TECO JSDAP Series Bedienungsanleitung
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”&”Alert”.
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 Checking Products…………………………………………………………………………….. 1-1
1-1-1 Confirming with Servo Drives…………………………………………………………. 1-1
1-1-2 Confirming with Servo motors…….………………………………………………….. 1-2
1-1-3 Servo motor Model Code display……………………….……………………………. 1-3
1-2 Surface and Panel Board……………………………………………………………………... 1-11
1-3 A Brief Introduction of Operation for Drives……………………………………………… 1-13
1-4 Conditions for Installation of Drives………………………………………………………... 1-14
1-4-1 Environmental Conditions…………………………………………………………….. 1-14
1-4-2 Direction and Distance…………………………………………………………………. 1-15
1-5 Conditions for Installation of Servomotors……………………………………………….. 1-16
1-5-1 Environmental Conditions…………………………………………………………….. 1-16
1-5-2 Method of Installation…………………………………………………………………... 1-16
1-5-3 Notice for install motor…………………………………………………………………. 1-17
Chapter 2 Wiring
2-1 Basic Wiring for Servo System……………………………………………………………… 2-1
2-1-1 Wiring for Main Circuit and Peripheral Devices……………………………………. 2-1
2-1-2 Wiring for Servo Drives………………………………………………………………… 2-3
2-1-3 Specifications of Wiring………………………………………………………………... 2-4
2-1-4 Motor Terminal Layout…………………………………………………………………. 2-6
2-1-5 TB Terminal………………………………………………………………………………. 2-9
2-1-6 Wiring for Mechanical Brake…………………………………………………………... 2-10
2-1-7 MCCB/Fuse/Noise Filter Specification………………………………………………. 2-10
2-2 I/O Terminal……………………………………………………………………………………... 2-11
2-2-1 Output Signals from the Servo pack…………………………………………………. 2-12
2-2-2 Encoder Connector (CN2) Terminal Layout………………………………………… 2-24
2-2-3 CN3/CN4 Communication Terminal Layout………………………………………… 2-26
2-3 Typical Circuit Wiring Examples……………………………………………………………. 2-27
2-3-1 Position Control Mode (Pe Mode) (Line Driver)……………………………………. 2-27
2-3-2 Position Control Mode (Pe Mode) (Open Collector)……………………………… 2-28
2-3-3 Position Control Mode (Pi Mode) ........................................................................ 2-29
2-3-4 Speed Control Mode (S Mode)………………………………………………………… 2-30
2-3-5 Torque Control Mode (T Mode).............................................................................. 2-31
2-3-6 Turret Mode (Pt Mode)………………………………………………………………….. 2-32
Chapter 3 Panel Operator / Digital Operator
3-1 Panel Operator on the Drives………………………………………………………………… 3-1
3-2 Signal Display…………………………………………………………………………………... 3-8
3-2-1 Status Display……………………………………………………………………………. 3-8
3-2-2 Diagnostic function……………………………………………………………………... 3-10
iv
Chapter 4 Trial Operation
4-1 Trial Operation for Servomotor without Load…………………………………………….. 4-2
4-2 Trial Operation for Servomotor without Load from Host Reference………………….. 4-5
4-3 Trial Operation with the Servomotor Connected to the Machine……………………… 4-9
Chapter 5 Control Functions
5-1 Control Mode Selection………………………………………………………………………. 5-1
5-2 Torque Mode……………………………………………………………………………………. 5-2
5-2-1 Analog Torque command Ratio………………………………………………………. 5-2
5-2-2 Analog Speed Limit Proportion……………………………………………………….. 5-3
5-2-3 Adjusting the Analog Torque Command Offset…………………………………… 5-3
5-2-4 Torque Command Linear Acceleration and Deceleration………………………... 5-4
5-2-5 Definition of Torque Direction………………………………………………………… 5-5
5-2-6 Internal Torque Limit……………………………………………………………………. 5-6
5-2-7 Limiting Servomotor Speed during Torque Control………………………………. 5-6
5-2-8 Additional Torque Control Functions………………………………………………... 5-7
5-3 Speed Mode…………………………………………………………………………………….. 5-8
5-3-1 Selection for Speed Command……………………………………………………….. 5-9
5-3-2 Analog Speed Command Ratio……………………………………………………….. 5-10
5-3-3 Adjusting the Analog Reference Offset……………………………………………… 5-10
5-3-4 Analog Reference for Speed Command Limit……………………………………… 5-11
5-3-5 Encoder Signal Output…………………………………………………………………. 5-11
5-3-6 Smoothing the Speed Command……………………………………………………... 5-13
5-3-7 Setting Rotation Direction……………………………………………………………... 5-16
5-3-8 Speed Loop Gain………………………………………………………………………… 5-17
5-3-9 Notch Filter……………………………………………………………………………….. 5-18
5-3-10 Torque Limit of Speed Control Mode………………………………………………. 5-19
5-3-11 Gain Switched………………………………………………………………………….. 5-20
5-3-12 Other Functions………………………………………………………………………... 5-27
5-4 Position Mode…………………………………………………………………………………... 5-29
5-4-1 External Pulse Command……………………………………………………………… 5-30
5-4-2 Internal Position Command…………………………………………………………… 5-32
5-4-3 Electronic Gear………………………………………………………………………….. 5-36
5-4-4 Smoothing Acceleration……………………………………………………………….. 5-40
5-4-5 Definition of Direction………………………………………………………………….. 5-43
5-4-6 Gain Adjustment………………………………………………………………………… 5-43
5-4-7 Clear the Pulse Offset………………………………………………………………….. 5-44
5-4-8 Homing Function………………………………………………………………………… 5-45
5-4-9 Other Position Function………………………………………………………………... 5-54
5-5 Gain Adjustment……………………………………………………………………………….. 5-55
5-5-1 Automatic Gain Adjustment…………………………………………………………… 5-58
5-5-2 Manual Gain Adjustment………………………………………………………………. 5-61
5-5-3 Improving Resonance………………………………………………………………….. 5-62
5-6 Other Functions………………………………………………………………………………... 5-63
v
5-6-1 Programmable I/O Functions…………………………………………………………. 5-63
5-6-2 Switch for the Control Mode…………………………………………………………… 5-66
5-6-3 Auxiliary Functions……………………………………………………………………... 5-66
5-6-4 Brake Mode……………………………………………………………………………….. 5-67
5-6-5 Timing Diagram of Mechanical Brake………………………………………………... 5-67
5-6-6 CW/CCW Drive Inhibit Function………………………………………………………. 5-69
5-6-7 Selecting for External Regeneration Resistor……………………………………… 5-70
5-6-8 Fan Setting……………………………………………………………………………….. 5-74
5-6-9 Low Voltage Protection Auto-reset…………………………………………………... 5-74
5-6-10 Absolute Encoder Battery Fault…………………………………………………….. 5-74
5-6-11 Analog Monitor…………………………………………………………………………. 5-75
5-6-12 Factory Setting Parameter…………………………………………………………… 5-76
5-7 Tool Turret Modes……………………………………………………………………………... 5-77
5-7-1 Parameter Setting……………………………………………………………………….. 5-77
5-7-2 Rigidity Setting…………………………………………………………………………... 5-79
5-7-3 Tool Turret Mode Setting Flow Chart………………………………………………… 5-80
5-7-4 Timing Diagram of Tool Turret Homing……………………………………………… 5-81
5-7-5 Timing Diagram of Auto-selection Mode……………………………………………. 5-82
5-7-6 Timing Diagram of JOG Mode………………………………………………………… 5-83
Chapter 6 Parameters
6-1 Explanation of Parameter Groups………………………………………………………….. 6-1
6-2 Parameter Display Table……………………………………………………………………… 6-2
Chapter 7 Communications Function
7-1 Communications Function (RS232 & RS485)…………………………………………….. 7-1
7-1-1 Communication Wiring…………………………………………………………………. 7-1
7-1-2 RS232 Communication Protocol and Format………………………………………. 7-5
7-1-3 Modbus Communication Protocol for RS485………………………………………. 7-7
Chapter 8 Troubleshooting
8-1 Alarm Functions……………………………………………………………………………….. 8-1
8-2 Troubleshooting of Alarm and Warning…………………………………………………… 8-3
8-3 Alarm Status Description…………………………………………………………………….. 8-6
Chapter 9 Specifications
9-1 Specifications and Dimension for Servo Drives………………………………………….. 9-1
9-2 Specifications and Dimension for Servomotors…………………………………………. 9-6
Appendix A Accessories……………………………………………………............................... A-1
Appendix B Battery Module………………………………………………………………………. B-1
1-1
Chapter 1 Checking and Installing
1-1 Checking Products
Our Servo Pack have 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
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
AC Input Voltage
A: AC 220V Single/Three phase
A1: AC 220V Single phase
A3:AC 200V Three phase
B: AC 400V Three phase
1-2
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 : Super low
L : Low
M : Middle
H : Middle
Rated Speed:
A: 1000 rpm
B: 2000 rpm
C: 3000 rpm
H: 1500 rpm
Encoder:
B : 2500 ppr
H : 8192 ppr
7 : 17 bit
5 : 15 bit (absolute)
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)
1-3
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 Class
dn-08 Display Motor Standards
Cn030 Setting
Drive Model
JSDAP Motor Model
Watt(KW) Speed(rpm)
Encoder
Specification
H1011 JSMA-(P)SCP5AB 2500
H1015 JSMA-PSCP5A5 15 bit(ABS)
H1017 JSMA-PSCP5A7
0.05 3000
17 bit
H1021 JSMA- (P)SC01AB 2500
H1025 JSMA-PSC01A5 15 bit(ABS)
H1027
10A(1)
JSMA-PSC01A7
0.1 3000
17 bit
H1101 JSMA-PSC02AB 2500
H1102 JSMA-PSC02AH 8192
H1105 JSMA-PSC02A5 15 bit(ABS)
H1107 JSMA-PSC02A7
0.2 3000
17 bit
H1111 JSMA- (P)SC01AB 2500
H1115 JSMA-PSC01A5 15 bit(ABS)
H1117 JSMA-PSC01A7
0.1 3000
17 bit
H1121 JSMA-PLC03AB 2500
H1122 JSMA-PLC03AH 8192
H1125 JSMA-PLC03A5 15 bit(ABS)
H1127 JSMA-PLC03A7
0.3 3000
17 bit
H1141 JSMA-SC04AB 2500
H1142 JSMA-SC04AH 8192
H1145
15A(1)
JSMA-SC04A5
0.4
(Rated 3.5A) 3000
15 bit(ABS)
1-4
dn-08 Display Motor Standards
Cn030 Setting
Drive Model
JSDAP Motor Model
Watt(KW) Speed(rpm)
Encoder
Specification
H1147 JSMA-SC04A7 0.4
(Rated 3.5A) 17 bit
H1151 JSMA- (P)SC04AB 2500
H1152 JSMA- (P)SC04AH 8192
H1155 JSMA-PSC04A5 15 bit(ABS)
H1157
15A(1)
JSMA-PSC04A7
0.4
(Rated 3.5A)
3000
17 bit
H1211 JSMA-PLC08AB 2500
H1212 JSMA-PLC08AH 8192
H1215 JSMA-PLC08A5 15 bit(ABS)
H1217 JSMA-PLC08A7
0.75
17 bit
H1221 JSMA-SC04AB 2500
H1222 JSMA-SC04AH 8192
H1225 JSMA-SC04A5 15 bit(ABS)
H1227 JSMA-SC04A7
0.4
(Rated 3.5A)
17 bit
H1231 JSMA- (P)SC08AB 2500
H1232 JSMA-PSC08AH 8192
H1235 JSMA-PSC08A5 15 bit(ABS)
H1237 JSMA-PSC08A7
0.75
3000
17 bit
H1241 JSMA-PMA05AB 1000 2500
H1252 JSMA-PMH05AH 8192
H1255 JSMA-PMH05A5 15 bit(ABS)
H1257 JSMA-PMH05A7
0.55
1500
17 bit
H1261 JSMA- (P)SC04AB 2500
H1262
20A
JSMA- (P)SC04AH
0.4
(Rated 3.5A) 3000
8192
Andere Handbücher für JSDAP Series
1
Dieses Handbuch passt für folgende Modelle
14
Inhaltsverzeichnis
Andere TECO Servoantrieb Handbücher
Beliebte Servoantrieb Handbücher anderer Marken
Mitsubishi Electric
Mitsubishi Electric MELSERVO-J5 MR-J5-G Series Bedienungsanleitung
Robotis
Robotis XH430-W350-T Bedienungsanleitung
NTI AG
NTI AG LinMot C1250 Series Bedienungsanleitung
Welcon
Welcon WE2A D048 Series Bedienungsanleitung
Parallax
Parallax 900-00005 Bedienungsanleitung
Festo
Festo TP 1410 Bedienungsanleitung
