TECO JSDEP Series User Manual

5-66
5-6-4 Brake Mode
z Brake function for servo motor and the external mechanical brake if it is used can be set
according to the table below. Set the brake mode as required for Servo off, Emergency
Stop and CCW/CW rotation inhibit functions.
Parameter Name Setting Description
Control
Mode
Dynamic Brake Mechanical Brake
0 Disable Disable
1 Disable Enable
2
Reserved
Cn008
Brake
Modes
3
Reserved
ALL
Note!
When the CCW/CW Drive Inhibit occur, the Cn009 has the higher priority than Cn008.
Example:
If Cn008 is set to 0 or 1 which means (no Dynamic Brake).
BUT Cn009= 1 (with Dynamic Brake), then the dynamic brake will be effective( enabled).
5-6-5 Timing Diagram of Mechanical Brake
z In applications with vertical loading, if the power is turned off, to prevent the load from
falling due to gravity, a servo motor with electro-mechanical brake can be used.
z This servo drive provides a brake output (BI) which can be used for controlling the
external brake.
z Timing of brake output signal can be set by parameter Cn003 (Output Time for
electro-mechanical Brake).
Typical Circuit Diagram

TECO JSDEP Series Specifications

General

Brand	TECO
Model	JSDEP Series
Category	Servo Drives
Language	English

Summary

Safety and Precautions

Warning and Caution Statements

Important warnings and cautions for safe operation of the servo drive and motor.

Safety Procedures and Guidelines

General safety procedures and guidelines for handling and operating the equipment.

Chapter 1: Checking and Installing

1-1 Product Verification

Verifying servo driver and motor models, checking for damage, and confirming components.

1-4 Drive Installation Conditions

Specifies environmental and physical requirements for installing servo drives.

1-5 Servomotor Installation Conditions

Specifies environmental and physical requirements for installing servo motors.

Chapter 2: Wiring

2-1 Basic Wiring for Servo System

Fundamental wiring principles and diagrams for connecting the servo system components.

2-2 I/O Terminal Connections

Details on the input/output terminals and their functions for signal communication.

2-3 Typical Circuit Wiring Examples

Illustrative wiring configurations for various control modes like position, speed, and torque.

Chapter 3: Panel Operator / Digital Operator

3-1 Panel Operator Overview

Description of the drive's operator panel, including display, buttons, and LEDs.

3-2 Signal Display and Diagnostics

How to interpret drive status signals and utilize diagnostic functions.

Chapter 5: Control Functions

5-1 Control Mode Selection

How to select and configure the servo drive's operational control modes.

Chapter 1: Checking and Installing

1-1 Product Verification Steps

Procedures for checking the servo pack and its components before initial use.

Chapter 2: Wiring

2-1 Basic Wiring for Servo System

Fundamental wiring principles and diagrams for connecting the servo system components.

Chapter 2: Wiring

2-2 I/O Terminal Overview

Overview of the I/O terminals, including control signal, encoder, and communication connectors.

Chapter 2: Wiring

Digital Input Function Details

Detailed explanation of digital input functions, modes, and I/O operations.

Chapter 2: Wiring

2-3 Typical Circuit Wiring Examples

Illustrative wiring configurations for various control modes like position, speed, and torque.

Chapter 3: Panel Operator / Digital Operator

3-1 Panel Operator Overview

Description of the drive's operator panel, including display, buttons, and LEDs.

Chapter 3: Panel Operator / Digital Operator

Alarm Reset Procedures

Procedures for resetting alarms using the keypad or by power cycling.

Chapter 3: Panel Operator / Digital Operator

3-2-1 Status Display Parameters

List and explanation of parameters for displaying drive and motor status.

Chapter 3: Panel Operator / Digital Operator

3-2-2 Diagnostic Functionality

Explanation of available diagnostic parameters, focusing on control mode display.

Chapter 3: Panel Operator / Digital Operator

dn-07 Auto Offset Adjustment

Procedure to auto-adjust the analog input zero offset for torque or speed commands.

Chapter 4: Trial Operation

Trial Run Scenarios

Procedures for trial runs with no-load motor, host controller, and connected load.

Chapter 4: Trial Operation

4-1 No-Load Motor Trial Run

Steps to ensure drive wiring is correct and perform a trial run of the servo motor without load.

Chapter 4: Trial Operation

Parameter Setting for Rotation Limits

Guide to setting parameter Cn002.1 for CCWL & CWL rotation limit selection.

Keypad Trial Run (JOG)

How to use the JOG function for checking motor speed and rotation direction.

Chapter 5: Control Functions

5-1 Control Mode Selection

How to select and configure the servo drive's operational control modes.

Chapter 5: Control Functions

5-2 Torque Mode Operation

Detailed explanation and parameters for controlling the servo motor using torque mode.

Chapter 5: Control Functions

5-3 Speed Mode Overview

Overview of speed mode, its system components, and control stages.

Chapter 5: Control Functions

5-3-1 Speed Command Selection

Methods for selecting speed commands using external analog or internal preset values.

Chapter 5: Control Functions

5-3-6 Speed Command Smoothing

Methods for eliminating speed overshoot and motor vibration using acceleration/deceleration.

Chapter 5: Control Functions

5-3-8 Speed Loop Gain Adjustment

Explanation of speed loop gain and integral functions for controlling response time.

Chapter 5: Control Functions

5-3-9 Notch Filter Function

Function and application of the Notch filter for suppressing mechanical system resonance.

Chapter 5: Control Functions

5-3-11 Gain Switching Features

Features for PI/P control mode selection and automatic gain switching.

Chapter 5: Control Functions

5-4 Position Mode Overview

Overview of position mode, its control methods, and preset commands.

Chapter 5: Control Functions

5-4-2 Internal Position Command Setup

How to set and activate 16 preset position commands using internal parameters and input contacts.

Chapter 5: Control Functions

5-4-3 Electronic Gear Ratio

How to use electronic gear ratio to scale command output pulses for mechanical requirements.

Chapter 5: Control Functions

5-4-5 Definition of Direction

How to define motor rotation direction in position mode using Pn314.

5-4-6 Gain Adjustment

Parameters for adjusting the position loop, including gain and feed-forward gain.

Chapter 5: Control Functions

5-4-7 Pulse Offset Clearing

Modes for clearing pulse errors and their corresponding functions when CLR input is activated.

Chapter 5: Control Functions

5-4-8 Home Routine Setup

Routine for finding and setting a reference point for correct positioning using various inputs.

Chapter 5: Control Functions

5-4-9 Other Position Functions

Functions related to position complete value and position error alarms.

Chapter 5: Control Functions

5-5 Gain Adjustment Overview

Explanation of control loops and gain adjustment parameters for speed and position.

Chapter 5: Control Functions

5-5-1 Automatic Tuning Process

Utilizing ON-LINE Auto tuning to measure load inertia and adjust gain automatically.

Chapter 5: Control Functions

5-5-2 Manual Gain Adjustment

Procedures for manual gain adjustment in speed and position control modes.

Chapter 5: Control Functions

5-6-1 Programmable I/O Functions

Overview of programmable digital inputs (DI) and their functions.

Chapter 5: Control Functions

DO-1 Functions and Active Level

List of functions and active level settings for digital output DO-1.

Chapter 5: Control Functions

5-6-2 Control Mode Switching

How to switch control modes using programmable input terminals like MDC.

Chapter 5: Control Functions

5-6-4 Brake Mode Configuration

Settings for brake functions (dynamic and mechanical) for servo off, emergency stop, and inhibit.

Chapter 5: Control Functions

5-6-7 External Regeneration Resistor Selection

Guidelines for selecting external regeneration resistors and their specifications.

Chapter 5: Control Functions

5-6-9 Low Voltage Protection Auto-Reset

Settings for the auto-reset behavior of low voltage protection alarms.

5-6-10 Factory Setting Parameter

How to reset all parameters to their default factory values.

Chapter 6: Parameter Overview

6-1 Explanation of Parameter Groups

Overview of the 10 parameter groups and their corresponding symbols.

Chapter 6: Parameter

System Parameters: Control Mode Selection

Detailed table of system parameters, including control mode selection.

Chapter 6: Parameter

PI/P Control Mode Switching

Parameters for switching between PI and P control modes based on various conditions.

Chapter 6: Parameter

Rigidity Setting

How to set rigidity level based on gain settings for different applications.

Servo Motor Model Code Parameters

Information on displaying and checking servo motor model compatibility.

Chapter 6: Parameter

Torque-Control Parameters

Parameters related to torque control, including acceleration, deceleration, and limits.

Chapter 6: Parameter

Speed-Control Parameters: Internal Speed Command

Selecting internal speed commands using input contacts SPD1 and SPD2.

Chapter 6: Parameter

Speed Loop Gain and Integral Time

Effect of speed loop gain and integral time on response and rigidity.

Chapter 6: Parameter

Position Pulse Command Selection

Selecting the type of external position pulse command signal.

Electronic Gear Ratio Numerator Settings

Selecting the electronic gear ratio numerator using input contacts GN1 and GN2.

Chapter 6: Parameter

Position Complete Value and Error Band

Setting position complete value and error band limits for position error alarms.

Chapter 6: Parameter

Position Command Smoothing and Direction

Setting time constant for smoothing position commands and defining rotation direction.

Chapter 6: Parameter

Encoder Feedback and Home Routine Settings

Selecting encoder feedback phase and setting home routine parameters.

Chapter 6: Parameter

Stopping Mode and S-Curve Time Constant

Setting stopping modes after home detection and S-curve time constants for position commands.

Quick Set-up Parameters

Speed Loop Gain and Integral Time Settings

Gain and integral time settings for speed control loops.

Chapter 6: Parameter

DI-1 Function and Active Level

List of functions and active level settings for digital input DI-1.

Display Parameter

Motor Status Displays

Parameters for displaying actual motor speed, torque, and regenerative load rate.

Diagnosis Parameter

Diagnosis Parameter Descriptions

List of diagnosis parameters including control mode, software version, and JOG operation.

Chapter 7: Communications function

7-1 RS-232 Communication Wiring

Wiring diagrams and pin assignments for RS-232 communication.

Chapter 7: Communications function

RS-232/RS-485 Communication Parameters

Table of communication parameters for RS-232 and RS-485, including baud rates and protocol selection.

Chapter 7: Communications function

7-1-2 RS-232 Protocol and Format

Explanation of the RS-232 communication protocol and data formats for reading and writing.

Chapter 7: Communications function

7-1-3 Modbus Communication Protocol for RS-485

Explanation of Modbus protocol for RS-485, including coding methods (ASCII/RTU).

Chapter 7: Communications function

03H: Read Register Contents

Format and example for reading register contents via ASCII and RTU modes.

Chapter 7: Communications function

08H: Diagnostic Function

How to use the diagnostic function to check communication signals between Master and Slave.

Chapter 7: Communications function

LRC and CRC Check Methods

Explanation of LRC and CRC check methods used in ASCII and RTU modes.

Chapter 8: Troubleshooting

8-1 Alarm Functions Overview

How alarm codes are displayed and how to identify causes and reset alarms.

Chapter 8: Troubleshooting

8-2 Alarm and Warning Troubleshooting

Table detailing alarm codes, corrective actions, reset methods, and digital output status.

Chapter 8: Troubleshooting

Alarm Reset Procedures

Suggestions for resetting alarms using input signals, keypad, or power cycling.

Chapter 9: Specifications

Servo Drive Specifications and Dimensions

Table of specifications and dimensional data for JSDEP servo drives.

9-2 Servomotor Specifications

Servo Motor Type Number Description

Explanation of the naming convention and components of the JSMA servo motor type number.

Appendix A: Peripheral for Servo motors

Power Connectors

Part numbers and descriptions for various power connectors used with servo motors.

Appendix A: Peripheral for Servo motors

Encoder and Battery Connectors

Part numbers and descriptions for encoder and battery module connectors.

Appendix A: Peripheral for Servo motors

I/O and Communication Cables

Part numbers and descriptions for I/O signal connectors and communication cables.