TECO JSDEP Series User manual

i
■Warning and Caution:
Warning
yDo not proceed to the assembly of the line while electrifying.
yCircuit & change components between entering shutting down the power supply and stopping
showing CHARGE LED light of the Servo driver.
yThe output of Servo drive [U, V, W] must NOT touch the AC power.
yMotor over temperature protection is not provided.
Caution
yInstall the fan if the temperature around is too high while the Servo driver is installed in the
Control Board.
yDo not proceed to the Anti-Pressure-Test to the Servo driver.
yConfirm the quick stop function is available before operate servo drive.
yMatching up machine to change the user parameter setting before machine performs. If there is
no according correct setting number, it could lead to out of control or breakdown.
Safety proceeding:
Check the covering letter detail before installing, running, maintaining and examining. Furthermore, only
the profession-qualified people can proceed to the line-assembly.
Safety proceeding in the covering letter discriminate between “Warning”&”Alert”.
Indicating the possibility dangerous situation. It could cause the death or serious
damage if being ignored.
Indicating the possibility dangerous situation. It could cause smaller or lighter human
injured and damage of equipment.
Read this covering letter detail before using Servo driver.
Warning
Caution
!
!

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First of all, thank you for using TECO Servo Driver JSDEP Series (“JSDEP” for short) and Servo Motors.
JSDEP can be controlled by digital board or PC, and provide excellent performance for a wide range of
applications and different requirement from customers.
Read this covering letter before using JSDEP. Contents of the letter comprise:
yServo System checking, installing and procedure of assembly line.
yController procedure for digital board, status displaying, unusual alarm and strategy explanation.
yServo System control function, running testing and procedures adjusted.
yExplanation for all parameter of Servo Driver.
yStandard specification of JSDEP Series.
In order to daily examine, maintain and understand the reason of unusual situation and handle strategy,
please put this covering letter in safe place to read it anytime.
P.S: The end user should own this covering letter, in order to make the Servo Driver bring the best
performance.

iii
Table of Contents
Chapter 1 Checking and Installing
1-1 Checking Products..........................................................................................................................1-1
1-1-1 Confirming with Servo Drives..............................................................................................1-1
1-1-2 Confirming with Servomotors..............................................................................................1-2
1-1-3 Servo motor Model Code display ........................................................................................1-3
1-2 Surface and Panel Board................................................................................................................1-5
1-3 A Brief Introduction of Operation for Drives.................................................................................1-6
1-4 Conditions for Installation of Drives..............................................................................................1-7
1-4-1 Environmental Conditions....................................................................................................1-7
1-4-2 Direction and Distance..........................................................................................................1-8
1-5 Conditions for Installation of Servomotors..................................................................................1-9
1-5-1 Environmental Conditions....................................................................................................1-9
1-5-2 Method of Installation ...........................................................................................................1-9
1-5-3 Notice for install motor .......................................................................................................1-10
Chapter 2 Wiring
2-1 Basic Wiring for Servo System......................................................................................................2-1
2-1-1 Wiring for Main Circuit and Peripheral Devices.................................................................2-1
2-1-2 Wiring for Servo Drives.........................................................................................................2-2
2-1-3 Specifications of Wiring........................................................................................................2-3
2-1-4 Motor Terminal Layout..........................................................................................................2-4
2-1-5 Typical Wiring for Motor and Main Circuit ..........................................................................2-6
2-1-6 TB Terminal............................................................................................................................2-7
2-1-7Wiring for Mechanical Brake.................................................................................................2-8
2-1-8Breaker/Fuse/Noise Filter Specification...............................................................................2-8
2-2 I/O Terminal......................................................................................................................................2-9
2-2-1 Output Signals from the Servo pack .................................................................................2-10
2-2-2 Encoder Connector (CN2) Terminal Layout......................................................................2-21
2-3 Typical Circuit Wiring Examples..................................................................................................2-23
2-3-1 Position Control Mode (Pe Mode) (Line Driver). .............................................................2-23
2-3-2 Position Control Mode (Pe Mode) (Open Collector). .......................................................2-24
2-3-3 Position Control Mode (Pi Mode).......................................................................................2-25
2-3-4 Speed Control Mode (S Mode) ...........................................................................................2-26
2-3-5 Torque Control Mode (T Mode)..........................................................................................2-27
Chapter 3 Panel Operator / Digital Operator
3-1 Panel Operator on the Drives.........................................................................................................3-1
3-2 Signal Display..................................................................................................................................3-8
3-2-1 Status Display........................................................................................................................3-8
3-2-2 Diagnostic function.............................................................................................................3-10
Chapter 4 Trial Operation
4-1 Trial Operation for Servomotor without Load...............................................................................4-2

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4-2 Trial Operation for Servomotor without Load from Host Reference .........................................4-5
4-3 Trial Operation with the Servomotor Connected to the Machine ...............................................4-8
Chapter 5 Control Functions
5-1 Control Mode Selection ..................................................................................................................5-1
5-2 Torque Mode ....................................................................................................................................5-2
5-2-1 Analog Torque command Ratio ...........................................................................................5-3
5-2-2 Adjusting the Analog Torque Command Offset .................................................................5-4
5-2-3 Torque Command Linear Acceleration and Deceleration ................................................5-5
5-2-4 Definition of Torque Direction..............................................................................................5-6
5-2-5 Internal Torque Limit.............................................................................................................5-7
5-2-6 Limiting Servomotor Speed during Torque Control ..........................................................5-7
5-2-7 Additional Torque Control Functions..................................................................................5-8
5-3 Speed Mode......................................................................................................................................5-9
5-3-1 Selection for Speed Command .........................................................................................5-10
5-3-2 Analog Speed Command Ratio..........................................................................................5-11
5-3-3 Adjusting the Analog Reference Offset.............................................................................5-11
5-3-4 Analog Reference for Speed Command Limit..................................................................5-12
5-3-5 Encoder Signal Output........................................................................................................5-12
5-3-6 Smoothing the Speed Command.......................................................................................5-13
5-3-7 Setting Rotation Direction..................................................................................................5-16
5-3-8 Speed Loop Gain.................................................................................................................5-17
5-3-9 Notch Filter...........................................................................................................................5-18
5-3-10 Torque Limit of Speed Control Mode...............................................................................5-20
5-3-11 Gain Switched.....................................................................................................................5-21
5-3-12 Other Functions .................................................................................................................5-27
5-4 Position Mode................................................................................................................................5-29
5-4-1 External Pulse Command...................................................................................................5-30
5-4-2 Internal Position Command................................................................................................5-32
5-4-3 Electronic Gear....................................................................................................................5-36
5-4-4 Smoothing Acceleration ....................................................................................................5-40
5-4-5 Definition of Direction.........................................................................................................5-43
5-4-6 Gain Adjustment..................................................................................................................5-43
5-4-7 Clear the Pulse Offset.........................................................................................................5-44
5-4-8 Original Home......................................................................................................................5-45
5-4-9 Other Position Function......................................................................................................5-53
5-5 Gain Adjustment............................................................................................................................5-54
5-5-1 Automatic Adjusting.........................................................................................................5-57
5-5-2 Manual Adjusting.................................................................................................................5-60
5-5-3 Improving Resonance.........................................................................................................5-61
5-6 Other Functions.............................................................................................................................5-62
5-6-1 Programmable I/O Functions .............................................................................................5-62
5-6-2 Switch for the Control Mode...............................................................................................5-65
5-6-3 Auxiliary Functions.............................................................................................................5-65

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5-6-4 Brake Mode ..........................................................................................................................5-66
5-6-5 Timing Diagram of Mechanical Brake ...............................................................................5-66
5-6-6 CW/CCW Drive Inhibit Function ........................................................................................5-68
5-6-7 Selecting for External Regeneration Resistor..................................................................5-69
5-6-8 Fan Setting...........................................................................................................................5-71
5-6-9 Analog Monitor....................................................................................................................5-72
5-6-10 Factory setting Paramerter ..............................................................................................5-72
Chapter 6 Parameter Function
6-1 Explanation of Parameter Groups ................................................................................................6-1
6-2 Parameter Display Table................................................................................................................6-2
Chapter 7 Communications Function
7-1 Communications Function (RS232 & RS485)...............................................................................7-1
7-1-1 Communication wiring .........................................................................................................7-1
7-1-2 RS232 Communication Protocol and Format ....................................................................7-5
7-1-3 Modbus communication protocol for RS-485 ...................................................................7-7
Chapter 8 Troubleshooting
8-1 Alarm Functions ..............................................................................................................................8-1
8-2 Troubleshooting of Alarm and Warning........................................................................................8-3
Chapter 9 Specifications
9-1 Specifications and Dimension for Servo Drives ........................................................................9-1
9-2 Specifications and Dimension for Servomotors..........................................................................9-4
Appendix A - Peripheral for Servo motors................................................................App-1

1-1
Chapter 1 Checking and Installing
1-1 Checking Products
Our Servo Pack has already completely been functionally examined before leaving the factory. In
order to protect the products from the damage during transportation, please check the items below
before sealing off the pack:
yCheck if the models of servo driver and motor are the same with the models of ordering.
(About the model explanation, please check the chapters below)
yCheck if there are damage or scrape out side of the servo driver and motor.
(If there is any damage during transportation, do not power ON)
yCheck if there are any bad assembly or slipped component in the Servo Drive and Motor
yCheck if the Motor’s rotor and shaft can be rotated smoothly by hand
(The Servo Motor with Mechanical-Brake can not be rotated directly)
yThere must be the “QC”-seal in each servo drive, if not, please do not proceed Power ON.
If there is any bug or irregular under the situation above, please contact TECO’s Local sales
representative or distributor instantly.
1-1-1 Confirming with Servo Drives
JSD EP – 15 A 
TECO AC Servo
Product No.
Drive Series:
Series EP
Drive Model:
10 / 15 / 20 / 30 / 50 / 75
AC Input Voltage
A : AC 220V
Input voltage phase:
□： Single / Three
3 ： 3 Phase input
Notes: Maximum output power
10：100W 30 : 1 KW
15 : 400 W 50 : 2KW
20 : 750 W 75 : 3 KW

1-2
1-1-2 Confirming with Servo Motors
JSM A – P S C 08 A H K B
Encode Spline Grease Seal
 No No
K Yes No
O No Yes
A Yes Yes
TECO AC Servo
Product No.
Motor Series:
Series A
Inertia ：
S ： Low Inertia
L ： Low Inertia
M ： Middle Inertia
H ： Middle Inertia
Motor Speed:
A: 1000 rpm
B: 2000 rpm
C: 3000 rpm
H: 1500 rpm
Encoder:
B : 2500 ppr
H : 8192 ppr
Motor ratio power
P5 : 50 W 15 : 1.5 KW
01 : 100 W 20 : 2 KW
03 : 300 W 30 : 3 KW
04 : 400 W
05 : 550 W
08 : 750 W
10 : 1 KW
AC input voltage
A : AC 220V
M: Machinery BK
 : No BK
B:B
K
IP67 (except shaft and connector)

1-3
1-1-3 Servo motor Model Code display
dn-08 (Servo motor Model Code display)
Use dn-08 to display servo motor code and check the servo drive and motor compatibility according to the
table below.
If the dn08 preset is not according to the list below then contact your supplier.
The motor model code is stored in parameter Cn30.
Motor Standards
dn-08 Display
Cn030 Setting Drive Model Motor Model
Watt(KW) Speed(rpm)
Encoder
Specification
H1011 JSMA-PSCP5AB 0.05 2500
H1021
JSDEP-10A
JSMA-PSC01AB 0.1
3000
2500
H1111 JSMA-PSC01AB 0.1 3000 2500
H1121 JSMA-PLC03AB 2500
H1122 JSMA-PLC03AH
0.3 3000
8192
H1141 JSMA-SC04AB 2500
H1142 JSMA-SC04AH
0.4
(Rated 3.5A) 3000
8192
H1151 JSMA-PSC04AB 2500
H1152
JSDEP-15A
JSMA-PSC04AH
0.4
(Rated 2.5A) 3000
8192
H1211 JSMA-PLC08AB 2500
H1212 JSMA-PLC08AH 8192
H1231 JSMA-PSC08AB 2500
H1232 JSMA-PSC08AH
0.75 3000
8192
H1241 JSMA-PMA05AB 2500
H1242 JSMA-PMA05AH
1000
8192
H1251 JSMA-PMH05AB 2500
H1252
JSDEP-20A
JSMA-PMH05AH
0.55
1500
8192
H1311 JSMA-PSC08AB 2500
H1312 JSMA-PSC08AH
0.75 3000
8192
H1321 JSMA-PMA10AB 2500
H1322
JSDEP-30A
JSMA-PMA10AH
1.0 1000
8192

1-4
Motor Standards
dn-08 Display
Cn030 Setting Drive Model Motor Model
Watt(KW) Speed(rpm)
Encoder
Specification
H1331 JSMA-PMB10AB 2000 2500
H1332 JSMA-PMB10AH 2000 8192
H1341 JSMA-PMH10AB 2500
H1342 JSMA-PMH10AH
1500
8192
H1351 JSMA-PMC10AB 2500
H1352
JSDEP-30A
JSMA-PMC10AH
1.0
3000
8192
H1511 JSMA-PMA15AB 2500
H1512 JSMA-PMA15AH
1000
8192
H1521 JSMA-PMB15AB 2500
H1522 JSMA-PMB15AH
2000
8192
H1531 JSMA-PMC15AB 2500
H1532 JSMA-PMC15AH
1.5
3000
8192
H1541 JSMA-PMB20AB 2500
H1542 JSMA-PMB20AH
2000
8192
H1551 JSMA-PMC20AB 2500
H1552
JSDEP-50A
JSMA-PMC20AH
2.0
3000
8192
H1711 JSMA-PMB30AB 2500
H1712 JSMA-PMB30AH
2000
8192
H1721 JSMA-PMC30AB 2500
H1722 JSMA-PMC30AH
3000
8192
H1732
JSDEP-75A
JSMA-PMH30AH
3.0
1500 8192

1-5
1-2 Surface and Panel Board
JSDEP-10A / 15A / 20A / 30A
JSDEP-50A3 / 75A3
Heat sink
Main Power
Input Terminal
*External Regenerative
Resistor Terminal
Motor Terminal
Ground Terminal
FG
* Terminal P and PC
can not be dosed
Serial
Communication
Interface
I/ O Interface
Motor Encoder
Interface
LED Display

1-6
Key Board
1-3 A Brief Introduction of Operation for Drives
There are many kinds of control-mode. The detail modes display as fellow:
Name Mode Explanation
Position Mode
(External Pulse
Command)
Pe
Position control for the servo motor is achieved via an external
pulse command. Position command is input from CN1.
Position Mode
(Internal Position
Command)
Pi
Position control for the servo motor is achieved via by 16
commands stored within the servo controller. Execution of the
16 positions is via Digital Input signals.
Speed Mode S
Speed control for the servo motor can be achieved via
parameters set within the controller or from an external analog
-10 ~ +10 Vdc command. Control of the internal speed
parameters is via the Digital Inputs. A maximum of three steps
speed can be stored internally.
Single
Mode
Torque Mode T
Torque control for the servo motor can be achieved via
parameters set or from an external analog -10 ~ +10 Vdc
command.
Pe-S Pe and S can be switched by digital-input-contact-point.
Pe-T Pe and T can be switched by digital-input-contact-point.
Pi-S Pi and S can be switched by digital-input-contact-point.
Pi-T Pi and T can be switched by digital-input-contact-point.
S-T S and T can be switched by digital-input-contact-point.
Multiple Mode
Pe-Pi Pe and Pi can be switched by digital-input-contact-point.

1-7
1-4 Conditions for Installation of Drives
1-4-1 Environmental Conditions
The product should be kept in the shipping carton before installation. In order to retain the warranty
coverage, the AC drive should be stored properly when it is not to be used for an extended period of time.
Some storage suggestions are:
yAmbient Temperature: 0 ~ + 55 ℃; Ambient Humidity: Under 85% RH (Under the condition of no frost).
yStored Temperature: - 20 ~ + 85 ℃; Stored Humidity: Under 85%RH (Under the condition of no frost).
yVibrating: Under 0.5 G.
yDo not mount the servo drive or motor in a location where temperatures and humidity will exceed
specification.
yTo avoid the insolation.
yTo avoid the erosion of grease and salt.
yTo avoid the corrosive gases and liquids.
yTo avoid the invading of airborne dust or metallic particles.
yWhen over 1 Drives are installed in control panel, enough space has to be kept to get enough air to
prevent the heat; the fan also must be installed, to keep the ambient temperature under 55 ℃.
yPlease Install the drive in a vertical position, face to the front, in order to prevent the heat.
yTo avoid the metal parts or other unnecessary things falling into the drive when installing.
yThe drive must be stable by M5 screws.
yWhen there were the vibrating items nearby, please using vibration-absorber or installing anti-vibration-
rubber, if the vibration can not be avoided.
yWhen there is any big-size magnetic switch, welding machines or other source of interference. Please
install the filter. When the filter is installed, we must install the insulation transformer.

1-8
1-4-2 Direction and Distance
FanFan

1-9
1-5 Conditions for Installation of Servo Motors
1-5-1 Environmental Conditions
yAmbient Temperature: 0 ~ + 40 ℃; Ambient humidity: Under 90% RH (No Frost).
yStorage Temperature: - 20 ~ + 60 ℃; Storage temperature: Under 90%RH (No Frost).
yVibration: Under 2.5 G.
yIn a well-ventilated and low humidity and dust location.
yDo not store in a place subjected to corrosive gases, liquids, or airborne dust or metallic particles.
yDo not mount the servo motor in a location where temperatures and humidity will exceed specification.
yDo not mount the motor in a location where it will be subjected to high levels of electromagnetic
radiation.
1-5-2 Method of Installation
1. Horizontal Install: Please let the cable-cavity downside to prevent the water or oil or other liquid flow into
the servo motor.
Attention
2. Vertical Install: If the motor shaft is side-up installed and mounted to a gear box, please pay attention to
and avoid the oil leakage from the gear box.

1-10
1-5-3 Notice for install motor
1. Please using oil-seal-motor to avoid the oil from reduction gear flowing into the motor through the motor
shaft.
2. The cable need to be kept dry.
3. Please fixing the wiring cable certainly, to avoid the cable ablating or breaking.
4. The extending length of the shaft shall be enough, otherwise there will be the vibration from motor
operating.
Wrong Example Correct Example
Brake
Encoder
5. Please do not beat the motor when installing or taking it apart. Otherwise the shaft and the encoder of
backside will be damaged.
Attention:
Brake
Encoder

2-1
Chapter 2 Wiring
2-1 Basic Wiring for Servo System
2-1-1 Wiring for Main Circuit and Peripheral Devices

2-2
2-1-2 Wiring for Servo Drives
yThe wire material must go by “Wiring Specifications.”
yWiring Length: Command Input Wire: Less than 3m.
Encoder Input Wire: Less than 20m.
The Wiring goes by the shortest length.
yPlease wire according to the standard wiring schema. Don’t connect if no using.
yPlease use the NFB to meet IEC (or UL Certification) between power supplier and servo drive.
yIn the addition of supplying max. voltage, the capability of short circuit current must below 5000Arms, If
there is posibility t
yDrive output terminals (U,V,W) must be connected to motor correctly. Otherwise the servo motor will
abnormally function.
yShielded cable must be connected to FG terminal.
yDon’t install the capacitor or Noise Filter at the output terminal of servo drive.
yAt the control-output-signal relay, the direction of surge absorb diode must be correctly connected,
otherwise it can not output signal, and cause the protect loop of emergency-stop abnormal.
yPlease do these below to avoid the wrong operation from noise:
Please install devices such as the insulated transformer and noise filter at the input power.
Keep more than 30 cm between Power wire (power cable or motor cable…etc.) and signal cable,
do not install them in the same conduit.
yPlease set “emergency-stop switch” to prevent abnormal operation.
yAfter wiring, check the connection-situation of each joint (ex: loose soldering, soldering point short,
terminal order incorrect…etc.). Tighten the joints to confirm if surly connected to the servo drive, if the
screw is tight. There can not be the situations such as cable break, cable pulled and dragged, or be
heavily pressed.
* Especially pay attention to the polarity between servo motor wiring and encoder.
yThere is no necessary to add extra regeneration resistance under general situation. If there is any need
or problem, please connect to distributor or manufacturer.

2-3
2-1-3 Specifications of Wiring
Connection Terminal Servo Drives and Wire Specifications mm² (AWG)
Connection
Terminal
Mark
(Sign) Name of Connect Terminal 10 15 20 30 50 75
R、S、T Main Power Terminal 1.25
(16)
2.0
(14)
3.5
(12)
U、V、W Motor Terminal 1.25
(16)
2.0
(14)
3.5
(12)
P、Pc External regeneration
resistance terminal
1.25
(16)
2.0
(14)
Terminal
Ground 2.0
(14)
Connection Terminal Servo Drives and Wire Specifications
Connection
Terminal
Position
Number Position Name 10 15 20 30 50 75
12,25 Speed Command / Limit ; Torque
Command / Limit (SIC/ TIC)
13 Analog Signal Ground (AG)
0.2mm ² or 0.3mm ² ->Twisted-pair-cable connecting to
the Analog Grounding wire (including shield cable)
1~3
14~16 Digital Input (DI)
18~20 Digital Output (DO)
8 +24V Power Supply (IP24)
17 Digital Input Common (DICOM)
24 +24V Ground (IG24)
0.2mm ² or 0.3mm ²-> Twisted-pair-cable connecting to
the I/O Grounding wire
(including shield cable)
4~7 Position Command Input
(Pulse、Sign)
CN1
Joint Control
Signal
9~11
21~23
Encoder Signal Output
(PA, /PA, PB, /PB, PZ, /PZ)
0.2mm ² or 0.3mm ²-> Twisted-pair-cable
(including shield cable)
5 +5V Power Supply (+5E)
4 +5V Ground (GND)
CN2
Joint of motor
encoder 1~3
7~9
Encoder Phase Input
(A, /A, B, /B, Z, /Z)
0.2mm ² or 0.3mm ²-> Twisted-pair-cable
(including shield cable)
CN3
Communication
connector
5,7 Communication connector
(RS-485)
1,4 Communication connector
(RS-232)
3 Communication Ground
CN4
Communication
connector
5,7 Communication connector
(RS-485)
0.2mm ² or 0.3mm ²-> Twisted-pair-cable
(including shield cable)
P. S . : 1. Please pay attention to the NFB and the capacity of noise filter when using multi-Drives.
2. CN1 ->25 Pins (D-SUB)
3. CN2 -> 9 Pins (D-SUB)
4. CN3/CN4-> 8 Pins Mini-Din type

2-4
2-1-4 Motor Terminal Layout
A Table of Motor-Terminal Wiring
(1) General Joint:
Terminal Symbol Color Signal
1 Red U
2 White V
3 Black W
4 Green FG
Fine red DC +24V
Brake control wire
Fine yellow 0V
(2) Military Specifications Joint (No Brake):
Terminal Color Signal
A Red U
B White V
C Black W
D Green FG
A
B
D
C
(3) Military Specifications Joint (Brake):
Terminal Color Signal
B Red U
G White V
E Black W
C Green FG
A Fine red DC +24V
F Fine yellow
BK control
wire 0V
A
B
DC
E
F
G
P.S.: The military joint with BK of servo motor has 9 Pins; and the encoder joint has also 9 Pins. Please
confirm before wiring.