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Omron CJ1W-MA - REV 10-2008, Operation Manual

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Omron CJ1W-MA - REV 10-2008 Operation Manual Download Page 424

397

SECTION 11

Sample Programs

This section provides basic program examples and application examples for using the Position Control Unit. 

11-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

398

11-2 Basic Program Examples  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

399

11-2-1

Transferring PCU Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

399

11-2-2

Starting and Stopping MECHATROLINK Communications. . . . . . 

404

11-2-3

Transferring Servo Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

405

11-2-4

Servo Lock/Unlock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

412

11-2-5

Origin Search  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

413

11-2-6

Positioning (Absolute Movement or Relative Movement) . . . . . . . . 

415

11-2-7

Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

418

11-2-8

Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

419

11-2-9

Deceleration Stop or Emergency Stop . . . . . . . . . . . . . . . . . . . . . . . 

421

11-2-10 Jogging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

422

11-3 Application Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

424

11-3-1

Initial PCU Settings  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

424

11-3-2

Servo Parameter Backup. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 

430

11-3-3

Switching among Position, Speed, and Torque Control . . . . . . . . . . 

442

Summary of Contents for CJ1W-MA - REV 10-2008

Page 1: ...Cat No W426 E1 09 Position Control Units SYSMAC CJ1W NC271 NC471 NCF71 NCF71 MA CS1W NC271 NC471 NCF71 OPERATION MANUAL Cat No Z264 E2 04 X Smart Sensor ZFX C USER S MANUAL ...

Page 2: ...CJ1W NC271 NC471 NCF71 NCF71 MA CS1W NC271 NC471 NCF71 Position Control Units Operation Manual Revised October 2008 ...

Page 3: ...iv ...

Page 4: ...on some OMRON products often means word and is abbreviated Wd in documentation in this sense The abbreviation PLC means Programmable Controller PC is used however in some Program ming Device displays to mean Programmable Controller Visual Aids The following headings appear in the left column of the manual to help you locate different types of information Note Indicates information of particular in...

Page 5: ...vi ...

Page 6: ...ist of Functions by Purpose 8 1 6 Comparison with Existing Models 9 SECTION 2 Basic Procedures 11 2 1 Basic Flow of Operations 12 2 2 Starting Operation 16 SECTION 3 Installation and Wiring 31 3 1 Nomenclature and Functions 32 3 2 Installing the Position Control Unit 35 3 3 External I O Circuits 39 3 4 Wiring 53 SECTION 4 Data Areas 71 4 1 Overall Structure 72 4 2 Data Areas 75 4 3 Common Paramete...

Page 7: ...rol System 256 7 2 Control Units 257 7 3 Coordinate System and Present Position 260 7 4 Acceleration and Deceleration Operations 261 7 5 Limit Input Operations 270 SECTION 8 Defining the Origin 273 8 1 Overview 274 8 2 Origin Search Operation 275 8 3 Present Position Preset 296 8 4 Origin Return 298 8 5 Phase Z Margin 303 8 6 Absolute Encoder Origin 305 SECTION 9 Positioning 317 9 1 Direct Operati...

Page 8: ...93 SECTION 11 Sample Programs 397 11 1 Overview 398 11 2 Basic Program Examples 399 11 3 Application Examples 424 SECTION 12 Troubleshooting 455 12 1 Overview of PCU Errors 456 12 2 Troubleshooting Procedure 460 12 3 LED Error Indicators 461 12 4 Error Codes 464 12 5 Troubleshooting 477 12 6 Error Reset 482 12 7 CPU Unit Error Display 484 SECTION 13 Maintenance and Inspection 485 13 1 Inspection 4...

Page 9: ...ics 491 B List of Parameters 495 C Operation Area I O Allocations 559 D List of Error Codes 571 E Changing to CS1W CJ1W NC271 471 F71 from CS1W CJ1W NC113 133 213 233 413 433 579 F Additional Functions for the CJ1W NCF71 MA 601 Index 605 Revision History 615 ...

Page 10: ... deceleration operations and limit input operations Section 8 provides information on the various operations used to determine the origin including origin searches origin returns presetting the present position calculating phase Z margins and using the absolute encoder Section 9 provides an overview of direct operation and describes the parameter settings data set tings and procedures required to ...

Page 11: ...n the IO Table Window right click the Position Control Unit and select Unit Manufacturing information The following Unit Manufacturing information Dialog Box will be displayed The unit version is displayed as 1 0 in the Unit Version Number field of the above example Use the above display to confirm the unit version of the Unit connected online Using Unit Version Label A unit version label is provi...

Page 12: ...limit detection when an absolute encoder is used Supported Supported Supported Driver main circuit OFF error detection only when the servo is locked Supported Supported Supported Using Holding Area address H512 and onwards for function block address allocations Supported Supported Supported Addition of supported models SMARTSTEP Junior Servo Drives R7D ZN ML2 Supported Supported Addition of rejoin...

Page 13: ...er monitoring software must be connected to the Servo Drive to perform the setup operation With Position Control Units with unit version 1 2 or later the following operation can be used to set up the absolute encoder Special software personal computer moni toring software can be connected to the Servo Drive to perform the setup operation When the Position Control Unit is used with a CPU Unit with ...

Page 14: ... Built in MECHA TROLINK II Communications are con nected an encoder communications error A C9 will occur in the Servo Drive and it will not be possible to start MECHATROLINK communications for Units with unit version 1 3 or earlier Refer to 6 3 2 MECHATROLINK Communi cations Status Transferring parameters when there are axis errors Servo parameters cannot be transferred i e written read or saved f...

Page 15: ...OMRON FB Library for the Position Control Unit cannot be used if H512 default setting or higher are allocated for non holding areas of func tion block addresses If H512 or higher are allocated a function block error will occur when the function block is executed The CX Programmer must be used to change the setting to other unused words e g in the DM or EM Area The function blocks in the OMRON FB L...

Page 16: ...s MECHATROLINK communications cannot be started with that Servo Drive MECHATROLINK communications can be started under the conditions given at the left and operations such as transferring Servo Parameters can be performed Addition of origin search oper ation modes Three origin search operation pattern are possible by combining the following set tings Origin search operations 3 settings Reversal mo...

Page 17: ... axes registered in the scan list and MECHATROLINK communi cations start The flags will turn ON when connections are made for the axes registered in the scan list and MECHATROLINK communica tions start The flag will turn ON when the rejoin func tion is used to start MECHATROLINK com munications for an axis registered in the scan list Resetting conditions The flags will remain OFF when MECHA TROLIN...

Page 18: ...AS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL INDIRECT OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED ON CONTRACT WARRANTY NEGLIGENCE OR STRICT LIABILIT...

Page 19: ... that the uses listed may be suitable for the products Outdoor use uses involving potential chemical contamination or electrical interference or conditions or uses not described in this manual Nuclear energy control systems combustion systems railroad systems aviation systems medical equipment amusement machines vehicles safety equipment and installations subject to separate industry or government...

Page 20: ...confirm actual specifications of purchased products DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufacturing purposes even when tolerances are shown PERFORMANCE DATA Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty It may represent the result of OMRON s test conditions a...

Page 21: ...xxii ...

Page 22: ...ead this section and understand the information contained before attempting to set up or operate a Position Control Unit 1 Intended Audience xxiv 2 General Precautions xxiv 3 Safety Precautions xxiv 4 Operating Environment Precautions xxv 5 Application Precautions xxvi 6 Conformance to EC Directives xxviii 6 1 Applicable Directives xxviii 6 2 Concepts xxviii 6 3 Conformance to EC Directives xxviii...

Page 23: ...on for programming and operating the Unit Be sure to read this manual before attempting to use the Unit and keep this man ual close at hand for reference during operation WARNING It is extremely important that a Position Control Units and related devices be used for the specified purpose and under the specified conditions especially in applications that can directly or indirectly affect human life...

Page 24: ...ing or disconnecting the PCU s connectors Caution Execute online editing only after confirming that no adverse effects will be caused by extending the cycle time Otherwise the input signals may not be readable Caution Confirm safety at the destination node before transferring a program to another node or changing contents of the I O memory area Doing either of these without confirming safety may r...

Page 25: ...ing the system Connecting or disconnecting the connectors Caution Failure to abide by the following precautions could lead to faulty operation of the PLC the PCU or the system or could damage the PLC or PCU Always heed these precautions Fail safe measures must be taken by the customer to ensure safety in the event of incorrect missing or abnormal signals caused by broken signal lines momentary pow...

Page 26: ...ration Confirm that no adverse effect will occur in the system before attempting any of the following Not doing so may result in an unexpected operation Changing the operating mode of the PLC including setting the Startup Mode Force setting force resetting any bit in memory Changing the present value of any word or any set value in memory After replacing Units resume operation only after transferr...

Page 27: ...mply with EC Directives To ensure that the machine or device in which a PCU is used complies with EC Directives the PCU must be installed as follows 1 2 3 1 The PCU is defined as a in panel device and must be installed within a control panel 2 Reinforced insulation or double insulation must be used for the DC power supplies used for I O 3 PCUs complying with EC directives also meet the common emis...

Page 28: ... operations functions and specifications 1 1 Features 2 1 2 System Configuration 3 1 3 Basic Operations 4 1 3 1 Position Control Direct Operation 4 1 3 2 Speed Control and Torque Control 5 1 3 3 Other Operations 5 1 4 List of Functions and Specifications 6 1 4 1 General Specifications 6 1 4 2 List of Functions and Specifications 6 1 5 List of Functions by Purpose 8 1 6 Comparison with Existing Mod...

Page 29: ...sible Position Control Direct Operation Positioning can be performed simply by directly setting the target position and target speed from the CPU Unit Positioning to either absolute or relative posi tions is also possible Interrupt feeding is also supported With interrupt feed ing positioning is continued for a specified amount after an interrupt input signal is received and then the axis is stopp...

Page 30: ...ple Power Supply Unit CJ series CPU Unit CJ1W NCF71 Position Control Unit Servo Drive Servomotor Servo Drive Servomotor Servo Drive MECHATROLINK II 16 axes max External inputs External inputs Forward rotation limit input signal Reverse rotation limit input signal Origin input signal Origin proximity input signal Interrupt input signal Etc 24 V DC power supply for interface Forward rotation limit i...

Page 31: ... movements position and speed data are set directly from the ladder program in the CPU Unit Positioning is executed according to operating commands sent to the PCU from the CPU Unit It is also possible to change the speed or to send commands to move axes to dif ferent positions while positioning is being performed Origin searches CJ1W NC 71 CS1W NC 71 Position Control Unit functions Position contr...

Page 32: ...ind the origin for a designated axis Jogging Jogging moves a specified axis at a designated speed and then stops it Overrides When an override is enabled during positioning the target speed is changed to the override speed Present Position Preset Changing the Present Position The PRESENT POSITION PRESET command changes the present position to a specified position Stop Functions The DECELERATION ST...

Page 33: ...located 50 words 25 output words 25 input words Highest axis No used Compatible devices OMRON G series Servo Drives Built in MECHATROLINK II communications OMRON W series Servo Drives equipped with MECHATROLINK II Application Module or built in MECHATROLINK II communications OMRON SMARTSTEP Junior Servo Drives Built in MECHATROLINK II communications Note SMARTSTEP Junior Servo Drive are supported ...

Page 34: ...moving the axis a fixed amount when an external interrupt input is received while the axis is moving Speed control Performs speed control by sending a command to the Servo Drive speed loop Torque control Performs torque control by sending a command to the Servo Drive current loop Stop functions Deceleration stop Decelerates the moving axis to a stop Emergency stop Positions the moving axis for the...

Page 35: ...ing position ing for a specified distance from an external input point during positioning Interrupt feeding When an interrupt input signal turns ON during positioning with direct operation operation switches to positioning for a fixed amount 9 5 Interrupt Feeding Performing manual feeding for adjust ment or other pur pose Jogging The axis is moved at a fixed speed in the forward rotation or revers...

Page 36: ...decimal Example Present position is output to the PLC in 32 bit signed binary format Same as CJ1W NC 71 CS1W NC 71 Position command range 2 147 483 648 to 2 147 483 647 Unit depends on Servo Parameters 1 073 741 823 to 1 073 741 823 pulses Present position range 2 147 483 648 2 147 483 647 Unit depends on Servo parameters 2 147 483 647 to 2 147 483 647 pulses Zone range No zone functions 1 073 741...

Page 37: ...s Accelerations and decelerations are specified in units of 10 000 command units s2 Servo param eters are set individually for each axis The times in milliseconds required to reach the maximum speed from the initial speed and to reach the initial speed from the maximum speed are specified Direct operation Acceleration deceleration speeds are specified as operation data from the PLC Memory operatio...

Page 38: ...Position Control Unit 2 1 Basic Flow of Operations 12 2 2 Starting Operation 16 2 2 1 Overview of Operation 16 2 2 2 System Configuration and Wiring 16 2 2 3 Setting the PCU 18 2 2 4 Starting MECHATROLINK Communications 21 2 2 5 Setting Servo Parameters 22 2 2 6 Operating the Servomotor from the PCU 25 ...

Page 39: ... station addresses of the Servo Drives Wiring Connect the Servomotors to the Servo Drives Connect the Servo Drives to the external input devices PLC Settings PCU Settings Transfer the common parameters from the CPU Unit to the PCU using the WRITE DATA Bit in the Common Operating Memory Area Transfer the axis parameters from the CPU Unit to the PCU using the WRITE DATA Bit in the Common Operating M...

Page 40: ...Area and after Servo communications have stopped cycle the Servo Drive power The Servo Parameters that have been set are now enabled Starting MECHATROLINK communications Turn ON the power to the Servo Drives and external input devices Turn ON the CONNECT Bit in the PCU s Common Operating Memory Area Check that communications are established with the connected devices by referring to the axis commu...

Page 41: ...Area Check whether jogging has stopped by monitoring whether the Busy Flag is OFF in the PCU s Axis Operating Memory Area Origin determination Set the Origin Search Speed in the speed command value of the PCU s Axis Operating Memory Area Set the Origin Search Approach Speeds 1 and 2 in the Servo Parameters Turn ON the ORIGIN SEARCH Bit in the PCU s Axis Operating Memory Area Check whether the ORIG...

Page 42: ...a deceleration stop in the Servo Parameters Check whether the positioning operation has stopped by monitoring whether the Stop Execution Flag is ON in the PCU s Axis Operating Memory Area Servo Unlock Turn ON the SERVO UNLOCK Bit in the PCU s Axis Operating Memory Area Check that the SVON Flag indicating the Servo Drive status in the PCU s Axis Operating Memory Area is OFF Finishing operation Stop...

Page 43: ...used for the PCU and Servo Drive parame ters that are not set A Programming Console is used in this operation example without using a ladder program and with the PLC in PROGRAM mode to manually perform the settings and execute the start commands that are required to operate the Servomotor The Programming Console is used to set the required data for direct operation and then turn ON the RELATIVE MO...

Page 44: ...Default settings pin 1 ON pin 2 ON pin 3 OFF pin 4 OFF Device Model CPU Unit CJ1H CPU67H Power Supply Unit CJ1W PA202 Position Control Unit CJ1W NCF71 Programming Console C200H PRO27 Programming Console Connecting Cable CS1W CN224 2 m Servo Drive R88D WT01HL Servomotor R88M W10030L Servomotor Encoder Cable R88A CRWA003C 3 m Servomotor Power Cable R88A CAWA003S 3 m MECHATROLINK II Application Modul...

Page 45: ...ails on wiring the CPU Unit and Servo Drive power supply and con necting the Servo Drive and Servomotor 2 2 3 Setting the PCU Creating I O Tables Turn ON the power to the PLC and create the I O tables Refer to the CJ Series PLC Operation Manual for details on creating I O tables Setting Common Parameters Set the Common Parameters of the PCU The minimum required Common Parameters that must be set a...

Page 46: ...words CIO 100 to CIO 124 D01001 0064 hex Beginning word of Axis Operating Output Memory Areas D01002 00B0 hex Axis Operating Input Mem ory Areas Set the beginning word of the Axis Operating Input Memory Area to CIO 500 Axis 1 input words CIO 500 to CIO 524 D01003 01F4 hex Beginning word of Axis Operating Input Memory Areas D01004 0040 hex Scan list setting axes 1 and 2 Allocate axis 1 of the PCU t...

Page 47: ...Area turns ON When data has finished being saved the Data Transferring Flag turns OFF For the PCU with unit number 0 the Data Transferring Flag is allocated in CIO 151514 CIO 1515 14 Data Transferring Flag This flag is ON while data is being written When writing is completed the flag turns OFF CIO 1506 CIO 1507 CIO 1508 CIO 1509 CIO 1500 01 D01000 D01001 D01002 D01003 D01004 D01005 D01011 000C hex...

Page 48: ...mon Operating Memory Area are turned ON For the PCU with unit number 0 the Axis Communications Status is allocated in the bits of CIO 1522 When communications with the registered devices are not normal the corre sponding bits for the axes in the Axis Communications Status bits of the Com mon Operating Memory Area are not turned ON and an MLK initialization error Unit error code 0020 hex occurs in ...

Page 49: ...R Bits in the PCU s Axis Operating Output Memory Areas The Servo Parameters are transferred one at a time The following three parameters must be set as shown below to allocate the above input sig nals Input terminal CN1 Input signal name Setting Servo Drive default setting 40 Not used RUN RUN command input 41 DEC Origin return deceleration limit switch origin proximity input sig nal MING gain redu...

Page 50: ...e Axis Operating Output Memory Area In this operation example the Common Parameters are set so that the begin ning word of the Axis Operating Output Memory Area for axis 1 is allocated in CIO 100 Therefore the SAVE SERVO PARAMETER Bit for axis 1 is allocated in CIO 10114 Turn ON this bit using the Programming Console While Servo Parameters are being saved to the Servo Drive the Servo Parameter Tra...

Page 51: ...is ignored Word Set value Parameter transfer setting Details CIO 117 0511 hex Servo Parameter No Write Servo Parameter No Pn511 CIO 118 0002 hex Parameter size Write parameter size 2 bytes CIO 119 6541 hex Write data rightmost word Write Servo Parameter setting 6541 CIO 120 Write data leftmost word Parameter size is two bytes i e one word so this is not used The setting is ignored CIO 500 14 Servo...

Page 52: ...Drive Power OFF and ON Again After writing Servo Parameters and when MECHATROLINK communications have stopped enable the Servo Parameters by cycling the power to the Servo Drive This procedure completes settings for the PCU and Servo Drive Unless changes in installation wiring or parameter settings are required the above operation does not need to be performed a second time 2 2 6 Operating the Ser...

Page 53: ...Axis Operating Output Memory Area when the RELATIVE MOVEMENT Bit turns ON In this operation example the Common Parameters are set so that the begin ning word of the Axis Operating Output Memory Area for axis 1 is allocated in CIO 100 Therefore the target position and target speed are set as follows The RELATIVE MOVEMENT Bit for axis 1 is allocated in CIO 10004 There fore turn this bit ON using the...

Page 54: ...osition feedback present position for axis 1 is allocated in CIO 506 and CIO 507 Parameter No Parameter name Default Unit Setting in this example Pn80A First step linear acceleration con stant 100 10 000 command units s2 Not used Pn80B Second step linear acceleration con stant 100 10 000 command units s2 1 000 000 pulses s2 Pn80C Acceleration con stant switching speed 0 100 command units s Default...

Page 55: ...rvo unlock status is no longer required turn OFF the correspond ing SERVO UNLOCK Bit in the Axis Operating Output Memory Area Stopping MECHATROLINK Communications Always stop MECHATROLINK communications before turning OFF the power supply to the Servo Drive MECHATROLINK communications are stopped by turning OFF the CONNECT Bit in the Common Operating Memory Area For the PCU with unit number 0 the ...

Page 56: ...or direct operation In this operation example the commands are sent manually from the Programming Console but the basic operation flow is the same when sequences are programmed into the ladder program Other functions are also used in the same way by changing the parameter settings and manipulating bits CIO 1501 00 CONNECT Bit This bit stops MECHATROLINK communications when it is turned OFF CIO 151...

Page 57: ...30 Starting Operation Section 2 2 ...

Page 58: ...ation Precautions 35 3 2 2 Unit Installation 35 3 2 3 Installation Precautions 37 3 2 4 Dimensions 38 3 3 External I O Circuits 39 3 3 1 PCU I O Signals 40 3 3 2 G series Servo Drive I O Signals R88D GN ML2 with Built in MECHATROLINK II Communications 40 3 3 3 W series Servo Drive I O Signals R88D WT with JUSP NS115 44 3 3 4 W series Servo Drive I O Signals R88D WN ML2 with MECHATROLINK II Built i...

Page 59: ...d in the PLC Not lit Other condition ERM MECHA TROLINK Device Error Red Lit An error has occurred in MECHA TROLINK communications Flashing An error has occurred in a con nected MECHATROLINK device Not lit Other condition MLK MECHA TROLINK Com munications Status Yellow Lit MECHATROLINK communica tions in progress Not lit MECHATROLINK communica tions stopped CJ1W NC 71 CS1W NC 71 RUN ERC ERH ERM MLK...

Page 60: ...ut built in MECHATROLINK II communications to enable connection to the PCU through MECHATROLINK II When a MECHATROLINK II Application Module must be mounted to a W series Servo Drive use the following device versions The versions of both the W series Servo Drive and MECHATROLINK II Appli cation Module can be found on the nameplate on the side of each device If an earlier version of the device is u...

Page 61: ...unications are not established with the PCU Station Address Setting Switch SW1 Set the Servo Drive s station address in conjunction with the MECHA TROLINK II communications setting on pin 3 of the Communications Setting DIP Switch SW2 Setting Range 0 to F See the following table Note The factory default setting is 1 Communications Setting DIP Switch SW2 Sets the MECHATROLINK II communications sett...

Page 62: ...ly up to 10 Units per Rack for a CJ series PLC and up to 16 Units can be controlled by one CPU Unit The CS1W NC 71 can be mounted to a CS1W BC 3 CPU Backplane or a CS1W BI 3 Expansion Backplane 3 2 2 Unit Installation Use the following procedure to install the PCU CJ1W NC 71 1 2 3 1 Align the connectors correctly and mount the PCU Pin Function Setting Contents Default setting Note 1 Baud rate OFF ...

Page 63: ...of the PCU on the Backplane to mount the unit PA205R POWER INPUT AC100 240V L2 N L1 DC24V AC240V OUTPUT RUN PERIPHERAL ERR ALM RUN INH COMM PRPHL CONTROLLER CJ1G CPU44 SYSMAC PROGRAMMABLE PORT OPEN BUSY MCPWR Connector RUN ERC ERH ERM MLK NCF71 UNIT No MLK 0 1 2 3 4 5 6 7 8 9 A BCDE F PA205R POWER INPUT AC100 240V L2 N L1 DC24V AC240V OUTPUT RUN PERIPHERAL ERR ALM RUN INH COMM PRPHL CONTROLLER CJ1...

Page 64: ...emove the PCU loosen the screw at the bottom of the PCU using a Phil lip s screwdriver and then lift up on the bottom of the PCU 3 2 3 Installation Precautions Always turn OFF the CPU Unit s power supply before connecting or dis connecting cables or the Unit itself To minimize the effects of noise place I O wiring in a separate duct from high voltage lines and power lines Wire strands may be scatt...

Page 65: ...ons CJ1W NC 71 RUN ERC ERH ERM MLK NCF71 UNIT No MLK 0 1 2 3 4 5 6 7 8 9 A BCDE F Remove the label after wiring is completed RUN ERC ERH ERM MLK NCF71 CS UNIT No 9 8 5 4 3 2 1 0 MLK RUN ERC ERH ERM MLK NCF71 UNIT No MLK 0 1 2 3 4 5 6 7 8 9 A BCD E F 65 90 31 2 7 2 7 ...

Page 66: ...Servo Drives G series Servo Drives R88D GN ML2 with built in MECHATROLINK II communications W series Servo Drives equipped with R88D WT and JUSP NS115 W series Servo Drives R88D WN ML2 with built in MECHATROLINK II communications SMARTSTEP Junior Servo Drives R7D ZN ML2 with built in MECHA TROLINK II communications 35 130 101 6 2 NCF71 RUN ERC UNIT No ERH ERM MLK MLK 123 Approx 193 Backplane Conne...

Page 67: ...ommuni cations the default control I O signal allocations are the standard Servo Drive settings for using MECHATROLINK The following diagram shows the terminal arrangement of the Servo Drive s Control I O Connector CN1 when MECHATROLINK is being used with the Servo Drive s default settings This diagram shows only the I O signals used when connecting to the PCU For details on the Servo Drive s stan...

Page 68: ...utput 24VIN EXT3 EXT1 PCL ALM OUTM2 COM OUTM3 COM Origin Proximity Input External Gener al purpose In put 2 OUTM2 OUTM3 BATCOM 12 to 24 VDC Power Supply Input External Latch Signal 3 External Latch Signal 1 Forward Torque Limit Input Alarm Output Reverse Drive Prohibit Input External General purpose Input 0 General purpose Output 2 General purpose Output 3 Backup Battery Input General purpose Outp...

Page 69: ...erse Torque Limit Input 19 to 20 POT Forward Drive Prohibit Input Forward reverse drive rotation overtravel Input Pn004 chooses between enable and disable Pn044 sets the function assignment for pins 19 and 20 Pn066 selects the operation NOT Reverse Drive Prohibit Input 21 DEC Origin Proximity Input Connect the origin proximity input signal in the origin search opera tion Pn042 changes the logic of...

Page 70: ...ion Control Unit will be unable to de tect the input signal 3 When selecting a sensor for the origin proximity input signal origin return deceleration LS use a sensor such as a Photoelectric Sensor which does not have chattering because the origin signal is detected after the input goes from ON to OFF during the origin search If a switch with con tacts is used the origin position may shift due to ...

Page 71: ...o 6 4 Standard Set tings for Servo Drives Using MECHATROLINK Pn112 General purpose Output 1 Function Selection Pn113 General purpose Output 2 Function Selection Pn114 General purpose Output 3 Function Selection OUTM1 General purpose Output 1 OUTM2 General purpose Output 2 OUTM3 General purpose Output 3 0 Not assigned No output Always OFF 1 INP1 Positioning Completed 1 output assignment 2 VCMP Spee...

Page 72: ...P1 50 BATGND Backup battery input BAT Positioning completed output 1 Brake inter lock output Servo ready output ALM Alarm output Origin return deceleration LS input Reverse drive prohibit input External latch 2 input 24 VDC con trol power sup ply input Positioning completed out put 1 common Brake interlock output common Servo ready output common ALMCOM Alarm output common Unused input Forward driv...

Page 73: ...put signal is not used with the standard set tings 41 DEC Origin return deceleration LS Used as the origin proximity input signal during the origin search operation With the standard settings the signal is enabled when ON Position 42 POT Forward drive prohibit input Positive overtravel Used as the forward limit input With the standard settings the input is normally closed and operates as follows O...

Page 74: ...rvo Drives equipped with built in MECHATROLINK II communications the default control I O signal allocations are the standard Servo Drive settings for using MECHATROLINK The following diagram shows the terminal arrangement of the W series Servo Drive s Control I O Connector CN1 when MECHATROLINK is being used with the Servo Drive s default settings This diagram shows only the I O signals used when ...

Page 75: ...kup battery input Unused output Unused output Backup battery input Unused output Unused output 24 VDC control power supply ALM Alarm output ALMCOM Alarm output common Name Model Manufacturer Receptacle on Servo Drive Side 10226 52A2JL Sumitomo 3M Soldered Plug on Cable Side 10126 3000VE Sumitomo 3M Case on Cable Side 10326 52A0 008 Sumitomo 3M Pin No Symbol Name Function Interface Control mode 6 2...

Page 76: ...hich does not have chattering because the origin signal is detected after the input goes from ON to OFF during the origin search If a switch with con tacts is used the origin position may shift due to the switch contact s chat tering Control Output Signals 10 EXT1 External latch 1 input Input signal used for external interrupts Used as an external interrupt input signal during interrupt feeding or...

Page 77: ...default pin arrangement of the control I O connector CN1 on the Servo Drive are shown below Only the I O signals that are connected to the Position Control Unit are shown Refer to 6 4 Standard Settings for Servo Drives Using MECHATROLINK for the standard Servo Drive settings for using MECHATROLINK Note 1 Do not connect unused pins 23 SO2 General purpose output These control input signals are not u...

Page 78: ...a NC contact OFF Drive prohibited ON Drive enabled All modes 4 POT Forward drive inhibit input The limit input in the forward direction This input operates as follows i e like a NC contact OFF Drive prohibited ON Drive enabled All modes 5 24VIN 24 V power supply input for control DC The 24 VDC input terminal for the con trol input power supply All modes 6 STOP Emergency stop input An external inpu...

Page 79: ...hich does not have chattering because the origin signal is detected after the input goes from ON to OFF during the origin search If a switch with con tacts is used the origin position may shift due to the switch contact s chat tering 4 The SMARTSTEP Junior Servo Drive s emergency stop input stops the Servomotor using software processing If required for system safety add a safety circuit in an exte...

Page 80: ... following model numbers Name Model number Cable length Manufacturer MECHATROLINK II Connection Cable USB connectors and ferrite cores on both ends JEPMC W6003 A5 0 5 m Yaskawa Electric Corporation JEPMC W6003 01 1 0 m JEPMC W6003 03 3 0 m JEPMC W6003 05 5 0 m JEPMC W6003 10 10 m JEPMC W6003 20 20 m JEPMC W6003 30 30 m Name Model number Manufacturer MECHATROLINK II Terminator JEPMC W6022 Yaskawa E...

Page 81: ...s For example if using one MECHATROLINK device between the PCU and the Repeater and 15 MECHATROLINK devices between the Repeater and the Terminator there will be 16 MECHATROLINK devices and the maximum total cable length is 100 m Note Always turn OFF the power supply to the PCU and Servo Drives before con necting or disconnecting MECHATROLINK II Connection Cables or the Termi nator 0 1 2 3 4 5 6 7...

Page 82: ... a cable with a battery is not required ALM ALMCOM 15 16 8 NCL 7 PCL 6 IN1 5 EXT1 4 EXT2 3 EXT3 2 STOP 1 24VIN 19 POT 20 NOT 21 DEC FG BAT BATCOM 34 33 22 IN0 23 IN2 4 7k 1k 4 7k 1k 4 7k 1k 4 7k 1k 4 7k 1k 4 7k 1k 4 7k 1k 4 7k 1k 4 7k 1k 4 7k 1k 4 7k 1k 4 7 k 1k OUTM1 OUTM1COM 36 35 OUTM2 OUTM2COM 29 30 OUTM3 OUTM3COM 31 32 12 to 24 VDC Alarm Output General purpose Output 1 General purpose Output ...

Page 83: ...3 3 kΩ 3 3 kΩ 3 3 kΩ 3 3 kΩ 3 3 kΩ 3 3 kΩ 3 3 kΩ 3 3 kΩ 3 3 kΩ 24 VDC 24VIN Shell FG Frame ground Origin return deceleration LS Forward drive prohibited signal Reverse drive prohibited signal External latch 1 input External latch 2 input External latch 3 input 31 32 ALM Alarm output ALMCOM Not used 24 VDC 24VIN Shell FG Frame ground 3 3 kΩ 3 3 kΩ 3 3 kΩ 3 3 kΩ 3 3 kΩ 3 3 kΩ 3 3 kΩ 3 3 kΩ 3 3 kΩ 3 ...

Page 84: ... series or SMARTSTEP Junior Servo Drive Control I O Connector R88A CNU01C This connector connects to the Control I O Connector CN1 on a G series Servo Drive R88D GN ML2 Use this connector when making your own control cable Dimensions Control I O Connector R88A CNU11C This connector connects to the W series Servo Drive s Control I O Connector CN1 Use this connector when making your own control cabl...

Page 85: ...R88A CPW S This cable has a connector already attached which connects to the R88D WT W series Servo Drive s Control I O Connector CN1 There is no con nector attached to the other end of the cable Attach an appropriate connector to connect the desired I O device in order to use the cable Standard Cables 39 52 4 t 18 Connector Plug model 10150 3000VE Sumitomo 3M Connector Case model 10350 52A0 008 S...

Page 86: ... R88D WT t 18 39 L No Wire Marking colors Signal No Wire Marking colors Signal 1 Yellow Black 27 White Red BKIR 2 Pink Black 28 White Black BKIRCOM 3 Yellow Red 29 Yellow Red READY 4 Pink Red 30 Yellow Black READYCOM 5 Orange Red 31 Pink Red 6 Orange Black 32 Pink Black 7 Gray Red 33 Orange Red 8 Gray Black 34 Orange Black 9 White Red 35 Gray Black 10 White Black 36 Gray Red 11 Yellow Red 37 White...

Page 87: ...OUTM1COM OUTM1 ALMCOM ALM DEC NOT EXT1 EXT2 EXT3 FG 0V 24VIN 0V 24VIN 0V Servo Drive Signal Terminal block Connector Signal Shell Not specified Blue Red 1 Blue Black 1 Pink Red 1 Pink Black 1 Green Red 1 Green Black 1 Orange Red 1 Orange Black 1 Gray Red 1 Gray Black 1 Blue Red 2 Blue Black 2 Pink Red 2 Green Red 2 Green Black 2 Orange Red 2 Orange Black 2 Gray Red 2 Gray Black 2 Wire mark color W...

Page 88: ...able for W series Servo Drives R88D WN ML2 with built in MECHATROLINK II communications Standard Cables Connection Configuration and Dimensions Connector terminal block end Name 24 V 0 V 24 V 0 V 24 V 0 V DEC POT NOT EXT1 EXT2 EXT3 BATGND BAT BKIRCOM BKIR ALMCOM ALM FG No 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 Servo Drive end Name 24 VIN DEC POT NOT EXT1 EXT2 EXT3 BATGND BAT BKIRCOM BK...

Page 89: ... Cable for the SMARTSTEP Junior Servo Drive Control I O Connector CN1 Standard Cables Connection Configuration and Dimensions Connector terminal block end Name 24 V 0 V 24 V 0 V 24 V 0 V DEC POT NOT EXT1 EXT2 EXT3 BATGND BAT BKIRCOM BKIR ALMCOM ALM FG No 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 Servo Drive end Name 24 VIN DEC POT NOT EXT1 EXT2 EXT3 BATGND BAT BKIRCOM BKIR ALMCOM ALM FG N...

Page 90: ...tor CN1 of a G series Servo Drive W series Servo Drive or SMARTSTEP Junior Servo Drive to a terminal block XW2B 20G4 The XW2B 20G4 is an M3 Screw Terminal Block 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15 16 16 17 17 18 18 19 19 20 20 24VIN 24VIN 24VIN EXT1 DEC NOT POT STOP 0GND BKIR ALM 5 1 2 3 4 8 9 10 11 6 7 13 14 12 No No No 24VIN EXT1 DEC NOT POT STOP 0GND BKIR ALM...

Page 91: ...of the wire for 6 mm as shown below XW2B 20G5 The XW2B 20G5 is an M3 5 Screw Terminal Block Dimensions Terminal block pitch 8 5 mm 3 5 19 19 20 20 67 5 15 5 45 3 5 29 5 5 08 20 5 38 1 45 3 Terminal Block Flat cable connector MIL plug Two 3 5 dia 6 mm 112 5 Two 3 5 dia 3 5 8 5 7 3 7 3 5 29 5 45 15 5 43 5 20 5 45 3 7 Flat cable connector MIL connector Terminal block ...

Page 92: ...ensions Note 1 When using crimp terminals use crimp terminals with the following di mensions Applicable Crimp Terminals Applicable Wires Round Crimp Terminals 1 25 3 AWG22 16 0 3 to 1 25 mm2 2 3 5 AWG16 14 1 25 to 2 0 mm2 Fork Terminals 1 25Y 3 AWG22 16 0 3 to 1 25 mm2 2 3 5 AWG16 14 1 25 to 2 0 mm2 6 8 mm max 3 7 mm 6 8 mm max 3 2 mm dia Round Crimp Terminals Fork Terminals A1 A2 A3 A4 A5 A6 A7 A...

Page 93: ...use 4 The absolute encoder backup battery is not required when using a Ser vomotor with an incremental encoder 5 Connect the absolute encoder backup battery to only one of either the connector terminal block or absolute encoder backup battery cable 6 Use cable clips with double sided adhesive tape to secure the absolute encoder backup battery in place Applicable Crimp Terminals Applicable Wires Ro...

Page 94: ...R88D WT the battery cable for the R88D WN ML2 or the Connector Terminal Block 2 Do not connect anything to unused terminals Terminal Block Wiring Example XW2B 20G4 XW2B 20G5 and XW2D 20G6 Note 1 Use a maximum of 300 mA total for the 24 VDC inputs 2 Do not use inputs other than sensor inputs FG X X Not used 24 VDC 24 V 24 V 24 V 0 V 0 V 0 V DEC 24 VDC NOT POT EXT1 EXT3 BAT BKIR ALM EXT2 BAT GND BKI...

Page 95: ...in the Servo Drive User s Manual Wire the control lines communications lines external I O signal lines etc separately from the power lines AC power supply lines and motor power lines Do not wire these lines together in the same duct or bundle them together Use shielded cables for the control lines Use the specified special cables to connect the PCU and Servo Drives Always connect surge suppressors...

Page 96: ...nsferred through the power line if there is nearby equip ment that generates high frequency noise or the power supply is shared with equipment such as an electric welder or electric discharge equip ment In this case insert a noise filter in the power supply input line Connect to a ground of 100 Ω or less and use the thickest possible wire greater than 1 25 mm2 Twisted pair cable is recommended for...

Page 97: ...70 Wiring Section 3 4 ...

Page 98: ... 3 W series Servo Drive R88D WN ML2 with Built in MECHATROLINK II Communications 136 4 5 4 SMARTSTEP Junior Servo Drive R7D ZN ML2 with Built in MECHATROLINK II Communications 159 4 6 Common Operating Memory Area 164 4 6 1 Common Operating Memory Area Overview 164 4 6 2 Common Operating Memory Area Words 166 4 7 Axis Operating Output Memory Areas 170 4 7 1 Axis Operating Output Memory Area Overvie...

Page 99: ...Settings Commands Servo Drive Status Axis parameters Flash memory Save data Common Operating Memory Area I O refresh Axis Operating Memory Areas Input Output Servo parameter transfer data Data transfer User specified words for data transfer Common parameter area Axis parameter area Common parameters Operating commands Status Operating commands Commu nications cycle Status Servo Parameters RAM Serv...

Page 100: ...are read to the PCU internal memory at power ON or restart When the settings are written they are refreshed immediately and are enabled after they have been written Servo Parame ter Area These parameters are for setting Servo Drive operation Servo Drive s internal memory The parameter settings can be saved in the Servo Drive s internal non volatile memory Online Servo Parameters are enabled as soo...

Page 101: ...e axes to be used are determined 4 Start MECHA TROLINK communica tions Start MECHATROLINK communica tions using the CONNECT Bit in the Common Operating Memory Area When MECHATROLINK communications start the axes are operated according to the bits in the Axis Operating Output Memory Areas and the status of the axes can be monitored using the bits in the Axis Operating Input Memory Areas Subsequent ...

Page 102: ...llocation 1842 hex Axis 14 allocation Axis 13 allocation 1843 hex Axis 16 allocation Axis 15 allocation 1844 hex to 1855 hex Reserved by the system Set to 0000 1856 hex MECHA TROLINK communica tions setting Transfer cycle Communications cycle 1857 hex 00 fixed C2 master connection Number of communica tions retries 1858 hex to 185F hex Reserved by the system Set to 0000 PCU s internal address Name ...

Page 103: ...arameter names and default settings used for these parameters follow those specified in the JUSP NS115 operation manual For details on information provided in the Enable Setting and Details columns refer to 4 5 Servo Parameter Area 189C hex to 18AF hex Axis 4 Same as above Same as above 18B0 hex to 18C3 hex Axis 5 Same as above Same as above 18C4 hex to 18D7 hex Axis 6 Same as above Same as above ...

Page 104: ...utput 1 Offline Pn002 Function selection applica tion switch 2 2 0 Torque com mand input change dur ing speed con trol 0 Option command values not used 0 Offline 1 Option command value 1 used as the torque limit input 2 Option command value 1 used as the torque feed forward input 3 Option command values 1 and 2 used as the torque limit input according to the forward reverse rotation current limit ...

Page 105: ...verse torque limit 2 Reverse rotation output torque limit rated torque ratio 350 0 to 800 Online Pn404 Forward rotation external current limit 2 Output torque limit during input of forward rotation current limit rated torque ratio 100 0 to 800 Online Pn405 Reverse rotation external current limit 2 Output torque limit during input of reverse rotation current limit rated torque ratio 100 0 to 800 On...

Page 106: ...ted to CN1 pin 43 Valid for low input 4 Allocated to CN1 pin 44 Valid for low input 5 Allocated to CN1 pin 45 Valid for low input 6 Allocated to CN1 pin 46 Valid for low input 7 Always valid 8 Always invalid 9 Allocated to CN1 pin 40 Valid for high input A Allocated to CN1 pin 41 Valid for high input B Allocated to CN1 pin 42 Valid for high input C Allocated to CN1 pin 43 Valid for high input D Al...

Page 107: ... allo cation 0 to 3 Same as Pn50E 0 1 Offline Stan dard setting 0 2 TGON Servo motor rotation detection sig nal output ter minal allocation 0 to 3 Same as Pn50E 0 2 Offline Stan dard setting 0 3 READY Ser vomotor war mup complete signal output terminal allo cation 0 to 3 Same as Pn50E 0 3 Offline Stan dard setting 3 Pn50F Output sig nal selec tion 2 2 0 CLIMT current limit detection signal output ...

Page 108: ...ut terminal allocation 0 to F Same as Pn50A 3 0 to 3 and 9 to C are always dis abled 8 Offline Stan dard setting 5 3 EXT3 exter nal latch 3 input signal input terminal allocation 0 to F Same as Pn50A 3 0 to 3 and 9 to C are always dis abled 8 Offline Stan dard setting 6 Param eter No Parame ter name Param eter size Contents Default setting Unit Setting range Enable setting Details Digit No Name Se...

Page 109: ... CN1 pin 12 Valid for low input 7 Always enabled 8 Always disabled 9 Allocated to CN1 pin 13 Valid for high input A Allocated to CN1 pin 7 Valid for high input B Allocated to CN1 pin 8 Valid for high input C Allocated to CN1 pin 9 Valid for high input D Allocated to CN1 pin 10 Valid for high input E Allocated to CN1 pin 11 Valid for high input F Allocated to CN1 pin 12 Valid for high input Pn50B I...

Page 110: ...output ter minal allocation 0 to 3 Same as Pn50E 0 1 Offline Stan dard setting 1 3 WARN warn ing signal out put terminal allocation 0 to 3 Same as Pn50E 0 0 Offline Stan dard setting 0 Pn510 Output sig nal selec tions 3 2 0 INP2 position ing completed 2 signal output terminal alloca tion 0 to 3 Same as Pn50E 0 0 Offline 1 Not used 0 Do not change the setting 0 2 Not used 0 Do not change the settin...

Page 111: ...nit 0 to 1 073 741 8 24 Online Pn524 Position ing com pleted range 2 4 Setting for proximity range for the Positioning Prox imity Flag 3 Com mand unit 1 to 1 073 741 8 24 Online Param eter No Parame ter name Param eter size Contents Default setting Unit Setting range Enable setting Details Digit No Name Set ting Explanation ...

Page 112: ... Warning check mask 0 Detects parameter setting warnings A 94 MECHA TROLINK com mand warnings A 95 and com munications errors A 96 4 Online Always set to 4 or 0 1 Ignores parameter setting warnings A 94 2 Ignores MECHA TROLINK II com mand warnings A 95 3 Ignores both parameter setting warnings A 94 and MECHA TROLINK II com mand warnings A 95 4 Ignores communi cations errors A 96 5 Ignores both par...

Page 113: ...ine Pn808 Absolute encoder zero point position offset 4 Sets the offset for the mechanical origin from the absolute encoder s absolute value data 0 Command unit 1 073 741 823 to 1 073 741 823 Offline Pn80A First step lin ear accelera tion constant 2 Sets the first step accel eration speed for the acceleration decelera tion curve used in posi tion control 100 10 000 command units s2 1 to 65535 Onli...

Page 114: ...tion decelera tion bias speed for the acceleration decelera tion curve used in posi tion control 0 Command units s 0 to 32767 Online Settings can be changed when the axes are stopped Busy Flag for each axis 0 Pn811 Exponential acceleration deceleration time constant 2 Sets exponential accel eration deceleration time constant for the acceler ation deceleration curve used in position control 0 0 1 m...

Page 115: ...Zero point return approach speed 2 2 Sets the origin zero point return final travel distance positioning speed used after the origin input signal has been detected in an origin search 5 100 com mand units s 0 to 65535 Online Settings can be changed when the axes are stopped Busy Flag for each axis 0 Pn819 Final travel distance to return to zero point 4 Sets the amount of compensation position ing ...

Page 116: ...onstant 2 Sets the backlash compensation time constant 0 0 01 ms 0 to 65535 Online Word Name 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 n Not used reserved by the system SAVE DATA READ DATA WRITE DATA UNIT ERROR RESET n 1 REJOI N See note Not used reserved by the system READ BACK UP DATA WRITE BACK UP DATA Reserved by the system CON NECT n 2 Axes to connect See note n 3 to n 5 Not used reserv...

Page 117: ...ion JOG PRESENT POSI TION PRESET ORI GIN RE TURN ORIGIN SEARCH INTER RUPT FEED ING RELA TIVE MOVE MENT ABSO LUTE MOVE MENT Not used re served by the sys tem LIN EAR INTER POLA TION START See note 1 LINEAR INTER POLA TION SET TING See note 1 a 1 EMER GEN CY STOP SAVE SER VO PA RAME TER READ SER VO PA RAME TER WRITE SER VO PA RAME TER DE VICE SETUP Not used reserved by the system TORQUE CON TROL SPE...

Page 118: ...ioning Com pleted Flag Not used reserved by the system Re ceiv ing Com mand Flag b 1 Servo Status Flags status particular to Servo Drive Reserved by the system Re verse Soft ware Limit Flag For ward Soft ware Limit Flag Posi tioning Prox imity Flag Speed Limit Status Flag Re served by the sys tem Torque Limit Status Flag Distri bution Com pleted Flag Zero Speed Flag Posi tion Com pleted Flag Speed...

Page 119: ...f Axis Operating Output Memory Areas Specifies the beginning word of the Axis Operating Output Memory Areas The beginning word of the Operating Output Memory Area for Axis 1 is determined by the Axis Operating Output Memory Area designation and the word determined using this parame ter Each Axis is allocated 25 words in sequence from this word 183A hex Axis Operating Input Memory Area designa tion...

Page 120: ...57 hex 00 fixed 07 to 04 03 to 00 C2 master connection 0 No C2 master default setting 1 C2 master connected Number of communications retries Set value 0 to 7 F The default setting 0 is the same as when the number of retries is set to 1 C2 mas ter con nection Number of com munica tions retries PCU s address Contents Setting Bits 08 to 15 Bits 00 to 07 Unit address Name Enable timing 1838 hex Axis O...

Page 121: ...8 will occur when the PCU power is turned ON or the Unit is restarted Example Beginning word of the Axis Operating Output Memory Area CIO 6100 Connected axes 2 min Axis 1 Output Area CIO 6100 to CIO 6124 Axis 2 Output Area CIO 6125 to CIO 6149 The highest word in the CIO Area is CIO 6143 Therefore an error will occur 3 If the ranges set for the Axis Operating Output Memory Area and Axis Op erating...

Page 122: ...2 25 words Axis 1 25 words Axis 2 25 words Axis 1 CIO Area CIO 100 Function as Axis Operating Output Memory Areas CIO 100 to CIO 124 Axis 1 CIO 125 to CIO 149 Axis 2 etc Axis Operating Input Memory Area setting Common Parameters Axis Operating Output Memory Area setting CIO Area CIO 500 Function as Axis Operating Input Memory Areas CIO 500 to CIO 524CH Axis 1 CIO 525 to CIO 549CH Axis 2 etc Unit a...

Page 123: ... MECHATROLINK Communica tions Settings Transfer Cycle This parameter is used to set the cycle for sending and receiving data with MECHATROLINK communications 00 1 ms default setting 01 1 ms 05 5 ms 02 2 ms 06 6 ms 03 3 ms 07 7 ms 04 4 ms 08 8 ms A2 hex 0 25 ms A5 hex 0 5 ms Communications Cycle This parameter sets the cycle for refreshing data in the PCU and MECHA TROLINK device The communications...

Page 124: ...s control such as origin input signal selection and origin search method The axis parameters for the axes to be used must be set 4 4 1 Axis Parameters Overview Axis Parameters are transferred to the PCU s internal memory using the data transfer command and saved in the PCU s flash memory using the SAVE DATA command Turn ON the power to the CPU Unit again or restart the PCU to read the Axis Paramet...

Page 125: ...errupt input signal 00 Phase Z default setting 01 External latch signal 1 input 02 External latch signal 2 input 03 External latch signal 3 input d 1 0 fixed Origin search preset Origin search direction Origin detection method Origin search operation 0 fixed Set the origin search operation Origin search direction 0 Reversal mode 1 default setting 1 Reverse mode 2 2 Single direction mode 3 Reversal...

Page 126: ... 4 1 14 hex 189C hex 189C hex 0002 hex Origin input signal selection Phase Z 00 hex In terrupt input signal selection External latch signal 2 02 hex Details Refer to 8 2 Origin Search Operation and 9 5 Interrupt Feeding d 1860 hex Axis No 1 14 hex Data Details Use there parameters to make the operation mode settings origin search operation mode for each axis of the PCU The bits specified as 0 00 f...

Page 127: ...set for details on the origin search preset 0 Present position not set to preset value at completion of origin search 1 Present position set to preset value at completion of origin search Encoder Type Use this parameter to select incremental encoder or absolute encoder as the encoder for the Servomotor Set the encoder type according to the functions of the Servomotor and Servo Drive being used as ...

Page 128: ...he Details column as standard with the set value The standard settings are basic settings required when using the PCU This manual describes operations assuming standard settings are being used For details on fixed and standard settings refer to 6 4 Standard Settings for Servo Drives Using MECHATROLINK Note Parameters marked with RT are automatically set during realtime autotun ing To set these par...

Page 129: ...in decimal This value does not change even if the rotary switch is turned after startup 5 to 32767 Reserved Do not set Pn002 Reserved Do not change 0 Pn003 Torque Limit Selec tion 2 Selects the torque limit function or the torque feed forward func tion during speed control 1 Online Settings can be changed when the axes are stopped Busy Flag for each axis 0 Torque Limit Selection For torque control...

Page 130: ...nications error which is assessed at every MECHATROLINK II communications cycle occurs consecu tively for the number of the Consecutive Communications Error Detection Count The error and warning can be masked for debug purposes bits 8 11 COM_ERR Consecutive Communications Error Detection Count Setting range 0 to 15 Consecutive Communications Error Detection Count COM_ERR 2 Note These bits are debu...

Page 131: ...e and reverse rotation is always negative 0 0 to 14 Online 0 Torque command 100 3 V 1 Position deviation 31 pulses 3 V 2 Position deviation 125 pulses 3 V 3 Position deviation 500 pulses 3 V 4 Position deviation 2000 pulses 3 V 5 Position deviation 8000 pulses 3 V 6 to 10 Reserved 11 Torque command 200 3 V 12 Torque command 400 3 V 13 Outputs the Issuance Completion Status DEN 0 V Issuing 5 V Issu...

Page 132: ...s the speed loop integration time constant Set a large value for large load inertia Decrease the setting for fast response with small inertia Set 9999 to stop integration operation while retaining the integra tion value A setting of 10000 disables integration 200 0 1 ms 1 to 10000 Online Pn013 Speed Feedback Filter Time Constant RT 2 Sets the type of speed detection filter time constant Normally u...

Page 133: ...setting of 2 2 2 Online Pn01F Reserved Do not change 0 Pn020 InertiaRatio RT 2 Sets the load inertia as a percentage of the Servomotor rotor iner tia Setting Load inertia Rotor inertia 100 The inertia ratio estimated during realtime autotuning is stored in the EEPROM every 30 minutes 300 0 to 10000 Online Settings can be changed when the axes are stopped Busy Flag for each axis 0 Pn021 Realtime Au...

Page 134: ...s the Servomotor s allowable operating range for the position command input range Set to 0 to disable the overrun protective function 10 0 1 rota tion 0 to 1000 Online Pn027 Instanta neous Speed Observer Setting RT 2 The Instantaneous Speed Observer improves speed detection accuracy thereby improving responsiveness and reducing vibra tion when stopping When the instantaneous speed observer is enab...

Page 135: ... 2000 Low pass type Setting range 10 Pn02B Pn02C Pn02B 6 0 0 1 Hz 200 to 2000 Online Pn02D Vibration Frequency 2 2 Same function as Pn02B 0 0 1 Hz 0 to 2000 Online Pn02E Vibration Filter 2 Set ting 2 Same function as Pn02C 0 0 1 Hz 200 to 2000 Online Pn02F Adaptive Filter Table Number Display 2 Displays the table entry number corresponding to the frequency of the adaptive filter This parameter is ...

Page 136: ... large amount When the position loop gain increases it takes the duration of set value 1 166 µs 20 166 µs 0 to 10000 Online Pn036 Reserved Do not change 0 Pn037 Reserved Do not change 0 Pn038 Reserved Do not change 0 Pn039 Reserved Do not change 0 Pn03A Reserved Do not change 0 Pn03B Reserved Do not change 0 Pn03C Reserved Do not change 0 Pn03D Jog Speed 2 Sets the jog operation speed with the Par...

Page 137: ...leration time for speed control mode Deceleration time s from maximum speed r min to 0 r min Set value 2 ms 0 2 ms 0 to 5000 Online Pn05A Reserved Do not change 0 Pn05B 2 Selects the speed limit for torque control mode 0 0 1 Online Settings can be changed when the axes are stopped Busy Flag for each axis 0 0 Use the Speed Limit Pn053 1 Use the speed limit value via MECHATROLINK II or the Speed Lim...

Page 138: ...e readjustment is made when control power is turned ON Note This adjustment is inaccurate if the offset is measured while the Servomotor is rotating To enable this function do not rotate the Servomotor when inputting the Servo ON command 0 0 1 Online 0 Disabled only when turning ON control power 1 Enabled when turning ON control power or at Servo ON Pn065 Undervolt age Alarm Selection 2 Selects wh...

Page 139: ...c tion with Main Power OFF 2 Sets the operation to be performed during deceleration and after stopping after the main power supply is turned OFF with the Und ervoltage Alarm Selection Pn065 set to 0 The deviation counter will be reset when the power OFF is detected 0 0 to 7 Online Settings can be changed when the axes are stopped Busy Flag for each axis 0 0 and 4 Use dynamic brake to decelerate an...

Page 140: ...t the regeneration overload alarm code 18 does not occur 3 The regeneration processing circuit is not activated All regenerative energy is absorbed by the built in capacitor Pn06D Momentary Hold Time 2 Sets the amount of time required to detect shutoff when the main power supply continues to shut off The main power OFF detection will be disabled if this parameter is set to 1000 35 2 ms 35 to 1000 ...

Page 141: ...n Range 2 Sets the threshold for detecting the origin ZPOINT in absolute values ZPOINT 1 when the return to origin completes coordinate sys tem setup is complete and the feedback position is within the set ting range of this parameter 10 Com mand units 0 to 250 Online Pn106 Reserved Do not change 0 Pn107 Linear Accelera tion Constant 2 Sets the acceleration for positioning operations A setting of ...

Page 142: ... using position control 2 VCMP output Turn ON when the deviation between the Servomotor speed and commanded speed is within the range set by Pn061 for speed control Undefined when not using speed control 3 TGON output Turn ON when the absolute value of the Servomotor speed exceeds Pn062 setting in all control modes 4 READY output Turn ON when the main power is supplied there is no alarm and Servo ...

Page 143: ...0 Com mand units 1073741823 to 1073741823 Online Pn205 Electronic Gear Ratio 1 Numera tor 4 Sets the numerator for the electronic gear ratio Setting this parameter to 0 automatically sets the encoder resolu tion as the numerator 131072 for a 17 bit absolute encoder or 10000 for a 2 500 p r incremental encoder Note Set the electronic gear ratio within the range of 1 100 to 100 times A parameter set...

Page 144: ...ately after Servo Parameters have been written Offline offline parameters Changed settings are enabled when the Servo Drive power is cycled or DEVICE SETUP is exe cuted The Details column indicates whether the following conditions apply to the corresponding parameter Online parameters that can be changed when the axis is stopped Busy Flag 0 only Parameters that are automatically set when a JUSP NS...

Page 145: ...selection applica tion switch 1 2 0 Select stop if an alarm occurs when Servomotor is OFF 0 Servomotor stopped by dynamic brake 2 Offline 1 Servomotor stopped by dynamic brake Dynamic brake released after stop ping 2 Servomotor stopped with free run 1 Select stop when prohib ited drive is input 0 Stop according to Pn001 0 settings release Servomo tor after stopping 0 Offline 1 Stop Servomotor usin...

Page 146: ... trol 0 Option command value not used 0 Offline 1 Option command value 1 used as speed limit input 2 Operation switch when using absolute encoder 0 Use as absolute encoder 0 Offline 1 Use as incremen tal encoder 3 Fully closed encoder usage method 0 Fully closed encoder is not used 0 Offline 1 Fully closed encoder is used without phase Z 2 Fully closed encoder is used with phase Z 3 Fully closed e...

Page 147: ...nstant 2 Speed loop integral time constant 2000 0 01 ms 15 to 51200 Online Pn102 Position loop gain 2 Adjusts position loop responsiveness 40 1 s 1 to 2000 Online Pn103 Inertia ratio 2 Sets using the ratio between the machine system inertia and the Servomotor rotor inertia 300 0 to 20000 Online Pn104 Speed loop gain 2 2 Adjusts speed loop responsiveness enabled by auto matic gain switching input 8...

Page 148: ...ing using position devi ation 3 Gain switching using position com mands and position deviation 3 Not used 0 Do not change the setting 0 Pn10C P control switching torque command 2 Sets level of torque command to switch from PI con trol to P control 200 0 to 800 Online Pn10D P control switching speed command 2 Sets level of speed command to switch from PI control to P control 0 r min 0 to 10000 Onli...

Page 149: ...t of position deviation 2 Sets the position deviation used as the switching con dition when the automatic gain switching function by position deviation Pn10B 2 2 3 is used 7 Com mand unit 1 to 250 Online Param eter No Parame ter name Param eter size Contents Default setting Unit Setting range Enable setting Details Digit No Name Set ting Explanation Pn200 Position control setting 1 2 0 Not used 0 ...

Page 150: ...change the setting 1000 Pn301 Not used Do not change the setting 100 Pn302 Not used Do not change the setting 200 Pn303 Not used Do not change the setting 300 Pn304 Jog speed 2 Sets the rotation speed used during jog operation executed from the Servo Drive s Parameter Unit 500 r min 0 to 10000 Online Pn305 Soft start acceleration time 2 Sets acceleration time during speed control soft start 0 ms 0...

Page 151: ... Sets notch filter 1 frequency for torque command 2000 Hz 50 to 2000 Online Pn40A Notch fil ter 1 Q value 2 Sets Q value of notch filter 1 70 0 01 50 to 400 Online Pn40B Notch fil ter 2 fre quency 2 Sets notch filter 2 frequency for torque command 2000 Hz 50 to 2000 Online Pn40C Notch fil ter 2 Q value 2 Sets Q value of notch filter 2 70 0 01 50 to 400 Online Param eter No Parame ter name Param et...

Page 152: ...mand speed 2 Sets the rotation speed for outputting the brake com mand 100 r min 0 to 10000 Online Pn508 Brake tim ing 2 2 Sets the delay from the Servomotor turning OFF to the brake command output 50 10 ms 10 to 100 Online Pn509 Momen tary hold time 2 Sets the time during which alarm detection is disabled when a power failure occurs 20 ms 20 to 1000 Online Param eter No Parame ter name Param eter...

Page 153: ...ocated to CN1 pin 43 Valid for low input 4 Allocated to CN1 pin 44 Valid for low input 5 Allocated to CN1 pin 45 Valid for low input 6 Allocated to CN1 pin 46 Valid for low input 7 Always valid 8 Always invalid 9 Allocated to CN1 pin 40 Valid for high input A Allocated to CN1 pin 41 Valid for high input B Allocated to CN1 pin 42 Valid for high input C Allocated to CN1 pin 43 Valid for high input D...

Page 154: ...D Input sig nal selec tion 4 2 0 Not used 8 Do not change the setting 8 Fixed setting 8 1 Not used 8 Do not change the setting 8 Fixed setting 8 2 Not used 8 Do not change the setting 8 3 Not used 8 Do not change the setting 8 Pn50E Output sig nal selec tion 1 2 0 INP1 position ing completed 1 signal output terminal alloca tion 0 Not used 1 Offline Stan dard setting 1 1 Allocated to CN1 pins 25 26...

Page 155: ...3 Same as Pn50E 0 0 Offline Stan dard setting 2 3 WARN warn ing signal out put terminal allocation 0 to 3 Same as Pn50E 0 0 Offline Stan dard setting 0 Pn510 Output sig nal selec tion 3 2 0 INP2 position ing completed 2 signal output terminal alloca tion 0 to 3 Same as Pn50E 0 0 Offline Stan dard setting 0 1 Not used 0 Do not change the setting 0 2 Not used 0 Do not change the setting 0 3 Not used...

Page 156: ...CN1 pin 45 Valid for low input 6 Allocated to CN1 pin 46 Valid for low input 7 Always enabled 8 Always disabled 9 Allocated to CN1 pin 40 Valid for high input A Allocated to CN1 pin 41 Valid for high input B Allocated to CN1 pin 42 Valid for high input C Allocated to CN1 pin 43 Valid for high input D Allocated to CN1 pin 44 Valid for high input E Allocated to CN1 pin 45 Valid for high input F Allo...

Page 157: ...26 0 Not reversed 0 Offline 1 Reversed 1 Output signal reverse for CN1 pins 27 28 0 1 Same as above 0 Offline 2 Output signal reverse for CN1 pins 29 30 0 1 Same as above 0 Offline 3 Not used 0 Do not change the setting 0 Pn513 Input sig nal selec tion 6 2 0 Not used 8 Do not change the setting 8 1 Not used 8 Do not change the setting 8 2 Not used 0 Do not change the setting 0 3 Not used 0 Do not ...

Page 158: ...name Param eter size Contents Default setting Unit Setting range Enable setting Details Pn600 Regeneration resistor capacity 2 Setting for the regeneration resistance load ratio monitoring calculations 0 10 W From 0 Varies by Unit Online Pn601 Not used Do not change the setting 0 ...

Page 159: ...INK com mand warnings A 95 and com munications errors A 96 4 Online Always set to 4 or 0 1 Ignores parame ters setting warn ings A 94 2 Ignores MECHA TROLINK II com mand warnings A 95 3 Ignores both parameter setting warnings A 94 and MECHA TROLINK II com mand warnings A 95 4 Ignores communi cations errors A 96 5 Ignores both parameter setting warnings A 94 and communica tions errors A 96 6 Ignore...

Page 160: ...3 Online Pn808 Absolute encoder zero point position offset 4 Sets the offset for the mechanical origin from the absolute encoder s absolute value data 0 Command unit 1 073 741 823 to 1 073 741 823 Offline Pn80A First step linear acceleration constant 2 Sets the first step accel eration speed for the acceleration decelera tion curve used in posi tion control 100 10 000 command units s2 1 to 65535 O...

Page 161: ...or the acceleration decelera tion curve used in posi tion control 0 Command units s 0 to 32767 Online Settings can be changed when the axes are stopped Busy Flag for each axis 0 Pn811 Exponential acceleration deceleration time constant 2 Sets exponential accel eration deceleration time constant for the acceler ation deceleration curve used in position control 0 0 1 ms 0 to 5100 Online Settings can...

Page 162: ...ch speed 2 2 Sets the origin zero point return final travel distance positioning speed used after the ori gin input signal has been detected in an ori gin search 5 100 com mand units s 0 to 65535 Online Settings can be changed when the axes are stopped Busy Flag for each axis 0 Pn819 Final travel dis tance to return to zero point 4 Sets the amount of compensation positioning used after the origin ...

Page 163: ...dard with the set value The stan dard settings are basic settings required when using the Position Control Unit This manual describes operations assuming standard settings are being used For details on fixed and standard settings refer to 6 4 Standard Settings for Servo Drives Using MECHATROLINK Note Make sure that the equipment will not be adversely affected before changing the Servo Parameters W...

Page 164: ...ls 3 Not used 0 Do not change the setting 0 Pn002 Function selection applica tion switches 2 2 0 Torque com mand input change dur ing speed con trol 0 Do not use option command value 0 Offline 1 Use option com mand value 1 as the torque limit value 2 Use option com mand value 1 as the torque feed for ward command value 3 Use option com mand value 1 or 2 as the torque limit value according to the f...

Page 165: ...que Pn422 1 V per 100 03 Position deviation 0 05 V 1 command unit 04 Position amplifier deviation after electronic gear 0 05 V per encoder pulse unit 05 Position command speed 1 V 1 000 r min 06 Not used 07 Not used 08 Positioning com pleted command Positioning com pleted 5 V posi tioning not completed 0 V 09 Speed feed forward 1 V 1 000 r min 0A Torque feed for ward 1 V per 100 0B to 1F Not used ...

Page 166: ... completed 0 V 09 Speed feed forward 1 V 1 000 r min 0A Torque feed for ward 1 V per 100 0B to 1F Not used 2 Analog moni tor 2 signal multiplier selection 0 1x 0 Online 1 10x 2 100x 3 1 10x 4 1 100x 3 Not used 0 Do not change the setting 0 Pn008 Function selection applica tion switches 8 2 0 Lowered bat tery voltage alarm warning selection 0 Regard battery voltage drop as alarm A 830 0 Offline 1 R...

Page 167: ... rota tional speed 2 Sets position control bias 0 r min 0 to 450 Online Pn108 Bias addi tion band 2 Sets the position control bias operation start using deviation counter pulse width 7 Com mand unit 0 to 250 Online Pn109 Feed for ward amount 2 Position control feed forward compensation value 0 0 to 100 Online Pn10A Feed for ward com mand filter 2 Sets position control feed forward command filter 0...

Page 168: ...time con stant 2 Position loop integral time constant 0 0 1 ms 0 to 50000 Online Pn12B Not used Do not change the setting 400 Pn12C Not used Do not change the setting 2000 Pn12D Not used Do not change the setting 400 Pn12E Not used Do not change the setting 400 Pn12F Not used Do not change the setting 2000 Pn130 Not used Do not change the setting 400 Pn131 Gain switching time 1 2 Switching time fr...

Page 169: ...fline 3 Not used 0 Do not change the setting 0 Pn144 Not used Do not change the setting 1000 Pn150 Predictive control selection switches 2 0 Predictive con trol selection 0 Predictive control not used 0 Offline 1 Predictive control used 2 Not used 1 Predictive con trol type 0 Predictive control for tracking 1 Offline 1 Predictive control for positioning 2 Not used 2 Do not change the setting 2 3 N...

Page 170: ...etting 1 3 Not used 1 Do not change the setting 1 Pn1A9 Utility inte gral gain 2 Adjusts the auxiliary integral responsive 37 Hz 0 to 500 Online Pn1AA Position propor tional gain 2 Adjusts the position proportional responsive 60 Hz 0 to 500 Online Pn1AB Speed inte gral gain 2 Adjusts the speed integral responsive 0 Hz 0 to 500 Online Pn1AC Speed pro portional gain 2 Adjusts the speed proportional ...

Page 171: ...10 Electronic gear ratio G2 denomi nator 4 1 1 to 1073741824 Offline Pn212 Encoder divider rate 4 Sets the number of output pulses per Servomotor rotation 1000 Pulses rota tion 16 to 1073741824 Offline Pn214 Backlash compen sation amount 2 Sets mechanical system backlash amount the mechanical gap between the drive shaft and the shaft being driven 0 Com mand unit 32767 to 32767 Online Pn215 Backlas...

Page 172: ...el 2 Sets the vibration detection level 50 r min 0 to 500 Online Param eter No Parame ter name Param eter size Contents Default setting Unit Setting range Enable setting Details Digit No Name Set ting Explanation Pn400 Not used Do not change the setting 30 Pn401 1st step 1st torque command filter time constant 2 Sets the filter time constant for internal torque com mands 40 0 01 ms 0 to 65535 Onli...

Page 173: ...que command filter Q value 2 Sets the torque command filter Q value 70 0 01 50 to 1000 Online Pn411 3rd step torque command filter time constant 2 Sets the filter time constant for internal torque com mands 0 µs 0 to 65535 Online Pn412 1st step 2nd torque command filter time constant 2 Sets the filter time constant for No 2 gain internal torque commands 100 0 01 ms 0 to 65535 Online Pn413 Not used...

Page 174: ...y signal out put width 2 Sets the allowable fluctuation number of rotations for the speed conformity output VCMP 10 r min 0 to 100 Online Pn506 Brake tim ing 1 2 Sets the delay from the brake command to the Ser vomotor turning OFF 0 10 ms 0 to 50 Online Pn507 Brake command speed 2 Sets the number of rotations for outputting the brake command 100 r min 0 to 10000 Online Pn508 Brake tim ing 2 2 Sets...

Page 175: ...or low input 7 Always enabled 8 Always disabled 9 Allocated to CN1 pin 13 Valid for high input A Allocated to CN1 pin 7 Valid for high input B Allocated to CN1 pin 8 Valid for high input C Allocated to CN1 pin 9 Valid for high input D Allocated to CN1 pin 10 Valid for high input E Allocated to CN1 pin 11 Valid for high input F Allocated to CN1 pin 12 Valid for high input Pn50B Input sig nal selec ...

Page 176: ...tion 0 to 3 Same as Pn50E 0 0 Offline Stan dard setting 0 2 TGON ser vomotor rota tion detection signal output terminal allo cation 0 to 3 Same as Pn50E 0 0 Offline Stan dard setting 0 3 READY servoready signal output terminal allo cation 0 to 3 Same as Pn50E 0 0 Offline Stan dard setting 0 Pn50F Output sig nal selec tions 2 2 0 CLIMT cur rent limit detection signal output terminal allo cation 0 t...

Page 177: ...d to CN1 pin 8 Valid for low input 3 Allocated to CN1 pin 9 Valid for low input 4 Allocated to CN1 pin 10 Valid for low input 5 Allocated to CN1 pin 11 Valid for low input 6 Allocated to CN1 pin 12 Valid for low input 7 Always enabled 8 Always disabled 9 Allocated to CN1 pin 13 Valid for high input A Allocated to CN1 pin 7 Valid for high input B Allocated to CN1 pin 8 Valid for high input C Alloca...

Page 178: ...putsignal reverse for CN1 pins 23 24 0 1 Same as above 0 Offline 2 Outputsignal reverse for CN1 pins 25 26 0 1 Same as above 0 Offline 3 Not used 0 Do not change the setting 0 Pn513 Not used Do not change the setting 0321 Pn515 Not used Do not change the setting 8888 Pn51B Not used Do not change the setting 1000 Pn51E Deviation counter overflow warning level 2 Sets the detection level for the devi...

Page 179: ... deviation counter overflow warning detec tion level for Servo ON 100 10 to 100 Online Pn529 Speed limit level at Servo ON 2 Sets the speed limit for when the Servo turns ON with position deviation accumulated 10000 r min 0 to 10000 Online Pn52A Not used Do not change the setting 20 Pn52F Not used Do not change the setting FFF Param eter No Parame ter name Param eter size Contents Default setting ...

Page 180: ...er of move ment operations Pn536 4 Waiting time Pn535 Forward movement Pn531 Waiting time Pn535 Reverse movement Pn531 Number of move ment operations Pn536 5 Waiting time Pn535 Reverse movement Pn531 Waiting time Pn535 Forward movement Pn531 Number of move ment operations Pn536 1 Not used 0 Do not change the setting 0 2 Not used 0 Do not change the setting 0 3 Not used 0 Do not change the setting ...

Page 181: ...imit 2 Sets the gain limit 2000 0 1 Hz 10 to 2000 Online Pn550 Analog monitor 1 offset volt age 2 Sets the analog monitor 1 offset voltage 0 0 1 V 10000 to 10000 Online Pn551 Analog monitor 2 offset volt age 2 Sets the analog monitor 2 offset voltage 0 0 1 V 10000 to 10000 Online Param eter No Parameter name Param eter size Contents Default setting Unit Setting range Enable setting Details Pn600 R...

Page 182: ... A E5 3 Ignores communi cations errors A E6 and syn chronization errors A E5 1 Warning check mask 0 Detects all parame ter setting warnings A 94 MECHA TROLINK com mand warnings A 95 and com munications errors A 96 4 Online Always set to 4 or 0 1 Ignores parameter setting warning A 94 2 Ignores command warning A 95 3 Ignores A 94 and A 95 4 Ignores communi cations warning A 96 5 Ignore A 94 and A 9...

Page 183: ...23 to 1 073 741 823 Online Pn808 Absolute encoder zero point position offset 4 Sets the encoder posi tion and machine coordi nate system offsets for when an absolute encoder is used 0 Command unit 1 073 741 823 to 1 073 741 823 Offline Pn80A First step linear acceleration constant 2 Sets the step 1 accelera tion for when two step acceleration is used 100 10 000 command units s2 1 to 65535 Online S...

Page 184: ...xponential filter is used for the position command filter 0 Command units s 0 to 32767 Online Settings can be changed when the axes are stopped Busy Flag for each axis 0 Pn811 Exponential acceleration deceleration time constant 2 Sets the time constant for when an exponential filter is used for the posi tion command filter 0 0 1 ms 0 to 5100 Online Settings can be changed when the axes are stopped...

Page 185: ...signal turns ON 50 100 com mand units s 0 to 65535 Online Settings can be changed when the axes are stopped Busy Flag for each axis 0 Pn818 Zero point return approach speed 2 2 Sets the origin search speed after the decel eration limit switch signal turns ON 5 100 com mand units s 0 to 65535 Online Settings can be changed when the axes are stopped Busy Flag for each axis 0 Pn819 Final travel dis t...

Page 186: ...with the set value The stan dard settings are basic settings required when using the Position Control Unit This manual describes operations assuming standard settings are being used For details on fixed and standard settings refer to 6 4 Standard Settings for Servo Drives Using MECHATROLINK Note Make sure that the equipment will not be adversely affected before changing the Servo Parameters WRITE ...

Page 187: ...ot change the setting 1 Offline 1 Not used 8 Do not change the setting 8 2 Not used 8 Do not change the setting 8 3 POT for ward drive prohibited input signal Input termi nal alloca tion 2 Allocated to CN1 pin 4 Valid for low input 2 Offline Standard setting 2 8 Always invalid Pn50B Input sig nal selec tion 2 2 0 NOT reverse drive prohib ited input signal input terminal allocation 3 Allocated to C...

Page 188: ... mand unit 0 to 1 073 741 824 Online Pn524 Position ing com pletion width 2 4 Setting for proximity range for the Positioning Proximity Flag 100 Com mand unit 1 to 1 073 741 824 Online Param eter No Parame ter name Param eter size Contents Default setting Unit Setting range Enable setting Details Digit No Name Set ting Explanation ...

Page 189: ...communica tions errors A 96 4 Online Always set to 4 or 0 1 Ignores parameters setting warn ings A 94 2 Ignores com mand warn ings A 95 3 Ignores both parameter setting warn ings A 94 and com mand warn ings A 95 4 Ignores com munications errors A 96 5 Ignores both parameter setting warn ings A 94 and commu nications errors A 96 6 Ignores both command warnings A 95 and communica tions errors A 96 7...

Page 190: ...inear accelera tion con stant 2 Sets the acceleration speed for the accelera tion deceleration curve used in position con trol 100 10 000 com mand units s2 1 to 65535 Online Settings can be changed when the axes are stopped Busy Flag for each axis 0 Pn80E Linear decelera tion con stant 2 Sets the deceleration speed for the accelera tion deceleration curve used in position con trol 100 10 000 com m...

Page 191: ...h speed 1 2 Sets the origin zero point input signal search speed used after the origin proximity signal has been detected in an origin search 50 100 com mand units s2 0 to 65535 Online Settings can be changed when the axes are stopped Busy Flag for each axis 0 Pn818 Zero point return approach speed 2 2 Sets the origin zero point return final travel distance positioning speed used after the ori gin...

Page 192: ...ands are sent to the PCU when the respective bit in the output memory area turns ON or while the respective bit is ON The common PCU status and MECHATROLINK communications status are input from the PCU to the input memory area 2 CIO 1550 to CIO 1574 10 CIO 1750 to CIO 1774 3 CIO 1575 to CIO 1599 11 CIO 1775 to CIO 1799 4 CIO 1600 to CIO 1624 12 CIO 1800 to CIO 1824 5 CIO 1625 to CIO 1649 13 CIO 18...

Page 193: ...en this bit turns ON 5 2 3 Saving PCU Parameters 04 to 15 Not used reserved by the system These bits are reserved by the system Do not use n 1 00 Communi cations control commands CONNECT Starts stops MECHA TROLINK communications 6 3 1 Establishing Connections 01 to 05 Reserved by the sys tem These bits are reserved by the system Do not use 06 WRITE BACKUP DATA Writes data saved in the PCU s intern...

Page 194: ...rce word Specifies the beginning word of the data to be written from the CPU Unit to the PCU n 9 Write destination address Specifies the address in the PCU to which the data is to be written n 10 Number of read words Specifies the number of words to be read from the PCU to the CPU Unit 5 2 2 Reading PCU Parameters n 11 Read source address Specifies the address in the PCU from which the data is to ...

Page 195: ...the system This bit is reserved by the sys tem Do not use n 16 00 to 11 Reserved by the sys tem These bits are reserved by the system Do not use 12 Memory Card Trans fer Error Indicates that an error occurred when writing reading backup data to from the Mem ory Card 13 4 2 Memory Card Backup 13 Reserved by the sys tem This bit is reserved by the sys tem Do not use 14 Unit Busy Flag ON when PCU is ...

Page 196: ... 3 communica tions status 03 Axis 4 communica tions status 04 Axis 5 communica tions status 05 Axis 6 communica tions status 06 Axis 7 communica tions status 07 Axis 8 communica tions status 08 Axis 9 communica tions status 09 Axis 10 communica tions status 10 Axis 11 communica tions status 11 Axis 12 communica tions status 12 Axis 13 communica tions status 13 Axis 14 communica tions status 14 Axi...

Page 197: ... words in sequence up to the highest axis number registered in the scan list For details on area allocations refer to 6 2 2 Scan List and PCU Area Allocations The beginning words of the Axis Operating Output Memory Areas are deter mined by the axis number of each axis using the following equation Beginning Word of Axis Operating Output Memory Area for Axis N a Beginning word of Axis Operating Outp...

Page 198: ...n with the designated position treated as a relative position when this bit turns ON 05 INTERRUPT FEED ING Interrupt feeding begins for ABSOLUTE MOVEMENT and RELATIVE MOVEMENT com mands 9 5 Interrupt Feeding 06 Origin posi tioning commands ORIGIN SEARCH Executes an origin search when this bit turns ON 8 2 Origin Search Operation 07 ORIGIN RETURN Returns position to the origin when this bit turns O...

Page 199: ... Parameters 13 READ SERVO PARAMETER Reads data from the Servo Drive to the CPU Unit when this bit turns ON 5 3 2 Reading Servo Parameters 14 SAVE SERVO PARAMETER Writes data to the Servo Drive s non volatile memory at the same time as writing the Servo Parameters when this bit turns ON 5 3 3 Saving Servo Parameters 15 Special command EMERGENCY STOP Executes emergency stop when this bit turns ON 10...

Page 200: ...eleration for linear interpolation torque feed forward command the torque limit for speed control and the speed limit for torque control 9 7 Linear Interpola tion 10 5 Speed Control 10 6 Torque Control a 11 Option command value 1 leftmost word a 12 Option command value 2 rightmost word a 13 Option command value 2 leftmost word a 14 Operating data for special function Override This bit specifies th...

Page 201: ...o the CPU Unit 5 3 Transferring Servo Parameters a 18 Parameter size Specifies the parameter size for the Servo Parameters to be written from or read to the CPU Unit a 19 Write data rightmost word Specifies the data to be writ ten to the Servo Drive from the CPU Unit 5 3 1 Writing Servo Parameters 5 3 3 Saving Servo Parameters a 20 Write data leftmost word a 21 00 to 03 Linear inter polation data ...

Page 202: ...operating output bits the command is disabled or detected as an error The operations that are performed when an attempt is made to execute more than one function are described depending on the operating status When Position Control Unit Is Not Executing a Function When Busy Flag 0 The operation that is performed for each command when the Position Control Unit is not executing a function including ...

Page 203: ...nction When Busy Flag 1 The operation that is performed for each command when the Position Control Unit is already executing a function is shown below depending on the Servo locked unlocked status and the ON OFF status of axis operating output bits Function to be executed See note Executing function SERVO UNLOCK DEVIATION COUNTER RESET EMERGENCY STOP DECELERATION STOP JOG ORIGIN SEARCH ORIGIN RETU...

Page 204: ...N CONTROL RELA TIVE MOVEMENT INTERRUPT FEEDING SPEED CONTROL TORQUE CONTROL PRESENT POSITION PRESET DEVICE SETUP SERVO LOCK Function to be executed See note Executing function SERVO UNLOCK DEVIATION COUNTER RESET EMERGENCY STOP DECELERATION STOP JOG ORIGIN SEARCH ORIGIN RETURN ABSOLUTE MOVEMENT RELATIVE MOVEMENT INTERRUPT FEEDING SPEED CONTROL TORQUE CONTROL PRESENT POSITION PRESET DEVICE SETUP SE...

Page 205: ...CY STOP All other operation functions are disabled while the DECELERATION STOP Bit is ON ABSOLUTE RELATIVE MOVEMENT with INTERRUPT FEEDING ORIGIN SEARCH ORIGIN RETURN PRESENT POSITION PRESET JOG SPEED CONTROL TORQUE CONTROL DEVICE SETUP SERVO LOCK A Multistart Error error code 3050 will occur if these commands are executed at the same time Function Operation for simultaneous execution ...

Page 206: ...e highest axis number registered in the scan list For details on area allocations refer to 6 2 2 Scan List and PCU Area Allocations The beginning words of the Axis Operating Input Memory Areas are deter mined by the axis number of each axis using the following equation Beginning Word of Axis Operating Input Memory Area for Axis N b Beginning word of Axis Operating Input Memory Area specified in Co...

Page 207: ...ut put Memory Area Priority The Receiving Command Flag remains ON 1 for at least one cycle time and turns OFF 0 when the com mand reception processing is completed 4 8 3 Axis Control Status Flags 9 4 Using Direct Operation 10 5 Speed Control 10 6 Torque Control 01 to 04 Not used reserved by the system Always 0 05 PCU Positioning Completed Flag ON when a PCU operation executed in response to a posi...

Page 208: ...Origin Search Operation 08 to 10 Not used reserved by the system Always 0 11 Warning Flag ON when an axis warning has occurred 12 1 Overview of PCU Errors 12 Error Flag ON when an axis error has occurred 13 Busy Flag ON during axis operation or processing 4 8 3 Axis Control Status Flags 14 Servo Parameter Transferring Flag ON during transfer of Servo Parameters 5 3 Transferring Servo Parameters 15...

Page 209: ...ero Speed ZSPD Flag 09 Torque Limit T_LIM Status Flag ON when the torque limit function is enabled and acti vated 4 8 4 Servo Status Flags 10 4 3 Torque Limits Set by Operating Commands 10 Reserved by the sys tem Used by the PCU system 11 Positioning Proxim ity NEAR Flag Speed Limit V_LIM Status Flag The function of these flags changes according to whether position control or torque con trol is be...

Page 210: ...rnal latch signal 3 input 09 Brake output 10 Emergency stop input 11 to 15 Reserved by the sys tem b 4 Errors Axis error code Returns the error code for the axis error 12 4 Error Codes b 5 00 to 03 Expanded monitoring Monitor 1 type Indicates the monitor type for the present monitor 1 b 10 b 11 4 8 6 Expanded Monitoring 04 to 07 Monitor 2 type Indicates the monitor type for the present monitor 2 b...

Page 211: ...he Axis Operating Output Memory Areas b 13 Monitor 2 leftmost word b 14 Servo Parameter data Read data rightmost word Returns the data read to the CPU Unit from the Servo Drive 5 3 2 Reading Servo Parameters b 15 Read data leftmost word b 16to b 23 Not used reserved by the system Always 0 b 24 00 Linear inter polation status Linear interpolation setting completed See note Indicates when setting th...

Page 212: ...of the fol lowing operating commands ABSOLUTE MOVEMENT including INTERRUPT FEEDING RELATIVE MOVEMENT including INTERRUPT FEEDING ORIGIN SEARCH ORI GIN RETURN PRESENT POSITION PRESET JOG JOG Bit ON DE CELERATION STOP EMERGENCY STOP SERVO LOCK SERVO UNLOCK SPEED CONTROL TORQUE CONTROL DEVICE SETUP ERROR RESET or DEVIATION COUNTER RESET Name Word Bits Contents Receiving Com mand Flag b 00 0 Command r...

Page 213: ... when sending more than one operating com mand at the same time during axis operation i e while the Busy Flag is ON such as changing the target position while using direct operation PCU Positioning Completed Flag Word b Bit 05 Function This flag turns ON when a PCU operation is completed normally in response to any of the following positioning commands and the feedback present posi tion of the axi...

Page 214: ...as pushing a load or using a vertical axis the PCU Positioning Completed Flag will not turn ON if the set value for the Positioning Completion Range 1 is too small Adjust the set value for the Positioning Completion Range 1 to suit the operating conditions for the machine Position a 2 a 3 Speed a 4 a 5 RELATIVE MOVEMENT command a 04 Speed Receiving Command Flag b 00 PCU Positioning Completed Flag ...

Page 215: ...ck status When a connection is released See note Note When a connection is released including a disconnection due to error the status for each axis becomes undefined non execution except for the Error Flag and axis error code The No Origin Flag turns ON while in no origin ori gin not established status Origin Stop Flag Word b Bit 07 Function This flag turns ON when the origin has been established ...

Page 216: ...ETURN The Busy Flag turns OFF when the axis feedback position reaches the Servo Parameter Positioning Completion Range 1 Pn060 for R88D GN Pn500 for R88D WT and Pn522 for R88D WN ML2 and SMARTSTEP Junior set for the target stop position The Busy Flag turns OFF at the same time as the PCU Positioning Completed Flag turns ON Jogging Stopped JOG Bit OFF DECELERATION STOP EMERGENCY STOP Including Erro...

Page 217: ...ECELERATION STOP or EMERGENCY STOP is executed during axis operation the Stop Execution Flag turns ON when the command position reaches the target stop position i e when sending the command to the Servo Drive is com pleted regardless of the axis feedback position This flag then turns OFF when the power is turned ON a connection is released or when another axis operation is started Details Refer to...

Page 218: ...on Range 1 During speed control Speed Conformity Flag 0 Speed does not match the speed com mand value for speed control 1 Speed matches the speed command value for speed control Distribution Com pleted Flag Zero Speed Flag 08 During position control Distribution Com pleted Flag 0 Sending position control command to Servo Drive 1 Sending position control command to Servo Drive completed During spee...

Page 219: ...e and MECHATROLINK communications cycle Servo ON Flag Word b 1 Bit 03 Function ON while Servo Drive is in Servo lock status during position control or in Servo ON status Servomotor carrying current during speed or torque con trol 0 Servo unlocked Servo OFF 1 Servo locked Servo ON This flag turns ON when the SERVO LOCK Bit a 1 bit 00 in the Axis Oper ating Output Memory Area turns ON and turns OFF ...

Page 220: ...g in the Servo Drive s deviation counter are within the Posi tioning Completion Range 1 even for jogging stops deceleration stops emer gency stops and error stops During Speed Control Speed Conformity Flag G series Servo Drives and W series Servo Drives Only This flag turns ON when the feedback speed during speed control matches the target speed speed command value for speed control i e the speed ...

Page 221: ... 1 Sending the position control command to Servo Drive completed During Speed Control Zero Speed Flag G series Servo Drives and W series Servo Drives Only This flag turns ON when the feedback speed during speed control drops below the Servo Parameter Rotation Speed for Motor Rotation Detection Pn062 for R88D GN and Pn502 for R88D W 0 Not at zero speed 1 Detecting zero speed Details Refer to 10 5 2...

Page 222: ... 0 Torque limit function disabled 1 Torque limit function enabled Details Refer to 10 4 Torque Limits Positioning Proximity Flag during Position Control Speed Limit Status Flag during Torque Control Word b 1 Bit 11 Function The function of these flags depends on whether position control or torque control is being used During Position Control Positioning Proximity Flag This flag turns ON when the f...

Page 223: ...is always 0 when using a W series Servo Drive which does not have an emergency stop signal The SMARTSTEP Junior Servo Drive does not have inputs for external latch signals 2 and 3 When using a SMARTSTEP Junior Servo Drive the input sta tus for these signals will always be 0 Reverse Software Limit Pn806 Forward Software Limit Pn804 Reverse direction Forward Software Limit Flag b 1 bit 12 Reverse So...

Page 224: ...9 The PCU also has an expanded monitoring function that monitors control information selected from a number of categories and returns the result to the Axis Operating Input Memory Areas External I O status Signal Servo Drive I O signal name Signal polarity Normal Setting 0 to 6 Signal polarity Reverse Setting 9 to F Sensor status Base block not receiving power Input open Sensor status In operation...

Page 225: ...ned to monitor 2 Reserved by the sys tem 08 to 15 Not used The setting is disabled Name Word Bits Contents Monitor 1 type b 15 00 to 03 Indicates the type of control information selected by Monitor 1 Monitor 2 type 04 to 07 Indicates the type of control information selected by Monitor 2 Not used 08 to 15 Always 0 Monitor 1 b 10 b 11 Monitor 1 rightmost word Monitor 2 leftmost word Monitor 2 b 12 b...

Page 226: ...and speed See note 1 Returns the speed designated for the Servo Drive A Target speed See note 1 Returns the designated target speed speed command value B Torque com mand See note 2 Returns the torque command for the Servo Drive C to F Reserved by the system Do not set Monitor Type Control information Unit Details Control mode Speed monitoring unit Unit change timing Position control Torque control...

Page 227: ... be monitored successfully 2 If MECHATROLINK communications are stopped connection released during speed or torque control and MECHATROLINK communications are restarted to execute SERVO LOCK Servo ON the power to the Ser vomotor will be recovered with the previous control mode maintained At this point the PCU cannot obtain correct monitor values for speed or torque monitor in its expanded monitori...

Page 228: ...er bits 5 1 Transferring Data 202 5 2 Transferring PCU Parameters 204 5 2 1 Writing PCU Parameters 204 5 2 2 Reading PCU Parameters 207 5 2 3 Saving PCU Parameters 209 5 3 Transferring Servo Parameters 210 5 3 1 Writing Servo Parameters 211 5 3 2 Reading Servo Parameters 213 5 3 3 Saving Servo Parameters 215 5 3 4 Device Setup 218 ...

Page 229: ...ts in Operating Memory Areas Bits in the Operating Memory Areas can be manipulated to transfer data between the CPU Unit and the PCU and Servo Drives The Common Oper ating Memory Area is used for parameters held in the PCU and the Axis Oper ating Memory Areas are used for parameters held in the Servo Drives Transferring PCU Parameters Common Parameters and Axis Parameters are saved in the PCU s in...

Page 230: ...cuted for each parameter separately from writing them to the Servo Drive s memory WRITE SERVO PARAMETER Two types of Servo Parameters are transferred to the Servo Drive online parameters with set values that are enabled immediately after they are writ ten and offline parameters which are not enabled just by writing them To enable set values for offline parameters in Servo Drive operations save the...

Page 231: ... cycling the PCU pow er or restarting the Unit after executing WRITE DATA Therefore when the WRITE DATA Bit is used to change the contents of the Common Pa rameters execute SAVE DATA and save the Common Parameters to the PCU s internal flash memory 2 The Axis Parameter settings are enabled when WRITE DATA execution has completed To change Axis Parameter settings permanently execute WRITE DATA foll...

Page 232: ...executed over multiple cycles When writing data to the PCU is completed the Data Transferring Flag turns OFF Common Operating Memory Area Output n CIO 1500 unit number 25 Common Operating Memory Area Input n CIO 1500 unit number 25 The following diagram shows the operation for writing data to the PCU Name Word Bit Contents WRITE DATA Bit n 01 0 1 Starts writing data Number of write words n 6 Speci...

Page 233: ...eared Make sure to execute ERROR RESET 01 D01000 D01001 D01002 D01003 D01004 D01005 D01011 000C hex 0082 hex 03E8 hex 1838 hex 00B0 hex 0064 hex 00B0 hex 01F4 hex 0040 hex 0000 0000 1838 hex 1839 hex 183A hex 183B hex 183C hex 183D hex 1843 hex 00B0 hex 0064 hex 00B0 hex 01F4 hex 0040 hex 0000 0000 14 Common Operating Memory Area n CIO 1500 Unit No 25 CPU Unit Word n Word n 15 Word n 9 Word n 8 Wo...

Page 234: ... turns ON Up to 600 words can be transferred during a single data reading operation The maximum amount of data that can be transferred during a single CPU Unit cycle however is 20 words When reading more than 20 words of data the data is divided and read over multiple cycles When reading data from the PCU is completed the Data Transferring Flag turns OFF Common Operating Memory Area Output n CIO 1...

Page 235: ...0064 hex 00B0 hex 01F4 hex 0040 hex 0000 hex 0000 hex 14 CPU Unit PCU Common Operating Memory Area n CIO 1500 unit number 25 Word n Word n 15 Word n 13 Word n 12 Word n 11 Word n 10 READ DATA Bit Number of read words 12 words Read source address 1838 hex Read destination area EM1_00100 Data Transferring Flag ON while transferring data Data Memory Data Transfer Example The data for the number of re...

Page 236: ...s ON i e PCU initializing or reading writing Memory Card backup data 2 If SAVE DATA is executed during MECHATROLINK communications or while data is transferring a Multistart Error Unit error code 0021 will oc cur and data will not be saved to the PCU 3 Do not restart the PCU or turn OFF the power to the PLC while data is being saved Doing so may result in damage to the PCU s internal flash memory ...

Page 237: ...e that SAVE DATA is executed after ERROR RESET to enable identifying whether data has been saved correctly 5 3 Transferring Servo Parameters Note Make sure that the equipment will not be adversely affected before changing the Servo Parameters WRITE SERVO PARAMETER SAVE SERVO PARAMETER Refer to the Servo Drive s operation manual and always check the effect of changing the settings before changing t...

Page 238: ...separately from WRITE SERVO PARAMETER Note 1 Execute WRITE SERVO PARAMETER when the Servo Parameter Trans ferring Flag for the corresponding axis is OFF If WRITE SERVO PARAM ETER is executed while a Servo Parameter is being transferred a Multistart Error axis error code 3050 will occur and the Servo Parame ter will not be written 2 Do not restart the PCU or turn OFF the power to the PLC while writ...

Page 239: ...A 2881 14 MECHATROLINK CPU Unit PCU Servo Drive Axis Operating Output Memory Area Word a 1 Word b Word a 20 Word a 19 Word a 18 Word a 17 WRITE SERVO PARAMETER Bit Servo Parameter No Pn50A Parameter size 2 bytes Set value 2881 Axis Operating Input Memory Area Servo Parameter Transferring Flag ON while transferring data a Beginning word of Axis Operating Output Areas specified in Common Parameters ...

Page 240: ... Output Memory Area Specify the parameter number and parameter size data length in the Axis Operating Output Mem ory Area and execute READ SERVO PARAMETER The read parameter will be input in the Read data word of the Axis Operating Input Memory Area One execution of READ SERVO PARAMETER transfers one parameter for each axis To transfer multiple parameters READ SERVO PARAMETER must be executed sepa...

Page 241: ...a 18 Specifies the data length of the parameter to be read in byte units Name Word Bit Contents Name Word Bit Contents Servo Parameter Transferring Flag b 14 0 Powerup transfer completed or transfer failed 1 Transferring Servo Parameter Read data rightmost word b 14 Contains the Servo Parameter hexadeci mal that was read For a parameter size of two bytes the rightmost word is used only and 0000 is...

Page 242: ...at the parameters were trans ferred correctly 5 3 3 Saving Servo Parameters When Servo Parameters are saved in the Servo Drive s non volatile memory the settings are held even after the power is turned OFF and the next time the power is turned ON the previous settings will be recovered Saving Servo Parameter is treated as writing data to the Servo Drive s non volatile memory Therefore SAVE SERVO P...

Page 243: ...er to the PLC while a Servo Parameter is being saved Doing so may result in the parameter not being saved correctly and cause unexpected operations Servo Parameter saving starts when the SAVE SERVO PARAMETER Bit in the Axis Operating Output Memory Area turns ON When executing SAVE SERVO PARAMETER make sure that the SAVE SERVO PARAMETER Bit remains ON until the Servo Parameter Transferring Flag tur...

Page 244: ...ARAMETER Bit Servo Parameter No Pn50A Parameter size 2 bytes Set value 2881 Servo Parameters Transferring Flag ON while transferring a Beginning word of Axis Operating Output Areas specified in Common Parameters Axis No 1 25 b Beginning word of Axis Operating Input Areas specified in Common Parameters Axis No 1 25 Internal memory and non volatile memory 2 00002881 hex 050A hex Servo Parameter No w...

Page 245: ...perations save the parameters to the non volatile memory and then cycle the Servo Drive power Alternatively execute WRITE SERVO PARAMETER SAVE SERVO PARAME TER and then execute the Servo Drive s DEVICE SETUP When DEVICE SETUP is executed the Servo Drive enables all the Servo Parameters that have been transferred to set the Servo Drive and initializes the present position and output signal status D...

Page 246: ...ing Com mand Flag b 00 0 Command reception enabled 0 1 Command reception started 1 Receiving command command recep tion disabled Busy Flag 13 1 Axis busy axis operation executing 11 13 00 MECHATROLINK CPU Unit PCU Servo Drive Axis Operating Output Memory Area Word a 1 Word b DEVICE SETUP Bit Axis Operating Input Memory Area Busy Flag Receiving Command Flag ON while executing a Beginning word of Ax...

Page 247: ...220 Transferring Servo Parameters Section 5 3 ...

Page 248: ...Establishing Connections 232 6 3 2 MECHATROLINK Communications Status 233 6 3 3 MECHATROLINK Communications Errors 238 6 3 4 Rejoining the Connection 242 6 3 5 Specifying the Axes to Connect 245 6 4 Standard Settings for Servo Drives Using MECHATROLINK 247 6 4 1 G series Servo Drive Settings R88D GN ML2 with Built in MECHATROLINK II Communications 247 6 4 2 W series Servo Drive Settings R88D WT Eq...

Page 249: ...1 This distance is the total length of the cable connected between devices However the maximum length depends on the number of devices con nected and whether Repeaters are used For details refer to 3 4 1 MECHATROLINK II Communications Wiring 2 Up to 16 devices can be connected to the CS1W CJ1W NCF71 up to 2 devices can be connected to the CS1W CJ1W NC271 and up to 4 devic es can be connected to th...

Page 250: ...gs The settings required to use MECHATROLINK with the PCU are described here 6 2 1 Scan List The scan list is used to register the MECHATROLINK devices connected to the PCU The PCU connects the axes registered in the scan list to MECHA TROLINK communications detects these axes and monitors communica tions for them The PCU receives positioning commands allocated in the Work Area Axis Operating Memo...

Page 251: ... Parameters settings saved in the PCU s internal flash memory are enabled when the PCU power is turned ON or the Unit is restarted PCU s address Contents Setting Bits 08 to 15 Bits 00 to 07 183C hex Axis 2 allocation Axis 1 allocation 00 hex Axis not used default setting 40 hex Allocates axis to the Servo Drive 183D hex Axis 4 allocation Axis 3 allocation 183E hex Axis 6 allocation Axis 5 allocati...

Page 252: ...xis number that are not registered as MECHATROLINK devices are also each allocated 25 output words and 25 input words PCU s address Contents Setting 1838 hex Axis Operating Out put Memory Area designation Specifies the words allocated for the Axis Oper ating Output Memory Areas 0000 hex No setting default 00B0 hex CIO Area 00B1 hex Work Area 00B2 hex Holding Area 00B3 hex Auxiliary Area 0082 hex D...

Page 253: ... of the Axis Operating Output Memory Areas CIO 6100 Connected axes 2 min Axis 1 Output Area CIO 6100 to CIO 6124 Axis 2 Output Area CIO 6125 to CIO 6149 Etc Areas for subsequent axes are allocated in sequence The highest word in the CIO Area is CIO 6143 Therefore an error will occur If the ranges set for the Axis Operating Output Memory Areas and Axis Operating Input Memory Areas overlap an Initia...

Page 254: ...ve equipped with a JUSP NS115 MECHATROLINK II Appli cation Module or with built in MECHATROLINK II communications is con nected to the PCU the setting range for the transfer cycle is 0 5 to 4 ms When a G series Servo Drive is connected to the PCU the setting range for the transfer cycle is 1 to 4 ms PCU s address Contents Setting Bits 08 to 15 Bits 00 to 07 1856 hex Transfer cycle Communications c...

Page 255: ...the communications cycle so that the maximum value does not exceed 16 ms The following diagram illustrates data exchange with the PCU Number of Communications Retries The number of communications retries is the number of stations that will per form retries if data sending receiving fails when transferring data that is exchanged between the PCU and MECHATROLINK devices using the trans fer cycle The...

Page 256: ...the default settings are used for the number of communications retries once and C2 master connec tion No C2 master Number of devices connected R88D GN ML2 G series Servo Drive equipped with built in MECHATROLINK II communications R88D WT W series Servo Drive equipped with JUSP NS115 MECHATROLINK II Application Module R88D WN ML2 W series Servo Drive equipped with built in MECHATROLINK II communica...

Page 257: ...ove table If the com munications cycle setting is too small the command response time of the Position Control Unit function may be greatly extended 2 The command response time for axes not used for linear interpolation will be increased by up to four communications cycles per linear interpolation combination being executed This applies from when setting the linear in terpolation operation is start...

Page 258: ...ute encoder zero point position offset for different axes The affect on system performance must thus be consid ered when making the settings If it is not possible to increase the com munications cycle provide an interlock circuit between the operation of different axes so that linear interpolation is not performed for one axis Number of devices connected Min set values when setting the absolute en...

Page 259: ...ioning Completed Flag OFF Origin not established No Origin Flag ON When using Servomotors with absolute encoders for which the encod er type is set to absolute encoder in the axis parameters however the origin is established No Origin Flag OFF by reading the absolute val ue data when the connection is established Stop Execution Flag OFF For details on errors when establishing connections refer to ...

Page 260: ...starts MECHATROLINK communications for the axes registered in the scan list This status flag will turn ON however when CONNECT is exe cuted even if nothing is registered in the scan list The Connection Status Flag turns OFF when the connection is released The Connection Status Flag is allocated in CIO 1516 unit number 25 bit 15 Common Operating Memory Area Input n CIO 1500 unit number 25 Axis Comm...

Page 261: ...s will turn ON when connections are made for the axes registered in the scan list and MECHA TROLINK communications start The flags will remain OFF when MECHATROLINK communications cannot be started when connections are made for the axes regis tered in the scan list The flags will turn OFF if MECHATROLINK communi cations stop because the axis is disconnected The flags will turn OFF if a Unit error ...

Page 262: ...0 Same as above for axis 11 11 Same as above for axis 12 12 Same as above for axis 13 13 Same as above for axis 14 14 Same as above for axis 15 15 Same as above for axis 16 Word n 22 00 15 08 n CIO 1500 unit number 25 Bits 00 to 15 correspond to the communications status for axes 1 to 16 The bits will turn ON 1 if the corresponding axes registered in the scan list are communicating normally Axis 1...

Page 263: ...egistered in the scan list only There is no change in status of the Unit Busy Flag or the Receiving Command Flags or Busy Flags for the connected axes when a connection is established or released n CIO 1500 unit number 25 b Beginning word of Axis Operating Input Areas specified in Common Parameters Axis No 1 25 MOV MOV CPU Unit n 1 PCU 4 0 0 0 4 0 4 0 4 0 0 0 183C hex 183D hex 183E hex 0 0 0 0 0 0...

Page 264: ...re registered in the scan list and for which MECHATROLINK communications was started i e axes for which Axis Communications Status Flags are ON regardless of whether an alarm is present in the Servo Drive or whether the connected axes match the scan list If MECHATROLINK communications cannot be started for all axes regis tered in the scan list an MLK initialization error unit error code 0020 hex w...

Page 265: ...U common errors that stop MECHATROLINK communications and operation of all axes and axis errors that stop individual axes Moreover they are classified into three types of error Errors at Communications Startup Errors Detected by PCU during Communications and Errors Detected in MECHATROLINK Slave Stations Connected to PCU during Communications Errors that Stop MECHATROLINK Communications Unit Commo...

Page 266: ...error also occurs when communications errors that are not specific to a partic ular slave station occur during MECHATROLINK communications and causes MECHATROLINK communications to stop connection released This error may occur during MECHATROLINK communications as a result of a faulty communications path such as noise breaks or faulty connections in the communications line After removing the cause...

Page 267: ...uch as ERROR RESET To recover from this error release the connection and remove the cause of the error and then execute CONNECT again When using a Position Control Unit with unit version 2 0 or later the REJOIN command can be used to rejoin the connection without breaking the connection Communications Alarm Axis Error Code 3011 Hex This error occurs for errors in MECHATROLINK communications proces...

Page 268: ...SET Bit in the Axis Operating Output Memory Area When clearing the axis error make sure that the ERROR RESET Bit will remain ON until the Busy Flag for the corresponding axis turns ON The ERROR RESET Bit cannot be used to clear errors such as Synchronous Communications Alarms or Communications Alarms To recover from these errors release the connection remove the cause of the error and then exe cut...

Page 269: ...for an axis for which operations are not possible using MECHATROLINK communications either when initially establishing the connection or after the connection has been established This function can be used only with Position Control Units with unit version 2 0 or later If any axis registered in the scan list is in either of the following conditions the error cannot be cleared with the normal error ...

Page 270: ...ls on the Axes to Connect parameter When rejoining the connection errors that occur in the Position Control Unit or the axes will be reset Functionality for axis operations after rejoining a connection are the same as when establishing the connection The REJOIN command bit is bit 15 of CIO 1501 unit number 25 Keep the REJOIN command bit ON until the Unit Busy Flag turns ON Common Operating Output ...

Page 271: ...pecified axes If there are any axes for which MECHATROLINK communications cannot be started commu nications errors will not occur for individual axes but rather an MLK initializa tion error Unit error code 0020 hex will occur for the entire Unit If MECHATROLINK communications cannot be restarted when attempting to recover from communications errors for only specific axes the error status will thus...

Page 272: ...ring system design and startup when all axes are not yet connected This function can be used only with Position Control Units with unit version 2 0 or later The Axes to Connect parameter is in CIO 1502 unit number 25 CONNECT n 1 00 When a communications error occurs for axis 2 the Axis 2 Error Flag and Axis 2 Communications Status Flag will turn OFF After removing the cause of the error the REJOIN...

Page 273: ...is valid only when using the CONNECT or REJOIN command bits in the Common Operating Memory Area When estab lishing connections from the CX Motion NCF the Axes to Connect parameter is ignored and processing to start MECHATROLINK communications is per formed for all axes registered in the scan list If MECHATROLINK communications cannot be started when establishing a connection from the CX Motion NCF...

Page 274: ...s used the default settings for the Servo Drive are the standard settings for the I O signal allocations when the MECHA TROLINK communications is used The standard input signal settings are used for the PCU s positioning control functions such as limit inputs origin searches and interrupt feeding Use the default settings for I O allocations of the Servo Drive Note The PCU uses the forward drive pr...

Page 275: ...sk Parameter No Parameter name Unit Fixed setting Details Default setting Pn004 Reserved by the system 0200 0000 Pn200 Position control setting 1 0100 1011 Pn204 Position command filter time constant 1 0 01 ms 0 Sets soft start for command 0 Pn207 1 Position control setting 2 Speed command input switching 1 REF used as feed forward input 0 Pn50A 0 Input signal selection 1 Input signal allocation m...

Page 276: ...ettings are used for the PCU s positioning control functions such as limit inputs origin searches and interrupt feeding When using a system configuration combining a W series Servo Drive and JUSP NS115 use the standard settings for the I O signal allocations The following default settings are those used by W series Servo Drives before installing the JUSP NS115 Parameter No Parameter name Unit Fixe...

Page 277: ... tact 8 Pn511 3 Input signal selection 5 EXT3 external latch 3 input signal input termi nal allocation 6 Allocated to CN1 pin 46 Valid for low input N O con tact 8 Pn50E 0 Output signal selection 1 INP1 positioning completed 1 signal output ter minal allocation 1 Allocated to CN1 pins 25 and 26 1 Pn50E 1 Output signal selection 1 VCMP speed conformity signal output terminal allocation 0 No output ...

Page 278: ... setting warning and A 95 MECHATROLINK command warning are used when the PCU is controlling communications Set the parameter so that they are not ignored Either leave Pn800 1 set to the default setting 4 ignores communica tions errors A 96 only or set to 0 detects A 94 A 95 and A 96 Standard Settings for I O Signals Using MECHATROLINK When the R88D WN ML2 W series Servo Drive equipped with built i...

Page 279: ... setting Pn800 1 Communications Control Warning Check Mask The MECHATROLINK communications warnings A 94 parameter setting warning and A 95 MECHATROLINK command warning are used when the PCU is controlling communications Set the parameter so that they are not ignored Either leave Pn800 1 set to the default setting 4 ignores communica tions errors A 96 only or set to 0 detects A 94 A 95 and A 96 St...

Page 280: ...l reverse rotation limit input signal and origin proximity input signal respectively Make sure that these input signals main tain a signal width no shorter than the MECHATROLINK communications cycle If the input signal width is shorter than the communications cycle the PCU is unable to detect the input signals and operations cannot be per formed normally 1 2 3 4 6 7 12 13 EXT1 DEC NOT POT STOP 0GN...

Page 281: ...254 Standard Settings for Servo Drives Using MECHATROLINK Section 6 4 ...

Page 282: ...l Units 257 7 2 1 Control Units for Position Control 257 7 2 2 Control Units for Speed Torque Control 258 7 2 3 Units of the PCU s Main Controlled Variables 259 7 3 Coordinate System and Present Position 260 7 4 Acceleration and Deceleration Operations 261 7 4 1 Overview of Acceleration Deceleration Operations 261 7 4 2 Acceleration Deceleration Settings 262 7 4 3 Acceleration Deceleration Filter ...

Page 283: ...k information for the commands sent from the CPU Unit s ladder program to the PCU and Servo Drive 7 1 2 Position Control The control system configured using the PCU uses the Servo Drive s position loop to perform position control The PCU achieves positioning by using the Servo Drive s position control functions together with control units and coordi nate systems CPU Unit PCU Sequence ladder progra...

Page 284: ...tion The Servo Drive operates internally with a pulse multiplier of four Therefore the Servomotor s encoder resolution multiplied by four is the number of pulses in one rotation The electronic gear ratio is used to convert the command value i e command units handled by the PCU into the control unit i e pulses used in the Servo Drive the G1 G2 unit is pulses command unit When the Servo Drive s defa...

Page 285: ... 0 001 of the Servo Drive s Servomotor s momentary maximum rotation speed The unit used for the torque command value in torque control is the percentage unit 0 001 of the Servo Drive s Servomotor s momen tary maximum torque The Servomotor s momentary maximum rotation speed and momentary maximum torque depend on the Servomotor model G1 Encoder resolution 4 G2 Command unit 8192 1000 Servomotor Encod...

Page 286: ... Command unit Position control Command value Position command value Command unit Speed command value Command units s Servo Parame ter data Acceleration 10 000 command units s2 Deceleration 10 000 command units s2 Zero point return approach speed 1 100 command units s Zero point return approach speed 2 100 command units s Monitor value Speed monitor value Command units s Torque monitor value percen...

Page 287: ...xis in the CPU Unit the amount of feedback indicating the actual position of the machine Servomotor as the feedback present position and the position given in the command as the command present position Note When executing speed control and torque control commands there is no command present position because a positioning loop is not configured A command present position calculated from the positi...

Page 288: ...tion operations that can be used when the PCU is connected to a G series Servo Drive W series Servo Drive or SMART STEP Junior Servo Drive are described here 7 4 1 Overview of Acceleration Deceleration Operations The PCU creates the specified acceleration deceleration curve for the operat ing commands performing position control such as direct operation or origin searches The acceleration decelera...

Page 289: ...ing parameters while the axis is operating may result in incorrect positioning or other malfunction G series Servo Parameters Acceleration Deceleration Constants Note When using G series Servo Drives one step linear acceleration deceleration curves are set using only Pn107 and Pn10A When the parameter is set to 0 it is taken as 1 The setting will be used after conversion to unsigned 16 bit data 0 ...

Page 290: ...he accelera tion deceleration constants to become imprecise or changes in the setting can greatly affect the size of accelerations decelerations Type Parameter No Parameter name Unit Setting range Parameter size Default setting W Series SMARTS TEP Junior Accelera tion decelera tion con stants Pn80A First step linear accel eration constant 10 000 command units s2 1 to 65535 2 100 Sup ported Not sup...

Page 291: ...If the acceleration constant is increased or decreased by 1 the acceleration time required to reach the same target speed is affected very little as shown below Acceleration constant 399 1000000 command units s 399 10000 com mand units s2 250 6 ms Acceleration constant 401 1000000 command units s 401 10000 com mand units s2 249 3 ms 7 4 3 Acceleration Deceleration Filter Settings When a W series S...

Page 292: ...tion stop op eration both when an error occurs and when operation is normal make sure that the acceleration deceleration curve designation is kept enabled during axis operations 3 Change the acceleration deceleration constants using WRITE SERVO PARAMETER while axis operation is stopped Busy Flag 0 Do not change parameters during axis operation Changing parameters of an active axis may result in in...

Page 293: ...eleration curve obtains the moving average using the Servo Parameter Movement Average Time for W series Servo Drives Pn812 or Moving Average Time for G series Servo Drives Pn10E for the linear acceleration deceleration curve specified in Pn80A to Pn80F Pn106 to Pn10B when using a G series Servo Drive to smooth out sudden changes in the acceleration deceleration acceleration deceleration curve angl...

Page 294: ... deceleration curve occurs the achieved speed of S curve acceleration deceleration will be less than the target speed 7 4 4 Origin Search Acceleration Deceleration Operations The origin search operation of the PCU consists of the following three steps 1 2 3 1 Search for origin proximity signal 2 Search for origin signal after detection of origin proximity signal 3 Positioning for final travel dist...

Page 295: ...r to 7 5 Limit Input Operations and Reversal Mode Operation Using Limit Inputs in 8 2 4 Origin Search Operation 7 4 5 Acceleration and Deceleration Operations during Speed Control When the speed control command is executed the Servo Drive performs stepped speed control from the present feedback speed to the target speed specified in the speed command value for speed control Apart from smoothly inc...

Page 296: ...apply to W series Servomotors 3 000 r min Servomotor cylinder type or flat type 5 000 r min 1 000 r min Servomotor 2 000 r min 1 500 r min Servomotor 450 W to 7 5 kW 3 000 r min 1 500 r min Servomotor 11 to 15 kW 2 000 r min Parameter No Parameter name Unit Setting range Parameter size Default setting Pn058 Soft start accelera tion time 2ms 0 to 5000 2 0 Pn059 Soft start decelera tion time 2ms 0 t...

Page 297: ...ake sure that the limit input signals maintain a signal width no shorter than the MECHATROLINK communications cycle Input signals that are shorter than the communications cycle cannot be detected by the PCU When using a G series Servo Drive or W series Servo Drive the Servomo tor s stop operation at the Servo Drive when a limit input signal is input or a software limit is reached is set in the Ser...

Page 298: ...sition control 3 When the Servomotor rotation speed is 30 r min or less stopped the de celeration mode will not be entered even if the drive prohibit input is en abled W series and SMARTSTEP Junior Limit Input Parameters Note The Pn406 default setting corresponds to that used for W series Servo Drives Pn001 1 is used to set the stop operation of the Servomotor when a for ward reverse rotation limi...

Page 299: ... Servomotor in Servo unlock status after stopping opera tion Parameter No Set value Details Pn001 0 0 Servomotor stopped by dynamic brake Dynamic brake held after stopping 1 Servomotor stopped by dynamic brake Dynamic brake OFF after stopping 2 Servomotor stopped with free run 1 Stops Servomotor using torque set in Emergency Stop Torque Pn406 Puts Servomotor in Servo lock status after stopping ope...

Page 300: ...8 2 6 Origin Search Preset 295 8 3 Present Position Preset 296 8 3 1 Outline of Operation 297 8 3 2 Data Settings for Present Position Preset 297 8 4 Origin Return 298 8 4 1 Origin Return Data Settings 299 8 5 Phase Z Margin 303 8 5 1 Description 303 8 5 2 Calculating the Phase Z Margin Example 303 8 5 3 Phase Z Margin for Specific Operation Patterns 304 8 6 Absolute Encoder Origin 305 8 6 1 Absol...

Page 301: ...and origin input signal A photoelectric sensor or the phase Z signal from an encoder can be used as the origin input signal Execute this function when using an incremental encoder Ser vomotor or Servomotor with absolute encoder used as an incremental encoder PRESENT POSI TION PRESET The origin can be determined by forcibly setting the position at which the Servomotor is stopped to a user specified...

Page 302: ... Position Offset is set using an Origin Search Operation with Position Control Units with unit version 2 0 or later the absolute value data read to the PCU when SERVO LOCK was executed will be lost when the origin is established The absolute data saved in the absolute encoder will not be lost and can be obtained by executing SERVO LOCK after SERVO UNLOCK When using a Position Control Unit with uni...

Page 303: ... 4 a 5 b b 6 b 7 b 8 b 9 Output during I O refresh Input during I O refresh PCU Pn80A Pn80B Pn80C Pn001 1 Pn816 Pn817 Pn818 Pn819 Pn81A d d 1 Pn002 2 d 2 Servo Drive Ladder program 1 2 3 WRITE DATA SERVO PARAMETER ORIGIN SEARCH Axis Operating Output Memory Areas Speed command value rightmost word Speed command value leftmost word Axis Operating Input Memory Areas Feedback present position rightmos...

Page 304: ...ed Note To specify the Servo Parameters for acceleration deceleration every time make sure that the axis operation is stopped Busy Flag 0 while changing the acceleration deceleration constants using WRITE SERVO PARAMETER Do not change the settings during axis operation Changing parameters while the axis is operating may result in incorrect positioning or other malfunction 8 2 3 Data Settings Requi...

Page 305: ... Pn00B for G Series in the Servo Parameters match If the settings do not match ORIGIN SEARCH execution will not be possible or another malfunction may occur 4 Make sure that the external input signals for origin searches limit input signal and origin proximity input signal maintain a signal width no shorter than the MECHATROLINK communications cycle If the input signal width PCU s address Contents...

Page 306: ...nly the Z phase or the exter nal latch signal 1 input can be set for the origin input signal Axis Parameter Area Encoder type G series Servo Parameter Pn00B Operation Switch when Using Absolute Encoder 0 Use as an absolute encoder 2 Use as an absolute encoder but ignore abso lute multi turn counter over flow alarm 1 Use as an incremental encoder 0 Incremental encoder Do not set this combination Th...

Page 307: ...nput is received Parameters for Using G series Absolute Encoders Parameters for Using W series Absolute Encoders When using a Servomotor with absolute encoder select whether the absolute encoder will be used as an absolute encoder or as an incremental encoder These parameter settings are disabled if a Servomotor with incremental encoder is used Set this parameter to 1 or 2 for a G series Servo Dri...

Page 308: ...Parameter size Default setting R88D GN ML2 Pn205 Electronic gear ratio 1 numerator 1 to 1073741824 4 1 Pn206 Electronic gear ratio 2 denominator 1 to 1073741824 4 1 R88D WT Pn202 Electronic gear ratio G1 numerator 1 to 65535 2 4 Pn203 Electronic gear ratio G2 denominator 1 to 65535 2 1 R88D WN ML2 Pn20E Electronic gear ratio G1 numerator 1 to 1073741824 4 4 Pn210 Electronic gear ratio G2 denominat...

Page 309: ...Pn80B and Pn80E For details on acceleration deceleration curves refer to 7 4 Acceleration and Deceleration Operations Type Parame ter No Parameter name Unit Setting range Parame ter size Default setting W Series SMART STEP Junior Accelera tion decelera tion con stants Pn80A First step linear accelera tion constant 10 000 command units s2 1 to 65535 2 100 Sup ported Not sup ported Pn80B Second step...

Page 310: ...e read out by the Position Control Unit for the following parameters when the origin search operation is started Origin Return Approach Speed 1 Origin Return Approach Speed 2 Origin Return Final Distance Pn110 Pn111 and Pn204 for G Series or Zero Point Return Approach Speed 1 Zero Point Return Approach Speed 2 and Final Travel Distance to Return to Zero Point Pn817 Pn818 and Pn819 for W Series Typ...

Page 311: ...50 2 10 R88D WN ML2 Pn522 Positioning completion range 1 Command unit 0 to 1073741824 4 3 Pn803 Zero point width Command unit 0 to 250 2 10 SMART STEP Junior Pn522 Positioning completion range 1 Command unit 0 to 1073741824 4 10 Pn523 Zero point width Command unit 0 to 250 2 10 Name Word Bits Contents G Series W Series SMARTSTE P Junior ORIGIN SEARCH a 06 0 1 Starts origin search Supported Support...

Page 312: ... acceleration deceleration curve designation Enabling both settings may cause a malfunction Axis Operating Input Memory Areas Monitor b Beginning word of Axis Operating Input Areas specified in Common Parameters Axis No 1 25 Accelera tion decelera tion curve designa tion Exponential curve desig nation a 16 03 1 Use exponential acceleration deceleration curve Not sup ported Supported Not sup ported...

Page 313: ...eturn Direction Pn816 2 The parameters shown above are different for G series Servo Drives 3 Make sure that the same direction is set for Origin Search Direction in the Axis Parameters and Zero Point Return Direction Pn816 in the Servo Parameters Setting different directions may result in a malfunction The override function is disabled during origin searches The parameter Final Travel Distance to ...

Page 314: ...Origin input signal Phase Z signal Zero point return approach speed 1 Pn817 Speed Stop Origin search direction Zero point return approach speed 2 Pn818 Final travel distance to return to zero point Pn819 Origin search operation Reversal modes The operation is reversed in the direction opposite to the origin search direction Reversal mode 1 Direction reversed when limit input is input in the origin...

Page 315: ... For origin searches the origin signal is detected after the origin proximity input signal origin return deceleration limit switch changes from ON to OFF Therefore be sure to use a sensor for the origin proximity input sig nal such as a photoelectric switch that does not produce chattering Chattering from contact switches may result in the displacement of the or igin position 1 Without origin prox...

Page 316: ...igin proximity input signal Origin input signal Phase Z signal Origin search reverse direction Origin search reverse direction Origin search reverse direction Start Start Start Stop Stop Final travel distance to return to zero point Final travel distance to return to zero point Origin search direction Origin search direction Origin search direction Limit input signal in origin search direction See...

Page 317: ... approach speed 2 1 0 1 0 Origin proximity input signal Origin input signal Phase Z signal Origin search reverse direction Origin search reverse direction Origin search reverse direction Start Stop Final travel distance to return to zero point Origin search direction Origin search direction Origin search direction Limit input signal in origin search direction See note 1 Stop Final travel distance ...

Page 318: ...arch reverse direction Origin search reverse direction Origin search reverse direction Start Origin search direction Origin search direction Origin search direction Limit input signal in origin search direction Stop Final travel distance to return to zero point Error stop Start Start Speed command value Zero point return approach speed 1 Zero point return approach speed 2 Speed command value Speed...

Page 319: ...nal Phase Z signal Origin search reverse direction Origin search reverse direction Origin search reverse direction Start Stop Final travel distance to return to zero point Final travel distance to return to zero point Origin search direction Origin search direction Origin search direction See note 1 Stop Final travel distance to return to zero point Error stop Start Start Speed command value Zero ...

Page 320: ...For reversal mode 1 the positioning relationship between the limit input and the origin proximity signal is as shown by the two patterns in the following dia gram For reversal mode 2 or 3 only the bottom pattern is possible When these modes are used the axis operates according to the Stop Selection for Drive Prohibit Input for G series Servo Drives Pn066 or Select Stop when Prohibited Drive Is Inp...

Page 321: ... executed When starting ORIGIN SEARCH make sure that the ORIGIN SEARCH Bit will remain ON until the Busy Flag turns ON If the SERVO UNLOCK DEVIATION COUNTER RESET EMERGENCY STOP OR DECELERATION STOP command bit is turned ON the ORIGIN SEARCH command will be ignored Be sure that all of these command bits are OFF before executing an origin search Timing Chart The following timing charts are for when...

Page 322: ...IGIN SEARCH word a bit 06 Forward rotation limit input Origin proximity input Origin input Speed PCU Positioning Completed Flag word b bit 05 No Origin Flag word b bit 06 Origin Stop Flag word b bit 07 Busy Flag word b bit 13 a Beginning word of Axis Operating Output Areas specified in Common Parameters Axis No 1 25 b Beginning word of Axis Operating Input Areas specified in Common Parameters Axis...

Page 323: ...ffset Setting for details Note The origin search preset function of the Position Control Unit cannot be used with the function block for origin searches in the OMRON FB Library _NCF05 _Home if the Library is version is 1 13 or lower Use the present value preset function provided in the library To use the origin search function block and enable the origin search preset the OMRON FB Library with a v...

Page 324: ...f Axis Operating Output Areas specified in Common Parameters Axis No 1 25 Present position preset is performed according to the position command value set in the Axis Operating Output Memory Area and started when the PRESENT POSITION PRESET Bit turns ON Model Parameter No Parameter name Unit Setting range Parameter size Default setting R88D GN ML2 Pn205 Electronic gear ratio G1 numerator 1 to 1073...

Page 325: ... 4 Origin Return The origin return operation is used to return the axis to the origin from any position ORIGIN RETURN is executed when the ORIGIN RETURN Bit turns ON Name Word Bits Contents No Origin Flag b 06 0 Origin established 1 No origin established Origin Stop Flag 07 0 Outside origin range 1 Within origin range Error Flag 12 0 No axis error 1 Axis error Busy Flag 13 1 Axis busy axis operati...

Page 326: ...odel Parameter No Parameter name Unit Setting range Parameter size Default setting R88D GN ML2 Pn205 Electronic gear ratio G1 numerator 1 to 1073741824 4 1 Pn206 Electronic gear ratio G2 denominator 1 to 1073741824 4 1 R88D WT Pn202 Electronic gear ratio G1 numerator 1 to 65535 2 4 Pn203 Electronic gear ratio G2 denominator 1 to 65535 2 1 R88D WN ML2 Pn20E Electronic gear ratio G1 numerator 1 to 1...

Page 327: ... Setting range Parame ter size Default setting W Series SMART STEP Junior Accel eration decel eration con stants Pn80A First step linear acceleration constant 10 000 command units s2 1 to 65535 2 100 Sup ported Not sup ported Pn80B Second step linear accelera tion constant 10 000 command units s2 1 to 65535 2 100 Sup ported Sup ported Pn80C Acceleration constant switch ing speed 100 com mand units...

Page 328: ...during operation is possible with origin return operations For fur ther details on the torque limit function refer to 10 4 Torque Limits R88D WN ML2 Pn522 Positioning completion range 1 Command unit 0 to 1073741824 4 3 Pn803 Zero point width Command unit 0 to 250 2 10 SMART STEP Junior Pn522 Positioning completion range 1 Command unit 0 to 1073741824 4 10 Pn803 Zero point width Command unit 0 to 2...

Page 329: ...g 12 0 No axis error 1 Axis error Busy Flag 13 1 Axis busy axis operation executing Feedback present posi tion b 6 b 7 Present position Feedback present position rightmost word Feedback present position leftmost word Command present posi tion b 8 b 9 Present position Command position rightmost word Command position leftmost word 3E8 hex 1000 Speed command value words a 4 a 5 ORIGIN RETURN word a b...

Page 330: ...origin displacement during origin search A simple way of reducing the proba bility of this is to adjust the Servomotor s mounting angle or the origin proxim ity sensor s mounting position so that this value is approximately half a rotation of the Servomotor Example Final travel distance to return to zero point 0 8 5 2 Calculating the Phase Z Margin Example One method used to obtain the phase Z mar...

Page 331: ...se Z signal after the origin proximity input signal turns ON Phase Z Margin Required for External Input Signals If the limit input signal in opposite direction from origin search direction and the origin proximity signal are close or overlapping up to a maximum of two MECHATROLINK communications cycles plus 4 ms may be required to start searching for the origin signal after detecting the origin pr...

Page 332: ... Point Position Offset for W series Servo Drives Pn808 for absolute value data that is read can be used to offset the mechanical origin When an absolute encoder is used to determine the origin it is not necessary to perform origin searches every time the power is turned ON as is required for devices such as incremental encoders Limit input in opposite direction from origin search direction Time 1 ...

Page 333: ...ve are enabled 4 Start MECHATROLINK communications MOV MOV CPU Unit a 1 b b 6 b 7 b 8 b 9 Input during I O refresh PCU Pn002 2 d 3 M PG n 1 Output during I O refresh Output during I O refresh Pn808 WRITE DATA SERVO PARAMETER CONNECT SERVO LOCK Common Operating Memory Area Axis Operating Output Memory Areas Axis Operating Input Memory Areas Control status Feedback present position rightmost word Fe...

Page 334: ...ed instead of the origin estab lished by the origin search operation Position Control Units with Unit Version 2 0 or Later When the origin search operation is executed the present position is cleared to 0 or if the origin search preset function is enabled it is set to the present command value after the origin has been established If the origin search operation pattern is set to reversal mode 1 th...

Page 335: ...ch when using absolute encoder 0 Use as an absolute encoder 2 Use as an absolute encoder but ignore abso lute multi turn counter over flow alarm 1 Use as an incremental encoder 0 Incremental encoder Do not set this combination This setting is used when using an absolute encoder as an incremental encoder 1 Absolute encoder This setting is used when using an absolute encoder as an absolute encoder S...

Page 336: ...ro Point Position Offset Setting To achieve this the Position Control Unit reads and writes Servo Parameter for Pn808 when the origin search operation is started and when it is completed Axis Operating Input Memory Areas Monitor Type Parameter No Parameter name Unit Setting range Parameter size Default setting Pn002 2 Function selection application switch 2 operation switch when using absolute enc...

Page 337: ...can be executed by specifying the unit number and axis number for the function block and setting the Start Bit For information on function block operating requirements and precautions refer to the OMRON FB Library Reference Manual Cat No W442 When using a PCU with unit version 1 1 or earlier absolute encoder setup is executed using the Servo Drive s Setting Tool For details on absolute encoder set...

Page 338: ... Encoder Zero Point Position Offset for W Series Pn808 to 0 using SAVE SERVO PARAMETER and then set it according to the setting method for when Pn808 is 0 Method 2 Use the above setting method for when the absolute encoder zero point position offset is 0 and calculate the set value in step 4 using the following equation New zero point position offset value Present zero point position offset value ...

Page 339: ...arch operation Repeat the operation if an error occurs If the absolute encoder PG zero point position offset is set using an origin search operation the MECHATROLINK transfer cycle and communica tions cycle settings will need to be changed Refer to Transfer Cycle and Communications Cycle When Setting the Absolute Encoder Zero Point Position Offset Using an Origin Search Operation with Position Con...

Page 340: ... Supply Input CONNECT Bit word n 1 bit 00 Connection Status Flag word n 16 bit 15 Present Position Preset word a bit 08 Positioning Completed word b bit 05 No Origin Flag word b bit 06 Busy Flag word b bit 13 Feedback Present Position words b 6 b 7 Command Present Position words b 8 b 9 Preset data Preset data Preset data See note The present position data will be read from the Servo Drive and the...

Page 341: ...a Beginning word of Axis Operating Output Memory Areas specified in Common Parameters Axis No 1 25 b Beginning word of Axis Operating Input Memory Areas specified in Common Parameters Axis No 1 25 Feedback Present Position words b 6 b 7 Absolute value data Preset data Rereading absolute value data CONNECT Bit word n 1 bit 00 Connection Status Flag word n 16 bit 15 Positioning Completed word b bit ...

Page 342: ...te SERVO LOCK for a W series Servo Drive CONNECT Bit word n 1 bit 00 Present Position Preset word a bit 08 SERVO UNLOCK word a 1 bit 01 SERVO LOCK word a 1 bit 00 Connection Status Flag word n 16 bit 15 Busy Flag word b bit 13 Positioning Completed word b bit 05 n Beginning word of Common Operating Memory Area n 1500 unit number 25 a Beginning word of Axis Operating Output Memory Areas specified i...

Page 343: ...316 Absolute Encoder Origin Section 8 6 ...

Page 344: ...irect Operation 323 9 4 2 Direct Operation Timing Charts 324 9 4 3 Changing Target Position 328 9 4 4 Changing Target Speed 330 9 5 Interrupt Feeding 331 9 5 1 Overview 331 9 5 2 Interrupt Feeding Procedure 331 9 5 3 Data Settings for Using Interrupt Feeding 332 9 5 4 Timing Chart for Interrupt Feeding 333 9 5 5 Present Position during Interrupt Feeding 334 9 6 Torque Limit Function 334 9 7 Linear...

Page 345: ...utput during I O refresh Input during I O refresh Input during I O refresh PCU Pn80A Pn80B Pn80C 1 2 3 Ladder program WRITE SERVO PARAMETER ABSOLUTE MOVEMENT RELATIVE MOVEMENT Axis Operating Output Memory Areas Position command value rightmost word Position command value leftmost word Speed command value rightmost word Speed command value leftmost word Axis Operating Input Memory Areas Control sta...

Page 346: ...TE MOVEMENT or RELATIVE MOVEMENT When using the PCU for the first time or to change the Common Parameter data steps 1 and 2 must be performed After executing SERVO LOCK WRITE SERVO PARAMETER can be exe cuted to set the acceleration deceleration used each time positioning is per formed Note When specifying the Servo Parameters for acceleration deceleration every time make sure that the axis operati...

Page 347: ...d units s2 32768 to 32767 2 100 Accelera tion decelera tion filters Pn10E Moving average time 0 1 ms 0 to 5100 2 0 Type Parame ter No Parameter name Unit Setting range Parame ter size Default setting W Series SMART STEP Junior Accel eration decel eration con stants Pn80A First step linear accelera tion constant 10 000 command units s2 1 to 65535 2 100 Sup ported Not sup ported Pn80B Second step li...

Page 348: ...ge 1 Command unit 0 to 1073741824 4 10 Name Word Bits Contents G Series W Series SMARTST EP Junior ABSOLUTE MOVEMENT a 03 0 1 Starts absolute movement Supported Supported Supported RELATIVE MOVEMENT 04 0 1 Starts relative movement Supported Supported Supported INTERRUPT FEEDING 05 1 Enables interrupt feeding Supported Supported Supported Position command value a 2 a 3 Position command value right ...

Page 349: ...n deceleration curve designation Enabling both settings may cause a malfunction Axis Operating Input Memory Areas Monitoring Accelera tion decel eration curve designa tion Exponential curve desig nation a 16 03 1 Use exponential accelera tion deceleration curve Not sup ported Supported Not sup ported S curve des ignation 04 1 Use S curve acceleration decel eration curve Supported Supported Not sup...

Page 350: ...s started without the origin established No Origin Flag 1 a Present Position Unknown Error axis error code 3030 will occur and positioning will not be executed The positioning range for ABSOLUTE MOVEMENT is any absolute position for which the travel amount from the present position is between 2 147 483 648 and 2 147 483 647 command units If ABSOLUTE MOVEMENT is executed for an absolute position th...

Page 351: ...e spec ified in the range 2 147 483 648 to 2 147 483 647 command units but if the positioning is started with a position command value such that the target posi tion exceeds the positioning range for RELATIVE MOVEMENT a Position Designation Error axis error code 3060 will occur and the positioning oper ation will not be executed For details on acceleration deceleration operations during direct ope...

Page 352: ... Time The Receiving Command Flag turns ON for at least one cycle time when the movement command is received The PCU Positioning Completed Flag is turned OFF when a movement command is executed The PCU Positioning Completed Flag is turned ON when the number of the Servo Drive s deviation counter residual pulses is less than the value set for the positioning completion range Depending on the number ...

Page 353: ...depending on the error The timing charts when an error occurs during axis operation are provided below 2710 hex 10000 3E8 hex 1000 0000 0000 Position command value words a 2 a 3 Speed command value words a 4 a 5 RELATIVE MOVEMENT word a bit 04 AXIS ERROR RESET word a bit 12 Receiving Command Flag word b bit 00 Busy Flag word b bit 13 PCU Positioning Completed Flag word b bit 05 Error Flag word b b...

Page 354: ...n AXIS ERROR RESET is executed If an error occurs after the Busy Flag turns ON the Error Flag and axis error code will remain ON and set for either one cycle time or MECHATROLINK communications cycle whichever is longer 0000 0000 RELATIVE MOVEMENT word a bit 04 AXIS ERROR RESET word a bit 12 WRITE SERVO PARAMETER word a 1 bit 12 Receiving Command Flag word b bit 00 Busy Flag word b bit 13 PCU Posi...

Page 355: ...e command 2 When executing the movement command again during axis operation to change the target position do not change the acceleration deceleration curve designation from the original setting when operation was started Changing the acceleration deceleration curve designation when chang ing the target position during axis operation may result in displaced posi tioning or other malfunction 2710 he...

Page 356: ... a posi tion near the present position positioning will be performed to the target posi tion after decelerating to a stop and reversing direction Speed New command position change Start Speed New command position change Start With Reversal Operation Without Reversal Operation First command position New command position Forward rotation position New command position First command position Forward r...

Page 357: ...oes not turn ON when changing the target speed Time The target speed can be changed at any time by overwriting the speed command value If the positioning travel distance is not sufficient to change the speed the axis will decelerate and positioning will stop without reaching the target speed 4E20 hex 20000 2710 hex 10000 3E8 hex 1000 1000 7530 hex 30000 5DC hex 1500 1500 Position command value wor...

Page 358: ... simply specifying interrupt feeding at the start of direct operation The following procedure omits the steps up to SERVO LOCK showing the start procedure only 1 2 3 1 Transfer the Servo Parameters for interrupt feeding To set parameters permanently execute SAVE SERVO PARAMETER writes to the non volatile memory 2 Set the data used for direct operation Set the positioning data for direct operation ...

Page 359: ...ntrol Unit for either of the follow ing origin search operation patterns PCU s address Contents Setting Bits 08 to 15 Bits 00 to 07 d Origin input sig nal selection Interrupt input signal selection Interrupt input signal selection 00 Phase Z 01 External latch signal 1 input 02 External latch signal 2 input 03 External latch signal 3 input Parameter name for G Series Parameter name for W Series Uni...

Page 360: ...s the same except that positioning is executed with the relative position if no inter rupt input signal is input In interrupt feeding as well as normal direct operations the target position target position for when no interrupt input signal is input target speed and override value can be changed by executing another movement command Note that however in the interval of positioning for the final tr...

Page 361: ...g range is not exceeded due to the interrupt feeding operation 9 6 Torque Limit Function When using a W series Servo Drive set Servo Parameters Forward Rotation External Current Limit Pn404 and Reverse Rotation External Current Limit Pn405 and turn ON the Forward Rotation External Current Limit Designa tion Bit and Reverse Rotation External Current Limit Designation Bit in the Axis Operating Outpu...

Page 362: ... linear interpolation function cannot be used To transfer unit version 1 0 settings to unit version 1 1 or later use the parameter transfer function using the READ DATA WRITE DATA or SAVE DATA Bit in the Common Operating Memory Area 9 7 1 Overview of Linear Interpolation Function Linear interpolation operates according to the following settings data for axes 1 to 4 or axes 5 to 8 Designation of ax...

Page 363: ...ent If speeds set using speed command values for individual interpolation axes are exceeded when interpolation speed command values are resolved into individual axis speeds by the above equations those speeds are automati cally lowered so that each axis involved in linear interpolation is moved at the set speed command value Axis Operating Output Memory Area Servo Drive Axis No 2 MECHATROLINK II 3...

Page 364: ...d by the preci sion of the command unit 9 7 2 Linear Interpolation Operation Procedure Just as with direct operation absolute and relative movement commands lin ear interpolation is executed by setting operation commands in the Axis Oper ating Output Memory Area Common commands for linear interpolation operations such as designation of interpolation axis combinations interpolation speeds and inter...

Page 365: ... If the communi cations cycle is set too low the command response times for PCU functions may become too long 2 From the point where linear interpolation is first set until axis operation is finished i e while the LINEAR INTERPOLATION SETTING Bit is ON or until the Linear Interpolation Executing Flag turns OFF command re sponse times for the other axes not involved in the linear interpolation are ...

Page 366: ... used 15 Reverse rotation current limit 14 Forward rotation current limit 04 15 14 04 15 14 04 16 04 S curve designation 03 Axis 4 02 Axis 3 01 Axis 2 00 Axis 1 21 Interpolation axis designation 22 Interpolation position designation 23 24 Axis 1 Operating Output Axis 2 Operating Output Axis 3 Operating Output Axis 4 Operating Output Axis 1 Position command value Axis 4 Position command value Axis ...

Page 367: ...Interpolation Axis Designation a 21 00 to 03 Axis 1 to Axis 4 04 to 07 Axis 5 to Axis 8 0 Not designated as interpolation axis 1 Designated as interpolation axis Designates axes for executing linear interpolation Combinations of axes 1 to 4 are designated in bits 00 to 03 Axis 1 Operat ing Output Memory Area and combinations of axes 5 to 8 are designated in bits 04 to 07 Axis 5 Operating Output Me...

Page 368: ... series Servo Drives Pn107 and Second step Linear Deceleration Constant for W se ries Pn80E or Linear Deceleration Constant for G series Servo Drives Pn10A 10 000 command units s2 In operation the actual acceleration and deceleration times are thus affected by the precision of the command unit Name Word Bits Contents G Series W Series SMART STEP Junior Position Command Value a 2 a 3 Position comma...

Page 369: ...terpolation operation command LINEAR INTERPOLATION SETTING or LINEAR INTERPOLATION START is executed the linear inter polation operation status can be checked in the Axis Operating Input Memory Area of the axis Axis 1 or Axis 5 for which the command was executed The operation status of axes designated by linear interpolation designation can be checked in the Axis Operating Input Memory Areas for i...

Page 370: ...1 or axis 5 will be set Note 1 LINEAR INTERPOLATION SETTING is automatically written from the PCU to the Servo Parameters When executing LINEAR INTERPOLA TION SETTING do not execute any of the Servo Parameter transfer op erations WRITE READ or SAVE 2 When LINEAR INTERPOLATION SETTING is executed the Sec ond step Linear Acceleration Constant for W series Servo Drives Pn80B or Linear Acceleration Co...

Page 371: ...n Operation The basic flow of operations for linear interpolation is shown below In this example a indicates the beginning word of the Axis Operating Output Memory Area for axis 1 when a combination of axes 1 to 4 is used for linear interpolation and axis 5 when a combination of axes 5 to 8 is used Likewise b indicates the beginning word of the Axis Operating Input Memory Area for axis 1 when a co...

Page 372: ...ss 2 While a linear interpolation operation is in progress do not make changes to the speed command value for any axis involved in that operation i e for any axis designated in the interpolation axis designation If a speed command value is changed during operation the operation will not be ex ecuted correctly LINEAR INTERPOLATION SETTING a 00 LINEAR INTERPOLATION START a 01 Linear Interpolation Se...

Page 373: ...ue for each axis The speed command values for individual axes at the time of linear interpola tion operation on the other hand are the maximum speed settings for the individual axes For all of the interpolation axes the linear interpolation speed is lowered so that the speed resolved from the interpolation speed command value does not exceed this set value The axis with the longest movement time i...

Page 374: ...top at the same time Axis Error Occurs in One of the Interpolated Axes The other interpolated axes will be decelerated to a stop when the Error Flag turns ON for the axis in which the error has occurred Stop Command Given for One of the Interpolated Axes The other interpolated axes will be decelerated to a stop when the Stop Exe cution Flag turns ON for the axis for which the stop command was give...

Page 375: ...348 Linear Interpolation Section 9 7 ...

Page 376: ...s 358 10 4 3 Torque Limits Set by Operating Commands 358 10 5 Speed Control 364 10 5 1 Overview 364 10 5 2 Starting Speed Control 364 10 5 3 Switching Control Mode 373 10 6 Torque Control 375 10 6 1 Overview 375 10 6 2 Starting Torque Control 375 10 7 Backlash Compensation 381 10 7 1 Overview 381 10 7 2 Backlash Compensation Procedure 381 10 7 3 Backlash Compensation Data Settings 382 10 8 Softwar...

Page 377: ...ommand bit is turned ON the SERVO LOCK command will be ignored Be sure that all of these command bits are OFF before attempting to lock the Servo SERVO UNLOCK can be executed in any PCU status When executing SERVO UNLOCK make sure that the SERVO UNLOCK Bit remains ON until either the Receiving Command Flag turns ON or the Busy Flag turns OFF after executing SERVO UNLOCK Other axis operation comman...

Page 378: ...ving Command Flag b 00 0 Command reception enabled 0 1 Command reception started 1 Receiving command command reception disabled Error Flag 12 0 No axis error 1 Axis error has occurred Busy Flag 13 1 Axis busy axis operation executing SVON Servo ON Flag b 1 03 0 Servo unlocked 1 Servo locked SERVO LOCK word a 1 bit 00 SERVO UNLOCK word a 1 bit 01 PCU Positioning Completed Flag word b bit 05 No Orig...

Page 379: ... Flag 0 while changing the acceleration deceleration constants using WRITE SERVO PARAMETER Do not change parameters during axis operation Changing parameters while the axis is operating may result in displaced positioning or other malfunction 10 2 3 PCU Data Settings for Jogging Operations A simple explanation of the main parameters and data used to execute the jogging operation is provided here T...

Page 380: ...535 2 100 Sup ported Sup ported Accelera tion decelera tion filters Pn810 Exponential accelera tion deceleration bias Command units s 0 to 32767 2 0 Sup ported Not sup ported Pn811 Exponential accelera tion deceleration time con stant 0 1 ms 0 to 5100 2 0 Sup ported Not sup ported Pn812 Movement average time 0 1 ms 0 to 5100 2 0 Sup ported Not sup ported Name Word Bits Contents G Series W Series S...

Page 381: ...toring b Beginning word of Axis Operating Input Areas specified in Common Parameters Axis No 1 25 10 2 4 Starting Jogging Jogging is performed according to the direction designation and speed com mand value set in the Axis Operating Output Memory Areas and started when the Jog Bit turns ON Execute JOG when the Busy Flag for the corresponding axis is OFF If the jogging operation is started while th...

Page 382: ...x 1000 1000 5DC hex 1500 1500 Speed command value words a 4 a 5 JOG word a bit 09 Direction designation word a bit 10 Speed Receiving Command Flag word b bit 00 PCU Positioning Completed Flag word b bit 05 Busy Flag word b bit 13 Direction designation changed Target speed changed Jogging stopped JOG Bit OFF a Beginning word of Axis Operating Output Areas specified in Common Parameters Axis No 1 25...

Page 383: ...e by setting the Soft Start Acceleration Deceleration Time in the Servo Parameters For details on the acceleration deceleration curve refer to 7 4 Acceleration and Deceleration Operations For details on speed control refer to 10 5 Speed Control If the Override Enable Bit is turned OFF the speed is changed in the same way as when the Override Enable Bit was ON from the present target speed speed co...

Page 384: ... 1500 1388 hex 5000 50 00 3A98 hex 15000 150 00 500 Speed command value words a 4 a 5 JOG word a bit 09 Override Enable Bit word a bit 14 Override word a 14 Speed Receiving Command Flag word b bit 00 Busy Flag word b bit 13 Jogging starts JOG Bit ON Override disabled Override enabled Override changed Jogging stops JOG Bit OFF a Beginning word of Axis Operating Output Areas specified in Common Para...

Page 385: ...operating command turns ON When using W series Servo Drives the output torque is limited when the Ser vomotor is operating according to the set values in the Servo Parameters For ward Rotation External Current Limit Pn404 and Reverse Rotation External Current Limit Pn405 by turning ON the Forward Reverse Current Limit Des ignation Bit when using operating commands When using G series Servo Drives ...

Page 386: ...Series Servo Parameter Area Torque Limit Parameters Axis Operating Output Memory Areas Operating Commands a Beginning word of Axis Operating Output Areas specified in Common Parameters Axis No 1 25 NCL OFF NCL ON Pn05E Pn05F Type Parameter No Parameter name Unit Setting range Data length Default setting Pn05E No 1 torque limit 0 to 500 2 300 Pn05F No 2 torque limit 0 to 500 2 100 Type Parameter No...

Page 387: ...value During ABSOLUTE MOVEMENT RELATIVE MOVEMENT except for INTER RUPT FEEDING SPEED CONTROL and TORQUE CONTROL execution the Current Limit Designation Bit setting can be changed while the axis is active by turning ON the command s start bit again For ORIGIN SEARCH ORIGIN RETURN and JOG torque limits can be specified only at the start of operation Note When executing movement commands sequentially...

Page 388: ...eed The Torque Limit Status Flag turns ON when the torque limit function is operating This flag does not turn ON if the torque limit function is not ON because the output torque reaches the limit value or lower during Servomotor rotation Time 2710 hex 10000 3E8 hex 1000 Position command value words a 2 a 3 Speed command value words a 4 a 5 ABSOLUTE MOVEMENT word a bit 03 Forward Rotation Current L...

Page 389: ... 14 Receiving Command Flag word b bit 00 Busy Flag word b bit 13 Torque Limit Status Flag word b 1 bit 09 Position Pushing direction target position position command value Pushing stop position Speed Pushing direction target speed speed command value Position deviation Start Pushing Start in opposite direction Time in which accumulated position deviation is consumed a Beginning word of Axis Operat...

Page 390: ...lose to the pushing stop position as possible to minimize the accumulated position deviation during pushing See below Alternatively before performing the return operation send a movement com mand to move the axis to the pushing stop position feedback present position at pushing stop and distribute the accumulated position deviation before hand as shown in the following diagram Position Pushing dir...

Page 391: ...d control is performed by setting the target speed in the speed command value for speed control in the Axis Operating Output Memory Areas and started when the SPEED CONTROL Bit turns ON When starting speed con trol make sure that the SPEED CONTROL Bit remains ON until the Receiving Command Flag or Busy Flag in the Axis Operating Input Memory Area turns ON If the SERVO UNLOCK DEVIATION COUNTER RESE...

Page 392: ...ervo Drive Speed Control Parameters Pn002 0 is used to select the function of the option command value for speed control The option command value for speed control is described in the fol lowing pages The data length for Pn002 0 is the set value specified to transfer Pn002 including Pn002 0 when transferring Servo Parameters Pn502 is set as the detection threshold of the Zero Speed Flag word b 1 b...

Page 393: ...d leftmost word Unit percentage of Servomotor s momentary maximum torque Command range 0 to 399 See note 00000000 to 0000018F hex When using G series Servo Drives the option command value 1 can be used as the torque limit command value or torque feed forward command value by setting the Servo Parameter Torque Limit Selection Pn003 When using W series Servo Drives the option command value 1 can be ...

Page 394: ...executed and then turn ing ON the SPEED CONTROL Bit again enables the option command values and Current Limit Designation Bits to be changed during operation It is necessary to pay attention to the change of output torque when switching from the speed control mode to the position control mode with deceleration stop For details refer to 10 5 3 Switching Control Mode Note When executing movement com...

Page 395: ...t Start Acceleration Time and Soft Start Deceleration Time to create a trapezoidal speed curve G series Acceleration Deceleration Constants for Speed Control W series Acceleration Deceleration Constants for Speed Control The Soft Start Acceleration Time and Soft Start Deceleration Time are set respectively as the acceleration time and deceleration time between speed 0 speed command value for speed...

Page 396: ...e torque feed forward function is enabled Pn05E functions as a forward torque limit value reverse torque limit value and the torque limit function is enabled 2 Option command value 1 words a 10 a 11 functions as a torque feed forward command value and the torque feed forward function is enabled Pn05E functions as a forward torque limit value Pn05F functions as a reverse torque limit value and the ...

Page 397: ... is enabled Pn05F functions as a reverse torque limit value and the torque limit func tion is enabled ON ON Whichever is smaller of the Servo Parameter Pn05E and option com mand value 1 word a 10 a 11 functions as a forward torque limit value and the torque limit function is enabled Whichever is smaller of the Servo Parameter Pn05F and option com mand value 2 word a 12 a 13 functions as a reverse ...

Page 398: ...1 Option command value 2 words a 12 a 13 functions as a reverse torque limit value and the torque limit function is enabled Option command value 2 words a 12 a 13 functions as a reverse torque limit value and the torque limit function is enabled 1 0 Option command value 1 words a 10 a 11 functions as a forward torque limit value and the torque limit function is enabled Option command value 1 words...

Page 399: ...stopped using DECELERATION STOP or EMERGENCY STOP In this example the Servo Parameter Pn002 0 torque command input change is set to 3 Current Limit Designation Bit are used The acceleration deceleration during speed control depends on the setting in the Servo Parameter Soft Start Acceleration Deceleration Time and the deceleration for deceleration stop depends on the settings in the Servo Paramete...

Page 400: ...rol Distribution Com pleted DEN Flag Sending the position control com mand to the Servo Drive com pleted operating for the number of pulses remaining in the deviation counter The function changes when the command to switch to position control has been received when the Receiving Command Flag turns OFF Speed con trol Zero Speed ZSPD Flag Speed control with zero speed in progress The function change...

Page 401: ...ther cause execute DEVICE SETUP before the next SERVO LOCK and switch the Servo Drive to position control mode When switching to position control from speed control or torque control the feedback speed for executing operating commands in position control is used as the start speed Movement to the position control target speed or stop operation is then performed using the acceleration deceleration ...

Page 402: ...nd Forward Rotation External Current Limit Pn404 or Reverse Rotation External Current Limit Pn405 when using W series Servo Drives 10 6 Torque Control 10 6 1 Overview In torque control the PCU controls the output torque of the Servomotor by directly executing torque commands in a torque current loop without using the Servo Drive s position loop or speed loop Torque control can be used when a G ser...

Page 403: ... Pn002 1 Function selection application switch 2 Speed command input switching 0 1 2 0 Pn407 Speed limit r min 0 to 10000 2 3000 Name Word Bits Contents DECELERATION STOP a 15 0 1 Starts deceleration stop TORQUE CONTROL a 1 03 0 1 Starts torque control EMERGENCY STOP 15 0 1 Starts emergency stop Torque command value a 8 a 9 Torque command value rightmost word Torque command value leftmost word Uni...

Page 404: ... start bit for TORQUE CONTROL turns ON Changing these set values while torque control is being executed and then turning ON the TORQUE CON TROL Bit again enables the speed limit value to be changed during operation The torque limit can also be applied by turning ON the Forward Reverse Rota tion Current Limit Designation Bit when executing TORQUE CONTROL For details refer to 10 4 3 Torque Limits Se...

Page 405: ...ervo Drives W series Servo Drives The data for option command value 1 speed limit value is enabled when the bit for TORQUE CONTROL turns ON Changing option command value 1 while torque control is being executed and then turning ON the TORQUE CONTROL Bit again enables the speed limit value to be changed during oper ation The speed limit for torque control set in the option command value can be used...

Page 406: ...rating Output Areas specified in Common Parameters Axis No 1 25 b Beginning word of Axis Operating Input Areas specified in Common Parameters Axis No 1 25 Monitor unit 0 001 percentage of Servomotor s momentary maximum torque Monitor unit 1 percentage of Servomotor s rated torque Torque limit enabled Time 000B hex Monitor 1 Torque command The target output torque can be changed at any time during ...

Page 407: ...The function of bit 11 in the Servo Status Flags of the Axis Operating Input Memory Area depends on whether position control or torque control is used Monitors 1 and 2 in Axis Operating Input Memory Areas When the torque is selected for monitor 1 or 2 the monitoring unit for position control speed control and torque control changes as follows Word Bits Control mode Flag name Function Function chan...

Page 408: ...ash compensation function The Servo Parameters for backlash compensation must be set to enable the backlash compensation function After setting the Servo Parameters execute SERVO LOCK and then perform backlash compensation with the following position control operations ABSOLUTE MOVEMENT RELATIVE MOVEMENT ORIGIN SEARCH ORIGIN RETURN and JOG Backlash compensation is disabled when executing SPEED CON...

Page 409: ...h Compensation Parameters R88D GN ML2 The backlash compensation amount is set in Pn101 in command units The minimum setting unit for the backlash compensation amount however depends on the encoder resolution Backlash Compensation Parameters R88D WT JUSP NS115 Present position managed by PCU Compensation amount 4 3 1 2 Compen sation amount Start 1 First time after SERVO LOCK Start 2 Start 4 Start 3...

Page 410: ...hen there is a malfunction in addition to the forward rotation and reverse rotation limit input signals the PCU also has a function that mon itors positioning at a software level This function is called the software limit function The range in which the software limit function monitors the position is deter mined by the values of two settings the forward software limit and the reverse software lim...

Page 411: ... 2 147 483 648 and 2 147 483 647 command units Refer to 7 3 Coordinate System and Present Position 10 8 2 Procedure for Using Software Limits The PCU uses the Servo Drive s software limit function The Servo Parame ters for software limits must be set to enable the software limit function After setting the Servo Parameters the software limit function is enabled by execut ing ORIGIN SEARCH and PRESE...

Page 412: ...d by the For ward Reverse Software Limit Flags in the Axis Operating Input Memory Area as follows Axis Operating Input Memory Areas Monitoring b Beginning word of Axis Operating Input Areas specified in Common Parameters Axis No 1 25 Type Parameter No Parameter name Unit Setting range Parameter size Default setting Pn801 0 Software limit function 0 to 3 2 See note 1 See note 2 Pn801 2 Software lim...

Page 413: ...isabled The forward software limit is disabled When the feedback present position for the active axis reaches the reverse software limit the axis will stop and a Reverse Soft ware Limit Error error code 3003 will occur in the same way as when a reverse rotation limit input signal is input 2 Reverse software limit disabled The reverse software limit is disabled When the feedback present position fo...

Page 414: ...ositioning will be com pleted If the software limit will be exceeded due to interrupt feed ing a Software Limit Error will occur when the software limit position is reached again If interrupt feeding is executed without passing the software limit in the direction that has been detected positioning will stop at the reversal position and reverse operation will not be executed due to the Driver s dri...

Page 415: ...is error has not occurred PRESENT POSITION PRESET If PRESENT POSITION PRESET is executed for a position beyond the software limit in the present travel direction the present position will change and a Software Limit Error will not be detected If PRESENT POSITION PRESET is executed for a position beyond the software limit in the direction opposite to the travel direction the present position will c...

Page 416: ...Output Areas specified in Common Parameters Axis No 1 25 Type Parame ter No Parameter name Unit Setting range Parame ter size Default setting Acceleration deceleration con stants Pn107 Linear acceleration constant 10 000 command units s2 32768 to 32767 2 100 Pn10A Linear deceleration constant 10 000 command units s2 32768 to 32767 2 100 Acceleration deceleration fil ters Pn10E Moving average time ...

Page 417: ...ked as long as SERVO UNLOCK or DEVIATION COUNTER RESET is not being executed and the command bits for these commands are not ON and as long as an axis error has not occurred When executing EMERGENCY STOP make sure that the EMERGENCY STOP Bit remains ON until the Receiving Command Flag or Stop Execution Flag in the Axis Operating Input Memory Area turns ON All axis operation commands except for SER...

Page 418: ...thin the positioning completion range of the target position for the initial positioning operation the PCU Positioning Completed Flag will not turn ON Name Word Bits Contents Receiving Command Flag b 00 0 Command reception enabled 0 1 Command reception started 1 Receiving command command reception disabled Busy Flag 13 1 Axis busy axis operation executing Stop Execution Flag 15 0 1 Stop operation ...

Page 419: ...hile the command is being received the Busy Flag will turn ON at least for one scan and then the Stop Execution Flag will turn ON If DECELERATION STOP is executed during control Busy Flag is ON even though the axis is stopped such as speed control with a speed command value of 0 the stop operation will be executed and the status of flags will change a Beginning word of Axis Operating Output Areas ...

Page 420: ...control after the servo has been locked and will be ignored if executed during speed control or torque control or when the servo is unlocked Note Execute the PCU s DEVIATION COUNTER RESET only while the motor axis machine is stopped by being pressed against something for example This function executes a movement command in the direction opposite to and of the same size as the accumulated position ...

Page 421: ...nd on the setting of the Torque Limit Designation Bit but on the status in the previous axis operation The previous torque limit status is continued and DEVIATION COUNTER RESET is executed Axis Operating Output Area Operation Commands a Beginning word of Axis Operating Output Area specified in Common Parameters Axis No 1 x 25 A deviation counter reset can be executed for any axis for which positio...

Page 422: ...mmand command reception disabled Error Flag 12 0 No axis error 1 Axis error has occurred Busy Flag 13 1 Axis busy axis operation executing a Beginning word of Axis Operating Output Area specified in Common Parameters Axis No 1 25 b Beginning word of Axis Operating Input Area specified in Common Parameters Axis No 1 25 DEVIATION COUNTER RESET Bit word a bit 13 Speed Time Position deviation Time Rec...

Page 423: ...396 DEVIATION COUNTER RESET Section 10 10 ...

Page 424: ...HATROLINK Communications 404 11 2 3 Transferring Servo Parameters 405 11 2 4 Servo Lock Unlock 412 11 2 5 Origin Search 413 11 2 6 Positioning Absolute Movement or Relative Movement 415 11 2 7 Speed Control 418 11 2 8 Torque Control 419 11 2 9 Deceleration Stop or Emergency Stop 421 11 2 10 Jogging 422 11 3 Application Examples 424 11 3 1 Initial PCU Settings 424 11 3 2 Servo Parameter Backup 430 ...

Page 425: ...lowing equation to deter mine the beginning word of Common Operating Memory Area Beginning word of Common Operating Memory Area n 1500 unit number 25 MECHATROLINK Devices Servo Drives W series Servo Drive R88D WT JUSP NS115 MECHATROLINK II Application Module mounted to Servo Drive Axis 1 MECHATROLINK II station address 1 is used to demonstrate axis operation in these sample ladder programs When a ...

Page 426: ... s internal flash memory using the SAVE DATA Bit These sample programs use the following parts of the CPU Unit s I O mem ory CPU Bus Unit Area CIO 1500 to CIO 1524 These word addresses are contained in the CPU Bus Unit Area words allo cated to unit number 0 Data Memory Area DM Area D10000 to D10039 These words contain the write data when writing or the read data when read ing In this sample progra...

Page 427: ...5 W300 04 1515 12 Unit Error Flag 1515 14 Data Transferring Flag W300 05 Unit Data Write End 000004 000019 W300 02 1515 12 Unit Error Flag W300 06 Unit Data Write Error End W300 04 000005 000023 W300 01 W300 03 W300 06 Unit Data Write Error End W300 02 W300 02 000006 000028 W300 03 W300 05 W300 06 Unit Data Write Error End W300 04 W300 04 Write Data execution condition Start Unit Data Write Data T...

Page 428: ...ad data from the PCU s internal memory to the CPU Unit s DM Area When the execution condition for the read operation goes ON the 40 words of read data are read from the PCU s internal memory starting at address 1838 hex to the CPU Unit s DM Area starting at D10000 When the data has been read W301 05 is turned ON for one cycle ...

Page 429: ...000015 W301 04 1515 12 Unit Error Flag 1515 14 Data Transferring Flag W301 05 Unit Data Read End 000004 000019 W301 02 1515 12 Unit Error Flag W301 06 W301 04 000005 000023 W301 01 W301 03 W301 06 Unit Data Read Error End W301 02 W301 02 000006 000028 W301 03 W301 05 W301 06 Unit Data Read Error End W301 04 W301 04 Read Data execution condition Start Unit Data Read Data Transferring Flag Waiting f...

Page 430: ...2 Unit Error Flag 1515 14 1500 03 SAVE DATA Bit 1500 03 SAVE DATA Bit W302 01 Execute Unit Data Save 000002 000008 W302 02 1515 14 Data Transferring Flag W302 03 Unit Data Save Received 000003 000011 W302 04 1515 12 Unit Error Flag 1515 14 Data Transferring Flag W302 05 Unit Data Save Normal End 000004 000015 W302 02 1515 12 Unit Error Flag W302 06 Unit Data Save Error End W302 04 000005 000019 W3...

Page 431: ...used to show the progress of function execution and the execution status Timer Area TIM0000 Used as a watchdog timer to monitor the establishment of a connection This program uses the CONNECT Bit in the Common Operating Memory Area to start and stop MECHATROLINK communications When the Start Communications condition goes ON MECHATROLINK com munications are started a connection is established Likew...

Page 432: ...ings shows a sample program that can be used to make the following settings Beginning word of Axis Operating Output Memory Area CIO 0000 Axis 1 Operating Output Memory Area CIO 0000 to CIO 0024 Beginning word of Axis Operating Input Memory Area CIO 1000 Axis 1 Operating Input Memory Area CIO 1000 to CIO 1024 This sample program uses the following parts of the CPU Unit s I O memory in addition to t...

Page 433: ...O PARAMETER Bit in the Axis Operating Output Mem ory Area to write the Servo Parameter data preset in the CPU Unit s DM Area to the Servo Drive When the Servo Parameter transfer operation s execution condition goes ON the Servo Parameters preset in the following DM Area words will be trans ferred to the Servo Drive When the Servo Parameter data has been written W400 05 is turned ON for one cycle W...

Page 434: ...W400 06 Axis 1 Write Error End W400 04 1522 00 000005 000025 W400 01 W400 03 W400 06 Axis 1 Write Error End W400 02 W400 02 000006 000030 W400 03 W400 05 W400 06 Axis 1 Write Error End W400 04 W400 04 Transfer Servo Parameter execution condition Start Axis 1 Write Axis 1 Communicating Axis 1 Error Axis 1 WRITE SERVO PARAMETER Axis 1 Servo Parameter Transferring Axis 1 WRITE SERVO PARAMETER Waiting...

Page 435: ...rea as shown below will be read When the Servo Parameter data has been read normally W401 05 is turned ON for one cycle and the parameter is stored in the DM Area as shown in the following table When the read operation was not completed normally i e an error occurred during the transfer W401 06 will be turned ON for one cycle There must be no axis error before execution of this sample program Word...

Page 436: ...4 W401 05 Axis 1 Read Normal End 000005 000020 W401 02 1000 12 W401 06 Axis 1 Read Error End W401 04 1522 00 Axis 1 Communicating 000006 000026 W401 01 W401 03 W401 06 W401 02 W401 02 000007 000031 W401 03 W401 05 W401 06 W401 04 W401 04 Transfer Servo Parameter execution condition Axis 1 Read Normal End Start Axis 1 Read Axis 1 READ SERVO PARAMETER Axis 1 Communicating Axis 1 Servo Parameter Tran...

Page 437: ...wing DM Area words will be trans ferred to the Servo Drive and written to the Servo Drive s non volatile flash memory at the same time When the Servo Parameter data has been saved normally W402 05 is turned ON for one cycle When the save operation was not completed normally i e an error occurred during the transfer W402 06 will be turned ON for one cycle There must be no axis error before executio...

Page 438: ...xis 1 Error 1000 14 W402 05 Axis 1 Save Normal End 000004 000019 W402 02 1000 12 Axis 1 Error W402 06 Axis 1 Save Error End W402 04 1522 00 Axis 1 Communicating 000005 000025 W402 01 W402 03 W402 06 Axis 1 Save Error End W402 02 W402 02 000006 000030 W402 03 W402 05 W402 06 Axis 1 Save Error End W402 04 W402 04 Transfer Servo Parameter execution condition Start Axis 1 Save Axis 1 SAVE SERVO PARAME...

Page 439: ...gram that can be used to make the following settings Beginning word of Axis Operating Output Memory Area CIO 0000 Axis 1 Operating Output Memory Area CIO 0000 to CIO 0024 Beginning word of Axis Operating Input Memory Area CIO 1000 Axis 1 Operating Input Memory Area CIO 1000 to CIO 1024 This sample program uses the following parts of the CPU Unit s I O memory in addition to the CIO Area words liste...

Page 440: ...sy 1001 03 Axis 1 Servo ON W305 00 Execute Axis 1 Servo Lock W305 04 W305 01 Execute Axis 1 Servo Unlock 000001 000010 W305 00 1522 00 1000 13 Axis 1 Busy W305 05 Axis 1 Servo Lock Execution Timeout 1 00 Axis 1 SERVO LOCK 1 00 Axis 1 SERVO LOCK 000002 000016 W305 01 1522 00 W305 03 Axis 1 Servo Unlock End 1 01 Axis 1 SERVO UNLOCK W305 05 1 01 Axis 1 SERVO UNLOCK 000003 000022 1 01 1000 13 Axis 1 B...

Page 441: ...llowing parts of the CPU Unit s I O memory in addition to the CIO Area words listed above Work Area WR Area W350 00 to W350 02 These Work Area bits are used to show the progress of function execution and the execution status Timer Area TIM0002 Used as a watchdog timer to detect an origin search timeout error This sample program starts an origin search on axis 1 when the Origin Search execution con...

Page 442: ...CIO 0000 to CIO 0024 Beginning word of Axis Operating Input Memory Areas CIO 1000 Axis 1 Operating Input Memory Area CIO 1000 to CIO 1024 This sample program uses the following parts of the CPU Unit s I O memory in addition to the CIO Area words listed above Work Area WR Area W201 00 to W201 03 Program name Origin Search Section name Origin Search 000000 000000 1000 06 1000 13 Axis 1 Busy 1000 12 ...

Page 443: ...imeout will occur and bit W201 03 will be turned ON for one cycle The target position can be changed during an Absolute Movement or Relative Movement positioning operation by setting a new position command value and turning ON the ABSOLUTE or RELATIVE MOVEMENT Bit Torque limits can also be enabled disabled during positioning by turning ON OFF the for ward and reverse rotation current limit bits in...

Page 444: ...04 000005 000038 0 03 1000 00 DIFD 014 W201 01 0 04 Positioning execution condition Axis 1 Re ceiving Com mand Flag Axis 1 ABSO LUTE MOVE MENT Bit Axis 1 RELATIVE MOVEMENT Bit Execute Axis 1 Movement Command Controlling Axis 1 Position Axis 1 Pulse Distribution Complete Positioning Watchdog Timer Axis 1 ABSO LUTE MOVE MENT Bit Axis 1 RELA TIVE MOVE MENT Bit Axis 1 PCU Positioning Completed Axis 1 ...

Page 445: ...ork Area bits are used to show the progress of function execution and the execution status This sample program starts Axis 1 speed control when the Speed Control execution condition goes ON The speed command value in the Axis 1 Operating Output Memory Area must be set to the target speed in advance before executing this sample program The target speed can be changed sequentially during operation b...

Page 446: ...Input Memory Area CIO 1000 to CIO 1024 This sample program uses the following parts of the CPU Unit s I O memory in addition to the CIO Area words listed above Work Area WR Area W203 00 to W203 02 These Work Area bits are used to show the progress of function execution and the execution status Program name Speed Control Section name Speed Control 000000 000000 1000 00 1000 12 Axis 1 Error DIFU 013...

Page 447: ...N so include an AND of the Receiving Command Flag OFF in the execution condition for Torque Control execution i e from the W203 00 output in the following example The TORQUE CONTROL Bit has been added as an OR condition so that the W203 00 is not output again when the Receiving Command Flag goes from ON to OFF Sample Ladder Program Program name Torque Control Section name Torque Control 000000 000...

Page 448: ...put Memory Area CIO 1000 to CIO 1024 This sample program uses the following parts of the CPU Unit s I O memory in addition to the CIO Area words listed above Work Area WR Area Deceleration Stop W204 00 and W204 01 Emergency Stop W205 00 and W205 01 These Work Area bits are used to show the progress of function execution and the execution status This sample program executes a deceleration stop or e...

Page 449: ...mon Parameter Area as shown below The application example in 11 3 1 Initial PCU Settings shows a sample program that can be used to make the following settings Beginning word of Axis Operating Output Memory Area CIO 0000 Axis 1 Operating Output Memory Area CIO 0000 to CIO 0024 Beginning word of Axis Operating Input Memory Area CIO 1000 Axis 1 Operating Input Memory Area CIO 1000 to CIO 1024 This s...

Page 450: ...ed with self holding bits for the Jog Bit and Direction Designation Bit in the Axis Operating Output Memory Area Therefore the command for the jogging condition is sent via the Work Area bit W206 00 The output circuit of Work Area bit W206 00 is also provided with a self hold ing circuit that operates according to the Receiving Command Flag and Busy Flag to enable the JOG command to be received co...

Page 451: ... time so that the initial settings are not made again To make the initial settings again reset H0 00 and execute the program again When H0 00 is reset the Initial Task Execution Flag is used as the Write Data execution condition and the Unit Data Write End Flag W300 05 is used as the Save Data execution condition When the Save Data operation is com pleted W302 05 ON the Unit is restarted and H0 00...

Page 452: ...irection 0 Forward Origin search operation mode 1 Reversal mode 2 Encoder type 0 Incremental encoder The following parameter settings must be written in advance to the CPU Unit s EM Area words E0_00000 to E0_00079 EM word Set value Item Details E0_00000 00B0 hex Common Parameters Axis Operating Output Memory Area designation Sets the beginning word of the Axis Operating Output Memory Areas to CIO ...

Page 453: ...eters MECHATROLINK communications set tings Number of communications retries and C2 Master connection Number of communications retries 0 1 retry C2 Master connection 0 No C2 Master E0_00032 to E0_00039 0000 hex Not used This part of the Common Parameters is unused Set all words to 0000 hex E0_00040 0001 hex Axis 1 Parameters Origin input signal selection and Inter rupt input signal selection Origi...

Page 454: ...on 11 3 When the initial PCU settings have been made W304 03 is turned ON for one cycle Also W303 03 will be turned ON when MECHATROLINK communications have started and all axes axes 1 and 2 in this case are communicating nor mally ...

Page 455: ...4 Data Transferring Flag W300 05 Unit Data Write End 000004 000020 W300 02 1515 12 Unit Error Flag W300 06 Unit Data Write Error End W300 04 000005 000024 W300 01 W300 03 W300 06 W300 02 W300 02 000006 000029 W300 03 W300 05 W300 06 W300 04 W300 04 000007 000034 W300 05 W302 00 Start Unit Data Save Initial Task Execution Flag Execute Initial Settings Switch Start Unit Data Write Data Transferring ...

Page 456: ...xecute Unit Restart W304 00 Start Unit Restart W304 00 Start Unit Restart 000016 000072 W304 01 W304 03 Unit Restart Complete W304 02 Restarting Unit W304 02 Restarting Unit 000017 000076 W304 02 Restarting Unit A302 00 1516 14 Unit Busy Flag W304 03 Unit Restart Complete Start Unit Data Save Data Transferring Flag Waiting for Unit Data Save Received Waiting for Unit Data Save End Waiting for Unit...

Page 457: ... order In this program example the Servo Drives connected as axes 1 and 2 are both W series Servo Drives and the same Servo Parameter list is transferred to both 000018 000080 Start Communications A200 15 P_First_Cycle_ Task H0 00 1515 12 Unit Error Flag W303 00 Establish Connection W304 03 400 00 Restart Communications 000019 000086 400 01 Stop Communications W303 01 Release Connection 000020 000...

Page 458: ...following parts of the CPU Unit s I O memory CPU Bus Unit Area CIO 1500 to CIO 1524 These word addresses are contained in the CPU Bus Unit Area words allo cated to unit number 0 Data Memory Area DM Area Axis 1 Servo Parameter words D10500 to D10503 Axis 2 Servo Parameter words D10600 to D10603 These words are used to store the data required for a single Servo Parameter transfer including the Servo...

Page 459: ...rvo Parameter transfer function for each axis The following table shows how the status of bits H10 00 to H10 02 and H11 00 to H11 02 specify the Servo Parameter transfer function in this sample program A different transfer function can be selected for each axis and executed for 2 axes simultaneously Different transfer functions cannot be performed at the same time on a single axis If bits 00 to 02...

Page 460: ...E1_00010 0005 0002 0100 0002 0101 0002 0002 0002 0103 0002 E1_00020 0104 0002 0105 0002 0106 0002 0107 0002 0108 0002 E1_00030 0109 0002 010A 0002 010B 0002 010C 0002 010D 0002 E1_00040 010E 0002 010F 0002 0110 0002 0111 0002 0112 0002 E1_00050 0113 0002 0114 0002 0115 0002 0116 0002 0117 0002 E1_00060 0118 0002 0119 0002 0120 0002 0121 0002 0122 0002 E1_00070 0123 0002 0124 0002 0125 0002 0200 00...

Page 461: ...r Complete W500 05 is turned ON for one cycle If an error occurs while the Servo Param eters are being transferred Error Flag ON the transfer will be cancelled at that point and W500 10 will be turned ON for one cycle Sample Ladder Program The Write Servo Parameters Read Servo Parameters and Save Servo Parameters functions for axis 1 program steps 000016 to 000033 are the same as the functions des...

Page 462: ... Axis 2 Transfer Parameter Size 000003 000022 W500 01 H10 00 H10 01 MOV 021 IR7 D10500 OP1 OP2 H10 02 MOV 021 IR7 D10501 OP1 OP2 MOVL 498 IR7 D10502 OP1 OP2 Axis 1 Transfer Data Servo Parameter Batch Transfer Start Switch All Axes Communicating Servo Parameter Batch Transfer Start Servo Parameter Batch Transfer Start Servo Parameter Transfer Selection Write Axis 1 Servo Parameters Selected Write A...

Page 463: ...ervo Parameter Number MOV 021 D10501 18 OP1 Axis 1 Transfer Parameter Size OP2 Axis 1 Parameter Size MOVL 498 D10502 19 OP1 Axis 1 Transfer Data OP2 Axis 1 Write Data H10 00 H10 01 H10 02 DIFU 013 W400 00 Start Axis 1 Write H10 00 H10 01 H10 02 DIFU 013 W401 00 Start Axis 1 Read W401 05 MOV 021 17 IR7 OP1 Axis 1 Servo Parameter Number OP2 MOV 021 18 IR7 OP1 Axis 1 Parameter Size OP2 MOVL 498 1014 ...

Page 464: ... Transfer End H11 00 H11 01 H11 02 W500 07 Axis 2 Transfer End Continued on next page Execute Servo Parameter Transfer Write Axis 2 Servo Parameters Selected Write Axis 2 Servo Parameters Selected Read Axis 2 Servo Param eters Selected Read Axis 2 Servo Parameters Selected Save Axis 2 Servo Parameters Selected Save Axis 2 Servo Parameters Selected Axis 2 Read Normal End Write Axis 2 Servo Paramete...

Page 465: ...age Execute Servo Parameter Transfer Axis 1 Write Error End Axis 1 Read Error End Execute Servo Parameter Transfer Axis 2 Write Error End Axis 2 Read Error End Axis 1 Transfer End Axis 1 Transfer Error End Stop Servo Parameter Transfer Servo Parameter Batch Transfer Start Servo Parameter Transfer Selection Continue Servo Parameter Transfer Stop Servo Parameter Transfer Servo Parameter Transfer Sel...

Page 466: ...ite Received Axis 1 Write Received Axis 1 Write Error End Waiting for Axis 1 Write Received Axis 1 Write Received Waiting for Axis 1 Write End Axis 1 Write Normal End Axis 1 Write Error End Waiting for Axis 1 Write End Axis 1 Error Start Axis 1 Read Axis 1 READ SERVO PARAMETER Axis 1 Communicating Axis 1 Servo Parameter Transferring Axis 1 Servo Parameter Transferring Waiting for Axis 1 Read Recei...

Page 467: ...Axis 1 Save Received Waiting for Axis 1 Save End Axis 1 Servo Parameter Transferring Axis 1 Error Axis 1 Communicating Axis 1 Save Error End Waiting for Axis 1 Save Received Waiting for Axis 1 Save End Execute Axis 1 Save Axis 1 Save Received Axis 1 Save Error End Waiting for Axis 1 Save Received Axis 1 Save Received Waiting for Axis 1 Save End Axis 1 Save Normal End Axis 1 Save Received Axis 1 Sa...

Page 468: ...rror End Axis 2 Error Start Axis 2 Read Axis 2 READ SERVO PARAMETER Axis 2 Communicating Axis 2 Servo Parameter Transferring Axis 2 Servo Parameter Transferring Waiting for Axis 2 Read Received Waiting for Axis 2 Read End Axis 2 Error Flag Axis 2 Servo Parameter Transferring Axis 2 Communicating Waiting for Axis 2 Read Received Waiting for Axis 2 Read End Axis 2 Error Flag Execute Axis 2 Read Wait...

Page 469: ...mon Parameter Area as shown below The application example in 11 3 1 Initial PCU Settings shows a sample program that can be used to make the following settings Beginning word of Axis Operating Output Memory Area CIO 0000 Axis 1 Operating Output Memory Area CIO 0000 to CIO 0024 Beginning word of Axis Operating Input Memory Area CIO 1000 Axis 1 Operating Input Memory Area CIO 1000 to CIO 1024 This s...

Page 470: ...wo word transfer data Work Area WR Area Servo Lock Unlock W305 00 to W305 06 Positioning W201 00 to W201 03 Speed Control W202 00 to W202 02 Torque Control W203 00 to W203 02 Deceleration Stop W204 00 and W204 01 Emergency Stop W205 00 and W205 01 Expanded Monitoring Switch W210 00 to W210 02 Axis 1 Write Servo Parameters W400 00 to W400 06 Change Acceleration Deceleration Constant W501 00 to W501...

Page 471: ...and value in D1004 and D1005 with the speed command value in D1002 and D1003 as the speed limit value CIO 050004 Start Axis 1 Deceler ation Stop A Deceleration Stop is executed when this bit goes from OFF to ON CIO 050005 Start Axis 1 Emer gency Stop An Emergency Stop is executed when this bit goes from OFF to ON CIO 050014 Specify Axis 1 Accel eration Constant If CIO 0500 01 Axis 1 Start Position...

Page 472: ... command units s 6 000 000 10 240 000 In this program the fraction is reduced to 1 200 2 048 to prevent the multipli cation or division from overflowing Note When torque control is being performed option command value 1 is used as the speed limit value so set parameter Pn002 1 Speed command input change to 1 to select option command value 1 If the Servo Unlock function is executed during speed con...

Page 473: ... axis operation The speed monitoring units are converted 0 001 command units s during speed control and the torque monitoring units are converted 0 001 during torque control The conversion of speed monitoring units is performed by reversing the equation used to convert the speed command value for speed control ...

Page 474: ...t Specify Axis 1 Deceleration Constant Specify Axis 1 Acceleration Constant Execute Axis 1 Deceleration Con stant Transfer Specify Axis 1 Deceleration Constant Execute Axis 1 Deceleration Con stant Transfer Execute Axis 1 Deceleration Constant Transfer Execute Axis 1 Deceleration Constant Transfer Axis 1 Acceler ation Constant Transfer End Axis 1 Deceleration Constant Transfer End Start Axis 1 Acc...

Page 475: ...eiving Command Flag Axis 1 ABSOLUTE MOVEMENT Bit Axis 1 RELATIVE MOVEMENT Bit Execute Axis 1 Movement Command Controlling Axis 1 Position Axis 1 Pulse Distribution Complete Axis 1 PCU Positioning Completed Positioning Watchdog Timer Axis 1 PCU Positioning Completed Axis 1 ABSOLUTE MOVEMENT Bit Axis 1 RELATIVE MOVEMENT Bit Controlling Axis 1 Position Controlling Axis 1 Speed Controlling Axis 1 Torq...

Page 476: ...ute Axis 1 Speed Control Command Axis 1 SPEED CONTROL Bit Axis 1 SERVO UNLOCK Axis 1 EMERGENCY STOP Axis 1 DE CELERATION STOP Axis 1 Communicating Axis 1 Speed Control Command Reception Complete Axis 1 SPEED CONTROL Bit Axis 1 SPEED CONTROL Bit Axis 1 Receiving Command Flag Axis 1 Speed Control Command Reception Complete Torque Control Start Switch Axis 1 Receiving Command Flag Axis 1 TORQUE CONTR...

Page 477: ...Speed Command Value W201 02 Controlling Axis 1 Position 000031 000206 W202 00 L 421 1200 D1002 D1500 OP1 OP2 Axis 1 Speed Command Value OP3 W202 02 L 431 D1500 2048 D1504 OP1 OP2 OP3 MOVL 498 D1504 6 OP1 OP2 Continued on next page Axis 1 DECEL ERATION STOP Axis 1 Receiving Command Flag Axis 1 Deceleration Stop Reception Complete Emergency Stop Switch Execute Axis 1 Emergency Stop Axis 1 EMER GENCY...

Page 478: ...d Deceleration Constant Setting W501 00 W501 05 W501 01 W501 01 000037 000230 W501 02 W501 06 W501 03 W501 03 Continued on next page Execute Axis 1 Speed Control Command Execute Axis 1 Torque Control Command Execute Axis 1 Torque Control Command Execute Axis 1 Speed Control Command Execute Axis 1 Torque Control Command Axis 1 Option Command Value 1 Axis 1 Option Command Value 2 Start Axis 1 Accele...

Page 479: ...12 Axis 1 Error 1000 14 1 12 1 12 W400 01 Execute Axis 1 Write Continued on next page Execute Axis 1 Acceleration Constant Transfer Axis 1 Transfer Parameter Number Axis 1 Transfer Parameter Size Execute Axis 1 Acceleration Constant Transfer Execute Axis 1 Deceleration Constant Transfer Axis 1 Transfer Parameter Number Axis 1 Transfer Parameter Size Execute Axis 1 Acceleration Constant Transfer Ex...

Page 480: ...rite End Axis 1 Error Flag Axis 1 Servo Parameter Transferring Waiting for Axis 1 Write Received Waiting for Axis 1 Write End Axis 1 Error Flag Execute Axis 1 Servo Parame ter Write Waiting for Axis 1 Write Received Axis 1 Write Received Axis 1 Write Error End Waiting for Axis 1 Write Received Axis 1 Write Received Waiting for Axis 1 Write End Axis 1 Write Normal End Axis 1 Write Error End Waiting...

Page 481: ... 1200 D1020 OP1 OP2 OP3 MOVL 498 1012 D1022 OP1 Axis 1 Monitor 2 OP2 000054 000321 W210 02 MOVL 498 1010 D1020 OP1 Axis 1 Monitor 1 OP2 L 431 1012 1000 D1022 OP1 Axis 1 Monitor 2 OP2 OP3 Position Control Monitor Axis 1 Feedback Speed command units s Axis 1 Torque Command Speed Control Monitor Axis 1 Feedback Speed command units s Axis 1 Torque Command Torque Control Monitor Axis 1 Feedback Speed c...

Page 482: ...rror Display for PCU Errors 462 12 3 4 Error Display for MECHATROLINK Communications Errors 463 12 3 5 Error Display for PCU Settings and Operations 463 12 3 6 Error Display for MECHATROLINK Slave Station Device Errors 464 12 4 Error Codes 464 12 4 1 Overview 464 12 4 2 List of Error Codes 465 12 5 Troubleshooting 477 12 5 1 Initial Troubleshooting 477 12 5 2 Troubleshooting during PCU Operations ...

Page 483: ...nit errors PCU internal errors MECHA TROLINK communi cations errors PCU set tings opera tion errors MECHA TROLINK slave device errors Unit com mon PCU Error Causes Unit com mon error Causes Unit com mon error Causes Unit com mon error Causes Unit com mon error Causes Unit com mon error Does not cause Unit common error Unit Error Flag Unit error code Common Operating Memory Area Axis errors PCU Err...

Page 484: ...ee note 2 Servo OFF Not possi ble Connection released suddenly Does not cause PCU operation on the left Does not cause PCU operation on the left Does not cause PCU operation on the left Causes PCU opera tion on the left Causes PCU opera tion on the left Does not cause PCU operation on the left Connection released Servomo tor not car rying current See note 2 Servo OFF Not possi ble Connection relea...

Page 485: ...F Emergency stop Deceleration stop Operation continues If a Unit common error occurs while an individ ual axis error has occurred the status of the Error Flag and axis error code for the axis error will be held Error Functions that can be performed Functions that cannot be performed Unit common errors Unit Error Flag ON in the Common Operating Memory Area UNIT ERROR RESET WRITE DATA READ DATA SAVE...

Page 486: ...ration of the axis will be prohibited To clear this error stop MECHATROLINK communications release connec tion and then execute CONNECT again PCU Operation when CPU Unit Load Is Turned OFF When the CPU Unit turns OFF the load the PCU decelerates the active axis to a stop and releases the MECHATROLINK communications connection After recovering from the load OFF status reestablish the MECHATROLINK c...

Page 487: ... Bit word a bit 12 Warning Flag word b bit 11 Error Flag word b bit 12 Busy Flag word b bit 13 Axis error code word b 4 0000 4096 Hex 0000 4096 Hex 40E6 Hex Example Communications warning Communications warning Communications error The Busy Flag remains ON for at least one cycle time when ERROR RESET is executed If the Error Flag turns ON while the Warning Flag is already ON the axis error code wi...

Page 488: ...tus Category Probable cause of error Countermeasure RUN ERC ERH ERM MLK Not lit Not lit Not lit Not lit Not lit CPU Unit power interruption Power is not being sup plied correctly to the CPU Unit Check the power sup ply voltage being sup plied to the CPU Unit and make sure the cor rect power is being supplied Unit system error The PCU system is not operating correctly Make sure that the PCU is inst...

Page 489: ... of the PCU have malfunc tioned Replace the PCU Not lit Lit Lit Not lit Not lit Unit recognition error The CPU Unit has not recognized the PCU correctly Replace the PCU Indicator status Category Probable cause of error Countermeasure RUN ERC ERH ERM MLK Lit Flashing Lit Not lit Not lit CPU Unit error The CPU Unit system is not operating cor rectly Make sure that the CPU Unit and PCU are installed ...

Page 490: ...requires the PCU settings or user program to be corrected The error types and the axis in which the error has occurred can be checked using the PCU Error Flags and error codes Indicator status Category Probable cause of error Countermeasure RUN ERC ERH ERM MLK Lit Flashing Not lit Lit Undeter mined Communica tions error MECHATROLINK com munications cannot be performed correctly Check the connectio...

Page 491: ...or information in this area indicates errors that occur in the PCU or that are not specific to a particular axis The Unit common error code is indicated as 00 hex If the Unit Error Flag turns ON error processing must be performed for the PCU or the whole system including the PCU Axis Operating Input Memory Areas Indicator status Category Probable cause of error Countermeasure RUN ERC ERH ERM MLK L...

Page 492: ...ltage being supplied to the CPU Unit and make sure the correct power is being supplied Unit sys tem error Watch dog timer operation The PCU sys tem is not operating cor rectly Make sure that the PCU is installed correctly and turn the power OFF and ON again If the error occurs again replace the PCU System stopped Not lit Not lit Lit Not lit Not lit Setting error Unit num ber error The PCU s unit n...

Page 493: ...th the CPU Unit exe cute PCU s ERROR RESET Connec tion released after decel eration stop Bus error 000D PLC bus oper ation error Make sure that the CPU Unit and PCU are installed correctly and turn the power OFF and ON again If the error occurs again replace the CPU Unit Connec tion released after decel eration stop PCU internal errors Lit Lit Not lit Not lit Not lit Unit error MLK device error 00...

Page 494: ...en exe cute CONNECT again Maintains Axes that have a connection estab lished can not be operated for PCUs with unit version 1 2 or earlier Communi cations error MLK com munica tions error 0025 MECHA TROLINK communica tions cannot be performed correctly or two or more MECHA TROLINK slave station devices are using the same station number Check the connection of the MECHATROLINK communications cable ...

Page 495: ...r the PCU to read data from an illegal address or to read data with an illegal data size The data transfer for the command cannot be executed Check the contents of the last com mand and correct the data transfer settings Maintains Transfer cycle set ting error 0027 The set value for the transfer cycle set in the PCU s Common Parameters is too small for the number and type of connected MECHA TROLIN...

Page 496: ...is Check the connection of the MECHATROLINK communications cable After removing the cause preventing com munications such as breaks or noise in the connection execute CONNECT again Operation stops according to the method set in the Servo Drive for alarms The PCU executes DECELER ATION STOP Operation of the cor respond ing axis is prohibited Com mand tim eout 3012 No MECHA TROLINK communica tions r...

Page 497: ...Multistart error 3050 An attempt was made to execute two or more of the following com mands at the same time for the same axis ABSOLUTE MOVE MENT REL ATIVE MOVE MENT ORI GIN SEARCH ORIGIN RETURN PRESENT POSITION PRESET JOG SPEED CONTROL TORQUE CONTROL or DEVICE SETUP After editing the ladder program so that multiple command bits do not turn ON at the same time for the same axis execute the previou...

Page 498: ... the setting range and execute the command again Decelera tion stop An attempt was made to execute ORI GIN SEARCH with a speed command value of 0 Edit the speed com mand value to be within the setting range and execute the command again Speed control speed designa tion error 3062 An attempt was made to execute SPEED CON TROL using a command value that exceeds the speed com mand range Edit the spee...

Page 499: ... When this error occurs the corresponding set ting in the Axis Parame ters is set to the default value 0 After executing ERROR RESET transfer the correct Axis Parame ter Decelera tion stop Data transfer axis parame ter check error 3091 An illegal set value in the Axis Parame ters was transferred to the PCU using WRITE DATA The transferred set value is discarded and the set value in the Axis Parame...

Page 500: ...r rect position within the software limit range Operation stops according to the Servo Drive s specified stop method for limit inputs The PCU executes EMER GENCY STOP Reverse software limit 3003 The reverse software limit was reached or exceeded during axis movement After checking the posi tion command value and executing ERROR RESET execute a movement command to move the axis to a cor rect positi...

Page 501: ...gnal is selected as the origin input signal check the external latch signal wir ing and the allocation setting in the Servo Parameters Limit input already ON 3021 The limit input signal in the origin search direction has already been input during a single direc tion origin search Check the limit input sig nal wiring for the corre sponding direction and check the limit input sig nal s allocation se...

Page 502: ...play numbers and the difference between Servo Drives and Position Control Units refer to the list in Appendix D List of Error Codes W series and SMARTSTEP Junior Servo Drives Error code 40 hex The boxes indicate the alarm display number for the Servo Drive When using an R88D WN ML2 W series Servo Drive with built in MECHA TROLINK II communications however only the upper two digits of the dis play ...

Page 503: ...as shown above but only the upper two digits of the alarm code 40D0 hex are displayed as the PCU s error code for any of these alarms For details on alarm displays and warning displays in Servo Drives refer to the list in Appendix D List of Error Codes For details on alarm warning contents refer to the operation manual for the Servo Drive being used ...

Page 504: ... Y N Y Y N N The Servo Drive cannot communicate The Servomotor will not operate in response to commands Is the RUN indicator lit Are any other indicators lit Is the ERH indicator lit Is power being supplied to the PLC correctly Is the unit number set correctly Are the I O tables set correctly Supply the correct power supply voltage to the PLC Make sure that the PCU is installed correctly and turn ...

Page 505: ... list settings in the PCU s Common Parameters If the scan list has been changed save the settings in the PCU s internal flash memory Then restart the Unit or cycle the power and execute CONNECT again Set the Axis Operating Memory Areas correctly and then restart the Position Control Unit Axis operation is not possible if nothing is specified in the settings of the Axis Operating Output Memory Area...

Page 506: ...e problem occurs again the probable cause is a faulty PCU Unit Replace the PCU Check the MECHATROLINK communications settings in Common Parameters set in the PCU Transfer and save the correct data again and then restart the Unit or turn the power OFF and ON again If the error occurs again replace the PCU The data saved in the PCU is corrupted Transfer and save the PCU data again and then restart t...

Page 507: ...art related to communications again MECHATROLINK communications errors are given a high level of priority among axis errors and are indicated by the indicator display in order of priority No MECHATROLINK communications re sponse has been re ceived from the corre sponding axis Check that no error has occur red in the MECHATRO LINK device connected to the corresponding ax is Release the connection a...

Page 508: ...ute CONNECT again to enable the PCU to recover Turn ON the power to every MECHATROLINK slave station device Release the connection and then execute CONNECT again to enable the PCU to recover Make sure that the MECHATROLINK communications cables and terminating resistance are inserted securely so that they are locked Release the connection at the PCU and then execute CONNECT again Set the MECHATROL...

Page 509: ...ible to reset Unit common errors When clearing Unit common errors make sure that the UNIT ERROR RESET Bit in the Common Operating Memory Area remains ON until the Unit Busy Flag turns ON Common Operating Memory Area Output n CIO 1500 unit number 25 Common Operating Memory Area Input n CIO 1500 unit number 25 Timing Chart Example for UNIT ERROR RESET Name Word Bit Contents UNIT ERROR RESET Bit n 00...

Page 510: ...ified in Com mon Parameters Axis No 1 25 Timing Chart Example for ERROR RESET Name Word Bit Contents ERROR RESET Bit a 12 Resets axis error Name Word Bit Contents Warning Flag b 11 0 No warning 1 Warning has occurred Error Flag 12 0 No error 1 Error has occurred Busy Flag 13 1 Axis busy AXIS ERROR RESET execut ing Axis error code b 4 Stores the error code for the error that occurred in an individu...

Page 511: ...sponding flag in the Auxiliary Area of the CPU Unit will turn ON for details on each flag refer to the CPU Unit s operation manual The flags are as follows CPU Bus Unit Number Duplication Flags A41000 to A41015 CPU Bus Unit Error Unit Number Flags A41700 to A41715 CPU Bus Unit Setting Error Unit Number Flags A42700 to A42715 CPU Bus Unit Setting Error Flag A40203 CPU Bus Unit Error Flag A40207 Per...

Page 512: ...and maintaining the Position Control Unit and the procedure required to replace a Position Control Unit 13 1 Inspection 486 13 2 Inspection Points 486 13 3 Handling Precautions 487 13 4 Procedure for Replacing a PCU 487 13 4 1 Procedure for Replacing a PCU 487 13 4 2 Memory Card Backup 488 ...

Page 513: ...ation Using a hygrometer check the ambient humidity inside the panel and make sure that it is within the acceptable range In particular check that there is no condensation due to sudden changes in temperature Is the PCU exposed to direct sunlight The PCU must not be exposed to direct sun light Shield the PCU from direct sunlight Is there any accumulation of dust including iron dust or salts There ...

Page 514: ...13 4 Procedure for Replacing a PCU Use the following procedure when it is necessary to replace a PCU due to malfunction or other cause The method for backing up data saved in the PCU s internal flash memory is also provided here 13 4 1 Procedure for Replacing a PCU Use the following procedure to replace a PCU 1 2 3 1 Make a note of the unit number of the PCU to be replaced 2 Use the READ DATA Bit ...

Page 515: ... can be saved to the PCU s internal flash memory Common Parameters Axis Parameters The PCU can save this data to the Memory Card installed in the CPU Unit by using the CPU Unit s simple backup function or the PCU s backup function The data saved to the Memory Card can also be read to the PCU s flash memory Note Do not read out data backed up to a Memory Card installed in the CPU Unit from a Positi...

Page 516: ...ECHATROLINK communications the command will be ignored and backup will not be performed Writing and reading of backup data starts at the rising edge when the WRITE BACKUP DATA Bit and READ BACKUP DATA Bit turn ON respec tively in the Common Operating Memory Area Common Operating Memory Area Output n CIO 1500 unit number 25 When executing the PCU s backup function make sure that the WRITE BACKUP DA...

Page 517: ...ad data from the Memory Card to the PCU s internal flash memory The data restored in the internal flash memory is enabled by restarting the PCU or cycling the power to the CPU Unit 2 If a Memory Card Transfer Error occurs while using the PCU s backup function the backup to the Memory Card or restoration of data to the PCU s internal flash memory will not be executed correctly If such an er ror occ...

Page 518: ...only Power Up Time When the PCU is powered up or restarted the time required for the Unit to complete its initial processing and be ready to receive commands from the CPU Unit is 500 ms max The Unit Busy Flag turns ON during initial processing after turning ON the PCU power or restarting the Unit Command Response Time The PCU s command response time is the time from when the CPU Unit user program ...

Page 519: ...e for a command sent from the PCU using MECHATROLINK communications to reach the Servo Drive is indicated as TMLK MECHATROLINK transfer cycle 1 The processing time until execution of the command received by the Servo Drive is indicated as TSRV_OUT 250 µs using an R88D GN ML2 to send commands relating to interpolation feed speed control and torque control 1 250 µs using an R88D GN ML2 to send comma...

Page 520: ...ximum value for the time until changes in the Servo Drive status are reflected in the CPU Unit s user program as indicated by TRES is a total of these values as follows TRES MAX TSRV_IN TMLK TIN_REF Note TRES varies depending on the width of TIN_REF Example CPU Unit cycle time 1 ms PCU communications setting Transfer cycle 1 ms Communications cycle 1 transfer cycle 1 1 ms Connected Servo Drive W s...

Page 521: ...umber of axes connected Additional time for each PCU connected CJ1W NCF71 1 0 2 ms 3 0 3 ms 6 0 4 ms 16 1 0 ms External input signal Response time Details Limit input signal 2 ms max Response time until the Servo Drive starts the Servomotor s stop operation according to the setting in Servo Parameter Pn001 1 in response to input of the limit input signal Interrupt input signal 3 ms max Response ti...

Page 522: ...183D hex Axis 4 allocation same as above Axis 3 allocation same as above 183E hex Axis 6 allocation same as above Axis 5 allocation same as above 183F hex Axis 8 allocation same as above Axis 7 allocation same as above 1840 hex Axis 10 allocation same as above Axis 9 allocation same as above 1841 hex Axis 12 allocation same as above Axis 11 allocation same as above 1842 hex Axis 14 allocation same...

Page 523: ...tch signal 3 input 08 to 15 Origin input sig nal selec tion 00 Phase Z 01 External latch signal 1 input 02 External latch signal 2 input 03 External latch signal 3 input 1861 1875 1889 189D 18B1 18C5 18D9 18ED 1901 1915 1929 193D 1951 1965 1979 198D Operation mode selection Bit Function Settings 00 to 03 Reserved by the system 0 04 to 07 Origin search operation 0 Reversal mode 1 1 Reversal mode 2 ...

Page 524: ...ommunications R7D ZN ML2 For further details on each of the parameters refer to the operation manuals for OMRON G series Servo Drives W series Servo Drives and Yaskawa JUSP NS115 MECHATROLINK II Application Modules 1862 1876 188A 189E 18B2 18C6 18DA 18EE 1902 1916 192A 193E 1952 1966 197A 198E Operation mode selection Bit Function Settings 00 to 03 Encoder type 0 Incremental encoder 1 Absolute enc...

Page 525: ... decimal This value does not change even if the rotary switch is turned after startup 5 to 32767 Reserved Do not set Pn002 Reserved Do not change 0 Pn003 Torque Limit Selec tion 2 Selects the torque limit function or the torque feed forward func tion during speed control 1 Online Settings can be changed when the axes are stopped Busy Flag for each axis 0 Torque Limit Selection For torque control a...

Page 526: ...cations error which is assessed at every MECHATROLINK II communications cycle occurs consecu tively for the number of the Consecutive Communications Error Detection Count The error and warning can be masked for debug purposes bits 8 11 COM_ERR Consecutive Communications Error Detection Count Setting range 0 to 15 Consecutive Communications Error Detection Count COM_ERR 2 Note These bits are debug ...

Page 527: ...and reverse rotation is always negative 0 0 to 14 Online 0 Torque command 100 3 V 1 Position deviation 31 pulses 3 V 2 Position deviation 125 pulses 3 V 3 Position deviation 500 pulses 3 V 4 Position deviation 2000 pulses 3 V 5 Position deviation 8000 pulses 3 V 6 to 10 Reserved 11 Torque command 200 3 V 12 Torque command 400 3 V 13 Outputs the Issuance Completion Status DEN 0 V Issuing 5 V Issuan...

Page 528: ...the speed loop integration time constant Set a large value for large load inertia Decrease the setting for fast response with small inertia Set 9999 to stop integration operation while retaining the integra tion value A setting of 10000 disables integration 200 0 1 ms 1 to 10000 Online Pn013 Speed Feedback Filter Time Constant RT 2 Sets the type of speed detection filter time constant Normally use...

Page 529: ...tting of 2 2 2 Online Pn01F Reserved Do not change 0 Pn020 InertiaRatio RT 2 Sets the load inertia as a percentage of the Servomotor rotor iner tia Setting Load inertia Rotor inertia 100 The inertia ratio estimated during realtime autotuning is stored in the EEPROM every 30 minutes 300 0 to 10000 Online Settings can be changed when the axes are stopped Busy Flag for each axis 0 Pn021 Realtime Auto...

Page 530: ... the Servomotor s allowable operating range for the position command input range Set to 0 to disable the overrun protective function 10 0 1 rota tion 0 to 1000 Online Pn027 Instanta neous Speed Observer Setting RT 2 The Instantaneous Speed Observer improves speed detection accuracy thereby improving responsiveness and reducing vibra tion when stopping When the instantaneous speed observer is enabl...

Page 531: ...000 Low pass type Setting range 10 Pn02B Pn02C Pn02B 6 0 0 1 Hz 200 to 2000 Online Pn02D Vibration Frequency 2 2 Same function as Pn02B 0 0 1 Hz 0 to 2000 Online Pn02E Vibration Filter 2 Set ting 2 Same function as Pn02C 0 0 1 Hz 200 to 2000 Online Pn02F Adaptive Filter Table Number Display 2 Displays the table entry number corresponding to the frequency of the adaptive filter This parameter is se...

Page 532: ...arge amount When the position loop gain increases it takes the duration of set value 1 166 µs 20 166 µs 0 to 10000 Online Pn036 Reserved Do not change 0 Pn037 Reserved Do not change 0 Pn038 Reserved Do not change 0 Pn039 Reserved Do not change 0 Pn03A Reserved Do not change 0 Pn03B Reserved Do not change 0 Pn03C Reserved Do not change 0 Pn03D Jog Speed 2 Sets the jog operation speed with the Param...

Page 533: ...ration time for speed control mode Deceleration time s from maximum speed r min to 0 r min Set value 2 ms 0 2 ms 0 to 5000 Online Pn05A Reserved Do not change 0 Pn05B 2 Selects the speed limit for torque control mode 0 0 1 Online Settings can be changed when the axes are stopped Busy Flag for each axis 0 0 Use the Speed Limit Pn053 1 Use the speed limit value via MECHATROLINK II or the Speed Limit...

Page 534: ... readjustment is made when control power is turned ON Note This adjustment is inaccurate if the offset is measured while the Servomotor is rotating To enable this function do not rotate the Servomotor when inputting the Servo ON command 0 0 1 Online 0 Disabled only when turning ON control power 1 Enabled when turning ON control power or at Servo ON Pn065 Undervolt age Alarm Selection 2 Selects whe...

Page 535: ...tion with Main Power OFF 2 Sets the operation to be performed during deceleration and after stopping after the main power supply is turned OFF with the Und ervoltage Alarm Selection Pn065 set to 0 The deviation counter will be reset when the power OFF is detected 0 0 to 7 Online Settings can be changed when the axes are stopped Busy Flag for each axis 0 0 and 4 Use dynamic brake to decelerate and ...

Page 536: ... the regeneration overload alarm code 18 does not occur 3 The regeneration processing circuit is not activated All regenerative energy is absorbed by the built in capacitor Pn06D Momentary Hold Time 2 Sets the amount of time required to detect shutoff when the main power supply continues to shut off The main power OFF detection will be disabled if this parameter is set to 1000 35 2 ms 35 to 1000 O...

Page 537: ... Range 2 Sets the threshold for detecting the origin ZPOINT in absolute values ZPOINT 1 when the return to origin completes coordinate sys tem setup is complete and the feedback position is within the set ting range of this parameter 10 Com mand units 0 to 250 Online Pn106 Reserved Do not change 0 Pn107 Linear Accelera tion Constant 2 Sets the acceleration for positioning operations A setting of 0...

Page 538: ...using position control 2 VCMP output Turn ON when the deviation between the Servomotor speed and commanded speed is within the range set by Pn061 for speed control Undefined when not using speed control 3 TGON output Turn ON when the absolute value of the Servomotor speed exceeds Pn062 setting in all control modes 4 READY output Turn ON when the main power is supplied there is no alarm and Servo S...

Page 539: ...Com mand units 1073741823 to 1073741823 Online Pn205 Electronic Gear Ratio 1 Numera tor 4 Sets the numerator for the electronic gear ratio Setting this parameter to 0 automatically sets the encoder resolu tion as the numerator 131072 for a 17 bit absolute encoder or 10000 for a 2 500 p r incremental encoder Note Set the electronic gear ratio within the range of 1 100 to 100 times A parameter setti...

Page 540: ...etting 0 Pn001 Function selection applica tion switch 1 2 0 Select stop if an alarm occurs when Servomotor is OFF 0 Servomotor stopped by dynamic brake 2 Offline 1 Servomotor stopped by dynamic brake Dynamic brake released after stop ping 2 Servomotor stopped with free run 1 Select stop when prohib ited drive is input 0 Stop according to Pn001 0 settings release Servomo tor after stopping 0 Offlin...

Page 541: ...rol 0 Option command value not used 0 Offline 1 Option command value 1 used as speed limit input 2 Operation switch when using absolute encoder 0 Use as absolute encoder 0 Offline 1 Use as incremen tal encoder 3 Fully closed encoder usage method 0 Fully closed encoder is not used 0 Offline 1 Fully closed encoder is used without phase Z 2 Fully closed encoder is used with phase Z 3 Fully closed enc...

Page 542: ...stant 2 Speed loop integral time constant 2000 0 01 ms 15 to 51200 Online Pn102 Position loop gain 2 Adjusts position loop responsiveness 40 1 s 1 to 2000 Online Pn103 Inertia ratio 2 Sets using the ratio between the machine system inertia and the Servomotor rotor inertia 300 0 to 20000 Online Pn104 Speed loop gain 2 2 Adjusts speed loop responsiveness enabled by auto matic gain switching input 80...

Page 543: ...g using position devi ation 3 Gain switching using position com mands and position deviation 3 Not used 0 Do not change the setting 0 Pn10C P control switching torque command 2 Sets level of torque command to switch from PI con trol to P control 200 0 to 800 Online Pn10D P control switching speed command 2 Sets level of speed command to switch from PI control to P control 0 r min 0 to 10000 Online...

Page 544: ...of position deviation 2 Sets the position deviation used as the switching con dition when the automatic gain switching function by position deviation Pn10B 2 2 3 is used 7 Com mand unit 1 to 250 Online Param eter No Parame ter name Param eter size Contents Default setting Unit Setting range Enable setting Details Digit No Name Set ting Explanation Pn200 Position control setting 1 2 0 Not used 0 Do...

Page 545: ...range Enable setting Details Pn300 Not used Do not change the setting 1000 Pn301 Not used Do not change the setting 100 Pn302 Not used Do not change the setting 200 Pn303 Not used Do not change the setting 300 Pn304 Jog speed 2 Sets the rotation speed used during jog operation executed from the Servo Drive s Parameter Unit 500 r min 0 to 10000 Online Pn305 Soft start acceleration time 2 Sets accel...

Page 546: ...1 Notch filter 2 used for torque com mands 3 Not used 0 Do not change the setting 0 Pn409 Notch fil ter 1 fre quency 2 Sets notch filter 1 frequency for torque command 2000 Hz 50 to 2000 Online Pn40A Notch fil ter 1 Q value 2 Sets Q value of notch filter 1 70 0 01 50 to 400 Online Pn40B Notch fil ter 2 fre quency 2 Sets notch filter 2 frequency for torque command 2000 Hz 50 to 2000 Online Pn40C No...

Page 547: ...he Servo motor turning OFF 0 10 ms 0 to 50 Online Pn507 Brake command speed 2 Sets the rotation speed for outputting the brake com mand 100 r min 0 to 10000 Online Pn508 Brake tim ing 2 2 Sets the delay from the Servomotor turning OFF to the brake command output 50 10 ms 10 to 100 Online Pn509 Momen tary hold time 2 Sets the time during which alarm detection is disabled when a power failure occurs...

Page 548: ...ated to CN1 pin 43 Valid for low input 4 Allocated to CN1 pin 44 Valid for low input 5 Allocated to CN1 pin 45 Valid for low input 6 Allocated to CN1 pin 46 Valid for low input 7 Always valid 8 Always invalid 9 Allocated to CN1 pin 40 Valid for high input A Allocated to CN1 pin 41 Valid for high input B Allocated to CN1 pin 42 Valid for high input C Allocated to CN1 pin 43 Valid for high input D A...

Page 549: ...Input sig nal selec tion 4 2 0 Not used 8 Do not change the setting 8 Fixed setting 8 1 Not used 8 Do not change the setting 8 Fixed setting 8 2 Not used 8 Do not change the setting 8 3 Not used 8 Do not change the setting 8 Pn50E Output sig nal selec tion 1 2 0 INP1 position ing completed 1 signal output terminal alloca tion 0 No output 1 Offline Stan dard setting 1 1 Allocated to CN1 pins 25 26 ...

Page 550: ... Same as Pn50E 0 0 Offline Stan dard setting 2 3 WARN warn ing signal out put terminal allocation 0 to 3 Same as Pn50E 0 0 Offline Stan dard setting 0 Pn510 Output sig nal selec tion 3 2 0 INP2 position ing completed 2 signal output terminal alloca tion 0 to 3 Same as Pn50E 0 0 Offline Stan dard setting 0 1 Not used 0 Do not change the setting 0 2 Not used 0 Do not change the setting 0 3 Not used ...

Page 551: ...1 pin 45 Valid for low input 6 Allocated to CN1 pin 46 Valid for low input 7 Always enabled 8 Always disabled 9 Allocated to CN1 pin 40 Valid for high input A Allocated to CN1 pin 41 Valid for high input B Allocated to CN1 pin 42 Valid for high input C Allocated to CN1 pin 43 Valid for high input D Allocated to CN1 pin 44 Valid for high input E Allocated to CN1 pin 45 Valid for high input F Alloca...

Page 552: ...6 0 Not reversed 0 Offline 1 Reversed 1 Output signal reverse for CN1 pins 27 28 0 1 Same as above 0 Offline 2 Output signal reverse for CN1 pins 29 30 0 1 Same as above 0 Offline 3 Not used Do not change the setting 0 Pn513 Input sig nal selec tion 6 2 0 Not used 8 Do not change the setting 8 1 Not used 8 Do not change the setting 8 2 Not used 0 Do not change the setting 0 3 Not used 0 Do not cha...

Page 553: ...me Param eter size Contents Default setting Unit Setting range Enable setting Details Pn600 Regeneration resistor capacity 2 Setting for the regeneration resistance load ratio monitoring calculations 0 10 W From 0 Varies by Unit Online Pn601 Not used 0 Do not change the setting ...

Page 554: ...K com mand warnings A 95 and com munications errors A 96 4 Online Always set to 4 or 0 1 Ignores parame ters setting warn ings A 94 2 Ignores MECHA TROLINK II com mand warnings A 95 3 Ignores both parameter setting warnings A 94 and MECHA TROLINK II com mand warnings A 95 4 Ignores communi cations errors A 96 5 Ignores both parameter setting warnings A 94 and communica tions errors A 96 6 Ignores ...

Page 555: ...solute encoder zero point position offset 4 Sets the offset for the mechanical origin from the absolute encoder s absolute value data 0 Com mand unit 1 073 741 823 to 1 073 741 823 Offline Pn80A First step linear acceleration constant 2 Sets the first step accel eration speed for the acceleration decelera tion curve used in posi tion control 100 10 000 command units s2 1 to 65535 Online Settings c...

Page 556: ...as speed for the acceleration decelera tion curve used in posi tion control 0 Com mand units s 0 to 32767 Online Settings can be changed when the axes are stopped Busy Flag for each axis 0 Pn811 Exponential acceleration deceleration time constant 2 Sets exponential accel eration deceleration time constant for the acceler ation deceleration curve used in position control 0 0 1 ms 0 to 5100 Online S...

Page 557: ... speed 2 2 Sets the origin zero point return final travel distance positioning speed used after the ori gin input signal has been detected in an ori gin search 5 100 com mand units s 0 to 65535 Online Settings can be changed when the axes are stopped Busy Flag for each axis 0 Pn819 Final travel dis tance to return to zero point 4 Sets the amount of compensation positioning used after the origin in...

Page 558: ...nections when using personal computer monitor ing software 0 Offline 3 Not used 0 Do not change the setting 0 Pn001 Function selection applica tion switches 1 2 0 Stop selection if an alarm occurs when Servomotor is OFF 0 Servomotor stopped by dynamic brake 2 Offline 1 Dynamic brake OFF after Servo motor stopped 2 Servomotor stopped with free run 1 Stop selection when drive prohibited is input 0 S...

Page 559: ...mand input change dur ing torque con trol 0 Do not use option command value 0 Offline 1 Use option com mand value 1 as the speed limit value 2 Operation switch when using absolute encoder 0 Use as absolute encoder 0 Offline 1 Use as incremen tal encoder 3 Not used 0 Do not change the setting 0 Pn004 Function selection applica tion switches 4 2 0 Not used 0 Do not change the setting 0 1 Not used 1 ...

Page 560: ...ronic gear 0 05 V per encoder pulse unit 05 Position command speed 1 V 1 000 r min 06 Not used 07 Not used 08 Positioning com pleted command Positioning com pleted 5 V posi tioning not completed 0 V 09 Speed feed forward 1 V 1 000 r min 0A Torque feed for ward 1 V per 100 0B to 1F Not used 2 Analog moni tor 1 signal multiplier selection 0 1x 0 Online 1 10x 2 100x 3 1 10x 4 1 100x 3 Not used 0 Do n...

Page 561: ...ompleted 0 V 09 Speed feed forward 1 V 1 000 r min 0A Torque feed for ward 1 V per 100 0B to 1F Not used 2 Analog moni tor 2 signal multiplier selection 0 1x 0 Online 1 10x 2 100x 3 1 10x 4 1 100x 3 Not used 0 Do not change the setting 0 Pn008 Function selection applica tion switches 8 2 0 Lowered bat tery voltage alarm warning selection 0 Regard battery voltage drop as alarm A 830 0 Offline 1 Reg...

Page 562: ...rota tional speed 2 Sets position control bias 0 r min 0 to 450 Online Pn108 Bias addi tion band 2 Sets the position control bias operation start using deviation counter pulse width 7 Com mand unit 0 to 250 Online Pn109 Feed for ward amount 2 Position control feed forward compensation value 0 0 to 100 Online Pn10A Feed for ward com mand filter 2 Sets position control feed forward command filter 0 ...

Page 563: ...me con stant 2 Position loop integral time constant 0 0 1 ms 0 to 50000 Online Pn12B Not used Do not change the setting 400 Pn12C Not used Do not change the setting 2000 Pn12D Not used Do not change the setting 400 Pn12E Not used Do not change the setting 400 Pn12F Not used Do not change the setting 2000 Pn130 Not used Do not change the setting 400 Pn131 Gain switching time 1 2 Switching time from...

Page 564: ...ine 3 Not used 0 Do not change the setting 0 Pn144 Not used Do not change the setting 1000 Pn150 Predictive control selection switches 2 0 Predictive con trol selection 0 Predictive control not used 0 Offline 1 Predictive control used 2 Not used 1 Predictive con trol type 0 Predictive control for tracking 1 Offline 1 Predictive control for positioning 2 Not used 2 Do not change the setting 2 3 Not...

Page 565: ... not for No 2 gain for less deviation gain switching 3 Integral compensa tion is executed for No 2 gain and not for No 1 gain for less deviation gain switching 1 Not used 2 Do not change the setting 2 2 Not used 1 Do not change the setting 1 3 Not used 1 Do not change the setting 1 Pn1A9 Utility inte gral gain 2 Adjusts the auxiliary integral responsive 37 Hz 0 to 500 Online Pn1AA Position propor ...

Page 566: ... deviation is below the INP1 range Pn522 0 Offline 1 When the position deviation is below the INP1 range Pn522 and also the command after the position com mand filter is 0 2 When the absolute value for the posi tion deviation is below the INP1 range Pn522 and also the position command input is 0 Pn209 Not used Do not change the setting 0 Pn20A Not used Do not change the setting 32768 Pn20E Electro...

Page 567: ... to 10000 Online Pn306 Soft start decelera tion time 2 Sets deceleration time during speed control soft start 0 ms 0 to 10000 Online Pn307 Not used Do not change the setting 40 Pn308 Speed feedback filter time constant 2 Sets constant during filter of speed feedback 0 0 01 ms 0 to 65535 Online Pn310 Vibration detection switches 2 0 Vibration detection selection 0 Vibration detection not used 0 Onl...

Page 568: ...800 Online Pn407 Speed limit 2 Sets the speed limit in torque control mode 3000 r min 0 to 10000 Online Pn408 Torque command setting 2 0 Selects notch filter 1 function 0 Notch filter 1 not used 0 Online 1 Notch filter 1 used for torque com mands 1 Not used 0 Do not change the setting 0 2 Selects notch filter 2 function 0 Notch filter 2 not used 0 Online 1 Notch filter 2 used for torque com mands ...

Page 569: ...ng Unit Setting range Enable setting Details Digit No Name Set ting Explanation Pn501 Not used Do not change the setting 10 Pn502 Rotation speed for motor rota tion detec tion 2 Sets the number of rotations for the Servomotor rotation detection output TGON 20 r min 1 to 10000 Online Pn503 Speed conformity signal out put width 2 Sets the allowable fluctuation number of rotations for the speed confo...

Page 570: ...r low input 7 Always enabled 8 Always disabled 9 Allocated to CN1 pin 13 Valid for high input A Allocated to CN1 pin 7 Valid for high input B Allocated to CN1 pin 8 Valid for high input C Allocated to CN1 pin 9 Valid for high input D Allocated to CN1 pin 10 Valid for high input E Allocated to CN1 pin 11 Valid for high input F Allocated to CN1 pin 12 Valid for high input Pn50B Input sig nal selec t...

Page 571: ...on 0 to 3 Same as Pn50E 0 0 Offline Stan dard setting 0 2 TGON ser vomotor rota tion detection signal output terminal allo cation 0 to 3 Same as Pn50E 0 0 Offline Stan dard setting 0 3 READY servoready signal output terminal allo cation 0 to 3 Same as Pn50E 0 0 Offline Stan dard setting 0 Pn50F Output sig nal selec tions 2 2 0 CLIMT cur rent limit detection signal output terminal allo cation 0 to ...

Page 572: ... to CN1 pin 8 Valid for low input 3 Allocated to CN1 pin 9 Valid for low input 4 Allocated to CN1 pin 10 Valid for low input 5 Allocated to CN1 pin 11 Valid for low input 6 Allocated to CN1 pin 12 Valid for low input 7 Always enabled 8 Always disabled 9 Allocated to CN1 pin 13 Valid for high input A Allocated to CN1 pin 7 Valid for high input B Allocated to CN1 pin 8 Valid for high input C Allocat...

Page 573: ...tsignal reverse for CN1 pins 23 24 0 1 Same as above 0 Offline 2 Outputsignal reverse for CN1 pins 25 26 0 1 Same as above 0 Offline 3 Not used 0 Do not change the setting 0 Pn513 Not used Do not change the setting 0321 Pn515 Not used Do not change the setting 8888 Pn51B Not used Do not change the setting 1000 Pn51E Deviation counter overflow warning level 2 Sets the detection level for the deviat...

Page 574: ...eviation counter overflow warning detec tion level for Servo ON 100 10 to 100 Online Pn529 Speed limit level at Servo ON 2 Sets the speed limit for when the Servo turns ON with position deviation accumulated 10000 r min 0 to 10000 Online Pn52A Not used Do not change the setting 20 Pn52F Not used Do not change the setting FFF Param eter No Parame ter name Param eter size Contents Default setting Un...

Page 575: ...r of move ment operations Pn536 4 Waiting time Pn535 Forward movement Pn531 Waiting time Pn535 Reverse movement Pn531 Number of move ment operations Pn536 5 Waiting time Pn535 Reverse movement Pn531 Waiting time Pn535 Forward movement Pn531 Number of move ment operations Pn536 1 Not used 0 Do not change the setting 0 2 Not used 0 Do not change the setting 0 3 Not used 0 Do not change the setting 0...

Page 576: ...it 2 Sets the gain limit 2000 0 1 Hz 10 to 2000 Online Pn550 Analog monitor 1 offset volt age 2 Sets the analog monitor 1 offset voltage 0 0 1 V 10000 to 10000 Online Pn551 Analog monitor 2 offset volt age 2 Sets the analog monitor 2 offset voltage 0 0 1 V 10000 to 10000 Online Param eter No Parameter name Param eter size Contents Default setting Unit Setting range Enable setting Details Pn600 Reg...

Page 577: ...k mask 0 Detects all parame ter setting warnings A 94 MECHA TROLINK com mand warnings A 95 and com munications errors A 96 4 Online Always set to 4 or 0 1 Ignores parameter setting warning A 94 2 Ignores command warning A 95 3 Ignores parameter setting warning A 94 and com mand warning A 95 4 Ignores communi cations warning A 96 5 Ignore setting warning A 94 and communica tions warning A 96 6 Igno...

Page 578: ... to 1 073 741 823 Online Pn808 Absolute encoder zero point position offset 4 Sets the encoder posi tion and machine coordi nate system offsets for when an absolute encoder is used 0 Command unit 1 073 741 823 to 1 073 741 823 Offline Pn80A First step linear acceleration constant 2 Sets the step 1 accelera tion for when two step acceleration is used 100 10 000 command units s2 1 to 65535 Online Set...

Page 579: ...ponential filter is used for the position command filter 0 Command units s 0 to 32767 Online Settings can be changed when the axes are stopped Busy Flag for each axis 0 Pn811 Exponential acceleration deceleration time constant 2 Sets the time constant for when an exponential filter is used for the posi tion command filter 0 0 1 ms 0 to 5100 Online Settings can be changed when the axes are stopped ...

Page 580: ...gnal turns ON 50 100 com mand units s 0 to 65535 Online Settings can be changed when the axes are stopped Busy Flag for each axis 0 Pn818 Zero point return approach speed 2 2 Sets the origin search speed after the decel eration limit switch signal turns ON 5 100 com mand units s 0 to 65535 Online Settings can be changed when the axes are stopped Busy Flag for each axis 0 Pn819 Final travel dis tan...

Page 581: ...fault setting Unit Setting range Enable setting Details Pn20E Electronic gear ratio G1 numer ator 4 Sets the pulse rate for the command pulses and Ser vomotor travel distance 0 01 G1 G2 100 1 1 to 107374 1824 Offline Pn210 Electronic gear ratio G2 denomi nator 4 1 1 to 107374 1824 Offline Param eter No Parame ter name Param eter size Contents Default setting Unit Setting range Enable setting Detai...

Page 582: ... 8 3 Not used 8 Do not change the setting 8 Pn522 Position ing com pletion range 1 4 Sets the width of the positioning completed range 10 Com mand unit 0 to 1 073 7 41 824 Online Pn524 Position ing com pletion range 2 4 Sets the allowable fluctuation range rotation speed for the Speed Conformity Flag 100 Com mand unit 0 to 1 0737 41 824 Online Param eter No Parame ter name Param eter size Contents...

Page 583: ...ing warning A 94 and communications errors A 96 6 Ignores command warnings A 95 and communica tions errors A 96 7 Ignores setting warning A 94 command warning A 95 and com munications errors A 96 2 Not used 0 Do not change the setting 0 3 Not used 0 Do not change the setting 0 Pn801 Function selection applica tion 6 software LS 2 0 Software limit function 0 Software limit enabled 3 Online 1 Forwar...

Page 584: ...n the axes are stopped Busy Flag for each axis 0 Pn80E Linear decelera tion con stant 2 Sets the deceleration constant for the acceleration deceleration curves for positioning 100 10 0 00 com mand units s2 1 to 65535 Online Set tings can be change d when the axes are stopped Busy Flag for each axis 0 Pn814 Final travel distance for exter nal posi tioning 4 Sets the distance from the external signa...

Page 585: ...opped Busy Flag for each axis 0 Pn818 Zero point return approach speed 2 2 Sets the origin search speed after the deceleration limit switch signal turns ON 5 100 com mand units s 0 to 65535 Online Set tings can be change d when the axes are stopped Busy Flag for each axis 0 Pn819 Final travel distance to return to zero point 4 Sets the distance from the latch signal input position to the origin fo...

Page 586: ...t used reserved by the system n 1 00 Communi cations control commands CONNECT Establishes connection Releases connection 01 to 05 Reserved by the sys tem 06 WRITE BACKUP DATA Starts writing backup data 07 READ BACKUP DATA Starts reading backup data 08 to 14 Not used reserved by the system 15 REJOIN See note Starts processing for axes to rejoin the connec tion n 2 Axes to connect See note Sets the ...

Page 587: ...8 Write source word Specifies in hexadecimal the beginning word of the area for the data to be written to the PCU n 9 Write destination address Specifies the write destination address in the PCU n 10 Number of read words Specifies the number of words to be read from the PCU n 11 Read source address Specifies the read source address in the PCU n 12 Read destination area Specifies the area used to s...

Page 588: ...ta Transferring Flag 0 Powerup transfer completed or transfer failed 1 Transferring data 15 Not used reserved by the system n 16 00 to 11 Reserved by the sys tem 12 Memory Card Trans fer Error 0 No Memory Card transfer error has occurred 1 A Memory Card transfer error has occurred 13 Reserved by the sys tem 14 Unit Busy Flag 0 PCU is not busy 1 PCU is busy 15 Connection Status Flag 0 MECHATROLINK ...

Page 589: ... corresponding axis is communicating 01 Axis 2 communica tions status 02 Axis 3 communica tions status 03 Axis 4 communica tions status 04 Axis 5 communica tions status 05 Axis 6 communica tions status 06 Axis 7 communica tions status 07 Axis 8 communica tions status 08 Axis 9 communica tions status 09 Axis 10 communica tions status 10 Axis 11 communica tions status 11 Axis 12 communica tions stat...

Page 590: ...s present position preset 09 Com mands for special functions JOG Starts jogging Stops jogging 10 Direction designation 0 Forward rotation direction 1 Reverse rotation direction 11 Not used reserved by the system 12 ERROR RESET Clears the axis error that occurred 13 DEVIATION COUNTER RESET See note 4 Starts DEVIATION COUNTER RESET 14 Override Enable Bit 0 Override disabled 1 Override enabled 15 DEC...

Page 591: ...ue rightmost word Torque command value rightmost word Torque command value leftmost word Unit 0 001 a 9 Torque command value leftmost word a 10 Position speed torque con trol data Option command value 1 rightmost word Linear interpolation Interpolation acceleration time Unit ms Speed control Torque limit torque feed forward Unit Torque control Speed limit Unit 0 001 a 11 Option command value 1 lef...

Page 592: ...Specifies the data to be written to the Servo Drive a 20 Write data leftmost word a 21 00 Linear inter polation data Interpolation axis designation for axis 1 See note 2 Specify the axes for linear interpolation for combina tions of axes 1 to 4 Bits 00 to 03 correspond to axes 1 to 4 0 Not an interpolation axis 1 Interpolation axis 01 Interpolation axis designation for axis 2 See note 2 02 Interpo...

Page 593: ...te or relative positioning for the axes for linear interpolation Bits 00 to 03 correspond to axes 1 to 4 0 Absolute positioning 1 Relative positioning 01 Interpolation posi tion designation for axis 2 See note 2 02 Interpolation posi tion designation for axis 3 See note 2 03 Interpolation posi tion designation for axis 4 See note 2 04 Interpolation posi tion designation for axis 5 See note 3 Speci...

Page 594: ...ed reserved by the system Always 0 05 PCU Positioning Completed Flag Positioning is completed 06 No Origin Flag 0 Origin established 1 No origin established 07 Origin Stop Flag 0 Outside origin range 1 Within origin range 08 to 10 Not used reserved by the system Always 0 11 Warning Flag 0 No warning has occurred 1 Warning has occurred 12 Error Flag 0 No axis error has occurred 1 Axis error has occ...

Page 595: ...SPD Flag During position control Distribution Completed Flag 0 Servo Drive is executing a position control com mand 1 Servo Drive has completed executing a position control command During speed control Zero Speed Flag 0 Not at zero speed 1 Detecting zero speed 09 Torque Limit T_LIM Status Flag 0 Torque limit function disabled 1 Torque limit function enabled 10 Reserved by the sys tem Used by the P...

Page 596: ...Expanded monitoring Monitor 1 type Shows monitor type for monitor 1 04 to 07 Monitor 2 type Shows monitor type for monitor 2 08 to 15 Not used reserved by the system Always 0 b 6 Present position Feedback present position rightmost word Present position Feedback present position rightmost word Feedback present position leftmost word b 7 Feedback present position leftmost word b 8 Command present p...

Page 597: ...e system for W series Servo Drives Input PCU to CPU Unit b 24 00 Linear inter polation status Linear interpolation setting completed See note 1 0 Linear interpolation setting will be accepted Linear interpolation setting accepted 1 Linear interpolation setting completed New setting not accepted 01 to 12 Not used reserved by the system Always 0 13 Linear interpolation executing See note 1 1 Linear ...

Page 598: ...nternal errors Lit Lit Not lit Not lit Not lit Unit error MLK Device Error 0026 MLK Device Initialization Error 0030 Data corrupted Memory Error 00F1 MECHA TROLINK commu nications errors Lit Flash ing Not lit Lit Unde ter mined Scan list mismatch MLK Initialization Error 0020 Communications error MLK Communications Error 0025 PCU set tings and opera tions errors Lit Flash ing Not lit Not lit Unde ...

Page 599: ...rt Error 3050 PCU set tings and opera tions errors Lit Flash ing Not lit Not lit Lit Illegal data Position Designation Error 3060 Speed Designation Error 3061 Speed Control Speed Designation Error 3062 Torque Command Value Error 3063 Option Command Value 1 Error 3064 Option Command Value 2 Error 3065 Override 3070 Initialization Axis Param eter Check Error 3090 Data Transfer Axis Parameter Check E...

Page 600: ...tion is activated the Servo Drive turns OFF the alarm output signal ALM and switches to the Servo OFF status The alarm code will be displayed on the front panel Alarm type Description Protective function that allows the alarm to be reset and leaves record in the alarm history PR Protective function that does not allow the alarm to be reset and requires the control power supply to be turned OFF and...

Page 601: ...er error A multi turn counter error or phase AB signal error was detected A 47 402F Absolute encoder status error The rotation of the absolute encoder is higher than the spec ified value A 48 4030 PR Encoder phase Z error A phase Z pulse was not detected regularly A 49 4031 PR Encoder PS signal error A logic error was detected in the PS signal A 82 4052 PR Node address setting error The rotary swi...

Page 602: ...e range Parameter write failure Command settings are wrong and others A 95 4095 Command warning Command output conditions are not satisfied Received unsupported command Subcommand output conditions are not satisfied A 96 4096 ML II communica tions warning One or more MECHATROLINK II communications error occurred A 90 4090 Overload warning 85 of the overload alarm trigger level has been exceeded A ...

Page 603: ...2 See note 3 4052 Fluctuation or autotuning alarm An abnormal fluctuation was detected in the Servomotor rotation speed or the inertia ratio calculation during autotuning was abnormal A 71 4071 Overload Operating with output torque exceeding 245 of the rated torque for a W series Servo Drive or exceeding 200 of the rated torque for a SMARTSTEP Junior Servo Drive A 72 4072 Overload Operation contin...

Page 604: ...eded the deviation counter overflow level set in Pn505 R88D WT or Pn520 R88D WN ML2 A d1 See note 5 40D1 Motor load deviation over The deviation between the fully closed encoder and semi closed encoder has reached or exceeded the command unit set in Pn51A A E0 See note 1 No option or Servo Drive error The MECHATROLINK II Application Module is not installed or the Servo Drive has malfunctioned A E1...

Page 605: ...or is too small for the torque com mand from the Servo Drive A F6 See note 2 40F6 Motor conduction error The Servo is ON but the Servomotor is not conducting current regardless of the Servo Drive settings and external input Servo Drive display PCU error code Error detection function Detected error or cause of error Servo Drive display PCU error code Warning detection function Warning details A 90 ...

Page 606: ...INK II Cables are used for the connection between the PCU and Servo Drive MECHA TROLINK II Application Module The cables for pulse output PCUs and Servo Relay Units cannot be used The external sensor signals such as limit inputs and origin proximity inputs are connected to the Servo Drive s control I O connector CN1 The Servo Drive s CN1 connector must be wired Emergency stop input signals are not...

Page 607: ...erating data Other existing PCU Axis Parameters are set to the corresponding Servo Parameters Operating Memory Area Used to input and output bit data such as operating command outputs and status flags inputs The area is allocated in the Special I O Unit Area and is determined according to the unit number set for the PCU Axis Operating Memory Area Servo Parameter Area The I O information bit and wo...

Page 608: ...ble The Axis Parameter addresses shown for CS1W CJ1W NC113 133 213 233 413 433 are those for the X axis The setting locations in the CS1W CJ1W NC271 471 F71 indicated as word d in the Axis Parameters and word a in the Axis Operating Output Memory Area can be calculated using the following equations d 1860 hex Axis No 1 14 hex a Beginning word of Axis Operating Output Memory Areas specified in Comm...

Page 609: ...ernal sensor 09 to 15 Not used 0005 Opera tion mode selection 00 to 03 Operation mode Axis Parameter Area word d 1 Bits 00 to 03 Not used Operation mode selection is not pro vided so this parameter setting is not available 04 to 07 Origin search opera tion Bits 04 to 07 This parameter setting is the same 08 to 11 Origin detection method Bits 08 to 11 Not used Origin searches always use the origin ...

Page 610: ...ion Servo Parame ter Area Pn100 Pn101 The backlash compensation is set in Servo Parameters Pn101 Backlash Compensation and Pn100 Backlash Compensation Selection For details refer to 10 7 Backlash Com pensation 0011 Backlash compensation speed right most word Backlash compensation is executed by adding it to the amount of move ment for positioning so these param eter settings are not supported 0012...

Page 611: ...Parameter Pn201 Forward Software Limit in command units For details refer to 10 8 Software Limits 001A CCW software limit leftmost word 001B CW software limit rightmost word Servo Parame ter Area Pn202 The reverse software limit is set in Servo Parameter Pn202 Reverse Software Limit in command units For details refer to 10 8 Software Limits 001C CW software limit leftmost word 001D Reserved by the...

Page 612: ...parameter is not available The stop methods used for limit inputs and software limits however can be specified in Servo Parameter Pn001 1 For details refer to 7 5 Limit Input Operations 08 Origin undefined designation This parameter setting is not avail able The Servo Drive s feedback position is obtained Therefore the origin is not lost even when operation stops due to an external sensor 09 to 15...

Page 613: ...a Settings Required for Origin Search 000D Origin search proximity speed leftmost word 000E Origin compensation value rightmost word Servo Parame ter Area Pn819 Pn81A The amount of compensation posi tioning after detection of the origin input signal is set in Servo Parameter Pn819 final travel distance to return to zero point For details refer to 8 2 3 Data Settings Required for Origin Search 000F...

Page 614: ...n search deceleration time leftmost word 0018 Positioning monitor time A positioning monitor is not provided so this parameter setting is not avail able Refer to the programming examples and set a timing monitor in the user program Refer to 11 2 6 Positioning Absolute Movement or Relative Movement 0019 CCW software limit rightmost word Servo Parame ter Area Pn804 Pn805 The forward software limit i...

Page 615: ... 1 25 b Beginning word of Axis Operating Input Areas specified in Common Parameters Axis No 1 25 I O CS1W CJ1W NC113 133 213 233 413 433 CS1W CJ1W NC271 471 F71 Word Bits Category Name Word Bits Differences Output CPU Unit to PCU n 00 Memory operation com mands Sequence Number Enable a 00 Used as linear interpolation command bits Memory operation functions are not provided so memory operation com ...

Page 616: ... PCUs with unit versions 1 2 or ear lier counter reset output and origin adjustment command output functions are not provided so this bit is not allo cated 14 Override Enable 14 The function of this bit is the same 15 DECELERATION STOP 15 The function of this bit is the same n 1 00 Not used a 1 00 Used as the SERVO LOCK Bit 01 Not used 01 Used as the SERVO UNLOCK Bit 02 Not used 02 Used as the SPE...

Page 617: ...er PCUs 08 Zone 0 Monitor Flag 08 Not used A zone function is not provided so these bits are not allocated 09 Zone 1 Monitor Flag 09 10 Zone 2 Monitor Flag 10 11 Teaching Completed Flag 11 A teaching function is not provided This bit is used as a Warning Flag 12 Error Flag 12 The function of this bit is the same for errors that occur in individual axes The error flags for Unit common errors are al...

Page 618: ...ty input signal status is allocated to bit 02 of this word b 3 11 Origin input signal 11 This bit is reserved by the system The origin input status is provided either in bit 05 of this word b 3 when phase Z input signal is set or in bits 06 to 08 of this word when the external latch signal is set according to the selected signal 12 Interrupt input signal 12 This bit is reserved by the system The i...

Page 619: ... Operating Memory Area I O CS1W CJ1W NC113 133 213 233 413 433 CS1W CJ1W NC271 471 F71 Word Category Name Word Differences Output CPU Unit to PCU l Operat ing data for data transfer Number of write words n 6 The function is the same as data for WRITE DATA used to transfer PCU parameters The data transferring method for the WRITE SERVO PARAMETER function is different l 1 Write source area n 7 l 2 W...

Page 620: ... PCU power is turned ON or the Unit is restarted Output CPU Unit to PCU l 16 Operat ing data for mem ory oper ation Sequence number Memory operation functions are not provided so this data is not allocated l 17 Operat ing data for special functions Override a 14 Override ratio unit 0 01 l 18 Teaching address Memory operation functions are not provided so this data is not allocated l 19 Not used In...

Page 621: ...t setting Pn80D first step linear deceleration constant The origin search uses a first step acceleration deceleration curve so this parameter setting is not used Pn80E second step linear deceleration constant The maximum speed initial speed and origin search deceleration time in the axis parameters of ear lier PCUs are converted to the value determined from the following equation Pn80F deceleratio...

Page 622: ...e multiplied by 1 100 to obtain the set value required for CS1W CJ1W NC271 471 F71 PCUs Origin Compensation When using origin compensation in earlier PCUs positioning was executed for the amount of origin compensa tion data at the origin search proximity speed This operation is performed after first stopping the search oper ation using origin input signal detection For CS1W CJ1W NC271 471 F71 PCUs...

Page 623: ...peed 2 Pn818 Final travel distance to return to zero point Pn819 Origin search direction CS1W CJ1W NC113 133 213 233 413 433 CS1W CJ1W NC271 471 F71 Initial status when power is turned ON After PCU s initial processing is completed ON status origin not established Same as left ON condition Origin is lost At power up or restart When executing ORIGIN SEARCH See note When the emergency stop input sig...

Page 624: ...E MOVEMENT or RELATIVE MOVEMENT is started CS1W CJ1W NC271 471 F71 The rate of increase or decrease in speed within a specified time unit is set in the following Servo Parameters Each parameter is set in the Servo Drive via the PCU using the PCU s Servo Parameter transfer functions WRITE SAVE SERVO PARAMETER Bits When a trapezoidal curve linear acceleration deceleration is used with the initial sp...

Page 625: ...ion command again Strictly speaking the new target position is to be set in Posi tion of the Operating Data Area for earlier PCUs while it is set in Position Com mand Value in the Axis Operating Output Memory Area for CS1W CJ1W NC271 471 F71 PCUs Changing target speed Change Speed Command Value during axis operation to immediately change the target speed Strictly speaking the new target speed is t...

Page 626: ...W CJ1W NC271 471 F71 PCUs however these settings are set in the Servo Parameters using Servo Parameter transfer functions Details on acceleration deceleration settings are the same as those provided for position control direct opera tion so refer to the section on position control direct operation Changing Target Speed The target speed can be changed during jogging operations in the same way for b...

Page 627: ...the Common Operating Memory Area Servo Parameters These parameters are transferred to each axis using the Servo Parameter transfer bits WRITE SERVO PARAMETER READ SERVO PARAMETER and SAVE SERVO PARAMETER in the Axis Operating Out put Memory Area Parameters are transferred between the PLC and Servo Drive by executing these Servo Parameter transfer functions The IOWR and IORD instructions are not su...

Page 628: ...xis is stopped deceleration stop or emergency stop or SERVO UNLOCK is executed during linear interpolation The CJ1W NCF71 MA enables selecting the stop mode of the other interpolation axes when this occurs with settings in the Axis Operating Output Memory Areas of axis 2 for the combination of axes 1 to 4 or axis 6 for the combination of axes 5 to 8 Operating Output Memory Area for Axis 2 and Axis...

Page 629: ...raxial Deviation Setting for Linear Interpolation If the deviation in feedback present positions between axes 1 and 2 or axes 5 and 6 exceeds the allowed devi ation that is set in the parameters for each axis both axes 1 and 2 or both axes 5 and 6 will be decelerated to a stop It is thus possible to automatically stop axis operation in response to deviation that occurs for example because of an er...

Page 630: ...ing Output Memory Area of axis 6 is calculated as follows a 4000 6 1 25 CIO 4125 The allowed deviation is found by comparing the difference in feedback present positions Make settings so that operation starts from same present positions for axes 1 and 2 or axes 5 and 6 if detecting interaxial devia tion is to be enabled i e if the interaxial deviation is set to a positive number Also if either axi...

Page 631: ...604 Additional Functions for the CJ1W NCF71 MA Appendix F ...

Page 632: ...PCU Positioning Completed Flag 185 186 Receiving Command Flag 185 Servo Parameter Transferring Flag 185 Stop Execution Flag 185 190 Warning Flag 185 axis error code 183 Axis Error Flag 22 Axis Operating Input Memory Area 73 212 214 216 219 allocations 91 180 567 beginning word 94 designation 18 94 monitoring 198 overview 179 Servo Parameter Transferring Flag 23 Servo Status Flags 380 Axis Operatin...

Page 633: ...can list setting axes 3 to 16 19 writing to PCU 19 Communications Alarm 240 communications cycle 96 228 setting 229 communications protocol 222 communications retries 97 228 compatible devices 6 CONNECT Bit 21 25 89 166 Connection Status Flag 21 25 89 168 233 connections establishing 232 Connector Terminal Block Cables 60 control command range 7 control function parameters 85 132 155 550 control f...

Page 634: ...ividual axis errors 469 571 PCU common errors 465 571 error counter reset 10 error detection functions 8 Error Flag 91 181 error reset 482 ERROR RESET Bit 90 171 errors at CPU Unit 462 484 at PCU 462 at powerup 461 indicator display 461 MECHATROLINK communications 459 overview 456 PCU settings and operations 463 resetting 482 483 troubleshooting 460 expanded monitoring 197 exponential acceleration...

Page 635: ...tings 352 starting 354 timing chart 355 JUSP NS115 MECHATROLINK II Application Module 16 L LED indicators 32 error display 462 error displays 461 errors at MECHATROLINK device 464 errors in PCU settings and operations 463 MECHATROLINK errors 463 MECHATROLINK II Application Module 34 PCU errors 462 M MECHATROLINK 12 communications 12 control 232 ending 25 errors 238 459 463 settings 227 starting 21...

Page 636: ...origin input signal selection 98 origin proximity input 91 183 origin return 8 298 data settings 299 timing chart 302 ORIGIN RETURN Bit 90 171 origin search 5 8 10 267 acceleration 268 data settings 277 deceleration 267 direction 100 operation 99 operation mode 287 operation summary 286 overview 275 parameters 283 procedure 276 sample program 413 starting 294 ORIGIN SEARCH Bit 90 171 Origin Stop F...

Page 637: ...ement 4 8 sample program 415 RELATIVE MOVEMENT Bit 16 26 90 171 replacing PCUs Axis Parameter Area 581 Common Parameter Area 581 functions 593 installation 579 operating data 580 Operating Data Area 592 Operating Memory Area 588 PCU Parameters 580 procedure 487 system configuration 579 wiring 579 replacing Units precautions xxvii resetting errors 483 resetting warnings 483 response time 10 command...

Page 638: ...timing chart 212 Servo parameters reading writing 8 Servo Parameters Transferring Flag 91 Servo Status Flags 91 191 380 Distribution Completed Flag 191 194 Forward Software Limit Flag 191 196 Positioning Completed Flag 191 192 Positioning Proximity Flag 191 195 Reverse Software Limit Flag 191 196 Speed Conformity Flag 191 192 Speed Limit Status Flag 191 195 torque limit 191 Torque Limit Status Fla...

Page 639: ...parameters 78 123 145 518 541 sample program 419 starting 375 status 380 switching 442 timing chart 379 TORQUE CONTROL Bit 90 172 torque limit 7 8 334 constant 358 overview 357 setting with operating commands 358 timing chart 361 Torque Limit Status Flag 91 182 195 Transfer 488 transfer cycle 96 227 setting 229 Transfer Cycle Setting Error 239 transferring data 10 transferring programs xxv trouble...

Page 640: ...riting data to PCU 206 W series Servo Drives 33 alarm displays 572 compatible versions 33 Control I O Connector 40 44 47 warning displays 578 W series Servomotor 16 Z Zero Speed Flag 182 Zone Data 10 zone range 9 ...

Page 641: ...614 Index ...

Page 642: ... the upgrade to unit version 1 2 and information on R88D WN ML2 W series Servo Drives with built in MECHATROLINK II communications that differs from information for R88D WT W series Servo Drives equipped with Yaskawa JUSP NS115 MECHATROLINK II Application Modules 04 February 2006 Revisions were made throughout the manual to include new functionality for the upgrade to unit version 1 3 and to inclu...

Page 643: ...616 Revision History ...

Page 644: ...urg IL 60173 5302 U S A Tel 1 847 843 7900 Fax 1 847 843 7787 OMRON ASIA PACIFIC PTE LTD No 438A Alexandra Road 05 05 08 Lobby 2 Alexandra Technopark Singapore 119967 Tel 65 6835 3011 Fax 65 6835 2711 OMRON CHINA CO LTD Room 2211 Bank of China Tower 200 Yin Cheng Zhong Road PuDong New Area Shanghai 200120 China Tel 86 21 5037 2222 Fax 86 21 5037 2200 Control Devices Division H Q Motion Control Dep...

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