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YASKAWA E-V-SD Series User Manual Download Page 174

9.1  SERVOPACK Monitors

9-7

Monitoring

• Monitor Data Chart

Kp

+

-

Latch signal

Counter

Reverse 

unit 

conversion

Latch position 

(LPOS)

Counter

Position feedback

Reverse 

unit 

conversion

Feedback position 

(APOS)

Position control

Acceleration

/deceleration 

filter

Unit 

conversion

Speed 

reference

Reverse 

unit 

conversion

Reference 

position 

(MPOS)

Reference 

position 
(CPOS)

Interpolation

Positioning

Acceleration/deceleration 

pattern processing

Position error 

(PERR)

Internal command 

position (IPOS)

Positioning target 

position (TPOS)

Kp

1

(U/V/W)

M

Kp

ENC

CN2

1

1

Error 

counter

Elec-

tronic 

gear

Completion of position 
reference distribution

Positioning completed

Position error

External 

ENC

Speed 

conversion

Error 

counter

Motor speed

Elec-

tronic 

gear

Load

Current 

loop

Speed 

loop

Error 

counter

Elec-

tronic 

gear

Position loop

Torque reference

Position amplifier error

Speed 

conversion

Speed reference

Position reference speed

Torque feedforward

Speed feedforward

Position 

reference

Speed 

reference

Torque 

reference

SERVOPACK

Summary of Contents for E-V-SD Series

Page 1: ...elopment in Servo Systems V SD Series AC Servo Drives USER S MANUAL MANUAL NO SIEP S800000 87A 1 2 3 4 5 6 7 8 9 Application Overview MECHATROLINK III Communications Machine specific Settings Feed Axi...

Page 2: ...liability is assumed with respect to the use of the information contained herein Moreover because Yaskawa is con stantly striving to improve its high quality products the information contained in this...

Page 3: ...is manual Important Information The following icon is used to indicate information that requires special attention Term Meaning Spindle Motor V SD Series UAKAJ and UAKBJ motor Servomotor V SD Series S...

Page 4: ...sition Torque Setting Range Setting Unit Factory Setting When Enabled Classification Immediately Setup Parameter number This is the setting range for the parameter Parameter Meaning The absolute encod...

Page 5: ...t are provided Manual Name Selecting Models and Peripheral Devices Studying Specifica tions and Ratings Designing the System Performing Panel Installation and Wiring Performing Trial Operation Perform...

Page 6: ...output range of multi turn data in the absolute detection system of the V SD driver is different from that for conventional systems 15 bit encoder or 12 bit encoder In particular if you set up a seri...

Page 7: ...perature Locations that are subject to corrosive or flammable gases Locations that are subject to excessive dust dirt salt or metallic powder Locations that are subject to water oil or chemicals Locat...

Page 8: ...ere is a risk of internal element deterioration malfunction or fire Always mount the products in the specified orientations Otherwise failures may occur Provide the specified clearances between the po...

Page 9: ...or other device before performing wiring or starting inspections Observe the following precautions when wiring the main circuit terminal block Do not turn ON the power supply to the servo drive until...

Page 10: ...uch the power regeneration converter heat sink SERVOPACK heat sink or motor while the power is ON or immediately after the power supply is turned OFF There is a risk of burns Do not make extreme adjus...

Page 11: ...a risk of equipment damage CAUTION Dispose of the products as general industrial waste Observe the following general precautions to ensure safe application The products shown in illustrations in this...

Page 12: ...by a third party for use with programmable Yaskawa products 3 The information described in product catalogs or manuals is provided for the purpose of the customer pur chasing the appropriate product f...

Page 13: ...ce Check the functionality and safety of the actual devices and equipment to be used before using the product 6 Read and understand all use prohibitions and precautions and operate the Yaskawa product...

Page 14: ...ation Deceleration Filters 3 5 Chapter 4 Feed Axis Operation 4 1 4 1 High speed Feeding and Cutting Operations 4 3 4 1 1 How to Use the INTERPOLATE 34 Hex Command 4 3 4 1 2 Acceleration Deceleration F...

Page 15: ...5 16 5 3 2 Spindle Axis Servo Drive based Position Loop Tapping 5 17 5 3 3 Relationship between the Spindle Axis Base Speed and Magnetic Flux Density in Servo Mode 5 18 5 3 4 Tapping Control with a C...

Page 16: ...Warnings 7 5 7 4 Handling Command Alarms and Warnings 7 8 7 5 Handling Communications Alarms and Warnings 7 10 7 6 Emergency Stop Processing 7 13 7 6 1 Emergency Stop and Main Circuit Magnetic Contac...

Page 17: ...9 3 Path Drawing Circular Arc Paths 9 11 9 4 Tapping Synchronization Accuracy Drawings 9 12 9 5 I O Monitoring 9 13 9 6 Spindle Axis Load Meter 9 14 9 6 1 Load Meter Monitor Selection 9 14 9 6 2 Load...

Page 18: ...1 1 Application Overview 1 Application Overview This chapter provides an overview of product applications...

Page 19: ...2 Emergency stop contactor to SVM Power regeneration converter Battery Main circuit power supply Local bus PN bus bar SERVOPACK for one axis Local bus Computer PN bus bar SERVOPACK for two axes Termin...

Page 20: ...munications Motion Orientation Position Control Predictive control Projection compensation Model following Speed Control High response speed control Vibration suppression Sequences Winding selection M...

Page 21: ...ettings 2 2 2 1 2 Communications Settings for the Master Station 2 2 2 2 Initializing Communications 2 5 2 3 Cyclic Communications Interrupt Processing 2 6 2 4 Operation Sequence 2 7 2 4 1 Operation S...

Page 22: ...Follow the C source files and the instructions from this website to install the drivers on the host controller The data bus width BWDT between the CPU and communications ASIC and the endian configura...

Page 23: ...scription Setting Example Remarks mod Communications mode set ting JL100_MOD_TYPE_C1MS T JL100_MOD_INT_FR Master mode hardware synchroni zation ma0 Local station address 1 Master station fixed ma_max...

Page 24: ...No MMA TDEP 024A for details on the JL100_USER_PAR and JL100_USER_IOMAP data structures Member Name Description Setting Example Remarks axis_adr Station address 0001 hex 0002 hex 0003 hex 0004 hex 01...

Page 25: ...eate a new program Initialize the communications ASIC Check the operation of the communications ASIC a read write check of the memory area Detect the slave stations Set the transmission cycle Measure...

Page 26: ...ave and processing related to that response data analysis of the response data and creation of command data to send to the slave and user application process ing are performed after the communications...

Page 27: ...ot required If the communications connection is not disconnected properly send the DISCONNECT command for at least two communications cycles before you establish a connection again and then send the C...

Page 28: ...in step 4 Step Operation Commands Used 1 Turn ON the control and main circuit power supplies 2 Confirm that the SERVOPACK initialization has been completed i e confirm that SVCMD_STAT M_RDY 1 NOP 3 D...

Page 29: ...e as follows VER COM_MOD COM_TIM and PROFILE_TYPE Set these parameters as required for the system Settings Example VER 30 hex Standard servo profile COM_MOD 82 hex Synchronized communications single p...

Page 30: ...ng figure CPOS Command position APOS Feedback position 5 SV_ON Command This command turns ON the power to the motor When the control power and main circuit power supply are turned ON SVCMD_STAT PON ch...

Page 31: ...hile the motor is still turning all axes other than the spindle axis will be stopped with the dynamic brake DB If the power supply is turned ON and OFF or the motor is started and stopped by turning t...

Page 32: ...SD driver settings for different machines Refer to 8 2 Basic Functions Settings in the V SD Series User s Manual Manual No SIEP S800000 78 for details on V SD driver settings 3 1 Reference Unit 3 2 3...

Page 33: ...edback data from the host controller The SERVOPACK performs servo control in pulse units i e at the encoder resolution so commands from the host controller are also in pulses Encoder Resolution The en...

Page 34: ...ot provide an electronic gear Set the electronic gear that is required for the load configuration of each axis at the host controller Commands that are sent to the SERVOPACK are in pulse units Send th...

Page 35: ...tion and Winding Selection Settings 3 Encoder Type Setting Make the following settings so that the V SD driver can identify the axis configuration Spindle Motor Parameter Settings Motor Type Applicati...

Page 36: ...rs for position references in the SERVOPACK are used when the communications cycle for MECHATROLINK III communications is long Apply acceleration deceleration filters for axis movement references at t...

Page 37: ...inite length Infinite length Axes and Absolute Position Detection Settings 4 16 4 5 3 Procedure for Setting Up the Absolute Position Detection System 4 17 4 5 4 Initializing the Absolute Encoder 4 17...

Page 38: ...4 2 4 10 Controlling Vertical Axes 4 43 4 11 Motor Stop Methods When the Servo is OFF or an Alarm Occurs 4 44 4 11 1 Motor Stop Methods When the Servo Is Turned OFF 4 44 4 11 2 Motor Stop Methods When...

Page 39: ...o 2 3 Cyclic Communications Interrupt Processing for details on the IINTERPOLATE 34 hex com mand 1 How to Create a Movement Reference You can move the axes by finding the positions of the axes with li...

Page 40: ...D_IO GSEL Gain Select Field Description CMD Ox34 CMD_CTRL SVCMD_CTRL SVCMD_IO TPOS Target Position The reference unit is set in common parame ters 43 and 44 VFF Speed Feedforward The speed unit is set...

Page 41: ...eleration profile backlash offset and pitch error correction are performed by the host controller and the combination of those items is sent to the SERVOPACK as the target position TPOS 4 1 2 Accelera...

Page 42: ...eration Filter Moving Average Filter Before filter reference every 2 ms After filter with moving average filter 100 63 2 36 8 Pn811 Pn811 Reference pulse frequency Before filter After filter Time 100...

Page 43: ...g combinations of gain banks and control functions are used depending on the feed axis opera tion Select the correct operation mode from the host controller for either high speed feeding including jog...

Page 44: ...ntrol Spindle Axis Operation For spindle axis operations set SVCMD_IO G SEL to 10 bit 11 bit 10 bit 9 bit 8 1 0 1 0 to select gain bank 2 Synchronized Operation of Feed and Spindle Axes In operations...

Page 45: ...perations such as jogging stepping and handle pulse generator operation Basically only one axis can be moved at a time during manual operation Positioning operations are the same as for high speed fee...

Page 46: ...alarms The following table shows the possible combinations of main commands and subcommands Can be used together Cannot be used together Operation Main Command Subcommand Axis movement during normal...

Page 47: ...even during axis movement About the Write Servo Parameter Command SVPRM_WR 41 Hex To change parameters use the SVPRM_WR 41 hex command Specify the number of the parameter to change the data size the w...

Page 48: ...41 hex NO 104 Speed Loop Gain Pn104 SIZE 2 2 bytes MODE 10 hex Write to RAM PARAMETER Data to write When RSUBCMD is SVPRM_WR 41 hex and SUB_STAT SUBCMDRDY is 1 in the response data the parameter has b...

Page 49: ...CMD_STAT L_CMP2 bits indicate the completion of a latch operation Bit 8 LT_REQ1 Latch Request 1 0 None Rising edge 1 Request for latch Description Requests a latch through phase C or an external input...

Page 50: ...Commands Manual No SIEP S800000 76 for details on monitor selection 3 SVCMD_CTRL Bit Fields Monitor Selection Fields Type Operation Latch Operation Latching The latch operation begins when LT_REQ1 or...

Page 51: ...oller turn ON the host controller and the SERVOPACK at the same time or turn ON the SERVOPACK first The following diagram shows an overview of absolute position detection Requesting Sensor Initializat...

Page 52: ...ed on the host controller For an infinite length axis reset the mechanical position reference position and current value at a regular interval when the position reaches the reset position set for the...

Page 53: ...e the machine is started When an encoder backup alarm A 810 occurs When an encoder checksum alarm A 820 occurs To reset the multiturn data for the absolute encoder to 0 Perform an absolute encoder res...

Page 54: ...ta 1008 hex Request code 1008 hex is the absolute encoder reset operation Processing has finished when RCMD is MEM_WR 1E hex and CMD_STAT CMDRDY is 1 If an error occurs perform step 5 and end the adju...

Page 55: ...finished when RCMD is SVPRM_WR 41 hex and CMD_STAT CMDRDY is 1 3 Execute the MEM_WR 1E hex command as the MECHATROLINK III main command or subcommand Command MEM_WR 1E hex Address 80004000 hex Mode Da...

Page 56: ...Pn205 Multiturn Limit Setting as instructed for the initialization of the absolute encoder If these instructions are not followed the current position may vary when the power supply is turned ON whic...

Page 57: ...position X Origin offset memory value Use the following procedure to set the origin offset 1 After the power supply is turned ON use the Turn Sensor ON command SENS_ON 23 hex to turn ON the encoder 2...

Page 58: ...following formula New origin offset Pn808 Previous value of Pn808 APOS APOSnew Use the SVPRM_WR 41 hex command to write the new origin offset value to SERVOPACK parameter Pn808 5 Use the SV_OFF 32 he...

Page 59: ...lowing formula Multiturn data Number of pulses per encoder rotation Initial incremental pulses Incremental pulses Example To set the current machine coordinate system position as the origin 0 set the...

Page 60: ...we recommend a communications cycle of 1 ms or less and a transmission cycle of 250 s Set the transmission cycle in the t_mcyc member of the JL100_USER_PAR structure in the MECHA TROLINK III access d...

Page 61: ...nsmission cycle so send and receive processing is performed during this interrupt between communications cycles For all other interrupts the send and receive processing must be skipped and the cyclic...

Page 62: ...G SEL Field Description CMD Ox3C CMD_CTRL SVCMD_CTRL SVCMD_IO TFF Torque Feedforward The torque unit is set in common parameters 47 and 48 Normally the percent of the rated torque is selected VREF Sp...

Page 63: ...rformed by the host controller The position control section of the host controller is always in operation so send the SV_OFF 32 hex com mand for one communications cycle only and then send the VELCTRL...

Page 64: ...cribed in 4 7 2 Homing Method When Using an Absolute Encoder as an Incremental Encoder is used to return to the origin Create an operation sequence so that the homing sequence is executed according to...

Page 65: ...signal the speed changes from the homing speed to the approach speed INTERPOLATE 34 hex command SVCMD_IO DEC changes from 1 to 0 falling edge Step 3 Monitoring is performed for the rising edge of the...

Page 66: ...started at the homing speed in the specified direction The host controller sequentially updates the target position TPOS every communications cycle and sends the INTERPOLATE 34 hex command so that th...

Page 67: ...ecified direction When the rising edge of the phase C signal is detected the speed is reduced to the creep speed and positioning is performed for the homing distance When positioning has been complete...

Page 68: ...h is requested The latch position LPOS1 is specified for one of the SMON1 to SMON3 monitors to read the zero signal latch position One of the SERVOPACK s external input signals EXT1 to EXT3 is used as...

Page 69: ...n parameter 93 Pn826 1 Enable N OT signal Step 1 Motion is started at the approach speed in the specified direction The host controller sequentially updates the target position TPOS every communicatio...

Page 70: ...ing is performed for in SVCMD_STAT L_CMP1 bit 8 to change to 1 to detect the completion of the phase C latch operation while feeding the axis at the creep speed Step 7 When the latch operation is comp...

Page 71: ...plications connect the limit switches to the P OT and N OT pins of CN1 as shown in the following figure to prevent damage to the machine Use an NC contact to prevent accidents in case there are any pr...

Page 72: ...ng completed SVCMD_IO DEN bit 12 1 and SVCMD_IO ZSPD bit 19 1 SERVOPACK overtravel processing completed SVCMD_IO DEN bit 12 1 and SVCMD_IO ZSPD bit 19 1 Use the reference position CPOS to reset the Co...

Page 73: ...omotor is stopped naturally due to the rotational friction Zero clamp status A position loop is formed by using the position reference zero This method is recom mended The stopping method that is set...

Page 74: ...y monitor for SVCMD_IO P OT bit 2 and SVCMD_IO N OT bit 3 to change from 0 to 1 If Pn00D 3 is set to 1 an Overtravel Warning A 9A0 will occur if overtravel is detected You can see if a warning has occ...

Page 75: ...onfirming Overtravel Status The I O signal inputs of the host controller must be monitored constantly to determine if overtravel has occurred Use a PLC ladder program for monitoring or perform the mon...

Page 76: ...e INTERPOLATE 34 hex command from the host controller to move the axis for the return operation using the current coordinate system position APOS When this return operation is performed and the overtr...

Page 77: ...software limits on the host con troller 1 Reference Position Confirmation Compare the position reference value that is sent to the SERVOPACK and the upper and lower software limits to make sure the u...

Page 78: ...34 hex command from the host controller to move the axis for the return operation using the current coordinate system position APOS When this return operation is performed and the software limit stat...

Page 79: ...the SERVOPACK This can be controlled from the host controller but because the timing for when to apply the brake depends on when the servo is turned ON or OFF or when a SERVOPACK alarm occurs we recom...

Page 80: ...Alarm Occurs The method used to stop the motor when a Gr1 alarm occurs is the same as described in 4 11 1 Motor Stop Methods When the Servo Is Turned OFF The method used to stop the motor when a Gr2 a...

Page 81: ...anging the Gain Selection Parameter 5 24 5 5 1 How to Handle More than Four Sets of Gain Settings 5 24 5 5 2 Gain Parameter Overwrite Timing for Tool Replacement M06 5 24 5 5 3 Sequence for Gain Selec...

Page 82: ...y operation and other operations related to spindle axis operation are performed with the VELCTRL 3C hex command Position control with the INTERPOLATE 34 hex command is recommended for orientation or...

Page 83: ...he motor speed based on that gear ratio Note The number of pulses is the number of feedback pulses per single rotation of the spindle motor Command Field Meaning Description CMD Ox3C CMD_CTRL SVCMD_CT...

Page 84: ...by executing the VELCTRL 3C hex command after the SV_ON 31 hex command To stop an axis e g M05 set the speed reference in VREF to 0 with the VELCTRL 3C hex command to decelerate the spindle motor to...

Page 85: ...e specified position from the host controller Refer to 5 2 2 Performing Orientation by Changing from Speed Control to Position Control for details on changing from speed control to position control Th...

Page 86: ...rotation or low speed rotation or if the spindle axis is stopped 1 Orientation Operation from High speed Rotation VELCTRL VREF 19000hex VELCTRL VREF 85555 hex INTERPOLATE M03 S8000 SV_OFF M19 M05 SMON...

Page 87: ...Z Command VELCTRL 3C hex VREF 19000 hex 1 500 min 1 TFF 0 hex ACCR DECR FFFFFFFF hex SVCMD_CTRL LT_SEL1 0 SVCMD_CTRL LT_REQ1 1 SVCMD_CTRL SEL_MON3 3 Selects LPOS1 SVCMD_CTRL LT_SEL2 1 2 or 3 Set to a...

Page 88: ...1C hex and CMD_STAT CMDRDY is 1 Check if SVCMD_IO V_CMP is 1 to determine if the motor speed has reached the reference speed Step 3 To change to position control the position coordinates for the spin...

Page 89: ...on stop position within one revolution of the spindle motor is calculated and then the position reference is calculated so that the spindle motor can stop at the designated deceleration rate Command I...

Page 90: ...TPOS Target Position Sets the target position from the latch position This data is unsigned 4 byte data The position reference range is as follows 0 TPOS Travel distance per machine rotation reference...

Page 91: ...arget speed is reached After the latch operation has been completed 1 positioning is performed to the target position using the operation for when the current reference speed is less than or equal to...

Page 92: ...d is paused or canceled An alarm or warning will occur if a pause or cancel request is received during execution of the QUICK_ORT command in the same way as for the INTERPOLATE and TRQCTRL commands Ma...

Page 93: ...the POS_TREF can be calculated as Tdec Trated Note Tdec is calculated as DECR Deceleration rate J Moment of inertia Torque is affected by the values that are set for Torque Unit Selection common param...

Page 94: ...filter SVCMD_LT_REQ1 1 Latch request SVCMD_LT_SEL1 0 Phase C latch selection SVCMD_IO G SEL 2 Gain selection speed loop gain and position loop gain selection SVCMD_IO SV_MOD 1 Servo mode selection TPO...

Page 95: ...ator External pulse generator Multilevel gear selection Winding selection For a system with gears winding and four gain banks per servo drive you must normally select a gain bank SVCMD_G SEL Each gear...

Page 96: ...size tap length tap pitch material acceleration deceleration rates and maximum number of revolutions based on the characteristics of the motor that is used The following system block diagram shows a...

Page 97: ...preserves control loop response and increases constraint when the axis is stopped in the same way as a servo If SV_MOD is turned OFF the excitation current is not supplied when the axis is stopped Als...

Page 98: ...must be changed Servo Mode Base Speed Ratio Pn434 200 Servo Mode Flux Level Pn433 50 However the acceleration rate must be appropriate for that amount of torque 1 Gain Selection Select the gain for bo...

Page 99: ...s sent each communications cycle for the following settings MECHATROLINK III INTERPOLATE command COMMAND INTERPOLATE 34 hex SVCMD_CTRL SVCMD_IO G SEL 2 gain selection SV_MOD 1 SV_MOD Set the TPOSz and...

Page 100: ...F 0 This results in the following expressions v At5 Bt4 Ct3 A 5At4 4Bt3 3Ct2 20At3 12Bt2 6Ct1 If the time to finish acceleration is t1 the acceleration is calculated as A 5At1 4 4Bt1 3 3Ct1 2 0 1 The...

Page 101: ...esponse data returned through MECHATROLINK III communications the ideal feed axis position for the APOSS feedback value of that spindle axis is calculated and the difference between that value and the...

Page 102: ...ips and inserted again to tap deeper in order to cut deep hole taps 4 Maximum Speed Acceleration Time and Acceleration Deceleration of Tapping Spindle Axes The acceleration rate in position control wi...

Page 103: ...ther requirements Use SVCMD_IO G SEL to select the gain You can specify any of the following four gain banks for axes such as spindle axes or rotating tool spindle axes Gain Parameter Gain Bank 0 1 2...

Page 104: ...Gain 3 is then selected when the SVPRM_WR command is used to write the gain setting to Gain 3 When speed control is used to control a spindle axis the tapping and orientation position loop gains are h...

Page 105: ...ubcommand SUBCMD SVCMD_WR 41 hex NO 12E Speed Loop Gain Pn12E SIZE 2 2 bytes MODE 0B hex RAM area only PARAMETER XXXX Write data Execution of the process has been completed when RSUBCMD is SVPRM_WR 41...

Page 106: ...ithout the use of a gearbox Small Drive Capacity If the constant output range of the servo driver for a spindle axis is expanded the motor current in the low speed area is forced to increase and there...

Page 107: ...ADA P N P N 11 12 THM THM PC PC PB PB PA PA 2FIL r t 2QF r1 t1 200 400 VAC 200 VAC CA1 CA2 C24V CC CN3 13 14 15 16 2 4 6 U V W 5V GND U V W X Y Z 9 11 7 1 2 3 4 5 6 7 8 11 12 10 17 18 r1 t1 Z1Z2 Z3 3...

Page 108: ...Winding Selection Sequence Note The speed reference is a step reference with an acceleration of ACCR the maximum acceleration rate Set the hysteresis for the detection of the switching speed The proce...

Page 109: ...ler than the switching speed the speed of the S reference is specified as is 2 The host controller checks to confirm that the speed matches SVCMD_IO V_CMP 1 3 The low speed winding request SVCMD_IO WN...

Page 110: ...Low speed Winding at 500 min 1 1 If an S reference is specified for the current winding the speed of the S reference is executed 2 The speed feedback FSPD is read from the SERVOPACK and a check is mad...

Page 111: ...o high speed winding If M05 Stop Spindle Axis Is Executed 1 If M05 Stop Spindle Axis is executed the host controller sends a speed reference of 0 min 1 2 The host controller confirms a zero speed SVCM...

Page 112: ...quence After execution of the magnetic pole detection sequence has been completed the servo is turned ON and returns notification that execution has been completed Winding selection motors that requir...

Page 113: ...th a magnetic motor Pn001 0 Required A 540 Overspeed during Low speed Winding The low speed winding maximum speed was exceeded during low speed winding Pn001 0 Auto reset A 690 Winding Selection Opera...

Page 114: ...Motor Type Application Selection Pn01E 0 and Winding Selection Pn01E 1 6 6 6 1 8 Setting the Encoder Type Pn01F 0 6 6 6 1 9 Setting Absolute Encoder Usage Pn002 2 6 6 6 1 10 Setting External Encoder U...

Page 115: ...base Make the following settings for position management in normal operation 360 000 reference units for 1 200 slits and 256x multiplier 307 200 POS APOS i 1 APOS i POS i 1 POS i POS if POS i 1 307 2...

Page 116: ...nd SERVOPACK Parameter No Name Unit Setting Range Factory Setting When Enabled Pn000 0 Rotation Direction Selection 0 to 3 0 After restart Pn002 2 Absolute Encoder Usage 1 0 1 0 After restart Pn002 3...

Page 117: ...ence N OT n 1 Sets clockwise CW as the forward direction Reverse Rotation Mode Forward run reference P OT Reverse run reference N OT CCW PAO PBO Phase B advanced Motor speed Time Encoder output pulses...

Page 118: ...ameters for alarm detection Pn51B and Pn52A 1 Setting the Excessive Error Level between Servomotor and Load Positions Pn51B This parameter detects the difference between the motor encoder feedback pos...

Page 119: ...the external encoder will function as an absolute encoder even if Pn002 2 is set to 1 Pn52A 0 Pn52A 100 Pn52A 20 Small Large 3rd revolution 2nd revolution 1st revolution 0th revolution Number of Servo...

Page 120: ...That is the VELCTRL speed can be specified in pulses s and then the ACCR and DECR commands can be used to achieve the required acceleration or deceleration Acceleration and deceleration are controlled...

Page 121: ...he same way as for a spindle axis Gain banks are also used to set gain settings in the same way as for spindle axes Refer to 5 4 Spindle Axis Gain Selection Orientation can be controlled through latch...

Page 122: ...DEFM S Gain However the encoder ratio between the master and slave spindle axes is 1 1 6 3 2 Transferring a Workpiece from the Master Spindle Axis to the Slave Spindle Axis The motor speed and positi...

Page 123: ...results for operation Multi axis superimposed control determines the travel distances in mm rev in relation to the master axes Then the reference values of the axes are calculated and operation is per...

Page 124: ...tching for details on latching The method that is used to calculate the compensation value depends on the compensation value that is set for CNC but the tool ware compensation can be calculated from t...

Page 125: ...1 Emergency Stop and Main Circuit Magnetic Contactor Control Settings 7 14 7 6 2 Using the Host Controller to Perform Emergency Stop Processing and Turn OFF the Main Circuit 7 16 7 6 3 Using the SERVO...

Page 126: ...in the SERVO PACK If an alarm occurs in the SERVOPACK you can determine the cause of the problem by checking the follow ing information NO NO NO NO MECHATROLINK III communications alarm warning CMD_S...

Page 127: ...tiple times to check for the occurrence of multiple alarms Monitor servo system for all axes main command Servo Status Monitor SMON 30 hex Turn OFF main circuit Confirm the alarm code confirmation sub...

Page 128: ...ms Alarms that are related to motor operation can simply be cleared to resume operation but the alarm may con tinue to occur unless the problem that causes the alarm is resolved However if an alarm oc...

Page 129: ...ccurs stop the operation of the machine reduce the speed or take other measures necessary to prevent an alarm from occurring You can set parameter Pn008 2 to enable or disable warning detection Warnin...

Page 130: ...hine operator input wait for the clear warning key on the operating panel Stop the program Warning Resolution Stop the block in the NC program Warning Resolution Decrease the override Reduce the opera...

Page 131: ...T D_WAR 1 SMON ALM_RD SMON ALM_RD ALM_RD SVCMD_STAT SV_ON 1 INTERPOLATE SMON SMON Clearing alarm completion CMD_STAT ALM_CLR_CMP Clear Alarm CMD_CTRL ALM_CLR Controller operation button Controller res...

Page 132: ...o be cleared CMD_ALM is cleared automatically Check CMD_ALM status every communications cycle and perform the necessary measures to resolve any problems NO YES NO NO NO NO NO YES YES YES YES YES Check...

Page 133: ...curs when an axis is in motion for the INTERPOLATE 34 hex command CMD_STAT COM_ALM 8 SMON ALM_RD SMON ALM_RD ALM_RD SVCMD_STAT SV_ON 1 INTERPOLATE SMON SMON No alarm Axis name and alarm number display...

Page 134: ...YES NO NO YES A END Alarm warning occurred Clearing alarm completed CMD_STAT ALM_CLR_CMP 1 Clear the warning command bit CMD_CTRL ALM_CLR 1 Wait for machine operator input wait for the clear warning...

Page 135: ...m has occurred and the alarm details Monitor servo system for all axes main command Servo Status Monitor SMON 30 hex Turn OFF main circuit Turn OFF servo for all axes main command Servo OFF SV_OFF 32...

Page 136: ...up processing Clearing alarm completion CMD_STAT ALM_CLR_CMP Clear Alarm CMD_CTRL ALM_CLR Controller reset button No alarm Axis name and alarm number displayed No alarm Controller alarm display Operat...

Page 137: ...ost controller for control This method uses the host controller to stop the axes and turn OFF the main circuit The emergency stop processing can be performed based on the machine specifications but th...

Page 138: ...ormed the motor decelerates to a stop The deceleration torque used at this time is set in parameter Pn406 Note 1 For a spindle axis set the instantaneous peak torque for the spindle motor to 120 2 For...

Page 139: ...e main circuit magnetic contactor is turned OFF during axis deceleration an Undervoltage Alarm A 410 will occur in the SERVOPACK If multiple SERVOPACKs are connected to the power regeneration converte...

Page 140: ...TE 34 hex command to change the target position for feed axes in motion so that they decelerate to a stop quickly Set the target positions so that the axes decelerate to a stop at the desired rate Set...

Page 141: ...turned OFF during axis deceleration an Undervoltage Alarm A 410 will occur 4 Recovering after an Emergency Stop Confirm that all axes have stopped and that SVCMD_IO M_RDY is 1 for all axes When the e...

Page 142: ...e and 7 6 1 6 Emergency Stop Signal Monitor 2 Emergency Stop Processing When the emergency stop signal turns OFF emergency stop state the SERVOPACK performs the following processing The axes that are...

Page 143: ...Confirm that all axes have stopped and that SVCMD_IO M_RDY bit 12 is 1 for all axes When the emergency stop signal turns ON emergency stop state released perform the following processing Check that SV...

Page 144: ...s CN1 connector MCON and MCON 1 Signal Wiring and Related Parameters When the SERVOPACK is used to perform emergency stop processing and the power regeneration converter is used to control the main ci...

Page 145: ...controller displays that an emergency stop was performed Note Do not turn OFF the main circuit magnetic contactor 2KM during motor deceleration If the main circuit magnetic contactor 2KM is turned OFF...

Page 146: ...s CN1 connector MCON and MCON 1 Signal Wiring and Related Parameters To use the power regeneration converter to control the main circuit magnetic contactor set the parameters described in 7 6 1 2 Main...

Page 147: ...and then turn OFF the main circuit magnetic contactor Confirm that all axes are base blocked i e SVCMD_STAT SV_ON bit 13 0 and use the host controller to turn OFF the main circuit magnetic contactor c...

Page 148: ...Wire Base Block HWBB Function in the V SD Series User s Manual Manual No SIEP S800000 78 for details on the hard wire base block function If you are not using the hard wire base block function refer...

Page 149: ...leave the hard wire base block state When Hard Wire Base Block Occurs While the Servo Is ON The motor stops according to the setting of parameter Pn001 0 From the host controller send the SV_OFF comma...

Page 150: ...STAT M_RDY bit 12 has changed from 0 to 1 3 Perform the recovery processing required on the host controller Specifically check the coordinate system position APOS and identifying the stop position of...

Page 151: ...PACK Parameters and Preparation for Mass Production 8 4 8 2 2 Memory Map 8 6 8 2 3 Parameter Upload Download Methods 8 7 8 2 4 GUI Operations on the Host Controller 8 10 8 3 Servo Drive Maintenance In...

Page 152: ...Servo drive maintenance information display functions required Absolute encoder reset multiturn limit setting and other setting functions recommended SERVOPACK parameter management editing functions r...

Page 153: ...arameters Uploading Individual SERVOPACK Parameters This function uploads a SERVOPACK parameter for the selected axis from a SERVOPACK that is con nected to the host controller Uploading Parameters fr...

Page 154: ...rst time the parameters such as the direction of rotation or the stop method used when an alarm occurs must be set for each SERVOPACK Write the parameter file for the spindle motor to the SERVOPACK th...

Page 155: ...SERVOPACK parameters for each axis from the controller and then save them in the appropriate file format Use the controller or the SigmaWin for V SD MT to set up the absolute encoder Servo OFF proces...

Page 156: ...r parameters for uploading and downloading are accessed as virtual memory on the SERVOPACK The memory area for uploading and downloading parameters is approximately 2 000 words in size including the r...

Page 157: ...Manual No SIEP S800000 76 for details on uploading and downloading parameters 1 Uploading Parameters To upload parameters use the MEM_RD 1D hex command Note Data is always read in 4 byte segments i e...

Page 158: ...Use the MEM_RD 1D hex command to read the data from 8001F020 hex to 8001F020 hex DATASIZE 2 4 4 bytes at a time Command MEM_RD 1D hex MODE DATA_TYPE 13 hex RAM area long size 4 bytes SIZE 0001 hex AD...

Page 159: ...ts of long data Usable Phase 2 3 MODE DATA_TYPE 13 hex SIZE 1 Data size ADDRESS 8001F000 hex Data area ADDRESS 8001F020 hex to 8001F020 hex 2 4 Processing Time Byte MEM_WR Command Response 0 1E hex 1E...

Page 160: ...CMD MEM_WR 1E hex and CMD_STAT CMDRDY changes to 1 all the data has been written successfully Note 1 If an error occurs perform any necessary error processing and try again If an error still occurs st...

Page 161: ...ayed on the host con troller for all connected axes Note 1 ID_CODE is the ID data selection code that is specified with the ID_RD 03 hex command 2 The virtual address is the virtual address specified...

Page 162: ...o 9 2 1 ID Information Area in the V SD AC Servo Drives V SD Series User s Manual MECHA TROLINK III Standard Servo Profile Commands Manual No SIEP S800000 76 for details on maintenance information Usa...

Page 163: ...y the following command parameters and read the remaining 8 bytes of the total 32 bytes of data Command ID_RD 03 hex ID_CODE 80 hex OFFSET 18 hex SIZE 0008 hex 8 bytes Execution of the data read opera...

Page 164: ...stop the read ID operation Usable Phase 2 3 SERVOPACK Software Version Example MODE DATA_TYPE 13 hex SIZE 1 Data size ADDRESS 0000000C hex SERVOPACK Model Example Because the data length is 32 bytes t...

Page 165: ...tes of data Command MEM_RD 1D hex MODE DATA_TYPE 13 hex SIZE 3 Data size ADDRESS 00000214 hex Execution of the data read operation has been completed when RCMD MEM_RD 1D hex and CMD_STAT CMDRDY is 1 N...

Page 166: ...t Controller 8 16 0104 Y CACR JUM24A2A 000A D0107D332740020 SGMGV 20A8A21 0001 Encoder version Model External encoder Encoder version Motor model Serial number Software version SERVOPACK model Axis Se...

Page 167: ...oller GUI You might want to display parameters for multiple axes at the same time The ability to select a parameter with the cursor and change the current set value then write the new value to the SER...

Page 168: ...drivers 9 1 SERVOPACK Monitors 9 2 9 2 Servo Tracing 9 8 9 3 Path Drawing Circular Arc Paths 9 11 9 4 Tapping Synchronization Accuracy Drawings 9 12 9 5 I O Monitoring 9 13 9 6 Spindle Axis Load Mete...

Page 169: ...servo drivers can constantly monitor a variety of SERVOPACK information Select the information to monitor in the monitor selection fields For common and optional monitors the information to monitor i...

Page 170: ...monitor 1 Selects the monitor data specified in Common Param eter 89 D CMN2 Common monitor 2 Selects the monitor data specified in Common Param eter 8A E OMN1 Optional monitor 1 Selects the monitor d...

Page 171: ...encoder position converted to reference units 8A PnB14 4 Monitor Selection for SEL_MON2 CMN2 0 to 9 0000 Immediately Setup 0000hex to 0009 hex Same as Monitor Selection for SEL_MON1 cont d Param eter...

Page 172: ...eed 0011 Un001 Speed reference min 1 Low speed 0012 Un002 Torque reference Low speed 0013 Un0013 Rotational angle 1 encoder pulses from the origin Low speed 0014 Un004 Rotational angle 2 deg Low speed...

Page 173: ...2 Optional Monitor 2 Selection 0000 to FFFF 0000 Immedi ately Setup 0000 to 0084 Same as Optional Monitor Selection 1 cont d Parame ter No Size Name Setting Range Setting Unit Factory Setting When En...

Page 174: ...ration pattern processing Position error PERR Internal command position IPOS Positioning target position TPOS Kp 1 U V W M Kp ENC CN2 1 1 Error counter Elec tronic gear Completion of position referenc...

Page 175: ...form acquisition trigger setting Waveform drawing and zoom in out functions Cursor for X and Y axes on drawn waveforms and level time measurement based on cursor position Ability to save and load meas...

Page 176: ...9 2 Servo Tracing 9 9 Monitoring Servo Trace Waveform Cursor based Time Measurements...

Page 177: ...9 Monitoring 9 10 Waveform Overlay Trigger Condition Settings...

Page 178: ...3 Path enlargement reduction i e the ability to change the scale of the X and Y axes Measurement of circular arc reduction and quadrant projection amounts and the numeric value display of these amoun...

Page 179: ...e ability to load past data and overlay them on the current data 5 1 The host controller can automatically obtain the screw pitch with a G code command 2 This depends on the data storage memory area o...

Page 180: ...ler GUI This allows for smooth trial operation confirmation and troubleshooting The following items are displayed on the host controller for I O monitoring Output signals CMD_CTRL SUB_CTRL SVCMD_CTRL...

Page 181: ...election To monitor the load meter select either Optional Monitor 1 or Optional Monitor 2 for the monitor selection and then select the load meter for parameter Pn824 or Pn825 For details refer to 9 1...

Page 182: ...term motor output as the 100 output 1 Data is output with the maximum motor output at 100 0 Data is output with the maximum motor output at 120 Output kW 3 Data is output with a continuous motor rated...

Page 183: ...100 output Load meter 26 kW 22 kW 100 118 2 1182 0 1 49E hex Pn01C 0 3 Data is output with a continuous motor rated output of 100 Load meter 26 kW 18 5 kW 100 140 5 1405 0 1 57D hex UAKAJ 22C Output C...

Page 184: ...f the revised manuals are given on the bottom of the back cover Date of Publication Rev No Section Revised Contents June 2012 First edition MANUAL NO SIEP S800000 87A Published in Japan June 2012 12 6...

Page 185: ...ngPu District Shanghai 200003 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 YASKAWA ELECTRIC SHANGHAI CO LTD BEIJING OFFICE Room 1011 Tower W3 Oriental Plaza No 1 East Chang An Ave Dong Cheng Distri...

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