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SECTION 9

Positioning

This section provides an overview of direct operation and describes the parameter settings, data settings, and procedures
required to perform direct operation. Information on interrupt feeding and torque limits is also provided here.

9-1

Direct Operation Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

338

9-2

Direct Operation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

339

9-3

PCU Data Settings for Direct Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

339

9-4

Using Direct Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

343

9-4-1

Starting Direct Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

343

9-4-2

Direct Operation Timing Charts . . . . . . . . . . . . . . . . . . . . . . . . . . . .

344

9-4-3

Changing Target Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

348

9-4-4

Changing Target Speed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

350

9-5

Interrupt Feeding. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

351

9-5-1

Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

351

9-5-2

Interrupt Feeding Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

351

9-5-3

Data Settings for Using Interrupt Feeding . . . . . . . . . . . . . . . . . . . .

352

9-5-4

Timing Chart for Interrupt Feeding . . . . . . . . . . . . . . . . . . . . . . . . .

353

9-5-5

Present Position during Interrupt Feeding . . . . . . . . . . . . . . . . . . . .

354

9-6

Torque Limit Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

354

9-7

Linear Interpolation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

355

9-7-1

Overview of Linear Interpolation Function . . . . . . . . . . . . . . . . . . .

355

9-7-2

Linear Interpolation Operation Procedure . . . . . . . . . . . . . . . . . . . .

357

9-7-3

Setting Data for Linear Interpolation Operation. . . . . . . . . . . . . . . .

358

9-7-4

Linear Interpolation Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

363

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Summary of Contents for CJ1W-NC271 - 12-2009

Page 1: ...Cat No W426 E1 10 Position Control Units SYSMAC CJ1W NC271 NC471 NCF71 NCF71 MA CS1W NC271 NC471 NCF71 OPERATION MANUAL ...

Page 2: ......

Page 3: ...CJ1W NC271 NC471 NCF71 NCF71 MA CS1W NC271 NC471 NCF71 Position Control Units Operation Manual Revised December 2009 ...

Page 4: ...iv ...

Page 5: ...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 6: ...vi ...

Page 7: ...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 56 SECTION 4 Data Areas 75 4 1 Overall Structure 76 4 2 Data Areas 79 4 3 Common Paramete...

Page 8: ...rol System 272 7 2 Control Units 273 7 3 Coordinate System and Present Position 276 7 4 Acceleration and Deceleration Operations 277 7 5 Limit Input Operations 286 SECTION 8 Defining the Origin 291 8 1 Overview 292 8 2 Origin Search Operation 293 8 3 Present Position Preset 317 8 4 Origin Return 319 8 5 Phase Z Margin 324 8 6 Absolute Encoder Origin 326 SECTION 9 Positioning 337 9 1 Direct Operati...

Page 9: ...18 SECTION 11 Sample Programs 421 11 1 Overview 422 11 2 Basic Program Examples 423 11 3 Application Examples 448 SECTION 12 Troubleshooting 479 12 1 Overview of PCU Errors 480 12 2 Troubleshooting Procedure 484 12 3 LED Error Indicators 485 12 4 Error Codes 488 12 5 Troubleshooting 501 12 6 Error Reset 506 12 7 CPU Unit Error Display 508 SECTION 13 Maintenance and Inspection 509 13 1 Inspection 5...

Page 10: ...ics 515 B List of Parameters 519 C Operation Area I O Allocations 597 D List of Error Codes 609 E Changing to CS1W CJ1W NC271 471 F71 from CS1W CJ1W NC113 133 213 233 413 433 621 F Additional Functions for the CJ1W NCF71 MA 643 Index 647 Revision History 657 ...

Page 11: ...leration 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 perfo...

Page 12: ...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 13: ...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 14: ...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 15: ... 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 16: ...ocks in the 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 th...

Page 17: ...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 18: ... 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 19: ...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 20: ... 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 21: ...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 22: ...xxii ...

Page 23: ...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 24: ...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 25: ...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 26: ...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 27: ...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 28: ...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 29: ... 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 30: ...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 31: ...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 32: ... 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 33: ...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 34: ...ds 25 input words Highest axis No used Compatible devices OMRON G5 series Servo Drives Built in MECHATROLINK II communications OMRON G series Servo Drives Built in MECHATROLINK II communications OMRON W series Servo Drives equipped with MECHATROLINK II I F Unit or built in MECHA TROLINK II communications OMRON SMARTSTEP Junior Servo Drives Built in MECHATROLINK II communications Note SMARTSTEP Jun...

Page 35: ...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 36: ...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 37: ...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 38: ...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 39: ...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 40: ... 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 41: ...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 42: ...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 43: ...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 44: ...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 MOVEMEN...

Page 45: ...W2 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 I F Unit FNY N...

Page 46: ... on wiring the CPU Unit and Servo Drive power supply and connecting 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 are as...

Page 47: ...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 48: ...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 49: ...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 50: ...s 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 reduction...

Page 51: ...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 52: ...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 53: ...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 54: ...perating 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 Progr...

Page 55: ...sition 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 56: ...lock 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 CONNEC...

Page 57: ...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 58: ...30 Starting Operation Section 2 2 ...

Page 59: ...llation 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 G5 series Servo Drive I O Signals R88D KN ML2 with Built in MECHATROLINK II Communications 40 3 3 3 G series Servo Drive I O Signals R88D GN ML2 with Built in MECHATROLINK II Communications 43 3 3 4 W series Servo Drive I O Signals R88D WT with FNY NS115 47 3 3 5 W series Servo Drive I O Signals ...

Page 60: ...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 61: ...ATROLINK II communica tions to enable connection to the PCU through MECHATROLINK II When a MECHATROLINK II I F Unit 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 I F Unit can be found on the nameplate on the side of each device If an earlier version of the device is used it will not function properly Al...

Page 62: ...cations 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 setting...

Page 63: ... 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 4 ...

Page 64: ...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 65: ...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 66: ...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 67: ...Servo Drives G series Servo Drives R88D GN ML2 with built in MECHATROLINK II communications W series Servo Drives equipped with R88D WT and FNY 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 Connec...

Page 68: ...commu nications 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 of the Servo Drive s sta...

Page 69: ...everse Torque Limit Input ALMCOM Alarm Output 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 B...

Page 70: ...erface Name Default setting 6 24VIN 12 to 24 VDC Power Supply Input Power supply input terminal 12 to 24 VDC for sequence inputs 5 IN1 General pur pose input 1 Immediate stop This is a general purpose input Functions can be selected by parameters Take note that however external latch inputs 1 to 3 can only be allocated to IN5 to IN7 pin numbers 10 to 12 7 IN2 General pur pose input 2 Forward drive...

Page 71: ...nications User s Manual Cat No I566 together with this manual for information on I O signals Terminal Arrangement of the Control I O Connector CN1 When using G series Servo Drives with built in MECHATROLINK II communi 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 Driv...

Page 72: ...urpose Input 1 NCL Reverse Torque Limit Input ALMCOM Alarm Output 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 Genera...

Page 73: ...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 74: ...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 75: ...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 Speed Conf...

Page 76: ...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 77: ...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 78: ...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 79: ...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 80: ...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 81: ...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 82: ...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 83: ...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 84: ...owing 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 Electr...

Page 85: ...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 86: ...ple R88D KN ML2 Equipped with Built in MECHATROLINK II Communications General purpose Input 1 ALM Alarm Output ALMCOM 3 4 OUTM1 OUTM1COM OUTM2COM 1 2 OUTM2 25 26 12 IN7 11 IN6 10 IN5 9 IN4 8 IN3 7 IN2 5 IN1 6 24VIN 12 to 24 VDC 13 IN8 FG 4 7kΩ 4 7kΩ 4 7kΩ 4 7kΩ 4 7kΩ 4 7kΩ 4 7kΩ BAT BATGND Backup Battery See note 1 14 15 1kΩ 4 7kΩ 1kΩ 1kΩ 1kΩ 1kΩ 1kΩ 1kΩ 1kΩ 16 GND 10Ω 10Ω 10Ω General purpose Inpu...

Page 87: ...4 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 2 General purpose Output 3 Shell Backup Battery See note 1 Emergency Stop External Latch 3 External Latch 2 External Latch 1 General purpose Input ...

Page 88: ... 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 3 kΩ 3 3 kΩ 3 3 kΩ 3 3 kΩ 3 3 kΩ Origin return decelera...

Page 89: ...ries W 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 contro...

Page 90: ...rpose Control Cable 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 mo...

Page 91: ... 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 Red 12 Yellow Bla...

Page 92: ... NOT 10 EXT1 EXT2 11 12 2 1 EXT3 BATGND 14 15 BAT BKIRCOM BKIR 4 ALM 3 ALMCOM FG No 24V 0V 24V 0V 24V 0V DEC POT NOT EXT1 EXT2 EXT3 BATGND BAT BKIRCOM BKIR ALM ALMCOM FG STOP STOP 5 Connector on Servo Drive CN1 Connector on Connector Terminal Block Name Shell Connector on Servo Drive Connector Plug 10126 3000PE Sumitomo 3M Connector Case 10326 52A0 008 Sumitomo 3M Connector on Connector Terminal B...

Page 93: ...OT 11 11 EXT1 EXT2 5 4 3 EXT3 12 12 FG 24VIN STOP POT BATCOM BAT 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 Oran...

Page 94: ...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 95: ... 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 96: ...f a G5 series Servo Drive 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 ...

Page 97: ...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 98: ...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 99: ...he XB contacts are used to turn ON OFF the electromagnetic brake 3 Assign BKIR brake interlock to CN1 36 pin to use 4 The absolute encoder backup battery is not required when using a Ser vomotor with an incremental encoder Applicable Crimp Terminals Applicable Wires Round Crimp Terminals 1 25 3 AWG22 16 0 3 to 1 25 mm2 Fork Terminals 1 25Y 3 AWG22 16 0 3 to 1 25 mm2 5 8 mm max 3 2 mm dia 3 2 mm 5 ...

Page 100: ...5 V When using a motor with an absolute encoder connect a backup battery to one of the following The Servo Drive for the 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 s...

Page 101: ...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 102: ...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 103: ...s Servo Drives R88D WT with FNY NS115 132 4 5 4 W series Servo Drive R88D WN ML2 with Built in MECHATROLINK II Communications 151 4 5 5 SMARTSTEP Junior Servo Drive R7D ZN ML2 with Built in MECHATROLINK II Communications 174 4 6 Common Operating Memory Area 179 4 6 1 Common Operating Memory Area Overview 179 4 6 2 Common Operating Memory Area Words 181 4 7 Axis Operating Output Memory Areas 185 4 ...

Page 104: ...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 105: ...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 106: ...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 107: ...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 108: ... The parameter names and default settings used for these parameters follow those specified in the FNY 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 a...

Page 109: ...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 110: ...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 111: ...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 112: ... 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 113: ...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 114: ... 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 115: ...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 116: ...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 117: ... 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 118: ...ne 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 Onlin...

Page 119: ...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 120: ...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 121: ...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 122: ...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 123: ...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 124: ...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 125: ...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 126: ...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 127: ...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 128: ...3 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 communication...

Page 129: ...is 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 Parame...

Page 130: ...terrupt 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 Reversa...

Page 131: ... 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 132: ...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 133: ...er to the information below A Enabled at all time B Changes are prohibited during motor operation and issuing of com mands The timing will fluctuate if a change is made during motor operation and issuing of commands C Enabled after a power reset or executing the CONFIG command in MECHATROLINK II communication R Power reset Note that this is not enabled by the CONFIG command in MECHA TROLINK II com...

Page 134: ... Electronic Gear Ratio Numerator Pn009 Electronic Gear Ratio Denominator Pn010 1 0 to 230 C 010 00A Electronic Gear Ratio Denominator 4 1 1 to 230 C 013 00D No 1 Torque Limit 2 Set the No 1 limit value for the output torque of the motor 500 0 to 500 B 014 00E Error Counter Over flow Level 4 Set the range of the error counter overflow level Detec tion of error counter overflow level error is disabl...

Page 135: ...t 300 0 1 0 to 1000 B 111 10B Speed Feed forward Command Filter 2 Set the speed feed forward filter time constant 50 0 01m s 0 to 6400 B 112 10C Torque Feed forward Amount 2 Set the torque feed forward amount 0 0 1 0 to 1000 B 113 10D Torque Feed forward Command Filter 2 Set the torque feed forward filter 0 0 01m s 0 to 6400 B 114 10E Gain Switching Input Operating Mode Selection 2 Execute optimum...

Page 136: ...ge Data attribute Param eter No Parameter name Param eter size Explanation Default setting Unit Setting range Data attribute 200 200 Adaptive Filter Selec tion 2 Set the operation of the adaptive filter 0 Disabled 1 One enabled Frequency limited after adaptation 2 Two enabled Frequency limited after adaptation 3 One enabled Adaptation performed at all times 4 Two enabled Adaptation performed with ...

Page 137: ...g frequency 3 The function is enabled if the set value is 10 1 Hz or greater 0 0 1Hz 0 to 2000 B 219 213 Damping Filter 3 Set ting 2 Finely adjust damping control function 3 If torque saturation occurs lower this setting to increase responsiveness raise this setting 0 0 1Hz 0 to 1000 B 220 214 Damping Frequency 4 2 Set the damping frequency 4 The function is enabled if the set value is 10 1 Hz or ...

Page 138: ...ation speed 0 Rota tion 0 to 100 C Param eter No Parameter name Param eter size Explanation Default setting Unit Setting range Data attribute Param eter No Parameter name Param eter size Explanation Default setting Unit Setting range Data attribute 400 400 Input Signal Selec tion 1 4 Set the function and logic for the general purpose input 1 IN1 00949494h 0 to 00FFFFFFh C 401 401 Input Signal Sele...

Page 139: ...ioning completion output 1 becomes on when there is no position command and the posi tional error is lower than the value set on the Pn431 2 The Positioning completion output 1 becomes on when there is no position command the zero speed detection signal is on and the positional error is lower than the value set on the Pn431 3 The Positioning completion output 1 becomes on when there is no position...

Page 140: ...bition inputs 1 0 to 2 C 505 505 Stop Selection for Drive Prohibition Input 2 Set the drive conditions during deceleration and after stopping when the Forward or Reverse Drive Prohibi tion Inputs are enabled 0 The torque in the drive prohibit direction is dis abled and the dynamic brake is activated 1 The torque in the drive prohibit direction is dis abled and free run deceleration is performed 2 ...

Page 141: ...t Signal Read Setting 2 Select the cycle to read the control input signals from the four levels 0 0 166 ms 1 0 333 ms 2 1 ms 3 1 666 ms 0 0 to 3 C 520 514 Position Setting Unit Selection 2 Select the setting units of Positioning Completion Range 1 and 2 Pn431 and Pn442 and of the Error Counter Overflow Level Pn014 0 Command unit 1 Encoder unit 0 0 to 1 C 521 515 Torque Limit Selec tion 2 Select th...

Page 142: ...632 620 Realtime Autotuing Customization Mode Setting 2 Set the CUSTOMIZATION mode detail for realtime autotuning 0 32768 to 32767 B 634 622 Hybrid Vibration Suppression Gain 2 Set the hybrid vibration suppression gain during full closing control 0 0 1s 0 to 30000 B 635 623 Hybrid Vibration Suppression Filter 2 Set the hybrid vibration suppression filter time con stant during full closing control ...

Page 143: ... reverse soft limit 3 Disable the soft limits on both directions 0 0 to 3 A 803 803 Origin Range 2 Set the threshold for detecting the origin in absolute values 0 0 to 250 A 804 804 Forward Software Limit Value 4 Set the forward soft limit 500000 Com mand unit 1073741823 to 1073741823 A 806 806 Reverse Software Limit 4 Set the reverse soft limit 500000 Com mand unit 1073741823 to 1073741823 A 808 ...

Page 144: ...ith 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 parameters manually disable realti...

Page 145: ...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 146: ...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 147: ...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 148: ... 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 us...

Page 149: ...etting 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 Aut...

Page 150: ...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 151: ... 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 152: ... 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 153: ...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 154: ...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 155: ...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 156: ...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 157: ...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 158: ... 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 159: ...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 160: ...vo 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 FNY NS115 MECHA TROLIN...

Page 161: ...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 162: ... 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 163: ...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 164: ...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 165: ...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 166: ...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 167: ... 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 168: ...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 169: ...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 170: ...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 171: ...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 172: ...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 173: ...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 174: ...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 175: ...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 176: ...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 177: ...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 178: ...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 179: ...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 180: ...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 181: ...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 182: ... 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 183: ... 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 184: ...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 185: ...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 186: ...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 187: ...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 188: ...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 189: ...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 190: ...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 191: ...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 192: ...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 193: ...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 194: ...ut signal reverse for CN1 pins 23 24 0 1 Same as above 0 Offline 2 Output signal 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 dev...

Page 195: ... 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 196: ...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 197: ...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 198: ... 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 199: ...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 200: ...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 201: ...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 202: ...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 203: ...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 204: ... 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 205: ...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 206: ...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 207: ...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 208: ...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 209: ...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 210: ...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 211: ...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 212: ... 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 213: ... 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 214: ...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 215: ... 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 216: ...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 217: ...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 218: ...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 219: ...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 220: ...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 221: ...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 222: ...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 223: ...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 224: ...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 225: ...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 226: ...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 227: ...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 228: ...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 229: ...ing 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 axis has reac...

Page 230: ...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 231: ...ection 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 and the present posi ...

Page 232: ... Busy Flag turns OFF when the axis feedback position reaches the Servo Parameter Positioning Completion Range 1 Pn431 for R88D KN 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 Inclu...

Page 233: ...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 234: ...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 235: ...cle time 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 tur...

Page 236: ...rvo 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 G5 series Servo Drives 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 ...

Page 237: ...on control command to Servo Drive completed During Speed Control Zero Speed Flag G5 series Servo Drives 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 Pn436 for R88D KN Pn062 for R88D GN and Pn502 for R88D W 0 Not at zero speed 1 Detecting zero speed Det...

Page 238: ... are enabled for the torque limits specified in No 1 Torque Limit Pn05E No 2 Torque Limit Pn05F or in the option command value for speed control 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 depe...

Page 239: ...e This bit 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...

Page 240: ...word b 3 Present position Feedback present position Words b 6 b 7 Com mand present position Words b 8 b 9 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 Input closed Sensor status Base block not receiving power Input open Sensor sta...

Page 241: ...n to be returned to monitor 1 Monitor 2 type 04 to 07 Used to select the type of control informa tion to be returned 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...

Page 242: ... tor s encoder 9 Command 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 c...

Page 243: ...onitored 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 monitoring To...

Page 244: ...216 Axis Operating Input Memory Areas Section 4 8 ...

Page 245: ...er bits 5 1 Transferring Data 218 5 2 Transferring PCU Parameters 220 5 2 1 Writing PCU Parameters 220 5 2 2 Reading PCU Parameters 223 5 2 3 Saving PCU Parameters 225 5 3 Transferring Servo Parameters 226 5 3 1 Writing Servo Parameters 227 5 3 2 Reading Servo Parameters 229 5 3 3 Saving Servo Parameters 231 5 3 4 Device Setup 234 ...

Page 246: ...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 247: ...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 248: ... 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 249: ...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 250: ...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 251: ... 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 252: ...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 253: ...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 254: ...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 255: ...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 256: ...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 257: ... 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 258: ...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 259: ...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 260: ...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 261: ...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 262: ...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 263: ...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 264: ...236 Transferring Servo Parameters Section 5 3 ...

Page 265: ...Communications Status 249 6 3 3 MECHATROLINK Communications Errors 254 6 3 4 Rejoining the Connection 258 6 3 5 Specifying the Axes to Connect 261 6 4 Standard Settings for Servo Drives Using MECHATROLINK 263 6 4 1 G5 series Servo Drive Settings R88D KN ML2 with Built in MECHATROLINK II Communications 263 6 4 2 G series Servo Drive Settings R88D GN ML2 with Built in MECHATROLINK II Communications ...

Page 266: ...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 267: ...th 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 Memory Area of the CPU Unit and controls positionin...

Page 268: ... 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 269: ...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 270: ... 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 271: ...d with a FNY NS115 MECHATROLINK II I F Unit or with built in MECHATROLINK II communications is connected to the PCU the setting range for the transfer cycle is 0 5 to 4 ms When a G5 series Servo Drive or 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 Communicatio...

Page 272: ...rvo Drive set 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...

Page 273: ...ices connected R88D KN ML2 G5 series Servo Drive equipped with built in MECHATROLINK II communications R88D GN ML2 G series Servo Drive equipped with built in MECHATROLINK II communications R88D WT W series Servo Drive equipped with FNY NS115 MECHATROLINK II I F Unit R88D WN ML2 W series Servo Drive equipped with built in MECHATROLINK II communications R7D ZN ML2 SMARTSTEP Junior Servo Drive equip...

Page 274: ...nterpolation set the communications cycle to a value 1 ms higher than the minimum value given in the above 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...

Page 275: ... set the absolute 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 t...

Page 276: ...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 277: ...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 278: ...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 279: ...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 280: ...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 281: ...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 282: ...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 283: ...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 284: ...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 285: ...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 286: ...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 287: ...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 288: ...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 289: ...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 290: ...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 291: ...LINK II communications is 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 Note The PCU uses the forward drive prohibited input reverse drive prohibited input and origin return deceleration limit switch allocated in the Servo Drive s external inputs as the forward rotation limit input signal reverse...

Page 292: ...tings 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 prohibited input reverse drive prohibited input and origin return dece...

Page 293: ...ng 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 mode 1 User defined sequence input signal alloca...

Page 294: ...settings 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 FNY 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 FNY NS115 Parameter No Parameter name Unit Fixed...

Page 295: ... 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 296: ... 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 297: ... 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 298: ...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 299: ...l Units 273 7 2 1 Control Units for Position Control 273 7 2 2 Control Units for Speed Torque Control 274 7 2 3 Units of the PCU s Main Controlled Variables 275 7 3 Coordinate System and Present Position 276 7 4 Acceleration and Deceleration Operations 277 7 4 1 Overview of Acceleration Deceleration Operations 277 7 4 2 Acceleration Deceleration Settings 278 7 4 3 Acceleration Deceleration Filter ...

Page 300: ...feedback 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...

Page 301: ...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 default setting G1 G2 4 1 is used the command unit...

Page 302: ... 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 303: ...and 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 percentage ...

Page 304: ...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 305: ...tions that can be used when the PCU is connected to a G5 series Servo Drive G series Servo Drive W series Servo Drive or SMARTSTEP 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 accelerati...

Page 306: ... be used after conversion to unsigned 16 bit data 0 to 65536 Examples 32768 is converted to 8000 hex 32768 1 is converted to FFFF hex 65535 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 aft...

Page 307: ...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 308: ...tion 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 Servo Drive is c...

Page 309: ...eration 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...

Page 310: ...11 When an exponential acceleration deceleration curve is used the accelera tion deceleration time is always fixed regardless of the speed command value S curve Movement Average Acceleration Deceleration Curve Speed Pn811 Pn811 Pn810 Speed command value Time Speed command value Pn810 63 2 Speed command value Pn810 63 2 Speed Speed command value The slope of the acceleration deceleration speed for ...

Page 311: ...curve is taken is set as the Moving Average Time Interval Pn812 set by Pn10E in the G series Servo Drive and by Pn818 in the G5 series Servo Drive For accel eration deceleration curves having a fixed speed region that is large enough for the target speed speed command value the time to reach the target speed by the S curve acceleration deceleration curve is slower than the linear acceleration dece...

Page 312: ... and perform the set positioning Both the deceleration and acceleration will be determined also by the set acceleration deceleration curve circled in following diagram Origin proximity input signal Origin input signal Phase Z signal Speed command value Speed Start Zero point return approach speed 1 Pn817 for W Series Origin return approach speed 1 Pn110 for G Series and Pn823 for G5 Series Final t...

Page 313: ... for G Series and Pn306 for W Series to create a trapezoidal speed curve For details on speed control refer to 10 5 Speed Control G5 series Acceleration Deceleration Constants for Speed Control 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 respec...

Page 314: ...posite to the travel direction due to incorrect wiring or other cause 2 For details on software limit functions refer to 10 8 Software Limits W Series Pn305 G Series Pn058 G5 Series Pn312 0 Actual acceleration time Servomotor speed r min Actual deceleration time Time W Series Pn306 G Series Pn059 G5 Series Pn313 Actual acceleration deceleration time Soft start acceleration deceleration time Speed ...

Page 315: ...Input Parameters Pn505 is used to set the stop operation of the Servomotor when a for ward reverse rotation limit is input or a forward reverse software limit is reached The parameter size of Pn505 is the value to be specified when trans ferring the Servo Parameter Pn505 including the above settings The following table shows the Servomotor stop operations using Pn505 set tings Note 1 If an operati...

Page 316: ... prohibited direction is disabled the Servomotor will not operate in the drive prohibited direction but the position deviation will accumulate because the torque command is en abled If drive prohibition is detected stop the operation command from the host controller and take measures such as executing a command in the reverse direction 2 The positioning command generation process positioning opera...

Page 317: ... Parameter No Parameter name Unit Setting range Parameter size Default setting Pn001 1 Function selection application switch 1 Select stop when prohibited drive is input 0 to 2 2 0 Pn406 Emergency stop torque 0 to 800 2 350 Parameter No Set value Details Pn001 1 0 Stops operation according to the setting in Pn001 0 selects stop if an alarm occurs when Servomotor is OFF Puts Servomotor in Servo unl...

Page 318: ...e prohibited signal or while the Servo is unlocked as the result of reaching a software limit Unlock the Servo before activating a machine holding brake POT NOT is OFF Pn001 1 0 Pn001 1 2 1 or 2 2 1 Pn001 0 0 or 1 Stopping Methods when Forward Reverse Drive Prohibit Is OFF Dynamic brake Servo unlocked Servo unlocked Servo locked Deceleration method Stopped status Free run Emergency Stop Torque Pn4...

Page 319: ...8 2 6 Origin Search Preset 315 8 3 Present Position Preset 317 8 3 1 Outline of Operation 317 8 3 2 Data Settings for Present Position Preset 317 8 4 Origin Return 319 8 4 1 Origin Return Data Settings 319 8 5 Phase Z Margin 324 8 5 1 Description 324 8 5 2 Calculating the Phase Z Margin Example 324 8 5 3 Phase Z Margin for Specific Operation Patterns 325 8 6 Absolute Encoder Origin 326 8 6 1 Absol...

Page 320: ...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 321: ...r Zero Point 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 U...

Page 322: ... 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 323: ...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 324: ...h If the settings do not match ORIGIN SEARCH execution will not be possible or another malfunction may occur 3 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 is shorter than the communications cycle the PCU is unable to detect t...

Page 325: ...input signal Axis Parameter Area Encoder type G5 series Servo Parameter Pn015 Operation Switch when Using Absolute Encoder 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 This ...

Page 326: ...ARTSTEP Junior Servo Drive the Servomotor will deceler ate to a stop with the maximum Servomotor torque and the Servo will be locked when the forward or reverse rotation limit input is received Drive Prohibit Input Selection G series Pn004 sets the forward and reverse drive prohibition input CH1 POT pin 19 NOT pin 20 functions If reversal mode 1 is used in origin search set to 0 or 1 Parameters fo...

Page 327: ...e and other malfunctions may occur Command Unit Parameters The command unit default setting is pulses Type Parame ter No Parameter name Unit Setting range Parame ter size Default setting Pn00B Operation switch when using absolute encoder 0 to 2 2 0 Type Parame ter No Parameter name Unit Setting range Parame ter size Default setting W Series SMART STEP Junior Pn002 2 Function selection application ...

Page 328: ... to 5100 2 0 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 linear acceler ation constant 10 000 command units s2 1 to 65535 2 100 Sup ported Sup ported Pn80C Accel...

Page 329: ...n curves are set using only Pn80B and Pn80E For details on acceleration deceleration curves refer to 7 4 Acceleration and Deceleration Operations G5 series Origin Search Parameters G series Origin Search Parameters Type Parameter No Parameter name Unit Setting range Parameter size Default setting Pn820 See note Final distance for external input positioning Command unit 1 073 741 823 to 1 073 741 8...

Page 330: ... 1 Origin Return Approach Speed 2 Origin Search Final Travel Distance Origin Search Approach Speed 1 Origin Search Approach Speed 2 Origin Search Final Travel Distance Pn823 Pn824 Pn825 for G5 Series Origin Return Approach Speed 1 Origin Return Approach Speed 2 Origin Return Final Distance Pn110 Pn111 Pn204 for G Series or Zero Point Return Approach Speed 1 Zero Point Return Approach Speed 2 and F...

Page 331: ...RCH a 06 0 1 Starts origin search Supported Supported Supported Position command value a 2 a 3 Position command value right most word Position command value left most word Unit Command units s Command range 2 147 483 648 to 2 147 483 647 80000000 hex to 7FFFFFFF hex This value is also used as the preset value when a preset value is being set after completing an origin search Supported Not sup port...

Page 332: ...vo Drive do not attempt to use an acceleration deceleration curve designation or for ward reverse torque limit designation Note Do not set both the exponential curve designation and S curve designation to 1 enabled in the acceleration deceleration curve designation Enabling both settings may cause a malfunction Axis Operating Input Memory Areas Monitor b Beginning word of Axis Operating Input Area...

Page 333: ...n Direction Pn816 2 The parameters shown above are different for G series Servo Drives Note 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 Parame ters Setting different directions may result in a malfunction The override function is disabled during origin searches The parameter Final Travel Distance to ...

Page 334: ...hree patterns can be selected in the Axis Parameters 1 0 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 D...

Page 335: ... 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 336: ...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 337: ...rigin search direction an error terminates when the origin search operation is completed data setting error error code 3099 Origin search operation mode 1 Reversal mode 2 Origin detection method 0 With origin proximity input signal reversal 1 0 Error stop 1 0 Origin proximity input signal Origin input signal Phase Z signal Origin search reverse direction Origin search reverse direction Origin sear...

Page 338: ...direction Origin search direction Limit input signal in origin search direction See note 1 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 1 0 Origin input signal Phase Z signal Origin search reverse direction Origin search reverse direction Origin search reverse direction Start Stop...

Page 339: ...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 340: ...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 341: ...rameters after the limit input signal turns ON and until the axis operation stops When using a SMARTSTEP Junior Servo Drive the Servomotor will deceler ate to a stop using the maximum Servomotor torque Reverse Pattern 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...

Page 342: ...nd value set in the Axis Operating Output Memory Areas and started when the ORIGIN SEARCH Bit turns ON Execute ORIGIN SEARCH when the Busy Flag for the corresponding axis is OFF If ORIGIN SEARCH is executed while the axis s Busy Flag is ON a Multistart Error axis error code 3050 will occur and ORI GIN SEARCH will not be executed When starting ORIGIN SEARCH make sure that the ORIGIN SEARCH Bit will...

Page 343: ...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 344: ...et Refer to 8 6 5 Absolute Encoder s Origin Zero Point Position Offset 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 ...

Page 345: ...ided here For details on command units refer to 7 2 Control Units The setting units for parameters and data depend on the specified command unit Servo Parameter Area Command Unit Parameters The command unit default setting is pulses Model Parameter No Parameter name Unit Setting range Parameter size Default setting R88D KN ML2 Pn009 Electronic gear ratio numerator 1 to 1073741824 4 1 Pn010 Electro...

Page 346: ...rameters Axis No 1 25 Timing Chart In the following timing chart the present position is changed to 0 When the present position changes to 0 that position becomes the origin so the Ori gin Stop Flag turns ON The status of the PCU Positioning Completed Flag word b bit 05 does not change Name Word Bits Contents PRESENT POSITION PRESET a 08 0 1 Starts present position preset Position command value a ...

Page 347: ...e word a 2 a 3 PRESENT POSITION PRESET word a bit 08 Origin Stop Flag word b bit 07 No Origin Flag word b bit 06 Busy Flag word b bit 13 1 cycle time min 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 Model Parameter No Parameter name Unit Setting range Parameter ...

Page 348: ... s2 32768 to 32767 2 100 Pn10A Linear deceleration constant 10 000 command units s2 32768 to 32767 2 100 Accel eration decel eration 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 acceleration constant 10 000 command ...

Page 349: ...eration Operations for details on accelera tion deceleration curves Control Status Parameters Accel eration decel eration filters Pn810 Exponential acceleration deceleration bias Command units s 0 to 32767 2 0 Sup ported Not sup ported Pn811 Exponential acceleration deceleration time constant 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...

Page 350: ...ith origin return operations For fur ther details on the torque limit function refer to 10 4 Torque Limits The acceleration deceleration curve designation and forward reverse rotation current limit designation data are enabled when the ORIGIN RETURN Bit turns ON The SMARTSTEP Junior Servo Drives do not support acceleration decelera tion filters and torque limits When using a SMARTSTEP Junior Servo...

Page 351: ...most 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 bit 07 Speed Origin Stop Flag word b bit 07 PCU Positioning Complet ed Flag word b bit 05 Target speed 1 000 command units s Solid line Command speed Broken line Feedback speed Time a Beginning word of Axis O...

Page 352: ...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 353: ...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 354: ...t Position Offset for G5 series 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 Ti...

Page 355: ...nd Axis Parameters set in steps 1 and 2 above are enabled 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 ...

Page 356: ...encoder will be used 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 ...

Page 357: ...es 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 This setting is used when using an absolute encoder as an incremental encoder 1 Absolute encoder This setting is used when using an ab...

Page 358: ...s performed with an absolute encoder Refer to 8 6 5 Absolute Encoder s Origin Zero 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 Pn00B Op...

Page 359: ...OMRON FB Library _NCF700_InitializeAbsEncoder The absolute encoder setup 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...

Page 360: ... G Series Pn200 or Absolute Encoder Zero Point Position Offset for G5 Series W Series Pn808 is set to a value other than 0 such as when replacing the Servomotor use either of the follow ing methods to set the origin position offset Method 1 First set the origin position offset to 0 set Absolute Origin Offset for G Series Pn200 or Absolute Encoder Zero Point Position Offset for G5 Series W Series P...

Page 361: ... point position offset will not be set correctly using an origin search operation if an error occurs before origin search operation is completed 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 Co...

Page 362: ...s Servo Drive or G series Servo Drive reads the absolute value data of the Servomotor with the absolute encoder to the Servo Drive When MECHATROLINK communica tions start i e when a connection is established the Position Control Unit updates the present position using the absolute value data read from the Servo Drive Servo Drive Power Supply Input CONNECT Bit word n 1 bit 00 Connection Status Flag...

Page 363: ...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 364: ...ons or ex ecute 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 Area...

Page 365: ...irect Operation 343 9 4 2 Direct Operation Timing Charts 344 9 4 3 Changing Target Position 348 9 4 4 Changing Target Speed 350 9 5 Interrupt Feeding 351 9 5 1 Overview 351 9 5 2 Interrupt Feeding Procedure 351 9 5 3 Data Settings for Using Interrupt Feeding 352 9 5 4 Timing Chart for Interrupt Feeding 353 9 5 5 Present Position during Interrupt Feeding 354 9 6 Torque Limit Function 354 9 7 Linear...

Page 366: ...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 367: ...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 368: ...erage 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 linear acceler ation constant 10 000 command units s2 1 to 65535 2 100 Sup ported Sup...

Page 369: ...e Axis Operating Output Memory Areas Operating Commands Model Parameter No Parameter name Unit Setting range Parameter size Default setting R88D KN ML2 Pn431 Positioning completion range 1 Command unit 0 to 262144 4 300 R88D GN ML2 Pn060 Positioning completion range 1 Command unit 0 to 10000 2 25 R88D WT Pn500 Positioning completion range 1 Command unit 0 to 250 2 3 R88D WN ML2 Pn522 Positioning c...

Page 370: ... to use an acceleration deceleration curve designation or for ward reverse torque limit designation Note Do not set both the exponential curve designation and S curve designation to 1 enabled in the acceleration deceleration curve designation Enabling both settings may cause a malfunction Speed command value a 4 a 5 Speed command value rightmost word Speed command value leftmost word Unit Command ...

Page 371: ...emain OFF while performing direct operation Executing ABSOLUTE MOVEMENT ABSOLUTE MOVEMENT positions the axis at the specified position using the position command value in the Axis Operating Output Memory Area as abso lute data If ABSOLUTE MOVEMENT is 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 ...

Page 372: ...osition refer to 7 3 Coordinate System and Present Position The position command value used as the relative travel distance can be 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 wil...

Page 373: ... 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 374: ...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 375: ...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 376: ...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 377: ... 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 378: ...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 379: ... 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 380: ...series Servo Drives Pn203 or 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 Unit Setting range Paramet er size Default sett...

Page 381: ...n Parameters Axis No 1 25 9 5 4 Timing Chart for Interrupt Feeding Interrupt feeding is executed by turning ON the INTERRUPT FEEDING Bit in the Axis Operating Output Area and starting direct operation Timing Chart for Interrupt Feeding Using ABSOLUTE MOVEMENT The following timing chart is for when INTERRUPT FEEDING is executed with ABSOLUTE MOVEMENT The timing chart for RELATIVE MOVEMENT is the sa...

Page 382: ...ange When the interrupt feeding operation after interrupt input exceeds the upper or lower limit of the positioning range due to the Final Travel Distance for External Positioning setting and the input position of the interrupt input signal the current position reference point i e the origin and the positioning range change and positioning to the original position is no longer possible When interr...

Page 383: ...for axes 1 to 4 or axes 5 to 8 Note Do not write data to the CJ1W NC 71 unit version 1 1 or later that has been backed up from the CJ1W NC 71 unit version 1 0 to a Memory Card in the CPU Unit using either the CPU Unit s simple backup function or the Position Control Unit s backup function When unit version 1 0 backup data is restored to unit version 1 1 or later the linear interpolation function c...

Page 384: ...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 385: ...d by the precision 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 interp...

Page 386: ... 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 387: ... 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 388: ...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 389: ...nstant for W series Servo Drives Pn80B Linear Acceleration Constant for G series Servo Drives Pn107 or Linear Acceleration Constant for G5 series Servo Drives Pn811 and Second step Linear Deceleration Constant for W series Servo Drives Pn80E Linear Deceleration Constant for G series Servo Drives Name Word Bits Contents G Series W Series SMART STEP Junior Position Command Value a 2 a 3 Position com...

Page 390: ... Operating Input Areas specified in Common Parameters Axis No 1 25 When a linear interpolation 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 inte...

Page 391: ... 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 Linear Acceleration Constant for G series Servo Drives Pn107 or Linear Acceleration Constant for G5 series Servo Drives Pn811 and Second step Linear De...

Page 392: ...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 393: ...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 394: ...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 395: ...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 396: ...368 Linear Interpolation Section 9 7 ...

Page 397: ...s 378 10 4 3 Torque Limits Set by Operating Commands 379 10 5 Speed Control 385 10 5 1 Overview 385 10 5 2 Starting Speed Control 385 10 5 3 Switching Control Mode 396 10 6 Torque Control 398 10 6 1 Overview 398 10 6 2 Starting Torque Control 398 10 7 Backlash Compensation 405 10 7 1 Overview 405 10 7 2 Backlash Compensation Procedure 405 10 7 3 Backlash Compensation Data Settings 406 10 8 Softwar...

Page 398: ...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 399: ...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 400: ...e 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 To execute jo...

Page 401: ...on filters Pn10E Moving average time 0 1 ms 0 to 5100 2 0 Type Parameter No Parameter name Unit Setting range Data length Default setting W Series SMART STEP Junior Accelera tion decelera tion 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 ...

Page 402: ...nential curve designation and S curve designation to 1 enabled in the acceleration deceleration curve designation Enabling both settings may cause a malfunction Axis Operating Input Memory Areas Monitoring b Beginning word of Axis Operating Input Areas specified in Common Parameters Axis No 1 25 Accelera tion decelera tion curve designation Exponential curve desig nation a 16 03 1 Use exponential ...

Page 403: ... jogging stops Timing Chart The following timing chart is for when JOG is executed in the forward rotation direction 3E8 hex 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 chan...

Page 404: ...peration origin return or jogging operation the speed will change to the above target speed using the acceleration deceleration set in the Servo Parameters for acceleration deceleration the acceleration deceler ation speed enabled for the present operation When using speed control the speed can be changed without using accel eration deceleration by using the Override Enable Bit during axis opera t...

Page 405: ...When enabling multiple torque limit functions simultaneously the Servomo tor s output torque is limited by the minimum torque limit setting 3E8 hex 1000 1000 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 ...

Page 406: ...Torque Limit Selec tion Pn003 the forward torque limit and reverse torque limit will be as shown in the following table Torque Limit Parameters W series Servo Drives To apply constant torque limits to axis operation set the Servo Parameters Forward Torque Limit Pn402 and Reverse Torque Limit Pn403 By setting this parameter the output torque of the operating Servomotor will always be limited by the...

Page 407: ... When either the Reverse Torque Limit CN1 NCL Pin 8 or Axis Output Operating Area is turned ON Forward Torque Limit Reverse Torque Limit A torque limit that has been enabled will continue to function until the For ward Reverse Current Limit Designation Bit is turned OFF and the next oper ating command is sent the specified torque limits continue to be applied even in Servo lock status after positi...

Page 408: ...nd JOG torque limits can be specified only at the start of operation Note When executing movement commands sequentially make sure that the movement command bit remains OFF for a minimum of either the PLC cycle time 2 or the MECHATROLINK communications cycle 2 whichever is longer If the time that the movement command bit is OFF is too short the Type Parameter No Parameter name Unit Setting range Da...

Page 409: ...381 Torque Limits Section 10 4 PCU will not be able to detect the rising edge of the movement command bit preventing reception of the command ...

Page 410: ...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 411: ... 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 412: ...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 413: ...formed while changing the speed using jog ging or direct operation to achieve feeding at desired speeds 10 5 2 Starting Speed Control Speed 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...

Page 414: ... is set as the detection width of the Speed Conformity Flag word b 1 bit 07 in the Axis Operating Input Memory Area Servo Parameter Area G series Servo Drive Speed Control Parameters Pn003 is used to select the function of the option command value for speed control The option command value for speed control is described on the following pages Pn062 is set as the detection threshold of the Zero Spe...

Page 415: ...000000 to 0000018F hex When using G5 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 Pn521 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...

Page 416: ...re different When switching between speed and torque control be sure that the option command value is set within the proper range for the cur rent type of control Changes to the speed command value for speed control during operation are always effective During speed control by setting a new speed command value for speed control in the Axis Operating Output Memory Area the target speed for speed co...

Page 417: ...when performing speed control can also be minimized by setting the Servo Parameters Soft Start Acceleration Time and Soft Start Deceleration Time to create a trapezoidal speed curve G5 series Acceleration Deceleration Constants for Speed Control G series Acceleration Deceleration Constants for Speed Control Name Word Bits Contents Receiving Command Flag b 00 0 Command reception enabled 0 1 Command...

Page 418: ... Value during Speed Control When speed control is used the torque limit and torque feed forward func tions can be applied during speed control by setting Servo Parameter Torque Limit Selection Pn521 when using G5 series Servo Drives Servo Parameter Tolque Limit Selection Pn003 when using G series Servo Drives or Servo Parameter Torque Command Input Change of Function Selection Application Switch 2...

Page 419: ...lue 1 word a 10 a 11 functions as a forward torque limit value and whichever is smaller of the Servo Parameter Pn522 and option command 2 word a 12 a 13 functions as a reverse torque limit value when the torque limit function is enabled 5 The torque feed forward function is disabled OFF OFF Pn013 functions as a forward torque limit value when the torque limit function is enabled Pn522 functions as...

Page 420: ...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 torque limit function is enabled 3 Option command value 1 words a 10 a 11 functions as a torque feed forward command value an...

Page 421: ...nabled 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 torqu...

Page 422: ...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 423: ...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 424: ...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 425: ...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 426: ...Servo Parameters No 1 Torque Limit Pn05E or No 2 Torque Limit Pn05F when using G series Servo Drives and 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 lo...

Page 427: ...ion command value for torque control The option command value for torque control is described in the fol lowing pages The data length for Pn002 1 is the set value specified to transfer Pn002 including Pn002 1 when transferring Servo Parameters Pn407 is used to set the fixed speed limit for torque control Axis Operating Output Memory Areas Operating Commands Type Parameter No Parameter name Unit Se...

Page 428: ...ed The data for option command value 1 speed limit value is enabled when the 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 Bi...

Page 429: ...ns cycle 2 whichever is longer If the time that the movement command bit is OFF is too short the PCU will not be able to detect the rising edge of the movement command bit preventing reception of the command Option Command Value during Torque Control A speed limit can be applied during torque control by setting Servo Parameter Speed Limit Selection Pn317 when using G5 series Servo Drives Servo Par...

Page 430: ...not the upper limit maximum value of the Servomotor s rotation speed Transitional overshooting may occur in the Servomotor s rotation speed and the speed limit value may be exceeded due to conditions such as the torque command value Servomotor load and iner tia Speed command input change Pn317 Function 0 Option command values 1 and 2 are disabled Use set value 0 1 Limits speed during torque contro...

Page 431: ...ng 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 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 ...

Page 432: ...is 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 change timing b 1 11 Position control Positioning Proxim ity N...

Page 433: ...ive s backlash 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 executin...

Page 434: ...ion are as fol lows Servo Parameter Area Backlash Compensation Parameters R88D KN ML2 The backlash compensation amount is set in Pn705 in command units The minimum setting unit for the backlash compensation amount however depends on the encoder resolution Backlash Compensation Parameters R88D GN ML2 Present position managed by PCU Compensation amount 4 3 1 2 Compen sation amount Start 1 First time...

Page 435: ...R88D WT and Backlash Compensation Selection Pn207 2 when using R88D WN ML2 as follows Note When using R88D WT FNY NS115 without backlash compensation set the backlash compensation amount to Pn81B to 0 Pn101 Backlash compensation Command unit 32 768 to 32 767 2 0 Pn102 Backlash compensation time constant 0 01ms 0 to 6400 2 0 Type Parameter No Parameter name Unit Setting range Data length Default se...

Page 436: ...is not established RELATIVE MOVEMENT can be exe cuted under these conditions but the positioning range present position range possible for positioning will be 2 147 483 648 to 2 147 483 647 com mand units and the present position will be refreshed by adding the travel distance without an established origin If RELATIVE MOVEMENT is executed using a position command value that exceeds the positioning...

Page 437: ...Software Limit Flags in the Axis Operating Input Memory Area as follows Type Parameter No Parameter name Unit Setting range Parameter size Default setting Pn801 Soft limit 0 to 3 2 0 Pn804 Forward software limit Command unit 1 073 741 823 to 1 073 741 823 4 500000 Pn806 Reverse software limit Command unit 1 073 741 823 to 1 073 741 823 4 500000 Type Parameter No Parameter name Unit Setting range P...

Page 438: ...he forward reverse soft ware limit in the same way as when for ward reverse rotation limit input signals are input the axis will stop and a For ward Reverse Software Limit Error error code 3002 3003 will occur Do not use this setting Otherwise the axis operation will not be performed properly 1 Forward software limit disabled The forward software limit is disabled When the feedback present positio...

Page 439: ... If however RELATIVE MOVEMENT is executed using a position command value that exceeds the positioning range 2 147 483 647 to 2 147 483 647 a Position Designation Error error code 3060 will occur when the command is executed A Software Limit Error will occur when the com mand is executed INTERRUPT FEEDING Operation depends on ABSOLUTE MOVEMENT or RELATIVE MOVEMENT If the interrupt feeding direction...

Page 440: ...reached A Software Limit Error will occur when the com mand is executed SPEED CONTROL TORQUE CONTROL Operation is possible A Software Limit Error will not be detected even if DECELERA TION STOP or EMERGENCY STOP is executed at a position that is still beyond the software limit in the direction that has been detected If operation is not stopped a Software Limit Error will occur when the other softw...

Page 441: ...n deceleration The Servomotor is set to Servo lock status after operation stops Type Parame ter No Parameter name Unit Setting range Parame ter size Default setting Acceleration deceleration con stants Pn811 Linear acceleration constant 10 000 command units s2 32768 to 32767 2 100 Pn814 Linear deceleration constant 10 000 command units s2 32768 to 32767 2 100 Acceleration deceleration fil ters Pn8...

Page 442: ...ing speed commands or other movement commands are executed 10 9 3 Emergency Stop The emergency stop operation cancels the operating command immediately and stops the active axis when the EMERGENCY STOP Bit turns ON in the Axis Operating Output Memory Area When EMERGENCY STOP is executed axis operation switches to position control mode and stops in Servo locked status When EMERGENCY STOP is execute...

Page 443: ... the remaining pulses in the Servo Drive are within the positioning completion range unlike the PCU Positioning Completed Flag in direct operation The Stop Execution Flag turns OFF when direct operation jogging speed commands or other movement commands are executed 10 9 4 Stop Function Timing Chart The following timing chart is for when DECELERATION STOP is executed The timing chart for EMERGENCY ...

Page 444: ...the speed command value is set to 0 for speed control or when the axis is being stopped during torque control RELATIVE MOVEMENT word a bit 04 DECELERATION STOP word a bit 15 Speed Receiving Command Flag word b bit 00 PCU Positioning Completed Flag word b bit 05 Busy Flag word b bit 13 Stop Execution Flag word b bit 15 a Beginning word of Axis Operating Output Areas specified in Common Parameters A...

Page 445: ... 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 specified in Common Parameters Axis No 1 25 b Beginning word of Axis Operating Input Areas specified in Common Parameters Axis No 1 25 Time The Receiving Command Flag turns ON for at least one cycle time when the movement command or stop command is recei...

Page 446: ...ontrol 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 d...

Page 447: ...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 448: ...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 449: ...HATROLINK Communications 428 11 2 3 Transferring Servo Parameters 429 11 2 4 Servo Lock Unlock 436 11 2 5 Origin Search 438 11 2 6 Positioning Absolute Movement or Relative Movement 439 11 2 7 Speed Control 442 11 2 8 Torque Control 443 11 2 9 Deceleration Stop or Emergency Stop 445 11 2 10 Jogging 446 11 3 Application Examples 448 11 3 1 Initial PCU Settings 448 11 3 2 Servo Parameter Backup 454 ...

Page 450: ...e following 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 FNY NS115 MECHATROLINK II I F Unit mounted to Servo Drive Axis 1 MECHATROLINK II station address 1 is used to demonstrate axis operation in these sample ladder programs When a differ...

Page 451: ... 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 452: ...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 453: ...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 454: ...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 455: ...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 456: ...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 457: ...hows 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 the CIO...

Page 458: ...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 459: ...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 460: ...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 461: ...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 462: ...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 463: ...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 464: ...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 465: ...Axis 1 Busy Axis 1 Servo ON Execute Axis 1 Servo Lock Axis 1 Servo Lock Command Execute Axis 1 Servo Unlock Execute Axis 1 Servo Lock Axis 1 Communicating Axis 1 Busy Axis 1 Servo Lock Execution Timeout Axis 1 SERVO LOCK Axis 1 SERVO UNLOCK Execute Axis 1 Servo Unlock Axis 1 SERVO LOCK Axis 1 Communicating Axis 1 Servo Unlock End Axis 1 Servo Lock Execution Timeout Axis 1 SERVO UNLOCK Axis 1 SERVO...

Page 466: ... 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 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 TIM0...

Page 467: ...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 468: ...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 469: ...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 470: ...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 471: ...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 472: ...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 473: ...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 474: ...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 475: ...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 476: ... 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 477: ...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 478: ...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 479: ...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 480: ...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 481: ...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 482: ... 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 483: ...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 484: ...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 485: ...10 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 0002 020...

Page 486: ...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 487: ... 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 488: ...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 489: ... 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 490: ...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 491: ...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 492: ...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 493: ...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 494: ...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 495: ...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 496: ...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 497: ... 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 498: ... 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 499: ...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 500: ...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 501: ...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 502: ...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 503: ...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 504: ...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 505: ...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 506: ... 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 507: ...rror Display for PCU Errors 486 12 3 4 Error Display for MECHATROLINK Communications Errors 487 12 3 5 Error Display for PCU Settings and Operations 487 12 3 6 Error Display for MECHATROLINK Slave Station Device Errors 488 12 4 Error Codes 488 12 4 1 Overview 488 12 4 2 List of Error Codes 489 12 5 Troubleshooting 501 12 5 1 Initial Troubleshooting 501 12 5 2 Troubleshooting during PCU Operations ...

Page 508: ...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 509: ...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 510: ...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 511: ...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 512: ... 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 513: ...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 514: ... 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 515: ...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 516: ...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 517: ...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 518: ...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 519: ...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 520: ...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 521: ...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 522: ...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 523: ... 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 524: ... 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 525: ...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 526: ...nal 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 set...

Page 527: ...warning display 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 th...

Page 528: ...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 529: ... 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 530: ... 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 531: ...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 532: ...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 533: ...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 534: ...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 535: ...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 536: ...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 537: ...and maintaining the Position Control Unit and the procedure required to replace a Position Control Unit 13 1 Inspection 510 13 2 Inspection Points 510 13 3 Handling Precautions 511 13 4 Procedure for Replacing a PCU 511 13 4 1 Procedure for Replacing a PCU 511 13 4 2 Memory Card Backup 512 ...

Page 538: ...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 539: ...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 540: ... 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 541: ...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 542: ...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 543: ...ower 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 sends ...

Page 544: ...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 commands othe...

Page 545: ...1 The maximum 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 D...

Page 546: ...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 time unt...

Page 547: ...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 548: ...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 549: ... by turning the power supply OFF and then ON again Those parameters are indicated in the table After changing these parameters turn OFF the power supply confirm that the power supply indicator has gone OFF and then turn ON the power supply again Do not change the parameters marked Reserved for manufacturer use and Reserved Do not change the set values marked Not used and Reserved For details about...

Page 550: ...et the servo parameter numbers in parentheses in the list for the Servo Parameter number Relay area a 17 when transferring Servo Parameters For example when transferring the Error Counter Overflow Level set 00E for the Servo Parameter number Relay area a 17 ...

Page 551: ...c Gear Ratio Numerator Pn009 Electronic Gear Ratio Denominator Pn010 1 0 to 230 C 010 00A Electronic Gear Ratio Denominator 4 1 1 to 230 C 013 00D No 1 Torque Limit 2 Set the No 1 limit value for the output torque of the motor 500 0 to 500 B 014 00E Error Counter Over flow Level 4 Set the range of the error counter overflow level Detec tion of error counter overflow level error is disabled if the ...

Page 552: ...rd Amount 2 Set the torque feed forward amount 0 0 1 0 to 1000 B 113 10D Torque Feed forward Command Filter 2 Set the torque feed forward filter 0 0 01m s 0 to 6400 B 114 10E Gain Switching Input Operating Mode Selection 2 Execute optimum tuning using the gain switching func tion 0 Gain 1 PI P switching enabled 1 Gain 1 and gain 2 switching available 1 0 to 1 B 115 10F Switching Mode in Position C...

Page 553: ...on for torque control It is necessary that Pn114 be set to 1 0 Always gain 1 1 Always gain 2 2 Gain switching command input via MECHA TROLINK II communications 3 Torque command change amount 0 0 to 3 B 125 119 Gain Switching Delay Time in Torque Con trol 2 Set the delay time for switching from gain 2 to gain 1 0 0 1ms 0 to 10000 B 126 11A Gain Switching Level in Torque Control 2 Set the gain switc...

Page 554: ...led 0 0 to 99 B 210 20A Notch 4 Frequency Setting 2 Set the notch frequency of resonance suppression notch filter 4 This is set automatically when an adaptive notch is enabled 5000 Hz 50 to 5000 B 211 20B Notch 4 Width Set ting 2 Set the notch width of the resonance suppression notch filter 4 This is set automatically when an adaptive notch is enabled 2 0 to 20 B 212 20C Notch 4 Depth Set ting 2 S...

Page 555: ...g 2 Finely adjust damping control function 4 If torque saturation occurs lower this setting to increase responsiveness raise this setting 0 0 1Hz 0 to 1000 B 222 216 Position Command Filter Time Constant 2 Set the time constant of the first order lag filter for the position command 0 0 1Hz 0 to 1000 B Param eter No Parameter name Param eter size Explanation Default setting Unit Setting range Data ...

Page 556: ...xternal Feedback Pulse Direction Switching 2 Reverse the direction to count the external encoder feed back 0 Count direction not reversed 1 Count direction reversed 0 0 to 1 R 327 31B External Feedback Pulse Phase Z Set ting 2 Set to enable or disable the Phase Z disconnection detection when an external encoder of 90 phase differ ence output type is used 0 Phase Z disconnection detection enabled 1...

Page 557: ...41F Positioning Comple tion Range 1 4 Set the allowed number of pulses for the positioning completion range 300 Com mand unit 0 to 262144 A 432 420 Positioning Comple tion Condition Selec tion 2 Set the judgment conditions for positioning completion output 0 The Positioning completion output 1 becomes on when the positional error is lower than the value set on the Pn431 1 The Positioning completio...

Page 558: ... 3 Battery warning 4 Fan warning 5 Encoder communications warning 6 Encoder overheating warning 7 Vibration warning 8 Life expectancy warning 9 External encoder error warning 10 External encoder communications error warning 11 Data setting warning 12 Command warning 13 MECHATROLINK II communications warning 0 0 to 13 A 441 429 Warning Output Selection 2 2 Select the warning type for warning output...

Page 559: ...Dynamic brake Error counter Clear 9 During deceleration Emergency stop After stopping Servo free Error counter Clear 0 0 to 9 B 507 507 Stop Selection with Main Power Supply OFF 2 Set the stop operation when the main power supply is turned OFF The settable values are the same as those on the Pn506 0 0 to 9 B 508 508 Undervoltage Alarm Selection 2 Select either to let the servo off or to stop the a...

Page 560: ...and 2 Pn431 and Pn442 and of the Error Counter Overflow Level Pn014 0 Command unit 1 Encoder unit 0 0 to 1 C 521 515 Torque Limit Selec tion 2 Select the method to set the forward and reverse torque limits and the torque feed forward function dur ing speed control 1 0 to 6 B 522 516 No 2 Torque Limit 2 Set the No 2 limit value for the motor output torque 0 0 to 500 B 525 519 Forward External Torqu...

Page 561: ...N Initialization Time 2 Set initialization time after power supply ON to the standard 1 5 s plus some 0 0 1s 0 to 100 R 623 617 Disturbance Torque Compensation Gain 2 Set the compensation gain for disturbance torque 0 100 to 100 B 624 618 Disturbance Observer Filter Set ting 2 Set the filter time constant for disturbance torque com pensation 53 0 01ms 10 to 2500 B 631 61F Realtime Autotuning Estim...

Page 562: ...mpen sation Amount 2 Set the backlash compensation amount during posi tion control 0 Com mand unit 32768 to 32767 B 706 706 Backlash Compen sation Time Constant 2 Set the time constant to apply a backlash compensa tion during position control 0 0 01ms 0 to 6400 B 710 70A MECHATROLINK II Communication I O Monitor Setting 2 Select whether to reflect the inputs to the I O monitor of MECHATROLINK II c...

Page 563: ...ositive direction 1 Negative direction 0 0 to 1 B 823 817 Origin Return Approach Speed 1 2 Set the operating speed for origin returns from when the origin proximity signal turns on to when it turns off and the latch signal is detected 50 2 1 to 32767 B 824 818 Origin Return Approach Speed 2 2 Set the operating speed for origin returns from when the latch signal is detected to when the motor stops ...

Page 564: ...node address value loaded at startup 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 Torq...

Page 565: ...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 566: ...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 567: ...he 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 568: ...ting 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 Autot...

Page 569: ... 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 570: ...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 571: ...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 572: ...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 573: ... 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 574: ...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 575: ... 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 576: ... 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 577: ...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 578: ...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 579: ...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 580: ...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 581: ...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 582: ...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 583: ...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 584: ...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 585: ...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 586: ...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 587: ...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 588: ...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 589: ... 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 590: ...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 591: ...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 592: ...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 593: ...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 594: ...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 595: ...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 596: ... 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 597: ...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 598: ...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 599: ...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 600: ...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 601: ...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 602: ...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 603: ...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 604: ... 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 605: ... 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 606: ... 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 607: ...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 608: ...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 609: ...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 610: ...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 611: ... 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 612: ...t signal reverse for CN1 pins 23 24 0 1 Same as above 0 Offline 2 Output signal 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 613: ...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 614: ...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 615: ...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 616: ...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 617: ... 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 618: ...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 619: ...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 620: ...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 621: ... 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 622: ...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 623: ...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 624: ...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 625: ...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 626: ...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 627: ...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 628: ... 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 629: ...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 630: ...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 631: ...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 632: ...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 633: ...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 634: ...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 635: ...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 636: ...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 637: ...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 638: ...40 Multistart 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 Parame...

Page 639: ...tive function 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 turne...

Page 640: ... PR Absolute encoder system down error The voltage supplied to the absolute encoder dropped below the specified value 41 4029 PR Absolute encoder counter overflow error The multi turn counter of the absolute encoder exceeded the specified value 42 402A PR Absolute encoder over speed error The Servomotor rotation speed exceeded the specified value when power to the absolute encoder is supplied by t...

Page 641: ...elf diagnosis function Priority Servo Drive display PCU error code Warning detection function Warning details 94 4094 Data setting warn ing Command argument setting is out of the range Parameter write failure Command settings are wrong and others 95 4095 Command warning Command output conditions are not satisfied Received unsupported command Subcommand output conditions are not satisfied 96 4096 M...

Page 642: ...r several seconds to several tens of seconds A 18 4012 PR Regeneration overload The regenerative energy exceeded the processing capacity of the regeneration resistor A 21 4015 PR Encoder communications error Communications between the encoder and the Servo Drive failed for a specified number of times thereby activating the error detection function A 23 4017 PR Encoder communications data error Com...

Page 643: ...or A 87 4057 X Emergency stop input error The emergency stop input became OPEN A 90 405A Transmission cycle setting error The transmission cycle setting error when the MECHA TROLINK II CONNECT command is received A 91 405B SYNC command error A SYNC related command was issued while MECHA TROLINK II was in asynchronous communications mode A 93 405D PR Parameter setting error Parameter setting exceed...

Page 644: ...616 List of Error Codes Appendix D 2 When multiple warnings occur the warning codes are displayed on the front panel in the order of their priority shown above The value read from the network is set ...

Page 645: ...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 646: ...tion 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 I F Unit is not installed or the Servo Drive has malfunctioned A E1 See note 2 See note 1 Option timeout There is no response from the MECHATROLINK II I F Unit A E2 See note 2 See note 1 Option WDC ...

Page 647: ...erform a communications retry If the communications warning occurs continually a communications error will occur Servo Drive display PCU error code Warning detection function Warning details A 90 See note 1 4090 Deviation counter over flow The number of pulses in the deviation counter has exceeded the deviation counter overflow level set in Pn505 when using R88D WT or Pn520 when using R88D WN ML2 ...

Page 648: ...620 List of Error Codes Appendix D ...

Page 649: ...I Cables are used for the connection between the PCU and Servo Drive MECHA TROLINK II I F Unit 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 provided as ex...

Page 650: ...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 651: ...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 652: ...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 653: ...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 654: ...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 655: ...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 656: ...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 657: ...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 658: ... 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 659: ... 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 660: ...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 661: ...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 662: ... 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 663: ... 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 forspecial 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 Inp...

Page 664: ...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 665: ...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 666: ...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 667: ...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 668: ...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 669: ...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 670: ...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 671: ...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 672: ...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 673: ...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 674: ...646 Additional Functions for the CJ1W NCF71 MA Appendix F ...

Page 675: ...CU Positioning Completed Flag 200 201 Receiving Command Flag 200 Servo Parameter Transferring Flag 200 Stop Execution Flag 200 205 Warning Flag 200 axis error code 198 Axis Error Flag 22 Axis Operating Input Memory Area 77 228 230 232 235 allocations 95 195 605 beginning word 98 designation 18 98 monitoring 213 overview 194 Servo Parameter Transferring Flag 23 Servo Status Flags 404 Axis Operating...

Page 676: ...an list setting axes 3 to 16 19 writing to PCU 19 Communications Alarm 256 communications cycle 100 244 setting 245 communications protocol 238 communications retries 101 244 compatible devices 6 CONNECT Bit 21 25 93 181 Connection Status Flag 21 25 93 183 249 connections establishing 248 Connector Terminal Block Cables 65 control command range 7 control function parameters 89 147 170 588 control ...

Page 677: ...idual axis errors 493 609 PCU common errors 489 609 error counter reset 10 error detection functions 8 Error Flag 95 196 error reset 506 ERROR RESET Bit 94 186 errors at CPU Unit 486 508 at PCU 486 at powerup 485 indicator display 485 MECHATROLINK communications 483 overview 480 PCU settings and operations 487 resetting 506 507 troubleshooting 484 expanded monitoring 212 exponential acceleration d...

Page 678: ...375 timing chart 375 L LED indicators 32 error display 486 error displays 485 errors at MECHATROLINK device 488 errors in PCU settings and operations 487 MECHATROLINK errors 487 MECHATROLINK II Application Module 34 PCU errors 486 M MECHATROLINK 12 communications 12 control 248 ending 25 errors 254 483 487 settings 243 starting 21 25 428 status 249 stopping 28 428 communications error 8 communicat...

Page 679: ...gs 319 timing chart 323 ORIGIN RETURN Bit 94 186 origin search 5 8 10 284 acceleration 284 data settings 295 deceleration 284 direction 104 operation 103 operation mode 306 operation summary 305 overview 293 parameters 301 302 procedure 294 sample program 438 starting 314 ORIGIN SEARCH Bit 94 186 Origin Stop Flag 95 196 203 outputs precautions xxv override 5 7 8 9 94 188 operation 376 timing chart...

Page 680: ...s Axis Parameter Area 623 Common Parameter Area 623 functions 635 installation 621 operating data 622 Operating Data Area 634 Operating Memory Area 630 PCU Parameters 622 procedure 511 system configuration 621 wiring 621 replacing Units precautions xxvii resetting errors 507 resetting warnings 507 response time 10 commands from CPU Unit 516 external input 518 reflecting Servo Drive status changes ...

Page 681: ...ing Flag 95 Servo Status Flags 95 206 404 Distribution Completed Flag 206 209 Forward Software Limit Flag 206 211 Positioning Completed Flag 206 207 Positioning Proximity Flag 206 210 Reverse Software Limit Flag 206 211 Speed Conformity Flag 206 207 Speed Limit Status Flag 206 210 torque limit 206 Torque Limit Status Flag 210 Zero Speed Flag 206 209 SERVO UNLOCK Bit 28 94 187 Servomotor 17 Servomo...

Page 682: ... chart 403 TORQUE CONTROL Bit 94 187 torque limit 7 8 354 constant 378 overview 377 setting with operating commands 379 timing chart 382 Torque Limit Status Flag 95 197 210 Transfer 512 transfer cycle 100 243 setting 245 Transfer Cycle Setting Error 255 transferring data 10 transferring programs xxv troubleshooting 501 communications errors 504 during PCU operations 502 procedure 484 U Unit Busy F...

Page 683: ...Index 655 Control I O Connector 43 47 50 warning displays 619 W series Servomotor 16 Z Zero Speed Flag 197 Zone Data 10 zone range 9 ...

Page 684: ...656 Index ...

Page 685: ...mation 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 include the new CS series PCU 05 December 2006 ...

Page 686: ...658 Revision History ...

Page 687: ...73 5302 U S A Tel 1 847 843 7900 Fax 1 847 843 7787 Regional Headquarters OMRON EUROPE B V Wegalaan 67 69 2132 JD Hoofddorp The Netherlands Tel 31 2356 81 300 Fax 31 2356 81 388 Contact www ia omron com Tokyo JAPAN 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 Tow...

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