TECO JSDG2S Series User manual

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First of all, thank you for choosing TECO Servo Drive JSDG2S Series (hereinafter referred to as
“JSDG2S”) and Servo Motor.
JSDG2S can be operated by the digital keypad, PC or human-machine interface, program to
provide various functions that enable the product to further address customers’ different application
requirements.
Before using JSDG2S, please read this Technical Manual; main contents of this Manual include:
 Inspection, installation and wiring procedures of the Servo System.
 The operating procedures, state display, error alarms and handling counter-measures
description of the digital panel manipulator.
 Servo System control function, trial run and adjustment steps.
 Description of all Servo Driver parameters.
 The rated specifications of the standard model.
In order to facilitate routine inspections and maintenance and to understand the cause of the error
and the counter-measures, please keep this Manual in a safe place for access at any time.
Note: Please deliver this Manual to the end user for the maximum effectiveness of the Servo
Driver.
Warnings and Pre-cautions:
Warnings
• Do not conduct wiring work when power is turned ON.
• Do not touch the circuit or replace parts after the input power is turned OFF but before the
state of the Servo Driver displays the CHARGE LED light is OFF.
• The output terminals U, V, W of the Servo Driver must not be connected to the AC power.
• Motor overheat protection is not provided.

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Attention
• When the servo driver is installed in the control panel, if the ambient temperature is too
high, please install a cooling fan.
• Do not conduct pressure resistance test on the Servo Driver.
• Before the machine starts to operate, confirm whether or not the emergency stop switch can
be started at any time to stop the machine.
• Before the machine starts to operate, the user parameter setting value must be coordinated
with the machine. Failure to adjust to the matched correct setting values may result in a
loss of control or failure of the machine.
• Before the machine starts to operate, make sure to confirm the parameter Cn030: serial
model settings, and select the correct Driver and Motor matching combination! Confirm
the parameter Cn001 control mode selection.
Safety Pre-cautions:
Please read this Manual thoroughly before installing, operating, maintaining, and checking. Only
a professional qualified personnel can perform assembly line work.
The safety pre-cautions in the Manual are divided into two items: “Warnings” and “Pre-
cautions”.
Warnings :Indicating a dangerous situation that may result in death or serious injury
of personnel if ignored.
Pre-cautions :
Indicating a possible hazardous situation that may result in a less serious
or minor injury of personnel and damage of machinery equipment if not
resolved.
Therefore, this Technical Manual shall be read in detail before
using this Servo Driver.

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Table of Contents
Chapter 0 Safety Precautions
Chapter 1 Product Inspection and Installation
1-1 Product Inspection ................................................................................................................. 1-2
1-1-1 Servo Driver Model Verification............................................................................1-3
1-1-2 Servo Motor Model Verification ............................................................................1-5
1-1-3 Servo Driver and Servo Motor Matching Comparison Table ................................1-6
1-2 Servo Driver Outer Appearance........................................................................................... 1-11
1-3 Servo Driver Operation Mode Introduction ........................................................................ 1-21
1-4 Servo Driver Installation Environment Conditions and Methods ....................................... 1-22
1-4-1 Installation Environment Conditions....................................................................1-22
1-4-2 Installation Direction and Spacing .......................................................................1-23
1-5 Servo Motor Installation Environment Conditions and Methods........................................ 1-24
1-5-1 Installation Environment Conditions....................................................................1-24
1-5-2 Installation Methods.............................................................................................1-24
1-5-3 Other Pre-cautions................................................................................................1-25
Chapter 2 Wiring Preparation
2-1 System Assembly and Wiring................................................................................................ 2-2
2-1-1 Wiring diagram of Servo Driver Power Supply and Peripheral Devices ...............2-2
2-1-2 Servo Driver Wiring Instructions ...........................................................................2-6
2-1-3 Electric Wire Specifications ...................................................................................2-7
2-1-4 Motor Terminal Outlet Wire................................................................................. 2-11
2-1-5 TB Terminal Description ......................................................................................2-14
2-1-6 Motor with Mechanical BRAKE Wiring Instructions..........................................2-15
2-1-7 Recommend specification of circuit breaker/ fuse/noise filter.............................2-16
2-2 I/O Signal terminal description............................................................................................ 2-17
2-2-1 CN1 Control Signal Terminal Description...........................................................2-19
2-2-2 CN2 Encoder Signal Terminal Description..........................................................2-30

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2-2-3 CN3/CN4/CN5/CN6/CN8 Communication Signal Terminal Description...........2-32
2-3 Control Signal Standard Wiring Diagram............................................................................ 2-35
2-3-1 Position Control (Pe Mode) Wiring Diagram (Line Driver) ................................2-35
2-3-2 Position Control (Pe Mode) Wiring Diagram (Open Collector) ..........................2-36
2-3-3 Position Control (Pi Mode) Wiring Diagram .......................................................2-38
2-3-4 Speed Control (S Mode) Wiring Diagram............................................................2-39
2-3-5 Torque Control (T Mode) Wiring Diagram ..........................................................2-40
2-3-6 Tool Magazine Mode (Pt Mode) Wiring Diagram ...............................................2-41
2-3-7 CANopen mode (Cob CoC Mode) wiring diagram Applicable to JSDG2S ....2-42
2-3-8 EtherCAT mode (EC Mode) wiring diagram Applicable to JSDG2(S)-E........2-43
2-4 Basic block diagram of servo system .................................................................................. 2-45
Chapter 3 Panel Operating Instructions
3-1 Driver Panel Operating Instructions ...................................................................................... 3-2
3-1-1 The Name and function of the Panel……………………………………………3-2
3-1-2 Toggle Function…………………………………………………………………3-3
3-1-3 Function Selection Type Setting…………………...……………………………3-5
3-1-4 Value Type Setting………………………….……...……………………………3-5
3-1-5 Panel Operating Example………………….……...…………………….………3-6
3-1-6 Status Display……………………………...……...…………………….………3-9
3-2 Monitoring Parameters(Un-□□) Function Description..................................................... 3-11
3-3 Diagnostic Function Description ......................................................................................... 3-14
3-4 Alarm Monitoring Description ............................................................................................ 3-23
Chapter 4 Trial Run Operating Instructions
4-1 No-load Servo Motor Trial Run............................................................................................. 4-3
4-2 No-load Servo Motor with Supervisory Controller Trial Run............................................... 4-6
4-3 Connect the Load Servo Motor with Supervisory Controller Trial Run ............................. 4-10
4-4 Program Jog Operation........................................................................................................ 4-11

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Chapter 5 Control Functions
5-1 Control Mode Selection......................................................................................................... 5-3
5-2 Torque Mode.......................................................................................................................... 5-4
5-2-1 Analog Torque Command JSDG2S-E does not have this function ...................5-6
5-2-2 Digital Torque Command .......................................................................................5-9
5-2-3 Torque Command Linear Acceleration / Deceleration.........................................5-10
5-2-4 Torque output direction definition........................................................................5-13
5-2-5 Internal Torque Limit Setting ...............................................................................5-15
5-2-6 Speed Limit of Torque Mode ...............................................................................5-16
5-2-7 Other Torque Control Functions...........................................................................5-19
5-3 Speed Mode ......................................................................................................................... 5-20
5-3-1 Select Speed Command........................................................................................5-24
5-3-2 Analog speed command JSDG2S-E(L) does not have this function ................5-25
5-3-3 Analog speed command limit JSDG2S-E(L) does not have this function........5-27
5-3-4 Speed Command Smoothing................................................................................5-27
5-3-5 Speed Rotation Direction Definition....................................................................5-32
5-3-6 Torque Limit in Speed Mode................................................................................5-33
5-3-7 Other Speed Control Functions ............................................................................5-35
5-4 Position Mode...................................................................................................................... 5-37
5-4-1 External Pulse Command Mode...........................................................................5-45
5-4-2 Internal Position Command Mode .......................................................................5-49
5-4-3 Electronic Gear Ratio ...........................................................................................5-55
5-4-4 Position Command Acceleration / Deceleration Function ...................................5-62
5-4-5 Position Command Direction Definition..............................................................5-67
5-4-6 Pulse Error Clearing Mode...................................................................................5-67
5-4-7 Reset to Origin .....................................................................................................5-68
5-4-8 Torque Limit of Position Mode ............................................................................5-82
5-4-9 Other Position Control Functions.........................................................................5-85

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5-5 Tool Magazine Specific Mode............................................................................................. 5-87
5-5-1 Tool Magazine Contact Signal Operation Instructions ........................................5-91
5-5-2 Tool Magazine Dedicated Mode Setting Flow Chart .........................................5-102
5-5-3 Compound tool magazine dedicated mode setting.............................................5-105
5-5-4 Tool Magazine Parameter Setting ...................................................................... 5-111
5-6 Other Functions ..................................................................................................................5-116
5-6-1 Digital input/output contact function planning ..................................................5-116
5-6-2 Control Mode Switching ....................................................................................5-129
5-6-3 Contact Auxiliary Function ................................................................................5-130
5-6-4 Brake Mode ........................................................................................................5-131
5-6-5 Mechanical Brake Time Sequence .....................................................................5-132
5-6-6 CW/CCW Drive Prohibited Method ..................................................................5-134
5-6-7 Selection of External Regenerative Resistor......................................................5-136
5-6-8 Fan Operation Settings .......................................................................................5-139
5-6-9 Low Voltage Protection ......................................................................................5-140
5-6-10 Absolute Value Encoder ...................................................................................5-142
5-6-11 Analog monitoring JSDG2S-E(L) does not have this function....................5-145
5-6-12 Encoder Signal Dividing Output ......................................................................5-147
5-6-13 Full Closed Loop Position Control Function ...................................................5-150
5-6-14 Parameter Reset................................................................................................5-154
5-6-15 E-Cam Function Description............................................................................5-155
5-6-16 Gantry Synchronization Function Description.................................................5-164
5-6-17 Instructions for using with linear motors .........................................................5-167
5-6-18 Emergency stop (EMC) function .....................................................................5-185
Chapter 6 Parameter Functions
6-1 Servo Gain Adjustment Flowchart......................................................................................... 6-2
6-2 Servo Gain Adjustment Parameter Description..................................................................... 6-3
6-3 Automatic Gain Adjustment (Off-line tuning) Instructions................................................... 6-9

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6-4 Notch Filter.......................................................................................................................... 6-17
6-5 Low Frequency Vibration Suppression Function ................................................................ 6-23
6-6 Manual Gain Adjustment..................................................................................................... 6-27
6-7 Gain Switching Function ................................................................................................... 6-29
6-7-1 PI/P Switching Mode............................................................................................6-29
6-7-2 Two Stage Gain Switching Mode.........................................................................6-32
6-8 Improved Response Characteristics..................................................................................... 6-36
6-9 OnLine-AutoTuning (Inertia Only Displays) ...................................................................... 6-37
6-10 Speed reference control ..................................................................................................... 6-38
6-11 Friction compensation control ........................................................................................... 6-40
6-12 Speed observer................................................................................................................... 6-42
6-13 Model tracking control ...................................................................................................... 6-44
6-14 Disturbance Observer ........................................................................................................ 6-47
6-15 On-line tuning.................................................................................................................... 6-49
Chapter 7 Parameter Functions
7-1 Parameter Group Description ................................................................................................ 7-2
7-2 Parameter Function List......................................................................................................... 7-3
7-3 Parameter Function Detail description ................................................................................ 7-20
7-3-1 System Parameters (Cn0□□) .............................................................................7-20
7-3-2 CANopen parameter (Cn0□□) Only JSDG2S model contains this function ......7-55
7-3-3 Torque Control Parameters (Tn1□□).................................................................7-57
7-3-4 Speed Control Parameters (Sn2□□) ..................................................................7-63
7-3-5 Speed Control Parameters (Pn3□□) ..................................................................7-71
7-3-6 Control Parameter for Multi-position Control (Pn4□□)....................................7-97
7-3-7 Shortcut Parameters (qn5□□) ..........................................................................7-100
7-3-8 Multifunction Contact Planning Parameters (Hn6□□)....................................7-102
7-3-9 CiA 402 Parameters (EC7□□).........................................................................7-108

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7-3-10 Tunning Parameters (tn8□□) ......................................................................... 7-111
7-3-11 E-Cam Parameteres (EC9□□) .......................................................................7-123
7-3-12 Monitoring Parameters (Un-□□) ...................................................................7-132
7-3-13 Diagnostic Parameters (dn-□□).....................................................................7-140
7-3-14 Mapping Parameters Value Display (MdA□□) .............................................7-141
7-3-15 Mapping Parameters Address Setting (MAb□□) ..........................................7-142
Chapter 8 Communication Function
8-1 RS-485 Communication Function ......................................................................................... 8-3
8-1-1 RS-485 Communication Wiring.............................................................................8-3
8-1-2 RS-485 Communication Related Parameters .........................................................8-5
8-1-3 RS-485 Communication Protocol and Format .......................................................8-9
8-1-4 Example of RS-485 communication position control ..........................................8-18
8-1-5 Example of RS-485 communication speed control..............................................8-22
8-1-6 Example of RS-485 communication torque control.............................................8-24
8-2 CANopen communication function Only JSDG2S contains this function...................... 8-26
8-2-1 CANopen Overview .............................................................................................8-26
8-2-2 CANopen Basic Features .....................................................................................8-26
8-2-3 CANopen Parameter Setting ................................................................................8-27
8-2-4 CANopen Protocol ...............................................................................................8-30
8-2-5 CANopen Servo Control ......................................................................................8-36
8-2-6 CANopen Object List...........................................................................................8-36
8-3 EtherCAT communication function Only JSDG2S-E(L) contains this function............. 8-37
8-3-1 EtherCAT Overview .............................................................................................8-37
8-3-2 EtherCAT Basic Features .....................................................................................8-37
8-3-3 EtherCAT Parameter Setting ................................................................................8-40
8-3-4 EtherCAT Status Display......................................................................................8-43
8-3-5 EtherCAT Communication ...................................................................................8-49
8-3-6 EtherCAT servo control........................................................................................8-54

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8-3-6-1 State Machine .........................................................................................8-54
8-3-6-2 Servo Mode ............................................................................................8-58
8-3-6-3 Unit Condition........................................................................................8-60
8-3-6-4 Profile Position (PP)...............................................................................8-61
8-3-6-5 Profile Velocity (PV) ..............................................................................8-66
8-3-6-6 Profile Torque (PT).................................................................................8-68
8-3-6-7 Cyclic Synchronous Position (CSP).......................................................8-70
8-3-6-8 Cyclic Synchronous Velocity (CSV) ......................................................8-72
8-3-6-9 Cyclic Synchronous Torque (CST).........................................................8-74
8-3-6-10 Homing Mode (HM) ............................................................................8-76
8-3-6-11 Digital I/O.............................................................................................8-83
8-3-6-12 Touch Probe..........................................................................................8-85
8-3-6-13 Emergency Stop....................................................................................8-89
8-3-6-14 Restoration............................................................................................8-90
8-3-7 EtherCAT Object List...........................................................................................8-91
8-3-8 Summary List of Objects....................................................................................8-133
8-3-8-1 Summary List – CANopen communication objects.............................8-133
8-3-8-2 Summary List – EtherCAT communication objects.............................8-140
8-3-8-3 Summary List – CiA402 application objects .......................................8-145
8-3-8-4 Summary List – System parameter objects ..........................................8-149
Chapter 9 Error Alarm Clearing
9-1 Error Alarm List..................................................................................................................... 9-2
9-2 Countermeasures to Clear Error ............................................................................................ 9-5
Chapter 10 Comprehensive Specification
10-1 Detailed Specification of Servo Driver.............................................................................. 10-2
10-2 Servo Drive Dimension ..................................................................................................... 10-7
10-3 Servo Motor Specifications ............................................................................................. 10-12