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TECO JSDAP Series User Manual
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2-7
T
able of Motor-Encoder Wiring
For 15 bits
/ 17 bit
s Encoders
(1) General Joint:
Color
Signal
T
erminal Symbol
15bit
s
17bit
s
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 S
pecifications Joint
Color
Signal
T
erminal Symbol
15bit
s
17bit
s
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
29
31
Table of Contents
Default Chapter
4
Table of Contents
4
Chapter 1 Checking and Installing
7
Checking Products
7
Confirming with Servo Drives
7
Confirming with Servo Motors
8
Servo Motor Model Code Display
9
Surface and Panel Board
17
A Brief Introduction of Operation for Drives
19
Conditions for Installation of Drives
20
Environmental Conditions
20
Direction and Distance
21
Conditions for Installation of Servomotors
22
Environmental Conditions
22
Method of Installation
22
Notice for Install Motor
23
Chapter 2 Wiring
24
Basic Wiring for Servo System
24
Wiring for Main Circuit and Peripheral Devices
24
Wiring for Servo Drives
26
Specifications of Wiring
27
Motor Terminal Layout
29
TB Terminal
32
Wiring for Mechanical Brake
33
I/O Terminal
34
Output Signals from the Servo Pack
35
Encoder Connector (CN2) Terminal Layout
47
CN3/CN4 Communication Terminal Layout
49
Typical Circuit Wiring Examples
50
Position Control Mode (Pe Mode) (Line Driver)
50
Position Control Mode (Pe Mode) (Open Collector)
51
Position Control Mode (Pi Mode)
52
Speed Control Mode (S Mode)
53
Torque Control Mode (T Mode)
54
Turret Mode (Pt Mode)
55
Chapter 3 Panel Operator / Digital Operator
56
Panel Operator on the Drives
56
Signal Display
63
Status Display
63
Diagnostic Function
65
Chapter 4 Trial Operation
78
Trial Operation for Servomotor Without Load
79
Trial Operation for Servomotor Without Load from Host Reference
82
Trial Operation with the Servomotor Connected to the Machine
86
Chapter 5 Control Functions
87
Control Mode Selection
87
Torque Mode
88
Analog Torque Command Ratio
88
Analog Speed Limit Proportion
89
Adjusting the Analog Torque Command Offset
89
Torque Command Linear Acceleration and Deceleration
90
Definition of Torque Direction
91
Internal Torque Limit
92
Limiting Servomotor Speed During Torque Control
92
Additional Torque Control Functions
93
Speed Mode
94
Selection for Speed Command
95
Analog Speed Command Ratio
96
Adjusting the Analog Reference Offset
96
Analog Reference for Speed Command Limit
97
Encoder Signal Output
97
Smoothing the Speed Command
99
Setting Rotation Direction
102
Speed Loop Gain
103
Notch Filter
104
Torque Limit of Speed Control Mode
105
Gain Switched
106
Other Functions
113
Position Mode
115
External Pulse Command
116
Internal Position Command
118
Electronic Gear
122
Definition of Direction
129
Gain Adjustment
129
Clear the Pulse Offset
130
Homing Function
131
Other Position Function
140
Gain Adjustment
141
Automatic Gain Adjustment
144
Manual Gain Adjustment
147
Improving Resonance
148
Other Functions
149
Programmable I/O Functions
149
Switch for the Control Mode
152
Auxiliary Functions
152
Brake Mode
153
Timing Diagram of Mechanical Brake
153
CW/CCW Drive Inhibit Function
155
Selecting for External Regeneration Resistor
156
Fan Setting
160
Low Voltage Protection Auto-Reset
160
Absolute Encoder Battery Fault
160
Analog Monitor
161
Factory Setting Parameter
162
Tool Turret Modes
163
Parameter Setting
163
Rigidity Setting
165
Tool Turret Mode Setting Flow Chart
166
Timing Diagram of Tool Turret Homing
167
Timing Diagram of Auto-Selection Mode
168
Timing Diagram of JOG Mode
169
Chapter 6 Parameters
170
Explanation of Parameter Groups
170
Parameter Display Table
171
Chapter 7 Communications Function
209
Communications Function (RS232 & RS485)
209
Communication Wiring
209
RS232 Communication Protocol and Format
213
Modbus Communication Protocol for RS485
215
Chapter 8 Troubleshooting
226
Alarm Functions
226
Troubleshooting of Alarm and Warning
228
Alarm Status Description
231
Chapter 9 Specifications
232
Specifications and Dimension for Servo Drives
232
Specifications and Dimension for Servomotors
237
Ra Ω
242
La Mh
242
Tm Ms
242
Te Ms
242
Operating Ambient
242
Storage
242
Appendix A Accessories
249
Appendix B Battery Module
252
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TECO JSDAP Series Specifications
General
Brand
TECO
Model
JSDAP Series
Category
Servo Drives
Language
English
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