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7 Ladder Programming Examples

7-2

7.1 Programming Conditions

The programming conditions are as follows:

• DeviceNet Master Unit: Unit #0

: Node address 63

• DeviceNet Unit: Node address 20
•

Command: CIO 3220 to CIO 3223

• Response: CIO 3320 to CIO 3323

The default values are used for parameters.

The following ladder programming examples are for OMRON CS/CJ-series Programmable
Controllers.

Summary of Contents for OMNUC W R88A-NCW152-DRT

Page 1: ...Cat No I538 E3 1 DeviceNet Option Unit OMNUC W Series Model R88A NCW152 DRT...

Page 2: ...ducts often means word and is abbreviated Wd in documentation in this sense The abbreviation PC means Programmable Controller and is not used as an abbreviation for anything else Visual Aids The follo...

Page 3: ...stress or heavy objects on the cables Doing so may result in electric shock stopping operation of the product or burning Do not touch the rotating parts of the Servomotor in operation Doing so may re...

Page 4: ...unaway injury or malfunction Be sure that all the mounting screws terminal screws and cable connector screws are tight ened to the torque specified in the relevant manuals Incorrect tightening torque...

Page 5: ...an alarm occurs remove the cause reset the alarm after confirming safety and then resume operation Not doing so may result in injury Do not come close to the machine immediately after resetting momen...

Page 6: ...y any Units Any attempt to do so may result in malfunction fire electric shock or injury Resume operation only after transferring to the new Unit the contents of the data required for operation Not do...

Page 7: ...leshooting procedures Related Manuals Refer to the following manuals as required Read this manual carefully to ensure the proper use of W series Servo Driver Also keep this manual in a safe place so t...

Page 8: ...nditions 3 2 3 2 Installation Site 3 2 3 3 Orientation 3 3 3 4 Installation 3 4 4 Connectors 4 1 Connecting to Peripheral Devices 4 2 4 1 1 Single phase 100 V or 200 V Main Circuit Specifications 4 3...

Page 9: ...h Parameters 5 13 5 3 3 Machine System and Peripheral Devices 5 22 5 3 4 Speed Acceleration and Deceleration 5 26 5 3 5 Positioning 5 39 5 3 6 Point Table 5 41 5 3 7 Multi speed Positioning 5 41 5 3 8...

Page 10: ...dder Programming Examples 7 1 Programming Conditions 7 2 7 2 Remote I O Programming 7 3 7 2 1 Servo ON Command 7 3 7 2 2 Origin Search Command 7 4 7 2 3 Direct Operation Command 7 5 7 2 4 Parameter Re...

Page 11: ...10 2 10 2 DeviceNet Attributes 10 3 10 2 1 Identity Object 0x01 10 3 10 2 2 Message Router Object 0x02 10 4 10 2 3 DeviceNet Object 0x03 10 5 10 2 4 Assembly Object 0x04 10 6 10 2 5 Connection Object...

Page 12: ...ormance of the DeviceNet Unit 1 1 Features 1 2 1 2 System Configuration 1 4 1 3 Basic Functions and Function Outlines 1 5 1 4 Specifications 1 6 1 4 1 General Specifications 1 6 1 4 2 Performance Spec...

Page 13: ...bles application of slaves from different vendors without restrictions in a multivendor network The EDS files contain device ID information device parameters operating information and other informatio...

Page 14: ...enables setting changing and monitoring Servo Driver and DeviceNet Unit parameters A special cable R88A CCW002P4 to connect to the personal computer is connected to the CN11 connector on the front of...

Page 15: ...s the following system configuration W series Servomotor Servo Driver Driver software version 14 or later DeviceNet Master Unit for CS CJ made by OMRON OMRON slaves or others DeviceNet RS 232C etc Dev...

Page 16: ...vo Driver and DeviceNet Unit Parameter Write Command Writes user parameters to the Servo Driver and DeviceNet Unit Present Position Setting Command Resets the present position of the motor to a specif...

Page 17: ...the Servo Driver side Basic Specifica tions Power Supply Method Supplied from the control power supply of the Servo Driver Power Consumption 1 3 W External Dimensions mm 20 142 128 W H D Approx Mass...

Page 18: ...step linear two step linear asymmetric exponential or S curve Acceleration Decelera tion Times 1 to 10 000 ms time to maximum speed Fully closed Control 1 Supported Software Limits Supported Origin Se...

Page 19: ...y switches 1 and 10 to an address between 0 and 63 Communications Media Special 5 wire cable 2 signal wires 2 power supply wires and 1 shield wire Communications Distance Baud Rate kbit s Max net work...

Page 20: ...nd connector and the procedure for checking the DeviceNet Unit upon delivery It also describes the names of product parts and how to mount the DeviceNet Unit on the W series Servo Driver 2 1 Outline D...

Page 21: ...up Tool Software NCW152 Setup Tool are required to set and monitor Servo Driver and DeviceNet Unit parameters from a personal computer Available Cable 24 CN11 CN6 20 100 5 4 0 9 6 1 2 7 8 3 5 4 0 9 6...

Page 22: ...er end Signal No No Case 2 1 2 4 3 7 8 5 Shell RXD RXD TXD TXD RTS CTS GND FG GND FG Connector Model 17JE 13090 02 D8A DDK Ltd Socket Model DF11 4DS 2C Hirose Electric Co Ltd Contact Model DF11 2428SC...

Page 23: ...nal Appearance and Nameplate Example Check Items Comments Are the delivered products the ones that were ordered Check the model numbers marked on the nameplates of the DeviceNet Unit Is there any dama...

Page 24: ...nnect to the terminal marked G on the Servo Driver NCW152 Used to set the DeviceNet node address Rotary switch DR Used to set the baud rate for DeviceNet LED MS Module status LED indicator LED NS Devi...

Page 25: ...Mounting Type Servo Driver Models Screw Remarks Base Mounted R88D WTA3HL to 02HL R88D WTA3H to 10H M3 10 round head screw spring or flat washer R88D WT15 to 50H M4 10 round head screws spring or flat...

Page 26: ...line of the DeviceNet Unit to the point marked G on the Servo Driver NCW152 CHARGE POWER B2 B1 L2C L1C W V U 1 L2 L1 2 CN2 CN3 CN1 R88D WT01H AC SERVO DRIVER 200V 100W Connector for connection to Serv...

Page 27: ...C L1C W V U 1 L2 L1 2 CN2 CN3 CN1 R88D WTA5H AC SERVO DRIVER 200V 50W DEVICENET OPTIONUNIT 24VDC 0 6W INPUT 24VDC 5mA OUTPUT 24VDC 50mA O N 103997 1A 1 SERIAL No D001Y5181290001 OMRONCorporation MADEI...

Page 28: ...r W series Servo Driver with the DeviceNet Unit mounted Incorrect installation will cause problems Always observe the installation precautions shown in this chapter 3 1 Storage Conditions 3 2 3 2 Inst...

Page 29: ...B1 B2 U V W 1 2 2 L1 OMNUC W series AC Servo Driver with DeviceNet Unit mounted Situation Installation Precaution Installation in a Control Panel Design the control panel size Servo Driver layout and...

Page 30: ...to the wall as shown in the figure The Servo Driver must be oriented this way because it is designed to be cooled by natural convection or cooling fan Secure the Servo Driver using 2 to 4 mounting hol...

Page 31: ...Installation When installing Servo Drivers side by side as shown in the figure above provide at least 10 mm 0 39 in between and at least 50 mm 1 97 in above and below each Servo Driver Install coolin...

Page 32: ...Signals 4 6 4 3 1 Connection Example of I O Signal Connector CN1 4 6 4 3 2 I O Signals Connector CN1 4 7 4 3 3 I O Signal Names and Functions 4 8 4 3 4 Interface Circuits 4 9 4 4 I O Signal Connectio...

Page 33: ...ors 4 2 4 4 1 Connecting to Peripheral Devices This section provides examples of standard W series Servo Driver connections to peripheral devices It also briefly explains how to connect each periphera...

Page 34: ...with a brake Allows the user to set parameters and to display operation references or alarm status Encoder Cable Encoder Connector Connect an external regenerative resistor to terminals B1 and B2 if t...

Page 35: ...hniques CAUTION L2 L1C L2C B1 B2 U V W 1 2 2 L1 Protects the pow er line by shutting the circuit OFF when overcurrent is detected Noise Filter Used to eliminate external noise from the power line Magn...

Page 36: ...oltage converter Analog monitor output for supervision Current Sensor Sequence I O I O 1MC L1 XX1 L1C L2C 1MC 1MC 5RY C1 5 V 0 V CN5 CN3 15 V B1 B2 P2 N2 U V W CN1 CN2 U V W D2D3D4 5 V 5 V 12 V For ba...

Page 37: ...0 and the polarity effective high low of the input signals on pins 41 to 45 can be changed using the parameter settings The diagram above shows the standard settings Fig 4 1 I O Signal Connections for...

Page 38: ...ut 1 36 12 13 37 38 Alarm code output 2 13 38 14 15 39 ALO3 40 15 40 16 17 41 ORG 42 Forward rota tion drive pro hibited input 17 43 42 18 43 NOT 44 EXTP Interrupt input signal 20 45 ZERO 44 20 45 ZER...

Page 39: ...ol power supply input Users must provide the 24 V power supply Allowable voltage fluctuation range 11 to 25 V BAT BATGND 21 22 Backup battery input Connecting pin for the absolute encoder backup batte...

Page 40: ...controller that matches one of these types Connecting to an Open collector Output Circuit Alarm code output are open collector transistor output circuits Connect an open collector output circuit throu...

Page 41: ...er sequence output signal circuits Connect a photocoupler output circuit through a relay or line receiver circuit Note The maximum allowable voltage and current capacities for photocoupler output circ...

Page 42: ...9 STOP 11 24VIN 24 V DC Frame ground FG Shell 12 13 10 20 Maximum operating voltage 30 V DC Maximum output current 50 mA DC NOTCH1 Notch output 1 NOTCH1 NOTCH2 NOTCH2 A A 16 17 Phase A pulse B B 19 1...

Page 43: ...Sequence Output Circuit Notch output signals are used for photocoupler output circuits Connect the notch output signals to relays or line receiver circuits Note The maximum allowable voltage and curre...

Page 44: ...4 13 4 4 4 4 Fully closed Encoder Connection Example The following diagram shows a connection example for a fully closed encoder 1 2 3 PG0V A A B B Z Z CN4 DeviceNet Unit External encoder External pow...

Page 45: ...not For multi drop wiring convenient multi drop connectors are commercially available Connectors made by Phoenix Contact K K can be purchased from OMRON 24 SERVICE Co Ltd Dimensions The dimension of t...

Page 46: ...Use the following Screwdrivers for the connectors Can be purchased from OMRON 24 SERVICE Co Ltd Model Number Description Manufacturer XW4Z 00C For DeviceNet connectors OMRON SZF 1 For DeviceNet conne...

Page 47: ...ction Methods There are two methods that can be used to connect DeviceNet nodes T branch connections and multi drop connections T branch connections Used to branch a drop line using a T branch Tap Mul...

Page 48: ...ection Trunk Line and Drop Lines The trunk line is the cable with terminating resistors connected to both ends A drop line is a cable that branches from the trunk line Special DeviceNet cables must be...

Page 49: ...DeviceNet communications the baud rate can be selected and the connection methods can be freely combined using both T branch and multi drop connections This section describes the restrictions require...

Page 50: ...rom the point in the trunk line where the original branch was made to the end of the branch The maximum length of a drop line is 6 m It is possible to make more branches from a drop line but the total...

Page 51: ...ction of the Terminating Resistors Be sure to connect the Terminating Resistors at both ends of the trunk line to reduce signal reflection and stabilize communications When there is a T branch Tap 6 m...

Page 52: ...ns Connector 4 21 4 In either case be sure to make the cable length 1 m or less from the node to the Terminating Resistor 1 m or less Node Truck line T branch Tap with Terminating Resistor or a Termin...

Page 53: ...4 Connectors 4 5 3 DeviceNet Network Configuration Restrictions 4 22 4...

Page 54: ...nd Peripheral Device Parameters 5 5 5 2 4 Speed Acceleration and Deceleration Parameters 5 6 5 2 5 Positioning Parameters 5 7 5 2 6 Multi speed Positioning Parameters 5 7 5 2 7 Notch Output Parameters...

Page 55: ...series Servo Driver refer to Chapter 8 Servo Driver Settings or the OMNUC W series Servomotors Servo Drivers User s Manual I531 E1 5 1 2 Parameter Types Parameters are classified depending on their p...

Page 56: ...the param eters All changed parameters are stored in RAM so they are erased when the power is turned OFF Use the Unit Reset Command to write the parameter data in RAM to the flash ROM Master Device o...

Page 57: ...nge Units Effective Timing Default Value Type 0x64 30 Pn810 Electronic Gear Ratio G1 Numerator 1 to 10 000 000 Power up 1 B 31 Pn811 Electronic Gear Ratio G2 Denominator 1 to 10 000 000 Power up 1 B O...

Page 58: ...0 C 33 Pn813 Command Unit R 1 to 1 500 000 Steps Immediate 360 000 C 34 Pn814 Backlash Compensa tion Value 0 to 32 767 Steps Immediate 0 C 35 Pn815 Backlash Compensa tion Direction 0 1 Immediate 0 C...

Page 59: ...000 1 000 steps min Immediate 24 000 B 58 Pn829 Filter Selection 0 to 3 Immediate 0 B 59 Pn830 JOG Unit Selection 0 1 Immediate 0 B 60 Pn831 JOG Speed 1 to 240 000 1 000 steps min Immediate 24 000 B...

Page 60: ...999 Steps Immediate 0 B 96 Pn856 Interrupt Feeding Function Selection 0 1 Power up 0 B 100 Pn85A Station 1 to 32 767 Immediate 1 B Object Attribute No Name Range Units Effective Timing Default Value...

Page 61: ...min Immediate 24 000 C 132 Pn876 Speed 4 for Multi speed 1 to 240 000 1 000 steps min Immediate 24 000 C 133 Pn877 Speed 5 for Multi speed 1 to 240 000 1 000 steps min Immediate 24 000 C 134 Pn878 Spe...

Page 62: ...ing Default Value Type 0x64 160 Pn890 Notch Signal Position Designation 0 1 Immediate 0 C 161 Pn891 Notch Signal 0 to 3 Immediate 0 C 162 Pn892 Negative Direction Notch 1 99 999 999 Steps Immediate 0...

Page 63: ...h as millimeters or inches Not Using the Electronic Gear If not using the electronic gear set Pn810 and Pn811 to 1 This will set the command unit to 1 pulse so you must calculate the scale position un...

Page 64: ...the Elec tronic Gear function These parameters are enabled when the power is turned ON After you have changed the parameter execute the Unit Reset Command or the Reset Service to the Identity Object...

Page 65: ...lse multiplier Gear Ratio motor rev 2048 4 3 24576 Data ranges are shown below G2 10 000 000 G1 10 000 000 0 01 G1 G2 100 By storing the value of G2 in Pn811 and the value of G1 in Pn810 you can use t...

Page 66: ...eed Pn802 2 When the status of the origin proximity input signal changes the axis decelerates and travels at the Origin Search Proximity Speed Pn803 3 After the status of the origin proximity input si...

Page 67: ...Pn801 at the Origin Search Proximity Speed Pn803 2 When the origin input signal status changes the axis decelerates and travels at the Ori gin Search Compensation Speed Pn804 3 The axis travels the O...

Page 68: ...nd travels at the Origin Search Proximity Speed Pn803 3 When the origin input signal changes after the status of the origin proximity input signal changes again the axis decelerates further and travel...

Page 69: ...Pn801 at the Origin Search Proximity Speed Pn803 2 When the first phase Z pulse of the encoder is detected the axis decelerates and travels at the Origin Search Compensation Speed Pn804 3 The axis tr...

Page 70: ...outline of the operation is the same as Type 0 Negative direction Positive direction Negative direction Positive direction Negative direction Positive direction Start Start Start End End End Origin se...

Page 71: ...he origin search direction is input The outline of the operation is the same as Type 1 Negative direction Positive direction Negative direction Positive direction Negative direction Positive direction...

Page 72: ...ine of the opera tion is the same as the Type 2 Negative direction Positive direction Negative direction Positive direction Negative direction Positive direction Start Start Start End End End Origin s...

Page 73: ...on using origin proximity input signal and phase Z pulse 1 Double step deceleration using origin input signal 2 3 step deceleration using origin proximity input signal and origin input signal 3 Double...

Page 74: ...000 steps min Origin Search Compensation Speed Object 0x64 Attribute 14 Pn804 Use the Origin Search Compensation Speed to set the compensation speed for origin search The setting unit is 1 000 steps...

Page 75: ...on system set this value to enable adjustment of the origin Origin Search Acceleration Deceleration Time Object 0x64 Attribute 18 Pn80A Use the Origin Search Acceleration Deceleration Time to set the...

Page 76: ...ng unit is steps Backlash Compensation Direction Object 0x64 Attribute 35 Pn815 Use the Backlash Compensation Direction to set the direction of the backlash compensation Normally set this parameter in...

Page 77: ...the Limit Input Signal Fuction Selection to set whether or not to use the limit input function and to set the signal polarity Limit Input Action Selection Object 0x64 Attribute 40 Pn81A Use the Limit...

Page 78: ...Emergency stop and servo OFF are performed when the emergency stop signal is input Emergency Stop Action Object 0x64 Attribute 42 Pn81C Use the Emergency Stop Action to set the operation when the eme...

Page 79: ...the feeding speed changes Note Combinations for the hyphen may result in incorrect acceleration and deceleration Table 5 7 Acceleration and Deceleration Patterns Acceleration Deceleration Type Pn826 o...

Page 80: ...ing operation can be calculated using the following formula T ms Pn822 Pn821 Pn843 If this acceleration deceleration pattern is used the rate of acceleration deceleration will remain constant even if...

Page 81: ...th the Second Acceleration Deceleration Time set in param eter Pn825 The time T required to reach the constant speed in the positioning operation can be calcu lated using the following formulas T1 ms...

Page 82: ...can be calculated using the following formula T ms Pn823 Pn821 Pn843 If this acceleration deceleration pattern is used the rates of acceleration deceleration will remain constant even if the Speed se...

Page 83: ...e set in Pn840 is set to the time required to reach 63 2 of the Speed set in Pn821 If this acceleration deceleration pattern is used the time of acceleration deceleration will remain constant even if...

Page 84: ...ation deceleration time will remain constant even if the Speed set in Pn821 is changed If the Bias Speed set in Pn841 is set to 0 then the acceleration deceleration pattern will be the same as the exp...

Page 85: ...1 and the Time Constant of Moving Average set in parameter Pn842 If this acceleration deceleration pattern is used the acceleration deceleration time will remain constant even if the Speed set in Pn82...

Page 86: ...ermined by the Time Constant of Mov ing Average set in parameter Pn842 The time T required to reach the Speed set in parameter Pn821 in the positioning operation can be calculated using the following...

Page 87: ...in parameter Pn821 to round the corners of the acceleration deceleration The time the corners are rounded is determined by the Time Constant of Moving Average set in parameter Pn842 The time T requir...

Page 88: ...e 56 Pn826 is set to the asymmetrical linear acceleration deceleration Switch Speed Object 0x64 Attribute 54 Pn824 Use the Switch Speed to set the switching speed to acceleration and deceleration of t...

Page 89: ...t the acceleration and deceleration filter type This parameter is used in common by the positioning JOG and origin search operations JOG Unit Selection Object 0x64 Attribute 59 Pn830 Use the JOG Unit...

Page 90: ...when the JOG Acceleration Deceleration Type Object 0x64 Attribute 65 Pn836 is set to Double step Linear set value 2 JOG Second Acceleration Deceleration Time Object 0x64 Attribute 64 Pn835 Use the JO...

Page 91: ...gin search operations The acceleration deceleration data is calculated from this data and the time constants The setting unit is 1 000 steps min Step Distance 1 Object 0x64 Attribute 74 Pn844 Use the...

Page 92: ...value Pn850 Positioning Monitor Time Object 0x64 Attribute 91 Pn851 Use the Positioning Monitor Time to set the time for performing In position check The set ting unit is ms If after the move command...

Page 93: ...gnal has reversed status for an interrupt feeding command The setting unit is steps Interrupt Feeding Function Selection Object 0x64 Attribute 96 Pn856 Use the Interrupt Feeding Function Selection to...

Page 94: ...changed in stages during positioning Up to 16 speed change stages are possible When the axis reaches a specified position the speed switches to the speed for the next stage and the axis moves to the...

Page 95: ...n The speed switching position xx and switching speed xx are used together For example the axis will move from speed switching position 1 to speed switching position 2 at speed 1 The setting unit is s...

Page 96: ...nge for notch signal NOTCH 1 When the present position is inside this range the status of the NOTCH 1 sig nal output is reversed based on the Notch Signal set in Pn891 Negative Direction Notch 2 Objec...

Page 97: ...5 Parameter Settings 5 3 8 Notch Signal Output Positioning 5 44 5...

Page 98: ...cit Message Communications 6 20 6 4 1 Remote I O Communications 6 20 6 4 2 Explicit Message Communications 6 20 6 5 Remote I O Communications 6 21 6 5 1 Basic Block 6 21 6 5 2 General Command Bits and...

Page 99: ...nications 6 2 6 6 9 Tracing Data 6 71 6 9 1 Trace Parameters 6 71 6 9 2 Reading Trace Data 6 74 6 9 3 Tracing Data 6 77 6 10 Changing Parameters 6 78 6 10 1 Managing DeviceNet Data 6 78 6 10 2 Changin...

Page 100: ...ation is shown below A maximum of 63 DeviceNet Units or other slave devices can be connected to one DeviceNet Master Unit Inverter PLC or personal computer W series Servo Drivers OMRON slave or others...

Page 101: ...lect the node address of the DeviceNet Unit using the switch settings as shown in the fol lowing table Note The node address can be set anywhere within the specified range as long as it is not the sam...

Page 102: ...to 10 3 Alarm Warning Codes and Error Codes for Message Communications for details on the malfunction if the the Module Status indicator is either red flashing or red ON Network Status NS Indicator T...

Page 103: ...y Taps It is however possible to use T branch Taps instead when there is one communications power supply in the system and the total cur rent consumption is 5 A or less The power supply capacity for c...

Page 104: ...y specifications met Yes No Set the location for the power supply Consider changing the location of the power supply Consider using thick cable Yes No Calculate the best location of the actual nodes Y...

Page 105: ...e Power Supply eSplitting the Power Supply System with Multiple Power Supplies and Locating the Nodes on One Side of the Power Supplies fDual Power Supply with Multiple Power Supplies Communications p...

Page 106: ...The current capacity required by each node The distance between the power supply and each node Calculating the Location of the Power Supply There are two methods to find the best location of the comm...

Page 107: ...tted as shown in the graph below to find the maximum current that easily satisfies the voltage of the communications power supply at different trunk line lengths even if there is a voltage drop due to...

Page 108: ...e same as the second B or less this shows that power supply specifications are met and power can be supplied to all nodes at any point in the network Note Be sure to refer to the correct graph because...

Page 109: ...tal current consumption on left 0 1 0 25 0 2 0 55 A Total current consumption on right 0 15 0 25 0 15 0 55 A Maximum current for the left side of the thick cable see previous table approx 2 5 A Maximu...

Page 110: ...ed individually For details about voltage drop and the formula when the communications power supply and the internal circuit power supply are the same refer to the DeviceNet Operation Manual W267 E1 F...

Page 111: ...hus the best location for the nodes can be determined by using the condition formula Step 3 Splitting the System into Multiple Power Supplies Go to Step 3 if the best location for the nodes cannot be...

Page 112: ...y Restrictions Dual power supply is basically used to ensure backup power supply not parallel operation of power supplies Therefore each power supply to be used must meet the power allocation specific...

Page 113: ...ensure smooth system start up Grounding the Network Network grounding method and ground line are described below Method The DeviceNet network must be grounded at one location only so that a ground loo...

Page 114: ...d the DeviceNet special cable shield wire without grounding it This will filter the noise that flows from the ground to the DeviceNet special cable and will filter the noise cur rent that flows in the...

Page 115: ...s flow through metallic equipment such as casings the commu nications lines should be placed as far away from metallic equipment as possible Ground the shield wire on the DeviceNet special cable at on...

Page 116: ...mmunications power supply When there are two or more communications power supplies the DeviceNet special cables can be grounded by simply connecting a single Power Supply Tap near the center of the De...

Page 117: ...nd fixed User I O Allocations The user can allocate desired words for Slave I O in the DeviceNet I O Areas Input Area Output Area in the I O Memory With the OMRON CS CJ series DeviceNet Master Units t...

Page 118: ...The command dependant data area depends on the two types of commands move commands and set read commands The type of command is defined by the highest bit of byte 0 Block for Move Commands Block for S...

Page 119: ...e this bit is set to 0 during normal operation and after an alarm has been cleared Emergency Stop Command STOP When the STOP bit is changed from 1 to 0 a move command is canceled and the servo of the...

Page 120: ...t to 0 and then set to 1 again The servo cannot be turned ON in the following circumstances When an alarm has been generated When the main circuit power supply is OFF During an emergency stop When the...

Page 121: ...bit will be 0 and the Servo ON and other commands cannot be executed Emergency Stop STOP_R The STOP_R bit will be 1 when the Emergency Stop Command has been set to 0 and the DeviceNet Unit is in emer...

Page 122: ...mstances When the Servo ON Command has been set to 0 When the Emergency Stop Command has been set to 0 When the Unit Reset Command has been set to 1 When an alarm has occurred Command Start Response C...

Page 123: ...d code and command data first or at the same time and then change the Command Start Command from 0 to 1 Table 6 4 Commands for Move Commands Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 0 0...

Page 124: ...e canceled Hold Command HOLD Byte 2 Bit 1 If the Hold Command is set to 1 during execution of a move command the execution of the move command will be held and the Servomotor will decelerate to a stop...

Page 125: ...it detects the rising edge of the STEP bit While the STEP bit is set to 1 the axis will travel only the distance set in the specified parameter If the STEP bit is set to 0 during step operation the S...

Page 126: ...to a stop and the origin search will end The origin search will not continue even if the HOME bit is set to 1 again The type of origin search depends on the Origin Search Mode setting in Pn800 Relati...

Page 127: ...or move commands this flag will be set to 1 while outputting to the W series Servo Driver When command execution has been completed or when a Cancel Command or other stop command has been received the...

Page 128: ...the step operation The host device can confirm that the step operation is being executed by checking that the Progressing Flag is set to 1 Station Flag STN_R Byte 2 Bit 5 The STN_R bit reflects the st...

Page 129: ...flects the status of the Movement Direction Command The host device can confirm by the change of status of this flag that the DeviceNet Unit has correctly received a change in the Movement Direction O...

Page 130: ...the reverse rotation drive prohibit input signal for the external input connected to CN1 on the W series Servo Driver Positive Limit Input POT Byte 3 Bit 7 The POT bit indicates the status of the for...

Page 131: ...onses will basically be a copy of the command codes in the commands A warning for parameter setting error will be returned when the parameter num ber is different or the data is outside the setting ra...

Page 132: ...ter number Table 6 10 Responses for Set Read Commands Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 1 READY PWRON ESTP_R ALRM WARN SVON_R C_STRT_R 1 0 Command code 2 Command number 3 4 Respon...

Page 133: ...s and then change the Command Start Command from 0 to 1 Command code Parameter number Parameter data Table 6 13 Commands for Parameter Write Command Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit...

Page 134: ...n change the Command Start Command from 0 to 1 Command code Present position data Table 6 15 Commands for Present Position Setting Command Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 1 0 AL...

Page 135: ...rea When the origin has been set an offset value is set for parameter Pn809 Absolute Position Setting This set value is cleared when the W series Servo Driver control power supply is turned OFF After...

Page 136: ...m Read Command make the command code settings and then change the Command Start Command from 0 to 1 Table 6 19 Commands for Alarm Read Command Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 1...

Page 137: ...and from 0 to 1 Command code Monitor number The monitor number indicates the three characters following Un in displayed on the Servo Driver For Un00C and Un00D only the lowest 16 bits are read Table 6...

Page 138: ...and then change the Command Start Command from 0 to 1 When the DeviceNet Unit is resetting the Unit the Unit Ready Flag is set to 0 When the reset has been completed the flag is set to 1 Table 6 23 Co...

Page 139: ...eceleration types The speed during movement can be changed by changing the override value Related Parameters Object Attribute No Name Setting Range Unit Effective Timing Default Setting Type 0x64 58 P...

Page 140: ...rride value The Pn830 setting determines whether the override will be set as a ratio or as a speed 1000 steps min 4 Set the JOG Command byte 2 bit 3 to 1 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1...

Page 141: ...53 Pn823 Deceleration Time 1 to 10 000 ms Immediate 100 C 54 Pn824 Switch Speed 1 to 240 000 1000 steps min Immediate 12 000 C 55 Pn825 Second Acceleration Deceleration Time 1 to 10 000 ms Immediate 2...

Page 142: ...e 3 bit 1 3 Select the travel distance to be used for step operation from within the range from Pn844 0 to Pn847 3 4 Set the Step Command byte 2 bit 4 to 1 Time Speed STEP 1 0 DIR 1 0 Pn844 to Pn847 B...

Page 143: ...of stations and station numbers are allocated When a station number is specified the axis travels in the specified direction to the specified position Related Parameters The same speed and acceleratio...

Page 144: ...en specified set the value corresponding to target station number present station number in bytes 4 to 7 4 Set the target station number 5 Set the Station Command byte 2 bit 5 to 1 Note When a relativ...

Page 145: ...te 12 000 C 55 Pn825 Second Acceleration Deceleration Time 1 to 10 000 ms Immediate 200 B 56 Pn826 Acceleration Decelera tion Type 0 1 2 3 Immediate 0 B 58 Pn829 Filter Selection 0 1 2 3 Immediate 0 B...

Page 146: ...sition has been specified the target position will be present position position stored in point table 3 Set the point table number to be specified 4 Set the Point Table Command byte 2 bit 6 to 1 Byte...

Page 147: ...Range Unit Effective Timing Default Setting Type 0x64 10 Pn800 Origin Search Mode 0 to 6 Immediate 0 B 11 Pn801 Origin Search Function Selection 0 to 7 Power up 1 B 12 Pn802 Origin Search High Speed...

Page 148: ...igin search mode Command Method Set the Servo ON Command byte 0 bit 1 to 1 Set the Origin Search Command byte 2 bit 7 to 1 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 0 0 0 1 0 0 1 0 1 Resp...

Page 149: ...to 240 000 1000 steps min Immediate 24 000 B 52 Pn822 Acceleration Time 1 to 10 000 ms Immediate 100 B 53 Pn823 Deceleration Time 1 to 10 000 ms Immediate 100 C 54 Pn824 Switch Speed 1 to 240 000 1000...

Page 150: ...t feeding to the specified target position If the status of the interrupt input signal changes during movement the axis will decelerate to the interrupt feeding positioning speed from the position whe...

Page 151: ...ion will be present position position specified from bytes 4 to 7 4 Set the target position in the command data bytes 4 to 7 5 Set external positioning 2 in the command code byte 1 bits 0 to 3 6 Chang...

Page 152: ...notch signals can be used in the DeviceNet Unit Related Parameters Operation Object Attribute No Name Setting Range Unit Effective Timing Default Setting Type 0x64 160 Pn890 Notch Signal Position Des...

Page 153: ...target position will be present position position specified from bytes 4 to 7 4 Set the target position in the command data bytes 4 to 7 5 Set positioning with notch signal output 3 in the command cod...

Page 154: ...d 0 to 99 999 999 Steps Immediate 0 C 114 Pn864 Position 2 for Multi speed 0 to 99 999 999 Steps Immediate 0 C 115 Pn865 Position 3 for Multi speed 0 to 99 999 999 Steps Immediate 0 C 116 Pn866 Positi...

Page 155: ...0 1000 steps min Immediate 24 000 C 136 Pn87A Speed 8 for Multi speed 1 to 240 000 1000 steps min Immediate 24 000 C 137 Pn87B Speed 9 for Multi speed 1 to 240 000 1000 steps min Immediate 24 000 C 13...

Page 156: ...lti speed positioning 4 in the command code byte 1 bits 0 to 3 6 Change the Command Start Command byte 0 bit 0 from 0 to 1 Note Do not change the positon or speed for multi speed while the Multi speed...

Page 157: ...Flag PRGS When it changes to 0 again the operation has been completed 7 Set another command 6 7 2 Command Method For the following commands that involve movement always wait until one command has been...

Page 158: ...t the DeviceNet Unit 1 Set the Servo ON Command SVON to 0 and set the Cancel Command CANCEL to 1 2 Remove the cause of the alarm 3 Clear any move commands that have been set 4 Execute the Alarm Reset...

Page 159: ...lute value or a relative value byte 3 bit 0 Point Table Command The point table operation starts when the Point Table Command PTBL is changed from 0 to 1 The following data must be set before the poin...

Page 160: ...mmand code If the Hold Command HOLD is changed from 0 to 1 during execution of positioning axis travel is held Confirm that the Hold Command has been received by checking that the Hold ing Flag HOLD_R...

Page 161: ...from 1 to 0 When the reset processing for the DeviceNet Unit and the W series Servo Driver has been completed the Unit Ready Flag changes from 0 to 1 The Unit reset operation process is outlined belo...

Page 162: ...header is automatically set by DeviceNet so the user need not pay attention Node address Request Specifies the node address of the slave or master being requested Response Specifies the node address o...

Page 163: ...rned to the sent Explicit Message the response block is shown below Error Responses The following response is returned if an error occurs for the Explicit Message For DeviceNet error codes refer to 10...

Page 164: ...eviceNet is specified For normal responses the value for when bit 15 of the service code specified in the com mand turns ON is returned For error responses 94 hex which indicates an error is returned...

Page 165: ...truction to send Explicit Messages including the timing of message execution and responses CMND With the CS CJ series DeviceNet Master Unit CMND instructions can be used in the CPU Unit s ladder progr...

Page 166: ...s bit must be set to 0 response returned Message Timing When executing CMND an AND condition must be set for the ON status of the SYSMAC s Network Communications Enabled Flag A20200 to A20207 and the...

Page 167: ...g Type Name Address Contents Word Bits SYSMAC flags Network Com munications Enabled Flag A202 0 Execution disabled Executing 1 Execution enabled Not executing Network Com munications Execution Error F...

Page 168: ...ta trace function Item Contents Trace targets Data trace 2 items max I O trace 2 items max Trace data targets Torque commands speed feedback command pulse rate position deviation I O data trace target...

Page 169: ...Set the target for I O Trace 1 Set Value Trace Target Unit 0000 Hex Torque command 0001 Hex Feedback speed r min 0003 Hex Command pulse rate r min 0004 Hex Position deviation Steps Set Value Trace Tar...

Page 170: ...or I O Trace 1 I O Trace 2 or no trigger the trigger level setting is disabled Edge Type Object 0x67 Instance 0x01 Attribute 17 Set the direction of change when the trigger is considered valid If the...

Page 171: ...2 Reading Trace Data Data Trace Object Data traced by the Servo Driver is stored in Data Trace Object There are four general data trace objects as shown in the following table Trace Data 1 and 2 Trac...

Page 172: ...e number of bytes exceed the data capacity data traces 1 and 2 2 000 bytes I O traces 1 and 2 126 bytes the number of bytes of data to be read will be returned without generating an error Example If t...

Page 173: ...ting an error Example If the address is 1000 and the number of words is 10 only one word of data for address 1000 will be returned Error Response 94 Number of bytes received Error code Service code 94...

Page 174: ...t Set the I O trace 1 target Set the I O trace 2 target Setting the Trace Cycle Explicit Set the sampling cycle Setting the Trigger Conditions Explicit Set the trigger target Set the trigger level Set...

Page 175: ...r Object 0x64 Instance 1 Attribute 12 Refer to 10 2 DeviceNet Attributes for a table of attributes Servo Driver Parameter Object 0x64 Attribute 1 Attribute 2 Instance 2 Instance 1 Connection Object 0x...

Page 176: ...ssage communications called Explicit Messages Parameters can be referenced or changed using message communications To use Explicit Messages specify the objects instance and attributes explained in 6 1...

Page 177: ...Block Master Device to Slave Device Response Block Slave Device to Master Device Note Origin Search Hith Speed will be 04D2 Hex Refer to the DeviceNet Operation Manual W267 E1 for the master device fo...

Page 178: ...mples for OMRON CS CJ series Programmable Controllers 7 1 Programming Conditions 7 2 7 2 Remote I O Programming 7 3 7 2 1 Servo ON Command 7 3 7 2 2 Origin Search Command 7 4 7 2 3 Direct Operation Co...

Page 179: ...s are as follows DeviceNet Master Unit Unit 0 Node address 63 DeviceNet Unit Node address 20 Command CIO 3220 to CIO 3223 Response CIO 3320 to CIO 3323 The default values are used for parameters The f...

Page 180: ...DeviceNet communications up until servo ON Operation 1 Clear the emergency stop when READY turns ON 2 Turn ON the Servo ON Command Ladder Programming 3320 06 READY DIFU 013 W030 00 W030 00 3320 04 STO...

Page 181: ...eration and response type command position 2 Turn ON the HOME the Origin Search Command Ladder Programming 3321 00 PRGS DIFU 013 W030 01 W030 01 MOVD 083 0000 0210 3220 3321 11 HOME_P END ALRM 3320 03...

Page 182: ...ommand position and rela tive value 2 Set the target position data to 1 000 000 3 Turn ON C_STRT to start direct operation Ladder Programming 3321 00 PRGS DIFU 013 W030 02 W030 02 MOVD 034 0100 0212 3...

Page 183: ...Programming Examples 7 2 3 Direct Operation Command 7 6 7 3320 00 C_STRT_R SET END RSET 3220 00 3321 00 PRGS From previous page Direct operation end Ends direct operation when PRGS turns OFF Turns OF...

Page 184: ...D and set the set read command 2 Set the command code Parameter Read Command 3 Set the parameter number to 843 4 Turn ON C_STRT to read parameters Ladder Programming 3320 00 C_STRT_R DIFU 013 W030 03...

Page 185: ...Explicit Message Operation 1 Set the operands for CMND 2 Execute CMND when the Network Communications Enabled Flag turns ON 3 If a transmission error occurs retry after response code is stored Ladder...

Page 186: ...05 Continued on next page Sets number of response bytes to 12 From previous page Sets service data Clears response storage area Sets number of command bytes to 9 Sets destination network address to 0...

Page 187: ...D00300 ASR 026 W031 END From previous page 1524 12 W031 01 Executes CMND If a transmission error occurs retries after response code is stored Network Communications Enabled Flag communications port No...

Page 188: ...1 4 Analog Monitors 8 7 8 2 Settings According to Equipment Characteristics 8 8 8 2 1 Switching Servomotor Rotation Direction 8 8 8 2 2 Stop Mode Selection at Servo OFF 8 9 8 2 3 Fully closed Control...

Page 189: ...that allow the user to specify functions and perform fine adjustments Parameters are divided into the following three groups Parameter Function Pn000 to Pn601 Specify Servo Driver functions set servo...

Page 190: ...been mounted Startup will take approximately 6 seconds when these parameters are being set Parameter No Digit Parameter Name Set Value Description Pn000 1 Control Mode Selection 1 Position control Pn...

Page 191: ...Driver is not changed It will be as follows Table 8 1 Default Setting and Standard Settings for I O Signals Parameter No Parameter Name Default Setting Standard Setting Pn50E Output Signal Selection...

Page 192: ...CN1 Connector Terminal Numbers Output Terminal Name Default Setting Standard Setting Symbol Name Symbol Name 25 25 26pin INP1 Positioning completion 1 INP1 Positioning completion 1 26 INP1COM INP1COM...

Page 193: ...the left 1 Outputs the signal on the left from the 25 26pin CN1 25 and 26 output terminal 2 Outputs the signal on the left from the 27 28pin CN1 27 and 28 output terminal 3 Outputs the signal on the l...

Page 194: ...Setting 0000 Output signal not reversed Output Terminals Parameter Description Number Setting 25 26pin CN1 25 26 Pn512 0 0 Output signal not reversed 1 Output signal reversed 27 28pin CN1 27 28 Pn512...

Page 195: ...other items The direction of shaft motion is reversed There are no other changes Setting Reverse Rotation Mode Use parameter Pn000 0 Use the following settings to select the direction of Servomotor r...

Page 196: ...s in free fun 1 Dynamic brake The dynamic brake is a common way of suddenly stopping a Servomotor Built into the Servo Driver the dynamic brake suddenly stops a Servomotor by electrically shorting its...

Page 197: ...m on page 8 11 Fully closed System Specifications This section describes the fully closed system specifications of the W series Servo Driver when a DeviceNet Unit is mounted Fully closed Encoder Pulse...

Page 198: ...of Fully closed Encoder Pulses Set the number of fully closed encoder pulses for each motor rotation When the number of fully closed encoder pulses per motor rotation is not an integer set the closes...

Page 199: ...r of pulses for fully closed encoder and semi closed encoder Errors are not detected when 0 is set Set 0 in the system where the position of the fully closed encoder and the semi closed encoder will b...

Page 200: ...Servo Driver does not have an internal 24 V power supply Sequence input signal power supply specifications 24 1 V DC 50 mA min 2 OMRON recommends using the same external power supply as that used for...

Page 201: ...ocations for some sequence output signal circuits can be changed Refer to Output Circuit Signal Allocations on page 8 5 for more details Input 24V IN CN1 47 24 V External Power Supply Input Position C...

Page 202: ...and main power are turned OFF Note The dynamic brake is an emergency stop function Do not repeatedly start and stop the Servomotor using the SV_ON SV_OFF command or by repeatedly turning power ON and...

Page 203: ...e is at least 120 of the rated Servomotor torque Wiring Example Use the Servo Driver sequence output signal BKIR and the brake power supply to form a brake ON OFF circuit The following diagram shows a...

Page 204: ...output signals to a value other than that allocated to the BKIR signal in order to output the BKIR signal alone Refer to 8 1 3 Standard Settings for I O Signals Output to BKIR Brake Interlock Output...

Page 205: ...tly due to gravity depending on equipment configura tion and brake characteristics If this happens use this parameter to delay servo OFF timing This setting sets the brake ON timing when the Servomoto...

Page 206: ...hile observing equip ment operation BKIR Signal Output Conditions During Servomotor Operation The circuit is open under either of the following conditions The actual setting will be the maximum speed...

Page 207: ...n Absolute Encoder Select the absolute encoder usage with the following parameter 0 in the following table must be set to enable the absolute encoder Note This parameter setting goes into effect when...

Page 208: ...the encoder release the alarm by turning OFF the power 8 5 3 Absolute Encoder Multi turn Limit Setting When implementing absolute position detection systems for machines that turn m times in response...

Page 209: ...personal computer monitor software Note 1 The Absolute Encoder Multi turn Limit setting in the encoder can be changed only when the Absolute Encoder Multi turn Limit Mismatch A CC alarm has occurred...

Page 210: ...With a DeviceNet Unit mounted a DeviceNet communications timeout will occur if a Servo Driver Parameter Write Command data is sent via DeviceNet while a Parameter Unit is con nected or while communic...

Page 211: ...8 Servo Driver Settings 8 5 3 Absolute Encoder Multi turn Limit Setting 8 24 8...

Page 212: ...bleshooting procedures are described for problems which cause an alarm display and for problems which result in no alarm display 9 1 Alarm Display Table 9 2 9 2 Warning Display Table 9 5 9 3 Troublesh...

Page 213: ...is defective A 32 Regeneration Overload Regenerative energy exceeds regenerative resistor capacity A 33 ON ON OFF OFF Main circuit Power Supply Setting Error The AC DC wiring method of the main cir cu...

Page 214: ...etected The Servomotor ran out of control A C6 Fully closed Encoder Phase A B Disconnection Phase A or B of the fully closed encoder was disconnected A C7 Fully closed Encoder Phase Z Disconnection Ph...

Page 215: ...or No DeviceNet Unit was detected when the power was supplied to the W series Servo Driver A E8 Rotary Switch Setting Error Unit rotary switch setting error A E9 DeviceNet Busoff Error Fatal communica...

Page 216: ...overload alarm may occur A 93 ON ON OFF ON Battery Warning This warning occurs before the absolute encoder battery error alarm occurs If the power supply is turned OFF the alarm may occur when the po...

Page 217: ...be solved by the described proce dures A 02 A 02 Parameter Corruption Display and Outputs Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm Alarm Outputs Alarm Code Outputs ALM...

Page 218: ...uts Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Cause Remedy A Circuit board 1PWB or 2PWB is defective Replace the Servo Driver Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 A...

Page 219: ...edy for Alarm Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Cause Remedy A The range of Servomotor capacities that can be combined has been exceeded Replace the Servomotor...

Page 220: ...Replace the Servomotor C Circuit board 1PWB is defective Power transistor is defective Replace the Servo Driver D Current feedback circuit power transistor DB relay or circuit board is defective Repl...

Page 221: ...transistor is abnormal Replace the Servo Driver B Disconnection of the regenerative resistor Replace the Servo Driver or regenerative resistor C Regenerative resistor is disconnected for an external...

Page 222: ...Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 ON ON OFF OFF Cause Remedy A Regenerative power exceeds the allowable value Use an external regenerative resistor that matches the regenerative power capac...

Page 223: ...N OFF Cause Remedy A The power supply voltage is not within the range of specifications Check power supply B Load exceeds capacity of the Regenerative Unit Check specifications of load inertia and ove...

Page 224: ...larm Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF ON OFF Cause Remedy A The power supply voltage is not within the range of specifications Check power supply voltage B Fuse blown...

Page 225: ...use Remedy A Servomotor wiring is incorrect Check and correct wiring Check phase U V and W motor wiring errors B Position or speed command input is too large Lower the command input values C Incorrect...

Page 226: ...istor is ON Status and Remedy for Alarm Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 ON ON ON OFF Cause Remedy A Servomotor wiring is incorrect or discon nected Check wiring and connecto...

Page 227: ...peed and the combined inertia of the motor and load rotation energy exceeds the capacity of the dynamic brake resistor built into Servo Driver Lower the rotational speed Lower the load inertia Do not...

Page 228: ...ALO2 ALO3 ON ON ON OFF Cause Remedy A The ambient temperature of the Servo Driver exceeds 55 C Alter conditions so that the ambient temper ature goes below 55 C B The air flow around the heat sink is...

Page 229: ...tput ALO1 ALO2 ALO3 OFF OFF OFF OFF Cause Remedy A The following power supplies to the abso lute encoder all failed 5 V supply supplied from Servo Driver Battery Follow absolute encoder set up procedu...

Page 230: ...d Remedy for Alarm Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Cause Remedy A Error during encoder memory check Follow absolute encoder setup procedure Replace Servomoto...

Page 231: ...tputs ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Cause Remedy A Battery is not connected Battery connection is defective Check and correct battery connection B Battery voltage below specified value Spe...

Page 232: ...utput ALO1 ALO2 ALO3 OFF OFF OFF OFF Cause Remedy A Encoder is defective Replace the Servomotor if the error occurs frequently B Encoder operational error caused by external noise Check and correct wi...

Page 233: ...speed exceeding 200 r min Turn ON power supply again with the Ser vomotor stopped B Circuit board 1PWB is defective Replace the Servo Driver Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3...

Page 234: ...and Remedy for Alarm Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF ON ON Cause Remedy A A value outside the DeviceNet communications setting range was set Reset correctly B A para...

Page 235: ...ntly unable to receive the command that has been sent Illegal command Command given during execution of another move command Command given during servo OFF Command given during alarm Command given dur...

Page 236: ...Remedy for Alarm Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF ON ON ON Cause Remedy A Cable and connector contact is faulty Correct the connector wiring B Malfunction due to noise Ta...

Page 237: ...ositioning Monitoring Time setting is too small Correct the Positioning Monitoring Time setting B Positioning Loop Gain or Speed Loop Gain setting is too small Correct the Positioning Loop Gain or Spe...

Page 238: ...Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Cause Remedy A Error in command read in unit A D Con verter etc Reset alarm and restart operation B Command read in unit faul...

Page 239: ...Servomotor wiring incorrect or discon nected Check wiring and connectors at Servomo tor B Encoder wiring incorrect or disconnected Check wiring and connectors at encoder C Encoder is defective Replace...

Page 240: ...ALM Output ALO1 ALO2 ALO3 ON OFF ON OFF Cause Remedy A Circuit board 1PWB is defective Replace the Servo Driver B Encoder wiring error or faulty contact Check the wiring and check that the connec tor...

Page 241: ...LO1 ALO2 ALO3 ON OFF ON OFF Cause Remedy A Circuit board 1PWB is defective Replace the Servo Driver B Encoder wiring error or faulty contact Check the wiring and check that the connec tor is fully ins...

Page 242: ...Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 ON OFF ON OFF Cause Remedy A Encoder is defective Replace the Servomotor B The Servo Driver is defective Replace the Servo Driver Alarm Outp...

Page 243: ...d Remedy for Alarm Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 ON OFF ON OFF Cause Remedy A Encoder is defective Replace the Servomotor B The Servo Driver is defective Replace the Servo...

Page 244: ...ause Remedy A The setting of the Absolute Encoder Multi turn Limit Setting Pn205 parameter in the Servo Driver is incorrect Change parameter Pn205 B The Absolute Encoder Multi turn Limit has not been...

Page 245: ...not correctly adjusted Increase Speed Loop Gain Pn100 and Position Loop Gain Pn102 C Motor load was excessive Reduce load torque or inertia If problem not corrected replace with a larger capacity Ser...

Page 246: ...and Outputs Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF ON ON OFF Cause Remedy...

Page 247: ...te OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF ON ON OFF Cause Remedy A The DeviceNet...

Page 248: ...e OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF ON ON OFF Cause Remedy A The DeviceNet...

Page 249: ...tput ALO1 ALO2 ALO3 OFF ON ON OFF Cause Remedy A There is no terminating resistance in the network Check that a terminator is mounted to both ends of the DeviceNet network B There is noise in network...

Page 250: ...stor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF ON ON OFF Cause Remedy A The Servo Driver is defective Rep...

Page 251: ...FF alarm state ON Output transistor is ON Status and Remedy for Alarm Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF ON ON OFF Cause Remedy A Command was interrupted Do not connect a P...

Page 252: ...larm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF ON OFF OFF Cause Remedy A One phase L1 L2 or L3 of the main cir cuit power supply is disconnected Check power supply Check wiring of the m...

Page 253: ...A Cable defective or poor contact between Parameter Unit and Servo Driver Check connector connections Replace cable B Malfunction due to external noise Separate Parameter Unit and cable from noise so...

Page 254: ...Output transistor is ON Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Not specified Cause Remedy A Cable defective or poor contact between Parameter Unit and Servo Driver Check connector...

Page 255: ...the Servomotor within software limits Servomotor does not run Move commands have not been sent Check using DeviceNet communications or the DeviceNet monitor Send the move commands Servo ON Command has...

Page 256: ...coupling Check if coupling unbal anced Balance coupling Bearing is defective Check noise and vibration near bearing Remove the cause of problem and repair Machine causing vibrations Check for presenc...

Page 257: ...9 Troubleshooting 9 46 9...

Page 258: ...4 10 2 3 DeviceNet Object 0x03 10 5 10 2 4 Assembly Object 0x04 10 6 10 2 5 Connection Object 0x05 10 7 10 2 6 DeviceNet Unit Parameter Object 0x64 10 9 10 2 7 Point Table Object 0x65 10 15 10 2 8 Se...

Page 259: ...Message Router 0x02 1 Routes Explicit Messages to the appropriate object DeviceNet 0x03 1 Manages the physical connection to the DeviceNet and performs Master Slave connection set and release demands...

Page 260: ...3 Get Product Code UINT Identification of a particular product of an indi vidual vendor 0x3C 4 Get Revision Revision of the item the Identity Object repre sents 1 2 5 Get Status WORD Summary status of...

Page 261: ...ect 0x02 10 4 10 10 2 2 Message Router Object 0x02 Class and instances of the Message Router Object 0x02 are shown below Class Attributes None supported Services None supported Instances Attributes No...

Page 262: ...SINT Number of times CAN went to the Busoff state 0 to 255 5 Get Allocation Information Structure including byte and USINT Allocation Choice Byte Byte Connection type for Master Slave connection Maste...

Page 263: ...ne supported Services None supported Instances Attributes Instance 100 Attributes Instance 101 Services No Access Name Data Type Description Value 3 Get Set Data Array Output data No Access Name Data...

Page 264: ...group across which produc tions and consumption associated with this con nection occur 0x21 7 Get Produced_ Connection_Size UINT Maximum number of bytes transmitted across this connection 0x00FF 8 Ge...

Page 265: ...Maximum number of bytes received across this connection 0x0008 9 Get Set Expected_ Packet_Rate UINT Defines timing associated with this connection 12 Get Watchdog_ Timeout_Action USINT Defines how to...

Page 266: ...Sets the compensation speed for origin search Unit 1000 steps min 1 to 240 000 500 15 Get Set Origin Compensa tion Value DINT Sets the origin compensation data Unit Steps 0 to 99 999 999 0 16 Get Set...

Page 267: ...1 42 Get Set Emergency Stop Action UINT Sets the action when emergency stop 0 0 51 Get Set Speed DINT Sets the speed command value Unit 1000 steps min 1 to 240 000 24 000 52 Get Set Acceleration Time...

Page 268: ...1 Get Set Bias Speed DINT Sets the bias speed of exponential accelera tion deceleration with bias Unit 1000 steps min 0 to 240 000 0 72 Get Set Time Constant of Moving Average UINT Sets the time const...

Page 269: ...et Set Position 4 for Multi speed DINT Sets speed switching position 4 for multi speed Unit Steps 0 to 99 999 999 0 117 Get Set Position 5 for Multi speed DINT Sets speed switching position 5 for mult...

Page 270: ...d 7 for multi speed Unit 1000 steps min 1 to 240 000 24 000 136 Get Set Speed 8 for Multi speed DINT Sets speed 8 for multi speed Unit 1000 steps min 1 to 240 000 24 000 137 Get Set Speed 9 for Multi...

Page 271: ...ection Notch 1 DINT Sets positive direction notch 1 Unit Steps 99 999 999 to 99 999 999 0 164 Get Set Negative Direction Notch 2 DINT Sets negative direction notch 2 Unit Steps 99 999 999 to 99 999 99...

Page 272: ...nit Steps 99 999 999 to 99 999 999 0 56 Get Set Position_7 DINT Target position 7 Unit Steps 99 999 999 to 99 999 999 0 57 Get Set Position_8 DINT Target position 8 Unit Steps 99 999 999 to 99 999 999...

Page 273: ...9 0 78 Get Set Position_29 DINT Target position 29 Unit Steps 99 999 999 to 99 999 999 0 79 Get Set Position_30 DINT Target position 30 Unit Steps 99 999 999 to 99 999 999 0 80 Get Set Position_31 DIN...

Page 274: ...NT Target speed 2 Unit 1000 steps min 1 to 240 000 24 000 152 Get Set Speed_3 DINT Target speed 3 Unit 1000 steps min 1 to 240 000 24 000 153 Get Set Speed_4 DINT Target speed 4 Unit 1000 steps min 1...

Page 275: ...peed 25 Unit 1000 steps min 1 to 240 000 24 000 175 Get Set Speed_26 DINT Target speed 26 Unit 1000 steps min 1 to 240 000 24 000 176 Get Set Speed_27 DINT Target speed 27 Unit 1000 steps min 1 to 240...

Page 276: ...s min 1 to 240 000 24 000 194 Get Set Speed_45 DINT Target speed 45 Unit 1000 steps min 1 to 240 000 24 000 195 Get Set Speed_46 DINT Target speed 46 Unit 1000 steps min 1 to 240 000 24 000 196 Get Se...

Page 277: ...UINT Do not change the setting 0000 15 Get Set Not Used UINT Not used 0000 50 Get Set Speed Loop Gain UINT Sets the speed loop gain Unit Hz 1 to 2000 80 51 Get Set Speed Loop Integra tion Constant UIN...

Page 278: ...Do not change the settings 0 to 1000 1000 70 Get Set Not Used UINT Do not change the settings 0 to 1000 200 71 Get Set Not Used UINT Do not change the settings 0 to 65535 32 72 Get Set Not Used UINT D...

Page 279: ...UINT Sets the speed command scale Unit 0 01 V rated speed 150 to 3000 1000 121 Get Set No 1 Internal Speed Setting UINT Sets the No 1 internal speed Unit r min 0 to 10000 100 122 Get Set No 2 Interna...

Page 280: ...Sets the rotation speed for motor rotation detection Unit r min 0 to 10000 20 163 Get Set Speed Conformity Signal Output Width UINT Sets the speed conformity signal output width Unit r min 0 to 100 10...

Page 281: ...UINT Sets the output signal reversals 0000 181 Get Set Motor Load Devia tion Over Level UINT Sets the position deviation over level between the motor and load 0 to 32767 0 190 Get Set Regeneration Reg...

Page 282: ...cifies the I O trace 2 target 80 to 8D Hex 81 Hex 14 Get Set Sampling Cycle DINT Specifies the sampling cycle Unit s 250 to 8191750 250 15 Get Set Trigger Target UINT Specifies the trigger condition 0...

Page 283: ...ices Data Types Service Code Name Description 0x0E Get_Attribute_Single Returns the specified attribute 0x10 Set_Attribute_Single Modifies the specified attribute Data Type Description Size UINT Unsig...

Page 284: ...Instance 2 Explicit Message Attributes Instance 3 Explicit Message Attributes Instance 4 Explicit Message Data Service Data Range Data Trace 1 0x1C Byte data read 1 to 1000 0x1D Word data read Data Se...

Page 285: ...tch each other A 10 Flashes Red Overcurrent An overcurrent flowed through the IGBT Heat sink of Servo Driver was overheated A 30 Lit Red Regeneration Error Regenerative resistor is disconnected Regene...

Page 286: ...isconnection Phase A or B of the fully closed encoder was disconnected A C7 Flashes Red Fully closed Encoder Phase Z Disconnection Phase Z of the fully closed encoder was discon nected A C8 Lit Red Mu...

Page 287: ...defective A EB Flashes Red Servo Driver Initial Access Error Initial processing failed A EC Flashes Red WDC Error of Servo Driver WDC error in the Servo Driver A ED Lit Red Command Execution Incomple...

Page 288: ...F the alarm may occur when the power supply is turned ON A 94 Flashes Red Parameter Setting Warning A value outside the setting range was set using DeviceNet communications Incorret parameter No and d...

Page 289: ...equested mode state The specified object is already in the requested mode or state 0CFF Hex Object state conflict The specified object is in a state in which the requested service cannot be executed 0...

Page 290: ...1 5 G G mark 2 7 general command bits command 6 22 general status response 6 24 ground line connecting screw 2 6 I Interrupt Feeding Command 6 53 J JOG Command 6 42 6 61 M MS module status indicator 6...

Page 291: ...s the changes made to the manual during each revision Revision code Date Revised content E1 1 March 2002 Original production E3 1 July 2002 All SBCE 001 text was changed to read NCW152 Setup Tool Sect...

Page 292: ...notice Printed in the U S A OMRON ELECTRONICS LLC 1 Commerce Drive Schaumburg IL 60173 USA 800 55 OMRON 66766 OMRON CANADA INC 885 Milner Avenue Scarborough Ontario M1B 5V8 416 286 6465 OMRON ON LINE...

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