TECO J5DG2-E Series User manual

User Guide
User Manual

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First of all, thank you for choosing TECO Motor Servo Drive JSDE2 Series (hereinafter referred
to as “JSDE2”) and Servo Motor.
JSDE2 can be operated by the digital panel manipulator or through the PC man-machine
program to provide various functions that enable the product to further address customers’ different
application requirements.
Before using JSDE2, 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 ContentsChapter 1 Product Inspection and Installation
1-1 Product Inspection....................................................................................................... 1-2
1-1-1 Confirmation of Servo Driver Model .................................................................... 1-3
1-1-2 Confirmation of Servo Motor Model .................................................................... 1-4
1-1-3 Servo Driver and Servo Motor Matching Comparison Table................................. 1-5
1-2 Servo Driver Appearance .......................................................................................... 1-10
1-3 Servo Driver Operation Mode Introduction ............................................................... 1-15
1-4 Servo Driver Installation Environment Conditions and Methods ............................... 1-16
1-4-1 Installation Environmental Conditions ............................................................... 1-16
1-4-2 Installation Direction and Spacing ...................................................................... 1-17
1-5 Servo Motor Installation Environment Conditions and Methods ................................ 1-18
1-5-1 Installation Environmental Conditions ............................................................... 1-18
1-5-2 Installation Method ............................................................................................ 1-18
1-5-3 Other Pre-cautions ............................................................................................. 1-19
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 .......................................................................... 2-4
2-1-3 Electric Wire Specifications ................................................................................. 2-5
2-1-4 Motor Terminal Outlet Wire ................................................................................. 2-8
2-1-5 TB Terminal Description .................................................................................... 2-10
2-1-6 Motor with Mechanical BRAKE Wiring Instructions ......................................... 2-11
2-1-7 List of Recommended Circuit Breaker/Fuse/Noise Filter Specifications ............. 2-12
2-2 I/O Signal Terminal Description ................................................................................ 2-13
2-2-1 CN1 Control Signal Terminal Description .......................................................... 2-14
2-2-2 CN2 Encoder Signal Terminal Description ......................................................... 2-23
2-2-3 CN3/CN4/CN5/CN6/CN8 Communication Signal Terminal Description ............ 2-24

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2-3 Control Signal Standard Wiring Diagram .................................................................. 2-27
2-3-1 Position Control (Pe Mode) Wiring Diagram (Line Driver) ................................ 2-27
2-3-2 Position Control (Pe Mode) Wiring Diagram (Open Collector) ........................... 2-28
2-3-3 Position Control (Pi Mode) Wiring Diagram ...................................................... 2-29
2-3-4 Speed Control (S Mode) Wiring Diagram ........................................................... 2-30
2-3-5 Torque Control (T Mode) Wiring Diagram ......................................................... 2-31
2-3-6 Tool Magazine Mode (Pt Mode) Wiring Diagram ............................................... 2-32
2-3-7 CANopen Mode (Cob CoC Mode) Winding Diagram ........................................ 2-33
2-3-8 EtherCAT Mode (EC Mode) Winding Diagram .................................................. 2-34
Chapter 3 Panel Operating Instructions
3-1 Driver Panel Operating Instructions ............................................................................ 3-2
3-2 State Display Function Description ........................................................................... 3-10
3-3 Diagnostic Function Description ............................................................................... 3-12
3-4 Alarm Monitoring Description .................................................................................. 3-20
Chapter 4 Trial Run Operating Instructions
4-1 No-load Servo Motor Trial Run ................................................................................... 4-3
4-2 Non-load Servo Motor with Supervisory Controller Trial Run ..................................... 4-6
4-3 Connect the Load Servo Motor with Supervisory Controller Trial Run ...................... 4-10
Chapter 5 Control Functions
5-1 Control Mode Selection .............................................................................................. 5-3
5-2 Torque Mode ............................................................................................................... 5-4
5-2-1 Analog Torque Command ..................................................................................... 5-5
5-2-2 Digital Torque Command ..................................................................................... 5-7
5-2-3 Torque Command Linear Acceleration / Deceleration ........................................... 5-8
5-2-4 Torque Output Direction Definition ...................................................................... 5-9

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5-2-5 Internal Torque Limit Setting ............................................................................. 5-11
5-2-6 Speed Limit of Torque Mode .............................................................................. 5-11
5-2-7 Other Torque Control Functions ......................................................................... 5-14
5-3 Speed Mode .............................................................................................................. 5-15
5-3-1 Select Speed Command ...................................................................................... 5-17
5-3-2 Analog Speed Command Proportioner................................................................ 5-18
5-3-3 Analog Speed Command Offset Adjustment ....................................................... 5-19
5-3-4 Analog Speed Command Limit .......................................................................... 5-20
5-3-5 Speed Command Smoothing .............................................................................. 5-20
5-3-6 Speed Rotation Direction Definition................................................................... 5-24
5-3-7 Torque Limit in Speed Mode .............................................................................. 5-25
5-3-8 Other Speed Control Functions .......................................................................... 5-27
5-4 Position Mode ........................................................................................................... 5-29
5-4-1 External Pulse Command Mode ......................................................................... 5-32
5-4-2 Internal Position Command Mode ...................................................................... 5-35
5-4-3 Electronic Gear Ratio ......................................................................................... 5-40
5-4-4 Position Command Acceleration / Deceleration Functions .................................. 5-48
5-4-5 Position Command Direction Definition............................................................. 5-53
5-4-6 Pulse Error Clearing ........................................................................................... 5-53
5-4-7 Reset to Origin ................................................................................................... 5-54
5-4-8 Torque Limit of Position Mode .......................................................................... 5-62
5-4-9 Other Position Control Functions ....................................................................... 5-65
5-5 Tool Magazine Specific Mode ................................................................................... 5-67
5-5-1 Tool Contact Signal Operation Instructions ........................................................ 5-69
5-5-2 Tool Magazine Dedicated Mode Setting Flow Chart ........................................... 5-73
5-5-3 Tool Magazine Cutter Setup Return to Zero Mode Time Sequence Diagram....... 5-74
5-5-4 Tool Magazine Automatic Tool Selection Mode Time Sequence Diagram .......... 5-74
5-5-5 Tool Magazine Manual Single Step Time Sequence Diagram ............................. 5-75

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5-5-6 Tool Magazine Parameter Setting ....................................................................... 5-75
5-6 Other Functions......................................................................................................... 5-80
5-6-1 Digital Input / Output Contact Function Planning ............................................... 5-80
5-6-2 Control Mode Switching .................................................................................... 5-90
5-6-3 Contact Auxiliary Function ................................................................................ 5-90
5-6-4 Brake Mode ....................................................................................................... 5-92
5-6-5 Mechanical Brake Time Sequence ...................................................................... 5-93
5-6-6 CW/CCW Drive Prohibited Method ................................................................... 5-95
5-6-7 Selection of External Regenerative Resistor ....................................................... 5-96
5-6-8 Fan Operation Settings ....................................................................................... 5-99
5-6-9 Low Voltage Protection Automatic Reset Selection ............................................ 5-99
5-6-10 Absolute Value Encoder Battery Error Alarm Output ...................................... 5-100
5-6-11 Analog Monitoring ......................................................................................... 5-101
5-6-12 Encoder Signal Dividing Output ..................................................................... 5-103
5-6-13 Full Closed Loop Position Control Function ................................................... 5-106
5-6-14 Parameter Reset ..............................................................................................5-110
5-6-15 E-Cam Function Description ........................................................................... 5-111
5-6-16 Gantry Synchronization Function Description ................................................ 5-120
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 ......................................... 6-10
6-4 Notch Filter ............................................................................................................... 6-16
6-5 Low Frequency Vibration Suppression Function ....................................................... 6-22
6-6 Manual Gain Adjustment........................................................................................... 6-25
6-7 Gain Switching Function ........................................................................................... 6-27
6-7-1 PI/P Switching Mode ......................................................................................... 6-27

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6-7-2 Two Stage Gain Switching Mode ....................................................................... 6-30
6-8 Improved Response Characteristics ........................................................................... 6-34
6-9 OnLine-AutoTuning (Inertia Only Displays) ............................................................. 6-35
Chapter 7 Parameter Functions
7-1 Parameter Group Description ...................................................................................... 7-2
7-2 Parameter Function List .............................................................................................. 7-3
7-3 Parameter Function Detailed Description .................................................................. 7-15
7-3-1 System Parameters (Cn0□□) .............................................................................. 7-15
7-3-2 CANopen Parameters (Cn0□□) .......................................................................... 7-42
7-3-3 Torque Control Parameters (Tn1□□)................................................................... 7-46
7-3-4 Speed Control Parameters (Sn2□□) .................................................................... 7-51
7-3-5 Speed Control Parameters (Sn3□□) .................................................................... 7-58
7-3-6 Control Parameter for Multi-position Control (Sn4□□) ....................................... 7-77
7-3-7 Shortcut Parameters (qn5□□) ............................................................................. 7-80
7-3-8 Multifunction Contact Planning Parameters (Hn6□□) ......................................... 7-82
7-3-9 E-Cam Parameteres (ECA□□) ............................................................................ 7-87
7-3-10CiA 402 Parameters (EC7□□) ........................................................................... 7-93
7-3-11 Monitoring Parameters (Un-□□) ....................................................................... 7-95
7-3-12 Diagnostic Parameters (dn-□□) ...................................................................... 7-100
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 ...................................................... 8-8
8-2 CANopen Communication Function ......................................................................... 8-17
8-2-1 CANopen Overview ........................................................................................... 8-17

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8-2-2 CANopen Basic Features ................................................................................... 8-17
8-2-3 CANopen Parameter Setting .............................................................................. 8-18
8-2-4 CANopen Protocol ............................................................................................. 8-21
8-2-5 CANopen Servo Control .................................................................................... 8-26
8-2-6 CANopen Object List ......................................................................................... 8-26
8-3 EtherCAT Communication Function.......................................................................... 8-27
8-3-1 EtherCAT Overview ........................................................................................... 8-27
8-3-2 EtherCAT Basic Features ................................................................................... 8-27
8-3-3 EtherCAT Parameter Setting .............................................................................. 8-28
8-3-4 EtherCAT Status Display .................................................................................... 8-29
8-3-5 EtherCAT Communication ................................................................................. 8-31
8-3-6 EtherCAT Servo Control .................................................................................... 8-36
8-3-6-1 State Machine ............................................................................................. 8-36
8-3-6-2 Servo Mode ................................................................................................ 8-41
8-3-6-3 Unit Condition ............................................................................................ 8-42
8-3-6-4 Profile Position (PP).................................................................................... 8-44
8-3-6-5 Profile Velocity (PV) ................................................................................... 8-47
8-3-6-6 Profile Torque (PT) ..................................................................................... 8-49
8-3-6-7 Cyclic Synchronous Position (CSP) ............................................................ 8-51
8-3-6-8 Cyclic Synchronous Velocity (CSV)............................................................ 8-53
8-3-6-9 Cyclic Synchronous Torque (CST) .............................................................. 8-55
8-3-6-10 Homing Mode (HM) ................................................................................. 8-57
8-3-6-11 Digital I/O ................................................................................................. 8-65
8-3-6-12 Touch Probe .............................................................................................. 8-67
8-3-6-13 Emergency Stop ........................................................................................ 8-70
8-3-6-14 Restoration ................................................................................................ 8-72
8-3-7 EtherCAT Object List ......................................................................................... 8-73

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Chapter 9 Error Alarm Clear
9-1 Error List .................................................................................................................... 9-2
9-2 Countermeasures to Clear Error .................................................................................. 9-5
Chapter 10 Comprehensive Specification
10-1 Servo Driver Detailed Specification ........................................................................ 10-2
10-2 Servo Driver Dimension .......................................................................................... 10-7
10-3 Servo Motor Specification ..................................................................................... 10-12
10-4 Servo Motor Dimension ........................................................................................ 10-15
10-5 Accessories ........................................................................................................... 10-20
10-5-1 Motor Power Cable ........................................................................................ 10-20
10-5-2 Encoder Trunk................................................................................................ 10-22
10-5-3 I/O Connector ................................................................................................ 10-24
10-5-4 Full closed loop wire .................................................................................... 10-24
10-5-5 Communication Cable .................................................................................... 10-25
Chapter 11 Appendix ................................................................................................... 11-1
11-1 Manual Revision History ......................................................................................... 11-2