3 JSDG2S 10B 15B 25B 35B 50B 75B 100B 150B 200B Ventilation direction F...

Page 38: ...ust Environment without corrosive pyrophoric gas oil vapor cutting fluid cutting powder iron powder etc Area without water vapor and direct sunlight 1 5 2 Installation Methods 1 Horizontal installatio...

Page 39: ...ng off or breaking due to mechanical movement the connection cable shall be securely fixed 4 The shaft extension space must be sufficient it is easy to cause vibration when the motor moves if the exte...

Page 40: ...scription 2 19 2 2 2 CN2 Encoder Signal Terminal Description 2 30 2 2 3 CN3 CN4 CN5 CN6 CN8 Communication Signal Terminal Description 2 32 2 3 Control Signal Standard Wiring Diagram 2 35 2 3 1 Positio...

Page 41: ...r Connect to both ends of P PC Pc P1 must be open Servo Motor JSMA No Fuse Breaker NFB Noise Filter R S T PC P r V W PLC PC BASE or Motion Controller CN1 I O Signal Connector CN2 Encoder Connector Ser...

Page 42: ...the two ends of the P PC when using Pc P1 must be an open circuit Servo motor JSMA Second set of feedback Optical scale CN8 fully closed loop CN2 encoder connection I O signal connection Communicatio...

Page 43: ...of the P PC when using Pc P1 must be an open circuit Servo motor JSMA Second set of feedback Optical scale CN8 fully closed loop CN2 encoder connection I O signal connection Communication connection...

Page 44: ...2 5 400V Class...

Page 45: ...ot operate normally The isolation wire must be connected to the FG terminal Please use the third type of grounding grounding resistance of 100 or less for grounding and must be single point grounding...

Page 46: ...d Wire Specifications mm2 AWG Connection terminal Mark Symbol Connection terminal Name 10A 15A 20A 30A 50A3 75A3 100A3 150A3 200A3 300A3 TB Terminal Base R S T Main Power Supply Terminal 1 25 16 2 0 1...

Page 47: ...47 44 Digital input output common terminal DICOM DOCOM 45 46 48 24V power supply IP24 24V ground terminal IG24 49 Absolute type encoder power BAT 14 17 Pulse position command input Pulse Sign Pulse Si...

Page 48: ...A Male Mini 5P Anti interference signal Wire Length of 1 0M or less 2 D 3 D 4 ID 5 GND CN4 RS 485 Communicat ion connector 5 D 0 2mm or 0 3mm double twisted pair wire with isolation wire 7 D 3 GND 2...

Page 49: ...ins SCSI Connector 3 CN2 is 20 Pins SCSI Connector 4 CN3 is 5 Pins Mini USB Connector 5 CN4 is 8 Pins Mini Din type Connector 6 CN5 CN6 is 8 Pins RJ45 Connector 7 JSDG2S E L does not have TIC SIC MON1...

Page 50: ...re Thin White 1 0V Thin White 2 DC 24V 2 Military Specifications Connector without Mechanical Brake Terminal Symbol Wire Color Signal A Red U B White V C Black W D Green FG 3 Military Specifications C...

Page 51: ...lue Incremental 1 Red White 5V VCC 2 Black 0V GND 3 Brown 4 Brown Blac k VB 5 Blue SD 6 Blue Black Purple SD 7 8 9 Shield FG 2 Military Specifications Connector Terminal Symbol Wire Color Signal Absol...

Page 52: ...V 2 Black 0V 3 Blue A 4 Blue Black A 5 Green B 6 Green Black B 7 Yellow Z 8 Yellow Black Z 9 Shield FG 2 Military Specifications Connector Terminal Symbol Wire Color Signal B Red 5V I Black 0V A Blue...

Page 53: ...be increased according to requirement Please refer to Cn012 resistance to set up When external regenerative resistor is not used PC P1 must be shorted and do not connect any wire to P When using exter...

Page 54: ...l JSDG2S 100A3 150A3 JSDG2S 50B 75B 16 13 9 JSDG2S 200A3 JSDG2S 100B 18 15 6 30 26 JSDG2S 300A3 JSDG2S 150B 200B 15 13 30 26 2 1 6 Motor with Mechanical BRAKE Wiring Instructions If you wish to disabl...

Page 55: ...nn 20CT Schaffner FN3258 16 JSDG2S 30A 15A 20A Bussmann 20CT Schaffner FN3258 16 JSDG2S 50A3 30A 40A Bussmann 40FE Schaffner FN3258 16 JSDG2S 75A3 30A 40A Bussmann 40FE Schaffner FN3258 16 JSDG2S 100A...

Page 56: ...rminal CN2 encoder connection terminal CN3 CN4 CN5 CN6 communication connection terminals and CN8 fully closed loop encoder connection terminal The figure below is a diagram of the pin positions of th...

Page 57: ...n terminal CN3 CN4 CN5 CN6 communication connection terminals and the CN8 fully closed loop encoder connection terminal The figure below is a diagram of the pin positions of the various connection ter...

Page 58: ...Error Alarm Code 2 26 SIC Note 3 Analog Speed Command Limit 28 AG Analog Signal Ground End 30 MON1 Note 3 Analog Monitoring Output 1 32 AG Analog Signal Ground End 34 15V Note 3 15V Power Output 36 PA...

Page 59: ...contact 6 PIN19 DOCOM DO power common terminal NPN PNP PIN7 DI 7 Digital input contact 7 PIN20 IP24 24V power output PIN8 DI 8 Digital input contact 8 PIN21 IG24 24V power ground terminal PIN9 DO 1 Di...

Page 60: ...sition Sign Command Input 16 PB Dividing Output Phase B 37 Sign 17 PB Dividing Output Phase B 38 EXT1 Open collector pulse position command power input 1 2 41 PZ Dividing Output Phase Z 39 EXT2 42 PZ...

Page 61: ...hase 13 IO4 DICOM DI power shared terminal 22 PA Divided output A phase 14 DO1 DO3 Digital output 1 3 9 11 IO2 PB Divided output B phase 15 ZO Origin signal output 12 PB Divided output B phase 16 DOCO...

Page 62: ...analog torque limit set digital input connection machine TLMT ON Note 1 under non torque mode input voltage range is 10V 10V Tn103 can be used to set motor torque limit when input voltage is 10V Analo...

Page 63: ...Absolute type encoder power terminal Note 1 Please refer to 5 6 1 Digital input output contact function planning for setting 2 JSDG2S E L does not have TIC SIC MON1 MON2 15V 15V b Digital I O Signals...

Page 64: ...rface Circuit can be controlled by relay or open collector transistor circuit The relay needs to select a low current relay to avoid poor contact Use a maximum external voltage up to 24V NPN Transisto...

Page 65: ...n terms of load when using a relay or other inductive loads it is necessary to add a diode in parallel with the inductive load if the polarity of the diode is reversed it will cause damage to the driv...

Page 66: ...ut 8 15mA please refer to the following examples to select the resistor R Please refer to 5 4 1 External Pulse Command Mode for Pulse Command Input Time Sequence Waveform Differential Input Pulse Comm...

Page 67: ...e an external power supply as much as possible When the polarity of the external power supply is reversed will cause damage to the driver The maximum external power supply voltage Vc shall be 12V or l...

Page 68: ...er battery interface circuit IO7 If the battery is already installed in the encoder or on encoder wire please DO NOT make this circuit connected Battery Specification Labeled Capacity 2400mAh Labeled...

Page 69: ...uration diagram optical encoder configuration diagram 1 Vcc Power output terminal 3 GND Power ground terminal 5 A EncoderAphase input 7 B EncoderBphase input 9 Z EncoderZphase input 2 Vcc Power output...

Page 70: ...lack Black 5 A phase encoder input A The encoder A phase output from the motor to the driver 6 A 7 B phase encoder input B The encoder B phase output from the motor to the driver 8 B 9 Z phase encoder...

Page 71: ...erminal Configuration Diagram Pin Name 1 VBUS 2 D 3 D 4 ID 5 GND CN4 Terminal Configuration Diagram Pin Name Function 1 2 3 GND Signal grounding terminal 4 5 D Serial data transmission 6 7 D Serial da...

Page 72: ...ion Pin Name 1 CAN_H 2 CAN_L 3 GND 4 5 6 7 GND 8 JSDG2S CN5 CN6Terminal configuration diagram RS 485 communication Pin Name 1 2 3 GND 4 D 5 D 6 7 GND 8 JSDG2S E JSDG2S EL CN5 CN6Terminal configuration...

Page 73: ...Full closed loop signal terminal configuration diagram Only for JSDG2S EL Pin Name 1 5V 2 0V 3 A 4 A 5 B 6 B 7 Z 8 Z Note 1 Support encoder of A B phase signal and 5V voltage only Note 2 Maximum reso...

Page 74: ...Function of multifunction DI1 DI12 can be set by Hn601 Hn612 Note 3 Function of multifunction DO1 DO8 can be set by Hn613 Hn616 Hn619 Hn622 Note 4 JSDG2S EL model does not have the functions Note 5 C...

Page 75: ...current 5mA Note 1 Controller R3 R3 41 15 42 17 Pulse CW A Phase Sign CCW B Phase Pulse Sign 48 1 R1 R1 R1 R1 R1 R1 R1 R1 R1 2 3 4 5 6 7 8 9 48 IG24 DC24V 47 45 DI 1 DI 2 DI 3 DI 4 DI 5 DI 6 DI 7 DI...

Page 76: ...error amount clear CLR Position command prohibited INH Emergency stop EMC Start returning to origin SHOME Control mode switch MDC1 External reference origin ORG Note 4 Controller Note 1 Torque limit A...

Page 77: ...I1 DI12 can be set by Hn601 Hn612 Note 3 Function of multifunction DO1 DO8 can be set by Hn613 Hn616 Hn619 Hn622 Note 4 JSDG2S EL model does not have the functions Note 5 Control power supply 200V mod...

Page 78: ...DI12 can be set by Hn601 Hn612 Note 3 Function of multifunction DO1 DO8 can be set by Hn613 Hn616 Hn619 Hn622 Note 4 JSDG2S EL model does not have the functions Note 5 Control power supply 200V model...

Page 79: ...3 4 5 6 7 8 9 48 IG24 DC24V 47 45 DI 1 DI 2 DI 3 DI 4 DI 5 DI 6 DI 7 DI 8 DI 9 IP24 DICOM 24V Power Output DI Power Common End R1 10 DI 10 R1 11 DI 11 R1 12 DI 12 Servo Start SON CCW Direction Drive...

Page 80: ...um Working Voltage 24 V Maximum Output Current 40mA When Vc 5V R4 is 1 0K IG24 48 IP24 Tool Position Display 2 P2 Error Alarm Code 2 Tool Position Display 1 P1 Error Alarm Code 3 1 R1 R1 R1 R1 R1 R1 R...

Page 81: ...erence Origin ORG Emergency Stop EMC Error Alarm Clearing ALRS Not Used NULL Not Used NULL Not Used NULL Not Used NULL Not Used NULL CCW Direction Drive Prohibited CCWL CW Direction Drive Prohibited C...

Page 82: ...12 Touch Probe1 NULL 24V Power Ground End External Reference Origin ORG Emergency Stop EMC Not Used NULL Not Used NULL Not Used NULL Not Used NULL Not Used NULL CCW Direction Drive Prohibited CCWL CW...

Page 83: ...ilter DI power shared terminal 24V power output Driver content PI P switch PCNT CCW direction drive prohibited CCWL CW direction drive prohibited CWL External reference origin ORG Emergency stop EMC 2...

Page 84: ...CN6 EtherCAT CANopen Varies according to the model number CN4 RS 485 Regenerative processing circuit Dynamic brakes GATE DRIVE Rectifier circuit Note 1 CANopen is a function for the JSDG2S model only...

Page 85: ...pen Varies according to the model number CN4 RS 485 Regenerative processing circuit Dynamic brakes GATE DRIVE Fan Rectifier circuit Note 1 CANopen is a function for the JSDG2S model only Note 2 EtherC...

Page 86: ...CN1 CN3 PC PLC CN5 CN6 EtherCAT CANopen Varies according to the model number CN4 RS 485 Regenerative processing circuit Dynamic brakes GATE DRIVE Fan Rectifier circuit Note 1 CANopen is a function fo...

Page 87: ...n of the Panel 3 2 3 1 2 Toggle Function 3 3 3 1 3 Function Selection Type Setting 3 5 3 1 4 Value Type Setting 3 5 3 1 5 Panel Operating Example 3 6 3 1 6 Status Display 3 9 3 2 Monitoring Parameters...

Page 88: ...out Key Symbol Key Name Key Function Description Mode Selection Key MODE Key 1 Select from 12 parameters offered by this device The parameter will rotate by each press 2 When setting the data screen c...

Page 89: ...to enter the System Parameter 6 Press MODE Key once to enter Torque Control Parameters 7 Press MODE Key once to enter Speed Control Parameters 8 Press MODE Key once to enter Position Control Parameter...

Page 90: ...ay screen Cn035 Panel status display content selection Initial Value Unit Setting Range Effective RS 485 Address 0 0 Un parameter maximun Effective after setting 0026H Setting description Setting Desc...

Page 91: ...4 digits the highest digit will display a negative sign when the negative value is displayed for example Sn201 Internal Speed Command 1 3000 3000 If the settable range is equal to 5 digits the decima...

Page 92: ...t to adjust the number of digits flashing LED 7 Press DOWN Key 2 times to adjust the hundredths digit number 3 downwards to 1 8 Press and hold the ENTER Key for 2 seconds until SET appears indicating...

Page 93: ...ndicating the current set value has been saved and after the SET appears once jumps back to the current parameter item selection screen immediately 2 If the settable range is equal to 5 digits for exa...

Page 94: ...Position Control Parameters 3 Press UP Key 1 time to select the Item of Control Parameter Item for Multi position Control 4 Press and hold the ENTER Key for 2 seconds to enter the Pn402 Setting Screen...

Page 95: ...NS Motor speed larger than Cn007 Speed reached determined value Motor speed smaller than Cn007 Speed reached determined value Speed Command Input Reached Speed command input value larger than Cn007 Sp...

Page 96: ...ed reached determined value Motor speed smaller than Cn007 Speed reached determined value External Pulse Command Input With External Pulse Command Input Without External Pulse Command Input Pulse Erro...

Page 97: ...rnal CCW Direction Torque Limit Command Value For example The display of 100 indicates that the current External CCW Direction Torque Limit Command is 100 060EH 280CH Un 13 External CW Direction Torqu...

Page 98: ...OFFLine_Tuning Operating Status 0636H 282EH Un 47 OFFLine_Tuning Error Code bit 0 1 is inertia estimation status 2 is gain estimation status bit 2 1 is load estimation fail 2 is gain estimation fail...

Page 99: ...n the tool reaches the cut point 0667H 285CH Un 93 Slave axis state Un 93 0 0 Initialization completed 1 From the axis to the actual zero position and stop 2 The slave axis starts to run but it has no...

Page 100: ...0F02H dn 03 Digital Input Contact Signal Status 0F03H dn 04 CPU Software Version Display 0F04H dn 05 Jog Mode Operation N A dn 06 Reserved N A dn 07 Automatic adjustment of external analog voltage of...

Page 101: ...trol Switching Pe S 4 Speed Torque Control Switching S T 5 External Position Torque Control Switching Pe T 6 Position Control Internal Position Command Pi 7 Internal Position Speed Control Switching P...

Page 102: ...corresponding LED will not light up The following comparison table shows LED No and digital output contact code DO 1 DO 8 are multifunction planning contact and can be set by Hn613 Hn616 Hn619 Hn622 T...

Page 103: ...nding LED will not light up The following comparison table shows LED No and digital input contact code DI 1 DI 12 are multifunction planning contact and can be set by Hn601 Hn612 They can also be set...

Page 104: ...ore Sn201 must be set before executing this function No matter the motor is excited by using digital input contact SON or not it will be excited immediately after entering JOG mode The User can use dn...

Page 105: ...nput 0V voltage command from the supervisory controller or external loop to analog command connect SIC CN1 26 TIC CN 1 27 2 Turn on Power When the power is turned on Enter the Status Display Screen 3...

Page 106: ...ress MODE Key 1 time to jump back to the Parameter Selection Screen dn 11 0 Automatic detection of magnetic angle position The Magnetic Angle Detection refers to detecting the electrical angle coordin...

Page 107: ...g dn 11 0 and dn 11 1 functions the motor will excite automatically and perform short distance displacement please beware the position of the machine Before executing dn 11 0 and dn 11 1 functions the...

Page 108: ...e and the value will become 1 meaning we want to execute offset automatic adjustment 6 Press and hold down the ENTER button for 2 seconds until SET appears and then it will go back to the current para...

Page 109: ...o 9 1 Error List for the corresponding alarm of each error alarm number For example error alarm No 001 means low power voltage alarm is occurring now This Device also provides the user with inquiry of...

Page 110: ...rned on Enter the Status Display Screen 2 Press MODE Key three times to enter the Error Alarm History Parameter 3 Press UP Key one time to select the Previous first Alarm History item two LEDS on the...

Page 111: ...ion Description 4 1 No load Servo Motor Trial Run 4 3 4 2 No load Servo Motor with Supervisory Controller Trial Run 4 6 4 3 Connect the Load Servo Motor with Supervisory Controller Trial Run 4 10 4 4...

Page 112: ...coder wiring Servo motor operating direction and speed 4 2 Non load Servo Motor with Supervisory Controller Trial Run A Servo Driver Wiring and Motor Installation B Purpose of Trial Run Confirm that t...

Page 113: ...2 Check the Wiring Check the servo driver power wiring servo motor wiring and encoder wiring At this stage of the Trial Run no control signal line is used please remove the control signal wire CN1 3 T...

Page 114: ...t after the setting is completed If other error alarms occur it means the driver still cannot function normally and users need to run troubleshooting according to 9 2 Countermeasures to Clear Error an...

Page 115: ...power is turned on Enter the Status Display Screen 2 Press MODE Key 2 times to enter Diagnostic Parameters 3 Press UP Key 4 times to select dn 05 Item 4 Press and hold the ENTER Key for 2 seconds to e...

Page 116: ...ng to conduct wiring Speed Control Cn001 1 Position Control Cn001 2 a Confirm that there is no command signal input In the speed control mode please input 0V to the speed analog input contact In the p...

Page 117: ...correct check if speed analog signal input is 0V The Wiring Diagram is as follows SIC AG CN1 26 CN1 32 M SON CCWL CWL CN1 1 CN1 4 CN1 5 CN1 45 CN1 47 CN1 48 IG24 IP24 DICOM Servo Driver Servo Motor 2...

Page 118: ...off the Servo Motor 4 Complete the Wiring with Supervisory Controller Confirm the wiring of Servo Driver and Supervisory Controller Speed Analog Signal Input SIC Division Ratio Output PA PA PB PB PZ...

Page 119: ...ns The Supervisory Controller outputs Low speed Pulse Command to allow the Servo Motor operates at low speed comparing the Status Parameter Un 14 Motor Feedback Number of Pulses and Status Parameter U...

Page 120: ...ine Work Platform Servo Motor Load Axle 1 Make sure the Servo Driver Power is OFF 2 Connect Servo Motor and Load Axle Please refer to 1 5 Servo Motor Installation Environment Conditions and Methods fo...

Page 121: ...xecuted when no host device is connected in settings Confirmation items before execution The following items must be confirmed before executing program JOG operations The power of the main circuit is...

Page 122: ...parameters 0 Forward Reverse tn832 0 Program Jog Stroke operation flag tn833 Program Jog Stroke stop time tn834 Program Jog Stroke acceleration deceleration time tn835 Program Jog Stroke moving speed...

Page 123: ...0 4ms 5 25000 Take effect after setting 1321H Setting description Program Jog stroke stop time tn834 Program Jog stroke acceleration deceleration time Initial Value Unit Setting Range Effective RS 485...

Page 124: ...on instructions 1 Click Program JOG in the Adapt A dialog box please make sure the servo is at the Servo OFF status 2 Set the operation conditions and press Write parameters The operation mode will sh...

Page 125: ...4 15 3 Press Start execution to start executing Program JOG servo enters Servo ON status 4 Press Stop to end Program JOG servo returns to Servo OFF status...

Page 126: ...Speed Command 5 24 5 3 2 Analog speed command JSDG2S E L does not have this function 5 25 5 3 3 Analog speed command limit JSDG2S E L does not have this function 5 27 5 3 4 Speed Command Smoothing 5 2...

Page 127: ...uxiliary Function 5 130 5 6 4 Brake Mode 5 131 5 6 5 Mechanical Brake Time Sequence 5 132 5 6 6 CW CCW Drive Prohibited Method 5 134 5 6 7 Selection of External Regenerative Resistor 5 136 5 6 8 Fan O...

Page 128: ...e Control 1 Speed Control 2 External Position Control 3 External Position Control MDC1 OFF Speed Control MDC1 ON 4 Speed Control MDC1 OFF Torque Control MDC1 ON 5 External Position Control MDC1 OFF To...

Page 129: ...0 Digital Input Contact SPD1 SPD2 Speed Limit Condition Digital Torque Command Tn113 Speed Limit Switching Tn101 2 Torque Command Selection Tn101 1 Speed Control Circuit 0 0 1 1 2 True Internal Speed...

Page 130: ...ated rotation speed rpm Take effect after setting 5 2 6 TN109 Analog speed limit proportioner 100 10000 rpm Take effect after setting 5 2 6 TN110 Torque command one time smooth acceleration decelerati...

Page 131: ...nding relationship between TIC Analog Torque Command Input and Digital Input Contacts RS1 RS2 Torque Command Forward and Reverse Selection please refer to 5 2 4 Torque Output Direction Definition Tn10...

Page 132: ...orque Command 10 5 5 10 Torque Command Input Voltage V Slope is set by Tn103 400 200 400 200 600 600 Even if the Torque Command is 0V the Motor may rotate slowly mainly due to a slight offset of Exter...

Page 133: ...too low the response of the torque command may decrease Please confirm the response while setting Tn116 Analog torque command filter Initial Value Unit Setting Range Effective RS 485 Address 0 Hz 0 50...

Page 134: ...tting Description When using Digital Torque Command please set Tn101 1 1 Setting Description 0 Use Analog TIC Torque Command 1 Use Digital Tn113 Torque Command Tn113 Digital Torque Command Value Initi...

Page 135: ...n Deceleration separation function 1 Use torque command linear acceleration deceleration function To use this function must set Tn101 0 1 to activate Torque Command Linear Acceleration Deceleration Fu...

Page 136: ...on Time Constant is defined as the time for the Torque one time delayed rise from 0 to 63 2 of the current Torque Command Current Torque Command Time ms Tn110 100 50 63 2 3 Using the torque command st...

Page 137: ...f torque command straight line deceleration constant is the time for the torque command to decrease in a straight line from the rated torque to zero Torque command Time ms Tn102 Rated torque command C...

Page 138: ...scription Control Mode RS2 RS1 OFF Switch does not function OFF Switch does not function No Torque generated T OFF Switch does not function ON Switch functions Rotate in accordance with the current To...

Page 139: ...l Mode OFF Switch does not function Rotate in accordance with the current Torque Command Direction T ON Switch functions Reverse rotation in accordance with the current Torque Command Direction Note P...

Page 140: ...Address 200 300 Note 0 300 Effective after Set 000BH Note Default and setting range of parameter Cn010 Cn011 vary by model Please refer to 7 3 1 System parameters Cn0 for details Cn011 CW Direction To...

Page 141: ...nction Planning to set the Driver Effective Logic Tn101 2 Speed Limmit Value Switch Function Initial Value Unit Setting Range Effective RS 485 Address 0 0 1 After Servo OFF 0101H Setting Description S...

Page 142: ...Limit value in Torque Mode with this parameter Following is External Analog Speed Limit Command Wiring Diagram Cooperate with analog speed command filter Sn226 to adjust the filtering effect of analo...

Page 143: ...rnal loop to analog command connect SIC CN 1 26 Sn217 Zero analog speed command offset adjustment JSDG2S E L does not have this function Initial Value Unit Setting Range Effective RS 485 Address 0 mV...

Page 144: ...ached Determined Value Digital Output Contact INT operates refer to following description Tn108 Torque Reached Determined Value Initial Value Unit Setting Range Effective RS 485 Address 0 0 300 Effect...

Page 145: ...ntrol Mode Selection in accordance with the mode to be used The setting method is as follows Cn001 Control Mode Selection Initial Value Unit Setting Range Effective RS 485 Address 2 0 E Power Re set 0...

Page 146: ...5 21 The Speed Loop Control Block Diagram is shown in the following two Figures detailed functions of each block are described in the following Sections Speed Command Processing Unit Speed Controller...

Page 147: ...after setting 5 3 1 Sn203 Internal speed command 3 1 5 rated rotation speed 1 5 rated rotation speed rpm Take effect after setting 5 3 1 Sn204 0 Zero Speed Determined Operation 0 1 Take effect after s...

Page 148: ...ffect after setting 5 3 2 Sn218 Analog speed command limit 100 1 5 rated rotation speed rpm Take effect after setting 5 3 3 Sn226 Analog speed command filter 0 2500 Hz Take effect after setting 5 3 2...

Page 149: ...FF Switch does not function ON Switch functions Internal Speed Command 1 Sn201 ON Switch functions OFF Switch does not function Internal Speed Command 2 Sn202 ON Switch functions ON Switch functions I...

Page 150: ...ter Set 0210H Setting Description Used to adjust the slope of Voltage Command relative to the Speed Command Setting Example 1 If Sn216 is set to 3000 it means Analog Input Voltage 10V corresponds to 3...

Page 151: ...ment JSDG2S E does not have this function Initial Value Unit Setting Range Effective RS 485 Address 0 mV 2500 2500 Effective after Set 0211H Setting Description Used to correct offset when the Analog...

Page 152: ...Input 5 3 4 Speed Command Smoothing If the Motor overshoots or vibrates due to a serious speed command change this Driver can be used to provide three Speed Command Smoothing operations The user can...

Page 153: ...Sn208 210 Unit 1ms 1 Modify Sn208 210 Unit 10ms Sn206 Speed Command One Time Smoothing Acceleration Deceleration Time Constant Initial Value Unit Setting Range Effective RS 485 Address 1 ms 1 10000 E...

Page 154: ...d Command 63 2 Setting Example 1 To reach 95 of Speed Command output in 30ms then 10 msec 95 ln 1 30 msec Sn206 2 To reach 75 of Speed Command output in 30ms then 22 msec 75 ln 1 30 msec Sn206 Note ln...

Page 155: ...RS 485 Address 1 ms 1 50000 Effective after Set 0207H Setting Description Set Sn205 0 2 to activate Speed Command Linear Acceleration Deceleration Function The definition of Speed Command Linear Acce...

Page 156: ...ion Changes when activating Stop that resulted in machine oscillation adding S type Acceleration Deceleration to Speed Command can achieve the function of smooth operations Speed Command rpm Time ms t...

Page 157: ...from the Motor Load End Initial Value Unit Setting Range Effective RS 485 Address 0 0 1 Effective after Set 0004H Setting Description When the Torque or Speed Command is positive the Rotation Directio...

Page 158: ...have this function Note Please refer to 5 6 1 Digital Input Output Contact Function Planning to set the Driver Effective Logic Attention When using External Analog Torque Command Limit if this Analog...

Page 159: ...0 0 400 200 600 600 Attention The input voltage of analog torque limit voltage command does not have polarity voltage or voltage are received as an absolute value The speed limit of this absolute valu...

Page 160: ...operates refer to following description Cn007 Speed Reached Determined Value Initial Value Unit Setting Range Effective RS 485 Address Rated rotational speed 1 3 rpm 0 1 5 Rated Speed Effective after...

Page 161: ...04 0 Zero Speed Determined Operation Initial Value Unit Setting Range Effective RS 485 Address 0 0 1 Effective after Set 0204H Setting Description Setting Description 0 Does not operate 1 Treat Speed...

Page 162: ...n401 Pn496 and conduct planning on Digital Input Contacts POS1 POS5 to switch to relative Position Commands The user shall set Cn001 Control Mode Selection in accordance with the mode to be used The s...

Page 163: ...sition Loop Control Block Diagram is shown in the following Figure detailed functions of each block are described in the following Sections External Position Command Processing Unit External Position...

Page 164: ...0 3 Power reset 5 4 1 Pn301 1 Position pulse command logic selection 0 1 Power reset 5 4 1 Pn301 2 Drive prohibit command reception selection 0 1 Power reset 5 4 1 Pn301 3 Position pulse command filte...

Page 165: ...first stage of high speed 1 rated rotation speed rpm Take effect after setting 5 4 7 Pn319 Origin return to the second stage of low speed 1 rated rotation speed rpm Take effect after setting 5 4 7 Pn3...

Page 166: ...rocessing Unit 1 0 Position Error Un 07 Position Feedback Un 14 Un 16 Un 24 Un 25 Gain Switching Method Cn015 1 Cn021 Cn024 Digital Input Contact G SEL Internal Torque Limit 1 Cn010 Cn011 Digital inpu...

Page 167: ...nalog torque command filter 0 5000 Hz Take effect after setting 5 4 8 Sn201 Internal speed command 1 1 5 rated rotation speed 1 5 rated rotation speed rpm Take effect after setting 5 4 9 Pn301 2 Drive...

Page 168: ...1 rated rotation speed rpm Take effect after setting 5 4 7 Pn320 Origin return to offset of lap number 30000 30000 rev Take effect after setting 5 4 7 Pn321 Origin return to offset of pulse number Va...

Page 169: ...fect after setting 5 4 2 Internal position command pulse number 8388608 8388608 pulse Take effect after setting 5 4 2 Internal position command moving speed 0 2 rated rotation speed rpm Take effect af...

Page 170: ...nd pattern The setting method is as follows Pn301 0 Position pulse command pattern selection Initial Value Unit Setting Range Effective RS 485 Address 0 0 3 Power Re set 0301H Setting Description Sett...

Page 171: ...river Input t1 t2 0 1 s t3 3 s 1 0 s T 50 Open Collector Input t1 t2 0 2 s t3 3 s 2 0 s T 50 Phase A Phase B Pulse Line Driver Input t1 t2 0 1 s 1 0 s T 50 Open Collector Input t1 t2 0 2 s 2 0 s T 50...

Page 172: ...Address 0 0 1 Power Re set 0301H Setting Description Setting Description 0 After the Drive Prohibition occurs continue recording the Position Command Input Quantity 1 After the Drive Prohibition occur...

Page 173: ...1 Effective after Set 0329H Setting Description Setting Description 0 Disable pulse response filter 1 Enable pulse response filter and operate according to the setting value of Pn356 Pn356 Pulse Resp...

Page 174: ...ns Pn413 Pn415 Number of Pulses Pn414 P6 OFF OFF ON OFF ON Number of Revolutions Pn416 Pn418 Number of Pulses Pn417 P7 OFF OFF ON ON OFF Number of Revolutions Pn419 Pn421 Number of Pulses Pn420 P8 OFF...

Page 175: ...evolutions Pn470 Pn472 Number of Pulses Pn471 P25 ON ON OFF OFF OFF Number of Revolutions Pn473 Pn475 Number of Pulses Pn474 P26 ON ON OFF OFF ON Number of Revolutions Pn476 Pn478 Number of Pulses Pn4...

Page 176: ...ning 1 Relative Type Positioning In the Absolute Type and Relative Type Positioning Mode after issuing the 10pulse Position Command then issue 20pulse Command separately the Position Path Differential...

Page 177: ...pulses P16 20pulses P4 30pulses Absolute type P1 P8 P16 P4 Note Logical relation 0 OFF 1 ON If the user wishes to stop motor operation temporarily during position moving process the motor will deceler...

Page 178: ...l Input Contact PTRG Digital Input Contact POS2 Digital Input Contact POS3 Digital Input Contact POS4 0 0 0 1 1 0 0 1 1 P1 30pulses P8 10pulses Absolute type 1 Digital Input Contact PHOLD 0 1 1 P1 P8...

Page 179: ...act CLR Pn315 0 must be set to 1 or 2 please refer to 5 4 7 Pulse Error Clearing setting the Motor will stop immediately and the uncompleted Pulse Command will be cleared When Digital Input Contact PT...

Page 180: ...rev 131072puls Command Before every move the Supervisory Control must follow the above steps to calculate the Pulse Command Set the Electronic Gear Ratio first Assuming that the Definition One Pulse...

Page 181: ...single rotation Pulse Command will be calculated according to the following formula Single Rotation Pulse Command The distance of the load movement by one revolution of the Load Shaft One Pulse Comman...

Page 182: ...00pulse provided that the Electronic Gear Ratio is set correctly 3 Calculate Electronic Gear Ratio If the Deceleration Ratio between the Motor and the Load Shaft is m n m refers to the number of Motor...

Page 183: ...ned Electronic Gear Ratio must conform to the following conditions otherwise this Device cannot operate normally 1 1000 Electronic Gear Ratio 32000 This Device provides four sets of Electronic Gear Ra...

Page 184: ...Single Rotation Pulse Command 5mm rev 1um pulse 5000 pulse rev Method 2 Use the Electronic Gear Ratio Numerator and Electronic Gear Ratio Denominator 1 Understand the Overall System Specifications Lo...

Page 185: ...0deg rev 0 1deg pulse 1 5 720 pulse rev Method 2 Use the Electronic Gear Ratio Numerator and Electronic Gear Ratio Denominator 1 Understand the Overall System Specifications Deceleration Ratio 1 5 Loa...

Page 186: ...Numerator and Electronic Gear Ratio Denominator 1 Understand the Overall System Specifications Deceleration Ratio 1 8 Load Axis Roller One Revolution Movement mm 314 mm 100 3 14 Motor encoder resoluti...

Page 187: ...rmed 0327H 0328H Setting Description Setting Description 0 Use Position Command One Time Smoothing Acceleration Deceleration 1 Use Internal Position Command S type Acceleration Deceleration external p...

Page 188: ...acceleration is also small which can improve the acceleration deceleration characteristics of the Motor and also more smoothing in the operations of the mechanical structure The S type smooth command...

Page 189: ...ion Deceleration Travel by the input time parameter From the following Figure a it can be seen that when TACC TSL a constant acceleration zone is generated and the fixed acceleration time is TACC TSL...

Page 190: ...5 Address 0 0 4ms 0 5000 Effective after Set 031DH Pn323 Internal Position Command S type Acceleration Deceleration Constant TACC Initial Value Unit Setting Range Effective RS 485 Address 1 0 4ms 1 50...

Page 191: ...mand Smoothing Filter and Pulse Command Moving Filter on Position Instruction is to enable a smooth servo motor rotation The above mentioned filters are effective under the following conditions The su...

Page 192: ...ring In Position Mode the User can use Pn315 0 Pulse Error Clearing Mode to define the operating method of Digital Input Contact CLR The settings are as follows Pn315 0 Pulse Error Clearing Mode Initi...

Page 193: ...on Note Cn031 2 function should be set according to requirements when using ABS type encoder to run Return to zero Setting Description 0 After Return to Origin is activated Motor searches for Origin w...

Page 194: ...61 and Pn362 Pn317 1 2 has to be set when using this function finds the Z phase pulse as the mechanical origin and then stops according to the method set in Pn317 3 8 After the origin reset has starte...

Page 195: ...hanical Origin Signal is found record this position as Mechanical Origin both Un 14 Encoder Feedback Number of Revolutions Un 16 Encoder Feedback Number of Pulse are all zero Motor decelerates to stop...

Page 196: ...0 Return to Origin Offset Number of Rotations and Pn321 Return to Origin Offset Number of Pulses as the New Mechanical Origin the setting is as follows Pn320 Return to Origin Offset Number of Revoluti...

Page 197: ...ue Unit Setting range Effective RS 485 address 0 0 1 Take effect after setting 0314H Setting description Setting Description 0 Move according to the origin offset Pn320 Pn321 as the new mechanical ori...

Page 198: ...tive limit CCWL Positive limit Home Sensor Origin reset operation Offset moves Un 14 0 Un 16 0 Pn315 1 1 Work platform Servo motor CWL Negative limit CCWL Positive limit Home Sensor Origin reset opera...

Page 199: ...to Origin does not operate Note Please refer to 5 6 1 Digital Input Output Contact Function Planning to set the Driver Effective Logic The Speed Position of Return to Origin Time Sequence Diagram The...

Page 200: ...in Pn317 2 2 Digital input contact SHOME activates Return to origin Pn317 3 0 Return to Mechanical Origin 2 Pn317 0 1or3 After activated Return to Origin use first stage Speed Reverse Rotation Directi...

Page 201: ...317 2 2 Digital input contact SHOME activates Return to Origin Pn317 3 0 Return to Mechanical Origin 4 Pn317 0 3 After activated Return to Origin use first stage Speed Reverse Rotation Direction to se...

Page 202: ...to Mechanical Origin Speed Position Pn318 Stage 1 High Speed Pn317 2 2 Pn317 0 2 Digital Input Contact SHOME Digital Input Contact ORG Pn319 Stage 2 Low Speed Pn317 1 2 Pn317 3 0 ON ON 6 Pn317 0 3 Aft...

Page 203: ...Pn317 2 2 Digital input contact SHOME activates Return to origin Pn317 3 0 Returnt o Mechanical Origin 8 Pn317 0 5 After activated Return to Origin use first stage Speed Reverse Rotation Direction to...

Page 204: ...n317 0 6 Digital input contact SHOME Pn319 Stage two low speed Pn317 3 0 Motor encoder Z phase pulse ON After topped to the stop point of the mechanism and the load increased to the Pn361 value and co...

Page 205: ...1 2 After the origin reset has started the motor uses the first stage speed forward direction to search for the origin and completes the origin reference position according to the setting conditions o...

Page 206: ...ition according to the setting conditions of Pn361 and Pn362 Pn361 Origin reset torque limit value Pn362 Torque stabilization continuous time Speed Position Pn318 First stage high speed Pn317 2 2 Digi...

Page 207: ...ternal pulse command mode Cn011 Under internal position command mode Cn011 Cn057 ON Switch does not function External analog torque limit TIC CN1 27 JSDG2S E L does not have this function External ana...

Page 208: ...Initial Value Unit Setting Range Effective RS 485 Address 0 4ms 0 32767 003DH Setting Description After the digital output contact INP delays according to the time set by Cn058 the torque limit switc...

Page 209: ...larity voltage or voltage are received as an absolute value The speed limit of this absolute value is applied to forward and reverse direction When using External Analog Torque Command Limit if this A...

Page 210: ...ulse number set by Pn307 Positioning Completed Determined Value Digital Output Contact INP operates Excessive Position Error Warning Function When Position Error is larger than the number of Pulses se...

Page 211: ...de the DI pin function SPD1 and SPD2 can be used to perform JOG speed operation the control method is shown as follows JOG1 JOG2 JOG Speed Function OFF Switch does not work OFF Switch does not work X...

Page 212: ...et Mode only supports ABS type encoders Cn030 ended with 5 A D when Turret mode is used by non ABS type encoders the system will generate AL 040 Turret Mode prohibits use of Non absolute Type Encoders...

Page 213: ...n ratio Pn326 Tool magazine quantity Pn324 Tool change speed Pn327 Pn335 Tool disc Denominator deceleration ratio Pn306 Execute the origin reset function set the position after completed as the zero p...

Page 214: ...2500 mV Take effect after setting 5 4 8 Tn116 Analog torque command filter 0 5000 Hz Take effect after setting 5 4 8 Pn306 CNC tool disc denominator minus ratio 1 8388608 Power reset 5 5 2 Pn307 Posit...

Page 215: ...umerator minus ratio 1 16383 Take effect after setting 5 5 2 Pn327 Tool change rotation speed 1 rated rotation speed rpm Take effect after setting 5 5 2 Pn329 Pulse command smooth filter 0 2500 2ms Po...

Page 216: ...06 DI 6 Pin Function 19 POS4 Tool Magazine Tool Number Selection 4 Hn607 DI 7 Pin Function 1E POS5 Tool Magazine Tool Number Selection 5 Hn608 DI 8 Pin Function 1F POS6 Tool Magazine Tool Number Selec...

Page 217: ...ode switch 2 Hn608 DI 8 pin function 0C MDC1 Turret control mode switch 1 Hn609 DI 9 pin function 01 SON Servo start Hn610 DI 10 pin function 2B MDC4 Control mode selection 4 under tool magazine mode...

Page 218: ...2 MDC3 Automatic tool selection shortest path tool selection mode OFF OFF OFF Tool calibration reset to zero mode ON OFF OFF Forward manual single step mode OFF ON OFF Automatic tool selection single...

Page 219: ...OFF Reverse manual single step mode ON OFF ON OFF Forward manual single step mode OFF ON ON OFF No function ON ON ON OFF Initial status of the manual continuous tool position mode OFF OFF OFF ON Rever...

Page 220: ...t contact or parameter Cn041 2 define the position of the first tool and use the selection function of Pn315 2 tool tower s tool magazine reset to zero method to select the method to reset to zero The...

Page 221: ...manual single step mode Under this mode there is no need to control the digital input contact of the tool position one tool position will be moved every time it is triggered Forward Reverse Automatic...

Page 222: ...nput contact of the tool position When triggered it will move N tool positions until the end is triggered and it will stay at the next tool position after ended Forward reverse manual continuous mode...

Page 223: ...h point INP signal must be added with P1 P6 to conduct Output Determination When in first tool position the Digital Output Signals P1 P6 and INP Signal will all be output when the Digital Output Signa...

Page 224: ...FF OFF OFF OFF ON OFF ON Not on tool position OFF OFF OFF OFF ON ON Changing tools OFF OFF OFF ON OFF OFF ON Tool number 1 OFF OFF OFF ON OFF ON Tool number 2 OFF OFF OFF ON ON OFF ON Tool number 11 O...

Page 225: ...nt Counter clockwise rotation CCW 1 Tool number is arranged in counter clockwise order Clockwise rotation CW 0 Tool number is arranged in clockwise order Cn004 1 Cn004 0 Servo motor Mechanism Gearbox...

Page 226: ...eration machine is 3 11 motor rotates 11 laps turret rotates 3 lap set Pn326 11 Pn306 3 Tool change speed definition table Set the DI pin KSPD function to switch the speed for tool change Digital inpu...

Page 227: ...igger DI PTRG Rotate to Next Tool Number Tool Location Display Signal DO P1 P6 Positioning Signal Output DO INP Completed Automatic Tool Shortest path Selection Mode Tool Number Selection DI POS1 POS6...

Page 228: ...turn to Zero Position 5 5 2 2 Tool Magazine Automatic Tool Selection Mode Time Sequence Diagram No 4 Tool No 4 Tool Signal Trigger DI PTRG Signal Trigger Delay Pn334 Motor Speed Command Tool Number Ou...

Page 229: ...t Signal DO P1 6 Positioning Completion Signal DO INP Mode Switching 2 DI MDC2 Pn334 50ms Servo Excitation DI SON Acceleration Curve Deceleration Curve Torque Limit Switching Time Cn058 Cn058 Stage 2...

Page 230: ...l continuous tool position mode Parameter setting Pn331 backlash compensation Pn334 PTRG trigger delay Pn317 Pn321 return to origin setting Cn010 first stage CCW torque limitation Cn011 first stage CW...

Page 231: ...e timing diagram Update tool handle reset to zero position Signal trigger DI MDC2 Signal trigger delay Pn334 Tool disc reset to zero postion Pn325 Tool number output signal DO P1 6 Positioning complet...

Page 232: ...number output signal DO P1 6 Positioning complete signal DO INP Mode switch 2 3 4 DI MDC2 3 4 Pn334 50ms Servo excitation DI SON Acceleration curve Deceleration curve Torque limitation switch time Cn...

Page 233: ...nal DO P1 6 Positioning complete signal DO INP Mode switch1 4 DI MDC1 4 Pn334 50ms Servo excitation DI SON Acceleration curve Deceleration curve Torque limitation switch time Cn058 Cn058 Second stage...

Page 234: ...rpm Tool number output signal DO P1 6 Positioning complete signal DO INP Mode switch1 3 DI MDC1 3 Pn334 Servo excitation DI SON Acceleration curve Torque limitation switch time Cn058 Second stage Torq...

Page 235: ...command rpm Tool number output signal DO P1 6 Positioning complete signal DO INP Mode switch1 DI MDC1 Pn334 Servo excitation DI SON Acceleration curve Torque limitation switch time Cn058 Second stage...

Page 236: ...ero function Initial Value Unit Setting Range Effective RS 485 Address 0 0 1 Effective after Confirmed 002CH Setting Description Setting Description 0 Not Functioning 1 The driver execute turret retur...

Page 237: ...gazine Zero Return Method Selection Initial Value Unit Setting Range Effective RS 485 Address 0 0 1 Effective after Set 0315H Setting Description 0 The current position is set to zero after triggering...

Page 238: ...fter Set 032AH Setting Description Please refer to Pn322 Description Pn324 CNC tool magazine quantity setting Initial Value Unit Setting Range Effective RS 485 Address 12 1 64 Effective after Confirme...

Page 239: ...etting Description Pulse Command Moving Filter Pn331 Turret Tool Magazine Backlash Compensation Parameter in CCW direction Initial Value Unit Setting Range Effective RS 485 Address 0 pulse 8388607 838...

Page 240: ...and after the Delay setting time the Motor starts rotation Pn335 Tool change rotational speed 2 Initial Value Unit Setting Range Effective RS 485 Address 100 rpm 1 rated rotational speed Effective aft...

Page 241: ...witch Control mode selection 1 under turret mode 0D INH Position Command Prohibited 0E SPDINV Speed Command Reverse 0F G SEL Gain Switching Setting Description Code Contact Operation Function 10 GN1 E...

Page 242: ...itial Value Unit Setting Range Effective RS 485 Address Change with Mode 0 1 Power Re set Please refer to Parameter Description Setting Description Setting Description 0 When the pin is closed the fun...

Page 243: ...10 DI10 DI10 DI10 DI10 DI10 0B SPD2 DI11 DI11 DI11 DI11 DI11 DI11 0C MDC1 DI12 DI12 DI12 DI12 DI12 DI12 DI12 DI12 DI12 DI12 DI8 0D INH DI8 DI8 0E SPDIN V DI7 DI7 0F G SEL 10 GN1 11 GN2 12 PTRG DI8 DI8...

Page 244: ...N OFF indicates CW Overall Travel occurred External Torque Limit TLMT Pi Pe Pt S When TLMT ON will limit the Motor Output Torque to the Command Voltage range of the Torque Limit Pin TIC input Pulse Er...

Page 245: ...OFF Pn302 OFF ON Pn303 ON OFF Pn304 ON ON Pn305 Internal Position Command Trigger PTRG Pi When PTRG is ON top edge trigger the Motor will select the corresponding Position Command in accordance with t...

Page 246: ...e signal is connected to the servo drive DI and the corresponding DI pin function is set to the HallSensor s U phase function V direction of HallSensor HS_V ALL With a linear motor the Hall V phase si...

Page 247: ...Mode I O Operating Function Description Turret input 1 2 JOG1 JOG2 Pe Pi JOG2 JOG1 Description OFF OFF No JOG function OFF ON JOG Excitation_Forward Rotation ON OFF JOG Excitation_Reverse Rotation ON...

Page 248: ...e Mode Selection Tool Position Display 3 0C P4 Tool Magazine Mode Selection Tool Position Display 4 0D P5 Tool Magazine Mode Selection Tool Position Display 5 0E P6 Tool Magazine Mode Selection Tool P...

Page 249: ...is set to 1 3 when the Servo starts pin BI is ON and OFF when the servo does not have excitation Normal use of this pin is connected to the relay of Mechanical Brake to control the Motor Speed Reached...

Page 250: ...when the first tool calibration is completed the pin KCF is ON ABS encoder origin return complete signal ABSHOME Pi Pe Pt When using an ABS encoder use the servo drive ABSHOME OFF for the first time a...

Page 251: ...DO4 DO4 DO4 DO4 DO1 DO4 DO4 DO4 DO4 DO7 07 HOME DO3 DO3 DO3 DO3 DO3 DO3 08 INT DO3 DO3 DO3 DO3 09 P1 DO8 DO1 0A P2 DO7 DO2 0B P3 DO6 DO3 0C P4 DO5 DO4 0D P5 DO4 DO5 0E P6 DO3 0F OL 10 BAT 11 LIT DO7 D...

Page 252: ...ning Contacts are controlled by the External Terminals the corresponding binary bits of the Digital Input Contacts are 0000 1111 0010 0101 and can be set as H 0 F 2 5 after converted to hexadecimal Hn...

Page 253: ...by Hn624 For example To set DO contacts DO 1 DO 3 DO 6 to be controlled by communication and the rest to be controlled by function settings the digital input contact corresponding to the binary bit is...

Page 254: ...Range Effective RS 485 Address 2 0 E Power Re set 0001H Setting Description Setting Description 3 External Position Speed Control Switching 4 Speed Torque Control Switching 5 External Position Torque...

Page 255: ...tion by digital input contact SON 1 Do not control servo activation by digital input contact SON activate servo immediately when the power is on Remark Invalid under EtherCAT CANopen mode Cn002 1 Cont...

Page 256: ...under 100rpm Yes Attention When CCW CW generates drive prohibition the setting of if use dynamic brake Cn009 0 is prior to Cn008 i e if Cn008 0 is set as 0 or 1 without dynamic brake and Cn009 0 is se...

Page 257: ...ake and then cooperate with Cn003 Mechanical Brake Signal Output Time to control the Mechanical Brake Time Sequence The description is as follows Wiring Diagram Mechanical Brake Time Sequence Cn003 Me...

Page 258: ...ntact SON and Digitaloutput contact BI are not operating activate mechanical brake servo excitation will only be released after the time set by Cn003 is exceeded 2 Cn003 Mechanical Brake Signal Output...

Page 259: ...he stop and need to reboot to activate the servo system 2 Use 300 Torque Limit to decelerate and in Zero Speed Clamping State after stopped Attention When CCW CW generates drive prohibition the settin...

Page 260: ...ve limit CCWL Positive limit Negative command issue Cn009 1 Drive prohibition abnormal protection AL 014 setting Initial Value Unit Setting Range Effective RS 485 Address 1 0 1 Effective after Confirm...

Page 261: ...ircuit filter capacitor of the Driver but when there is excessive regenerative power and cannot be supported by the Filter Capacitor Regenerative Resistor must be used to consume excess regenerative p...

Page 262: ...tage of a 400V driver exceeds 780V the regenerative resistor starts to consume voltage When using an external regenerative resistor at the normal rated load rate when the resistor temperature reaches...

Page 263: ...istor used Note Setting 0 means that regeneration is not used External Regenerative Resistor Wiring The user must prepare the Regenerative Resistor When installing the user must remove the wiring of P...

Page 264: ...ows Cn031 0 Fan Operation Settings Only Suitable to the Models equipped with Fan Initial Value Unit Setting Range Effective RS 485 Address 0 0 3 Effective after Confirmed 0022H Setting description Set...

Page 265: ...tection level Initial value Unit Setting range Take effect RS 485 address 200V 190 400V 380 Volt 200V 170 190 400V 340 380 Takes effect after confirmation 0036H Setting description The low voltage pro...

Page 266: ...irmed 0022H Setting Description This parameter can set low voltage protection AL001 return method Setting Description 0 When SON status shows run AL001 Low Voltage Error Alarm is immediately displayed...

Page 267: ...l output contact does not output ALM and the Motor can still operate normally but the multi revolution address cannot be memorized after the power is turned OFF 2 When the battery is abnormal after po...

Page 268: ...ication encoder feedback Multi turn position information rev Communication encoder motor multi turn absolute position 061FH Un 25 Communication encoder feedback Position information in a single turn R...

Page 269: ...e voltage of the batteries is less than 3 1V AL 010 absolute encoder battery warning will be displayed and the digital output contact BAT will come ON When this warning shows the batteries need to be...

Page 270: ...0 360 degree 7 Primary circuit Vdc Bus voltage 10V 0 500V 8 Speed command 10V 1 5x rated speed 9 Speed feedback detection 10V 1 5x rated speed A Torque command 10V 3 5x rated torque B Torque feedback...

Page 271: ...s the user can manually adjust Cn027 Cn028 to correct the offset Refer to the following setting Cn027 Analog monitoring output 1 offset adjustment JSDG2S E L does not have this function Initial Value...

Page 272: ...signals generated with one revolution of Motor Encoder is converted into preset by Cn005 Number of pulse signal Example The Motor Encoder is a 131072 pulse output with one revolution if to obtain a 10...

Page 273: ...ses per rotation Motor rotates one cycle PA PB Dividing Output Pulse Signal Definition is as follows Pin Code Name Pin Number Control Mode PA Encoder Dividing Output Phase A Signal CN1 35 ALL PA Encod...

Page 274: ...tion 0 Dividing Output Phase A leading Phase B 1 Dividing Output Phase A behind Phase B Pn316 3 Encoder Signal Dividing Output Frequency Elimination Initial Value Unit Setting Range Effective RS 485 A...

Page 275: ...nterface support phase A B Z signal optical ruler or encoder maximum supported encoder resolution is 1000000 pulse rev pulse number of up to 4x frequency corresponded by the full closed loop when the...

Page 276: ...Description Setting Description 0 Encoder 1 Full closed loop Pn347 Maximum full closed loop error Initial Value Unit Setting Range Effective RS 485 Address 5000 pulse 0 536870912 Effective after Set 0...

Page 277: ...ce Pn346 1 Unit conversion Pn348 Full closed loop function Operation step of full closed loop function 1 Check mechanism direction Check the external encoder position direction corresponds to the moto...

Page 278: ...gnal will occur excessive pulse error between motor and load and the servo stops operation Lastly set Pn346 full closed loop function diving selection according to the requirement Push manually no exc...

Page 279: ...op connector is short circuited cold welded or falls out AL 039 Full closed loop encoder matching error Switch Re set Encoder matching error Note AL 022 excessive pulse error between motor and load me...

Page 280: ...ves from the need to replace the traditional cam to plan master and slave The position relationship between master and slave is planned by software to realize the status as if there is a virtual cam b...

Page 281: ...per rotation tool number means the cutter number installed on auxiliary axle machine and the position of each cutter must divide 360 degree equally For example when there are three cutters then the se...

Page 282: ...oint is the setting value of ECA06 EC907 Encoder resolution of E Cam main axle Initial Value Unit Setting Range Effective RS 485 Address 2500 ppr 1 32768 Effective after Confirmed 0807H Setting Descri...

Page 283: ...Range Effective RS 485 Address 100 0 1mm 1 50000 Effective after Confirmed 080BH Setting Description The total length of a single item to be cut Set the cutting length of the item this size must matc...

Page 284: ...g shear to 2 by EC901 and Cn001 6 activate flying shear function to plan flying shear function The user can plan according to actual disc distribution and select virtual main axle automatic planning o...

Page 285: ...tting Range Effective RS 485 Address 2500 ppr 1 32768 Effective after Confirmed 0807H Setting Description Main axle feeding axle encoder resolution EC908 Encoder resolution of E Cam Auxiliary axle Ini...

Page 286: ...position and cutter start position If the cutting material is put on the cutting point directly then set to 0 EC914 E Cam rotary cut synchronous time Initial Value Unit Setting Range Effective RS 485...

Page 287: ...of the main axle The user must fill in the correct average speed of the main axle so that ECA14 can have correct time EC920 Maximum return speed of E Cam rotary cut Initial Value Unit Setting Range E...

Page 288: ...cutting length to correct machine error EC924 0 E Cam rotary cut return origin return function Initial Value Unit Setting Range Effective RS 485 Address 0 0 1 Effective after Confirmed 0820H Setting D...

Page 289: ...even if the loads of two axles are different Pn350 0 Enable gantry synchronization function Initial Value Unit Setting Range Effective RS 485 Address 0 0 1 Power Re set 033DH Setting Description Setti...

Page 290: ...Pn348 Corresponded resolution of Full closed loop Encoder one circle Initial Value Unit Setting Range Effective RS 485 Address 1250 ppr 256 1048576 Power Re set 033AH 033BH Setting Description The nu...

Page 291: ...2 can determine when the two axle synchronous error is greater than a pulse number the system will jump to Alarm protection Alarm will not pop up regardless how big this value is when the setting is 0...

Page 292: ...ence of the optical ruler can be skipped Check the UVW phase sequence of the Hall signal can be skipped Hall signal exists Uphase Hall signal aligned toUphase reverse electric potential zero point Set...

Page 293: ...der connection Servo driver 200V P1 U s JSDG2S CANopen RS 485 CN5 Communication IN CN6 Communication OUT Optical ruler Communication type controller PLC CN3 Communication connection Personal computer...

Page 294: ...22 23 24 25 DC24 V 45 LOAD LOAD LOAD LOAD LOAD LOAD LOAD LOAD DO 1 DO 2 DO 3 DO 4 DO 5 DO 6 DO 7 DO 8 IG24 48 IP24 1 R1 R1 R1 R1 R1 R1 R1 R1 R1 2 3 4 5 6 7 8 9 48 IG24 DC24V 47 45 IP24 DICOM 24V powe...

Page 295: ...or s U direction 23 HS_V Hall Sensor s V direction 24 HS_W Hall Sensor s W direction Hn601 2 Hn612 2 DI 1 DI12 pin function action potential Setting Description 0 When the pin is low potential short c...

Page 296: ...CCW B Phase Divided output A phase Divided output B phase Divided output B phase Divided output Z phase Divided output Z phase r 24V Control power 43 44 Z0 DOCOM R4 Vc 18 19 20 21 22 23 24 25 DC24V 4...

Page 297: ...oltage over temperature protection function settings Initial Value Unit Setting Range Effective RS 485 Address 0 0 2 Take effect after setting 000AH Setting description Setting Description 0 Not used...

Page 298: ...or UVW phase sequence U V W Linear motor R R Resistance of over 1K Ohm Oscilloscope measurement point Oscilloscope measurement point Oscilloscope measurement point Locations of three measurement point...

Page 299: ...485 Address 0 0 1 Power reset 0064H Setting description Setting Description 0 Pulse input A phase is ahead of B phase 1 Pulse input A phase is behind B phase If the optical ruler does not have the Z p...

Page 300: ...time the driver uses the dn 11 0 pole angle for automatic detection it will check whether the pitch is correct and has complete positioning If you do not want to check it every time power is connected...

Page 301: ...5 176 Linear motor Hall signal phase sequence Positive direction of the motor U phase output V phase output W phase output...

Page 302: ...cal parameter setting in the custom motor field 3 Click the Linear Motor option 4 Enter the motor parameters and beware whether the values match the unit in which 0 4 can be entered for motor number U...

Page 303: ...5 178 2 3 1...

Page 304: ...ill appear if they are correct Next press OK to restart the power and reconnect Once the power is restarted Cn029 Parameter reset will be executed once automatically Except for the electrical paramete...

Page 305: ...he next time to copy the same motor parameters to other drivers Loading the motor parameter table 1 Open the custom motor interface and press open 2 Click the motor parameter file previously saved 3 R...

Page 306: ...nment 1 Click the custom motor field and then boot up the magnetic pole alignment option 2 Adjust the magnetic pole detection voltage level according to the weight of the load and then press Start aft...

Page 307: ...alog box if alignment fails the driver will display AL 032 linear motor magnetic pole alignment abnormal When alignment fails please confirm whether the power cable and encoder wiring are properly con...

Page 308: ...the DI pin Open Collector or the fully closed circuit pin line driver according to the feedback electrical features of the Hall signal itself If set as Hall feedback alignment there is no need to use...

Page 309: ...m pulse 72000 pulse Un 14 increased by 24000 Un 16 increased by 1 Confirm whether the Hall signal is inputted into the driver correctly through dn 03 digital input contact signal status and Un 31 digi...

Page 310: ...Their descriptions are as below Hn601 0 Hn601 1 Hn612 0 Hn612 1 DI 1 DI12 pin functions Initial Value Unit Setting Range Effective RS 485 Address Changes according to the mode 00 2A hexadecimal Power...

Page 311: ...top EMC reset method Cn002 3 EMC reset mode selection Initial Value Unit Setting Range Effective RS 485 Address 0 0 1 Power reset 0002H Setting description Setting Description 0 After the emergency st...

Page 312: ...ppression Function 6 23 6 6 Manual Gain Adjustment 6 27 6 7 Gain Switching Function 6 29 6 7 1 PI P Switching Mode 6 29 6 7 2 Two Stage Gain Switching Mode 6 32 6 8 Improved Response Characteristics 6...

Page 313: ...tion Normal No End Yes No Yes No Set Cn026 Rigidity Rating to No Vibration Set Cn060 OFFLine tuning operation command number of revolutions setting Set Cn061 OFFLine tuning Operation Maximum Speed Set...

Page 314: ...be unstable and cause vibrations or poor response Therefore the relationships between these three control loop bandwidths are as follows Current Control Loop Bandwidth the innermost layer Speed Contro...

Page 315: ...J Servo Motor Rotor Inertia J 100 Cn032 Speed Feedback Smoothing Filter Initial Value Unit Setting Range Effective RS 485 Address 500 Hz 0 2500 Effective after Set 0023H Setting Description When the s...

Page 316: ...Value Unit Setting Range Effective RS 485 Address 40 Hz 2 1500 Power Re set 020DH Setting Description Please refer to Sn211 Description Sn214 Speed Loop Integration Time Constant 2 Initial Value Unit...

Page 317: ...n213 The Speed Loop Gain directly determines the Response Bandwidth of the Speed Control Loop Under the premise that the mechanical system does not generate vibration or noise increasing the Speed Loo...

Page 318: ...addition of position loop gain value can expedite response speed and shorten positioning time Position Loop Gain 2 Speed Loop Gain 5 Position Loop Feed Forward Gain Pn312 The use of the Position Loop...

Page 319: ...ctive immediately without having to press the Enter key again to store Gain Adjustment Shortcut Parameter is shown as follows Parameter Code Name and Function Default Value Unit Setting Range qn501 Sp...

Page 320: ...ter 0 0 30 Automatic Gain Adjustment Pre cautions The Automatic Gain Adjustment is a function that accompanies the Motor Operation please pay special attention to the following points 1 The Automatic...

Page 321: ...uations is shown in the table below Setting Description Position Loop Gain Speed Loop Gain Speed Loop Integration Time Constant Pn310 1 s Sn211 Hz Sn212 0 01ms 1 2 2 28000 2 3 3 19000 3 6 6 9000 4 9 9...

Page 322: ...em uses P PI switching mode When the system uses two stages of gain switching When the system uses position loop feed forward Confirmations before execution of Automatic Gain Adjustment When executing...

Page 323: ...rocedure when using automatic gain adjustment The procedure is described with the PC link automatic gain adjustment page 1 Click Tuning T on the tool bar and select automatic gain adjustment item 2 On...

Page 324: ...arameter setting method can click on Parameter Description part to understand Click on Parameter Write Parameter Write Successful will appear if successful if Writing failed need to confirm all parame...

Page 325: ...ude vibrations Increase the load inertia ratio Cn025 until the system can operate steadily AL 035 Tuning Failed Cause Counter measure The System generates Vibration Resonance or Acoustic Resonance Dec...

Page 326: ...cuit integral time constant Sn212 0 01ms Torque command smooth filter Cn034 Hz 1 2 2 28000 16 12 70 70 1000 560 2 3 3 19000 24 13 85 85 1000 680 3 6 6 9000 48 14 100 100 800 800 4 9 9 6000 72 15 120 1...

Page 327: ...ng description Setting it as 30 means that the tuning process command will be within 3 laps Cn061 OFFLine tuning operation maximum rotation speed Initial Value Unit Setting Range Effective RS 485 Addr...

Page 328: ...et Initial Value Unit Setting Range Effective RS 485 Address 0 Hz 0 2000 Effective after Set Each Parameter is different Setting Description When to eliminate the vibration or noise caused by resonanc...

Page 329: ...load inertia ratio is correct Incorrect setting may result in vibration which leads machine damage DO NOT touch the servo motor or machine when automatic mechanical resonance suppression is under oper...

Page 330: ...y to enable automatic detection of mechanical vibration frequency 3 When finding the resonance point it will be displayed in Notch Filter setting value column Cn013 Cn066 Cn069 Cn072 Cn075 and automat...

Page 331: ...ion Cn063 1 the lower the value is the more likely the noise is determined incorrectly the recommended setting is 50 or higher 3 Use PC Link to search for resonance frequency and further set Notch Fil...

Page 332: ...ulate the accurate vibration frequency correctly The error setting of resonance frequency will cause the noise of the machine to become more severe It is recommended that the user can search for more...

Page 333: ...value to the first set of notch filter frequency Cn013 in servo driver 4 When resonance occurs in the system users can key in Notch Filter setting on the interface A window will pop up this time Notc...

Page 334: ...ng Range Effective RS 485 Address 0 0 30 Effective after Set 0331H Setting Description Used to adjust the frequency range to be suppressed greater the value wider the frequency range of suppression is...

Page 335: ...ns to 0 disable automatic detection low frequency vibration frequency after searching for low frequency vibration frequency for a period of time Attention If users wish to use automatic low frequency...

Page 336: ...tting the easier for the noise to be determined incorrectly 2 Use PC Link to run automatic mechanical resonance suppression enablement selection to look for suppression frequency 1 Click Tuning T on t...

Page 337: ...6 26 4 If low frequency vibration frequency cannot be found Pn336 0 automatically returns to 0 after searching for low frequency vibration frequency for a period of time...

Page 338: ...e Step 5 Finally slowly fine tune the speed loop gain position loop gain of the supervisory controller and the speed loop integration time constant to adjust the system operation to the optimum respon...

Page 339: ...gain Sn211 Hz Speed circuit integral time constant Sn212 0 01ms Torque command smooth filter Cn034 Hz Setting Position circuit gain Pn310 1 s Speed circuit gain Sn211 Hz Speed circuit integral time co...

Page 340: ...Switching Mode Before using the PI P switching mode select Cn015 0 PI P mode switching determination type selection first and set the switching condition of PI P mode in the relative parameters the de...

Page 341: ...ial Value Unit Setting Range Effective RS 485 Address 200 0 399 Effective after Confirmed 0011H 2 Determine the Speed Command to switch to PI P Mode When the speed command is smaller than the Cn017 sw...

Page 342: ...and Initial Value Unit Setting Range Effective RS 485 Address 0 rps s 0 18750 Effective after Confirmed 0013H 4 Determine the Position Error to switch to PI P Mode When the position error is less than...

Page 343: ...tching condition of the two stage gain mode in the relative parameters The difference of this mode from the PI P switching mode is the addition of the capability to set the switching delay time and sw...

Page 344: ...14 The relationship between delay time and switching time when switching gains Cn020 Two Stage Gain Mode Switching Delay Time 2 Initial Value Unit Setting Range Effective RS 485 Address 0 0 2ms 0 1000...

Page 345: ...itch to the Two Stage Gain Mode When the torque command is less than the Cn021 switching condition use the first stage to gain control When the torque command is greater than the Cn021 switching condi...

Page 346: ...e position error is less than the Cn024 switching condition use the first stage gain control when the position error is greater than the Cn024 switching condition then switch to the second stage gain...

Page 347: ...Gain Switching Function for detailed description Position Loop Feed Forward Gain The use of Position Loop Feed Forward Gain can reduce the Position Control following error and speed up the reaction s...

Page 348: ...otion Control the Driver will perform the Inertia evaluation and generate the Inertia Ratio result to Un 45 OnLine_AutoTuning Inertia Estimation Cn059 0 AutoTuning Enablement Selection Initial Value U...

Page 349: ...ation Overshoot caused by system delay Overshoot caused by feedback delay tn839 0 Speed model reference control flag Initial Value Unit Setting Range Effective RS 485 Address 1 0 1 Effective after Set...

Page 350: ...ratio was not set correctly it may not be able to be controlled normally and vibrations will be generated 3 Enable speed reference control flag tn839 0 1 Enabled by default 4 Adjust servo gain Sn211 s...

Page 351: ...by mechanical deviation Friction resistance changes caused by the aging of machines tn841 0 Friction compensation control flag Initial Value Unit Setting Range Effective RS 485 Address 0 0 1 Effective...

Page 352: ...is 1 Friction compensation adjustment method 1 Please set the friction compensation parameters as the default values 2 Please set the load inertia ratio correctly Cn025 If the load inertia ratio was n...

Page 353: ...generate vibrations as easily The speed observer uses load models to perform the estimation and to perform the compensation to the feedback speed tn838 0 Speed observer Initial Value Unit Setting Rang...

Page 354: ...H X When there is resonance frequency in the system vibrations can be generated easily and the speed observer cannot execute normally When there are nonlinear factors in the system such as there is a...

Page 355: ...12 It can reduce the following error for position control and increase response speed If the feedforward gain is too big it may cause speed overshoot and output contact INP positioning complete signal...

Page 356: ...an reduce system following error and shorten positioning time when model tracking control is enabled tn852 Model tracking control forward torque feedforward gain Initial Value Unit Setting Range Effec...

Page 357: ...nd vibrations will be generated 4 Adjust the servo gain Pn310 position control gain Sn211 speed control gain and Sn212 speed integral constant Increase the system control gain within the range of not...

Page 358: ...0 No sampling and calculation 1 5kHz sampling and calculation 2 2 5kHz sampling and calculation 3 1 25kHz sampling and calculation tn846 Disturbance observer filter constant Initial Value Unit Settin...

Page 359: ...rbance observer the recommended setting value is 50 meaning that the maximum compensation of this block is 50 of the rated torque B When the difference between the inertia ratio Cn25 and the actual me...

Page 360: ...le load inertia ratio is exceeded vibrations will be generated at this time reduce the system rigidity selection tn837 2 H X To ensure the safety while On line tuning is operating please execute it un...

Page 361: ...gence selection Initial Value Unit Setting Range Effective RS 485 Address 1 0 2 Effective after Set 1325H Setting description Setting Description 0 Slow load convergence 1 Medium load convergence 2 Fa...

Page 362: ...strengthen the system rigidity selection to suppress vibrations reduce the system rigidity selection Alarms and handling measures When the system generates alarms it can be analyzed through the PC li...

Page 363: ...Control Parameters Sn2 7 63 7 3 5 Speed Control Parameters Pn3 7 71 7 3 6 Control Parameter for Multi position Control Pn4 7 97 7 3 7 Shortcut Parameters qn5 7 100 7 3 8 Multifunction Contact Planning...

Page 364: ...ontrol Pt Turret Control Pi Position Control Internal Position Command S Speed Control Pe Position Control External Pulse Command T Torque Control Cob CoC CANopen Control EC EtherCAT Control Parameter...

Page 365: ...linear motor for the first time Cn009 3 Analog voltage over temperature protection function settings Cn010 CCW Direction Torque Command Limit Value 000BH 200AH Cn011 CW Direction Torque Command Limit...

Page 366: ...unication Transmission Rate 0028H 2025H Cn037 2 RS 485 Communication Write Selection Cn038 0 RS 485 Communication Protocol 0029H 2026H Cn039 RS 485 Communication Timeout Setting sec 002AH 2027H Cn040...

Page 367: ...ch Filter Depth 004AH 2047H Cn072 Fourth Set Notch Filter Frequency Hz 004BH 2048H Cn073 Fourth Set Notch Filter Quality Factor 004CH 2049H Cn074 Fourth Set Notch Filter Depth 004DH 204AH Cn075 Fifth...

Page 368: ...justment Note 1 mV 0104H Tn105 Internal Speed Limit 1 rpm 0105H 2105H Tn106 Internal Speed Limit 2 rpm 0106H Tn107 Internal Speed Limit 3 rpm 0107H Tn108 Torque Reached Determined Value 0108H 2108H Tn...

Page 369: ...peed Command Deceleration Time Setting ms 020AH 220AH Sn211 Speed Loop Gain 1 Hz 020BH 220BH Sn212 Speed Loop Integration Time Constant 1 0 01ms 020CH 220CH Sn213 Speed Loop Gain 2 Hz 020DH 220DH Sn21...

Page 370: ...ommand One time Smoothing Acceleration Deceleration Time Constant ms 0313H 230EH Pn314 0 Position Command Direction Definition from the Motor Load End 0314H Pn315 0 Pulse Error Clearing Mode 0315H Pn3...

Page 371: ...Automatic Low Frequency Vibration Suppression 1ms 032EH 2325H Pn338 Low Frequency Swinging Detection Level 0 1 032FH 2326H Pn339 First Set Low Frequency Vibration Suppression Frequency 0 1Hz 0330H 23...

Page 372: ...g mode 0344H 2337H Pn356 Pulse Response Filter Hz 0345H 2338H Pn357 Positive software limit unit PLS 0346H 0347H 2339H Pn358 Reverse software limit unit PLS 0348H 0349H 233AH Pn359 Backlash compensati...

Page 373: ...7 Internal position command 6 Number of pulses pulse 0716H 0717H Pn418 Internal Position Command 6 Moving Speed rpm 0718H Pn419 Internal position command 7 Number of revolutions rev 0719H Pn420 Intern...

Page 374: ...ommand 18 Number of revolutions rev 0745H Pn453 Internal position command 18 Number of pulses pulse 0746H 0747H Pn454 Internal Position Command 18 Moving Speed rpm 0748H Pn455 Internal position comman...

Page 375: ...076EH 076FH Pn484 Internal Position Command 28 Moving Speed rpm 0770H Pn485 Internal position command 29 Number of revolutions rev 0771H Pn486 Internal position command 29 Number of pulses pulse 0772H...

Page 376: ...H Hn611 DI 11 Pin Function Planning 050BH 260BH Hn612 DI 12 Pin Function Planning 050CH 260CH Hn613 DO 1 Pin Function Planning 050DH 260DH Hn614 DO 2 Pin Function Planning 050EH 260EH Hn615 DO 3 Pin F...

Page 377: ...ne tuning model tracking control function tn830 3 OFFLine tuning load gain selection mode rigidity difference tn831 0 OFFLine tuning inertia ratio selection 131FH 2D1FH tn832 0 Program Jog stroke oper...

Page 378: ...s 133BH 2D3BH tn860 Speed circuit gain 2 Hz 133CH 2D3CH tn861 Speed circuit integral time constant 2 0 01ms 133DH 2D3DH tn862 Position circuit gain 1 rad s 133EH 2D3EH tn863 Position circuit gain 2 ra...

Page 379: ...ve Load Rate 0603H 2803H Un 04 Effective Load rate 0604H 2804H Un 05 Maximum Load Rate 0605H 2805H Un 06 Speed Command rpm 0606H 2806H Un 07 Position Error pulse 0607H 0608H 2807H Un 09 External Analo...

Page 380: ...code display 0644H 2839H Un 58 EtherCAT communication ID 0645H 283AH Un 84 Encoder category 065FH 2854H Un 88 ServoOn total time hour 0663H 2858H Un 89 PowerOn total time hour 0664H 2859H Un 90 Effec...

Page 381: ...c Detection of Magnetic Angle Position 0F0BH N A dn 11 1 Pulse encoder signal test 0F0BH N A dn 15 0 Clear abnormal alarm history 0F0FH N A Note 1 JSDG2S E L does not have this function Note 2 Only JS...

Page 382: ...nction 4 Speed Torque Control Switching C CANopen simple JSDG2S function 5 External Position Torque Control Switching D EtherCAT mode JSDG2 E JSDG2S E function 6 Internal Position Control Internal Pos...

Page 383: ...rCAT Pi Pe Pt S T 0002H 2002H 2002H O O O O O Setting Description Setting Description 0 After emergency stop status is cleared the AL009 Display can only be cleared with digital input contact ALRS in...

Page 384: ...9 Reset 0 0 1 RS 485 CANopen EtherCAT Pi Pe Pt S T 0004H 2004H 2004H O O Setting Description When the Torque or Speed Command is positive the Rotation Direction Setting from the Motor Load End is as f...

Page 385: ...therCAT Pi Pe Pt S T 0007H 2006H 2006H O O O O O Setting Description Setting Description 0 Speed command 10V 1 5x rated speed 1 Speed feedback detection 10V 1 5x rated speed 2 Torque command 10V 3 5x...

Page 386: ...etting Range Effective Cn029 Reset 2 0 5 RS 485 CANopen EtherCAT Pi Pe Pt S T 0009H 2008H 2008H O O O O O Setting Description The Brake Combination of Servo off Emergency Stop EMC and when CCW CW Driv...

Page 387: ...Value Unit Setting Range Effective Cn029 Reset 0 0 2 RS 485 CANopen EtherCAT Pi Pe Pt S T 000AH 2009H 2009H O O O O O Setting Description Setting Description 0 Use the pre set Torque Limit Cn010 Cn01...

Page 388: ...dn 11 manually to complete alignment 1 Automatic alignment after excitation 2 Automatic alignment after power on 3 Use the DI pin to input Hall signal and use Hall signal alignment and reset to zero 4...

Page 389: ...orque command limit value 5 2 5 5 3 7 5 4 8 Initial Value Unit Setting Range Effective Cn029 Reset 300 200 Note 300 0 RS 485 CANopen EtherCAT Pi Pe Pt S T 000CH 200BH 200BH O O O O O Setting Descripti...

Page 390: ...300 JSMA PSC08A H123 260 260 JSMA PUC08A H12D 260 260 JSMA PBC08A H12E 260 260 30A JSMA PSC08A H131 300 300 JSMA PUC08A H13B 300 300 JSMA PBC08A H13C 300 300 JSMA PBH09A H13E 230 230 JSMA PMA10A H132...

Page 391: ...H30A H183 240 240 JSMA PMH44A H182 250 250 JSMA PIH44A H186 250 250 JSMA MA44A H18D 250 250 JSMA PIC50A H187 250 250 JSMA MB45A H18B 220 220 JSMA MB55A H184 250 250 150A3 JSMA PHH44A H193 250 250 JSMA...

Page 392: ...JSMA PMB20B H225 240 240 JSMA PLC20B H227 300 300 35B JSMA PLC15B H237 330 330 JSMA PBH18B H232 240 240 JSMA PBH18 18B H236 240 240 JSMA PMB20B H231 300 300 JSMA PLC20B H238 320 320 JSMA PMB30B H233 2...

Page 393: ...0B H27A 220 220 200B JSMA PMH150B H281 230 230 JSMA PIH150B H285 220 220 Cn012 External regenerative resistor power setting 5 6 7 Initial Value Unit Setting Range Effective Cn029 Reset Varies by model...

Page 394: ...CAT Pi Pe Pt S T 0010H 200FH 200FH O O O O Setting Description Setting Description 0 Determine if the Torque Command is greater than Cn016 1 Determine if the Speed Command is greater than Cn017 2 Dete...

Page 395: ...peed Command is greater than the Cn017 Switching Condition then switch to only P Control Cn018 PI P Mode Switching Condition Acceleration Command 6 7 1 Initial Value Unit Setting Range Effective Cn029...

Page 396: ...rque Command is less than the Cn021 switching condition again it will switch to the first stage gain control in accordance with Cn020 Switching Delay Time Cn022 Switch condition of two stage gain mode...

Page 397: ...h to the second stage gain control If the Position Error is less than the Cn024 switching condition again it will switch to the first stage gain control in accordance with Cn020 Switching Delay Time C...

Page 398: ...5 400 1800 10 50 50 1600 400 21 250 250 400 2000 11 60 60 1500 480 Cn027 Analog monitoring output 1 offset adjustment JSDG2S E L does not have this function 5 6 11 Initial Value Unit Setting Range Eff...

Page 399: ...the dn 08 display value please refer to 1 1 3 Servo Driver and Servo Motor Matching Comparison Table for the detailed setting method Attention Before the machine starts to operate make sure to confirm...

Page 400: ...tery is abnormal after power is turned ON the panel displays AL 016 and the digital output contact outputs ALM the device cannot operate normally at this time Un24 25 and Un55 56 display the same valu...

Page 401: ...e Cn029 Reset 0 Hz 0 5000 RS 485 CANopen EtherCAT Pi Pe Pt S T 0025H 2022H 2022H O O O O O Setting Description When the system generates a sharp vibration noise this parameter can be adjusted to suppr...

Page 402: ...g Range Effective Cn029 Reset 1 0 5 RS 485 CANopen EtherCAT Pi Pe Pt S T 0028H 2025H 2025H O O O O O Setting Description Setting Description Setting Description 0 4800 bps 3 38400 bps 1 9600 bps 4 576...

Page 403: ...Cn029 Reset 0 0 5ms 0 255 RS 485 CANopen EtherCAT Pi Pe Pt S T 002BH 2028H 2028H O O O O O Setting Description Delay the communication time of Driver responding to Supervisory Control Unit Cn041 0 Abs...

Page 404: ...S 485 CANopen EtherCAT Pi Pe Pt S T 002CH 2029H 2029H O O O O O Setting Description Setting Description 0 Not Functioning 1 The driver execute position return to zero function after setting as 1 will...

Page 405: ...Stage Gain Mode the Delay Time from the first stage gain to the second stage gain can be set Cn049 Switch time 1 of two stage gain mode 6 7 2 Initial Value Unit Setting Range Effective Cn029 Reset 0...

Page 406: ...0 100 RS 485 CANopen EtherCAT Pi Pe Pt S T 0037H 2034H 2034H O O O O O Setting Description When the Driver input power supply voltage is less than Cn051 after delaying the Cn052 setting time trigger t...

Page 407: ...01H and each bit setting status is 0000 1000 0000 0001 and then set Cn055 to 100 Cn055 Driver warning delay trigger alarm time Initial Value Unit Setting Range Effective Cn029 Reset 0 10ms 0 300 RS 48...

Page 408: ...203BH 203BH O O O Setting Description Setting Description 0 Disable AutoTuning 1 Enable OFFLine AutoTuning 2 Enable OnLine AutoTuning Inertia Only Displays Cn060 OFFLine tuning Operation Command Numbe...

Page 409: ...ion of Firth Set Mechanical Vibration Frequency Cn064 Mechanical vibration detection level 6 4 Initial Value Unit Setting Range Effective Cn029 Reset 50 1 1000 RS 485 CANopen EtherCAT Pi Pe Pt S T 004...

Page 410: ...is wider the frequency range of suppression and can be adjusted according to actual conditions Cn068 Notch filter depth second set 6 4 Initial Value Unit Setting Range Effective Cn029 Reset 0 1 1000 R...

Page 411: ...smaller the Cn071 value is the deeper the frequency depth to be suppressed and the User can adjust according to the actual conditions Cn072 Notch filter frequency fourth set 6 4 Initial Value Unit Set...

Page 412: ...by resonance etc please input the frequency when vibration occurs in Cn075 Cn076 Notch filter quality factor fifth set 6 4 Initial Value Unit Setting Range Effective Cn029 Reset 7 1 100 RS 485 CANopen...

Page 413: ...Initial Value Unit Setting Range Effective Cn029 Reset 200 0 01V 0 1000 RS 485 CANopen EtherCAT Pi Pe Pt S T 0059H 2056H 2056H O O O O O Setting Description According to the setting of Cn009 3 compar...

Page 414: ...escription Setting Description 0 Disable the do not detect pulse encoder Z phase disconnection function 1 Enable the do not detect pulse encoder Z phase disconnection function Cn097 0 Motor disconnect...

Page 415: ...10000 RS 485 CANopen EtherCAT Pi Pe Pt S T 0065H 2061H 2061H O O O O O Setting Description Motor cable disconnection detection time continuous detection and AL 020 will occur when time is up Setting D...

Page 416: ...e Initial Value Unit Setting Range Effective Cn029 Reset 120 0 120 RS 485 CANopen EtherCAT Pi Pe Pt S T 0066H 2063H 2063H O O O O O Setting Description When the effective load rate exceeds this limit...

Page 417: ...n communication write in EEPROM Cn078 2 CANopen communication transmission rate Only JSDG2S model contains this function 8 2 Initial Value Unit Setting Range Effective Cn029 Reset 1 0 5 RS 485 CANopen...

Page 418: ...ion When CANopen Error Counter is greater than the set level AL 029 alarm will occur Cn096 CANopen disconnection clearing comparison level Only JSDG2S model contains this function 8 2 Initial Value Un...

Page 419: ...Torque Command Linear Acceleration Deceleration separation function Tn101 1 Torque command selection 5 2 1 Initial Value Unit Setting Range Effective Cn029 Reset 0 0 1 RS 485 CANopen EtherCAT Pi Pe Pt...

Page 420: ...not have this function 5 2 1 Initial Value Unit Setting Range Effective Cn029 Reset 300 10V 0 600 RS 485 CANopen EtherCAT Pi Pe Pt S T 0103H O Setting Description Used to adjust the slope of the Volt...

Page 421: ...Setting Range Effective Cn029 Reset 100 rpm 0 1 5 Rated Speed RS 485 CANopen EtherCAT Pi Pe Pt S T 0105H 2105H 2105H O Setting Description In Torque Control the Digital Input Contact SPD1 SPD2 can be...

Page 422: ...3 the DigitalInput Contact SPD1 SPD2 states are as the following combination Digital Input Contact SPD2 Digital Input Contact SPD1 1 1 Tn108 Torque Reached Determined Value 5 2 7 Initial Value Unit S...

Page 423: ...the time for the Torque one time delayed rise from 0 to 63 2 of the current Torque Command Tn113 Digital Torque Command Value 5 2 2 Initial Value Unit Setting Range Effective Cn029 Reset 0 0 1 3000 30...

Page 424: ...ommand stop frequency if set 2500 it means 2500Hz Tn117 Torque command straight line deceleration constant 5 2 3 Initial Value Unit Setting Range Effective Cn029 Reset 1 ms 1 50000 RS 485 CANopen Ethe...

Page 425: ...l Speed 1 5 Rated Rotational Speed RS 485 CANopen EtherCAT Pi Pe Pt S T 0202H O Setting Description In Speed Control the DigitalInput Contact SPD1 SPD2 can be used to switch 3 sets of Internal Speed L...

Page 426: ...Acceleration Deceleration Method 5 3 4 Initial Value Unit Setting Range Effective Cn029 Reset 0 0 3 RS 485 CANopen EtherCAT Pi Pe Pt S T 0205H 2205H 2205H O Setting Description Setting Description 0 D...

Page 427: ...celeration Deceleration Time Constant 5 3 4 Initial Value Unit Setting Range Effective Cn029 Reset 1 ms 1 10000 RS 485 CANopen EtherCAT Pi Pe Pt S T 0206H 2206H 2206H O Setting Description Set Sn205 1...

Page 428: ...Speed the schematic diagram is as follows Sn208 S type Speed Command Acceleration Deceleration Time Setting tS 5 3 4 Initial Value Unit Setting Range Effective Cn029 Reset 1 ms 0 10000 RS 485 CANopen...

Page 429: ...d Control Loop Under the premise of the mechanical system does not generate vibration or noise increasing the Speed Loop Gain value will speed up the Speed Response If Cn025 Load Inertia Ratio is set...

Page 430: ...tting Range Effective Cn029 Reset 2000 0 01ms 40 50000 RS 485 CANopen EtherCAT Pi Pe Pt S T 020EH 220EH 220EH O O O O Setting Description Please refer to Sn212 Description for Setting Method Sn215 Zer...

Page 431: ...slope of Voltage Command relative to the Speed Command Note This Parameter is the same as Tn109 with different Functions under different Modes Sn217 Analog speed command offset adjustment JSDG2S E doe...

Page 432: ...filter 5 3 2 Initial Value Unit Setting Range Effective Cn029 Reset 0 Hz 0 2500 RS 485 CANopen EtherCAT Pi Pe Pt S T 0220H 2220H 2220H O O Setting Description Set SIC analog speed command stop frequen...

Page 433: ...tion 5 4 1 Initial Value Unit Setting Range Effective Cn029 Reset 0 0 1 RS 485 CANopen EtherCAT Pi Pe Pt S T 0301H O Setting Description Setting Description 0 Positive Logic 1 Negative Logic Pn301 2 D...

Page 434: ...ct GN1 GN2 can be used to switch four sets of Electronic Gear Ratio Numerators When using Electronic Gear Ratio Numerator 1 the DigitalInput Contact GN1 GN2 states are as the following combination Dig...

Page 435: ...ease check if Pn354 0 63 is set when using functions of Pn302 Pn306 DigitalInput Contact GN1 GN2 can be used to switch four sets of Electronic Gear Ratio Numerators When using Electronic Gear Ratio Nu...

Page 436: ...cessive Position Error Alarm Pn309 Negative Maximum Position Error Determined Value 5 4 9 Initial Value Unit Setting Range Effective Cn029 Reset 5000 0 001rev 0 50000 RS 485 CANopen EtherCAT Pi Pe Pt...

Page 437: ...gain is too large speed overshoot and repeatedly turn on off of output contact INP positioning completion signal may occur Pn313 Internal External Position Command One time Smoothing Acceleration Dece...

Page 438: ...Clearing Mode 5 4 6 Initial Value Unit Setting Range Effective Cn029 Reset 0 0 2 RS 485 CANopen EtherCAT Pi Pe Pt S T 0315H Determined by the Setting Setting Description Setting Description 0 When the...

Page 439: ...or does not move after return to origin has been completed the feedback information is the offset of the origin Un 14 motor feedback number of pulses within one rotation is Pn321 number of origin rese...

Page 440: ...Pi Pe Pt S T 0316H 2310H 2310H O Setting Description Setting Description 0 Absolute Type Positioning 1 Relative Type Positioning Pn316 1 Internal Position Command Hold PHOLD Procedure Selection 5 4 2...

Page 441: ...ing Output Frequency Elimination 5 6 12 Initial Value Unit Setting Range Effective Cn029 Reset 0 0 1 RS 485 CANopen EtherCAT Pi Pe Pt S T 0316H 2310H 2310H O O O O O Setting Description Setting Descri...

Page 442: ...n317 3 4 After Return to origin is activated motor searches for the origin with first stage speed in forward direction Origin reference point is not required and searches for the closest to phase Z pu...

Page 443: ...Contact ORG is found as the Mechanical Origin and stops according to the method set in Pn317 3 when Pn317 0 4 or 5 after stops according to the method set in Pn317 3 after phase Z pulse is found as th...

Page 444: ...igin first stage high speed 5 4 7 Initial Value Unit Setting Range Effective Cn029 Reset 100 rpm 1 rated rotational speed RS 485 CANopen EtherCAT Pi Pe Pt S T 0318H O O O Setting Description Set the M...

Page 445: ...open EtherCAT Pi Pe Pt S T 031DH O O Setting Description The Position S type Smoother is suitable for the Control Mode of the Internal Position Command Input and provides the smoothing process of the...

Page 446: ...alue Unit Setting Range Effective Cn029 Reset 1 1 16383 RS 485 CANopen EtherCAT Pi Pe Pt S T 0322H O Setting Description Set Pn306 and Pn326 to determine the CNC tool tray reduction ratio Pn327 Tool c...

Page 447: ...lter Smoothing Time Pn330 Pulse Command Moving Filter 5 4 4 Initial Value Unit Setting Range Effective Cn029 Reset 0 0 4ms 0 250 RS 485 CANopen EtherCAT Pi Pe Pt S T 0326H 231EH 231EH O O O Setting De...

Page 448: ...ption Setting Description 0 Use Position Command One Time Smoothing Acceleration Deceleration 1 Use Internal Position Command S type Acceleration Deceleration external position command does not have t...

Page 449: ...Unit Setting Range Effective Cn029 Reset 100 rpm 1 rated rotational speed RS 485 CANopen EtherCAT Pi Pe Pt S T 032CH O Setting Description Set digital input contact TRQINV ON under tool magazine mode...

Page 450: ...completion determined value Pn307 adjusting the low frequency swinging detection level Pn338 can adjust the detection sensitivity and the lower the setting the easier for the noise to be determined i...

Page 451: ...suppressed greater the value wider the frequency range of suppression is the recommended setting is 10 Pn343 Low frequency suppression frequency third set 6 5 Initial Value Unit Setting Range Effecti...

Page 452: ...e selection 5 6 13 Initial Value Unit Setting Range Effective Cn029 Reset 0 0 1 RS 485 CANopen EtherCAT Pi Pe Pt S T 0337H 232EH 232EH O O Setting Description Setting Description 0 Servo motor encoder...

Page 453: ...H 232FH O O Setting Description The set error value between full closed loop CN8 and actual encoder When the position error is greater than the pulse set in Pn347 this device generates AL 022 excessiv...

Page 454: ...tive Cn029 Reset 0 0 1 RS 485 CANopen EtherCAT Pi Pe Pt S T 033DH O O Setting Description Setting Description 0 Close 1 Activate Attention Gantry synchronization function CANNOT be activated with full...

Page 455: ...Effective Cn029 Reset 0 pulse 0 2500 2500ppr encoder 0 32768 15bit encoder 0 131072 17bit encoder 0 8388608 23bit encoder Note 0 63 means not used RS 485 CANopen EtherCAT Pi Pe Pt S T 0342H 0343H O O...

Page 456: ...and the panel will display NSL If the setting value Pn357 Pn358 AL 064 Software limit setting error will be triggered Pn358 Negative software limit Initial Value Unit Setting Range Effective Cn029 Res...

Page 457: ...O O Setting Description Used when Pn317 6 9 when the top reaches the setting value of Pn361 and continues for the time of Pn362 origin reset is completed Pn362 Sensorless origin reset torque stabiliza...

Page 458: ...set 100 4ms 1 2500 RS 485 CANopen EtherCAT Pi Pe Pt S T 035FH O Setting Description Turret parameter 2 Pn378 Turret parameter 3 Initial Value Unit Setting Range Effective Cn029 Reset 300 4ms 1 2500 RS...

Page 459: ...ns 0751H Pn416 Internal position command 6 Number of revolutions 0715H Pn464 Internal position command 22 Number of revolutions 0755H Pn419 Internal position command 7 Number of revolutions 0719H Pn46...

Page 460: ...and 11 Number of pulses 072AH 072BH Pn435 Internal position command 12 Number of pulses 072EH 072FH Pn438 Internal position command 13 Number of pulses 0732H 0733H Pn441 Internal position command 14 N...

Page 461: ...718H Pn466 Internal Position Command 22 Moving Speed 0758H Pn421 Internal Position Command 7 Moving Speed 071CH Pn469 Internal Position Command 23 Moving Speed 075CH Pn424 Internal Position Command 8...

Page 462: ...Description Same as Sn212 qn503 Speed Loop Gain 2 6 2 Initial Value Unit Setting Range Effective Cn029 Reset 40 Hz 2 1500 RS 485 CANopen EtherCAT Pi Pe Pt S T 0403H O O O O Setting Description Same as...

Page 463: ...et 40 rad s 1 2000 RS 485 CANopen EtherCAT Pi Pe Pt S T 0406H O O O Setting Description Same as Pn311 qn507 Position Loop Feed Forward Gain 6 2 Initial Value Unit Setting Range Effective Cn029 Reset 0...

Page 464: ...Torque Limit 1D MDC2 Control Mode Selection in Tool Magazine Mode 07 CLR Pulse Error Clearing 1E POS5 Internal Position Command Selection 5 tool number 5 08 LOK Servo Lock 1F POS6 Tool Number 6 09 EMC...

Page 465: ...Unit Setting Range Effective Cn029 Reset Change with Mode H0000 H0120 RS 485 CANopen EtherCAT Pi Pe Pt S T Please refer to the Table below Please refer to the Table below Please refer to the Table bel...

Page 466: ...V Motor Overload Signal Setting Description Code Contact Operation Function 10 BAT Encoder Battery Abnormality Signal 11 LIT Left and Right Limit Signal 12 VDO Virtual Point Digital Output 13 E SYN E...

Page 467: ...ng 0510H 2610H 2610H Hn619 DO 5 Pin Function Planning 0513H 2613H 2613H Hn620 DO 6 Pin Function Planning 0514H 2614H 2614H Hn621 DO 7 Pin Function Planning 0515H 2615H 2615H Hn622 DO 8 Pin Function Pl...

Page 468: ...105 0105 0105 0105 001E Hn 606 001B 0006 0006 0006 001B 001B 0019 0019 0019 0019 0006 0015 0015 0015 0027 Hn 607 001C 000E 0007 000E 001C 001C 001E 001E 001E 001E 0007 0009 0009 0009 001D Hn 608 001A...

Page 469: ...to hexadecimal and then set Binary bit representation 0 DO ON or OFF is determined by the function setting 1 DO ON or OFF is determined by the communication setting Hn624 Communication control digita...

Page 470: ...sition Use Mode RS 485 Pi Pe Pt S T Cob CoC EC O O O Setting Description Same as object CiA402 subobject 6093 function 2 En703 CiA 402 Speed unit change numerator 8 2 3 8 3 3 Initial Value Unit Settin...

Page 471: ...ing Description Same as object CiA402 subobject 6097 function 2 En707 CiA 402 Stalling allowed times 8 2 3 8 3 3 Initial Value Unit Setting Range Effective Cn029 Reset 0 0 65536 Communication position...

Page 472: ...set 1 1 536870911 Communication position Use Mode RS 485 Pi Pe Pt S T Cob CoC EC O O O It has the same function as CiA402 object 6091 sub object 1 En711 Unit conversion denominator 8 3 3 Initial Value...

Page 473: ...ns that the command will be within 3 revolutions during the tuning process tn828 Maximum rotation speed for running OFFLine tuning 6 3 Initial value Unit Setting range Effective Cn029 reset 2 3 rated...

Page 474: ...cription 0 Disable automatic tuning model tracking function 1 Enable automatic tuning model tracking function when enabled the friction compensation function will also be tuned otherwise it will not b...

Page 475: ...og stoke running flag 4 4 Initial value Unit Setting range Effective Cn029 reset 0 0 1 RS 485 CANopen EtherCAT Pi Pe Pt S T 1320H 2D20H 2D20H O O O Setting description Setting Description 0 Disable st...

Page 476: ...movement maximum speed 4 4 Initial value Unit Setting range Effective Cn029 reset 100 rpm 0 1 5 x rated rotation speed Setting description Program Jog stroke movement maximum speed tn836 Program Jog s...

Page 477: ...Setting range Effective Cn029 reset 1 0 2 RS 485 CANopen EtherCAT Pi Pe Pt S T 1325H 2D25H 2D25H O O O O Setting description Setting Description 0 Slow load convergence 1 Medium load convergence 2 Fas...

Page 478: ...etting Description 0 Disable speed model reference control 1 Enable speed model reference control tn840 Speed model reference control gain 6 10 Initial value Unit Setting range Effective Cn029 reset 1...

Page 479: ...description Same as Pn312 it can reduce the following error for position control and increase response speed If the feedforward gain is too big it may cause speed overshoot and output contact INP posi...

Page 480: ...ective Cn029 reset 500 Hz 0 1000 Setting description Same as CN033 processes the speed feedforward command smoothly tn849 Speed feedforward differential gain 6 13 Initial value Unit Setting range Effe...

Page 481: ...l tracking control is enabled tn852 Model tracking control forward direction torque feedforward gain 6 13 Initial value Unit Setting range Effective Cn029 reset 100 0 1000 Setting description When mod...

Page 482: ...the system generates sharp vibrating noises this parameter can be adjusted to suppress the vibrating noises adding this filter will also delay the response speed of the servo system tn857 Torque comma...

Page 483: ...ubtle speed changes Generally speaking under the premise of machine systems not generating vibration or noise reduce the speed circuit integral time constant to increase system rigidity Please use the...

Page 484: ...sitioning time Generally speaking the position circuit bandwidth must not be higher than the speed circuit bandwidth the recommended formula is as follows Position circuit gain 2 Speed circuit gain 5...

Page 485: ...2 Rotary cut function EC902 0 E Cam main axle feedback source 5 6 15 Initial Value Unit Setting Range Effective Cn029 Reset 0 0 1 RS 485 CANopen EtherCAT Pi Pe Pt S T 0802H O Setting Description Sett...

Page 486: ...Initial Value Unit Setting Range Effective Cn029 Reset 30 deg 1 120 RS 485 CANopen EtherCAT Pi Pe Pt S T 0805H O Setting Description When the flying shear function is selected the synchronous angle re...

Page 487: ...axle encoder resolution EC909 E Cam feeding diameter 5 6 15 Initial Value Unit Setting Range Effective Cn029 Reset 100 0 1mm 1 10000 RS 485 CANopen EtherCAT Pi Pe Pt S T 0809H O Setting Description Ma...

Page 488: ...10 ms 0 1000 RS 485 CANopen EtherCAT Pi Pe Pt S T 080DH O Setting Description Acceleration Deceleration smoothing constant of E Cam S curve EC914 E Cam rotary cut synchronous time 5 6 15 Initial Valu...

Page 489: ...0811H O Setting Description Maximum proceeding distance of E Cam rotary cut auxiliary axle EC918 Average proceeding speed of E Cam rotary cut main axle 5 6 15 Initial Value Unit Setting Range Effecti...

Page 490: ...AT Pi Pe Pt S T 081DH O Setting Description Set the acceleration deceleration time of rotary cut The program will run internal calculation by itself when the setting is 0 EC922 Enable E Cam parameter...

Page 491: ...cles of the main axis of the E cam self built curve 5 6 15 Initial Value Unit Setting Range Effective Cn029 Reset 0 0 536870912 RS 485 CANopen EtherCAT Pi Pe Pt S T 0822H 0823H O EC927 Right shift of...

Page 492: ...amount The driver will compensate the compensation value to the Nth cycle according to this value EC930 0 Access to self built curve points 5 6 15 Initial Value Unit Setting Range Effective Cn029 Res...

Page 493: ...Pi Pe Pt S T 082AH 082BH O EC933 E cam cursor DI signal filter length 5 6 15 Initial Value Unit Setting Range Effective Cn029 Reset 100 0 01mm 1 500000 RS 485 CANopen EtherCAT Pi Pe Pt S T 082CH 082D...

Page 494: ...tion RS 485 CANopen EtherCAT The average percentage of Power Output 0604H 2804H 2804H Un 05 Maximum load rate Unit Communication position Parameters description RS 485 CANopen EtherCAT The maximum val...

Page 495: ...nd is 100 060FH 280DH 280DH Un14 Motor feedback pulse number within one revolution Range greater than 5 digit number Unit Communication position Parameters description pulse RS 485 CANopen EtherCAT Di...

Page 496: ...27 Communication type encoder message Unit Communication position Parameters description RS 485 CANopen EtherCAT Feedback communication type encoder status 0 Encoder overspeed abnormal 1 Encoder abs r...

Page 497: ...iption RS 485 CANopen EtherCAT For example The display of 100 indicates that the Load Inertia Ratio is 10 times 0635H 282DH 282DH Un 46 OFFLine_Tuning status Unit Communication position Parameters des...

Page 498: ...ription rev RS 485 CANopen EtherCAT System Multi revolution Position When the servo returns to the origin the value will be cleared as 0 and start counting again 0641H 2837H 2837H Un 56 System single...

Page 499: ...sition Parameters description RS 485 CANopen EtherCAT 0656H Un 76 Turret monitoring parameter 6 Unit Communication position Parameters description RS 485 CANopen EtherCAT 0657H Un 84 Encoder type Unit...

Page 500: ...he actual zero position and stop 2 The slave axis starts to run but it has not yet reached the synchronization area 3 The slave axis is in the synchronization area 4 The slave axis has passed the sync...

Page 501: ...7 139 Un 97 System unit volume position command Unit Communication position Parameters description unit PLS RS 485 CANopen EtherCAT System unit volume position command 066EH 066FH 2861H 2861H...

Page 502: ...0F04H dn 05 Jog Mode Operation dn 06 Reserved dn 07 External Voltage Offset Automatic Adjustment Note 1 0F07H dn 08 Display Serialized Models 0F08H dn 09 ASIC Software Version Display 0F09H dn 11 0 Au...

Page 503: ...MdA08 Corresponds to parameter MAb08 displays the MAb08 mapping parameter value 180FH 1810H MdA09 Corresponds to parameter MAb09 displays the MAb09 mapping parameter value 1811H 1812H MdA10 Correspon...

Page 504: ...parameterMAb06 address setting 190BH 190CH MAb07 Mapping parameterMAb07 address setting 190DH 190EH MAb08 Mapping parameterMAb08 address setting 190FH 1910H MAb09 Mapping parameterMAb09 address settin...

Page 505: ...MAb01 but they cannot be set to the following types Otherwise AL 063 will be generated 1 One of them is long parameter address the other is word parameter address or 0 2 Both addresses are long parame...

Page 506: ...ion function Only JSDG2S contains this function 8 26 8 2 1 CANopen Overview 8 26 8 2 2 CANopen Basic Features 8 26 8 2 3 CANopen Parameter Setting 8 27 8 2 4 CANopen Protocol 8 30 8 2 5 CANopen Servo...

Page 507: ...8 74 8 3 6 10 Homing Mode HM 8 76 8 3 6 11 Digital I O 8 83 8 3 6 12 Touch Probe 8 85 8 3 6 13 Emergency Stop 8 89 8 3 6 14 Restoration 8 90 8 3 7 EtherCAT Object List 8 91 8 3 8 Summary List of Objec...

Page 508: ...ion Wiring CN4 Wiring Method Driver end uses MD Type 8Pins RS 485 converter Pin Number Pin Name Symbol 1 2 3 4 5 6 7 8 Signal Grounding GND D D Serial Data Transmission Serial Data Transmission Pin Na...

Page 509: ...D 4 D 5 D 6 7 GND 8 It is necessary to add a Terminal Resistor between the D and D pins at the last Servo Driver Servo Driver CN5 CN6 Terminal Resistor Servo Driver Communication Cable JSSRTR0001 JSSR...

Page 510: ...1 9600 4 57600 2 19200 5 115200 Cn037 2 RS 485 Communication Write Selection Initial Value Unit Setting Range Effective RS 485 Address 1 0 1 Power Re set 0028H Setting Description Setting Description...

Page 511: ...itial Value Unit Setting Range Effective RS 485 Address 0 sec 0 20 Power Re set 002AH Setting Description If the setting value is greater than 0 the communication timeout function is turned on immedia...

Page 512: ...external terminals the binary bit corresponds to digital input contact is 0000 1010 0010 0101 Among this set the 0th bit to 1 meaning DI 1 is controlled by communication and the first bit to 0 meanin...

Page 513: ...its into hexadecimal Binary bit representation 0 Use the function setting to determine DO ON or OFF 1 Use the communication setting to determine DO ON or OFF Hn624 Communication control digital output...

Page 514: ...ge mode and RTU Remote Terminal Unit mode The required mode can be set using parameter Cn038 0 Code Meaning ASCII Mode Each byte data consists of two ASCII bits For example a 1 byte data 26H is repres...

Page 515: ...haracter Frame 10 bits 7O1 Start bit 0 1 2 3 4 5 6 Odd parity Stop bit Data 7 bits Character Frame 10 bits 11 bit Character Frame for 8 bit Byte Data 8N2 Start bit 0 1 2 3 4 5 6 7 Stop bit Stop bit Da...

Page 516: ...nd Instruction Code LRC Check Digit 1 byte includes 2 ASCII Codes END 1 End Code 1 CR 0DH Character r END 0 End Code 0 LF 0AH Character n RTU Mode Code Name Content Description STX Communication Start...

Page 517: ...0 2 4 2 LSB 0 Address 0200H content MSB 0 LRC 7 0 0 A Data Length Calculated by word 0 LSB B END1 CR 0DH 0 1 END0 LF 0AH 0 Address 0201H content MSB 1 2 F LRC F LSB 4 8 0 END1 CR 0DH LRC E END0 LF 0AH...

Page 518: ...0 2 2 3 LSB 0 MSB 0 LRC 7 0 0 6 Data Content word Format 0 Data Content word Format 0 END1 CR 0DH 0 0 END0 LF 0AH 6 6 4 4 LRC 9 LRC 9 3 3 END1 CR 0DH END1 CR 0DH END0 LF 0AH END0 LF 0AH RTU Mode Comm...

Page 519: ...SB 0 Sub function Code MSB 0 Error Code 0 0 0 3 LSB 0 LSB 0 LRC 7 0 0 4 Data Content word Format A Data Content word Format A END1 CR 0DH 5 5 END0 LF 0AH 3 3 7 7 LRC 1 LRC 1 B B END1 CR 0DH END1 CR 0D...

Page 520: ...ommand message PC Servo Response message Servo PC OK Servo PC ERROR STX STX STX ADR 0 ADR 0 ADR 0 1 1 1 CMD 1 CMD 1 CMD 9 0 0 0 Starting Data Address MSB 0 Starting Data Address MSB 0 Error Code 0 1 1...

Page 521: ...II Mode and CRC RTU Mode Check Digit LRC Check Digit ASCII Mode uses LRC Longitudinal Redundancy Check Check Digit The LRC Check is to calculate the sum of ADR CMD starting data address and data conte...

Page 522: ...e repeating Steps 2 5 until all message data are completed calculations the CRC Register content at this time is the CRC Check Digit Error Code If an error occurs during communication connecting proce...

Page 523: ...ternal position command selection 3 POS3 Internal position command trigger PTRG Emergency stop EMC Start returning to origin SHOME External reference origin ORG Internal position command pause PHOLD 2...

Page 524: ...18 Origin return to first stage of high speed 100 100rpm Pn319 Origin return to second stage of high speed 50 50rpm Pn320 Origin return to offset of lap number 0 Unit rev Pn321 Origin return to offset...

Page 525: ...contact status Di 061FH Un 32 Currently failed modbus communication display 0620H 4 Control steps Control SERVO ON Hn618 H0001 DI 01 SON ON Send 01 06 05 12 00 01 E8 C3 the last two 2 codes are CRC I...

Page 526: ...ON DO4 INP ON Disable and return to origin control SHOME OFF Hn618 H0001 DI 01 SON ON DI 10 SHOME OFF Send 01 06 05 12 00 01 E8 C3 the last two 2 codes are CRC Set moving distance the moving target i...

Page 527: ...on rate 1 9600 Cn038 0 Communication protocols 6 8 N 2 Modbus RTU Sn205 0 Speed command acceleration deceleration method 2 0 Do not use the speed command acceleration deceleration function 1 Use the s...

Page 528: ...rameters Description Address Initial value Unit Cn010 CCW direction torque command limit value 000AH Varies according to the model number Cn011 CW direction torque command limit value 000BH Varies acc...

Page 529: ...600 Cn038 0 Communication protocols 6 8 N 2 Modbus RTU Tn101 1 Torque command selection 1 Use digital Tn113 torque command Hn610 DI10 Multifunction contact plan H010A Use negative logic for the SPD1 f...

Page 530: ...DI 01 SON ON Send 01 06 05 12 00 01 E8 C3 the last two 2 codes are CRC Control RS1 ON Hn618 H0021 DI 01 SON ON DI 06 RS1 ON Send 01 06 05 12 00 21 E9 1B the last 2 codes are CRC Control torque command...

Page 531: ...ommunication JSDG2S servo driver provides two RJ 45 ports CN5 CN6 on the hardware This facilitates the drive and control to a single or multiple slave stations when using CANopen communication Pin Def...

Page 532: ...eration enabled under status machine state Mode 0x6040H Controlword B mode complete 0 Switch on Disabled 6 Ready to Switch on 7 Switch on F Operation enabled C mode simple 0 Switch on Disabled F Opera...

Page 533: ...unction Initial Value Unit Setting Range Effective RS 485 Address 130 128 256 Power Re set 0062H Setting description When CANopen Error Counter is greater than the set level AL 029 alarm will occur Cn...

Page 534: ...536870911 Effective after Set Setting description Same function as CiA402 object 6095 subobject 2 En705 Acceleration unit change numerator Initial Value Unit Setting Range Effective RS 485 Address 1 1...

Page 535: ...ON the contrary the equipment with network management slave function is usually called CANopen slave station and must have PDO function In this way CANopen master station can control the slave station...

Page 536: ...te node 01 4 7 Enter pre operation mode 80 5 8 Enter stop mode 02 9 10 11 Reset node 81 12 13 14 Reset communication 82 2 Equipment monitoring Monitoring equipment error control services and protocols...

Page 537: ...DO server and CANopen master node as the client The client visits the object dictionary on data server through send SDO request to read write a single object in the dictionary The following is the flo...

Page 538: ...ect dictionary position Map dictionary position PDO 1 transmit 181h 1FFh 1800h 1A00h PDO 1 receive 201h 27Fh 1400h 1600h PDO 2 transmit 281h 2FFh 1801h 1A01h PDO 2 receive 301h 37Fh 1401h 1601h PDO 3...

Page 539: ...ation transmits one synchronous message to the slave station every synchronous cycle The master station transmits RPDO data once every two synchronous cycles RPDO received by the slave station will be...

Page 540: ...unit bit PDO message content is pre defined if PDO supports changeable PDO mapping then this PDO can be configured through SDO RxPDO provides 1600h 0x1603h TxPDO provides 1A00h 0x1A03h The user can ch...

Page 541: ...CANopen electronic data sheet EDS provided by TECO EDS file consists of all object information JSDG2S servo driver can provide for using and related settings 8 2 5 CANopen Servo Control Please refer...

Page 542: ...f object list Through this document the user can have a basic understanding and use CANopen communication 8 3 2 EtherCAT Basic Features 1 Port message When the user needs to use EtherCAT communication...

Page 543: ...ut has not yet started communication however the upper device can still access the device s register Blinking Pre Operation The upper controller can exchange data through SDO The indicator flickers wi...

Page 544: ...nchronization control mode The indicator flashes with a frequency of 200ms ON 1000ms OFF which means it flashes once every 1s Double Flash PDO timeout SM Watchdog timeout Controller did not send PDO F...

Page 545: ...En702 CiA402 Position unit change denominator Initial Value Unit Setting Range Effective RS 485 Address 1 1 536870911 Effective after Set Setting description Same function as CiA402 object 6093 subob...

Page 546: ...etting description Same function as EtherCAT object 10F1 subobject 2 En708 EtherCAT communication ID selection Initial Value Unit Setting Range Effective RS 485 Address 0 0 65535 Effective after Set S...

Page 547: ...ive Cn029 reset 0 0 536870911 Setting description Same function as CiA402 object 6091 sub object 2 En712 CiA402 positioning completed determination value 8 3 3 Initial Value Unit Setting Range Effecti...

Page 548: ...on status control mode status and servo driver status 1 EtherCAT communication status State machine of EtherCAT can be divided into four modes Init Pre OP Safe OP and OP Use the leftmost 7 segment dis...

Page 549: ...none 1 PP 3 PV 4 PT 6 HM 7 IP Only for CANopen model 8 CSP Only for EtherCAT model 9 CSV Only for EtherCAT model A CST Only for EtherCAT model 3 Servo driver status Use the third 7 segment display fr...

Page 550: ...ling EtherCAT communication disconnected 1 Check whether the communication cables are disconnected or fell off 2 Confirm that the communication cables comply with the specifications that the driver s...

Page 551: ...peration 2 An unsupported mode was set for object 6060h Inspection and Handling 1 Please first confirm that the status machine is under Operation and then perform Servo On 2 Set mode is not supported...

Page 552: ...ause of alarm Upper controller configuration command error Inspection and Handling Upper controller must have the correct driver configured according to the XML document Methods to clear alarms Switch...

Page 553: ...e 0xff00 80 0073 Cause of alarm 1 Objects 0x6093 0x6095 0x6097 are inputted by the upper controller if zero was assigned to the object value usually the denominator this error will occur 2 The sub obj...

Page 554: ...ayer 100BASE TX IEEE802 3 Transmission cable Ethernet Category 5 100BASE TX or higher Transmission distance Distance between nodes 100 m max Port RJ45 2 shielded ECAT IN EtherCAT input ECAT OUT EtherC...

Page 555: ...rresponding information to belonged CiA402 object by application layer to control the servo motor 4 State machine In the servo motor there are two types of transmission available Mailbox and Process d...

Page 556: ...n PI PREOP TO INIT Stop Mailbox communication PS PREOP TO SAFEOP Start receiving TxPDO communication SP SAFEOP TO PREOP Stop receiving TxPDO communication SO SAFEOP TO OP Start receiving RxPDO communi...

Page 557: ...CAT communication There are two PDO transmission directions TxPDO RxPDO TxPDO direction is from the slave driver to master controller RxPDO direction is from the master controller to slave driver 7 PD...

Page 558: ...6071h TxPDO4 1A03h Statusword 6041h Position Actual Value 6064h Torque Actual Value 6077h Each set of PDO mapping can use data up to 32bytes or a maximum of 8 objects If there are 8 objects already an...

Page 559: ...state machine supported by JSDG2S E servo driver is shown as the following diagram The diagram shows all statuses of state machine and the correct power status of JSDG2S E servo driver under that stat...

Page 560: ...lers shuts down the main power of servo driver 7 Ready to Switch on Switch on Disabled Event Controller gives 6040h Quick Stop command Bit2 1 0 1 or Disable voltage command Bit1 0 Action None 8 Operat...

Page 561: ...1 1 1 1 Fault Reset 0 1 JSDG2S E servo driver does not support State machine control state When the controller gives the control command to JSDG2S E servo driver through Object 6040h after the driver...

Page 562: ...h on 0x0006 xxxx xxxx x01x 0001 7 Ready to Switch on Switch on Disabled 0x0000 xxxx xxxx x1xx 0000 8 Operation enabled Ready to Switch on 0x0006 xxxx xxxx x01x 0001 9 Operation enabled Switch on Disab...

Page 563: ...O 3 PT O 4 Reserved 5 HM O 6 IP X 7 CANopen does not support CSP O 8 CANopen does not support CSV O 9 CANopen does not support CST O 10 31 Customer definition X Mode Selection The user can input the...

Page 564: ...status value is identical to the setting value of Object 6060h when entering Operation enabled the function set by Object 6060h becomes valid and will be displayed in Object 6061h Modes of operation d...

Page 565: ...nit value Please refer to the object list for detailed unit of each object Example Assumed the resolution of motor encoder working with SDG2S E servo motor is 131072 17bits and the original JSDG2S E s...

Page 566: ...Vel unit Acc unit Position Factor 6093h 1 6093h 2 Velocity Factor 6095h 1 6095h 2 Acceleration Factor 6097h 1 6097h 2 Position demand 60FCh Position trajectory generator Controlword 6040h Quick stop...

Page 567: ...set point refer to the condition the new command travel will only be operated after completing current command travel Immediate Single point Control Word 6040h bit Name Value Description 4 New set poi...

Page 568: ...avel has completed 13 following error 0 Position command no following error 1 Position command following error Under PP mode the definition of the status object 0x6041 Status Word is as follows Bit10...

Page 569: ...Type PDO mapping Unit 6040h 0 Control Word RW UINT YES 605Ah 0 Quick stop option code RW INT NO 6065h 0 Following error window RW UDINT YES Pos unit 6066h 0 Following window time out RW UINT YES ms 6...

Page 570: ...Set 6081h velocity Unit Vel Unit 4 Set 6083h acceleration slope Unit Acc Unit 5 Set 6084h deceleration slope Unit Acc Unit 6 Set 6040h to make JSDG2S E servo driver Servo On and the motor start operat...

Page 571: ...cc unit Velocity Factor 6095h 1 6095h 2 Acceleration Factor 6097h 1 6097h 2 Velocity demand 606Bh Velocity trajectory generator Controlword 6040h Quick stop option code 605Ah Motor Encoder Torque actu...

Page 572: ...60FFh 0 Target Velocity RW DINT YES Vel unit 6041h 0 Status Word RO UINT YES 6063h 0 Position actual internal value RO DINT YES inc 6064h 0 Position actual value RO DINT YES Pos unit 606Bh 0 Velocity...

Page 573: ...e 6087h Torque demand 6074h Torque trajectory generator Torque limit values 200Ah and 200Bh Motor Encoder Torque actual value 6077h Velocity actual value 606Ch Position actual value 6064h Differential...

Page 574: ...ord RO UINT YES 6063h 0 Position actual internal value RO DINT YES inc 6064h 0 Position actual value RO DINT YES Pos unit 606Ch 0 Velocity actual value RO DINT YES Vel unit 6074h 0 Torque Demand Value...

Page 575: ...tory generator Quick stop option code 605Ah Torque actual value 6077h Velocity actual value 606Ch Position actual value 6064h Velocity Factor 6095h 1 6095h 2 Position Factor 6093h 1 6093h 2 Position a...

Page 576: ...NT YES Pos unit 6063h 0 Position actual internal value RO DINT YES inc 6064h 0 Position actual value RO DINT YES Pos unit 606Bh 0 Velocity Demand Value RO DINT YES Vel unit 606Ch 0 Velocity actual val...

Page 577: ...option code 605Ah Speed Controller Motor Encoder Torque actual value 6077h Velocity actual value 606Ch Velocity Factor 6095h 1 6095h 2 Following error in statusword 6041h Velocity reached window Compa...

Page 578: ...DINT YES Acc unit 60FFh 0 Target Velocity RW DINT YES Vel unit 6041h 0 Status Word RO UINT YES 6063h 0 Position actual internal value RO DINT YES inc 6064h 0 Position actual value RO DINT YES Pos unit...

Page 579: ...polation to process torque control Target torque 6071h Torque slope 6087h Torque demand 6074h Torque trajectory generator Torque limit values 200Ah and 200Bh Motor Encoder Torque actual value 6077h Ve...

Page 580: ...6041h 0 Status Word RO UINT YES 6063h 0 Position actual internal value RO DINT YES inc 6064h 0 Position actual value RO DINT YES Pos unit 606Ch 0 Velocity actual value RO DINT YES Vel unit 6074h 0 Tor...

Page 581: ...direction Return signal Zero point signal 1 negative positive negative limit Encoder Z puls 2 positive negative positive limit Encoder Z puls 3 dependent on home switch negative positive home Encoder...

Page 582: ...t on home switch negative negative home negative home 23 dependent on home switch negative positive limit positive home positive home 24 dependent on home switch positive positive limit positive home...

Page 583: ...2 Set point acknowledge 0 Current travel not completed 1 Current travel has completed 13 following error 0 Position command no following error 1 Position command following error Related object Object...

Page 584: ...8 79 Method 1 Homing on the negative limit switch and index pulse Method 2 Homing on the positive limit switch and index pulse Method 3 and 4 Homing on the positive home switch and index pulse...

Page 585: ...8 80 Method 5 and 6 Homing on the negative home switch and index pulse Method 7 to 14 Homing on the home switch and index pulse...

Page 586: ...8 81 Method 7 to 14 Homing on the home switch and index pulse Method 19 to 20 Homing without an index pulse...

Page 587: ...0h to make JSDG2S E servo driver Servo On and the motor start operation 3 Set 6040h to set Homing operation start bit as 1 to start Return to origin 4 At this time 6041h Homing attained and Target rea...

Page 588: ...le 0 Disable 19 DI 4 1 Enable 0 Disable 20 DI 5 1 Enable 0 Disable 21 DI 6 1 Enable 0 Disable 22 DI 7 1 Enable 0 Disable 23 DI 8 1 Enable 0 Disable 24 DI 9 1 Enable 0 Disable 25 DI 10 1 Enable 0 Disab...

Page 589: ...Retain original DO function 3 Remove original DO function 20 DO 5 1 Enable 4 Disable 20 DO 5 1 Retain original DO function 4 Remove original DO function 21 DO 6 1 Enable 5 Disable 21 DO 6 1 Retain or...

Page 590: ...able Touch Probe 1 1 0 Single triggering mode 1 Continuous triggering mode 2 3 0 Triggering signal is DI 1 1 Triggering signal is the origin of encoder 4 0 Disable Touch Probe1 positive edge triggerin...

Page 591: ...e edge triggering position does not occur 1 Touch Probe1 negative edge triggering position has occurred 3 5 Reserved 8 0 Disable Touch Probe 2 1 Enable Touch Probe 2 9 0 Touch Probe2 positive edge tri...

Page 592: ...8 87 Operation There are two modes available for JSDG2S E servo driver Touch Probe function single triggering and continuous triggering 1 Single triggering mode 2 Continuous triggering mode...

Page 593: ...UINT YES 60B9h 0 Touch probe state RO UINT YES 60BAh 0 Touch probe1 positive edge position stored RO DINT YES 60BBh 0 Touch probe1 negative edge position stored RO DINT YES 60BCh 0 Touch probe1 posit...

Page 594: ...servo driver to Servo OFF The ways to stop are controlled by Object 605Bh respectively 6 3 Pause Under random mode it is possible to execute pause function on JSDG2S E L The command can be given by Ha...

Page 595: ...o acquire CiA402 error code from Object 603Fh Based on this error code the user can check the list to identify the corresponding error alarm code and alarm clearing method Signal reset can give Fault...

Page 596: ...Reserved for future extension 2 Object type Object types used in JSDG2S E servo driver are listed as follows All CANopen EtherCAT communication related data types in this document are based on this li...

Page 597: ...yte 128 127 Integer 16 INT 2 bytes 32 768 32 767 Integer 32 DINT 4 bytes 2 147 483 648 2 147 483 647 String STRING 5 Application objects The following is the list of all objects supported by the servo...

Page 598: ...tion standard error field Data Type UNSIGNED32 Access RO PDO Mapping No ValueRange UNSIGNED32 Default Value 0x00000000 4 Object 1005h COB ID SYNC message INDEX 1005h Name COB ID SYNC message Object Co...

Page 599: ...RING Access RO PDO Mapping No ValueRange Default Value 8 Object 100Ch Gurad Time INDEX 100Ch Name Gurad Time Object Code VAR Data Type UNSIGNED16 Access RO PDO Mapping No ValueRange UNSIGNED16 Default...

Page 600: ...lue 0x00000001 11 Object 1014h Emergency COB ID INDEX 1014h Name Emergency COB ID Object Code VAR Data Type UNSIGNED32 Access RO PDO Mapping No ValueRange UNSIGNED32 Default Value 0x00000080 Node ID 1...

Page 601: ...ge UNSIGNED16 Default Value 0x0000 14 Object 1018h Store parameters INDEX 1018h Name Identity object Object Code Record Data Type Identity Access RO PDO Mapping No Sub Index 0 Description number of en...

Page 602: ...ng No Sub Index 0 Description number of entries Data Type UNSIGNED8 Access RO PDO Mapping No ValueRange UNSIGNED8 Default Value 2 Sub Index 1 Description COB ID Client to Server Data Type UNSIGNED32 A...

Page 603: ...t Value Index 1400h 200h Node ID Index 1401h 300h Node ID Index 1402h 400h Node ID Index 1403h 500h Node ID Sub Index 2 Description Reception type Data Type UNSIGNED8 Access RW PDO Mapping No ValueRan...

Page 604: ...nge 0 deactivated 1 4 activated Default Value 0 Sub Index 1 8 Description PDO mapping for the nth application object to be mapped Data Type UNSIGNED32 Access RW PDO Mapping No ValueRange UNSIGNED32 De...

Page 605: ...UNSIGNED32 Access RW PDO Mapping No ValueRange UNSIGNED32 Default Value Index 1800h 180h Node ID Index 1801h 280h Node ID Index 1802h 380h Node ID Index 1803h 480h Node ID UNSIGNED32 MSB LSB Bits Bit...

Page 606: ...Index 5 Description event timer Data Type UNSIGNED16 Access RW PDO Mapping No ValueRange UNSIGNED16 Default Value 100 19 Object 1A00h 1A03h Transmit PDO Mapping Parameter INDEX 1A00h 1A03h Name Transm...

Page 607: ...pe Object Code VAR Data Type UNSIGNED32 Access RO PDO Mapping No ValueRange UNSIGNED32 Default Value 0x00020192 2 Object 1008h Manufacturer device name INDEX 1008h Name Manufacturer device name Object...

Page 608: ...Object Code ARRAY Data Type UNSIGNED32 Access RO PDO Mapping No Sub Index 0 Description number of entries Data Type UNSIGNED8 Access RO PDO Mapping No ValueRange 1 Default Value 1 Sub Index 1 Descrip...

Page 609: ...Data Type UNSIGNED32 Access RO PDO Mapping No ValueRange UNSIGNED32 Default Value 0x47322D45 Sub Index 3 Description Revisionnumber Data Type UNSIGNED32 Access RO PDO Mapping No ValueRange UNSIGNED32...

Page 610: ...Error Counter Limit Data Type UNSIGNED16 Access RW PDO Mapping No ValueRange UNSIGNED16 Default Value 0x0000 8 Object 1600h 1603h Receive PDO Mapping Parameter INDEX 1600h 1603h Name Receive PDO Mapp...

Page 611: ...DO Data Type UNSIGNED8 Access RW PDO Mapping No Value Range 0 deactivated 1 8 activated Default Value 4 Sub Index 1 8 Description Mapping entry Data Type UNSIGNED32 Access RW PDO Mapping No ValueRange...

Page 612: ...Number of assigned PDOs Data Type UNSIGNED8 Access RW PDO Mapping No ValueRange 1 Default Value 1 Sub Index 1 Description Index of assigned RxPDO1 Data Type UNSIGNED16 Access RW PDO Mapping No ValueR...

Page 613: ...supported Data Type UNSIGNED16 Access RO PDO Mapping No ValueRange UNSIGNED16 Default Value 0x0005 Sub Index 5 Description Minimum Cycle Time Data Type UNSIGNED32 Access RO PDO Mapping No ValueRange U...

Page 614: ...Data Type UNSIGNED32 Access RO PDO Mapping No ValueRange UNSIGNED32 Default Value 0x003D0900 Sub Index 4 Description Synchronization Type supported Data Type UNSIGNED16 Access RO PDO Mapping No ValueR...

Page 615: ...d INDEX 6040h Name Control word Object Code VAR Data Type UNSIGNED 16 Access RW PDO Mapping Yes Value Range UNSIGNED 16 Default Value 0 Bit definition 15 11 10 9 8 7 6 4 3 2 1 0 Manufacturer specific...

Page 616: ...05Ah Name Quick stop option code Object Code VAR Data Type INTEGER 16 Access RW PDO Mapping No Value Range 0 Disable drive motor is free to rotate 1 Slow down on slow down ramp 2 Slow down on quick st...

Page 617: ...de Object Code VAR Data Type INTEGER 16 Access RW PDO Mapping No Value Range 1 Slow down on slow down ramp 2 Slow down on quick stop ramp Default Value 1 8 Object 6060h Modes of operation INDEX 6060h...

Page 618: ...9 Cyclic synchronous velocity mode A Cyclic synchronous Torque mode Default Value 0 10 Object 6062h Position demand value INDEX 6062h Name Position Demand value Object Code VAR Data Type INTEGER 32 A...

Page 619: ...e UNSIGNED 32 Access RW PDO Mapping No Value Range UNSIGNED 32 Default Value 26214 Comment Unit Pos Unit 14 Object 6066h Following error time out INDEX 6066h Name Following error time out Object Code...

Page 620: ...AR Data Type INTEGER 32 Access RO PDO Mapping Yes Value Range INTEGER 32 Default Value 0 Comment Unit Vel Unit 18 Object 606Ch Velocity actual value INDEX 606Ch Name Velocity actual value Object Code...

Page 621: ...ta Type UNSIGNED 16 Access RW PDO Mapping No Value Range UNSIGNED 16 Default Value 100 Comment Unit Vel Unit 22 Object 6070h Velocity threshold time INDEX 6070h Name Velocity threshold time Object Cod...

Page 622: ...INTEGER 16 Access RO PDO Mapping Yes Value Range INTEGER 16 Default Value 0 Comment Unit 0 1 26 Object 6076h Motor rated torque INDEX 6076h Name Motor rated torque Object Code VAR Data Type Unsigned32...

Page 623: ...ode VAR Data Type INTEGER 32 Access RW PDO Mapping Yes Value Range INTEGER 32 Default Value 0 Comment Unit Pos Unit 30 Object 607Ch Home offset INDEX 607Ch Name Home offset Object Code VAR Data Type I...

Page 624: ...UNSIGNED 32 Access RW PDO Mapping Yes Value Range UNSIGNED 32 Default Value 0 Comment Unit Vel Unit 34 Object 6083h Profile acceleration INDEX 6083h Name Profile acceleration Object Code VAR Data Type...

Page 625: ...ccess RW PDO Mapping Yes ValueRange UNSIGNED 32 Default Value 1000 Comment Unit 0 1 s 38 Object 608Fh Position encoder resolution INDEX 608Fh Name Position encoder resolution Object Code ARRAY Data Ty...

Page 626: ...32 Sub Index 0 Description Number of entries Data Type UNSIGNED 8 Access RO PDO Mapping No ValueRange 2 Default Value 2 Sub Index 1 Description Motor shaft revolutions Data Type UNSIGNED 32 Access RW...

Page 627: ...apping No ValueRange UNSIGNED 32 Default Value 1 Parameter No En701 Sub Index 2 Description Feed constant Data Type UNSIGNED 32 Access RW PDO Mapping No ValueRange UNSIGNED 32 Default Value 1 Paramete...

Page 628: ...GNED 32 Default Value 1 Parameter No En704 42 Object 6097h Acceleration factor INDEX 6097h Name Acceleration factor Object Code ARRAY Data Type UNSIGNED 32 Access RW PDO Mapping No Value Range UNSIGNE...

Page 629: ...Mapping YES Value Range 0 35 Default Value 1 44 Object 6099h Homing speeds INDEX 6099h Name Homing speeds Object Code ARRAY Data Type UNSIGNED 32 Access RW PDO Mapping Yes Sub Index 0 Description Num...

Page 630: ...Code VAR Data Type Unsigned32 Access RW PDO Mapping Yes Value Range Unsigned32 Default Value 0 46 Object 60B0h Position offset INDEX 60B0h Name Position offset Object Code VAR Data Type INTEGER 32 Ac...

Page 631: ...GNED 16 Access RW PDO Mapping Yes Value Range UNSIGNED 16 Default Value 0 50 Object 60B9h Touch probe state INDEX 60B9h Name Touch probe state Object Code VAR Data Type UNSIGNED 16 Access RO PDO Mappi...

Page 632: ...ive edge position stored Object Code VAR Data Type INTEGER 32 Access RO PDO Mapping Yes Value Range INTEGER 32 Default Value 0 Comment Unit Pos Unit 54 Object 60BDh Touch probe1 negative edge position...

Page 633: ...bject 60C2h Digital Output INDEX 60C2h Name Digital Output Object Code ARRAY Data Type UNSIGNED 32 Access RW PDO Mapping Yes Sub Index 0 Description Number of entries Data Type UNSIGNED 8 Access RO PD...

Page 634: ...ect Code VAR Data Type UNSIGNED 16 Access RW PDO Mapping Yes Value Range UNSIGNED 16 Default Value 3000 Comment Unit 0 1 59 Object 60F4h Following error actual value INDEX 60F4h Name Following error a...

Page 635: ...ARRAY Data Type UNSIGNED 32 Access RW PDO Mapping Yes Sub Index 0 Description Number of entries Data Type UNSIGNED 8 Access RO PDO Mapping No Value Range 2 Default Value 2 Sub Index 1 Description Phys...

Page 636: ...Code VAR Data Type UNSIGNED 32 Access RO PDO Mapping No Value Range UNSIGNED 32 Default Value 0x03A5 65 Object 2F02h Analog Input Read1 INDEX 2F02h Name Analog Input Read1 Object Code VAR Data Type Un...

Page 637: ...ct Code VAR Data Type Unsigned32 Access RW PDO Mapping Yes Value Range Unsigned32 Default Value 0 Comment Unit rpm 68 Object 3001h System Alarm INDEX 3001h Name System Alarm Object Code VAR Data Type...

Page 638: ...error field 3 UDINT RO No No 0x00000000 4 standard error field 4 UDINT RO No No 0x00000000 5 standard error field 5 UDINT RO No No 0x00000000 6 standard error field 6 UDINT RO No No 0x00000000 7 stan...

Page 639: ...UINT RW No No 0x0000 1018h Identity Object 0 Number of entries USINT RO No No 4 1 Vendor ID UDINT RO No No 0x00000373 2 Product code UDINT RO No No 0x47325300 3 Revision number UDINT RO No No 0x000100...

Page 640: ...Mapping entry 1 UDINT RW No No 0x60400010 0 0xFFFFFFFF 1600h 2 Mapping entry 2 UDINT RW No No 0x000000000 0 0xFFFFFFFF 3 Mapping entry 3 UDINT RW No No 0x000000000 0 0xFFFFFFFF 4 Mapping entry 4 UDINT...

Page 641: ...0xFFFFFFFF 1602h 4 Mapping entry 4 UDINT RW No No 0x000000000 0 0xFFFFFFFF 5 Mapping entry 5 UDINT RW No No 0x000000000 0 0xFFFFFFFF 6 Mapping entry 6 UDINT RW No No 0x000000000 0 0xFFFFFFFF 7 Mapping...

Page 642: ...Communication Parameter 0 Number of entries USINT RO No No 5 1 COB ID used by PDO UDINT RW No No 0x80000280 Node ID 2 Transmission type USINT RW No No 255 3 inhibit time UINT RW No No 0x0064 4 reserv...

Page 643: ...o 0x000000000 0 0xFFFFFFFF 5 Mapping entry 5 UDINT RW No No 0x000000000 0 0xFFFFFFFF 6 Mapping entry 6 UDINT RW No No 0x000000000 0 0xFFFFFFFF 7 Mapping entry 7 UDINT RW No No 0x000000000 0 0xFFFFFFFF...

Page 644: ...0 0xFFFFFFFF 6 Mapping entry 6 UDINT RW No No 0x000000000 0 0xFFFFFFFF 7 Mapping entry 7 UDINT RW No No 0x000000000 0 0xFFFFFFFF 8 Mapping entry 8 UDINT RW No No 0x000000000 0 0xFFFFFFFF 1A03h 4th Tr...

Page 645: ...00 00000 0x00000001 1018h Identity Object 0 Number of entries USINT RO No No 4 1 Vendor ID UDINT RO No No 0x0000081B 2 Product code UDINT RO No No 0x47322D45 3 Revision number UDINT RO No No 0x0001000...

Page 646: ...T RW No No 0x607A0020 0 0xFFFFFFFF 4 Mapping entry 4 UDINT RW No No 0x0 0 0xFFFFFFFF 5 Mapping entry 5 UDINT RW No No 0x0 0 0xFFFFFFFF 6 Mapping entry 6 UDINT RW No No 0x0 0 0xFFFFFFFF 7 Mapping entry...

Page 647: ...UDINT RW No No 0x0 0 0xFFFFFFFF 8 Mapping entry 8 UDINT RW No No 0x0 0 0xFFFFFFFF 1A00h 1st Transmit PDO Mapping 0 Number of objects in this PDO USINT RW No No 4 0 8 1 Mapping entry 1 UDINT RW No No 0...

Page 648: ...0x60410010 0 0xFFFFFFFF 2 Mapping entry 2 UDINT RW No No 0x60640020 0 0xFFFFFFFF 3 Mapping entry 3 UDINT RW No No 0x0 0 0xFFFFFFFF 4 Mapping entry 4 UDINT RW No No 0x0 0 0xFFFFFFFF 5 Mapping entry 5...

Page 649: ...NT RW No No 1 0 1 1 Index of assigned TxPDO1 UINT RW No No 0x1A01 0x1A0 0 0x1A03 1C32h SM output parameter 0 Number of entries USINT RO No No 5 1 Synchronization Type UINT RO No No 2 Cycle Time UDINT...

Page 650: ...2h 0 Position Demand Value DINT RO YES No 0 Pos Unit 6063h 0 Position Actual Internal Value DINT RO YES No 0 Inc 6064h 0 Position Actual Value DINT RO YES No 0 Pos Unit 6065h 0 Following Error Window...

Page 651: ...Unit 607Dh 0 Software Position limit DINT RW YES No 0 607Fh 0 Max Profile Velocity UDINT RW YES No 13107200 Vel Unit 0 4294967295 6081h 0 Profile Velocity UDINT RW YES No 0 Vel Unit 0 4294967295 6083...

Page 652: ...celeration factor 0 Number of entries USINT RO No No 2 1 Numerator UDINT RW No YES 1 En705 1 536870911 2 Divisor UDINT RW No YES 1 En706 1 536870911 6098h 0 Homing Method SINT RW YES No 1 0 37 6099h H...

Page 653: ...ter of ip function DINT RW YES No 0x000000000 21474 83648 2147483647 60C2h Digital Output 0 Number of entries USINT RO No No 2 1 Interpolation time units USINT RW No No 5 128 127 2 Interpolation time...

Page 654: ...ed rpm rpm Cn007 0 1 5 rated rpm 2008h 0 Brake Mode UINT RW No Yes 2 Cn008 0 5 2009h 0 CW CCW Rotation inhibit mode UINT RW No Yes 0 Cn009 0 2 200Ah 0 CCW Torque command Limit INT RW No Yes 300 280 26...

Page 655: ...INT RW No Yes 9 Cn026 1 21 201Bh 0 Offset adjustment of analog monitor output 1 INT RW No Yes 0 x40 mV Cn027 250 250 201Ch 0 Offset adjustment of analog monitor output 2 INT RW No Yes 0 x40 mV Cn028...

Page 656: ...es 0 x10 msec Cn055 0 300 2038h 0 2nd CCW torque command limit INT RW No Yes 300 280 260 250 240 220 200 Cn056 0 300 2039h 0 2nd CW torque command limit INT RW No Yes 300 280 260 250 240 220 200 Cn057...

Page 657: ...0 CANopen communication write selection UINT RW No Yes 0x0100 Cn078 0x0000 0x0501 204Fh 0 CANopen communication transmission rate and station number setting UINT RW No Yes 1 Cn079 1 127 205Fh 0 CANop...

Page 658: ...UINT RW No Yes 40 Hz Sn213 2 1500 220Eh 0 Integral time constant 2 of speed loop UINT RW No Yes 2000 x0 01 msec Sn214 40 50000 220Fh 0 Zero speed value UINT RW No Yes 50 rpm Sn215 0 1 5 rated rpm 230...

Page 659: ...T RW No Yes 0 Pn344 0 30 232Eh 0 full closed loop function UINT RW No Yes 0x0000 Pn346 0x0000 0x0101 232Fh 0 Max full closed loop error UDINT RW No Yes 5000 pulse Pn347 0 536870912 2330h 0 Full closed...

Page 660: ...UDINT RO No No pulse Un07 2809h 0 External analog voltage command UINT RO No No V Un09 280Ah 0 Main circuit voltage Vdc Bus UINT RO No No V Un10 280Bh 0 External analog voltage limit INT RO No No V Un...

Page 661: ...r model read by communication encoder UINT RO No No Un44 282Dh 0 Inertia Estimation for OnLine_AutoTuning UINT RO No No x0 1 Un45 282Eh 0 Status for OFFLine_Tuning UINT RO No No Un46 282Fh 0 The error...

Page 662: ...9 1 Chap 9 Error Alarm Clearing 9 1 Error Alarm List 9 2 9 2 Countermeasures to Clear Error 9 5...

Page 663: ...sive Position Error 0x8611 01 0011 Switch Reset AL 012 Motor Over Speed 0x8400 01 0012 Switch Reset AL 013 Motor Model Number Error 0x6320 01 0013 Power Re set AL 014 Drive Prohibit Error 0x5443 01 00...

Page 664: ...Switch Reset AL 038 Start Up Circuit Error 0xff05 20 0038 Power Re set AL 039 Full closed Loop Encoder Matching Error 0x7305 80 0039 Power Re set AL 040 Turret Mode is prohibited to use non absolute...

Page 665: ...L 060 EtherCAT synchronization signal abnormal 0xff00 80 0060 Switch reset AL 061 Regenerative parameter setting error 0x6320 80 0061 Switch reset AL 062 Servo excitation instruction invalid 0xff04 80...

Page 666: ...Alarm Clearing Method According to Parameter Cn031 1 Low Voltage Protection AL001 Automatic Reset Selection AL 002 Power Supply Voltage Too High CiA402 Error Code 0x3210 04 0002 Alarm Cause VDC Bus po...

Page 667: ...operation 6 Driver hardware failure Check and Handling 1 Check if the Motor Terminal wiring U V W and Encoder wiring is correct please wire in accordance with Chapter 2 Servo Driver Power and Periphe...

Page 668: ...Driver hardware failure Check and Handling 1 Check if the Motor Terminal wiring U V W and Encoder wiring is correct please wire in accordance with Chapter 2 Servo Driver Power and Peripheral Wiring D...

Page 669: ...ion DO 1 DO 4 Check and Handling 1 Check whether the Digital Input Contact Function Planning Parameters Hn601 Hn612 are corrected DI 1 DI 12 pin function can be repeated but the pin action electrical...

Page 670: ...Command and the Encoder Feedback Pulse exceeds the setting of Pn308 or Pn309 1 Position gain value Pn310 Pn311 and feed forward gain Pn312 settings are too small 2 Setting of maximum position error d...

Page 671: ...0x6320 01 0013 Alarm Cause Incorrect setting of motor model or automatic verification function error 1 The driver does not match the servo motor 2 Encoder motor code Cn030 setting error Check and Hand...

Page 672: ...Encoder Number of Revolution Error CiA402 Error Code 0x7305 01 0016 Alarm Cause Absolute Type Encoder Number of Revolution Data Error 1 Battery module is removed or battery error 2 Replace the battery...

Page 673: ...d Handling Clear the internal circuit detection error of communication type encoder through Cn041 1 If the error occurs again after turning power off and on it means the motor encoder fails and a repl...

Page 674: ...he driver does not match the servo motor 2 Encoder motor code Cn030 setting error Check and Handling 1 Please select the appropriate driver and servo motor 2 Please set correct Cn030 please refer to S...

Page 675: ...ected CiA402 Error Code 0xff00 80 0029 Alarm Cause EtherCAT communications disconnected 1 EtherCAT communications cable falls out 2 Poor EtherCAT communication quality Number of CANopen communication...

Page 676: ...le and encoder wire 2 Incorrect setting of linear scale resolution 3 Magnetic Pole Alignment Error Check and Handling 1 Check if the wiring of power cable and encoder wire are correct 2 Please check i...

Page 677: ...00 resulted from excessive regenerative energy 1 Error occurs under operation condition acceleration deceleration executed by the device is over spec 2 Error occurs under operation conditions the used...

Page 678: ...Check and Handling Replace motor encoder Alarm Clearing Method Power Re set AL 041 Control Mode Selection Error CiA402 Error Code 0x6320 80 0041 Alarm Cause This driver model does not support such co...

Page 679: ...CiA402 Error Code 0x7305 80 0045 Alarm Cause Motor Model Number Setting Error or Automatic Identification Function Error Check and Handling Confirm if the encoder correctly matches Cn030 motor model p...

Page 680: ...osition Error CiA402 Error Code 0x7305 80 0050 Alarm Cause Absolute Type Encoder Position Error Check and Handling The Alarm still occurs after power is re connected need to confirm if the Encoder is...

Page 681: ...054 EtherCAT CSP and IP position command incremental error CiA402 Error Code 0xff00 80 0054 Alarm Cause The position command increment exceeded 6600rpm in a single time Check and Handling Confirm whe...

Page 682: ...er setting error please refer to the Sn208 210 setting description for details Check and Handling Please refer to the Sn208 210 setting description Alarm Clearing Method Switch reset AL 058 Electronic...

Page 683: ...river is damaged Please consult the dealer or the manufacturer Alarm Clearing Method Switch reset AL 062 Servo excitation instruction invalid CiA402 Error Code 0xff04 80 0062 Alarm Cause When the driv...

Page 684: ...Check and Handling Please consult the dealer or manufacturer Alarm Clearing Method Switch reset AL 068 Turret alarm 4 CiA402 Error Code 0xff04 80 0068 Alarm Cause Turret alarm 4 Check and Handling Pl...

Page 685: ...o the corresponding movement mode This error will occur if the wrong value is assigned Check and Handling Please refer to the movement control mode of CiA402 Alarm Clearing Method Switch reset AL 073...

Page 686: ...hen the abnormality is eliminated first release the SON action of the digital input contact which is releasing the motor excitation status then press the and buttons simultaneously to clear the abnorm...

Page 687: ...10 2 10 2 Servo Drive Dimension 10 7 10 3 Servo Motor Specifications 10 12 10 4 Servo Motor Dimension 10 15 10 5 Accessories 10 20 10 5 1 Motor Power Cable 10 20 10 5 2 Encoder Trunk 10 22 10 5 3 I O...

Page 688: ...PWM Control Sine Wave Current Drive Method Encoder Resolution 15 bits absolute type 17 bits incremental type absolute type 23 bits incremental type absolute type Internal Features Display and Operati...

Page 689: ...oder Resolution 15 bits absolute type 17 bits incremental type absolute type 23 bits incremental type absolute type Internal Features Display and Operations CHARGE Indicator five digit seven segment d...

Page 690: ...type 17 bits incremental type absolute type 23 bits incremental type absolute type Internal Features Display and Operations CHARGE Indicator five digit seven segment display four function keys Contro...

Page 691: ...ut Impedance 10K Speed Control Range 1 5000 Internal Speed Command 1 2000 External Analog Command Speed Fluctuation Load Fluctuation 0 100 0 03 or less at rated speed Voltage Fluctuation 10 fluctuatio...

Page 692: ...rvo ready servo abnormal zero speed signal mechanical brake signal speed arrival signal positioning completion signal origin return completion signal torque arrival output completion signal magazine m...

Page 693: ...10 7 10 2 Servo Drive Dimension 1 JSDG2S 10A 15A E 200V Class 2 JSDG2S 20A 30A E 200V Class...

Page 694: ...10 8 3 JSDG2S 10A 15A EL 200V Class 4 JSDG2S 20A 30A EL 200V Class...

Page 695: ...10 9 5 JSDG2S 10A 15A L 200V class 6 JSDG2S 20A 30A L 200V Class...

Page 696: ...10 10 7 JSDG2S 50A3 75A3 E 200V Class JSDG2S 10B 15B 25B 35B E 400V Class 8 JSDG2S 100A3 150A3 E 200V Class JSDG2S 50B 75B E 400V Class...

Page 697: ...10 11 9 JSDG2S 200A3 E 200V Class JSDG2S 100B E 400V Class 10 JSDG2S 300A3 E 200V Class JSDG2S 150B 200B E 400V Class...

Page 698: ...P A Symbol Unit MB10 MB15 MB20 MB30 IH30 IH44 IH55 IH75 MH110 MH150 Rated Output Power PR KW 1 0 1 5 2 0 3 0 3 4 4 5 5 7 5 11 15 Rated Torque TR N M 4 78 7 16 9 55 14 33 19 1 28 35 1 47 8 70 95 5 Ins...

Page 699: ...000 Rated Phase Current IR 0 9 1 6 2 6 4 3 7 11 4 14 8 17 8 24 33 5 42 1 54 7 Instantaneous Maximum Current Imax 2 7 4 8 8 1 14 18 1 32 4 37 4 42 7 58 85 110 136 Torque Constant KT 0 35 0 46 0 47 0 56...

Page 700: ...10 14 Up to 130 Frame Series Up to 220 Frame Series...

Page 701: ...10 15 10 4 Servo Motor Dimension Up to 80 Frame Series Up to 80 Frame Series LL Without brake LL With brake JSMA PUC Series...

Page 702: ...10 16 Up to 80 Frame Series Up to 80 Frame Series LL Without brake LL With brake JSMA PBC Series JSMA PLC Series...

Page 703: ...10 17 Up to 130 Frame Series Up to 130 Frame Series LL Without brake LL With brake MB Series BH Series...

Page 704: ...10 18 Up to 220 Frame Series Up to 130 Frame Series LL Without brake LL With brake IH Series...

Page 705: ...10 19 Up to 220 Frame Series Up to 130 Frame Series LL Without brake LL With brake BH Series MH Series...

Page 706: ...10 20 10 5 Accessories 10 5 1 Motor Power Cable Motor power cable JSSLMP use with motors of UC BC LC03 08 series JSSMLM use with motors of MA MB MC BH09 BH18 series No Length m No Length m...

Page 707: ...10 21 JSSBLM use with motors of IH44 IH75 BH44 BH55 series JSSILM use with motors of BH29 series JSSFLM use with motors of IH110 150 BH75 series No Length m No Length m No Length m...

Page 708: ...r connector 10 5 2 Encoder Trunk Incremental encoder trunk JSSLG use with motors of UC BC LC03 08 series JSSMLG use with motors of MA MB MC BH IH series Include brake connector Brake connector No Leng...

Page 709: ...der trunk JSSLG use with motors of UC BC LC series JSSMLG use with motors of MA MB MC BH IH series Absolute encoder battery Encoder connector Encoder trunk use with absolute value type encoder No Leng...

Page 710: ...10 24 10 5 3 I O Connector I O connector terminal I O connector wire terminal block Only for JSDG2S JSDG2S E JSDG2S L Only for JSDG2S EL No Length m No No No Length m...

Page 711: ...10 25 10 5 4 Full Closed Loop Wire Full closed loop wire Only for JSDG2S JSDG2S E JSDG2S L Only for JSDG2S EL No Length m No Length m...

Page 712: ...10 26 10 5 5 Communication Cable Computer communication cable Ethernet CANopen RS 485 communication cable CANopen RS 485 terminal resistor No Length m No Length m No Length m No...

Page 713: ...11 1 Chap 11 Appendix 11 1 Manual Revision History 11 2...

Page 714: ...ine parameter setting 5 6 10 Absolute Value Encoder Battery Error Alarm Output 6 3 Automatic Gain Adjustment Off line tuning Instructions 6 4 Notch Filter 6 5 Low frequency suppression function 6 6 Ma...

Page 715: ...chapter 9 2 Modified the descriptions of the AL 010 and AL 016 alarms Changed Pn329 to becoming valid after power is restarted Modified the setting range of Cn060 to 3 200 Modified the setting range...

Page 716: ...dd Added Chapter 4 4 Program JOG operation Added Chapter 5 6 14 Emergency stop EMC function Added Chapter 6 14 Disturbance observer Added descriptions for Cn087 servo parameter Revision Modified the d...

Page 717: ...Chapter 6 2 V1 56 Ver A Add Added alarm codes AL 061 and AL 062 Added parameters dn015 0 Cn089 and Pn346 1 1 1 3 Added 400V motor matching Revision Modified the cause for alarm AL 022 to occur 5 6 7 M...

Page 718: ......

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