JS Automation YPV-040 User manual

Mokon Series Driver
User’s Manual
V2.1
健昇科技股份有限公司
JS AUTOMATION CORP.
新北市汐止區中興路 100 號6樓
6F., No.100, Zhongxing Rd.,
Xizhi Dist., New Taipei City, Taiwan
TEL：[phone]
FAX：[phone]
http://www.automation.com.tw
http://www.automation-js.com/
E-mail：[e-mail]

1
Correction record
Version
Record
1.1
Add CN1-9 TLM+ Torque limit command
1.2
1
Adjust 5. I/O Signal Definitions and CN1 Pin Assignments
2
Add 20. Wiring of MPC3024 wiring board to Mokon driver
3
Modify description of CN1 Pin16 Hold
1.3
1.
Chapter 5 I/O Signal Definitions and CN1 Pin Assignments
Pin5,6,7,13,14,15,16,30,31,34 descriptions—rewrite for more detail
Pin1,2 description—rewrite for more detail
1.4
1.
Update Chapter 10,11,12 diagram
2.
Update Chapter 20 Wiring of MPC3024 wiring board to Mokon driver
3.
Update 15.1 Communication Protocol
2.0
YPV V2.0
2.1
Add Warranty

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Contents
1. Checking Mokon series products on delivery 4
1.1 Servomotor nameplate descriptions 5
1.2 Servomotor model 6
1.3 Servo drive nameplate descriptions 6
1.4 Servo drive model 7
1.5 Servo drive part names 8
2. Servo drive installation precautions 9
2.1 Prevent foreign object intrusion 9
3. Servo drive wiring precautions 11
3.1 Main wiring 11
3.2 Wiring for the controller and the encoder 12
4. Servomotor installation precautions 13
4.1 Installation precautions 13
4.2 Connect the servomotor with load precautions 13
4.3 Alignment 14
4.4 Handling oil and water 15
4.5 Cable stress 15
5. Encoder wiring and CN2 pin assignments of the servo drive 16
5.1 Signal waveform of feedback Encoder 16
6. Position command input circuit 17
6.1 From differential type line driver 17
6.2 From open-collector output: 17
7. Analog command input circuit 18
7.1 Analog command input circuit 18
7.2 Digital input circuit interface 18
8. Output interface circuits 19
8.1 Digital output interface 19
8.2 Encoder digital output interface circuit 20
9. Position control interface 21
10. Speed control interface 22
11. Torque control interface 23
12. Descriptions of Mokon servo drive input signals 24
12.1 Input Signal definitions and CN1 pin assignments 24
12.2 Servo ON input (CN1-6) 27
12.3 RST Servo reset input (CN1-7) 27
12.4 TLM Torque limit input (CN1-13) 27
12.5 PRIH Forward rotation inhibited and NRIH reverse rotation inhibited inputs (CN1-14~15) 28
12.6 Motor hold or PI/P control mode switch input (CN1-16) 28
12.7 MDO Operation mode 29

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12.8 VCMD+ and TCMD+ inputs (CN1-1 and CN1-8) 29
12.9 TLCMD+ Torque limit analog command input (CN1-9) 30
12.10 +PPCMD –PPCMD, +NPCMD -NPCMD Position command inputs (CN1-26~29) 30
12.11 SPD1 SPD2 SPD3 Internal speed switching inputs (CN1-32~35) 31
13. Descriptions of Mokon servo drive Output signals 32
13.1 Output Signal definitions and CN1 pin assignments 32
13.2 ALM Servo alarm output (CN1-10) 33
13.3 Brake motor brake release output (CN1-17) 33
13.4 Zero servo speed zero output (CN1-36) 34
13.5 ITLM In torque limit output (CN1-37) 34
13.6 INS INP Speed/Position arrival output (CN1-18) 34
13.7 MON1 MON2 Analog monitor outputs (CN1-11~12) 35
13.8 Encoder output signals (CN1-19~24) 35
14. User parameter settings and functions 36
14.1 Parameter settings and functions 36
15. Driver setup via PC communication 42
15.1 Setup communication protocol 42
15.2 Communication port to link with the servo driver 43
15.3 Basic functions 43
15.4 Common parameter 44
15.5 Speed mode menu 50
15.6 Position mode menu 53
15.7 Torque mode 56
15.8 Motor Parameter Settings 58
15.9 Advanced Parameters 59
15.10 Speed Loop Gain 1 59
15.11 Speed Loop Gain 2 60
15.12 Online Monitor 62
16. Alarm display table 63
17. Connector pin assignments diagram 64
18. Servo drive dimension 64
19. Regenerate brake resistor selection guide 67
20. Wiring of MPC3024 wiring board to Mokon driver 68
21. Appendix 69

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Warranty
The Mokon series are warranted against defects in materials and workmanship for a period of one
year from the date of shipment, as evidenced by receipts or serial no. on board. JS automation Corp. will,
at its option, repair or replace product that proves to be defective during the warranty period. This
warranty includes parts, labor and shipping costs of returning.
Except as specified herein, JS automation Corp. makes no warranties, express or implied, and
specifically disclaims any warranty of merchantability or fitness for a particular purpose. Customer’s right
to recover damages caused by fault or negligence on the part of JS automation Corp. shall be limited to the
amount theretofore paid by the customer. JS automation Corp. will not be liable for damages resulting
from loss of data, profits, use of products, or incidental or consequential damages, even if advised of the
possibility thereof. This limitation of the liability of JS automation Corp. will apply regardless of the form
of action, whether in contract or tort, including negligence. Any action against JS automation Corp. must
be brought within one year after the cause of action accrues.
JS automation Corp. shall not be liable for any delay in performance due to causes beyond its reasonable
control. The warranty provided herein does not cover damages, defects, malfunctions, or service failures
caused by owner’s failure to follow the JS automation Corp. installation, operation, or maintenance
instructions; owner’s modification of the product; owner’s abuse, misuse, or negligent acts; and power
failure or surges, fire, flood, accident, actions of third parties, or other events outside reasonable control.
If any defect occurs, you should email to us as the following form to get the fast response:
Detailed Company Information
Company/Organization:
Contact Person:
E-mail:
Address:
Country:
Tel/Fax:
Web Site:
Product information
product model:
serial no.:
Environment to Use: such as CPU board, Operating System, target application...
description of defect: (as detail as possible)

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1. Checking Mokon series products on delivery
Follow the procedure below to check Mokon Series products upon delivery
Check the following items when Mokon Series products are delivered:
1. Check the packed products for damages that may have occurred during shipping.
2. Check whether the name and number of the delivered products are the same as those on the
delivery sheet.
3. Check whether the servomotor and servo drive capacity and encoder specification are the same
as the ordered.
4. In the case of special order, please carefully check the delivered products and contact our
company immediately if any item is incorrect.
The table below shows the standard set:
1. One servomotor
2. One servo drive
3. One 37PIN D type connector for CN1*
4. One 15PIN D type connector for CN2*
5. One connector for servomotor power line*
6. One encoder connector*
7. One copy of wiring description
* If cable is your option, they will be soldered ready with the cable.
1.1 Servomotor nameplate descriptions
Servo drive Model
Rated Output
Motor Rated Speed
Serial Number
Encoder Specification

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Design Revisions:
K Shaft length 20mm
S Shaft length 15mm
B With brake
Q Special shaft
U Terminal box type
V Oblique shaft
X Cable Connector type
Y Military standard connector
Z Power cable connector
M Water-proof L model
N Water-proof V model
Servo drive Model
Serial Number
Servo drive Specification
Version
1.2 Servomotor model
YBL13S75 - L Z
Servomotor Serial Number
Servomotor Pole Number
and Encoder Resolution
C8P1024 P/R
D 8P2048 P/R
E 4P2500 P/R
F4P5000 P/R
H4P2048 P/R
I8P5000 P/R
J4P1024 P/R
L8P2500 P/R
1.3 Servo drive nameplate descriptions

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1.4 Servo drive model
YPV Series Servo drive YPV - 300-V
Servodrive Capacity
040 0.4 KW 600 6 KW
055 0.55 KW 750 7.5 KW
075 0.75 KW 860 8.6 KW
100 1 KW 1100 11 KW
150 1.5 KW 1500 15 KW
200 2 KW 2200 22 KW
300 3 KW 3000 30 KW
450 4.5 KW
Type
V High resolution speed / Torque command: 12-bit resolution

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Charge Indicator
Lights when the main circuit
power supply is ON and stays
as long as the main circuit
power supply capacitor remains
charged. Therefore, do not
touch the Servo drive even after
the power supply is turned off if
the indicator is lit.
Main Power Supply and Servomotor
Terminals
(RST) used for AC mains input(3 , 220Vac)
(E) Ground Terminal, must be connected
to prevent electrical shock
(UVW) Servomotor Cable Terminal
(B1 B2) Brake Resistance Terminal
(H1 H2) Servomotor Thermostat Terminal
CN3 Communication Connector
Used to communicate with a personal
computer (RS-232) or a control panel
CN1 I/O Signal Connector
Used to input command
or sequence I/O signals.
CN2 Encoder Connector
Connects to the encoder
in the servomotor.
1.5 Servo drive part names
The figure below shows the part names of the servo drive.

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2. Servo drive installation precautions
The servo drive should be stored in the environment with ambient temperature range of 0-55 C (no
freezing) and relative humidity under 90% RH (no condensation).
Installation Orientation and Spacing:
1. When installing the servo drive, make the front panel containing connectors face outward and
take into consideration the easy connection/disconnection of CN1 and CN2 connectors for
measurement.
2. For multiple servo drive installation in the control cabinet, allow at least 40mm between each.
When installing servo drives side by side as shown in the figure below, allow at least 50mm
above and below each servo drive or install cooling fans to facilitate air circulation.
Servo drive Installation and Cooling Method
2.1 Prevent foreign object intrusion
1. Prevent the drilling and cutting chips from entering the servo drive during installation.
2. Avoid the odd objects like oil water and metal powder from entering the servo drive via
cooling fans.
3. If using fans for cooling, please install the filter properly at the ventilating hole, and
consider the surrounding environment to choose the best direction for ventilation.
4. Please install heat exchanger or air filtering system when installing in locations subject to
poisonous gas or excessive dust.

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Extra Notices:
1. Do not install the servo drive in locations likely to be affected by oil and dust. If unavoidable,
please install the Servo drive in the airtight control cabinet and consider using ventilation filter.
Also use a protective cover over the Servomotor.
2. When installing multiple servo drives in one airtight control cabinet, allow at least 50mm between,
above and below each servo drive and leave 120mm for maintenance space. In addition, to ensure
the reliability and improve the product life, leave certain distance between the servo drive and the
cabinet ceiling so the temperature around the servo drive does not exceed 55 C which might lead
to poor ventilation.
3. A frequent use of the regenerative resistor may lead to a temperature higher than 100 C. Do not
put inflammables or heating deformable objects around. The wirings must also be kept away from
the resistor or severe damage will occur.
4. When installing near a source of vibration, install a vibration isolator to protect the Servo drive
from vibration.

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3. Servo drive wiring precautions
Wiring precautions
3.1 Main wiring
1. Apply three-phase 220VAC mains through the NFB to the magnetic contactor, then connect
to the servo drive RST terminals. Consider installing a reactor and linear noise filter if the
local power supply quality is poor.
2. Connect the UVW terminals of the servo drive with the red, white and black cable lines of
the servomotor directly or via terminal board, on which the cable lines be secured with a
terminal plier and wrapped tightly to avoid incidental short-circuit, power interruption or
earth faults.
3. Make sure the cable lines are not damaged under stress. Be cautious of the cable wiring to
avoid as much as possible being subject to bending or tension.
4. If the servomotor is moving with the mechanism, arrange the bending section of the cable
line within the allowable curvature which is determined from the cable specification to assure
normal operation life.
5. Make sure the cable lines are not touched by sharp parts of the machine or pressed by any
heavy object.
6. Provide proper grounding wiring for the ground terminals of the servo drive and servomotor.
7. H1 and H2 are the thermostat terminals for the servomotor. Strictly forbid to short circuit
them with the machine bed or falsely connect with U V W E terminals.
8. After fastening the main terminal board, the ends of the wiring terminals can be bended up
to be kept away from the front nameplate as shown be

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3.2 Wiring for the controller and the encoder
1. Each pin of CN1 and CN2 must be soldered and checked carefully for correct pin number
Check the adjacent pins after soldering to avoid being incidentally shorted circuit by the
solder or unused leads.
2. Wrap the soldered leads with shrinkable tubes to keep from being touched by each other.
3. If the leads from CN2 must be extended, care must be taken in the connection section and
proper shielding measures must be adopted to suppress EMI noise.
4. Do not stretch tight the leads of CN2 to avoid wiring faults of the encoder.
5. Power cables and signal lines should not be arranged in close parallel, and the leads for
control signals should be twisted and shielded.
Note: Be cautious of the length of the wiring and the measures for noise shielding if Mokon series is used
in position control mode. If not using the line driver type, the PULSE GND must be connected to
DGND, or the lost pulse fault may occur.
CAUTION
1. Do not bundle power and signal lines together in the same duct. Leave at least 30cm (11.81 in.)
between power and signal lines.
2. Use twisted-pair wires or multi-core shielded-pair wires for signal and encoder (PG) feedback
lines.
3. The maximum length for signal input lines is 3m (118.11 in.) and for PG feedback lines is 20m
(787.40 in.).
4. Do not touch the power terminals for 5 minutes after turning power off because high voltage may
still remain in the servo drive.
5. Make sure the Charge Indicator is out before starting an inspection.
6. Avoid frequently turning power on and off. Do not turn power on or off more than once per
minute.
7. Since the servo drive has capacitors in the power supply, a high charging current flows for 0.2
seconds when power is turned on. Frequently turning power on and off will cause main power
devices like capacitors and fuses to deteriorate, resulting in unexpected problems.

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4. Servomotor installation precautions
4.1 Installation precautions
Try to avoid water and oil exposure since the servomotor contains no water-proof structure. Install a
water-proof cover if it is used in a location that is subject to water or oil.
1. Servomotor cable line facing downward can prevent the oil and water from entering the
servomotor via cable line.
2. If the servomotor is installed vertically or with a slope, the cable line should be bended to
U-type to avoid the oil and water from entering via the cable line.
3. Carefully avoid the exposure of cable lines to oil and water that have adverse effects on
servomotor and encoder, also may cause malfunctions of the servo drive.
4.2 Connect the servomotor with load precautions
1. To mount a belt wheel, use the set screw to secure it on the shaft end if the motor shaft has a
keyway; Use a friction coupling if the motor shaft has no key way.
2. Use a special tool to dismantle the belt wheel, avoiding impact to the shaft.
3. Strictly forbid to exert force on the back cover of the encoder by hands or ropes when
moving the servomotor.
4. Strictly forbid the use of hammer to strike the shaft (likely to damage the encoder)

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Avoid violent collision and vibration of servomotor when mounting
a belt wheel or a clutch! The encoder connecting with the shaft is
vulnerable under intense vibration which may adversely affect the
resolution and service life of the servomotor.
5. Do not change the encoder wiring direction.
6. Use a flexible connector. The round-off must meet with the allowable radial load.
7. Choose a proper pulley, chain wheel or timing belt that can meet with the requirement of the
allowable radial load.
8. If the servomotor is attached with a magnetic brake, either horizontal or vertical installation
is allowed. When the shaft is upward installed, the brake may normally make some noise.
4.3 Alignment
Align the shaft of the servomotor with the shaft of the apparatus, and then couple the shafts.
Install the servomotor so that alignment accuracy falls within the following range.
Measure this distance at four different positions around.
The difference between the maximum and minimum
measurements must be below 0.03mm (0.0012 in). (Turn
together with the coupling.)
Measure this distance at four different positions around.
The difference between the maximum and minimum
measurements must be below 0.03mm (0.0012 in). (Turn
together with the coupling.)
.
.

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4.4 Handling oil and water
Install a protective cover over the servomotor if it is used in
a location subject to water or oil mist.
Also use a servomotor with an oil seal to seal the through shaft
section.
4.5 Cable stress
Make sure there are no bends or tension on the power lines.
Be especially careful to signal line wiring to avoid stress because the diameter of the core wires
is only 0.2 to 0.3mm (0.0079 to 0.012 in).

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5. Encoder wiring and CN2 pin assignments of the servo drive
Motor RSO
Connector
Motor Side
Cable Color
Name of the
Signal
Servo drive
Side Pin No.
1
Green
A
1
2
White Grey
/A
2
3
Gray
B
3
4
White Gray
/B
4
5
Yellow
C
5
6
White Yellow
/C
6
7
Brown
U
7
8
White Brown
/U
8
9
Orange
W
9
10
White Orange
/W
10
11
Blue
V
11
12
White Blue
/V
12
13
Red
+5V
13
14
White Red
GND
14 15
15
Silver braided wire
Shielding
Case
5.1 Signal waveform of feedback Encoder
The figure below shows the forward rotation (CCW) waveform of the encoder

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6. Position command input circuit
6.1 From differential type line driver
6.2 From open-collector output:
Example 1: Using an external power supply provided by the user
Note: Mokon Servo drive can be only connected with 24V external power supply.
Example 2: Using power supply built in the servo drive

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7. Analog command input circuit
7.1 Analog command input circuit
7.2 Digital input circuit interface

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8. Output interface circuits
8.1 Digital output interface
Example 1: Connecting to a relay output circuit
Example 2: Connecting to a photo coupler output circuit