Jupiter Drive

Jupiter Servo Drives
Preface
Thank you for choosing Jupiter’s high-performance servo driver series. Jupiter Series
are designed with leading 32bit DSP (Digital Signal Processor) chip and manufactured by
adopting high-quality components.
Advanced models that noted as JMD-series (Jupiter Motion Drive) incorporate another
DSP in order to unify specific Motions within one package. For example, either
Rotary-Synchronization(optional function) or Linear-Synchronization(optional function)
applications are easily unified into one package.
Getting Started
This manual will be helpful in the installation, parameter setting, troubleshooting, and
daily maintenance of the standard Jupiter servo drives. To guarantee safe operation
of the equipment, read the following safety guidelines before connecting power to the
AC servo motor drives. Preserve this operating manual handy, and distribute to all
users for regular reference.
-1-
Chapter 0 - Safety Precaution
WARNINGS
Read this manual thoroughly before start using the Jupiter Servo Drives.
DANGER!
AC input power must be disconnected before any maintenance. Do not
connect or disconnect wires and connectors while power is applied to the
circuit. Maintenance must be performed only by qualified technicians.
CAUTION!
There are highly sensitive MOS components on the printed circuit boards.
These components are especially sensitive to static electricity. To avoid
damage to these components, do not touch these components or the circuit
boards with metal objects or your bare hands.
DANGER!
A charge may still remain in the DC-link capacitor with hazardous voltages
even if the power has been turned off. To avoid personal injury, please ensure
that power has turned off before operating AC drive and wait ten minutes for
capacitors to discharge to safe voltage levels.
CAUTION!
Ground the Jupiter Drive using the ground terminal. The grounding method
must comply with the laws of the country where the AC drive is to be installed.
Refer to Basic Wiring Diagram.
CAUTION!
The final enclosures of the AC drive must comply with EN50178. (Live parts
shall be arranged in enclosures or located behind barriers that meet at least the
requirements of the Protective Type IP20. The top surface of the enclosures or
barrier that is easily accessible shall meet at least the requirements of the
Protective Type IP40). (Users must provide this environment for the Jupiter
Drive series.)
DANGER!
The AC drive may be destroyed, if incorrect cables are connected to the
input/output terminals.
DANGER!
Never connect the AC drive output terminals U, V, and W directly to the AC
main circuit power supply.
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Chapter 0 - Safety Precaution ----------------------------------------------------------2
Chapter 1 - Functions and General Features ----------------------------------5

1.1 Drive type designation Nameplate --------------------------------------------6
Chapter 2 - Inspection Procedures, Components Identification and

standard --------------------------------------------------------------7
2.1 Delivery Inspection Procedures -----------------------------------------------7
2.2 Component Identification --------------------------------------------------------7
Chapter 3 - Mechanical Installation Guidelines -------------------------------9

3.1 Mechanical Specification ----------------------------------------------------------9
3.2 Motors & Encoders ----------------------------------------------------------------10
Chapter 4 - Wiring Procedures -------------------------------------------------------11

4.0 Standard Connection Diagram ------------------------------------------------11
4.1 Input Power Connection ---------------------------------------------------------11
4.2 Motor Connection ------------------------------------------------------------------12
4.3 Communication Connection ----------------------------------------------------15
4.4 INPUT/OUTPUT Control Signal Section -------------------------------------17
Chapter 5 - Operation of SeroWin & Auto-Tune Function -------------20

5.1 Installation of ServoWin Software --------------------------------------------20
5.2 The Connection of PC and Servo Drive (Hardware) --------------------23
5.3 Start to Connect PC and Servo Drive ----------------------------------------25
5.4 Parameters Group -----------------------------------------------------------------26
5.5 ServoWin Read and Write Parameters --------------------------------------27
5.6 Monitor Functions -----------------------------------------------------------------28
5.7 Soft-Scope ----------------------------------------------------------------------------29
5.8 Observation Data -------------------------------------------------------------------33
5.9 Simulated Digital Inputs and Outputs ---------------------------------------37
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5.10 AUTO-TUNING OF MOTOR AND ENCODER -----------------------------38
Chapter 6 - Description of Control Mode ----------------------------------------45

6.1 Speed/Torque control mode ----------------------------------------------------45
6.2 Pulse Command Mode(PCMD) ---------------- --------------------------------55
6.3 Point to Point Control Mode (P2P Mode) -----------------------------------57
Chapter 7 - I/O Interface Circuits ----------------------------------------------------62

7.1 I/O Connector Signal Description ---------------------------------------------62
7.2 Programmable Digital Inputs ---------------------------------------------------62
7.3 Programmable Digital Outputs ------------------------------------------------69
7.4 Analog Input Configuration -----------------------------------------------------74
7.5 Analog Output Configuration --------------------------------------------------75
7.6 Pulse Command Input Port Configuration --------------------------------76
7.7 Clock Output Emulation ---------------------------------------------------------80
Chapter 8 - Parameter Groups --------------------------------------------------------81
8.0 Operation Mode Select Group -------------------------------------------------81
8.1 “AMP status” Parameter group ------------------------------------------------83
8.2 Motor Related Parameters ------------------------------------------------------88
8.3 PID Gain Parameters --------------------------------------------------------------94
8.4 Digital Input Parameters -------------------------------------------------------110
8.5 Digital Output Parameters -----------------------------------------------------113
8.6 Analog Input Parameters ------------------------------------------------------115
8.7 Analog Output Parameters ----------------------------------------------------117
8.8 E-GEAR Function Block --------------------------------------------------------119
8.9 Timers Function Block ----------------------------------------------------------122
8.10 E-CAM Group Parameters ---------------------------------------------------128
8.11 Miscellaneous Function Block Parameters ----------------------------130
-4-
Chapter 1 - Functions and General Features
Jupiter Drive represents a new concept in Servo+Motion control technology; this very
fast servo drive based on the TI’s DSP (digital signal processor) 2800 series, is aimed at
providing real-time control of servo systems and it is integrated with versatile and
innovative power hardware.
Jupiter Drive is an IGBT servo drive particularly suitable for high bandwidth applications
with brushless servomotors. Thanks to the innovative software installed on the flash
EPROM, it can be considered as a combination of a digital drive and a Motion Card using
a special software tool called ServoWin.
Jupiter Drive features full-digital regulation with a 10KHz cycle, a position loop with zero
tracking failure, an 12 Bit-plus analog interface, some dedicated digital interface and
capture interrupts.
Jupiter Drive has the following features:
Torque control
Speed control
Position control
Auto Point to Point feature
Electrical line shaft(Electric Gear)
Linear motor control
Sine Shaped Cam control
Rotary Cut control (Optional)
Linear Shear control(Optional)
Miscellaneous I/O functions to simplify the control system
“ServoWin” commissioning software via Modbus protocol
1 configurable main encoder input (refer to sec. 3.2)
1 configurable auxiliary encoder repetition / simulation output
1 configurable Pulse command input ( CW/CCW, DIR/CK, Quadrature )
2 analog differential inputs (11 bits + sign)
2 analog outputs (11 bits + sign)
Up to 16 (8+2+2+4, refer to sec. 7.2) programmable digital inputs
Up to 6 (4+2, refer to sec. 7.3) programmable digital outputs
Accept NPN or PNP I/O configuration
RS485/422/232 asynchronous serial port (Modbus protocol)
CAN bus communication: (reserved)
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1.1 Drive type designation Nameplate
Check that all the data stated in the nameplate enclosed to the drive correspond
to what has been ordered.
-6-
Chapter 2 - Inspection Procedures, Components Identification and
standard
2.1 Delivery Inspection Procedures
2.1.1 General
A high degree of care is taken in packing the Jupiter drives and preparing them for
delivery. They should only be transported with suitable transport equipment (see
weight data). Observe the instructions printed on the packaging. This also applies
when the device is unpacked and installed in the control cabinet.
Upon delivery, check the following:
• The packaging for any external damage
• Whether the delivery note matches your order.
Open the packaging with suitable tools. Check whether:
• Any parts were damaged during transport
• The device type corresponds to your order
In the event of any damage or of an incomplete or incorrect delivery please notify the
responsible sales offices immediately.
The devices should only be stored in dry rooms within the specified temperature
ranges. A certain degree of moisture condensation is permissible if this arises from
changes in temperature. This does not, however, apply when the devices are in
operation. Always ensure that there is no moisture condensation in devices that are
connected to the power supply!
2.2 Component Identification

The Jupiter Drive converts the constant voltage and frequency of a three-phase power
supply into a direct voltage in the capacitor. And then converts this direct voltage into a
new three-phase power output with a variable voltage and frequency. This variable
three-phase power supply can be used for infinitely variable adjustment of the speed of
brushless servomotors.
Figure 2.2.1: Basic Setup of drive
-7-
1. AC Input supply voltage
2. AC Mains choke
3. Three-phase Rectifier Bridge
converts the alternating current into direct current using a three phase full wave
bridge.
4. DC intermediate circuit
With charging resistor and smoothing capacitor.
Direct voltage Vdc = 1.414 x Mains voltage (Vac)
5. IGBT inverter
Converts direct voltage to a variable three-phase alternating voltage with variable
frequency.
6. Configurable control section
Modules for open-loop and closed-loop control of the power section.
This is used for processing control commands, reference values and actual
values.
7. Output voltage
Three-phase, variable alternating voltage.
8. Feedback
For speed feedback
-8-
Chapter 3 – Mechanical Installation Guidelines
3.1 Mechanical Specification
3.1.1 Dimension
-9-
3.2 Motors & Encoders
3.2.1 Motor
For best motor selection, please check detailed motor catalogues.
3.2.2 Encoder type

Though the Jupiter servo drive accepts a few types of encoders, we do not suggest the
user change the encoder type directly. User should select proper Motor-Encoder
combination through the Servo-Win commissioning software.
3.2.3 Motor-Encoder Selection in Servo-Win
During Auto-Tuning process, a pop up menu will show a list of acceptable motors. From
the list, user may choose a suitable motor & encoder combination.
If new motor and encoder combination is requested, please contact the dealer.
-10-
Chapter 4 – Wiring Procedures
4.0 Standard Connection Diagram
4.1 Input Power Connection0000

4.1.1 Supply +24V DC Control Power
Separate switching power supply is necessary.
4.1.2 Supply 3-Phase AC220V Power
-11-
4.2 Motor Connection
4.2.1 Main Output to Motor
Connect Jupiter’s U/V/W terminal to motor’s U/V/W windings
4.2.2 Encoder Feedback
4.2.2.1 The Descriptions of Encoder SCSI 20P Connector
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4.2.2.2 The Installation of SCSI 20P Connector
-13-
4.2.2.3 The Transformation of SCSI 20P Connector to 15 PINS D
Type Connector
D-Sub15(M) TO MDR 20(M)
Encoder Cable Encoder Cable

20 PIN 15 PIN 15 PIN
3M 10120 － 3000 Connector D-SUB(Female) D-SUB(Male)
Jupiter Side Motor Side
Pin Signal name
number
1 A+ 1 1
2 A- 2 2
3 B+ 3 3
4 B- 4 4
5 C+ (Z index+) 5 5
6 C- (Z index-) 6 6
7 U+ (commutation signal) 7 7
8 U- (commutation signal) 8 8
9 V+ (commutation signal) 9 11
10 V- (commutation signal) 10 12
11 0V (Encoder power ground) 14 14
12 +5V (Encoder power supply) 13 13
13 0V (Encoder power ground)
14 +5V (Encoder power supply)
15 DI9+ (Auxiliary fast differential
input)
16 DI9- (Auxiliary fast differential
input)
17 DI10+ (Auxiliary fast differential
input)
18 DI10- (Auxiliary fast differential
input)
19 W+ (commutation signal) 11 9
-14-
20 W- (commutation signal) 12 10
Case Shield Metal Case Metal Case
Signals A/B/C/U/V/W must be connected for standard encoder.
For some special encoder type, U/V/W signals may be mixed with A/B/C signals
using time-sharing method. In such cases, the U/V/W connection is not necessary.
DI9 & DI10 signals have nothing to do with the encoder signal at all. Refer to other
sections for the applications of DI9 & DI10.
All signals are connected to differential line receivers.
4.2.3 Motor Over-Heat Protection

The Jupiter does not provide motor over heat protection.
For motors that embedded with a temperature sensor inside, user must connect the
sensor to other protection device.
4.3 Communication Connection

In order to use computer as the basic commissioning tool, use ready made
communication cable to connect between the Jupiter’s “COMM” connector to PC’s
Dsub-9 RS232 port.
4.3.1 Connector Type & Pin definition
-15-
Pin-no.
\ 1 2 3 4 5 6 7 8 9 10 11 12 13 14
Bus Type
RS232 X*3 X X X X TXout RXin
RS485 T/R+ T/R- X X X X CAN*6 CAN CAN

Vss*1 Vss*1 +5V*2 +5V*2
pin-8 Rshunt (L) (H)
*4,5 pin-10
RS422 R+ R- T+ T- X *5
*1 : Vss -- Internal 0V reference.

*2 : +5V -- Internal +5V output.
*3 : X -- not used, leave this pin open
*4 : For RS485, Connect Pin6 to Pin8.
*5 : For RS422, Connect Pin6 to Pin8 and also connect Pin11 to Pin10.
*6 : For CAN bus, Connect to Pin14 enables the internal Shunt-Resistor (220ohm)
4.3.2 RS232 Connection
For RS232 communication, connect only pin2, pin-9 & pin-11.
Pin-9 : TXout,
Pin-11 : RXout and
Pin-2 : Vss .
If standard PC is the master controller of the system, prepare the simple cable for
connecting to the PC’s RS232 port.
Jupiter COMM port Cable wire with shield Dsub-9-(Female)
Pin-9 ---------------- Pin-2
Pin-11 ---------------- Pin-3
Pin-2 ---------------- Pin-5
Note:
Order this cable by the code: RS232-DB9F-HDR14M (cable length 1M)
Do not use RX485/422 while using RS232.
For RS485 communication, connect only
Pin-1 : T/R+
Pin-3 : T/R-
Pin-2 : Vss and
Connect Pin-6 to Pin-8
Do not use RX232/422 while using RS485
-16-
For RS422 communication, connect only
Pin-1 : T/R+
Pin-3 : T/R-
Pin-2 : Vss and
Do not use RX232/485 while using RS422.
4.3.5 CAN bus (reserved)
4.4 INPUT/OUTPUT Control Signal Section

4.4.1 Connector Pin Assignment
Pin no. Signal name Pin no. Signal name

1 DI_1 19 CKO_A+
2 DI_2 20 CKO_B+
3 DI_3 21 CKO_A-
4 DI_4 22 CKO_B-
5 DI_5 23 FDI_X+
6 DI_6 24 FDI_Y+
-17-
7 DI_7 25 FDI_X-
8 DI_8 26 FDI_Y-
9 DI_COM 27 DI_COM
10 DO_1+ 28 DO_2+
11 DO_1- 29 DO_2-
12 DO_3+ 30 DO_4+
13 DO_3- 31 DO_4-
14 32
15 AI_1+ 33 Vss
16 AI_2+ 34 A_COM
17 AI_1- 35 AO_1
18 AI_2- 36 AO_2
Notes:
DI – Digital Input
DO – Digital Output
AI – Analogue Input
AO – Analogue Output
CKOA, CKOB – Encoder Simulated Output
FDI_X, FDI_Y – Pulse Command Input
DI_COM – Common Point for DI
AI_COM – Common Point for AI
Refer to Chap.7 for detailed I/O circuit description and definition of the connector
pins.
Refer to other documents for Extension Boards
-18-
4.4.2 Basic Speed Mode Connection
4.4.3 Basic Pulse Command Tracking Mode Connection
Notes:
*1. In this example, assume NPN I/O system, DI-COM is connected to +24V.
*2. Use line driver signals to drive FDIX & FDIY.
-19-
4.4.4 Point to Point Mode Connection
4.4.5 Other Advanced Motion Embedded operation

Fly-Sync & SP2P Motion operation(Optional)
Fly-Sync Rotary Motion operation(Optional)
Refer to other documents for advanced motion embedded applications.
Chapter 5 Operation of ServoWin & Auto-Tune Function
5.1 Installation of ServoWin Software
Step1: Execute Setup.exe to install ServoWin software
-20-
Step2: Click “Next >”
-21-
Step5: Click “Close” to finish installation
-22-
5.2 The Connection of PC and Servo Drive (Hardware)
Control Single JMD Unit
USB To RS232
Converter
RS232/RS485/RS422
-23-
Control Multi JMD Unit
USB To RS232 USB To RS232

Converter Converter
RS232/RS485/RS422 RS232/RS485/RS422
-24-
5.3 Start to Connect PC and Servo Drive
Step1
Step2
Step3
Procedure:
Step1: Click “Communction” \ “Connect”
Step2: Select Hardware Communication Port
Step3: Click “Connect “
-25-
5.4 Parameters Group
5.4.1 All Parameters
Select Group of “All” and Edit
ITEM DESCRIPTION
Print Not available
Save Save the parameters file(file format:*.Par)
Open Open the existing file(file format:*.Par)
Init Initiate setting of the parameter to the factory setting
Read Read the value of the parameters
Import Call existing parameter file to the servodrive(*.Par)
Exit Exit Parameter Table
-26-
5.4.2 Parameter Group
The user can select parameters from this Table.
5.5 ServoWin Read and Write Parameters
A. Read and Write the value of parameters
Step1 Step3
Step2
Step1: Select Group of “Parameter”

Step2: Click Target Parameter
Step3: Set the Value and click “Enter”
-27-
B. Read and Select Function of Parameter
Step1 Step3
Step2
Step1: Select Group of Parameter

Step2: Click the Target Parameter
Step3: Edit of Function
5.6 Monitor Functions

Click “Monitor” to monitor the value of the parameters
Step1 Step2
Description:
Step1: Click Monitor
Step2: Select the Target Parameter, and a small window will show the value of the parameter at the
left-up side. The user can monitor more than one parameter at same time.
-28-
5.7 Soft-Scope
5.7.1 setup table
Click “scope setup” to create setup table as below.
Descriptions: The Soft-Scope offer 6 Signal Observations : Analog1~ Analog x 4 +

Digital1~Digital x 2 and 1 Trigger, 1 Trigger Position Shift Function, 1 Sampling Setting
Function
Note:
1. Right side color blocks are the observing signals.
2. Click “Start” to draw the curve.
-29-
3. If there is no response from Soft-Scope after clicking “Start”, cancel it and try to click “Start”
again.
4. Click “Cancel” to cancel curve drawing.
5. Click “Open” to view existing drawing.
5.7.2 The Curve on the Oscilloscope
1. Open : To open existing file

2. Save : To save as new file
3. Print : To print file
4. Note : Remark
5. Redraw : Redraw curve
6. Analog : To show Analog curve
7. Digital : To show Digital curve
-30-
8. Signal Adjustment : To adjust resolution and position of the Signal
9. Cursor Adjustment : To adjust Cursor1 and Cursor2 to read real value
-31-
10. Re-Draw Area : To set the time duty of re-drawing
STEP 1 : Select “Enable” and set the Time Duty (Interval)

STEP 2 : Click “ReDraw” to redraw the curve
-32-
5.8 Observation Data
Ａ：ANALOGUE
< * means in common use>
ITEM DESCRIPTION
No Function No Function
Analog Input-1 Value Analog Input-1 Value
Analog Input-2 Value Analog Input-2 Value
Analog Output-1 Value Analog Output-1 Value
Analog Output-2 Value Analog Output-2 Value
Encoder A/B Counter Encoder A/B Counter Number
Motor Feedback Current Motor Feedback Current
Motor Real Speed Motor Real Speed
Position Error Position Error Value
Standard Acc/Dec Command Standard Acc/Dec Command
Velocity Command Velocity Command
X/Y Input Clock Number X/Y Input Clock Number
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B：DIGITAL
ITEM DESCRIPTION
DIGITAL DI-1 DIGITAL DI-1
DIGITAL DO-01 DIGITAL DO-01
Encoder A -signal Encoder A -signal
Encoder B-signal Encoder B-signal
Encoder C-signal Encoder C-signal
Encoder U-signal Encoder U-signal
Encoder V-signal Encoder V-signal
Encoder W -signal Encoder W -signal
Fast DI-X Fast DI-X
-34-
Fast DI-Y Fast DI-Y
OC-Trip OC(OVER CURRENT)TRIP
OD-Trip OD( BRAKING FAILURE ) TRIP
OH-Trip OH(OVER TEMPERATURE) TRIP
OL-Trip OL(OVER-LOAD) TRIP
OP-Trip OP(OVER VOLTAGE) TRIP
PG-Trip PG(Encoder FAULT) TRIP
UP-Trip UP(LOW VOLTAGE) TRIP
C.Trigger
ITEM DESCRIPTION
-35-

Encoder A -signal Encoder A -signal
Encoder B-signal Encoder B-signal
Encoder C-signal Encoder C-signal
Encoder U-signal Encoder U-signal
Encoder V-signal Encoder V-signal
Encoder W -signal Encoder W -signal
Fast DI-X Fast DI-X
Fast DI-Y Fast DI-Y
OC-Trip OC(OVER CURRENT)TRIP
OD-Trip OD( BRAKING FAILURE ) TRIP
OH-Trip OH(OVER TEMPERATURE) TRIP
OL-Trip OL(OVER-LOAD) TRIP
OP-Trip OP(OVER VOLTAGE) TRIP
PG-Trip PG(Encoder FAULT) TRIP
UP-Trip UP(LOW VOLTAGE) TRIP
-36-
5.9 Simulated Digital Inputs and Outputs
Click “Control Digital I/O or to Call Out all of DI and DO
-37-
5.10 AUTO-TUNING OF MOTOR AND ENCODER
Attention: After auto-tune, all parameter will be resumed back to factory default value. Be sure to save all
relevant parameters setting firstly before executing auto-tune function. Enabling all parameters can be
downloaded again to the drive after auto-tune.
5.10.1 Select motor from Servo-Win

A. Click (select) “Control” / “Auto Tuning”
B. Select Motor Mode
-38-
C . Checking the motor parameters and click “OK”
D. Click “Start” to execute Auto Tuning function
Note:
a. A Green Bar on the bottom of screen means proceeding of Auto Tuning.
b. The Green Bar will be gone when Auto Tuning is finished.
c. After Auto Tuning, the data of encoder, winding Inductance, Resistance,
Current loop P, I. Gain will be obtained. (No speed loop P.I. Gain can
be obtained after Auto Tuning).
-39-
5.10.2 Auto Tuning for New motor
5.10.2.1 Select “Motor Parameter” from Parameter Table
5.10.2.2 Input below Parameters:
Pr. Descriptions
086 Motor Rated Current
189 Encoder Type
200 Motor Rated Speed
203 Motor Maximum Speed
-40-
5.10.2.3 Click (select) Control /Auto Tuning
5.10.2.4 Select “User Define”
-41-
5.10.2.5 Checking the motor parameters and click “OK”
5.10.2.6 Click “Start” to execute Auto Tuning Function
Note:
a. Green Bar on the bottom of screen means proceeding of Auto Tuning.
b. The Green Bar will be gone when Auto Tuning is finished.
c. After Auto Tuning, the data of encoder, winding Inductance, Resistance,
Current loop P, I. Gain will be obtained. (No speed loop P.I. Gain can
be obtained after Auto Tuning).
-42-
5.10.3 Save Data of New Motor
After Auto Tuning, ServoWin will get data of new motor and may save new motor’s data as per below
instruction. The new motor’s data will be able to be selected (as per “1. Select motor from Servo-Win”)
while next use.
A. Finished auto tuning to get following data of new motor. Click “Save as New Motor”
B. Name “Motor Mode” of new motor, then Click “Save”
-43-
5.10.4. Adjustment of Wrong Motor Rotating Direction
When there was found of wrong motor rotating direction after auto tuning, please follow up below
procedure for modification on motor’s rotating direction:
a. When Servo Drive DI x (102) is OFF

b. Turn off power and change motor connection: (Exchange motor output V, W Phase
wire)
c. Turn on power and execute again motor auto tuning function.
d. After exchanging V, W Phase wire, motor will auto tune parameters as per below table:
Pr. FUNCTION MEMO
191 Encoder Direction Encoder Direction
192 Encoder Shift Encoder Shift Angle
197 Hall UVW Sequence U.V.W Phase Order
-44-
Chapter 6 – Description of Control Mode
6.1 Speed/Torque control mode
6.1.1 Select Speed/Torque control mode
a. Select Group of “Operation Mode Select” and Setting of “Torque/Speed Mode”
b. Execute “ Reset”
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c. Select Group of “ Torque/Speed Mode”
6.1.2 Parameters description
Pr.02 Speed 0 Select(RAM, AI-1 , AI-2 or JOG

Version Status Format Default Unit Min Max
-
*Speed Set from JOG Speed(Pr.259):The speed reference is from JOG speed
setting(the setting value of Pr.259)
*Speed Set from RAM Speed Set: :The speed reference is from RAM speed
setting(the setting value of Pr.260)
* Speed Set from AI-1(10V=MAX Speed(Pr203)): The speed reference is from
AI-1,10VDC=The MAX Speed (The setting value of Pr.203)
* Speed Set from AI-1(Speed Set =Pr119 x0.1 RPM): The speed reference is from
the AI-1,The final Speed = Pr119 x0.1 RPM
* Speed Set from AI-2(10V=MAX Speed(Pr203)): The speed reference is from
AI-2, 10VDC =The MAX Speed (The setting value of Pr.203)
* Speed Set from AI-2(Speed Set =Pr131 x0.1 RPM): The speed reference is from
AI-2, The final Speed = Pr119 x0.1 RPM
*Speed Set from AI-X(By AIxSW (DI-x(13)): Speed Set from AI-1 or AI-2, the user
can select AI-1 or AI-2 by the DI-x(13)
-46-
Pr.03 Special Torque Limit When TRQx_SW=00
-
*EAROM TL0 is the Torque limit source when TROx_SW=00: The torque
reference is from EAROM TL0(The setting of Pr.004)
* AI-1 is the Torque limit source when TROx_SW=00: The torque reference
is from AI-1.
* AI-2 is the Torque limit source when TROx_SW=00: The torque reference
is from AI-2.
Pr.04 Torque Limit-0 (EAROM)

- t
To set the torque limit value.
Select the torque limit value by DIx(27),DIx(28)

- t

- t
-47-
- t
Pr.024 Torque DROOP Range

- RPM 0 3000
To set Torque Droop range: When the motor speed is reached to the MAX
setting speed. the torque of the motor will be drooped to prevent motor
speed in excess of MAX setting speed + the value of Pr.024.
At real Torque Control mode, the speed is not under control. So the
speed of motor could be likely run to very high. The setting of this function
is to avoid motor running to excess high speed.
Pr.248 ACC TIME

- RW 0 ms/Krpm 0 6000
Set the Ramp up time
Pr.249 DEC TIME

- RW 0 ms/Krpm 0 6000
Set the Ramp down time
Pr.250 S curve T1 time

- RW 0 ms 0 6000
Set the S RAMP CURVE
-48-

- RW 0 ms 0 6000

- RW 0 ms 0 6000

- RW 0 ms 0 6000
-49-
The Pr.250, 251, 252, 253 are to set 4 corners time of the S RAMP curve.
Refer the below curve
A Curve
Pr.250 (S curve T1 Time)100 ms ; Pr.251 (S curve T2 Time)100 ms
-50-
B Curve
Pr.250 (S curve T1 Time)100 ms change to500 ms; Pr.251 (S curve T2 Time)100 ms
C Curve
Pr.250(Scurve T1 Time)100 ms ; Pr.251(Scurve T2 Time)100 ms change 500 ms
Pr.252(Scurve T3 Time)100 ms ; Pr.253(Scurve T4 Time)100 ms
-51-
D Curve
Pr.252(Scurve T3 Time)100 ms change 500 ms; Pr.253(Scurve T4 Time)100 ms
E Curve
Pr.252(Scurve T3 Time)100 ms ; Pr.253(Scurve T4 Time)100 ms change 500 ms
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Pr.254 EMG STOP RAMP DOWN TIME

- RW Word 0 ms 0 3000
SET THE EMG STOP DEC TIME
Pr.255 RUN/STOP/FOR/REV Command Type

- RW
SELECT THE RUN/STOP/FOR/REV Command Type
Pr.259 JOG Spees Set

RW Word 0 -3276 +3276
Set the JOG speed
Pr.260 Spees Set0(RAM)

RW Word 0 -3276 +3276
Set the speed in the RAM
Pr.261 Spees Set1(EAROM)

RW Word 0 -3276 +3276
Set the speed in the EAROM(PRE-SET SPEED)
To select the pre-set speed by DIx(10), DIx(11), DIx(12)
-53-

RW Word 0 -3276 +3276

RW Word 0 -3276 +3276

RW Word 0 -3276 +3276

RW Word 0 -3276 +3276

RW Word 0 -3276 +3276
-54-
RW Word 0 -3276 +3276
6.1.3 Speed control with torque limit and Torque control mode
DIx(26)=0 and DIx(27)=0, the drive is in speed control with torque limit mode
The user can control the speed of motor and limit the torque of motor.
The rotating direction is decided by final speed reference only.
DIx(26)=1 or DIx(27)=0, DIx(26)=0 the drive is in torque control mode

The user can control the torque of motor, but will not control the speed of motor.
The rotating direction is decided by final torque reference only.
6.2 Pulse Command Mode(PCMD)
a. Select Group of “Operation Mode Select” and Setting of

“E-GEAR & Pcmd/Printing Mark Registration”
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6.2.1 E-GEAR Block
a. Select Group of “E-GEAR & Pcmd/Print-Mark-Reg”
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b. Select Group of “Standard E-GEAR/Pcmd Tracking ”.
6.2.1.1 Parameters description (Refer to chapter 8.8)
6.3 Point to Point Control Mode (P2P Mode)

6.3.1 Select BP2P (Basic Point To Point Mode)
a. Select Group of “Operation Mode Select” and Setting of “BP2P-Basic Point to Point Mode”
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c. Select Group of “SP2P(Typical)-Smart Point To Point”
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6.3.2 Parameters Description
SPTP Mode Parameter

PR FUNCTION DESCRIPTION
IN position range setting

218 P2P In-Position Range
Search Home position Mode
269 Search Home Mode selection
270 Home Offset Home Offset(shift) setting
273 P2P High Gain Lock Time P2P High Gain holding Time
274 Position Set0 (POSx SW=0000) Use Pr:274~Pr:304 to set 16
positions,
276 Position Set1 (POSx SW=0001)
The position can be selected by
278 Position Set2 (POSx SW=0010) DIx(14), DIx(15), DIx(16),
280 Position Set3 (POSx SW=0011) DIx(17)

306 P2P Mark Reference Position Set the expected Mark
reference position
310 MOTOR side PPM(Input Pulses Per Meter) The number of pulses from the
motor encoder per
meter(Pulses/Meter)
356 P2P Profile-A : Half-Sine Period Time(JOG & HOME) The user can set A,B,C,D 4sets
of running profile,The profile A
357 P2P Profile-A : Top Speed Set(JOG & HOME) is for JOG and HOME position
358 P2P Profile-A : Acc/Dec Ramp Time(JOG & HOME) searching only.
359 P2P Profile-A : S-Curve Jerk Time(JOG & HOME)

(1) Half-Sine Period Time: The
360 P2P Profile-B : Half-Sine Period Time
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361 P2P Profile-B : Top Speed Set time for running Half-Sin
362 P2P Profile-B : Acc/Dec Ramp Time Wave period.This setting is
for Half-Sin and Full-Sin
363 P2P Profile-B : S-Curve Jerk Time mode
364 P2P Profile-C : Half-Sine Period Time
(2)Top Speed Set :The top
365 P2P Profile-C : Top Speed Set
speed setting for the profile
366 P2P Profile-C : Acc/Dec Ramp Time
367 P2P Profile-C : S-Curve Jerk Time (3)Acc/Dec Ramp Time:
To set the RAMP UP and
368 P2P Profile-D : Half-Sine Period Time
RAMP DODN time
369 P2P Profile-D : Top Speed Set (4) S-Curve Jerk Time:
370 P2P Profile-D : Acc/Dec Ramp Time To set the S RAMP Jerk
time
371 P2P Profile-D : S-Curve Jerk Time
The user can use Pr:372 ~

372 P2P Run Profile Select for Point-0 Pr:387
To select the running profile for
373 P2P Run Profile Select for Point-1 the 16 pre-set positions.
Profile-A(JOG & HOME)
374 P2P Run Profile Select for Point-2
Profile-B
Profile-C
376 P2P Run Profile Select for Point-4 Profile-D
388 P2P Position Mode for Point-0 The user can use Pr:388 ~
Pr:403 to set 16 position mode
389 P2P Position Mode for Point-1 for 16 pre-set positions
390 P2P Position Mode for Point-2
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To set P2P run FORWARD
404 P2P FORWARD Travel Limit Travel Limit Position
To set P2P run REVERSE
406 P2P REVERSE Travel Limit Travel Limit Position
P2P Mode, Productivity (PCS
Per Minute), observational
411 Productivity (Sheet Per Minute) value.
413 P2P Specify the STATUS for DO check
P2P Mode, STATUS
415 P2P STATUS for Monitor observation
Machine Position (mm),
416 P2P Machine Position(mm) observational value.
Motor Travel Length (mm),
426 Monitor Motor Travel Length(mm) observational value.
Mode Mark POSITION
428 Monitor P2P MARK Position(mm) observational value.
P2P Mode Mark Window
430 P2P MARK-Window Setting
Position Error Correct Volume
431 P2P ARC(Auto-Registration-Control) Ratio Setting (%)
The Limitation of Position Error
432 P2P ARC(Auto-Registration-Control) Limit Correct Volume
CYCLE END Position (mm),
478 Monitor CYCLE END Position(mm) observational value.
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Chapter 7 – I/O Interface Circuits
7.1 I/O Connector Signal Description
DI --Programmable Digital Inputs

DO--Programmable Digital Outputs
AI--Analog Inputs
AO--Analog Outputs
Xin,Yin--Pulse Command Inputs
CKA,CKB --Simulation Clock Pulse Outputs
7.2 Programmable Digital Inputs

In total, each Jupiter servo drive unit has 16 digital inputs.
Includes:
8 General DIx, DI1~DI8
2 Fast Capture DI9 & DI10
2 Pulse Command FDIX & FDIY
4 Virtual DIx, DI13~DI16
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7.2.1 Hardware Structure
7.2.1.1 General DI-x (x=1~8)
7.2.1.2 Fast Capture Type DI-9 & DI-10
Differential line receiver inputs port DI-9 & DI-10 are designed for accessing very
fast trigger pulse signal inputs. For example, it may be used to detect “Print-Mark”
or “Machine-Index”, etc. In order to gain fast response, (or, to capture/record data
at the trigger instant,) these two signals are connected to dedicated hardware
inputs of CPU chip.
In case fast capture function is not need, the DI-9 & DI-10 may also used as
general purpose Digital inputs.
7.2.1.3 Fast Clock Inputs DI-11 & DI-12
DI-11 & DI-12 are specifically reserved for Pulse-Command Inputs.
DI-11 = FDIX, and DI-12 = FDIY, they can not be used as general inputs, must
always used as a pair of pulse command input signals.
Refer to Section 7.6 for detail description.
7.2.1.4 Virtual Digital Input DI-13 ~ DI-16
In addition, there are four virtual digital inputs, DI-13 ~ DI-16. These digital inputs
do not have physical input hardware. Instead, they can be accessed only by
commission software or by serial communication.
Note:
DI-15 is internally connected to DO-15, and,
DI-16 is internally connected to DO-16.
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7.2.2 Digital Input connection for PNP mode
7.2.3 Digital Input connection for NPN mode
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7.2.4 Digital input function selection list
Unless specially notified, all digital inputs in Jupiter Drive can be freely assigned to any
function listed in the table. First column shows the selected function code, next
columns stands for applicable mode, “Ver.” Stands for the latest CPU firmware version
that will includes the function.
The mode name is defined as:
VTB : Velocity mode, Torque mode, and Basic Smart Point to Point mode
FS : Fly-Sync embedded, Smart Point to Point
RC : Rotary Cut embedded mode
No. VTB FS RC Ver. Description

0 ● ● ● ~ No function
*1 *2 Recommend to assign this function to
un-used DIx port
2 ● ● ● CKA/B Enable
=0, disable CKA/CKB output
=1, enable CKA/CKB oujtput
when not assigned, always enable
4 ● ~ SP2P Catch Sensor Input
Specially reserved function for DI-09
port.
Fly-Catch Trigger/Sensor Input, Refer to
Pr.408.
This function is effective only for input port
DI-09. Do not set this function to other input
ports.
5 ● ~ SP2P Fly-SYNC Exit (or CUT-End)
Request Jupiter controller exit the SYNC
mode.
8 ● ~ ZERO-SPEED HOLD
HOLD the motor at zero speed
9 ● Speed mode, JOG speed command
10, ● ~ SPDxSW(2/1/0),
11, DIx(12)=SPDxSW2 (bit2)
12, DIx(11)=SPDxSW1 (bit1)
DIx(10)=SPDxSW0 (bit0)
These three inputs combined to select one
among eight different speeds references
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13 ● 7104 AIxSW, change analog input
14, ● ● ~ POSxSW(3/2/1/0),
15, DIx(17)=POSxSW3 (bit3)
DIx(14)=POSxSW0 (bit0)
These four inputs combined to select
Point-X, where X=0~15
18 ● ● ~ SP2P Trigger
Used to initiate the SP2P function for
Point-X
23 ● ● ● RESET the Jupiter drive immediately
24 ● ~ NEG-TORQUE
Reverse the input TORQUE command
25 ● ~ SIN-REPEAT
Request to repeat SP2P Sinusoidal motion
26 ● Torque/Speed Change
=1, Torque mode
=0, Speed mode
Do not use, if DIx(27) has been chosen
Note,
if non of DIx(26) & DIx(27) is chosen,
Default to Speed mode operation
27 ● Speed/Torque Change
=1, Speed mode
=0, Torque mode
Do not use, if DIx(26) has been chosen.
Note,
if non of DIx(26) & DIx(27) is chosen,
Default to Speed mode operation
28, ● ~ TRQxSW(1/0) Torque command select SW
29, DIx(29)=TRQxSW1 (bit1)
DIx(28)=TRQxSW0 (bit0)
These two inputs combined to select one
among four torque references
30 ● ● ~ SP2P JOG Forward
31 ● ● ~ SP2P JOG Reverse
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32 ● ● ~ HOME Search Start
33 ● ● ~ HOME DOG Switch
40 ● ● ● D-Flip/Flop-4, DATA input
41 ● ● ● D-Flip/Flop-4, SET input

42 ● ● ● D-Flip/Flop-4, CLR input
43 ● ● ● D-Flip/Flop-4, CK input
44 ● ● ● SR-Flip/Flop-2, SET input
45 ● ● ● SR-Flip/Flop-2, CLR input

51 ● ● ● T-Flip/Flop-5, SET rising edge trigger input
52 ● ● ● T-Flip/Flop-5, CLR rising edge trigger input
53 ● ● ● T-Flip/Flop-5, TOGGLE rising edge trig

input
73 ● RUN command
(or FWD-RUN command, depend on
Pr.255)
74 ● REV command
(or REV-RUN command, depend on
Pr.255)
75 ● 32bit Counter, UP one count
76 ● 32bit Counter, DOWN one count
77 ● 32bit Counter, CLR counter
84 ● ● Master clock source selection

=1, from FDIX & FDIY pulse input port
=0, by simulation virtual clock (Pr.xxx)*3
If non of DIx(84) & DIx(85) is selected,
Default to FDIX/Y clock input
85 ● ● Master clock source selection
=0, from FDIX & FDIY pulse input port
=1, by simulation virtual clock (Pr.xxx)*3
If non of DIx(84) & DIx(85) is selected,
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Default to FDIX/Y clock input
88 ● RC-CUT-MORE
89 ● RC-CUT-LESS
90 ● RC-START
Start Rotary-Cut operation function
95 ● CUT-POINT sensor input
This special function is effective only for
DI-09 input
98 ● MARK-POINT sensor input
This special function is effective only for
DI-10 input
102 ● ● ● ~ SERVO-ON
106 ● ● ● 6A15 TIMER4-START input
110 ● ● ● 6A15 TIMER3-START input
114 ● ● E-CAM-SW, cycle Index input

When triggered, ECAM-SW disk angle=0
115 ● ● ● TIMER5-TRIG input
120 ● ● ● 6B01 16bit-Shifter, CLR content to all ZERO’s
121 ● ● ● 6B01 16bit-Shifter, SET content to all ZERO’s
122 ● ● ● 6B01 16bit-Shifter, DATA input
123 ● ● ● 6B01 16bit-Shifter, CK input (rising edge trigger)
140 ● ~ IMCUT,
Immediate-CUT or Waste-CUT
The servo will start tracking the input
material.
141 ● 7111 Update/Modify Pr.308 (Auto-Calibration the
Input-side-PPM)

249 ● ● ● EMERGENCY STOP,
When triggered, ramp down to stop by
Pr.254
*1 : “●” mean function exists in this mode

*2 : ”~” mean exists in the first released ersion.
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*3 : In FlySync SP2P mode, the simulation clock frequency is determined by Pr.312
*3 : In RC mode, the simulation clock frequency is determined by Pr.330
*4 : Refer to documents for SP2P, FS-SP2P or RC functions.
7.2.5 Monitor & Simulation

Pr.011 is used to monitor all the DIx status. And, Pr.060 is used by ServoWin to
simulate DIx command from PC side.
Refer to Chapter-8, DI section.
7.3 Programmable Digital Outputs

7.3.2 Digital Output connection for PNP mode
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7.3.3 Digital Output connection for NPN mode
7.3.4 Digital output function selection list
All digital outputs in Jupiter Drive can be freely assigned to any function listed in the
table. First column shows the selected function code, next columns stands for
applicable mode, “Ver.” Stands for the latest CPU firmware version that will includes
the function.
The mode name is defined as:
VTB : Velocity mode, Torque mode, and Basic Smart Point to Point mode
FS : Fly-Sync embedded, Smart Point to Point
RC : Rotary Cut embedded mode

0 ● ● ● ~ Always OFF
1 ● ● ● ~ Always ON
2 ● ● ● ~ SERVO-READY
4 ● ● ● ALARM
5 ● ● ● NO-ALARM
6 ● ● ● FORWARD running status

7 ● ● ● REVERSE running status
8 ● ● ● PG-C (10ms), or Z-Index simulation
9 ● ● ● SPZ, Speed Zero Status
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10 ● ● ● NSPZ, Non-Speed Zero Status
11 ● ● ● TIMER1 Output (ON Period)
12 ● ● ● TIMER2 Output (ON Period)
14 ● ● ● ~ Actual Speed >= Compare Level (Pr.010)

15 ● ● ● ~ Actual Speed < Compare Level (Pr.010)
16 ● ● ● ~ Position Error >=Compare Level (Pr.170)
17 ● ● ● ~ Position Error < Compare Level (Pr.170)
18 ● ● ● ~ Current Output >=Compare Level

(Pr.016)*3
19 ● ● ● ~ Current Output < Compare Level
(Pr.016)*3
32 ● ● ~ SP2P HOME Search OK
Indicating the Home Search function has
completed
53 ● ● ● ~ SR-Flip/Flop-2, Q output
54 ● ● ● ~ SR-Flip/Flop-2, /Q output
55 ● ● ● ~ TORQUE-LIMITING Status output
60 ● ● ~ SP2P Ready
End of SP2P process,
Ready to accept next SP2P trigger
61 ● ● ~ SP2P Ready & IN-Position
End of SP2P process (+Perror < Pr.170),
Ready to accept next SP2P trigger
62 ● ● ~ SP2P RUNNING
Indicating the SP2P function is in execution
64 ● ~ SYNC Status
Indicating the system is in synchronization.
65 ● ~ SYNC-Delay-Timer Output
When SYNC-Status=0, DOx(65)=0
Else when SYNC-Status=1,
The SYNC-Delay-Timer start counting; if
the SYNC-Status sustains more than
Pr.414,
Then DOx(65)=1
66 ● ~ OVER-TRAVEL
Indicating the running motor had exceeded
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the Travel-Limits.
Refer to Pr.404 * Pr.406
67 ● ● ~ SP2P READY and HOEM-OK Status
Indicating previous SP2P function is
completed, Ready for accepting next SP2P
cycle.
80 ● ● ~ SP2P MARK-WINDOW
81 ● ● ~ SP2P MARK-LOSS (no Mark in window)
82 ● ● ~ SP2P Feed-Length Over (>POS[14])

Refer to Pr.404 * Pr.406
83 ● ● ● ~ Torque Output >= Compare Level
(Pr.016)*4
84 ● ● ● ~ Torque Output < Compare Level (Pr.016)*4
95 ● ● ~ E-CAM-SW1 (Type-1) *5
96 ● ● ~ E-CAM-SW2 (Type-1) *5
97 ● ● ~ E-CAM-SW3 (Type-1) *5
98 ● ● ~ E-CAM-SW4 (Type-1) *5
104 ● ● ● 6A15 TIMER4 (Momentary ON), Q output

105 ● ● ● 6A15 TIMER4 (Momentary ON), /Q output
106 ● ● ● 6A15 TIMER4 (Delayed ON), Q output
107 ● ● ● 6A15 TIMER4 (Delayed ON), /Q output
108 ● ● ● 6A15 TIMER3 (Momentary ON), Q output
109 ● ● ● 6A15 TIMER3 (Momentary ON), /Q output
110 ● ● ● 6A15 TIMER3 (Delayed ON), Q output
111 ● ● ● 6A15 TIMER3 (Delayed ON), /Q output
112 ● ● ● ~ 32bit Counter >= Compare Level (Pr.216)
113 ● ● ● ~ 32bit Counter < Compare Level (Pr.216)

117 ● ● ● ~ D-Flip/Flop-4, Q output
118 ● ● ● ~ D-Flip/Flop-4, /Q output
119 ● ● ● ~ T-Flip/Flop-5, Q output
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120 ● ● ● ~ T-Flip/Flop-5, /Q output
122 ● ● ● ~ TIMER5 (Mono-Pulse), Q output
123 ● ● ● ~ TIMER5 (Mono-Pulse), /Q output

150 ● ● ● 6B01 16bit Sifter register output Q0~Q15

~ DIx(150)=Q0
165 DIx(151)=Q1
~…
DIx(164)=Q14
DIx(165)=Q15
166 ● ● ● 6B01 16bit Sifter register output /Q0~/Q15
~ DIx(166)=/Q0
181 DIx(167)=/Q1
~…
DIx(180)=/Q14
DIx(181)=/Q15
195 ● ● ~ E-CAM-SW1 (Type-2) *6
196 ● ● ~ E-CAM-SW2 (Type-2) *6
197 ● ● ~ E-CAM-SW3 (Type-2) *6
198 ● ● ~ E-CAM-SW4 (Type-2) *6
*1 : “●” mean function exists in this mode

*2 : ”~” mean exists in the first released version.
*3 : Current is compared with respect to Drive(AMP)-Rating
*4 : Torque is compared with respect to Motor-Rating
*5 : Type-1, refer to sec.8-10
*6 : Type-2, refer to sec.8-10
7.3.5 Monitor and Simulation

Pr.012 is used to monitor all the DOx status. And, Pr.013 is used by ServoWin to
simulate DOx command from PC side.
Refer to Chapter-8, DO section.
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7.4 Analog Input Configuration
7.4.2 Auto Offset Adjustment (Factory Default)

For analog circuits, always exist some deviations between each CPU board.
Therefore, in the factory production stage, Auto-Offset adjustment is performed for
every CPU board before it is ready to use.
Generally, this Auto-Offset adjustment is not necessary for user’s application.
However, in case some component is changed or user does not sure the status of
the CPU board, please follow the procedure to execute Auto Offset adjustment for
analog inputs AI1 & AI2.
1. Disable the Servo Drive,
2. Connect all analog inputs (AI1+, AI1-, AI2+ and AI2-) to ground,
3. Pr.116=2, Pr.128=2
4. Pr.117=0, Pr.129=0
5. Pr.118=100, Pr.130=100
6. Set Pr.138=5,
7. Click “RST” icon, will start and complete the auto offset process
8. Draw a AI1 & AI2 versus time curve in order to check the adjustment
7.4.3 Filter, Manual Offset & Gain Adjustment

Refer to Chapter 8, AI section for detail parameter description.
7.4.4 Monitor
Use Pr.119/Pr131 or Soft Scope to check the actual AIx input signals.
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7.5 Analog Output Configuration
7.5.2 Offset Adjustment & Gain Adjustment

Refer to Chapter 8, AO section for detail parameter description.
7.5.3 Monitor
By Pr.157 = AO-1 Value, or Pr.158 = AO-2 Value user can check actual value output
to AOx ports.
Or, by SoftScope it is easy to check the output value vs. time curves.
7.5.4 Analog Output Function Select

0 ● ● ● ~ AOx = 0mv
1 ● ● ● ~ AOx = +2000mv
2 ● ● ● ~ AOx = -2000mv
3 ● ● ● ~ AOx = Pr.106 (mv), RAM memory
4 ● ● ● ~ AOx = Pr.107 (mv), RAM memory
5 ● ● ● ~ AOx = Pr.108 (mv), EAROM memory
6 ● ● ● ~ AOx = Pr.109 (mv), EAROM memory
21 ● ● ● 7629~ Absolute Rpm, (max=Pr.203)
22 ● ● ● 7629~ Rpm, (max=Pr.203)
23 ● ● ● 7629~ Absolute Torque, (max=peak current)
24 ● ● ● 7629~ Torque,
Notes:
1. Refer to Chapter 8, AO section for detail parameter description.
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2. For AO1, use Pr.101 to adjust its output offset in mv resolution
For AO2, use Pr.104 to adjust its output offset in mv resolution
3. For some special application mode, the Jupiter can be used as a stand-alone
MOTION-CONTROLLER. In this case, AOx may be configured as Vcmd
signal source, in order to drive another servo drive unit.
Consult to factory for stand alone Motion-Controller applications.
7.6 Pulse Command Input Port Configuration

There is one pair of fast photo-isolated digital inputs FDIX and FDIY. These two pins
must work together for reserving pulse command clocks. They can be configured as
all three standard input types by software parameter assignment.
Refer to Chapter 8, E-GEAR section for related parameters descriptions.
Pulse command inputs are isolated by high speed photo-coupler, shown as above.
Care must be taken to guarantee the signal polarity:
When differential inputs FDI(X/Y)+ > FDI(X/Y)-, the photo-coupler ON, then
output signal FDIX is pulled low.
When the photo-coupler is OFF, the output signal FDIX is high.
Note the internal current limiting resistance is 220 Ohm designed for +5V signal. If
the signal level is +24V, please add additional 2K Ohm resister for each input.
7.6.2 Pulse Command Type
Two Photo-Coupler inputs are reserved as Pulse command inputs, denoted as FDIX
& FDIY. In brief, they are often denoted as X/Y input.
In general, there are three kinds of pulse command signal.
Pr.110 (X/Y pulse command type select) is used for this selection.
7.6.2.1 Quadrature Clock Input Type
Pr.110=0, FDIX & FDIY are used as Quadrature inputs.
When FDIX leads FDIY, CT4 counts up;
When FDIY leads FDIX, CT4 counts down.
Note: the count value changes at every transition of FDIX & FDIY.
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7.6.2.2 Direction & Clock Input Type

Pr.110=1, FDIX used as Direction Input and FDIY used as Clock input.
CT4 Counter will count up or down at Rising-edge of FDIY.
CT4 Counter will count up when FDIX is high.
CT4 Counter will count down when FDIX is low.
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7.6.2.3 CW & CCW Clock Input Type
Pr.110=2, both FDIX and FDIY are used as Clock input.
When FDIY=high, CT4 will count up at rising edge of FDIX, and
When FDIX=high, CT4 will count down at rising edge of FDIY.
7.6.3 Monitor
User can check the working status of the pulse command by checking parameters or
by observing the real time curves.
Pr.009 = CT4 is a 16 bit Up/Down counter for accumulates the X/Y command pulses.
(refer to sec.8.?)
From Soft-Scope we can monitor both digital signals Fast DI-X, Fast DI-Y, and
analog traces: CT4, Delta-CT4 & Rpm(X/Y) .
FDIX & FDIY are digital status of the pulse command inputs,
CT4 is the value of 16 bit Up/Down Counter,
Delta-CT4 represents the value change of CT4 per 100us period,
Rpm(X/Y) is the calculated speed command w.r.t. motor side.
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7.6.4 Fast Interrupt source
In some special applications, when the FDIX and FDIY not being used as clock input,
they may be used as interrupt source.
Pr.167=FDIX(DI-11) interrupt function select (reserved)
Pr.168=FDIY(DI-12) interrupt function select
Pr.1 VTB Ver. Description
68
0 ● ~ No interrupt action
1 ● 7523 Trigger source of SP2P (<100us)
2 ● 7523 Trigger source of SP2P (=100us)
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7.7 Clock Output Emulation
Refer to Chapter 8, section MISC functions. The emulation of QEP output clocks.
7.7.2 Clock Output Selection

The emulation output clock can select either frequency-divided motor clocks or
frequency-fixed reference clocks.
Refer to the setting of Pr.115 in the miscellaneous parameter group.
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Chapter 8 – Parameter Groups
The “All” group
In the ServoWin, when observing the Parameter Table, click the Group”All”. Then,
all the parameters of the Jupiter drive will be listed and sorted by parameter
numbers.
These parameters categorized into functional groups. Through the upper-left

selection menu, user can jump directly to the specific parameter group of interest.
From the menu, if select “Operation Mode Select”, then the parameters relating to
this group are showed.
Please continue to next section to select the desired “Operation Mode”.
8.0 Operation Mode Select Group

Usually, the first and most important parameter is the “Pr.001=Servo Mode Select”
parameter. Click Group: ”Operation Mode Select” to find this parameter.
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Pr.001 Servo Mode Select

This parameter is used to define the application mode of this servo drive unit.
At power-on or after reset function, this parameter is captured once, then jump the
equivalent operation mode.
Though this parameter may be changed during operation, the change of this parameter
will be effective only after next power-on or reset.
Pr.01=Torque/Speed Mode : The drive is work in speed control mode and speed control
with torque control limit mode or torque control mode.
Pr.01=PMCD Pulse and Command Mode (Pulse and Direction Mode): The drive is work in
position mode. The position (steps) is followed by the input pulses command and the
speed is followed by the frequency of input pulse command. (p.s. The Input Pulse type,
please refer to Pr. 110 : the E-GEAR X/Y Clock type selection).
Pr.01=SP2P Smart Point to Point : The drive is work in position control mode (auto point to
point mode). Please refer to SP2P for relevant parameters.
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8.1 “AMP status” Parameter group
These parameters are used to define the ratings of the Power-Amplifier stage, and
provide information concerning the operation status.
Pr.017 I_RMS(%), Output rms Current expressed in % of Motor Rating

- M Word 0 % 0.00 300.00
This parameter is used to check the root-mean-square current output to
the servo motor. Its value is expressed in percentage of the Motor’s
rating.
Pr.017= ( Output RMS current / Motor Rated current ) x 100.00%
Related parameters :
Pr.018 = Output RMS current (measured value in Amperes) and
Pr.086 = Motor Rated current (set value in Amperes)
-83-
Pr.018 I_RMS, Measured Current expressed in Amperes

- R/W Word 0.0 Ampere 0.0 3000.0
This parameter is used to check the root-mean-square current output to
the servo motor. Its value is expressed in amperes.
Pr.018= (Motor Rated current x I_RMS% ) / 100.00%
Pr.017 = I_RMS, measured current expressed in % of Motor rating
Pr.086 = Motor Rated current (set value in Amperes)
Pr.019 ADC_CLKPS =2, (system use, do not change)

- F - 2 - - -
Special test parameter by factory engineer. Do not change it.
Pr.020 Id(%), monitor d-axis current expressed in Drive’s Rating

- M Word 0 % 0 300.00
This parameter is used to check the Direct-Axis current which is
calculated in Vector analysis. It is expressed in percentage of Drive’s
Rating.
Pr.021 = Iq, measured q-axis current expressed in % of Drive’s Rating
Pr.085 = Servo Drive’s Rating Current (setting in Amperes)
Pr.086 = Pr.085 * (Sqrt(Id*Id + Iq*Iq)/100%)
-84-
Pr.021 Iq(%), monitor q-axis current expressed in Drive’s Rating

- M Word 0 % 0 300.00
This parameter is used to check the Quadrature-Axis current which is
calculated in Vector analysis. It is expressed in percentage of Drive’s
Rating.
Pr.020 = Id, measured d-axis current expressed in % of Drive’s Rating
Pr.085 = Servo Drive’s Rating Current (setting in Amperes)
Pr.086 = Pr.085 * (Sqrt(Id*Id + Iq*Iq)/100%)
Pr.025 LPT Type =0, (system use, do not change)

Pr.026 SD/PHCE =0, (system use, do not change)
Pr.027 Charge Time =5us, (system use, do not change)
Pr.028 Carrier Freq. =10.0, (system use, do not change)
Pr.029 Guard Time =3.0us, (system use, do not change)
Pr.030 Trip Delay =1.0us, (system use, do not change)
Pr.034 Alarm Status

- M Hex 0 - 0000 FFFF
By checking this parameter may help distinguish the cause of alarm.
When alarm occurs, more than one bit of this parameter could be set.
However, while showing the major cause of alarm, the ServoWin check
the alarm status by the following order:
Bit0: PG / Encoder Fault
Bit1:DRV / Communication error between CPU card and slave card
Bit2~Bit9:
Bit10:OD / The DC Bus voltage is 30% higher than the setting value
within 10 seconds while during the ramp down period.
Bit11:OL / Overload
Bit12:OH / Motor Over Heat
Bit13:OP / Over Voltage
Bit14:UP / Under Voltage
Bit15:OC / Over Current
-85-
Pr.040 Mode Registration =0, (system use, do not change)
Pr.043 UP Auto Recovery Enable

- 0 - 0000 FFFF
The function of this parameter is that reset trip automatically while main
power on.
=0, UP Auto Recovery Disable.
=1, UP Auto Recovery Enable.
Pr.053 Parameter Write Level

- RWN 0 0 1
In some applications, parameters need to change frequently by PLC or
PC controller, under such circumstance, please set this parameter to 1
before write to other parameters. This function is to prevent over writing to
EAROM memory chip.
=0, Data write to RAM & EAROM,
=1, Data write to RAM only, new data will be lost after next power-on
Note:
1. Read/write cycle of EAROM memory is about 100,000 times.
2. After power on, this parameter is cleared to 0 automatically.
Pr.084 DC Bus Rated Voltage Setting

- RW Word 310 DC Volt 24 400
Control circuit of the Jupiter Drive uses +24Vdc input separated from the
main power line input. Therefore, this drive unit can accept very wide
range of power source rating.
The power line input R/S/T terminal may accept DC bus line input directly,
or 3-phase AC input then rectified to internal capacitor bank.
Refer to
Related parameter : Pr.087 = DC bus measurement gain adjust
-86-
Pr.085 Servo Drive’s Rated Current Setting
- RW Word - Ampere
This parameter defines the actual rating of the power amplifier stage.
User should not set or modify this parameter randomly.
If CPU board is replaced, consult factory or experienced personnel in
order to set or change this parameter correctly.
Pr.087 DC Bus Measurement Gain-Adjust

- RW Word 80.00 % - 300.00
This parameter is used for DC Bus voltage measurement. It should be
adjusted with respect to the individual Driver board.
Contact factory or experienced engineer in case CPU & AMP board had
been exchanged.
Pr.089 AMP(slave) board version, (system use, do not change)

- M Hex
This parameter shows the firmware version of the slave CPU.
The slave CPU take cares the current detection and vector calculation.
Pr.090 MAIN board version, (system use, do not change)

- M Hex
This parameters show the firmware version of the main CPU.
The main CPU is responsible for the I/O communication & motion.
-87-
Pr.154 AMP Status #4 Selection, (system use, do not change)
Pr.155 AMP Status #5 Selection, (system use, do not change)
Pr.169 I/O Scan Time, (system use, do not change)
Pr.424 AMP Data #4, (system use, do not change)
Pr.425 AMP Data #5, (system use, do not change)
-88-
8.2 Motor Related Parameters
Pr.008 CT2 Counter: 16 bit Up/Down Counter for counting Motor Encoder
Pulses
- M Hex 0 pulses 0000 FFFF
This parameter shows the internal 16bit counter which continuously
counting/accumulating total input pulses that comes form motor encoder.
Pr.056 Motor Rpm, measured from Encoder pulses

- M Word 0 rpm 0 max
This parameter is for monitoring the motor running speed.
-89-
Pr.086 Motor Rated Current

- R/W Word 3 amp 0 max
This parameter is used for protecting the motor from continuous overload.
The peak torque current is also calculated by this parameter.
Pr.088 Motor Peak Current

- RW Word 100 % 0 300
Depend on motor, this parameter defines peak output current, expressed
in percentage of motor’s rating.
Pr.133 Electrical Thermal Time

- R/W Word 60 sec 0 120
This parameter is used for calculating the I*I*t thermal protection for the
motor. It stands for the Trip-Time at 50% overload condition.
Pr.134 Lph, Inductance per Phase

- R/W Word - mh 0 max
This parameter records the measured inductance of the motor winding.
It is measured and used for Auto-Current-Loop-Gain tuning process.
Pr.135 Rph, Resistance per Phase

- R/W Word - Ohm 0 max
This parameter records the measured resistance of the motor winding.
It is measured and used for Auto-Current-Loop-Gain tuning process.
-90-
Pr.189 Encoder Type

- R/W Word 0 - - -
This parameter must be configured/selected properly. It must match the
exact Encoder type mounted on the Servo Motor.
Usually, this parameter is incorporated with the chosen motor type.
In case this parameter is not correctly set, the Servo-Drive will show “PG”
loss.
Pr.190 Encoder PPR

-
This parameter defines the total pulses per revolution of the mounted
encoder. After auto-tune, new value will be tuned and set by Jupiter
itself.
Pr.191 Encoder Direction

-
This parameter defines the A/B clock phasing definition of the mounted
encoder. After auto-tune, new value will be tuned and set by Jupiter
itself.
Pr.192 Encoder Shift

-
This parameter defines shift pulses of Encoder-Index point. It is measured
with respect to the motor’s magnet field reference. After auto-tune, new
value will be tuned and set by Jupiter itself.
-91-
Pr.193 Motor Type

- 3
Reserved for future motor type selection.
Pr.194 Motor Pole Number

-
This parameter defines the Pole number of the particular motor in use.
After auto-tune, new value will be tuned and set by Jupiter itself.
Pr.196 Encoder pulse number check

- M Word 0 Clock 0 65535
During motor running, when Encoder Index appears, this parameter will
show total clock input between two Index pulses of the encoder.
Pr.197 Hall Sequence Check

-
Used for Power-On check.
Pr.198 Ke
-
This parameter is used to store Back EMF value of the motor.
-92-
Pr.199 De
- 0 0 0
Reserved motor characteristic value.
Pr.200 Motor Rated Speed

- R/W Word 1000 rpm 0 3000
Set motor’s rated speed.
Pr.201 Encoder A/B/Z check

- R/W Word
Used to monitor the encoder output signal.
Pr.202 Encoder U/V/W check

-
Used to monitor the encoder output signal.(only at power-on)
Pr.203 Motor Maximum Speed

-
Set speed Limit value.
-93-
Pr.204 Encoder Present Position

- M Word 0 cks 0 max
Shows Encoder counts during operation.
Pr.205 Motor Present Position

- M Word 0 degree 0 360
Shows motor’s equivalent electrical angle during operation.
Pr.207 Motor Rated Torque

-
This parameter will be loaded in during selection of the motor type.
Reserved for future enhanced application.
Pr.208 Motor Rated Inertia

-
This parameter will be loaded in during selection of the motor type.
Reserved for future enhanced application.
-94-
8.3 PID Gain Parameters
PID parameters and Auto Gain Control

8.3.1 PID Parameters
8.3.1.1 PID Parameters List
Pr. no Name Description

160 Current Loop P gain Proportional & Integral Gain
161 Current Loop I gain For current control loop
171 Position Error Limit Only effective under Torque/Speed mode

When position gain is non-zero, this
parameter is used to prevent accumulation
of position error pulses.
172 Position loop F gain Feed-Forward position gain.
Used in tracking X/Y input pulses.
DSP measures the instant speed of X/Y
input pulses, then multiply this factor to get
-95-
an equivalent speed command.
This parameter in all tracking mode in
order to minimize position error.
173 Position Loop Gain Switch Set this value = 0, (reserved)
Selection
174 LOW-Group Position P Proportional Gain for
gain LOW-Group position control loop
176 LOW-Group Position D Set this value = 0, (reserved)
gain
177 HIGH-Group Position P Proportional Gain for
gain HIGH-Group position control loop
179 HIGH-Group Position D Set this value = 0, (reserved)
gain
180 Position Loop D Time Set this value =1ms, (reserved)
181 ACC Torque compensation Used in position mode to minimize position
error pulses during ACC/DEC
182 Speed loop D-Gain Set this value = 0, (reserved)
183 Speed loop Dtime Set this value =1ms, (reserved)
184 Threshold Rpm for SPZ Cross over point to define zero speed
185 Speed Error Limit Set this value = 1000rpm
This parameter is reserved for future
LOW-SPEED Drive application.
186 Speed Estimator Filter Set this value = 0, (reserved)
187 Torque Command Filter Torque command filter selection
Usually, set to 0. In some case, it may be
used to smooth the current command.
237 BASE-Group Speed P Proportional & Integral Gain
gain BASE-Group Speed control loop
238 BASE-Group Speed I gain
239 Gain Switch Selection Used to select Gain control mode
242 LOW-Group Speed P gain Proportional & Integral Gain
(%) LOW-Group Speed control loop
243 LOW-Group Speed I gain
(%)
246 HIGH-Group Speed P Proportional & Integral Gain
gain (%) HIGH-Group Speed control loop
247 HIGH-Group Speed I gain
(%)
-96-
8.3.1.2 Current control loop parameters

160 Current Loop P gain Proportional & Integral Gain
161 Current Loop I gain For current control loop
Parameter Pr.160 & Pr.161 are Proportional & Integral gain constants used for current
control loop.
For first time use, or when need to re-verify the current loop gain, just click the icon in the
tool bar, then the Jupiter drive will find suitable gain constants matching the motor under
control.
Current loop Tuning
Pr.160 Current Loop Proportional Gain

R/W Word - - - -
Proportional Gain for current control loop.
This parameter may be tuned by Auto-Tuning process.
Pr.161 Current Loop Integral Gain

R/W Word - - - -
Integral Gain for current control loop.
This parameter may be tuned by Auto-Tuning process.
-97-
8.3.1.3 Speed control loop parameters

182 Speed loop D-Gain Set this value = 0, (reserved)
183 Speed loop Dtime Set this value =1ms, (reserved)
185 Speed Error Limit Set this value = 1000rpm
186 Speed Estimator Filter Set this value = 0, (reserved)
187 Torque Command Filter Torque command filter selection
237 BASE-Group Speed P Proportional & Integral Gain
gain BASE-Group Speed control loop
238 BASE-Group Speed I gain
242 LOW-Group Speed P gain Proportional & Integral Gain
(%) LOW-Group Speed control loop
243 LOW-Group Speed I gain
(%)
246 HIGH-Group Speed P Proportional & Integral Gain
gain (%) HIGH-Group Speed control loop
247 HIGH-Group Speed I gain
(%)
Pr.182, Pr.183 and Pr.186 are reserved for other applications. Set its value as indicated.
Pr.187 is used to select suitable current loop filter level to decrease motor humming noise.
Refer to later description about Gain-Control
Pr.181 ACC/DEC Torque Compensation

Used in position mode to minimize position error pulses during

ACC/DEC
Increasing value will increase Accel/Decel Toprque while during motor
in Ramp up and Ramp down period.
-98-
Pr.182 Speed Loop D-Gain
Set this value = 0, (reserved)
Pr.183 Speed Loop D-Gain Time-Base

Set this value =1ms, (reserved)
Pr.184 Threshold RPM for SPZ(Speed Zero reference)

Cross over point to define zero speed
Pr.185 Speed Error Limit

Set this value = 1000rpm
Pr.186 Speed Estimator Filter

-99-
Pr.187 Torque Command Filter
Torque command filter selection

This parameter is used to select suitable current loop filter level to
reduce motor humming noise.
Pr.237 BASE-Group, Proportional Gain

Used in speed control loop.

This parameter defines the “Proportional Gain of BASE-Group”
Increasing value will increase output torque of motor. An excess high
value will cause motor’s noisy and vibrating.
The ratio of P Gain and I Gain will effect output torque and dynamic
response of motor. The higher ratio of P Gain and I Gain can be
expected good output torque and good dynamic response. But an
excess high ratio will cause noisy, vibration and unreliable of system
Pr.238 BASE-Group, Integral Gain


This parameter defines the “Integral Gain of BASE-Group”
Increasing value will increase performance of motor’s dynamic response.

But an excess high value will cause motor’s noisy and vibrating.
The Ratio of P Gain and I Gain will effect output torque and dynamic
response of motor. The higher ratio of P Gain and I Gain may be
expected good output torque and good response. But an excess high
ratio will cause noisy, vibration and unreliable of system.
-100-
Pr.239 Auto Gain Control Selection
Used to select Gain control mode
Pr.242 LOW-Group(1’st Gain group), Proportional Gain


This parameter defines the “Proportional Gain of LOW-Group”
Increasing value will increase output torque of motor. But an excess
high value will cause motor’s noisy and vibrating.
Pr.243 LOW-Group(1’st Gain group), Integral Gain


This parameter defines the “Integral Gain of LOW-Group”
-101-
Pr.246 HIGH-Group(2’nd Gain group), Proportional Gain


This parameter defines the “Proportional Gain of HIGH-Group”
Increasing value will increase output torque of motor. But an excess high
value will cause motor’s noisy and vibrating.
Pr.247 HIGH-Group(2’nd Gain group), Integral Gain


This parameter defines the “Integral Gain of HIGH-Group”
-102-
8.3.1.4 Position control loop parameters

171 Position Error Limit Only effective under Torque/Speed mode
When position gain is non-zero, this
parameter is used to prevent accumulation
of position error pulses.
172 Position loop F gain Feed-Forward position gain.
Used in tracking X/Y input pulses.
DSP measures the instant speed of X/Y
input pulses, then multiply this factor to get
an equivalent speed command.
This parameter in all tracking mode in
order to minimize position error.
173 Position Loop Gain Switch Set this value = 0, (reserved)
Selection
174 LOW-Group Position P Proportional Gain for
gain LOW-Group position control loop
176 LOW-Group Position D Set this value = 0, (reserved)
gain
177 HIGH-Group Position P Proportional Gain for
gain HIGH-Group position control loop
179 HIGH-Group Position D Set this value = 0, (reserved)
gain
180 Position Loop D Time Set this value =1ms, (reserved)
Pr.173, Pr.176, Pr.179 & Pr.180 are reserved for future application.
-103-
Refer to later description about Gain-Control
Pr.171 Position Error Limit (only for speed mode)

Only effective under Torque/Speed mode

When position gain is non-zero, this parameter is used to prevent
accumulation of position error pulses.
Pr.172 Position Loop Feed-Forward Gain

R/W Word 100 % 0 100
Used in tracking X/Y input pulses. DSP measures the instant speed of
X/Y input pulses, then multiply this factor to get an equivalent speed
command.
This parameter in all tracking mode in order to minimize position error.
Pr.173 Position Loop Gain Type Select

0 0 1
Pr.174 P-Gain1(position) : 1’st Proportional Gain of Position Loop

Proportional Gain for, LOW-Group position control loop

Increasing value will increase output torque of motor. But excess
high value will cause motor noisy and vibrating.
-104-
Pr.176 D-Gain1(position) : 1’st Integral Gain of Position Loop

Pr.177 P-Gain2(position) : 2’nd Proportional Gain of Position Loop

Proportional Gain for, HIGH-Group position control loop

Increasing value will increase output torque of motor. But excess
high value will cause motor noisy and vibrating.
Pr.179 D-Gain2(position) : 2’nd Integral Gain of Position Loop

Pr.180 Position-Loop Differential Time-Base

1 ms 0
Set this value =1ms, (reserved)
Pr.212 Lock Time for High Gain(2’nd Gain)

Use in PCMD mode
-105-
8.3.1.5 High/Low gain group selection
Pr.239 is a specially designed parameter used to change control gain automatically.

Because of a variety different operation mode built-in the Jupiter drive, this parameter
can ease the burden for the user to select proper gain constants.
Pr.239 Mode Position Loop Gain Speed Loop Gain
0 Torque/Speed LOW - Group BASE - Group
Base Gain P – gain = Pr.174 P – gain = Pr.237
I – gain = Pr.176 I – gain = Pr.238
1 Torque/Speed HIGH - Group HIGH - Group
(High Gain) P – gain = Pr.177 P – gain = Pr.237*Pr.246
I – gain = Pr.179 I – gain = Pr.238*Pr.247
3 Torque/Speed LOW - Group LOW - Group
(Low Gain) P – gain = Pr.174 P – gain = Pr.237*Pr.242
I – gain = Pr.176 I – gain = Pr.238*Pr.243
10 Torque/Speed Gain constant is changing with reference to
(High <-> Low) a. the setting of Pr.184 and,
b. the actual motor speed
Refer to Auto-Gain-Control for Speed mode
6 PCMD mode Refer to Auto-Gain-Control for PCMD mode
7 SP2P mode Refer to Auto-Gain-Control for SP2P mode
8 RC mode Refer to Auto-Gain-Control for RC mode
-106-
8.3.2. Auto Gain Control
8.3.2.1 Auto Gain control for Torque/Speed Mode

In Torque/Speed mode, if Pr.239=10, gain constants will vary according to the motor
speed.
Gain changing
versus rpm
High Gain
Low Gain
Pr.184 2*Pr.184 Motor rpm
200 RPM
Motor RPM
Gain changing versus
100 RPM
Pr.184 Threshold Rpm for SPZ
0 Set=100 RPM
High Gain
Low Gain
For example, in the case when parameter Pr.184(Threshold Rpm for SPZ) was set to
100rpm, if the actual motor speed is less than Pr.184, then the LOW Gain group is used;
When the motor speed is higher than 200rpm(2*Pr.184), the HIGH Gain group is used.
If the motor speed falls within the transition range (100~200rpm, in this case), the actual
gain will be varied linearly proportional to the motor running speed.
Notes:
1. When operation mode changes back from other mode to Torque/Speed mode, be
sure to select proper Gain control type again.
2. If Pr.184=0, only the High-Gain group parameter is effective.
-107-
8.3.2.2 Auto Gain control for PCMD Mode

Another two parameters in PCMD group will affect the auto gain control in PCMD mode:
Pr.036 = 0, select standard pulse tracking mode.
Pr.036 = 1, select Registration-Mark tracking mode.
Pr.211 = 0, immediate tracking
Pr.211 > 0, define maximum acceleration & deceleration rate during standard tracking.
PCMD mode Maximum tracking rate Auto Gain Control Mode

select Pr.211
Pr.036
0 = 0, no ACC/DEC limit Auto Gain as Torque/Speed mode
> 0, with ACC/DEC limit Depend on operating status
Pcmd input=0, LOW gain
Pcmd input>0, HIGH gain
1 Don’t care Auto Gain as Torque/Speed mode
8.3.2.3 Auto Gain control for P2P Mode

When running under SP2P mode, Pr.239 will be set to 7 automatically.
In this mode, the gain constants will change to HIGH gain every time when the motor is
“Triggered” to start running; and change back to LOW gain after the desired end position
is reached (end of the profile).
Motor speed
Lock Time=0
High-Gain
Low Gain
P2P Trigger
-108-
In case that user need to hold the motor at HIGH gain level for certain time period,
the Pr.273 may be used to set the HIGH-gain LOCK Time.
Pr.273=Lock Time, defines the time to change from High-Gain to
Motor speed
Lock Time
High Gain
Low Gain
P2P Trigger
After end of P2P function,

in the Lock Time period, gain changes from High-Gain to Low-Gain
Note: when another “Trigger” command is issued during HIGH gain LOCK time, the
gain constants changes back to HIGH gain immediately. (refer to next curve)
Immediate change to
High-Gain when trigger again
Lock Time
High Gain
Low Gain
P2P Trigger
Note : Pr.273 is one of P2P mode parameters group.
-109-
8.3.2.4 Auto Gain control for RC Mode
When the driver is operating under RC mode, please check Pr.097.

Pr.097 is used to indicate the firmware version of the CPU board.
If Pr.097 < 6B00,
The driver uses HIGH-Group gain constants;
Please set Pr.184=0 (Threshold RPM for SPZ),
It means, the Auto Gain control for RC will always select High-Gain group
parameters.
If Pr.097 > 6B00
The driver uses Auto-Gain control similar to Torque/Speed mode.
That is, the gain constant will change between High and Low gain groups depend on
the running speed of the motor.
-110-
8.4 Digital Input Parameters
Refer to Chapter-7, for detailed hardware descriptions

Refer to Chapter-7, List of DIx function select table.
Pr.011 Status of Digital Inputs

- M Hex
This parameter is used to observe all 16 digital inputs.
Pr.060 DI-x Simulation Inputs

-
This parameter is reserved for ServoWin commissioning program.
Do not try to change this parameter.
-111-
Pr.061 DI-1 Function Select
- RW Word 0 - 0 255
DI-1 ~ DI-8 are identical.
These parameters are used to assign functions for each individual input.
Pr.069 DI-9 Function Select (Capture Type)

Pr.070 DI-10 Function Select (Capture Type)
- RW Word 0 - 0 255
DI-9 and DI-10 may be used as general digital input similar to DI1~8.
In some special cased, they are reserved for special capture inputs.
Pr.167 DI-11 Function Select (X input)

Pr.168 DI-12 Function Select (Y input)
-
These two input ports may be served as X/Y clock pulse input or fast
interrupt sources.
When used in pulse input applications, these two inputs are referred
as X/Y inputs.
In some applications, it can be served as fast interrupt trigger input.
For example, “Label machine” or alike. (reserved)
-112-
Pr.473 DI-13 Function Select (Software only)
Pr.474 DI-14 Function Select (Software only)
Pr.475 DI-15 Function Select (Software only, connect to DO-15)
Pr.476 DI-16 Function Select (Software only, connect to DO-16)
-
DI-13 ~ DI-16 are identical software inputs.
Parameters Pr.473~Pr.476 are used to define these software inputs.
The characteristics of these inputs are the same as DI1~8. Except for
they can not accept external physical input signals.
However they can be accessed by PC or PLC through Modbus control.
Note:
1. DI-15 is connected to DO-15 internally, And,
2. DI-16 is connected to DO-16.
-113-
8.5 Digital Output Parameters
Refer to Chapter-7, for detailed hardware descriptions.

Refer to Chapter-7, List of DOx function select table.
Pr.012 DO-x Status

- M Hex 0000 0000 000F
This parameter is used to observe all digital outputs.
Pr.013 DO-x Simulation Inputs

- RW Word 0000 0000 000F
This parameter is reserved for ServoWin commissioning program.
Do not try to change this parameter.
Pr.111 DO-1 Function Select

-114-
-

-
Note:
1. DO-15 is connected to DI-15 internally, and
2. DO-16 is connected to DI-16 internally.
-115-
8.6 Analog Input Parameters
Refer to Chapter-7, AI section for detailed hardware descriptions.

Refer to Chapter-7, List of AIx function select table.
Pr.116 AI1 Filter select

Pr.128 AI2 Filter select
- RW Word 2 0 6
These two parameters are used to select proper time constant for each
AIx input.
=0, no filtering
=1, 0.15ms
=2, 0.35ms
=3, 0.75ms
=4, 1.5ms
=5, 3ms
=6, 6ms
-116-
Pr.117 AI1 Drift Compensation

Pr.129 AI2 Drift Compensation
- RW Word 0 mv -2000 2000
Drift compensation for zero input condition.
Check AIx result value in order to determine the drift compensation.
Pr.118 AI1 Input Gain Adjustment

Pr.130 AI2 Input Gain Adjustment
- RW Word 100 % 0 105
Gain adjustment when Input signal is maximum value
Pr.119 AI1 Input Result Value

Pr.131 AI2 Input Result Value
- M Word 0 count -32768 32767
After Drift and Gain adjustment, these two parameters are used by the
servo drive.
Pr.132 AI1 & AI2 Input range select

7104~ RW Word 0 0 3
This parameter determines the acceptable range of the analog inputs.
=0, both AI1 and AI2 can accept “-10V ~0~ +10V” full range input voltage
=1, both AI1 and AI2 accept only “0~+10V” input voltage
=2, AI1 accepts full range, AI2 accepts positive “0~+10V” input voltage
=3, AI2 accepts full range, AI accepts positive “0~+10V” input voltage
-117-
8.7 Analog Output Parameters
Refer to Chapter-7, AO section for detailed hardware descriptions.

Refer to Chapter-7, List of AOx function select table.
Pr.100 AO1 Data Select

Pr.103 AO2 Data Select
- RW Word 0 0
These two parameters are used to designate some fixed value or certain
variable to output to the AOx port.
By selection, user can select:
0mV, +2000mV,-2000mV, or value from RAM-SET1/2 or EAROM-SET1/2
Pr.101 AO1 Offset Adjustment

Pr.104 AO2 Offset Adjustment
- RW Word 0 mv -2000 2000
These two parameters are used to fine-adjust the output voltage near zero-null position.
-118-
Pr.102 AO1 SPAN Adjustment
Pr.105 AO2 SPAN Adjustment
- RW Word 100 % 0 110
These two parameters are used to adjust the maximum output voltage.
Pr.106 RAM-SET1 Data value

Pr.107 RAM-SET2 Data value
- RW Word 0 mv -2000 2000
Two random voltage stored in RAM may be assigned for AOx output ports.
Allow user to modify the AOx voltage randomly, rapidly and frequently.
Pr.108 EAROM-SET1 Data value

Pr.109 EAROM-SET2 Data value
- RW Word 0 mv -2000 2000
Two fixed voltage stored in EAROM may be assigned for AOx output ports.
Allow user to assign fixed analog voltage for AOx output ports.
Pr.157 AO1 Output Voltage Monitor

Pr.158 AO2 Output Voltage Monitor
- RW Word 0 mv -2000 2000
These two parameters are used to check actual value output to AOx ports.
- RW Word 0 0
-119-
8.8 E-GEAR Function Block
Refer to Chapter 7, Pulse Command Input port.

Pr.009 is used to check total input counts.
Pr.110 is used to define the input pulse format.
Pr.009 (CT4) 16-bits Pulse Counter for X/Y fast input port
- M Hex 0 counts 0 -
This parameter is used to check total input counts from X/Y input ports.
Pr.036 E-GEAR Mode Selection(Standard or Advanced Tracking Mode)

- RW Word 0 0 1
This parameter is used to define tracking mode:
=0, standard tracking mode, with changeable tracking ratio.
=1, special tracking mode, used by RC, SP2P or Fly-Shear applications.
-120-
Pr.037 E-Gear MUL-0 (only for Standard Mode)

- RW Word 0 0 50000
In standard tracking mode, this parameter is used to define the multiplicand of tracking
ratio. By default ( DIx(71)=0 & DIx(70)=0 ), the equivalent tracking rate is:
Pcmd rate = X/Y input rate * MUL-0(Pr.037) / DIV-0(Pr.038)
If user need to change the tracking rate dynamically by digital inputs DIx(70&71),
additional digital functions must be assigned and controlled:
DIx(71)=0, DIx(70)=0 MUL-x = MUL-0(Pr.037)
Then,
Pcmd rate = X/Y input rate * MUL-x / DIV-0(Pr.038)
Pr.038 E-Gear DIV-0 (only for Standard Mode)

- RW Word 0 0 50000
In standard tracking mode, this parameter is used to define the dividend of tracking ratio.
By default ( DIx(71)=0 & DIx(70)=0 ), the equivalent tracking rate is:
Refer to Pr.037 for details.

- RW Word 0 0 50000
This parameter is used when DIx(71)=0 & DIx(70)=1, the equivalent tracking rate is:
-121-

- RW Word 0 0 50000

- RW Word 0 0 50000
Pr.110 E-Gear X/Y Input clock type selection (only for Standard mode)
- RW Word 0 0 2
This parameter is used to configure the X/Y input hardware to match different input
formats.
=0 : X&Y QEP mode
=1 : X=Direction Y=Clock
=2 : X= Up-Clock, Y= Down-Clock
For each different selection, check its differences by the curves in Chapter 7.6.
Pr.210 E-Gear Maximum Speed Limit (only for Standard Mode)

- RW Word 1000 rpm 0 3000
In standard tracking mode, this parameter must set in order to prevent over speed.
-122-
Pr.211 E-Gear Ramp-Rate (only for Standard Mode)

- RW Word 0 ms/Krpm 0 60000
In standard tracking mode, set this parameter may smooth the motor’s running jerk.
On the contrary, if this parameter is high, transient position lag is tend to be larger
Pr.212 Pcmd high Gain Lock Time

- RW Word 0 ms 0 1000
High Gain lock time in Pcmd mode
8.9 Timers Function Block
There are three types of Timer embedded for user’s convenience.

1. Periodical On/Off Type: Timer-1 & Timer-2
2. ON-Delay Type: Timer 3 & Timer-4
3. Mono-Pulse Type: Timer-5
-123-
8. 9.1 Timer-1 (Continuous On/Off Type) Function Block
Pr.230 TIMER-1 ON-Time

Pr.231 TIMER-1 OFF-Time
- RW Word 500 ms 1 30000
Timer-1 is a continuous ON/OFF timer. These two parameters are used to
define the operation of the Timer.
Refer to the figures shown below.
8. 9.1a Related DIx/DOx Function for Timer-1
DOx(11) = T1-ON period

8. 9.2 Timer-2 (Continuous On/Off Type) Function Block

Pr.233 TIMER-2 OFF-Time
- RW Word 500 ms 1 30000
Timer-2 is a continuous ON/OFF timer. These two parameters are used to
define the operation of the Timer.
Refer to the figures shown below.
Note: Timer-1 & Timer-2 are similar to each other.
-124-
DOx(12) = T2-ON period
8. 9.3 Timer-3 (Momentary or Delayed-ON Type) Function Block
Pr.234 TIMER-3 ON-Time (or Delay-Time)

- RW Word 500 ms 1 30000
Timer-3 is a Momentary-ON or Delayed-ON Timer.
This parameter is used to define the specified timer period.
-125-
Dix (110) = T3-START

DOx (108) =T3-“ Q” (Momentary-ON) output
DOx (109) =T3-” /Q” (Momentary-ON) output
DOx (110) = T3-“Q” (Delayed-ON) output
DOx (111) = T3-“/Q” (Delayed-ON) output
8. 9.4 Timer-4 (Momentary or Delayed-ON Type) Function Block
Pr.235 TIMER-4 ON-Time (or Delay-Time)

- RW Word 500 ms 1 30000
Timer-4 is a Momentary-ON or Delayed-ON Timer.
This parameter is used to define the specified timer period.
Note : Timer-3 and Timer-4 are similar to each other.
-126-
DIx(106) = T4-START
DOx(104) = T4-“Q” (Momentary-ON) output
DOx(105) = T4-“/Q” (Momentary-ON) output
DOx(106) = T4-“Q” (Delayed-ON) output
DOx(107) = T4-“/Q” (Delayed-ON) output
8. 9.5 Timer-5 (Mono-Pulse Type) Function Block

- RW Word 500 ms 1 30000
Timer-5 is a Momentary-ON timer with fixed period of ON time.
Unlike Timer-3/Timer-4, the width of timer-5 output pulse is fixed,
disregards to the waveform of input trigger pulse.
-127-
DIx(115) = T5-START (Rising-Edge)

DOx(122) = T5-“Q” (Mono-Pulse) output
DOx(123) = T5-“/Q” (Mono-Pulse) output
-128-
8.10 E-CAM Function Block
8. 10.1 Rotary CAM Angle definition
Pr.318 Pulses per Rotary/CAM Cycle

- RW LWord 10000 Pulses 360 1000000
Define total motor pulses for a whole mechanical cycle.
Pr.331 Monitor Rotary/CAM Angle

- M Word 0 Degree 0 360.0
This parameter shows the equivalent angle of the mechanical CAM
position.
1. Pr.311(CAM-Angle) = (Motor Rotation pulses / Pr.318) * 360.0 degree
2. To synchronize with external mechanical environment, one DIx function is
assigned to clear the Rotary CAM angle to zero.
DIx(114)=ON, Pr.311=0.0 degree
DIx(114)=OFF, Pr.311 is free to count the motor pulses again.
-129-
8. 10.2 Parameters for CAM Switch Compare output
There are two methods to define the CAM Switch operation angle:
Type1 “Start-Angle” defines the CAM position to set the Switch ON,
“End-Angle” defines the position to clear the Switch OFF.
Function numbers for this definition are:
DOx(95) = CAM SW1 (type1)
Type2 “Start-Angle” defines the CAM position to set the Switch ON,
“Range-Angle” defines the total Switch ON range. That means:
“End Angle” = Start-Angle + Range-Angle
Function numbers for this definition are:
Pr.332 E-CAM Switch1 Start Angle

Pr.333 E-CAM Switch1 End Angle(or Set-Range)
- RW Word 0 degree 0 360.0
Parameters for CAM SW1.


-130-

8.11 Miscellaneous Function Block Parameters

(Counter/Shifter/Flip Flop)
Note: Instead of organized by parameter numbers, the following descriptions are

organized by functions.
8. 11.1 Emulation of QEP Output Clocks
Refer to Chapter 7.7 for hardware descriptions.
Pr.115 CKA/B, Simulation output clock selection
- RW Word 0 - 0 10
-131-
Set this parameter to select the emulation output clock rate:
0 = 1/1 of motor encoder
7 = not used
8 = 62.5khz QEP ( X4 = 250khz pulse rate)
9 = 31.25khz QEP ( X4 = 125khz pulse rate)
10 = 15.625khz QEP ( X4 = 62.5khz pulse rate)
Note:
When select 0~6, the output frequency changes as the motor speed changes.
And, when the motor is running in defined forward direction, CKA leads CKB; when
reverse, CKA lags CKB.
When select 8~10, the output frequency is constant independent to the motor
speed. And, the CKA will always lead CKB.
By default, the CKA/B signal outputs are enabled.
If necessary, user can define one digital input to Enable/Disable the CKA/B.
8. 11.2 DOx Compare Function Block

8. 11.2.1 DOx for Comparing the running speed
Pr.010 Speed Compare Level (for DOx compare)

- RW Word 10 rpm 0 32767
This parameter sets a compare reference for DOx(14/15) function in order to compare
the motor’s running speed.
Note: This parameters is effective for both forward and reverse direction.
8. 11.2.2 DOx for Comparing the Torque Output
Pr.016 Torque Compare Level (for DOx compare)

- RW Word 50% % 0 300%
This parameter sets a compare reference for DOx(18/19) & DOx(83/84) function.
Note:
When used in DOx(18/19), this parameter is referred to DRIVE’s rating. Maximum
DRIVE’s rating is 250%.
When used in DOx(83/84), this parameter is referred to MOTOR’s rating. Maximum
MOTOR’s rating is 300%
-132-
8. 11.2.3 DOx for Comparing the Position Error
Pr.170 Position Error Compare Level (For DOx compare)

- RW Word 0 pulse 0 65535
This parameter set a compare reference for DOx() function.
8. 11.3 32bit Counter Function Block
8. 11.3.1 Related Parameters for 32bit counter
Pr.214 32 bit Counter Content

- M LWord 0 counts 0 max
This parameter shows the content of the 32bit general purpose counter. The counter
content is affected by DIx(75/76/77).
Pr.216 32 Bit Counter Compare Level (For DOx compare)

- R/W LWord 0 counts 0 max
This parameter set a compare reference for DOx(112/113) function.
-133-
8. 11.3.2 Related DIx/DOx Function for 32bit counter
-134-
8. 11.4 16 bits Shift Register Block
The embedded shift register is composed of several parameters and some special
function DIx & DOx in order to comprise a useful function block.
By using this function, it significantly reduces the complex hardware and software
burden in packaging machinery system.
Pr.213 16 Bit Shifter Register Data Content
- M HEX 0000 Pattern 0000 FFFF
This parameter shows the content of the shift register. New DATA input is captured at
rising edge of CK input. Old data content is shifted to higher bits.
Described follows:
If CLR input is “1”
The data content is cleared to all “0”,
Else if SET input is “1”
The data content is set to all “1”,
Else if CK input changes from 0 to 1, the content changes to:
Q1 = DATA
Qn = Qn-1, n=2~16
Else the content remains the same.
Pr.228 16 bits Shift Register, Effective Bits Set value

- RW Word - bits 1 16
This parameter defines the Effective bits that will be used in checking the “Leading Zero”
number.
Note:
The effective bits are counted from Least-Significant-Bit.
For example, If Pr.228=4, then Q3, Q2, Q1 & Q0 four bits are effective-bits.
Higher order bits, though not assigned to be effective, are still active in standard
shift register operation.
-135-
Pr.229 16 bits Shift Register, Leading-Zeros within Effective bits

- M Hex 0 bits 0 16
This parameter show the number of “Leading-Zeros” within effective bits of the shift
register. For example,
If Pr.213=0F03 (in binary=> 0000-1111-0000-0011), and
If Pr.228=4, that means, only Q3-Q2-Q1-Q0 are effective, which is “0011”
then Pr.229=2, means there exist two Leading-Zeros checking from Q3.
8. 11.5 Flip/Flop Function Block

There are three type of Flip/Flop embedded for user’s convenience.
SR Type Flip/Flop-1, Flip/Flop-2 and Flip/Flop-3
Note the slight difference between Flip/Flop-1,3 and Flip/Flop-2. For Flip/Flop-2,
when SET=CLR=1, its output Q & /Q is indeterminate.
D Type Flip/Flop-4
T Type Flip/Flop-5
8. 11.5.1 Flip/Flop-1 (SR type) Function Block
8. 11.5.1.1 Related DIx/DOx Function for Flip/Flop-1

DIx(46) = SET
DIx(47) = CLR
DOx(115) = Q output
DOx(116) = /Q output
8. 11.5.1.2 Related Parameters
No additional parameters are required.
-136-

Dix (44) = SET
Dix (45) = CLR
DOx (53) = Q output
DOx (54) = /Q output

DIx(144) = SET
DIx(145) = CLR
DOx(144) = Q output

-137-
8. 11.5.4 Flip/Flop-4 (D type) Function Block

DIx(41) = SET
DIx(42) = CLR
DIx(43) = CK
DIx(40) = DATA
DOx(117) = Q output
8. 11.5.5 Flip/Flop-5 (T type) Function Block

DIx(51) = SET (Rising-Edge)
DIx(52) = CLR (Rising-Edge)
DIx(53) = TOGGLE (Rising-Edge)
DOx(119) = Q output
-138-

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Jupiter Servo Drives

Chapter 1 - Functions and General Features ----------------------------------5

Chapter 2 - Inspection Procedures, Components Identification and

Chapter 3 - Mechanical Installation Guidelines -------------------------------9

Chapter 4 - Wiring Procedures -------------------------------------------------------11

Chapter 5 - Operation of SeroWin & Auto-Tune Function -------------20

Chapter 6 - Description of Control Mode ----------------------------------------45

Chapter 7 - I/O Interface Circuits ----------------------------------------------------62

2.2 Component Identification

3.2.2 Encoder type

4.1 Input Power Connection0000

4.2.2.1 The Descriptions of Encoder SCSI 20P Connector

4.2.2.2 The Installation of SCSI 20P Connector

D-Sub15(M) TO MDR 20(M)

Encoder Cable Encoder Cable

4.2.3 Motor Over-Heat Protection

4.3 Communication Connection

4.3.1 Connector Type & Pin definition

RS232 X*3 X X X X TXout RXin

RS485 T/R+ T/R- X X X X CAN*6 CAN CAN

*1 : Vss -- Internal 0V reference.

4.4 INPUT/OUTPUT Control Signal Section

Pin no. Signal name Pin no. Signal name

4.4.3 Basic Pulse Command Tracking Mode Connection

4.4.5 Other Advanced Motion Embedded operation

Chapter 5 Operation of ServoWin & Auto-Tune Function

5.1 Installation of ServoWin Software

Step1: Execute Setup.exe to install ServoWin software

Step2: Click “Next >”

Step3: Click “Next >”

Step4: Click “Next >”

Step5: Click “Close” to finish installation

5.2 The Connection of PC and Servo Drive (Hardware)

Control Single JMD Unit

Control Multi JMD Unit

USB To RS232 USB To RS232

5.4.1 All Parameters

Select Group of “All” and Edit

The user can select parameters from this Table.

5.5 ServoWin Read and Write Parameters

A. Read and Write the value of parameters

Step1: Select Group of “Parameter”

Step1: Select Group of Parameter

5.6 Monitor Functions

5.7.1 setup table

Click “scope setup” to create setup table as below.

Descriptions: The Soft-Scope offer 6 Signal Observations : Analog1~ Analog x 4 +

5.7.2 The Curve on the Oscilloscope

1. Open : To open existing file

9. Cursor Adjustment : To adjust Cursor1 and Cursor2 to read real value

STEP 1 : Select “Enable” and set the Time Duty (Interval)

5.8 Observation Data

DIGITAL DO-01 DIGITAL DO-01

Click “Control Digital I/O or to Call Out all of DI and DO

5.10.1 Select motor from Servo-Win

B. Select Motor Mode

D. Click “Start” to execute Auto Tuning function

5.10.2 Auto Tuning for New motor

5.10.2.1 Select “Motor Parameter” from Parameter Table

5.10.2.2 Input below Parameters: