I

■Warning and Caution:

Warning

 Do not proceed to the assembly of the line while electrifying.

 Circuit & change components between entering shutting down the power supply and stopping

showing CHARGE LED light of the Servo driver.

 The output of Servo drive [U, V, W] must NOT touch the AC power.

 Motor over temperature protection is not provided.

Caution

 Install the fan if the temperature around is too high while the Servo driver is installed in the

Control Board.

 Do not proceed to the Anti-Pressure-Test to the Servo driver.

 Confirm the quick stop function is available before operate servo drive.

 Matching up machine to change the user parameter setting before machine performs. If there is

no according correct setting number, it could lead to out of control or breakdown.

Safety proceeding:

Check the covering letter detail before installing, running, maintaining and examining. Furthermore, only

the profession-qualified people can proceed to the line-assembly.

Safety proceeding in the covering letter discriminate between “Warning” &”Caution.”

Indicate the possibility dangerous situation. It could cause the death or serious damage

if being ignored.

Indicate the possibility dangerous situation. It could cause smaller or lighter human

injured and damage of equipment.

Read this covering letter detail before using Servo driver.

Warning

! Caution

!

II

First of all, thank you for using TECO Servo Driver JSDAP Series (“JSDAP” for short) and Servo Motors.

JSDAP can be controlled by digital board or PC, and provide excellent performance for a wide range of

applications and different requirement from customers.

Read this covering letter before using JSDAP. Contents of the letter comprise:

 Servo System checking, installing and procedure of assembly line.

 Controller procedure for digital board, status displaying, unusual alarm and strategy explanation.

 Servo System control function, running testing and procedures adjusted.

 Explanation for all parameter of Servo Driver.

 Standard specification of JSDAP Series.

In order to daily examine, maintain and understand the reason of unusual situation and handle strategy,

please put this covering letter in safe place to read it anytime.

P.S: The end user should own this covering letter, in order to make the Servo Driver bring the best

performance.

III

Table of Contents

Chapter 1 Checking and Installing ............................................................................................. 1

1-1 Checking Products ......................................................................................................... 1

1-1-1 Confirming with Servo Drives ................................................................................. 1

1-1-2 Confirming with Servo Motors ................................................................................ 2

1-1-3 Servo motor Model Code display ........................................................................... 3

1-2 A Brief Introduction of Operation for Drives .............................................................. 14

1-3 Conditions for Installation of Drives ........................................................................... 15

1-3-1 Environmental Conditions ..................................................................................... 15

1-3-2 Direction and Distance ......................................................................................... 16

1-4 Conditions for Installation of Servo Motors ............................................................... 17

1-4-1 Environmental Conditions ..................................................................................... 17

1-4-2 Method of Installation ........................................................................................... 17

1-4-3 Notice for installing motor ..................................................................................... 18

Chapter 2 Wiring ........................................................................................................................ 19

2-1 Basic Wiring for Servo System.................................................................................... 19

2-1-1 Wiring for Main Circuit and Peripheral Devices .................................................... 19

2-1-2 Wiring for Servo Drives ......................................................................................... 21

2-1-3 Specifications of Wiring ........................................................................................ 22

2-1-4 Motor Terminal Layout .......................................................................................... 24

2-1-5 TB Terminal .......................................................................................................... 27

2-1-6 Wiring for Mechanical Brake ................................................................................. 27

2-2 I/O Terminal ................................................................................................................... 28

2-2-1 Output Signals from the Servo pack ..................................................................... 29

2-2-2 Encoder Connector (CN2) Terminal Layout .......................................................... 30

2-2-3 CN3/CN4 Communication Terminal Layout .......................................................... 31

2-3 Typical Circuit Wiring Examples ................................................................................. 32

2-3-1 Position Control Mode (Pe Mode) (Line Driver) .................................................... 32

2-3-2 Position Control Mode (Pe Mode) (Open Collector) ............................................. 33

2-3-3 Position Control Mode (Pi Mode) ......................................................................... 34

2-3-4 Speed Control Mode (S Mode) ............................................................................. 35

2-3-5 Torque Control Mode (T Mode) ............................................................................ 36

2-3-6 Turret Mode (Pt Mode) ......................................................................................... 37

Chapter 3 Panel Operator / Digital Operator ............................................................................ 38

3-1 Panel Operator on the Drives ...................................................................................... 38

3-2 Trial Operation .............................................................................................................. 39

IV

3-3 OFF-LINE Auto tuning .................................................................................................. 40

Chapter 4 Parameter ................................................................................................................ 45

4-1 Explanation of Parameter groups................................................................................ 45

4-2 Parameter Display Table .............................................................................................. 45

Chapter 5 Troubleshooting ....................................................................................................... 86

5-1 Alarm functions ............................................................................................................ 86

5-2 Troubleshooting of Alarm and Warning ...................................................................... 87

5-3 Alarm Status Description ............................................................................................. 89

Appendix A ................................................................................................................................. 90

1

Chapter 1 Checking and Installing

1-1 Checking Products

Our Servo Pack has already completely been functionally examined before leaving the factory. In

order to protect the products from the damage during transportation, please check the items below before

sealing off the pack:

 Check if the models of servo driver and motor are the same with the models of ordering.

(About the model explanation, please check the chapters below)

 Check if there are damage or scrape out side of the servo driver and motor.

(If there is any damage during transportation, do not power ON)

 Check if there are any bad assembly or slipped component in the Servo Drive and Motor

 Check if the Motor’s rotor and shaft can be rotated smoothly by hand

(The Servo Motor with Mechanical-Brake can not be rotated directly)

 There must be the “QC”-seal in each servo drive, if not, please do not proceed Power ON.

If there is any bug or irregular under the situation above, please contact TECO’s Local sales representative

or distributor instantly.

1-1-1 Confirming with Servo Drives

JSD AP –15 A

TECO AC Servo

Product No.

Drive Series:

AP Series

Drive Model:

10 / 15 / 20 / 30 / 50 / 75 /

100 / 150 / 200 / 300

AC Input Voltage

A: AC 220V Single/Three phase

A1: AC 220V Single phase

A3: AC 200V Three phase

B: AC 400V Three phase Notes: Maximum output power

200V class 400V class

10A(1)：100 W 75A3：3.0 KW 25B：2.0 KW

15A(1)：400 W 100A3：4.4 KW 35B：3.0 KW

20A：750 W 150A3：5.5 KW 50B：4.4 KW

30A：1.0 KW 200A3：7.5 KW 75B：5.5 KW

50A3：2.0 KW 300A3：15 KW 100B：7.5 KW

2

1-1-2 Confirming with Servo Motors

JSM A – P S C 08 A H K B

Encode Spline Grease

Seal

 No No

K Yes No

O No Yes

A Yes Yes

TECO AC Servo

Product No.

Motor Series:

Series A

Inertia:

S : Low Inertia

L : Low Inertia

M : Middle Inertia

H : Middle Inertia

Motor Speed:

A: 1000 rpm

B: 2000 rpm

C: 3000 rpm

H: 1500 rpm

Encoder:

B : 2500 ppr

H : 8192 ppr

7 : 17 bits

5 : 15 bits(abs)

A: 17 bits(abs)

Motor ratio power

P5 : 50 W 20 : 2 KW

01 : 100 W 30 : 3 KW

03 : 300 W 44 : 4.4KW

04 : 400 W 55: 5.5 KW

05 : 550 W 75 : 7.5 KW

08 : 750 W 110 : 11 KW

10 : 1 KW 150 : 15 KW

15 : 1.5 KW

AC input voltage

A : AC 200V

B : AC 400V

M: Machinery BK

: No BK

B: BK

IP67

(except shaft and connector)

3

1-1-3 Servo motor Model Code display

dn-08 (Servo motor Model Code display)

Use dn-08 to display servo motor code and check the servo drive and motor compatibility according to the

table below. If the collocation is discordant with that dn08 presented, reset parameter Cn030 or contact your

supplier. The motor model code is stored in parameter Cn030.

200V

dn-08 Display Drive Model

JSDAP Motor Model

Motor Standards Encoder

Specification Cn030 Setting Watt(KW) Speed(rpm)

H1011

10A(1)

JSMA-(P)SCP5AB

0.05 3000

2500

H1015 JSMA-PSCP5A5 15 bit(ABS)

H1017 JSMA-PSCP5A7 17 bit

H101A JSMA-PSCP5AA 17 bit(ABS)

H1021 JSMA- (P)SC01AB

0.1 3000

2500

H1025 JSMA-PSC01A5 15 bit(ABS)

H1027 JSMA-PSC01A7 17 bit

H102A JSMA-PSC01AA 17 bit(ABS)

H1101

15A(1)

JSMA-PSC02AB

0.2 3000

2500

H1102 JSMA-PSC02AH 8192

H1105 JSMA-PSC02A5 15 bit(ABS)

H1107 JSMA-PSC02A7 17 bit

H110A JSMA-PSC02AA 17 bit(ABS)

H1111 JSMA- (P)SC01AB

0.1 3000

2500

H1115 JSMA-PSC01A5 15 bit(ABS)

H1117 JSMA-PSC01A7 17 bit

H111A JSMA-PSC01AA 17 bit(ABS)

4

dn-08 Display Drive Model

JSDAP Motor Model

Motor Standards Encoder

Cn030 Setting Watt(KW) Speed(rpm) Specification

H1121

15A(1)

JSMA-PLC03AB

0.3 3000

2500

H1122 JSMA-PLC03AH 8192

H1125 JSMA-PLC03A5 15 bit(ABS)

H1127 JSMA-PLC03A7 17 bit

H112A JSMA-PLC03AA 17 bit(ABS)

H1141

15A(1)

JSMA-SC04AB

0.4

(rated

3.5A)

3000

2500

H1142 JSMA-SC04AH 8192

H1145 JSMA-SC04A5 15 bit(ABS)

H1147 JSMA-SC04A7 17 bit

H114A JSMA-SC04AA 17 bit(ABS)

H1151 JSMA- (P)SC04AB

0.4

(rated

2.5A)

2500

H1152 JSMA- (P)SC04AH 8192

H1155 JSMA-PSC04A5 15 bit(ABS)

H1157 JSMA-PSC04A7 17 bit

H115A JSMA-PSC04AA 17 bit(ABS)

H1211

20A

JSMA-PLC08AB

0.75

3000

2500

H1212 JSMA-PLC08AH 8192

H1215 JSMA-PLC08A5 15 bit(ABS)

H1217 JSMA-PLC08A7 17 bit

H121A JSMA-PLC08AA 17 bit(ABS)

H1221 JSMA-SC04AB

0.4

(rated

3.5A)

2500

H1222 JSMA-SC04AH 8192

H1225 JSMA-SC04A5 15 bit(ABS)

H1227 JSMA-SC04A7 17 bit

H122A JSMA-SC04AA 17 bit(ABS)

5

dn-08 Display Drive Model

JSDAP Motor Model Motor Standards Encoder

Specification Cn030 Setting Watt(KW) Speed(rpm)

H1231

20A

JSMA- (P)SC08AB

0.75 3000

2500

H1232 JSMA-PSC08AH 8192

H1235 JSMA-PSC08A5 15 bit(ABS)

H1237 JSMA-PSC08A7 17 bit

H123A JSMA-PSC08AA 17 bit(ABS)

H1241 JSMA-PMA05AB

0.55

1000 2500

H1252 JSMA-PMH05AH

1500

8192

H1255 JSMA-PMH05A5 15 bit(ABS)

H1257 JSMA-PMH05A7 17 bit

H125A JSMA-PMH05AA 17 bit(ABS)

H1261

20A

JSMA- (P)SC04AB

0.4

(rated2.5A) 3000

2500

H1262 JSMA- (P)SC04AH 8192

H1265 JSMA-PSC04A5 15 bit(ABS)

H1267 JSMA-PSC04A7 17 bit

H126A JSMA-PSC04AA 17 bit(ABS)

H1311

30A

JSMA- (P)SC08AB

0.75 3000

2500

H1312 JSMA-PSC08AH 8192

H1315 JSMA-PSC08A5 15 bit(ABS)

H1317 JSMA-PSC08A7 17 bit

H131A JSMA-PSC08AA 17 bit(ABS)

H1321 JSMA-PMA10AB

1.0 1000

2500

H1322 JSMA-PMA10AH 8192

H1325 JSMA-PMA10A5 15 bit(ABS)

H1327 JSMA-PMA10A7 17 bit

6

dn-08 Display Drive Model

JSDAP Motor Model Motor Standards Encoder

Cn030 Setting Watt(KW) Speed(rpm) Specification

H132A

30A

JSMA-PMA10AA

1.0

1000 17 bit(ABS)

H1331 JSMA-PMB10AB

2000

2500

H1332 JSMA-PMB10AH 8192

H1335 JSMA-PMB10A5 15 bit(ABS)

H1337 JSMA-PMB10A7 17 bit

H133A JSMA-PMB10AA 17 bit(ABS)

H1341 JSMA-PMH10AB

1.0

1500

2500

H1342 JSMA-PMH10AH 8192

H1345 JSMA-PMH10A5 15 bit(ABS)

H1347 JSMA-PMH10A7 17 bit

H134A JSMA-PMH10AA 17 bit(ABS)

H1351 JSMA-PMC10AB

3000

2500

H1352 JSMA-PMC10AH 8192

H1355 JSMA-PMC10A5 15 bit(ABS)

H1357 JSMA-PMC10A7 17 bit

H135A JSMA-PMC10AA 17 bit(ABS)

7

dn-08 Display Drive Model

JSDAP Motor Model Motor Standards Encoder

Cn030 Setting Watt(KW) Speed(rpm) Specification

H1511

50A3

JSMA-PMA15AB

1.5

1000

2500

H1512 JSMA-PMA15AH 8192

H1515 JSMA-PMA15A5 15 bit(ABS)

H1517 JSMA-PMA15A7 17 bit

H151A JSMA-PMA15AA 17 bit(ABS)

H1521 JSMA-PMB15AB

2000

2500

H1522 JSMA-PMB15AH 8192

H1525 JSMA-PMB15A5 15 bit(ABS)

H1527 JSMA-PMB15A7 17 bit

H152A JSMA-PMB15AA 17 bit(ABS)

H1531 JSMA-PMC15AB

3000

2500

H1532 JSMA-PMC15A5H 8192

H1535 JSMA-PMC15A5 15 bit(ABS)

H1537 JSMA-PMC15A7 17 bit

H153A JSMA-PMC15AA 17 bit(ABS)

H1541 JSMA-PMB20AB

2.0

2000

2500

H1542 JSMA-PMB20AH 8192

H1545 JSMA-PMB20A5 15 bit(ABS)

H1547 JSMA-PMB20A7 17 bit

H154A JSMA-PMB20AA 17 bit(ABS)

H1551 JSMA-PMC20AB

3000

2500

H1552 JSMA-PMC20AH 8192

H1555 JSMA-PMC20A5 15 bit(ABS)

H1557 JSMA-PMC20A7 17 bit

H155A JSMA-PMC20AA 17 bit(ABS)

8

dn-08 Display Drive Model

JSDAP Motor Model Motor Standards Encoder

Cn030 Setting Watt(KW) Speed(rpm) Specification

H1711

75A3

JSMA-PMB30AB

3.0 2000

2500

H1712 JSMA-PMB30AH 8192

H1715 JSMA-PMB30A5 15 bit(ABS)

H1717

75A3

JSMA-PMB30A7

3.0

2000

17 bit

H171A JSMA-PMB30AA 17 bit(ABS)

H1721 JSMA-PMC30AB

3000

2500

H1722 JSMA-PMC30AH 8192

H1725 JSMA-PMC30A5 15 bit(ABS)

H1727 JSMA-PMC30A7 17 bit

H172A JSMA-PMC30AA 17 bit(ABS)

H1732 JSMA-PMH30AH

1500

8192

H1735 JSMA-PMH30A5 15 bit(ABS)

H1737 JSMA-PMH30A7 17 bit

H173A JSMA-PMH30AA 17 bit(ABS)

H1822

100A3

JSMA-PMH44AH

4.4

1500

8192

H1825 JSMA-PMH44A5 15 bit(ABS)

H1827 JSMA-PMH44A7 17 bit

H182A JSMA-PMH44AA 17 bit(ABS)

H1832 JSMA-PHH30AH

3.0

8192

H1835 JSMA-PHH30A5 15 bit(ABS)

H1837 JSMA-PHH30A7 17 bit

H183A JSMA-PHH30AA 17 bit(ABS)

9

dn-08 Display Drive Model

JSDAP Motor Model Motor Standards Encoder

Cn030 Setting Watt(KW) Speed(rpm) Specification

H1922

150A3

JSMA-PMH55AH

5.5 1500

8192

H1925 JSMA-PMH55A5 15 bit(ABS)

H1927 JSMA-PMH55A7

3.0 1500

17 bit

H192A JSMA-PMH55AA 17 bit(ABS)

H1932 JSMA-PHH44AH

4.4 2000

8192

H1935 JSMA-PHH44A5 15 bit(ABS)

H1937 JSMA-PHH44A7 17 bit

H193A JSMA-PHH44AA 17 bit(ABS)

10

dn-08 Display Drive Model

JSDAP Motor Model Motor Standards Encoder

Cn030 Setting Watt(KW) Speed(rpm) Specification

H1A12

200A3

JSMA-PMH75AH

7.5

Watt(KW)

Speed(rpm)

H1A15 JSMA-PMH75A5 15 bit(ABS)

H1A17 JSMA-PMH75A7 17 bit

H1A1A JSMA-PMH75AA 7.5 17 bit(ABS)

H1A22 JSMA-PHH55AH

5.5

8192

H1A25 JSMA-PHH55A5 15 bit(ABS)

H1A27 JSMA-PHH55A7 17 bit

H1A2A JSMA-PHH55AA 17 bit(ABS)

H1B12

300A3

JSMA-PMH110AH

11.0

1500

8192

H1B15 JSMA-PMH110A5 15 bit(ABS)

H1B17 JSMA-PMH110A7 17 bit

H1B1A JSMA-PMH110AA 17 bit(ABS)

H1B22 JSMA-PMH150AH

15.0

8192

H1B25 JSMA-PMH150A5 15 bit(ABS)

H1B27 JSMA-PMH150A7 17 bit

H1B2A JSMA-PMH150AA 17 bit(ABS)

H1B32 JSMA-PHH75AH

7.5

8192

H1B35 JSMA-PHH75A5 15 bit(ABS)

H1B37 JSMA-PHH75A7 17 bit

H1B3A JSMA-PHH75AA 17 bit(ABS)

11

400V

dn-08 Display Drive Model

JSDAP Motor Model Motor Standards Encoder

Cn030 Setting Watt(KW) Speed(rpm) Specification

H1211

25B

JSMA-PMB10BB

1.0 2000

2500

H1212 JSMA-PMB10BH 8192

H1215 JSMA-PMB10B5 15 bit(ABS)

H1217 JSMA-PMB10B7 17 bit

H121A JSMA-PMB10BA 17 bit(ABS)

H1231 JSMA-PMB15BB

1.5 2000

2500

H1232 JSMA-PMB15BH 8192

H1235 JSMA-PMB15B5 15 bit(ABS)

H1237 JSMA-PMB15B7 17 bit

H123A JSMA-PMB15BA 17 bit(ABS)

H1251 JSMA-PMB20BB

2.0 2000

2500

H1252 JSMA-PMB20BH 8192

H1255 JSMA-PMB20B5 15 bit(ABS)

H1257 JSMA-PMB20B7 17 bit

H125A JSMA-PMB20BA 17 bit(ABS)

H1311

35B

JSMA-PMB20BB

2.0 2000

2500

H1312 JSMA-PMB20BH 8192

H1315 JSMA-PMB20B5 15 bit(ABS)

H1317 JSMA-PMB20B7 17 bit

H131A JSMA-PMB20BA 17 bit(ABS)

H1331 JSMA-PMB30BB

3.0 2000

2500

H1332 JSMA-PMB30BH 8192

H1335 JSMA-PMB30B5 15 bit(ABS)

H1337 JSMA-PMB30B7 17 bit

H133A JSMA-PMB30BA 17 bit(ABS)

12

dn-08 Display Drive Model

JSDAP Motor Model Motor Standards Encoder

Cn030 Setting Watt(KW) Speed(rpm) Specification

H1341

35B

JSMA-PMH30BB

3.0 1500

2500

H1342 JSMA-PMH30BH 8192

H1345 JSMA-PMH30B5 15 bit(ABS)

H1347 JSMA-PMH30B7 17 bit

H134A JSMA-PMH30BA 17 bit(ABS)

H1401

50B

JSMA-PMB30BB

3.0 2000

2500

H1402 JSMA-PMB30BH 8192

H1405 JSMA-PMB30B5 15 bit(ABS)

H1407 JSMA-PMB30B7 17 bit

H140A JSMA-PMB30BA 17 bit(ABS)

H1411 JSMA-PMH30BB

3.0 1500

2500

H1412 JSMA-PMH30BH 8192

H1415 JSMA-PMH30B5 15 bit(ABS)

H1417 JSMA-PMH30B7 17 bit

H141A JSMA-PMH30BA 17 bit(ABS)

H1421 JSMA-PMH44BB

4.4 1500

2500

H1422 JSMA-PMH44BH 8192

H1425 JSMA-PMH44B5 15 bit(ABS)

H1427 JSMA-PMH44B7 17 bit

H142A JSMA-PMH44BA 17 bit(ABS)

H1501

75B

JSMA-PMH44BB

4.4 1500

2500

H1502 JSMA-PMH44BH 8192

H1505 JSMA-PMH44B5 15 bit(ABS)

H1507 JSMA-PMH44B7 17 bit

13

dn-08 Display Drive Model

JSDAP Motor Model Motor Standards Encoder

Cn030 Setting Watt(KW) Speed(rpm) Specification

H150A

75B

JSMA-PMH44BA 4.4 1500 17 bit(ABS)

H1511 JSMA-PMH55BB

5.5 1500

2500

H1512 JSMA-PMH55BH 8192

H1515 JSMA-PMH55B5 15 bit(ABS)

H1517 JSMA-PMH55B7 17 bit

H151A JSMA-PMH55BA 17 bit(ABS)

H1611

100B

JSMA-PMH75BB

7.5 1500

2500

H1612 JSMA-PMH75BH 8192

H1615 JSMA-PMH75B5 15 bit(ABS)

H1617 JSMA-PMH75B7 17 bit

H161A JSMA-PMH75BA 17 bit(ABS)

14

1-2 A Brief Introduction of Operation for Drives

There are many kinds of control-mode. The detail modes display as the followings:

Name Mode Explanation

Single

Mode

Position Mode

(External Pulse

Command)

Pe Position control for the servo motor is achieved via an external

pulse command. Position command is input from CN1.

Position Mode

(Internal Position

Command)

Pi

Position control for the servo motor is achieved via by 16

commands stored within the servo controller. Execution of the

16 positions is via Digital Input signals.

Speed Mode S

Speed control for the servo motor can be achieved via

parameters set within the controller or from an external analog

-10 ~ +10 Vdc command. Control of the internal speed

parameters is via the Digital Inputs. A maximum of three steps

speed can be stored internally.

Torque Mode T

Torque control for the servo motor can be achieved via

parameters set or from an external analog -10 ~ +10 Vdc

command.

Tool turret Mode Pt The tool turret Mode use internal position command to do the

DI/DO switch to change the tool turret.

Multiple Mode

Pe-S Pe and S can be switched by digital-input-contact-point.

Pe-T Pe and T can be switched by digital-input-contact-point.

Pi-S Pi and S can be switched by digital-input-contact-point.

Pi-T Pi and T can be switched by digital-input-contact-point.

S-T S and T can be switched by digital-input-contact-point.

Pe-Pi Pe and Pi can be switched by digital-input-contact-point.

15

1-3 Conditions for Installation of Drives

1-3-1 Environmental Conditions

The product should be kept in the shipping carton before installation. In order to retain the warranty

coverage, the AC drive should be stored properly when it is not to be used for an extended period of time.

Some storage suggestions are:

 Ambient Temperature: 0 ~ + 55 ℃; Ambient Humidity: Under 90% RH (Under the condition of no

moisture).

 Stored Temperature: - 20 ~ + 65 ℃; Stored Humidity: Under 90%RH (Under the condition of no

moisture).

 Vibrating: Under 0.5 G.

 Do not mount the servo drive or motor in a location where temperatures and humidity will exceed

specification.

 To avoid the insolation.

 To avoid the erosion of grease and salt.

 To avoid the corrosive gases and liquids.

 To avoid the invading of airborne dust or metallic particles.

 When over 1 Drives are installed in control panel, enough space have to be kept to get enough air to

prevent the heat; the fan also must be installed, to keep the ambient temperature under 55 ℃.

 Please Install the drive in a vertical position, face to the front, in order to prevent the heat.

 To avoid the metal parts or other unnecessary things falling into the drive when installing.

 The drive must be stable by M5 screws.

 When there were the vibrating items nearby, please using vibration-absorber or installing anti-vibrationrubber, if the vibration cannot be avoided.

 When there is any big-size magnetic switch, welding machines or other source of interference. Please

install the filter. When the filter is installed, we must install the insulation transformer.

16

1-3-2 Direction and Distance

17

1-4 Conditions for Installation of Servo Motors

1-4-1 Environmental Conditions

 Ambient Temperature: 0 ~ + 40 ℃; Ambient humidity: Under 90% RH (No Moisture).

 Storage Temperature: - 20 ~ + 60 ℃; Storage temperature: Under 90%RH (No Moisture).

 Vibration: Under 2.5 G.

 In a well-ventilated and low humidity and dust location.

 Do not store in a place subjected to corrosive gases, liquids, or airborne dust or metallic particles.

 Do not mount the servo motor in a location where temperatures and humidity will exceed specification.

 Do not mount the motor in a location where it will be subjected to high levels of electromagnetic

radiation.

1-4-2 Method of Installation

1. Horizontal Install: Please let the cable-cavity downside to prevent the water or oil or other liquid flow into

the servo motor.

Attention

2. Vertical Install: If the motor shaft is side-up installed and mounted to a gear box, please pay attention to

and avoid the oil leakage from the gear box.

18

1-4-3 Notice for installing motor

1. Please using oil-seal-motor to avoid the oil from reduction gear flowing into the motor through the motor shaft.

2. The cable need to be kept dry.

3. Please fixing the wiring cable certainly, to avoid the cable ablating or breaking.

4. The extending length of the shaft shall be enough, otherwise there will be the vibration from motor operating.

Wrong Example Correct Example Encoder Brake

5. Please do not beat the motor when installing or taking it apart. Otherwise the shaft and the encoder of backside

will be damaged.

Attention

Brake Encoder

19

Chapter 2 Wiring

2-1 Basic Wiring for Servo System

2-1-1 Wiring for Main Circuit and Peripheral Devices

200V

20

400V

21

2-1-2 Wiring for Servo Drives

 The wire material must go by “Wiring Specifications.”

 Wiring Length: Command Input Wire: Less than 3m.

Encoder Input Wire: Less than 20m.

The Wiring goes by the shortest length.

 Please wire according to the standard wiring schema. Don’t connect if no using.

 Please use the NFB to meet IEC (or UL Certification) between power supplier and servo drive.

 In the addition of supplying max voltage, the capability of short circuit current must below 5000Arms, If there

is possibility over the spec., Please install the equipment(breaker, fuse or transformer) to prevent short

circuit.

 Drive output terminals (U,V,W) must be connected to motor correctly. Otherwise the servo motor will

abnormally function.

 Shielded cable must be connected to FG terminal.

 Don’t install the capacitor or Noise Filter at the output terminal of servo drive.

 At the control-output-signal relay, the direction of surge absorb diode must be correctly connected, otherwise

it cannot output signal, and cause the protect loop of emergency-stop abnormal.

 Please do these below to avoid the wrong operation from noise:

 Please install devices such as the insulated transformer and noise filter at the input power.

 Keep more than 30 cm between Power wire (power cable or motor cable…etc.) and signal cable, do not

install them in the same conduit.

 Please set “emergency-stop switch” to prevent abnormal operation.

 After wiring, check the connection-situation of each joint (ex: loose soldering, soldering point short, terminal

order incorrect…etc.). Tighten the joints to confirm if surly connected to the servo drive, if the screw is tight.

There cannot be the situations such as cable break, cable pulled and dragged, or be heavily pressed.

* Especially pay attention to the polarity between servo motor wiring and encoder.

 There is no necessary to add extra regeneration resistance under general situation. If there is any need or

problem, please connect to distributor or manufacturer.

22

2-1-3 Specifications of Wiring

Connection Terminal Servo Drives and Wire Specifications mm² (AWG)

Connection

Terminal

Mark

(Sign)

Name of

Connect

Terminal

10 15 20 30 50 75 100 150 200 300 25B 35B 50B 75B 100B

Terminal

R、S、

T

Main Power

Terminal

1.25

(16)

2.0

(14)

3.5

(12)

5.5

(10)

8.0

(8)

22.0

(4)

2.0

(14)

2.0

(14)

3.5

(12)

3.5

(12)

3.5

(12)

U、V、

W

Motor

Terminal

1.25

(16)

2.0

(14)

3.5

(12)

5.5

(10)

8.0

(8)

14.0

(6)

22.0

(4)

2.0

(14)

2.0

(14)

3.5

(12)

3.5

(12)

5.5

(10)

r、s

Power-Control

Terminal

1.25

(16)

0.2

(24)

P、Pc

External

regeneration

resistance

terminal

1.25

(16)

2.0

(14)

3.5

(12)

5.5

(10)

8.0

(8)

22.0

(4)

1.25

(16)

14.0

(6)

FG Ground Over 2.0(14)

Connection Terminal Servo Drives and Wire Specifications

Connection

Terminal

Position

Number Position Name 10 15 20 30 50 75 100 150 200 300

CN1

Joint Control

Signal

26,27

Speed Command /

Limit ; Torque

Command / Limit

(SIC/ TIC)

0.2mm ² or 0.3mm ² -> Twisted-pair-cable connecting to the

Analog Grounding wire (including shield cable) 30,31

Analog Monitor

Output (MON 1 &

MON 2)

33,34 Power Output +15V &

-15V

28,29,32 Analog Ground

Terminal (AG)

1~12 General Analog Input

(DI)

0.2mm ² or 0.3mm ² -> Twisted-pair-cable connecting to the

I/O Grounding wire (including shield cable)

18~25 General Analog

Output (DO)

43 Home Signal Output

(ZO)

47,44

DI PW Command

Point / DO Common

(DICOM / DOCOM)

45,46,

48

24V Power &

I/O Ground (IP24 /

IG24)

49 Absolute Encoder

Power Supply (BAT+)

23

Connection Terminal Servo Drives and Wire Specifications

Connection

Terminal

Position

Number Position Name 10 15 20 30 50 75 100 150 200 300

14~17

Position Command

Input (Pulse、Sing、

/Pulse、/Sing)

35~40

Encoder Signal

Output

(PA、/PA、PB、/PB、

PZ、/PZ)

41,42

24V Open Collector

Sign Input (EXT1、

EXT2)

CN2

Joint of motor

encoder

1,2 PW Output Terminal

5V (+5E)

0.2mm ² or 0.3mm ² -> Twisted-pair-cable (including shield

cable) 3,4 PW Grounding

Terminal (GND)

5~10 Encoder Signal Input

(A、/A、B、/B、Z、/Z)

CN3

CN4

Communication

connector

1,4,5,7 Data transfer & receive 0.2mm ² or 0.3mm ² -> Twisted-pair-cable (including shield

cable) 3 Communication

grounding wire

2,6,8 Floating —

P.S.: 1. Please pay attention to the NFB and the capacity of noise filter when using multi Servo Drives.

2. CN1 ->50 Pins (3M Co.).

3. CN2 -> 20 Pins (3M Co.).

4. CN3/CN4-> 8 Pins Mini-Din type.

24

2-1-4 Motor Terminal Layout

 Table of Motor-Terminal Wiring

(1) General Joint:

Terminal Symbol Color Signal

1 Red U

2 White V

3 Black W

4 Yellow / Green FG

Brake control wire

Fine White 1 0V

Fine White 2 DC +24V

(2) Military Specifications Joint (No Brake):

Terminal Color Signal

A

B

D

C

A Red U

B White V

C Black W

D Green FG

(3) Military Specifications Joint (Brake):

Terminal Color Signal

A

B

D C

E

F

G

B Red U

G White V

E Black W

C Green FG

A Fine White 1 BK

control

wire

0V

F Fine White 2 DC

+24V

P.S.: The military joint with BK of servo motor has 9 Pins; and the encoder joint has also 9 Pins. Please

confirm before wiring.

25

 Table of Motor-Encoder Wiring

 For 15 bits / 17 bits Encoders

(1) General Joint:

Terminal Symbol Color Signal

15bits 17bits 15bits 17bits

1 Red White +5V VCC

2 Black 0V GND

3 Brown -- VB+ --

4 Brown/

Black -- VB- --

5 Blue SD

6 Blue/

Black Purple /SD

7 -- --

8 -- --

9 Shield FG

(2) Military Specifications Joint

Terminal Symbol Color Signal

15bits 17bits 15bits 17bits

B Red White +5V

I Black 0V

A Brown -- VB+ --

C Brown/

Black -- VB- --

H Blue SD

D Blue/

Black Purple /SD

G -- --

E -- --

F Shield FG

26

 For 2500 / 8192 ppr Encoders

(1) General Joint:

Terminal Symbol Color Signal

1 Red +5V

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 Joint

Terminal Symbol Color Signal

B Red +5V

I Black 0V

A Blue A

C Blue / Black /A

H Green B

D Green / Black /B

G Yellow Z

E Yellow / Black /Z

F Shield FG

27

2-1-5 TB Terminal

2-1-6 Wiring for Mechanical Brake

Uninstall BRAKE:

 JSMA-S/L/T series: Use Red wire and yellow wire connecting to DC +24V voltage(No polarity)

 JSMA-M/H series: BK outputs from A & F of Motor Power Joint, servo motor can operate

normally after uninstalling.

Encoder Encoder Brake Brake

Name

Terminal

Sign

Detail

Control circuit power input

terminal

r 200V

 Connecting to external AC Power.

 Single Phase 200~230VAC +10 ~ -15% 50/60Hz ±5% s

24V 400V

 Connecting to external DC Power.

0V  Single Phase 24VDC ±10%.

Main circuit power input

terminal

R 200V

 Connecting to external AC Power.

 Single / 3 Phase 200~230VAC +10 ~ -15% 50/60Hz ±5%

400V

 Connecting to external AC Power.

 Three Phase 380~480VAC ±10% 50/60Hz ±5%

S

T

External regeneration

resistance terminal

P Please refer to Cn012 to see resistance value, when using external

regeneration resistance. After installing regeneration resistance, set the

resistance power in Cn012.

*If no using external regeneration resistance, PC-P1 need be close, P

doesn’t be connected.

*When using external regeneration, equip regeneration resistance

between PC-P, do not connect P1 terminal.

Regeneration terminal

common point

PC

Internal regeneration

resistance terminal

P1

Motor-power output

terminal

U Motor terminal wire is red

V Motor terminal wire is white

W Motor terminal wire is black

Motor-case grounding

terminal

FG Motor terminal wire is green or yellow-green.

28

2-2 I/O Terminal

There are 4 groups of terminal, which control signal terminal (CN1), encoder terminal (CN2) and

communication connector (CN3/CN4). The diagram below displays all positions for the terminal.

1

2

24

25

27

26

50

49

1

2

10

9

19

20

12

11

CN1 Connector (Male)

CN2 Connector (Male)

CN3、CN4

(8 pins Female))

Communication

Connector

8

6 3

5

1

2

29

2-2-1 Output Signals from the Servo pack

(1) Diagram of CN1 Terminal:

1 DI-1

3 DI-3 PI/P Switch

5 DI-5

7 DI-7

9 DI-9

11 DI-11

13

15 /Pulse

17 /Sign

19 DO-2

21 DO-4

23 DO-6

25 DO-8 BASE BLOCK/

2 DI-2

4 DI-4

6 DI-6

8 DI-8

10 DI-10

12 DI-12

14 Pulse

Position Pulse

Command

Input(+)

16 Sign

18 DO-1 Servo Ready

20 DO-3 Zero Speed

22 DO-5

24 DO-7

26 SIC

Speed Control

Speed Command

/Torque Control

Speed Limit

28 AG

Analog Signal

Ground

Terminal

30 MON1 Analog Monitor

Output 1

32 AG Analog Signal

Ground

Terminal

34 -15V -15V PW Output

36 /PA

Encoder

Output / A

Phase

38 /PB

40 /PZ

42

44 DOCOM DO Common

46 IG24

+24V PW

Ground

Terminal

48 IG24

50

27 TIC

Speed Control

Torque Limit

/Torque control

Torque

Command

29 AG Analog Signal

Ground

Terminal

31 MON2 Analog Monitor

Output 2

33 +15V +15V PW

output

35 PA

Encoder

output A

Phase

37 PB

39 PZ

41 EXT1

24V Open

Collector

Pulse command

input

43 ZO

Home

Signal

Output

45 IP24 +24V PW

Output

47 DICOM

DI PW

Command

Point

49 BAT+

Absolute

Encoder

Power Supply

Position Symbol

Command

Input(+)

Position Pulse

Command Input(-)

Position Symbol

Command Input(-)

Encoder

output B

Phase

Encoder

output Z

Phase

Encoder Output /

B Phase

Encoder Output /

Z Phase

+24V PW

Ground

Terminal

EXT2

24V Open

Collector Sign

input

Notes:

1. If there is unused terminal, please do not connect it or let it be the relay terminal.

2. The Shielded Wire of I/O cable should connect to the ground.

30

2-2-2 Encoder Connector (CN2) Terminal Layout

Diagram of CN2 Terminal:

(a) Diagram of Fewer Wiring Type Encoder:

(b) Diagram of 15 bits / 17 bits Encoder:

1 Vcc Power Supply

Output

3 GND Ground

5 --

7

9

2

4

6

8

10

11 VB+ Battery(+)

13 SD Serial Data

output(+)

15

17

19

12 VB- Battery(-)

14 /SD Serial Data

output(-)

16

18

20

Pin

No.

Terminal

Layout Function

Notes: Do not wire to the terminal, which is un-operated.

31

2-2-3 CN3/CN4 Communication Terminal Layout

Diagram of CN3/CN4 terminal：

8 6

5 3

2 1

1 RxD Serial Data Received

2

3 GND Ground

4 TxD Serial Data Transmission

5 Data + Serial Data(+)

Terminal

Layout Function

6

7 Data - Serial Data(-)

8

1

2

3

4

5 Data + Serial Data(+)

Terminal

Layout Function

6

7 Data - Serial Data(-)

8

Notes: Do not wire to the terminal, which is un-operated.

32

2-3 Typical Circuit Wiring Examples

2-3-1 Position Control Mode (Pe Mode) (Line Driver)

U

NFB

1 R1

R1

R1

R1

R1

R1

R1

R1

R1

4

5

9

3

6

12

2

7

IG24 48

TIC

AG

FG

C

N

4

PC

RS232

PC

P1

P Regeneration resistor

V

W

FG Encoder

SERVO

MOTOR

C

N

2

35

36

37

38

39

40

43

44

Z0

DOCOM*2

R4 +VcExternal supply

18

19

20

21

22

23

24

25

DC24V

45

44

LOAD

LOAD

LOAD

LOAD

LOAD

LOAD

LOAD

LOAD

DOCOM*2

30

31

32

MON1

AG

MON2

Analog Monitor Output 1

Analog Signal Grounding

Analog Monitor Output 2

33

34

+15V

- 15V

+15V PW output (AG)

50

Vc=24V, R4=4.7KΩ

SERVO

R2 27

29

20KΩ

Pulse/CW/A Phase (+) 14

15

16

17 R3

R3

330Ω

330Ω

DC 24V

R

S

T

s, 0V

Supply

Filter

R

S

T

FG

47

45

DI-1

DI-4

DI-5

DI-9

DI-3

DI-6

DI-12

DI-2

DI-7

DO-1

DO-2

DO-3

DO-4

DO-5

DO-6

DO-7

DO-8

PA Encoder Output A Phase

/PA

PB

/PB

PZ

/PZ

Servo ON(SON)

CCW Limit ( CCWL)

CW Limit ( CWL)

Emergency stop(EMC)

PI/P Switch(PCNT)

External Torque Limit( TLMT)

Mode control ( MDC)

Alarm clear (ALRS)

Pulse error clear (CLR)

Torque Limit

Analog Signal Grounding

Servo in limit/ Alarm Code 2

Servo Ready

(RDY)

Alam(ALM)

Zero Speed (ZS)

Positioning

Completed(INP)

Limiting Torque/Alarm Code 0

P in Action/Alarm Code 1

Base Block /Alarm Code 3

+24V

ground

Max Voltage 24V

Pulse Max Output Current 10mA

/Pulse

Sign

/Sign

IP24

DICOM

Internal +24V DC

Digital input common

Shielded wire

Grounding

’

Pulse/CW/A Phase (-)

Sign/CCW/B Phase (+)

Sign/CCW/B Phase (-)

Encoder Output /A Phase

Encoder Output B Phase

Encoder Output /B Phase

Encoder Output /Z Phase

Encoder Output Z Phase

Vc=12V, R4=2.4KΩ

Vc=5V, R4=1.0KΩ

Max Output Current 5mA

-15V PW output (AG)

Max Output Current 10mA

r, 24V Control Power

Supply

Notes: 1. Pe mode =External pulse positioning command

2. DOCOM means common port of digital input

(DOCOM must connect to IG24 when using internal power supply)

33

2-3-2 Position Control Mode (Pe Mode) (Open Collector)

Notes: 1. Pe mode =External pulse positioning command

2. DOCOM means common port of digital input

(DOCOM must connect to IG24 when using internal power supply)

34

2-3-3 Position Control Mode (Pi Mode)

U

1 R1

R1

R1

R1

R1

R1

R1

R1

R1

R1

2

8

9

10

15

12

3

4

5

48

DI-2

DI-8

IG24

TIC

AG

FG

C

N

4

PC

RS232

PC

P1

P

V

W

FG

SERVO

MOTOR

C

N

2

35

36

37

38

39

40

43

44

Z0

DOCOM*

R4 +Vc

18

19

20

21

22

23

24

25

DC24V

45

44

LOAD

LOAD

LOAD

LOAD

LOAD

LOAD

LOAD

LOAD

DOCOM*

30

31

32

MON1

AG

MON2

33

34

+15V

- 15V

50

SERVO

R1

6

R2 27

29

20KΩ

NFB

DC 24V

R

S

T

r, 24V

s, 0V

R

S

T

FG

47

45

DI-1

DI-9

DI -10

DI -15

DI-12

DI-3

DI-4

DI- 5

DI- 6

DO-1

DO-2

DO-3

DO-4

DO-5

DO-6

DO-7

DO-8

Position Select 1(POS1)

Position Trigger(PTRG)

Alarm Clear(ALRS)

PA

/PA

PB

/PB

PZ

/PZ

IP24

DICOM

Supply

Filter

Internal +24V DC

Digital input

common

Servo ON (SON)

Position Select 3(POS3)

Emergency stop(EMC)

Position Select 4(POS4)

Position Select 2(POS2)

+24V ground

Torque Limit

Analog Grounding

Shield ground

Encoder

Encoder Output A Phase

Encoder Output /A Phase

Encoder Output B Phase

Encoder Output /B Phase

Encoder Output /Z Phase

Encoder Output Z Phase

Vc=24V, R4=4.7KΩ

Vc=12V, R4=2.4KΩ

Vc=5V, R4=1.0KΩ

Origin Output

*Max Vc:24V

Servo Ready (RDY)

Servo in limit/ Alarm Code 2

Alam(ALM)

HOME (HOME)

Positioning Completed(INP)

Limiting Torque/Alarm Code 0

P in Action/Alarm Code 1

Base Block /Alarm Code 3

Max Voltage: 24V

Max Output Current :10mA

Analog Monitor

Output 1

Analog Grounding

Analog Monitor

Output 2

Max Output Current

5mA

+15V PW output (AG)

-15V PW output (AG)

Max Output Current

10mA

Control Power

Supply

HOME（SHOME）

Home Position Reference（ORG）

Position Hold(PHOLD)

Regeneration

resistor

Notes: 1. Pe mode =External pulse positioning command

2. DOCOM means common port of digital input

(DOCOM must connect to IG24 when using internal power supply)

35

2-3-4 Speed Control Mode (S Mode)

U

1 R1

R1

R1

R1

R1

R1

R1

R1

R1

R1

4

5

9

3

6

7

2

8

10

48

DI-4

DI-5

IG24

TIC

AG

SIC

AG

FG

C

N

4

PC

RS232

PC

P1

P

V

W

FG

SERVO

MOTOR

C

N

2

35

36

37

38

39

40

43

44

Z0

DOCOM*2

R4 +Vc

18

19

20

21

22

23

24

25

DC24V

45

44

LOAD

LOAD

LOAD

LOAD

LOAD

LOAD

LOAD

LOAD

DOCOM*2

30

31

32

MON1

AG

MON2

33

34

+15V

- 15V

50

SERVO

R1

11

R2 26

29

R2 27

29

20KΩ

20KΩ Analog Speed Input (±10V)

NFB

DC 24V

R

S

T

r, 24V

s, 0V

R

S

T

FG

47

45

DI-1

DI-9

DI-3

DI-6

DI- 7

DI-2

DI-8

DI-10

DI-11

DO-1

DO-2

DO-3

DO-4

DO-5

DO-6

DO-7

DO-8

Look ( LOK)

Speed 1 (SP1)

(SP2)

Reverse Control(SPDINV)

(SON)

( CCWL)

( CWL)

(EMC)

(PCNT)

Torque Limit ( TLMT)

Alarm Clear ( ALRS)

PA

/PA

PB

/PB

PZ

/PZ

IP24

DICOM

Supply

Filter

Internal +24V DC

Digital input common

Servo ON

CCW Limit

CW Limit

Emergency stop

PI/P Switch

Speed 2

+24V ground

Torque Limit

Analog Ground

Analog Ground

Shield ground

Regeneration resistor

Encoder

Encoder Output A Phase

Encoder Output /A Phase

Encoder Output B Phase

Encoder Output /B Phase

Encoder Output /Z Phase

Encoder Output Z Phase

External supply

*Max Vc=24V

Vc=24V, R4=4.7KΩ

Vc=12V, R4=2.4KΩ

Vc=5V, R4=1.0KΩ

Servo Ready (RDY)

Alam(ALM)

Zero Speed (ZS)

In Speed (INS)

Limiting Torque/Alarm Code 0

P in Action/Alarm Code 1

Servo in limit/ Alarm Code 2

Base Block /Alarm Code 3

Max Voltage: 24V

Max Output Current :10mA

Analog Monitor Output 1

Analog Grounding

Analog Monitor Output 2

Max Output Voltage 5mA

+15V PW output (AG)

-15V PW output (AG)

Max Output Current 10mA

Control Power Supply

Notes: 1. Pe mode =External pulse positioning command

2. DOCOM means common port of digital input

(DOCOM must connect to IG24 when using internal power supply)

36

2-3-5 Torque Control Mode (T Mode)

Notes: 1. Pe mode =External pulse positioning command

2. DOCOM means common port of digital input

(DOCOM must connect to IG24 when using internal power supply)

37

2-3-6 Turret Mode (Pt Mode)

Notes: 1. DOCOM means common port of digital input

(DOCOM must connect to IG24 when using internal power supply)

38

Chapter 3 Panel Operator / Digital Operator

3-1 Panel Operator on the Drives

 The operator keypad & display contains a 5 digit 7 segment display, 4 control keys and two status

LED displays.

 Power status LED (Green) is lit when the power is applied to the unit.

 Charge LED (Red) Indicate the capacitor‘s charge status of main circuit. Power on to light up

Charge LED and gradual dark when internal power capacitors are discharged complete.

 Do NOT wire or assemble to the servo drive before Charge LED is off.

Key Name Function Keys Description

MODE/SET

1. To select a basic mode, such as the status display mode, utility

function mode, parameter setting mode, or monitor mode.

2. Returning back to parameter selection from data-setting screen.

INCREMENT 1. Parameter Selection.

2. To increase the set value.

DECREMENT 3. Press and at the same time to clear ALARM.

DATA SETTING

&

DATA ENTER

1. To confirm data and parameter item.

2. To shift to the next digit on the left.

3. To enter the data setting (press 2 sec.)

39

3-2 Trial Operation

 Before proceeding with trial run, please ensure that all the wiring is correct.

 Trial run description below covers the operation from keypad and also from an external controller such

as a PLC. Trial run with external controller speed control loop (analog voltage command) and position

control loop (external pulse command).

(1) No-load servo motor. Trial run (Reference:4-1)

A. Servo Drive wiring and motor installation B. Purpose of trial run

Confirm if the items below are correct:

．Drives power cable wiring

．Servo Motor wiring

．Encoder wiring

．Setting servo motor rotation direction and speed

(2) No-load servo motor with a host controller. Trial run (Reference:4-2)

A. Servo drive wiring and motor installation B. Purpose of trial run

Confirm if the items below are correct:

．Control signal wiring between host controller and servo

drive.

． Servo motor rotation direction, speed and rotating

number.

．Brake function, operation limit function and protection

function.

(3) Servo motor connected to load and controlled by a host controller. Trial run (Reference:4-3)

A. Servo drive wiring and motor installation B. Purpose of trial run

Confirm if the items below are correct:

．Servo motor rotation direction, speed and mechanical

operation range.

．Set related control parameters.

40

3-3 OFF-LINE Auto tuning

OFF-Line Auto tuning could automatic measuring the load characteristics and adjusts the appropriate

control gain in a fixed-action stroke. Gain adjustment method based on the vibration detection, and the rigid

table as a basis for the adjustment. In order to find the system gain limit, the machine would increase the

gain until the system start to vibration, and then reduced the gain to be stable.

OFF-Line automatic gain adjustment limitation:

(1) The turns need to more than 3 runs.

(2) the torque need to higher than the rated torque

(3) The inertia ratio and the external force could not change too intense.

(4) The function of tuning only can use in position mode(cn01 = 2)

The parameters of automatic gain adjustment for OFF-LINE Tuning

Parameter Name Default Unit Setting

Range

Control

Mode

Cn059

AutoTuning function choice

0 __ 0 ~ 3 Pe

Pi

Setting Explanation

0 Disable AutoTuning

1 Enable OFFLine-AutoTuning

Cn060

The turns command of

OFFLine-tuning 3 rev 0 ~

1024

Pe

EX：When you set10 means the tuning Pi

command would finished in 10 turns.

Cn061

The Maximum speed OFFLine-tuning

Rated

speed

x2/3

rpm

1/3~ 2/3

x Rated

speed

Pe

Pi The Maximum speed OFFLine-tuning

Cn062

OFFLine-tuning operation overtravel

distance protection settings

50 0.01rev 50 ~

300 ALL When Cn60 is 3 and Cn62 is 50 means

the distance protection is 3.5 runs

(Cn60+Cn62*0.01). When over 3.5 runs

it would stop in emergency.

Un45 Inertia Estimation for

OnLine_AutoTuning ─ X0.1 ─ ─

Un46 Status for OFFLine_Tuning ─ ─ ─ ─

Un47 The error code for OFFLine_Tuning ─ ─ ─ ─

41

OFF-Line adjustment will change the parameters as follows:

Parameter Name Defa

ult Unit Setting

Range

Control

Mode

Communication

Adress

RS232 RS485

Cn025

Load-Inertia ratio

10 x0.1

0

│

1000

Pi

Pe

S

5FBH 0019H 100%

MotorRotorInertia(JM )

) L (J   LoadInertiaToMotor

LoadInertiaRatio

Sn211

Speed loop Gain 1

40 Hz

10

│

1500

Pi

Pe

S

530H 020BH

Speed loop gain has a direct effect on the frequency

response bandwidth of the Speed-control loop.

Without causing vibration or noise Speed-loop-gain

can be increased to obtain a faster speed response.

If Cn025 (load Inertia ratio) is set correctly, the

speed-loop-bandwidth will equal to speed-loop-gain.

Sn212

Speed-loop Integral time 1

100 x0.2

ms

1

│

5000

Pi

Pe

S

531H 020CH

Speed loop integral element can eliminate the steady

speed error

and react to even slight speed variations.

Decreasing Integral time can improve system rigidity.

The formula below shows the relationship between

Integral time and Speed loop Gain.

SpeedLoopGain SpeedLoopIntegrationTimeCons t   

2

1

tan 5

Pn310

Position Loop Gain 1

40 1/s

1

│

1000

Pi

Pe 55AH 030AH

Without causing vibration or noise on the mechanical

system the position loop gain value can be

increased to speed up response and shorten the

positioning time.

Generally, the position loop bandwidth should not be

higher then speed loop bandwidth. The relationship

is according to the formula below:

5

2 SpeedLoopGain PositionLoopGain   

42

Start

Set AutoTuning function choice (Cn59=1)

Servo On

Normal

Work?

Display AL-09

The turns command of OFFLine-tuning (Cn60)

The Maximum speed OFFLine-tuning (Cn61)

OFFLine-tuning operation overtravel distance protection settings (Cn62)

The parameters:

1. Load-Inertia ratio (Cn025)

2. Speed loop Gain 1（Sn211）

3. Speed-loop Integral time 1（Sn212）

4. Position Loop Gain 1 (Pn310)

Run

STOP

Servo OFF

Disabe AutoTuning function choice

Record the parameters

End

Deal problems by

abnormal action Table

No

Gain Adjusting by Hand No

No

End

43

OFF-Line Autotuning abnormal action Table

There are three reasons could cause AL09, including lack of runway, the system clock or long

setting time. You could check by Un-47, and the description as follow.

OFF-Line Autotuning abnormal action Table

OFF-Line Auto-tuning Status Display

OFF-Line Auto-tuning has three steps, including inertia estimation, gain adjustment and the adjustment

completion. Users can use the parameters currently observed Un46 to know the condition of auto-tuning.

Error

code Reason Solution

0101 lack of runway 1. Confirm if there is CW/CCW drive direction inhibit be triggered.

2. Increase parameter Cn064

0201 System Oscillation 1. Mechanical properties analyze Characteristic frequency

2. Decrease parameter Cn026

0301

long setting time

The difference of

inertia ratio between

preset value and the

actual value

1. Increase parameter Cn025

0102 lack of runway 1. Confirm if there is CW/CCW drive direction inhibit be triggered.

2. Increase parameter Cn064

0302 long setting time 1. Mechanical properties analyze Characteristic frequency

2. Decrease parameter Cn026

Un46 description

1 inertia estimation

2 gain adjustment

3 adjustment completation

44

Rigidity Table:

Rigidity

Setting

Cn026

Position Loop

Gain

Pn310 [1/s]

Speed Loop

Gain

Sn211 [Hz]

Speed-loop Integral

time constant 1

Sn212 [x0.2msec]

Mechanical

Rigidity Application

1 2 2 1400 Low

Middle

High

Machines driven by

timing Belt, Chain or

Gear: Large Moving

Table, Conveyor Belt.

The machines driven by

Ballscrew through

decelerator: Ordinary

machines, Mechanics

arms, robot arms,

conveyor.

The machines driven by

Ballscrew: High

precision Machines,

Metal engraving

Machine, Insertion

Machine and IC

inspection Machine.

2 3 3 950

3 6 6 450

4 9 9 300

5 12 12 300

6 15 15 300

7 20 20 225

8 30 30 150

9 40 40 100

10 50 50 60

11 60 60 75

12 70 70 50

13 85 85 50

14 100 100 40

15 120 120 40

16 140 140 30

17 160 160 30

18 180 180 25

19 200 200 25

20 225 225 20

21 250 250 20

45

Chapter 4 Parameter

4-1 Explanation of Parameter groups

There are 10 groups of parameters as listed below.

4-2 Parameter Display Table

Diagnosis Parameter

Parameter Name & Function

Communication

Address

RS232 RS485

dn-01 Selected control mode N/A N/A

dn-02 Output terminal signal status. 6AFH N/A

dn-03 Input terminal signal status. 6CBH N/A

dn-04 Software version C42H N/A

dn-05 JOG mode operation N/A N/A

dn-06 Reserved. C43H N/A

dn-07 Auto offset adjustment of external ana

command voltage. 5FCH N/A

dn-08 Servo model code. 50CH N/A

dn-09 ASIC software version display 98CH N/A

dn-10 Absolute Encoder Rotation Value Reset 524H N/A

dn-10.1 Absolute Encoder Battery Alarm (AL-16)

clear 524H N/A

dn-11 Automatic alignment function 6FAH N/A

Alarm

Code Description

Un-xx Status Display Parameters.

dn-xx Diagnostics Parameters.

AL-xx Alarm Parameters

Cn-xx System Parameters

Tn1xx Torque Control Parameters

Sn2xx Speed Control Parameters

Pn3xx Position Control Parameters

Pn4xx Point to Point Control Parameter

qn5xx Quick Set-up Parameters

Hn6xx Multi-function I/O parameters

Control Mode Code

Signal Control Mode

ALL All Control Mode

Pi Position Control Mode(Internal Positional Command )

Pe Position Control Mode(External Puls Command)

Pt Tool Turret Control Mode

S Speed Control Mode

T Torque Control Mode

Definition of Symbols

Symbol Explanation

★ Parameter becomes effective after recycling the power.

● Parameter is not effected by Cn029.

◆ Parameter is Effective without pressing the Enter key.