YASKAWA JAPMC-MC2100 User Manual Download

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USER’S MANUAL

MANUAL NO. SIEP C880700 33H

Model: JAPMC-MC2100(-E), JEPMC-MP2400-E

JAPMC-MC2102-E, JEPMC-MP2500-A



to C



JAPMC-MC2140(-E), JEPMC-MP2540-A



to C



JAPMC-MC2142-E, JEPMC-MP2500-D



JEPMC-MP2300(-E), JEPMC-MP2540-D



JEPMC-MP2300S-E, JAPMC-MC2310(-E)
JEPMC-MP2310-E

Built-in SVB/SVB-01

Motion Module

Machine Controller MP2000 Series

Overview

Settings and Installation

Self-configuration and Created Definition Files

Motion Parameters

Motion Parameter Setting Examples

Motion Commands

Switching Commands during Execution

Control Block Diagrams

Absolute Position Detection

Settings for Connecting Inverters

Utility Functions

Troubleshooting

Appendices

App

SVB-01

ERR

RUN

SPD

SIZE

M/S

OFF

M-I/II

CN1

CN2

Summary of Contents for JAPMC-MC2100

Page 1: ...SVB SVB 01 Motion Module Machine Controller MP2000 Series Overview Settings and Installation Self configuration and Created Definition Files Motion Parameters Motion Parameter Setting Examples Motion Commands Switching Commands during Execution Control Block Diagrams Absolute Position Detection Settings for Connecting Inverters Utility Functions Troubleshooting Appendices 1 2 3 4 5 6 7 8 9 10 11 1...

Page 2: ...t liability is assumed with respect to the use of the information contained herein Moreover because Yaskawa is constantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless Yaskawa assumes no responsibility for errors or omissions Neither is any lia...

Page 3: ...r thrust are used when describing linear servomotors this manual uses torque when describing both excluding parameters Indication of Reverse Signals In this manual the names of reverse signals ones that are valid when low are written with a forward slash before the signal name as shown in the following example Notation Examples S ON S ON P CON P CON Purpose Chapter Selecting Models and Peripheral ...

Page 4: ...00 series Machine Controller Engineering Tool for MP2000 Series Machine Controller MPE720 Version 6 User s Manual SIEP C880700 30 Describes how to install and operate the program ming tool MPE720 version 6 for MP2000 series Machine Controllers Machine Controller MP900 MP2000 Series MPE720 Software for Programming Device User s Manual SIEP C880700 05 Describes how to install and operate the MP900 M...

Page 5: ...ations Product Manual SIEP S800001 27 Provides detailed information on selection Servo Drive installation connections setup trial operation tuning and monitoring of Σ 7 series SERVOPACKs Σ 7 Series AC Servo Drive Digital Operator Operating Manual SIEP S800001 33 Describes the operating procedures for a Digital Operator for a Σ 7 series Servo System Machine Controller MP900 MP2000 Series User s Man...

Page 6: ...dicates precautions that if not heeded could possibly result in loss of life serious inju ry or property damage Indicates precautions that if not heeded could result in relatively serious or minor injury or property damage If not heeded even precautions classified under can lead to serious re sults depending on circumstances Indicates prohibited actions Specific prohibitions are indicated inside F...

Page 7: ...ay start operation suddenly Provide safety measures in advance to ensure human safety in the event that operation restarts suddenly There is a risk of injury Do not allow installation disassembly or repairs to be performed by anyone other than specified person nel There is a risk of electrical shock or injury Do not store or install the Machine Controller in the following locations There is a risk...

Page 8: ...supply of the specified voltage There is a risk of burning In places with poor power supply conditions take all steps necessary to ensure that the input power supply is within the specified voltage range There is a risk of device damage Install breakers and other safety measure to provide protection against shorts in external wiring There is a risk of fire Provide sufficient shielding when using t...

Page 9: ...tart operation only after transferring the programs and parame ters from the old Module to the new Module If the data has not been transferred to the new module before the operation of the machine controller starts damage to the device may result Dispose of the Machine Controller as general industrial waste Observe the following general precautions to ensure safe application The products shown in ...

Page 10: ... product in a manner in which it was not originally intended 5 Causes that were not foreseeable with the scientific and technological understanding at the time of shipment from Yaskawa 6 Events for which Yaskawa is not responsible such as natural or human made disasters 2 Limitations of Liability 1 Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that ...

Page 11: ...operty Systems that require a high degree of reliability such as systems that supply gas water or electricity or sys tems that operate continuously 24 hours a day Other systems that require a similar high degree of safety 4 Never use the product for an application involving serious risk to life or property without first ensuring that the sys tem is designed to secure the required level of safety w...

Page 12: ... 1 External Appearance 2 2 2 1 2 Indicators 2 2 2 1 3 SVB 01 Module Status Indication 2 2 2 1 4 Switch Settings 2 4 2 2 Applicable Machine Controllers for SVB 01 Modules 2 6 2 3 Mounting Removing SVB 01 Modules 2 7 2 3 1 Mounting an SVB 01 Module 2 7 2 3 2 Removing SVB 01 Modules for Replacement 2 9 3 Self configuration and Created Definition Files 3 1 3 1 Self configuration Overview 3 2 3 2 How t...

Page 13: ...5 13 5 1 8 Linear Scale Pitch and Rated Speed 5 14 6 Motion Commands 6 1 6 1 Motion Commands 6 3 6 1 1 Motion Command Table 6 3 6 1 2 Motion Commands Supported by SERVOPACK Models 6 4 6 2 Motion Command Details 6 5 6 2 1 Position Mode POSING Positioning 6 5 6 2 2 Latch Target Positioning EX_POSING External Positioning 6 11 6 2 3 Zero Point Return ZRET 6 16 6 2 4 Interpolation INTERPOLATE 6 36 6 2 ...

Page 14: ...tching Motion Commands 7 5 7 2 1 Switching from POSING 7 6 7 2 2 Switching from EX_POSING 7 10 7 2 3 Switching from ZRET 7 14 7 2 4 Switching from INTERPOLATE 7 17 7 2 5 Switching from ENDOF_INTERPOLATE or LATCH 7 20 7 2 6 Switching from FEED 7 21 7 2 7 Switching from STEP 7 25 7 2 8 Switching from ZSET 7 28 7 2 9 Switching from VELO 7 29 7 2 10 Switching from TRQ 7 34 7 2 11 Switching from PHASE ...

Page 15: ... Turning ON the Power after Setting the Zero Point 9 19 9 4 5 Infinite Length Position Control without Simple Absolute Positions 9 19 10 Settings for Connecting Inverters 10 1 10 1 Specifications for Communications with Connected Inverters 10 2 10 2 Operating Inverters Using an MPE720 10 3 10 2 1 Check Items before Operation 10 3 10 2 2 Operation Precautions 10 4 10 2 3 Operation Procedure 10 6 10...

Page 16: ...at Are Automatically Updated 11 23 11 6 1 Parameters Updated when a MECHATROLINK Connection Is Established 1 User Constants Self writing Function Enabled 11 23 11 6 2 Parameters Updated when a MECHATROLINK Connection Is Established 2 Regardless of the User Constants Self writing Function 11 24 11 6 3 Parameters Updated when a Setting Parameter Is Changed MECHATROLINK II Operating at 10 Mbps in 32 ...

Page 17: ... Program Software Numbers and Remaining Program Memory Capacity Name A 5 Appendix B Settings When Connecting MECHATROLINK Compatible I O Modules MYVIS and MP940 A 6 B 1 Settings in Link Assignment Tab Page A 6 B 2 I O Register Configuration A 7 Appendix C Initializing the Absolute Encoder A 12 C 1 Σ III Σ V and Σ 7 Series SERVOPACKs A 12 C 2 Σ II SERVOPACK A 14 C 3 Σ I SERVOPACK A 16 Appendix D Se...

Page 18: ...erence Mode A 39 I 1 What is Servo Driver Transmission Reference Mode A 39 I 2 MECHATROLINK Communication Management by the System A 39 I 3 Motion Parameters That Can be Used in Servo Driver Transmission Reference Mode A 40 I 4 MECHATROLINK Commands That Cannot Be Used A 40 I 5 Operation Procedure in Servo Driver Transmission Reference Mode A 41 I 6 Precautions When Using Servo Driver Transmission...

Page 19: ...2 1 1 3 Features 1 2 1 1 4 System Configuration Example 1 3 1 1 5 Devices Connectable to MECHATROLINK 1 4 1 1 6 Synchronization between Modules 1 7 1 2 Specifications 1 9 1 2 1 SVB 01 Module Hardware Specifications 1 9 1 2 2 Specifications of SVB Module 1 10 1 3 SVR Virtual Motion Module 1 13 1 3 1 Overview 1 13 1 3 2 Example of SVR Usage 1 14 1 3 3 System Configuration Example 1 14 1 3 4 SVR Oper...

Page 20: ...M MP2500MD as a standard feature 1 1 3 Features Up to 21 slave stations can be connected to a single Module the SERVOPACKs can be connected up to 16 axes MP2300 Up to 2 SVB 01 Modules can be mounted in optional slots The MP2300 incorporates a built in SVB Module capable of controlling 16 axes and is able to control up to 48 axes MP2200 Up to 16 SVB 01 Modules can be mounted in optional slots If an...

Page 21: ...When connecting a servo to an SVB Module via MECHATROLINK connect signals such as overtravel homing deceleration switch and external latch to the servo Refer to the relevant SERVOPACK manual for details on the connections When connecting Σ II series SERVOPACKs SGDH NS100 or SGDH NS115 do not connect a hand held type digital operator and SigmaWin If connected alarms A 95 command warning and A ED ex...

Page 22: ... G7A SI T Varispeed G7 Inverter with MECHATROLINK interface Yes Yes CIMR F7A SI T Varispeed F7 Inverter with MECHATROLINK interface Yes Yes CIMR V7AA SI T V7 VSmini V7 Inverter with MECHATROLINK interface Yes Yes CIMR A SI T3 High Performance Vector Control Drive A1000 MECHATROLINK II Option Card Yes Yes CIMR V SI T3 V Compact Vector Control Drive V1000 MECHATROLINK II Option Unit Yes Yes Model Nu...

Page 23: ...s 8 contact outputs Yes Yes AB023 M1 MECHATROLINK Bit decentralization I O ter minal by Anywire Corporation Yes Yes JAPMC MC2310 SVB 01 Motion Module Yes Yes JEVSA YV250 MYVIS YV250 Machine Vision System Yes Yes JEVSA YV260 MYVIS YV260 Machine Vision System Yes Yes JEPMC REP2000 MECHATROLINK II repeater Yes Yes JEPMC MC400 MP940 Machine Controller Yes No cont d Model Number Details MECHATROLINK I ...

Page 24: ...ires on one end Do not use this cable for other SERVOPACKs MECHATROLINK Cable MECHATROLINK Connector Loose Wire JEPMC W6011 A5 0 5m JEPMC W6011 01 1 m JEPMC W6011 03 3 m JEPMC W6011 05 5 m JEPMC W6011 10 10 m JEPMC W6011 20 20 m JEPMC W6011 30 30 m JEPMC W6011 40 40 m JEPMC W6011 50 50 m Terminator JEPMC W6022 cont d Name and Specification Model Number Length ...

Page 25: ...points in communication cycle processing and simplifies distribution processing for interpolation commands 2 Conditions Under Which Synchronization Is Possible The following table shows the combinations of high speed scan times and MECHATROLINK communication cycles that allow synchronization between modules in the synchronization mode 3 Timing At Which Modules Are Synchronized Modules are automati...

Page 26: ...pply OFF and ON Changing the MECHATROLINK Communication Cycle of the SVB 01 Module Operation will be automatically synchronized when a change is made if synchronization is possible for the high speed scan and communication cycle combination It is not necessary to turn the power supply OFF and ON 6 Conditions when the Power Supply Must Be Turned OFF and ON When any of the following operations is pe...

Page 27: ...dity 30 to 95 RH with no condensation Ambient Storage Humidity 5 to 95 RH with no condensation Pollution level Pollution level 2 conforming to JIS B 3502 Corrosive Gas There must be no combustible or corrosive gas Operating Altitude 2 000 m above sea level or lower Mechanical Operating Conditions Vibration Resistance Conforming to EN61000 6 2 EN61000 6 4 EN55011 Group 1 Class A Shock Resistance Co...

Page 28: ...cting repeaters MECHATROLINK I Min distance between stations 0 3 m Total network length 50 m can be extended to 100 m by connecting repeaters Master Functions Communication Interface MECHATROLINK II 2 N synchronous MECHATROLINK I 1 N synchronous Baud Rate 10 Mbps 4 Mbps Transmission Cycle 0 5 ms 1 1 ms 1 5 ms or 2 ms 2 ms Number of Link Communication Bytes 17 bytes or 32 bytes 17 bytes Number of C...

Page 29: ...infinite length position control absolute system infinite length position control and simple absolute system infinite length position control Software Limit Positive negative direction for each point Zero Point Return Method 13 types SERVOPACK Parameter Man agement Parameters can be managed in the MPE720 s SERVOPACK Parameter Window Inverter Control Communication Method Single send communication c...

Page 30: ...LINK I MECHATROLINK II Topology Bus Bus Transmission Media Twisted pair cable Twisted pair cable Transmission Distance 50 m max Can be extended to 100 m with repeaters 50 m max Can be extended to 100 m with repeaters Minimum Distance between Stations 0 3 m 0 5 m Baud Rate 4 Mbps 10 Mbps Communication Cycle 2 ms 0 5 ms 1 ms 1 5 ms or 2 ms Number of Connectable Stations Up to 14 stations Up to 21 st...

Page 31: ...and monitoring parameters and can be accessed from application programs using I O registers Refer to items marked with in Chapter 4 Motion Parameters for information on SVR motion parameters Refer to Chapter 6 Motion Commands for information on how to use SVR motion commands The SVR can be used to control up to 16 virtual axes in the high speed scan control cycle Display Example of the Slot for SV...

Page 32: ...Master axis for phase control Electronic cam or shaft operation can be achieved by using the SVR for the virtual master axis 2 Multi axis synchronous control Multi axis synchronous control can be achieved by controlling the SVR from a motion program and then using the ladder program to copy position commands of the SVR to other axes 3 Sine curve commands If the motion program is used to perform ci...

Page 33: ...e number of axes 1 to 16 when Selection of Operation Modes fixed parameter No 0 is set to Normal Operation Mode 0 The formula listed above do not apply when the number of axes is 0 Differences from SVB Simulation Mode Simulation mode does not have a positioning function so the position data is refreshed in one scan to the final target position The SVR has its own positioning function that performs...

Page 34: ... or remove it 2 1 LED Indicators and Switch Settings 2 2 2 1 1 External Appearance 2 2 2 1 2 Indicators 2 2 2 1 3 SVB 01 Module Status Indication 2 2 2 1 4 Switch Settings 2 4 2 2 Applicable Machine Controllers for SVB 01 Modules 2 6 2 3 Mounting Removing SVB 01 Modules 2 7 2 3 1 Mounting an SVB 01 Module 2 7 2 3 2 Removing SVB 01 Modules for Replacement 2 9 ...

Page 35: ...r failures Not lit during normal operation Normally operating TX Green MECHATROLINK transmission in progress MECHATROLINK transmis sion being stopped RUN TX ERR Status Indication SVB 01 Module Status Description RUN ERR TX Initial Status Power has just been turned ON Indicates that the power to the SVB 01 Module has been just turned ON The ERR LED light will go out when the initialization process ...

Page 36: ...n error has occurred during execu tion of a motion command or motion subcommand Example A command outside the setting range was sent Clear the command OW 08 OW 0A In Slave Mode A MECHATROLINK communication error has occurred Check the MECHATROLINK cable con nection No communication from the master In slave mode no communication from the master has been received Check the master station and the MEC...

Page 37: ... Mode Setting Example Name Status Operating Mode Default Setting Details ON Reserved OFF Keep turned OFF OFF Reserved M S ON Slave Mode OFF Select Master or Slave Mode OFF Master Mode SIZE ON 17 bytes OFF Select the number of send bytes Valid only in Slave Mode OFF 32 bytes SPD ON 4 Mbps OFF Select the baud rate Valid only in Slave Mode OFF 10 Mbps Communication Interface Link Communication Switch...

Page 38: ... It will be ignored in Master Mode Name Status Operating Mode Default Setting Details 10 0 to 9 Local address in Slave Mode Tens digit 0 Set the tens digit of the local slave address Example Turn to 1 for the address 15 1 0 to 9 Local address in Slave Mode Ones digit 1 Set the ones digit of the local slave address Example Turn to 5 for the address 15 10 1 ...

Page 39: ... MP2200 1 CPU 01 JAPMC CP2200 E 16 modules The maximum number of connectable Modules is the total for the maxi mum expansion to four racks 2 CPU 02 JAPMC CP2210 E CPU 03 JAPMC CP2220 E CPU 04 JAPMC CP2230 E MP2100M JAPMC MC2140 E 13 modules Ver 2 44 or later The maximum number of connectable Modules is the total for the maxi mum expansion to three racks 2 MP2101M JAPMC MC2142 E All versions Ver 5 ...

Page 40: ...lder and then select Transfer All Files From Controller to MPE720 from the main menu MPE720 Ver 6 Open the project file and then select Online Transfer Read from Controller from the main menu 2 Remove the Machine Controller and Expansion Racks Turn OFF the power supply and then disconnect all cables from the Machine Controller and expansion racks MP2200 base units After disconnecting all the cable...

Page 41: ...located at the top and bottom of the option slot as shown in the following diagram While holding both the top and bottom of the Module line up the Module with the guide rails inside the option slot make sure the Module is straight and insert it If the Module is not lined up with the guide rails the FG bar on the bottom inside the slot may become dam aged 2 Mount onto the mounting base After the SV...

Page 42: ...20 Ver 5 Right click the PLC folder and then select Transfer All Files From Controller to MPE720 from the main menu MPE720 Ver 6 Open the project file and then select Online Transfer Read from Controller from the main menu 2 Remove the Machine Controller and Expansion Racks Turn OFF the power supply and then disconnect all cables from the Machine Controller and expansion racks MP2200 base units Af...

Page 43: ...lease the bottom in the same way 3 Remove the SVB 01 Module from the mounting base Pull the top of the panel of the SVB 01 Module towards you to remove it A notch on the SVB 01 Module will be visible from the gap in the cover Hook the round knob on the battery cover shown in the diagram into the notch in the SVB 01 Module While holding the battery cover as shown in the photograph tilt the cover ba...

Page 44: ... 01 Module While holding both the top and bottom of the Module pull the Module out straight towards you Hold the Mod ule by its edges and do not touch any components on the Module Place the Module in the bag provided with the initial shipment and store it in this bag A optional cover JEPMC OP2300 must be installed on the empty slot ...

Page 45: ...onfiguration 3 4 3 3 System Startup Using Self Configuration 3 5 3 3 1 Starting the System for First Time 3 5 3 3 2 System Startup when Adding Electronic Devices 3 7 3 3 3 System Startup when Replacing Electronic Devices 3 9 3 4 Self configuration and Definition Files 3 10 3 4 1 Module Configuration Definition 3 11 3 4 2 MECHATROLINK Transmission Definition 3 14 3 4 3 SVB Definition 3 20 3 4 4 Cur...

Page 46: ...ion Definition for details on Module Configuration Definition 3 4 2 MECHA TROLINK Transmission Definition for details on MECHATROLINK Transmission Definition and 3 4 3 SVB Definition for details on SVB Definition The information is automatically written to the Module Configuration Definition The information is automatically written to the MECHATROLINK Transmission Definition MP2300 MECHATROLINK II...

Page 47: ...error or no response is returned because of a duplicated station address or cable disconnection is recognized as an unconnected station If no slave is detected communications through MECHATROLINK I will continue Self configuration starts Self configuration ends Station information set Fixed parameters set Setting parameters set Detected Detected Detected Not detected Not detected Not detected Sear...

Page 48: ...be written in the SVB Definition ON OFF Module Configuration Definition will be updated The axes that have already been allocated to the MECHATROLINK Transmission Definition will stay unchanged Only the axes that are newly detected by self configuration will be newly allocated The column showing the deleted axis will appear blank in the MECHATROLINK Transmission Definition Window The SVB definitio...

Page 49: ...olute Encoder will need to be initialized Refer to Appendix C Initializ ing the Absolute Encoder for details The servo adjustment can be performed either in this step or after the self configuration 4 Complete the settings on each optional module Set the required items such as communication specifications and station address using the switches on each optional module mounted on the Machine Control...

Page 50: ...the axis in the SVB definition window refer to 3 4 3 SVB Definition then click the SERVO PACK Tab to display the SERVOPACK Tab Page b Select Edit Copy Current Value The data in the Input Data column is the SERVOPACK data saved to the Machine Controller and the data in the Current Value column is the data set to the SERVOPACK Refer to 3 4 4 Current Value and Setting Data in SVB for information on t...

Page 51: ...e power to the Machine Controller Once the application has been backed up log off from the Machine Controller and turn OFF the Machine Con troller power 3 Start the electronic device to be added Make the DIP and rotary switch settings for the device to be added For MECHATROLINK slaves make the switch settings and turn ON the power to the slave Confirm that the device starts correctly and then turn...

Page 52: ...on Refer to steps 6 to 9 under 3 3 1 Starting the System for First Time for details of the rest of this procedure steps 6 to 9 6 Make parameter settings to match machinery 7 Save SERVOPACK parameters 8 Save Machine Controller data to flash memory 9 Save ladder programs and reboot the Machine Controller This completes the system startup procedure when electronic devices have been added If I O addre...

Page 53: ...the device starts correctly and then turn OFF the power 4 Replace the electronic device Remove the electronic device to be replaced connect the new device to the Machine Controller and turn ON the power to all MECHATROLINK slaves 5 Turn ON the Machine Controller power 6 Save SERVOPACK Parameters If a SERVOPACK has been replaced use the following procedure to write the SERVOPACK parameters saved to...

Page 54: ...rmation of allocations related to MECHATROLINK transmission master and slaves Refer to 3 4 2 MECHATROLINK Transmission Definition for details SVB Definition Information on motion parameters to control axes such as SERVOPACKs linear servomotors inverters and distrib uted I Os that are connected to the SVB Module Refer to 3 4 3 SVB Definition for details This section describes the setting window for...

Page 55: ... C880700 30 or Machine Controller MP2000 MP3000 Series Engineering Tool MPE720 Version 7 User s Manual manual number SIEP C880761 03 2 Select Setup Module Configuration Definition from the Launcher The Module Configuration Window see the next page will open Personal Computer with MPE720 Version 5 Installed 1 Start the MPE720 installed in a personal computer that is connected to a Machine Controlle...

Page 56: ...ghtly depending on the Machine Controller model MP2100 MP2300 MP2500 and MP2500D MP2100M MP2200 MP2500M and MP2500MD After executing self configuration all the optional modules connected to the Machine Controller will be dis played in the Controller field Click an optional module in the Controller field and its details will be displayed in the Module Details field ...

Page 57: ...e Module detected in the slot Possible Controller Number Only for MP2100 MP2300 MP2500 and MP2500D Fixed to 01 Not possible Circuit Number Module circuit number Possible I O Start Register I O start register number of the I O Module to be connected to MECHA TROLINK Setting range 0000 to 7FFFh max 400h words per SVB Module Possible I O End Register I O last register number of the I O Module to be c...

Page 58: ...indow select the SVB Module in the Controller field and double click the MECHA TROLINK cell in the Details field The MECHATROLINK Transmission Definition Window will open If several SVB Modules are mounted select the SVB Module to be checked or set in the Controller field To check or set the built in SVB Module select slot number 00 in the Controller field MP2100 MP2300 MP2500 and MP2500D MP2100M ...

Page 59: ...rotary switches For Master station fixed to 0 For slave stations set a number between 1 and the number of slave stations Transmission Speed Displays the transmission speed MECHATROLINK II 32 byte mode 10 Mbps MECHATROLINK II 17 byte mode 10 Mbps MECHATROLINK I 4 Mbps Cannot be set Transmission Bytes Hidden for MECHA TROLINK I Displays the number of transmission bytes The number of transmission byt...

Page 60: ...an be con nected Determined by communication type communication cycle use of SigmaWin and number of attempts to retry transmission to slaves Cannot be set Wait for Monitor Data Update Hidden for built in SVB Modules Displays whether or not to suspend CPU processing for the scan delay time of monitoring parameters of an optional SVB Module Suspended when enabled not sus pended when disabled Select ...

Page 61: ...e The time required for CPU high speed scan processing however will be longer because the CPU s application execu tion start time is suspended until the SVB 01 Module motion processing is completed SVB Module Type Built in SVB Optional SVB MECHATROLINK II Communication Mode 32 byte mode 17 byte mode 32 byte mode 17 byte mode Communication Cycle That Can be Set 1 ms 1 5 ms or 2 ms Fixed to 1 ms 0 5...

Page 62: ...d in TYPE Item Description Options and Precautions on Settings ST Station number The station number set here must be the same as the number set using rotary switches TYPE Slave device connected at the station Select the device type from the pull down list D I O register s enable disable status Enabled Disabled Click the button to switch the status INPUT SIZE The leading input register number INPUT...

Page 63: ... transmission status is displayed The displayed settings cannot be changed The items shown on the Status Tab are the same as those on the Link Assignment Tab except for STS STS In online mode MECHATROLINK transmission status information is displayed in hexadecimal In offline mode nothing will be displayed The meaning of each bit is shown below Type code 01H Inverter 02H Servo 03H I O Reserved F E ...

Page 64: ...g the SVB Definition Window Open the SVB Definition Window by the following procedure 1 Double click the slot number cell of the SVB Module in the Module Details field in the Module Config uration Window refer to 3 4 1 1 How to Open the Module Configuration Window The Create New Confirmation Dialog Box will open Click OK to display the Fixed Parameters Tab of the SVB Definition Window 2 Select the...

Page 65: ...pe and Related Alarms for details Fig 3 1 Fixed Parameters Tab Fig 3 2 Setup Parameters Tab Fig 3 3 SERVOPACK Parameters Tab Refer to the relevant SERVOPACK user s manual for information on SERVOPACK parameters Refer 3 4 4 Current Value and Setting Data in SVB Fig 3 4 Monitor Parameters Tab read only These parameter are written in the SVB Definition file when executing self configuration For detai...

Page 66: ...P2000 series SVB 01 JAPMC MC2310 E Version 1 22 or later Engineering Tool Model Version MPE720 Version 5 CPMC MPE720 Version 5 39 or later MPE720 Version 6 CPMC MPE770 D Version 6 05 or later MPE720 Version 7 CPMC MPE780 D Version 7 10 or later Controller Model Version MP2100 JAPMC MC2100 E Version 2 81 or later MP2100M JAPMC MC2140 E Version 2 81 or later MP2300 JEPMC MP2300 E Version 2 81 or lat...

Page 67: ... MPE720 Version 5 CPMC MPE720 Not supported MPE720 Version 6 CPMC MPE770 D Version 6 32 or later MPE720 Version 7 CPMC MPE780 D Version 7 13 or later Available Not available Controller M I M II 17 bytes M II 32 bytes MP2100 MP2100M MP2300 MP2300S MP2310 MP2400 MP2000 series SVB 01 Controller Communication Cycle 0 5 ms 1 0 ms MP2100 MP2100M built in CPU MP2100M option MP2300 MP2300S MP2310 MP2400 S...

Page 68: ...d for the assigned TYPE parameter in the MECHA TROLINK Transmission Definitions Window will be as shown below depending on the version of the SVB Module and the MPE720 Connected SERVOPACK Type SERVOPACK Model Version of MPE720 Displayed Setting of TYPE Σ V series SERVOPACK SERVOPACK with MECHATROLINK II Communications with Maximum Mo tor Capacity of 15 kW SGDV F1 SGDV A1 SGDV D1 Ver 5 62 Ver 6 31 ...

Page 69: ... However if you use an SGDV 1 with software version 0023 or later you can use the backlash compen sation function in the SERVOPACK DC Power Input Σ V series SER VOPACK SERVOPACK with MECHA TROLINK II Communications SGDV E1 SVB 01 Module Ver 1 29 or earlier Built in SVB Module Ver 2 79 or earlier SERVO SVB 01 Module Ver 1 30 or later Built in SVB Module Ver 2 81 or later Ver 5 62 Ver 6 31 or Ver 7 ...

Page 70: ...C2142 E Version 2 89 or later Version 2 92 or later MP2300 JEPMC MP2300 E Version 2 89 or later Version 2 92 or later MP2300S JEPMC MP2300S E Version 2 89 or later Version 2 92 or later MP2310 JEPMC MP2310 E Version 2 89 or later Version 2 92 or later MP2400 JEPMC MP2400 E Version 2 89 or later Version 2 92 or later MP2000 series SVB 01 JAPMC MC2310 E Version 1 33 or later Version 1 34 or later En...

Page 71: ...Servo Driver Type Error alarm Monitoring Parameter IL 04 bit 1D will be detected synchronized com munications will not start and the Motion Controller Operation Ready bit Monitoring Parameter IW 00 bit 0 will be 0 operation not ready Controller Communication Cycle 0 5 ms 1 0 ms MP2100 MP2100M built in CPU MP2100M option MP2101 MP2101M built in CPU MP2101M option MP2300 MP2300S MP2310 MP2400 SVB 01...

Page 72: ...even when the power is turned OFF 2 RAM and SDRAM Can lose data when the power is turned OFF indicates data has been written 2 Normal Operation Control software of the SERVOPACK operates in accordance with on the parameter data held in the SERVO PACK s RAM Some setting parameters and commands of the Machine Controller temporarily change SERVOPACK parame ters The RAM in the SERVOPACK is also change...

Page 73: ...SERVOPACK s RAM for the relevant axis to the Current in the SERVOPACK Tab Page It also reads and displays the values that are held in the Machine Controller s SDRAM values to the Input Data in the SERVOPACK Tabbed page indicates data has been written The following figure shows an example of the SERVOPACK Tab in the SVB Definition Window The values in Cur rent are different from the values in Input...

Page 74: ...ings HDD hard disk of the personal computer SDRAM of Machine Controller RAM and EEPROM of the SERVOPACK After having completed writing the parameters the MPE720 updates the values in Current on the SERVOPACK Tab Page with the SERVOPACK parameter values stored in the RAM indicates data has been written same as below MECHATROLINK RAM EEP ROM SRAM SDRAM Input Data MPE720 㧔online㧕 HDD in personal comp...

Page 75: ...g executed save operation on the SERVOPACK Tab in the SVB Definition Window After having saved the data the values in Input Data of all the parameters become the same as the values in Current on the SERVOPACK Tab The saving operation of SERVOPACK parameters can be used for writing data after SERVOPACK replacement because it writes all the parameters of the relevant axis Before saving After saving ...

Page 76: ...isplayed in Current to Input Data on the SERVOPACK Tab and dis plays indicates data has been written The following figure shows a display example after having selected Edit Copy Current Value on the SERVOPACK Tab in the SVB Definition Window The values in Current are copied to Input Data MECHATROLINK RAM EEP ROM SRAM SDRAM Machine Controller SERVOPACK SERVOPACK Control Software System Software Par...

Page 77: ... is pressed on the computer The parameters other than those of the relevant axis will not be written Input Data set data on the SERVOPACK Tab Page SDRAM of the Machine Controller RAM of the SERVOPACK After having completed writing the MPE720 updates the values in Input Data on the SERVOPACK Tab Page with the parameter values stored in the RAM of the SERVOPACK indicates data has been written MECHAT...

Page 78: ...Loop Gain in Input Data on the SERVOPACK Tab After having pressed the ENTER Key the values of Speed Loop Gain Speed Loop Integral Time Constant and Position Loop Gain boxed in dotted line in Input Data remain different from the values in Cur rent since the parameters other than the one that has been changed are not written Beforepressing ENTER Key After having pressed ENTER Key ...

Page 79: ...emory also after having changed set data of SERVOPACK parameter indicates data has been written 3 4 5 Precautions When Saving SERVOPACK Parameters Before executing saving operation in the SERVOPACK Tab Page in any cases excluding the SERVOPACK replace ment always select Edit Copy Current Value to copy the values in Current to Input Data MECHATROLINK RAM EEP ROM SRAM SDRAM Input Data MPE720 㧔online...

Page 80: ...Setting Window 4 4 4 2 1 How to Open the Motion Parameter Setting Windows 4 4 4 2 2 Motor Type and Related Alarms 4 5 4 3 Motion Parameter Lists 4 6 4 3 1 Fixed Parameter List 4 6 4 3 2 Setting Parameter List 4 8 4 3 3 Monitoring Parameter List 4 14 4 4 MP2000 Series Machine Controller Parameter Details 4 18 4 4 1 Motion Fixed Parameter Details 4 18 4 4 2 Motion Setting Parameter Details 4 25 4 4 ...

Page 81: ...to 9AFF 9B00 to 9B7F 9B80 to 9BFF 5 A000 to A07F A080 to A0FF A100 to A17F A180 to A1FF A200 to A27F A280 to A2FF A300 to A37F A380 to A3FF 6 A800 to A87F A880 to A8FF A900 to A97F A980 to A9FF AA00 to AA7F AA80 to AAFF AB00 to AB7F AB80 to ABFF 7 B000 to B07F B080 to B0FF B100 to B17F B180 to B1FF B200 to B27F B280 to B2FF B300 to B37F B380 to B3FF 8 B800 to B87F B880 to B8FF B900 to B97F B980 to...

Page 82: ...FFF 7 B400 to B47F B480 to B4FF B500 to B57F B580 to B5FF B600 to B67F B680 to B6FF B700 to B77F B780 to B7FF 8 BC00 to BC7F BC80 to BCFF BD00 to BD7F BD80 to BDFF BE00 to BE7F BE80 to BEFF BF00 to BF7F BF80 to BFFF 9 C400 to C47F C480 to C4FF C500 to C57F C580 to C5FF C600 to C67F C680 to C6FF C700 to C77F C780 to C7FF 10 CC00 to CC7F CC80 to CCFF CD00 to CD7F CD80 to CDFF CE00 to CE7F CE80 to CE...

Page 83: ...d Parameters Set Up Parameters and Monitor tabs of the SVB Defini tion Window Fig 4 1 Fixed Parameters Tab Page Fig 4 2 Setup Parameters Tab Page Fig 4 3 Monitor Parameters Tab Page Read Only 4 2 1 How to Open the Motion Parameter Setting Windows Refer to 3 4 1 Module Configuration Definition and 3 4 3 SVB Definition for information on how to open motion parameter setting windows ...

Page 84: ...15 These alarms cannot be cleared by executing Alarm Clear The way to clear the alarm will differ depending on the sit uation If either or both of these alarms occur refer to the following table for how to clear the alarm Setting Value Actually Connected Servomotor Alarm That Can Occur How to Clear Alarm Machine Controller SVB Definition Window SERVOPACK Pn000 3 Rotary type SGDH Linear Linear type...

Page 85: ...s Bits 5 to 7 Reserved for system use Bit 8 Interpolation Segment Distribution Processing Yes Bit 9 Simple ABS Rotary Pos Mode Simple absolute infinite axis position control 0 Disabled 1 Enabled Set to 0 for linear type Yes Bit A User Constants Self writing Function Yes Bits B to F Reserved for system use 2 Function Selection Flag 2 Bit 0 Communication Abnormality Detection Mask Yes 4 4 1 3 Bit 1 ...

Page 86: ...8 31 to 33 Reserved for system use 34 Rated Motor Speed Rotary Motor 1 1 min 1 Yes Yes 4 4 1 9 Rated Speed Linear Motor 1 0 1 m s 0 1 mm s Yes Yes 36 Number of Pulses per Motor Rotation Rotary Motor 1 1 pulse rev Set the value after multiplication Yes Yes Number of Pulses per Linear Scale Pitch Linear Motor 1 1 pulse scale pitch Yes Yes 38 Maximum Number of Abso lute Encoder Turns Rotation 1 1 rev...

Page 87: ...OSMAX Turn Number Presetting Demand 0 OFF 1 ON Yes Yes Bit 7 Request ABS Rotary Pos Load Absolute system infinite length position information LOAD 0 OFF 1 ON Set to 0 for linear type Yes Bit 8 Forward Outside Limiting Torque Thrust Input Forward external torque thrust input 0 OFF 1 ON Yes Bit 9 Reverse Outside Limiting Torque Thrust Input Forward external torque thrust input 0 OFF 1 ON Yes Bit A R...

Page 88: ...ion 0 Percentage of rated toque 1 0 01 1 Percentage of rated toque 1 0 0001 Yes Yes OW 04 Function Setting 2 Bits 0 to 3 Latch Detection Signal Selection 4 4 2 5 0 1 2 Phase C pulse Yes 3 EXT1 Yes 4 EXT2 Yes 5 EXT3 Yes Bits 4 to 7 External Positioning Signal Setting 0 1 2 Phase C pulse Yes 3 EXT1 Yes 4 EXT2 Yes 5 EXT3 Yes Bits 8 to B Reserved for system use Bits C to F Bank Selector Yes OW 05 Func...

Page 89: ...e 24 TRQ Torque Thrust Reference 25 PHASE Phase Reference 26 KIS Change Position Loop Integral Time Constant 27 PPRM_WR Stored Parameter Write 39 MLTTRN_SET Multiturn Limit Setting Yes Yes 4 4 2 7 OW 09 Motion Command Control Flag Bit 0 Holds a Command 0 OFF 1 ON Yes Yes 4 4 2 8 Bit 1 Interrupt a Command 0 OFF 1 ON Yes Yes Bit 2 Moving Direction JOG STEP 0 Forward rotation 1 Reverse rotation Yes Y...

Page 90: ...rence Setting 1 1 reference unit Yes Yes 4 4 2 15 OL 1E Width of Positioning Completion 1 1 reference unit Yes 4 4 2 16 OL 20 NEAR Signal Output Width 1 1 reference unit Yes 4 4 2 17 OL 22 Error Count Alarm Detection 1 1 reference unit Yes 4 4 2 18 OL 24 Reserved for system use OW 26 Positioning Completion Check Time 1 1 ms Yes 4 4 2 19 OW 27 Reserved for system use OL 28 Phase Correction Setting ...

Page 91: ...Width of Starting Point Position Output 1 1 reference unit Yes Yes OL 3E Approach Speed Unit is according to OW 03 bits 0 to 3 Speed Unit Selection Yes OL 40 Creep Rate Unit is according to OW 03 bits 0 to 3 Speed Unit Selection Yes OL 42 Zero Point Return Travel Distance 1 1 reference unit Yes OL 44 Step Travel Distance 1 1 reference unit Yes Yes 4 4 2 26 OL 46 External Positioning Final Travel D...

Page 92: ...on subcommand Set the setting for the SERVOPACK parameter Yes OW 58 to OW 5B Reserved for system use OW 5C Fixed Parameter Number Set the number of the fixed parameter to read with the FIXPRM_RD motion subcommand Yes Yes 4 4 2 31 OW 5D Reserved for system use OL 5E Encoder Position When Power is OFF Lower 2 words 1 1 pulse For linear type do not set this register Yes 4 4 2 32 OL 60 Encoder Positio...

Page 93: ...ve Deviation Yes 4 4 3 3 Bit 1 Set Parameter Error Setting parameter error Yes Yes Bit 2 Fixed Parameter Error Yes Yes Bit 3 Servo Driver Error Yes Bit 4 Motion Command Set Error Yes Yes Bit 5 Reserved for system use Bit 6 Positive Direction Overtravel Yes Bit 7 Negative Direction Overtravel Yes Bit 8 Servo ON Incomplete Yes Bit 9 Servo Driver Communication Warning Yes Bit A Servo Driver Stop Sign...

Page 94: ... Reserved for system use Bit 3 Command Error Completed Status Command Error Occurrence Yes Yes Bits 4 to 7 Reserved for system use Bit 8 Command Execution Completed Yes Yes Bits 9 to F Reserved for system use IW 0C Position Manage ment Status Bit 0 Discharging Completed DEN Yes Yes 4 4 3 9 Bit 1 Positioning Completed POSCOMP Yes Yes Bit 2 Latch Complete LCOMP Yes Bit 3 NEAR Position NEAR Yes Yes B...

Page 95: ...A L_CMP Latch Complete Bit B NEAR Locating Neighborhood NEAR Position V_LIM Speed Limit Bit C P_SOT Position Software Limit Bit D N_SOT Negative Software Limit Yes 4 4 3 12 Bits E and F Reserved for system use IW 2D Servo Driver Alarm Code Stores the alarm code from the SERVOPACK Yes 4 4 3 13 IW 2E Servo Driver I O Monitor Bit 0 Forward Side Limit Switch Input Bit 1 Reverse Side Limit Switch Input...

Page 96: ... OW 03 bits 0 to 3 Speed Unit Selection Yes Yes IL 42 Feedback Torque Thrust Unit is according to OW 03 bits C to F Torque Unit Selection Yes Yes IL 44 Latch Completion Sequence Number 1 1 time Yes IL 45 Number of Continu ous Latch Sequence Completion Cycles 1 1 cycle Yes IW 46 to IW 55 Reserved for system use IL 56 Fixed Parameter Monitor Stores the data of the fixed parameter when FIXPRM_RD has ...

Page 97: ...monitoring parameters will not be updated If an axis is changed from any other run mode to this mode the monitoring parameters will be held at the current status except for the RUN Status monitoring parameter IW 00 which will be cleared to zeros Set any axis that is not being used to this mode Axis Unused to reduce the processing time 2 Simulation Mode In Simulation Mode position information will ...

Page 98: ...function in the negative direction Set the software limit as the Negative Software Limit Value fixed parameter 14 This setting is disabled if the axis is set as an infinite length axis The software limit function is enabled only after completing a Zero Point Return or Zero Point Setting opera tion IW 0C bit 5 is ON 0 Disabled default 1 Enabled Refer to 11 3 Software Limit Function for details of t...

Page 99: ...cution of a motion command 0 Enabled default 1 Disabled Refer to 11 6 Parameters That Are Automatically Updated for details No 2 Function Selection Flag 2 Setting Range Setting Unit Default Value 0000H Description Bit 0 Communication Abnormality Detection Mask Masks MECHATROLINK communication errors detected at the Machine Controller 0 Disabled default 1 Enabled Bit 1 WDT Abnormality Detection Mas...

Page 100: ...ear Motors Linear Scale Pitch Setting Range Setting Unit Default Value 1 to 231 1 User unit 10000 Description Set a value in accordance with the linear scale specifications When the reference unit is set to pulse set the scale pitch in units of either μm or nm No 8 Servo Motor Gear Ratio No 9 Machine Gear Ratio Setting Range Setting Unit Default Value 1 to 65535 rev revolutions 1 Description Set t...

Page 101: ...larm IL 04 bit 3 will occur Enabled when bit 1 of the Soft Limit Positive Direction Enabled Disabled fixed parameter 1 bit 1 is set to 1 enabled No 14 Negative Software Limit Value Setting Range Setting Unit Default Value 231 to 231 1 User unit 231 Description Set the position to be detected for the software limit in the negative direction at the Machine Controller If an axis attempts to move in t...

Page 102: ...ill be automatically written to the SERVOPACK parameter SGDH NS115 Pn81B SGDS Pn214 SGD7S Pn231 when communications are established with the SERVOPACK If you use the SGDV 1 with software version 0023 or later set both this fixed parameter and the following SER VOPACK parameters Pn230 Pn231 and Pn233 Using Backlash Compensation in the Forward Direction Using Backlash Compensation in the Reverse Dir...

Page 103: ...ed set 216 65536 No 36 Linear Motor Number of pulses per Linear Scale Pitch Setting Range Setting Unit Default Value 1 to 231 1 pulses scale pitch 65536 Description Set the number of pulses equivalent to the value set for No 6 Linear Scale Pitch Set the value in accordance with the specifications of the linear motor to be used No 38 Maximum Number of Absolute Encoder Turns Rotation Setting Range S...

Page 104: ...n the axis A change in the machine lock mode is valid after all pulses have been distributed The machine lock mode can not be changed during speed or torque control Bit 4 Latch Detection Demand 0 OFF default 1 ON When this bit is set to 1 ON the position at the moment the latch signal turns ON will be reported to the mon itoring parameter IL 18 Machine Coordinate System Latch Position LPOS When th...

Page 105: ...CK parameters The setting is enabled when the move command or the SERVO ON command is sent There is no torque limit switch parameter in the Servo command option area in the SGD N SGDB N or SGDH NS100 NS115 SERVOPACKs so the torque limit input cannot be used 0 OFF default 1 ON Bit 9 Reverse Outside Limiting Torque Thrust Input Limit the torque by the value set in the SERVOPACK parameters The settin...

Page 106: ...nfirmed by bit 0 Motion Controller Operation Ready of the monitoring parameter IW 00 Drive Status Do not execute the communication reset function during axis movement using a motion com mand If executed the axis will stop immediately A sudden stop of the axis may affect machine operation or cause damage to the machine Bit F Alarm Clear 0 Alarm clear OFF default 1 Alarm clear ON At the rising edge ...

Page 107: ...is sent 0 PI control default 1 P control Bit 4 Gain Switch Switch the gain to the Second Gain set in the SERVOPACK parameters The setting is enabled when the move command or the SERVO ON command is sent There is no gain switch parameter in the Servo command option area in the SGD N SGDB N or SGDH NS100 SERVOPACKs so the Gain Switch cannot be used When SGDV or SGD7S SERVOPACKs are used and the tuni...

Page 108: ... Continuous Latch Sequence Completion Cycles 0 to 32767 Available for SGDV and SGD7S SERVOPACKs with MECHA TROLINK II communications 32 bytes Parame ter No Digit Name Size Description Default Value Pn850 Latch Sequence Number 2 Min 0 Max 8 0 Pn851 Continuous Latch Count 2 Min 0 Max 255 0 Pn852 Latch Sequence Signal 1 to 4 Setting 2 Min 0000H Max 3333H 0000H 0 Latch sequence 1 signal selection 0 Ph...

Page 109: ...Pn853 Latch Detection Demand OW 00 bit 4 Continuous Latch Mode 1 Continuous Latch Operation Latch signals are set in Pn852 and Pn853 Setting Error Warning in SERVOPACK Usual Latch Operation Latch signals are set in bits 0 to 3 of OW 04 Usual Latch Mode OW 01 bit 6 0 0 0 Register No Name Setting value OW 01 Mode Setting 1 Bit 6 Latch mode selection 0 usual latch OW 04 Function Setting 2 Bits 0 to 3...

Page 110: ...e or H scan cycle is delayed To check if the latch was successfully completed use IW 44 or IW 45 If the current value is one greater than that of the previous cycle then latching was successfully completed Example 1 Condition Latch at phase C pulse Settings Motion setting parameters When using a continuous latch the settings of bits 0 to 3 are disabled Servo parameters A square indicates an unspec...

Page 111: ...specified value Register No Name Setting value OW 01 Mode Setting 1 Bit 6 Latch mode selection 1 Continuous latch OW 04 Function Setting 2 Bits 0 to 3 Latch detection signal selection Disabled Parameter No Name Setting value Pn850 Latch Sequence Number 2 Pn851 Continuous Latch Count 0 No limit Pn852 Latch Sequence Signal 1 to 4 Setting 10h Pn853 Latch Sequence Signal 5 to 8 Setting h Machine Coord...

Page 112: ... sequence use IW 44 or IW 45 This example shows when the output for the phase C and EXT1 latches are constant and the latching action of the EXT1 latch is bypassed The reported latching position is created by the phase C latch and it can be checked at IW 44 If the EXT latch is executed the setting of IW 45 changes from 0 to 1 Latch Completion Status Clear Request OW 00 bit D Machine Coordinate Sys...

Page 113: ... by move commands This function is only available for MECHATROLINK compatible SERVOPACKs For details on functions that can be used with the SERVOPACK refer to the section on the HOLD command in the manual of the SERVOPACK being used When using the speed reference VELO OW 08 23 0 Decelerate to a stop according to the linear deceleration time constant default 1 Stop immediately When using the speed ...

Page 114: ...th the value of Linear Deceleration Con stant 1 for Stop ping SGD N When setting 1 or 2 is unavailable the default setting 0 will be used and the motor will stop in accordance with the specified for the 0 setting SGDB AN When setting 1 or 2 is unavailable the default setting 0 will be used and the motor will stop in accordance with the specified for the 0 setting SGDH E NS100 When setting 1 or 2 i...

Page 115: ...ust reference Stops according to the stop mode selected Stops according to the stop mode selected Stops according to the stop mode selected PHASE Phase reference Stops according to the stop mode selected OW 03 Function Setting 1 Setting Range Setting Unit Default Value 0011H Description Bit 0 to Bit 3 Speed Unit Selection Set the unit for speed references 0 Reference unit s 1 10n reference unit mi...

Page 116: ... EXT3 latch signals cannot be used If a signal that is not supported is selected the following warning will occur Setting Parameter Error Bit C to Bit F Bank Selector Select a parameter bank number from the parameter bank numbers set in the SERVOPACK parameter No 900 Number of Parameter Banks in the range between 0 to 14 Refer to 11 5 Bank Switching Function for details of parameter bank OW 05 Fun...

Page 117: ...itioning Latch Target Positioning External Positioning Zero Point Return Interpolation Reserved for system use Interpolation Mode with Latch Input Jog Mode Relative position Mode Step Mode Set Zero Point Change Acceleration Time Change Deceleration Time Change Filter Time Constant Change Filter Type Change Speed Loop Gain Change Position Loop Gain Change Feed Forward Read user Constant Read SERVOP...

Page 118: ... setting is valid for zero point returns using DEC1 C ZERO DEC1 ZERO or phase C 0 Reverse default 1 Forward Bit 4 Latch Zone Effective Selection Disable enable the area where the external signal is valid for external positioning called the latch zone This parameter writes the set values for OL 2A OL 2C in the SERVOPACK parameters Pn820 Pn822 when it is enabled This setting is valid each time a new...

Page 119: ...e not taken the axis may abruptly move resulting in a serious situa tion If using the electronic cam function do not change the setting of this bit while the move command is being executed Although the setting of this bit can be changed at any time changing the setting while the move command is being executed may move the axis abruptly resulting in serious situation Precautions if using as an elec...

Page 120: ...it setting is not shown here OW 0E Speed Limit Setting at the Torque Thrust Reference Setting Range Setting Unit Default Value 32768 to 32767 0 01 15000 Description Set the speed limit for torque thrust references as a percentage of the rated speed Torque control is used to control the Servomotor to output the specified torque so it does not control the motor speed Therefore when an excessive refe...

Page 121: ...t the speed reference This parameter is used by the following motion commands Refer to Chapter 6 Motion Commands for details 1 POSING Positioning 2 EX_POSING External Positioning 3 ZRET Zero Point Return 7 FEED JOG operation 8 STEP STEP operation 23 VELO Speed Reference 25 PHASE Phase Reference The setting unit for this parameter depends on the Speed Unit Selection OW 03 bits 0 to 3 but the result...

Page 122: ...e Pn405 setting value NTLIM TLIM n 3 Pn402 setting Pn402 setting Pn404 setting PTLIM TLIM Pn403 setting Pn403 setting value Pn405 setting value NTLIM TLIM Positive Side Limiting Torque Thrust Setting at the Speed Reference OL 14 Torque limit input Pn81F 1 2 The set value of PTLIM NTLIM and TFF are ignored 0 Pn002 0 3 1 PTLIM and NTLIM operate as the torque limit values TFF operates as the torque f...

Page 123: ...execution of speed reference and accelera tion deceleration is performed immediately according to the set value When the override is set to 0 the output speed is 0 and the motor will not operate OL 1C Position Reference Setting Setting Range Setting Unit Default Value 231 to 231 1 Reference unit 0 Description Set the position reference This parameter is used for the following motion commands 1 POS...

Page 124: ...20 NEAR Signal Output Width Setting Range Setting Unit Default Value 0 to 65535 Reference unit 0 Description NEAR Position IW 0C bit 3 will be turned ON when the absolute value of the difference between the com mand position and the feedback position is less than the value set here If the NEAR Signal Output Width is set to 0 the NEAR Position bit monitoring parameter IW 0C bit 3 will be turned ON ...

Page 125: ...iption Set the time to detect a positioning time over error If the Positioning Completed bit does not turn ON within the time set here after reference pulses have been distributed during position control a Positioning Time Over alarm monitoring parameter IL 04 bit 6 will occur The comple tion of positioning will not be checked if this parameter is set to 0 OL 28 Phase Correction Setting Setting Ra...

Page 126: ...n to the SERVOPACK parameters each time an external positioning command is executed as long as the latch zone is enabled in the Latch Zone Effective Selection bit in Motion Command Control Flag setting parameter OW 09 bit 4 The SERVOPACK parameters for the latch zone setting can be used for SGDS SGDV and SGD7S SERVOPACKs Latching Area Lower Limit Pn822 Latching Area Upper Limit Pn820 OL 2C Latch Z...

Page 127: ...to 32767 0 01 0 Description Reduces positioning time by applying feed forward compensation This setting is effective for positioning control commands Always set this parameter to 0 for phase control If this parameter changes the corresponding SERVOPACK parameter will change automatically This function is achieved using the Servo command expansion area and can be executed when using the MECHA TROLI...

Page 128: ...onse if the time constant is set too large The actual machine operation depends on the settings in the SERVOPACK parameters Refer to 11 6 Parameters That Are Automatically Updated for information on user constants self writing function When SGDV or SGD7S SERVOPACKs are used and the tuning less function is available this setting is ignored cont d Position Phase Speed Torque NS100 NS115 FB B A OW 30...

Page 129: ...ear acceleration time constant The actual machine operation depends on the settings in the SERVOPACK parameters Refer to 11 6 Parameters That Are Automatically Updated for information on user constants self writing function The setting unit for this parameter depends on the Acceleration Deceleration Degree Unit Selection OW 03 bits 4 to 7 but the result of applying the acceleration deceleration un...

Page 130: ...0 min 1 when using a 17 bit encoder The maximum acceleration of Pn80B 65535 10000 pulse s2 10 ms The maximum acceleration of Pn836 20971520 10000 pulse s2 30 μs Parameter No Name Size Min Max Unit Default Value Pn80A 1st Linear Acceleration Con stant 2 1 65535 10000 Reference unit s2 100 Pn80B 2nd Linear Acceleration Con stant 2 1 65535 10000 Reference unit s2 100 Pn80C Acceleration Constant Switc...

Page 131: ...nce the filter type is set using the motion command the setting is held until the power is turned OFF or the filter type is changed OW 3B only Bias Speed for Exponential Acceleration Deceleration Filter Setting Range Setting Unit Default Value 0 to 32767 Speed Unit Selection setting parameter OW 03 bits 0 to 3 0 Description Set the bias speed for the exponential acceleration deceleration filter Th...

Page 132: ...g Range Setting Unit Default Value 231 to 231 1 Reference unit 0 Description Set the distance from where the signal is detected to the zero point position cont d Position Phase Speed Torque Position Phase Speed Torque Speed Start 㧔OL 40㧕㧔OL 42㧕 DEC signal Phase C pulse Creep Rate Zero Point Return Travel Distance Width of Starting Point Position Output 㧔OL 3E㧕 Approach Speed 㧔OL 10㧕 Speed Referen...

Page 133: ...arameter is always enabled so be sure that the setting is correct OL 4A Work Coordinate System Offset Setting Range Setting Unit Default Value 231 to 231 1 Reference unit 0 Description Set the offset to shift the work coordinate system This parameter is always enabled so be sure that the setting is correct OL 4C Number of POSMAX Turns Presetting Data Setting Range Setting Unit Default Value 231 to...

Page 134: ...5 Reference position in command coordinate system reference unit 6 Target position in command coordinate system reference unit 7 8 Feedback speed position torque control reference units s speed control maximum speed 40000000 hex 9 Command speed position torque control reference units s speed control maximum speed 40000000 hex A Target speed position torque control reference units s speed control m...

Page 135: ...er to Chapter 6 Motion Commands for details OW 54 Servo Driver for Assistance User Constant No Setting Range Setting Unit Default Value 0 to 65535 0 Description Set the number of the SERVOPACK parameter Set the number of the SERVOPACK parameter to be processed for the PRM_RD or PRM_WR motion subcommand Refer to Chapter 6 Motion Commands for details OW 55 Servo Driver for Assistance User Constant S...

Page 136: ...r 2 words Setting Range Setting Unit Default Value 231 to 231 1 pulse 0 Description This is the information for infinite length axis position control when an absolute encoder is used The axis position in pulses managed internally by the controller is stored in 4 words If the Request ABS Rotary Pos LOAD bit is set to 1 in the Run Command Setting setting parameter OW 00 bit 7 the position informatio...

Page 137: ...eters are being changed Communication is not synchronized SERVOPACK parameters are being accessed by a command from an MPE720 The Motion Parameter Window SVB Definitions Window is being opened using the MPE720 Configure an OR circuit with IW 00 bit 2 when using as a Servo ON interlock Bit 1 Running At Servo ON This bit is ON while the axis is in Servo ON status 0 Stopped 1 Running Servo ON Bit 2 S...

Page 138: ...0 to 65535 Description Stores the number of a parameter set outside the setting range Setting parameters 0 or higher Fixed Parameters 1000 or higher This parameter stores the number of the setting or fixed parameter that exceeds the setting range either individually or in combination with the settings of other parameters When motion fixed parameters are used the parameter stores the parameter numb...

Page 139: ...nitoring parameter IW 01 Bit 3 Servo Driver Error 0 No warning 1 Warning This bit turns ON when there is a warning in the SERVOPACK for MECHATROLINK communication The content of the warning can be confirmed using the Servo Driver Alarm Code monitoring parameter IW 2D Bit 4 Motion Command Set Error 0 Command setting normal 1 Command setting error This bit turns ON when a motion command that cannot ...

Page 140: ...VOPACK is being stopped forcibly This warning is cleared automatically when the HWBB signal turns OFF The status of the HWBB signal can be checked with the stop signal HWBB of the Servo Driver I O Monitor Monitoring Parameters When an HWBB signal stop signal is sent the SERVOPACK cannot be ON Also if an HWBB signal is sent when the SERVOPACK is running the SERVOPACK is turned OFF Servo ON and NOP ...

Page 141: ...ite axis is selected the positive software limit is enabled and a Zero Point Return operation has been completed Refer to 11 3 Software Limit Function for details Bit 4 Negative Direction Software Limit 0 In negative software limit range 1 Not in negative software limit range This bit turns ON if a move command that exceeds the negative software limit is executed with the following conditions A fi...

Page 142: ...rrors This bit turns ON if two communication errors are detected consecutively in communication with the SERVO PACK for MECHATROLINK communication Bit 12 Servo Driver Command Timeout Error 0 Servo Driver command completed within specified time 1 Servo Driver command not completed within specified time This bit turns ON if a command sent to the SERVOPACK for MECHATROLINK communication is not com pl...

Page 143: ...Commands for details on com mand timing charts This bit turns ON during execution of commands that have been completed or during abort processing Bit 1 Command Hold Completed HOLDL 0 Command hold processing not completed 1 Command hold completed This bit turns ON when command hold processing has been completed Refer to Chapter 6 Motion Commands for details on command timing charts Bit 3 Command Er...

Page 144: ... Completed 0 Distributing pulses 1 Distribution completed This bit turns ON when pulse distribution has been completed for a move command This bit turns ON when the SERVOPACK parameter DEN Command Profile Complete monitoring parameter IW 2C bit7 turns ON and the SVB s internal distribution processing is completed Bit 1 Positioning Completed 0 Outside Positioning Completed Width 1 In Positioning Co...

Page 145: ...d Invalid for linear type Bit 9 POSMAX Turn Preset Complete 0 Preset not completed 1 Preset completed This bit turns ON when the POSMAX Turn Number Presetting Demand bit in the Run Commands setting parameter OW 00 bit 6 is set to 1 and the Number of POSMAX Turns has been preset with the Number of POSMAX Turns Presetting Data setting parameter OL 4C Invalid for linear type IL 0E Target Position in ...

Page 146: ...e unit Description Stores the feedback position in the machine coordinate system managed by the Motion Module This parameter will be set to 0 when a Zero Point Return ZRET is executed When an infinite length axis type is selected a range of 0 to Maximum Value of Rotary Counter POSMAX 1 is stored Refer to Chapter 9 Absolute Position Detection when using an absolute encoder IL 18 Machine Coordinate ...

Page 147: ...letion 1 In Width of Positioning Completion for position control Speed Coincidence V CMP 0 Speed does not agree 1 Speed agrees for speed control Bit 8 Commanded Profile Complete DEN 0 Distributing pulses 1 Distribution completed for position control Zero Speed ZSPD 0 Zero speed not detected 1 Zero speed detected for speed control Bit 9 Torque Restriction T_LIM 0 Torque not being limited 1 Torque b...

Page 148: ...e the alarm code will be H99 IW 2E Servo Driver I O Monitor Range Unit Description Bit 0 Forward Side Limit Switch Input P_OT 0 OFF 1 ON Bit 1 Negative Reverse Side Limit Switch Input N_OT 0 OFF 1 ON Bit 2 Deceleration Dog Switch Input DEC 0 OFF 1 ON Bit 3 Encoder Phase A Signal Input PA 0 OFF 1 ON Bit 4 Encoder Phase B Signal Input PB 0 OFF 1 ON Bit 5 Encoder Phase C Signal Input PC 0 OFF 1 ON Bi...

Page 149: ...rvo User Monitor Setting setting parame ter OW 4E bits C to F IW 36 Servo Driver User Constant No Range Unit 0 to 65535 Description Stores the number of the parameter being processed This parameter stores the number of the SERVOPACK parameter being read or written using the MECHATROLINK command area Refer to Chapter 6 Motion Commands for details IW 37 Supplementary Servo Driver User Constant No Ra...

Page 150: ...lection OW 03 bits C to F but the result of applying the torque unit setting is not shown here To use this parameter the relevant servo parameter must be set to the value given in the following table The Controller will automatically set the parameter when the MECHATROLINK connection is estab lished between the Controller and SERVOPACK Do not change the automatically set value IW 44 Latch Completi...

Page 151: ...ription Same as for IL 5E IL 62 Pulse Position When the Power is OFF Lower 2 words Range Unit 231 to 231 1 pulse Description Stores information used for infinite length axis position control when an absolute encoder is used These parameters store the axis position managed by the Machine Controller in pulses in 4 words IL 64 Pulse Position When the Power is OFF Upper 2 words Range Unit 231 to 231 1...

Page 152: ...chine 5 1 Example Setting of Motion Parameters for the Machine 5 2 5 1 1 Reference Unit 5 2 5 1 2 Electronic Gear 5 2 5 1 3 Axis Type Selection 5 4 5 1 4 Position Reference 5 5 5 1 5 Speed Reference 5 9 5 1 6 Acceleration Deceleration Settings 5 11 5 1 7 Acceleration Deceleration Filter Settings 5 13 5 1 8 Linear Scale Pitch and Rated Speed 5 14 ...

Page 153: ... is called the output unit The electronic gear converts position or speed units from reference units to output units for the mechan ical system without going through an actual mechanism such as a gear When the axis at the motor has rotated m times and the mechanical configuration allows the axis at the load to rotate n times this electronic gear function can be used to make the reference unit equa...

Page 154: ...ies SGD7S SERVOPACKs with Rotary Servomotors and set the SERVOPACK s electronic gear 2 Parameter Setting Example Using Rotating Table Machine specifications Rotating table axis rotates 10 times for each 30 rotations of the motor axis Refer to the following figure Reference unit 0 1 To rotate the table 0 1 for 1 reference unit input under the conditions outlined above i e for 1 reference unit 1 out...

Page 155: ... Name Description Default Value Motion Fixed Parameters No 1 bit 0 Function Selection Flag 1 Axis Selec tion Specify the position control method for the controlled axis 0 Finite Length Axis Set a finite length axis if control is performed within a limited length or for an axis that uses infinite length control in one moving direction only without resetting the position every rotation When an absol...

Page 156: ...to an MP2000 series Machine Controller and a motion program is used 0 OL 1C Position Refer ence Setting Set the position data Incremental Addition Mode OW 09 bit 5 0 The moving amount incremental distance specified this time will be added to the previous value of OL 1C OL 1C Previous OL 1C Incremental dis tance Example If a travel distance of 500 is specified and the previ ous value of OL 1C is 10...

Page 157: ... OW 09 bit 5 0 Incremental value Target position a value between 0 and POSMAX IL 10 CPOS POSMAX n OL 1C OL 1C Incremental value n refers to the number of POSMAX complete turns needed to move from the current position CPOS to the tar get position When the distance between the target position and the current position is within the first turn n is 0 Absolute Mode OW 09 bit 5 1 Incremental value Targe...

Page 158: ...ated or the value that was stored in M register etc n refers to the number of POSMAX complete turns needed to move from the current position CPOS to the tar get position When the distance between the target position and the current position is within the first turn n is 0 Absolute Mode OW 09 bit 5 1 Incremental value New target position a value between 0 and POSMAX Original target position before ...

Page 159: ...ING command can be exe cuted if the distribution is not completed IW 0C bit 0 0 The method is the same as for 1 Setting the Target Position When Using an Infinite Length Axis Method 1 4 Setting the Target Position When Using an Infinite Length Axis Method 4 Switching a command that is being executed to a POSING command When the incremental addition mode is selected for Position Reference Type OW 0...

Page 160: ...arameter 3000 No 36 Number of Pulses per Motor Rotation Set the number of pulses the value after multiplication per motor rotation Example For a 16 bit encoder set 216 65536 65536 Motion Setting Parameters OW 03 Bits 0 to 3 Speed Unit Selection Set the unit for reference speeds 0 Reference unit s 1 10n reference units min n Number of Digits below Decimal Point 2 0 01 3 0 0001 1 OL 10 Speed Referen...

Page 161: ...e unit s pulse 500 R s 500 R s 65536 pulse R 37268000 pulse s 1500 R min 1500 R min 65536 pulse R 60 s 1638400 pulse s mm Feed speed of 500 mm s with a machine that travels 10 mm for each rotation 500 mm s 0 001 500000 0 001 mm s Determined by feed speed and number of digits below decimal point 0 001 in the above equation regardless of machine configuration Feed speed of 900 mm min with a machine ...

Page 162: ...ameters OW 03 Bits 4 to 7 Acceleration Deceleration Degree Unit Selection Set the unit for acceleration deceleration 0 Reference units s2 1 ms 1 OL 36 Straight Line Acceleration Acceleration Time Constant Set the rate of acceleration or acceleration time constant according to the setting of OW 03 bits 4 to 7 Acceleration Deceleration Degree Unit Selection is set to 0 Reference units s2 set the rat...

Page 163: ...me constant required to reach zero from the rated speed using linear deceleration For the following commands acceleration deceleration processing is carried out by the SERVOPACK 1 POSING 2 EX_POSING 3 ZRET 7 FEED 8 STEP The unit conversion is applied to the linear acceleration time constant and linear deceleration time constant specified in the setting parameters and the converted values will be w...

Page 164: ...tting Parameters OW 03 Bits 8 to B Filter Type Selection Set the acceleration deceleration filter type 0 None 1 Exponential acceleration deceleration filter 2 Moving average filter The Change Filter Type command OW 08 13 must be executed in advance to enable the Filter Type 0 OW 3A Filter Time Constant Sets the acceleration deceleration filter time constant Always make sure that pulse distribution...

Page 165: ...of 0 1 m s When pulse is selected as a reference unit and the Linear Scale Pitch fixed parameter No 6 is set in units of nm set the Rated Speed fixed parameter No 34 in units of 0 1 mm s Command Unit Linear Scale Pitch and Rated Speed Setting Units Number of Digits below Decimal Point Settings of Linear Scale Pitch Rated Speed and Number of Pulses per Scale Pitch pulse Linear scale pitch μm Rated ...

Page 166: ...oint ZSET 6 52 6 2 9 Change Acceleration Time ACC 6 54 6 2 10 Change Deceleration Time DCC 6 56 6 2 11 Change Filter Time Constant SCC 6 58 6 2 12 Change Filter Type CHG_FILTER 6 60 6 2 13 Change Speed Loop Gain KVS 6 62 6 2 14 Change Position Loop Gain KPS 6 64 6 2 15 Change Feed Forward KFS 6 66 6 2 16 Read User Constant PRM_RD 6 68 6 2 17 Write User Constant PRM_WR 6 70 6 2 18 Alarm Monitor ALM...

Page 167: ...e 6 101 6 3 2 Motion Subcommand Settings 6 101 6 4 Motion Subcommand Details 6 102 6 4 1 No Command NOP 6 102 6 4 2 Read User Constant PRM_RD 6 103 6 4 3 Write User Constant PRM_WR 6 105 6 4 4 Status Monitor SMON 6 107 6 4 5 Read Fixed Parameters FIXPRM_RD 6 109 ...

Page 168: ...Step up mode Positions the specified travel distance in the specified direction at the specified speed 6 2 7 9 ZSET Set Zero Point Sets the zero point in the machine coordinate system and enables the software limit function 6 2 8 10 ACC Change Acceleration Time Changes the acceleration time for linear acceleration deceleration 6 2 9 11 DCC Change Deceleration Time Changes the deceleration time for...

Page 169: ... I MECHATROLINK I M II MECHATROLINK II Can be specified Cannot be specified Δ Can be specified only in 32 byte mode Motion Command SERVOPACK SGD N SGDB AN SGDH E NS100 SJDE AN SGDH E NS115 SGDS 1 SGDX 12 SGDV 1 SGD7S 10 M I M II Main Command OW 08 NOP POSING EX_POSING ZRET INTERPOLATE ENDOF_INTERPOLATE LATCH FEED STEP ZSET ACC DCC SCC CHG_FILTER KVS KPS KFS PRM_RD PRM_WR ALM_MON ALM_HIST ALMHIST_C...

Page 170: ...g motion setting parameters Speed Reference Setting OL 10 Filter Type Selection OW 03 bits 8 to B Speed Loop P PI Switch OW 01 The speed reference can be changed during operation An override of between 0 to 327 67 can be set for the speed reference 3 Set OW 08 to 1 to execute the POSING motion command 4 Set the target position OL 1C Positioning will start IW 08 will be 1 during the positioning IW ...

Page 171: ... 1 The axis will decelerate to a stop When the axis has stopped the remaining distance to be traveled will be canceled and the Positioning Com pleted bit IW 0C bit 1 will turn ON The positioning will restart if the Interrupt a Command bit OW 09 bit 1 is reset to 0 while the command is being aborted This type of operation will also be performed if the motion command is changed during axis movement ...

Page 172: ... OW 08 to 1 OL 10 Speed Reference Setting Specify the speed for the positioning Only a positive value can be set This setting can be changed during operation The unit depends on the Function Setting 1 setting OW 03 bits 0 to 3 OW 18 Override This parameter allows the positioning speed to be changed without changing the Speed Reference Setting OL 10 Set the speed as a percentage of the Speed Refere...

Page 173: ...n The axis will decelerate to a stop if it is moving Turns OFF when another command is executed IW 09 Bit 8 Command Execution Completed Always OFF for POSING command Use the Positioning Completed bit IW 0C bit 1 to confirm completion of this command IW 0C Bit 0 Discharging Completed Turns ON when pulse distribution has been completed for the move command Turns OFF during execution of the move comm...

Page 174: ... 1 POSING IW 09 bit 0 BUSY IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL IW 0C bit 0 DEN IW 0C bit 1 POSCOMP Undefined length of time 1 scan 1 scan OW 08 1 POSING IW 08 1 POSING IW 09 bit 0 BUSY IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL IW 0C bit 0 DEN IW 0C bit 1 POSCOMP Undefined length of time 1 scan OW 09 bit 0 HOLD IW 09 bit 1 HOLDL OW 08 1 POSING IW 08 1 POSING IW 09 bit 0 BUSY IW 09 bit 8 COMPLETE IW 0...

Page 175: ... 1 Position Mode POSING Positioning 6 10 e Execution when an Alarm Occurs Undefined length of time Alarm 1 scan OW 08 1 POSING IW 08 1 POSING IW 09 bit 0 BUSY IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL IW 0C bit 0 DEN IW 0C bit 1 POSCOMP ...

Page 176: ...n refer to Changing the max imum value of acceleration and deceleration for SGDV or SGD7S SERVOPACKs of 4 4 2 23 1 Executing Operating Procedure 1 Check to see if all the following conditions are satisfied This condition is a basic execution condition Refer to Chapter 7 Switching Commands during Execution when changing the command that is being executed to an EX_POSING command 2 Set the following ...

Page 177: ... is changed during axis movement 4 Related Parameters a Setting Parameters Speed 100 0 Time t Straight line deceleration time constant Rated speed Latch signal external positioning signal Positioning speed External positioning final travel distance Straight line acceleration time constant EX_POSING Operating Pattern Parameter Name Setting SVR OW 00 Bit 0 Servo ON Turn the power to the Servomotor O...

Page 178: ...ative direction of the area in which the external positioning signal is to be valid OL 2C Latch Zone Upper Limit Setting Set the boundary in the positive direction of the area in which the external posi tioning signal is to be valid OL 36 Straight Line Accelera tion Acceleration Time Constant Set the rate of acceleration or acceleration time constant for positioning OL 38 Straight Line Decelera ti...

Page 179: ...s bit turns OFF when a new latch command is executed and turns ON when the latch has been completed The latched position is stored as the Machine Coordinate System Latch Position LPOS monitoring parameter IL 18 IW 0C Bit 3 NEAR Position The operation depends on the setting of the NEAR Signal Output Width setting parameter OL 20 OL 20 0 Turns ON when pulse distribution has been completed DEN ON Oth...

Page 180: ...9 bit 0 BUSY Undefined length of time IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL IW 0C bit 0 DEN IW 0C bit 1 POSCOMP 1 scan OW 09 bit 1 ABORT Undefined length of time 1 scan OW 08 2 EX_POSING IW 08 2 EX_POSING IW 09 bit 0 BUSY IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL IW 0C bit 0 DEN IW 0C bit 1 POSCOMP Undefined length of time Alarm 1 scan OW 08 2 EX_POSING IW 08 2 EX_POSING IW 09 bit 0 BUSY IW 09 bit 8 C...

Page 181: ...cremental encoder is selected for the Encoder Selection by fixed parameter No 30 to 0 the coordinate sys tem data will be lost when the power supply is turned OFF This command must be executed when the power supply is turned ON again to establish a new coordinate system The following table lists the 13 zero point return methods that are supported by the MP2000 Series Machine Controller Select the ...

Page 182: ...ion is not possible during zero point return operation The Holds a Command bit OW 09 bit 0 is ignored 4 Aborting The zero point return can be canceled by aborting execution of a command A command is aborted by setting the Inter rupt a Command bit OW 09 bit 1 to 1 Set the Interrupt a Command bit OW 09 bit 1 to 1 The axis will decelerate to a stop When the axis has decelerated to a stop the remain t...

Page 183: ...dicates the Servo ON status 1 Power supplied to Servomotor 0 Power not supplied to Servomotor IL 02 Warning Stores the most current warning IL 04 Alarm Stores the most current alarm IW 08 Motion Command Response Code Indicates the motion command that is being executed The response code is 3 during ZRET command execution IW 09 Bit 0 Command Execution Flag The Command Execution Flag bit will turn ON...

Page 184: ...OMPLETE IW 09 bit 3 FAIL IW 0C bit 0 DEN IW 0C bit 1 POSCOMP IW 0C bit 5 ZRNC Depends on zero point return method 1 scan Undefined length of time 1 scan OW 09 bit1 ABORT OW 08 3 ZRET IW 08 3 ZRET IW 09 bit 0 BUSY IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL IW 0C bit 0 DEN IW 0C bit 1 POSCOMP IW 0C bit 5 ZRNC Undefined length of time 1 scan OW 08 3 ZRET IW 08 3 ZRET IW 09 bit 0 BUSY IW 09 bit 8 COMPLETE ...

Page 185: ... Zero Point Return ZRET 6 20 d Execution when an Alarm Occurs Undefined length of time Alarm 1 scan OW 08 3 ZRET IW 08 3 ZRET IW 09 bit 0 BUSY IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL IW 0C bit 0 DEN IW 0C bit 1 POSCOMP IW 0C bit 5 ZRNC ...

Page 186: ... The SERVOPACK N OT signal Setting Parameters Parameter Name Setting OW 3C Zero Point Return Method 0 DEC1 Phase C OW 09 Bit 3 Zero Point Return Direction Selection Set the zero point return direction OL 10 Speed Reference Setting Set the speed to use when starting a zero point return Only a positive value can be set a negative value will result in an error OW 18 Override This parameter allows the...

Page 187: ...ignal 3 The SERVOPACK N OT signal Setting Parameters Parameter Name Setting OW 3C Zero Point Return Method 1 ZERO Signal Method OW 09 Bit 3 Zero Point Return Direc tion Selection Set the zero point return direction OL 3E Approach Speed Set the speed to use when starting a zero point return Only a positive value can be set a negative value will result in an error OL 40 Creep Rate Set the speed to u...

Page 188: ...ero point return direction OL 10 Speed Reference Set ting Set the speed to use when starting a zero point return Only a positive value can be set a negative value will result in an error OW 18 Override This parameter allows the Zero Point Return speed to be changed without changing the Speed Reference Setting OL 10 Set the speed as a per centage of the Speed Reference Setting This setting can be c...

Page 189: ...SERVOPACK N OT signal Setting Parameters Parameter Name Setting OW 3C Zero Point Return Method 3 Phase C Method OW 09 Bit 3 Zero Point Return Direction Selection Set the zero point return direction OL 3E Approach Speed Set the speed to use when starting a zero point return Only a positive value can be set a negative value will result in an error OL 40 Creep Rate Set the speed to use after detectin...

Page 190: ...g positioning speed operation an OT alarm will occur OT Signal Detected during Creep Speed Operation 1 The SERVOPACK P OT signal 2 The SERVOPACK N OT signal The stopping method when the OT signal is detected depends on the setting of SERVOPACK parameters Setting Parameters Parameter Name Setting OW 3C Zero Point Return Method 11 C Pulse Only Method OL 10 Speed Reference Setting Set the positioning...

Page 191: ...d operation an OT alarm will occur 1 The SERVOPACK P OT signal 2 The SERVOPACK N OT signal The stopping method when the OT signal is detected depends on the setting of SERVOPACK parameters Setting Parameters Parameter Name Setting OW 3C Zero Point Return Method 12 P OT C pulse method OL 10 Speed Reference Setting Set the positioning to use after detecting the phase C pulse The sign is ignored The ...

Page 192: ...osition where positioning is completed will depend on the high speed scan setting positioning speed etc Do not use this method if repeat accuracy is required in the position where the zero point return operation is completed Starting on the Positive Stroke Limit P OT 1 The SERVOPACK P OT signal 2 The SERVOPACK N OT signal The stopping method when the OT signal is detected depends on the setting of...

Page 193: ...ravel Distance The posi tioning speed is set in the Speed Reference If an OT signal is detected during approach speed operation an alarm will not occur the direction will be reversed and a search will be made for the home signal If an OT signal is detected during positioning speed operation an OT alarm will occur Detecting the OT Signal during Approach Speed Movement 1 The SERVOPACK EXT1 signal 2 ...

Page 194: ...nored The travel direction depends on the sign of the Zero Point Return Travel Distance OL 3E Approach Speed Set the speed to use when starting a zero point return The travel direction will depend on the sign of the approach speed OL 40 Creep Rate Set the speed to use after detecting the home signal and the travel direction sign OL 42 Zero Point Return Travel Distance Set the travel distance from ...

Page 195: ...l occur Detecting the OT Signal during Creep Rate Movement 1 The SERVOPACK EXT1 signal 2 The SERVOPACK P OT signal 3 The SERVOPACK N OT signal The stopping method when the OT signal is detected depends on the setting of SERVOPACK parameters Setting Parameters Parameter Name Setting OW 3C Zero Point Return Method 15 HOME LS Only Method OL 10 Speed Reference Setting Set the positioning speed to use ...

Page 196: ... positioning speed operation an OT alarm will occur 1 The SERVOPACK P OT signal 2 The SERVOPACK N OT signal The stopping method when the OT signal is detected depends on the setting of SERVOPACK parameters Setting Parameters Parameter Name Setting OW 3C Zero Point Return Method 16 N OT C pulse Method OL 10 Speed Reference Setting Set the positioning speed to use after detecting the phase C pulse T...

Page 197: ...T signal status is performed using software processing The position where positioning is completed will depend on the high speed scan setting positioning speed etc Do not use this method if repeat accuracy is required in the position where the zero point return operation is completed 1 The SERVOPACK P OT signal 2 The SERVOPACK N OT signal The stopping method when the OT signal is detected depends ...

Page 198: ... speed is set in the Speed Reference Setting If an OT signal is detected during approach speed operation an OT alarm will not occur the direction will be reversed and a search will be made for the Zero Point Return Input Signal If an OT signal is detected during positioning speed operation an OT alarm will occur Detecting the OT Signal during Approach Speed Movement 1 The SERVOPACK P OT signal 2 T...

Page 199: ...Return Travel Distance OL 3E Approach Speed Set the speed to use when starting a zero point return The travel direction will depend on the sign of the approach speed OL 40 Creep Rate Set the speed and the travel direction sign to use after detecting the Zero Point Return Input Signal OL 42 Zero Point Return Travel Distance Set the travel distance from the point where a phase C pulse is detected Th...

Page 200: ...rmed using software processing The position where positioning is completed will depend on the high speed scan setting positioning speed etc Do not use this method if repeat accuracy is required in the position where the zero point return operation is completed Detecting the OT Signal during Creep Rate Movement 1 The SERVOPACK P OT signal 2 The SERVOPACK N OT signal The stopping method when the OT ...

Page 201: ...n OW 03 bits 8 to B Speed Loop P PI Switch OW 01 Speed Feed Forward Amends OW 30 3 Set the parameter OW 08 to 4 to execute an INTERPOLATE command 4 is stored in IW 08 during positioning 4 Refresh the value of OL 1C Position Reference Setting at every high speed scan The target position is updated to the refreshed value of OL 1C at every high speed scan The difference between the target position of...

Page 202: ...OL 1C Position Reference Setting Set the target position for positioning The setting can be updated every high speed scan OL 1E Width of Positioning Completion Set the width in which to turn ON the Positioning Completed bit IW 0C bit 1 OL 20 NEAR Signal Out put Width Set the range in which the NEAR Position bit IW 0C bit 3 will turn ON The NEAR Position bit will turn ON when the absolute value of ...

Page 203: ...he axis will decelerate to a stop if it is moving Turns OFF when another command is executed IW 09 Bit 8 Command Execution Completed Always OFF for INTERPOLATE command IW 0C Bit 0 Discharging Completed Turns ON when pulse distribution has been completed for the move command Turns OFF during execution of a move command IW 0C Bit 1 Positioning Completed Turns ON when pulse distribution has been comp...

Page 204: ...E IW 08 4 INTERPOLATE IW 09 bit 0 BUSY IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL IW 0C bit 0 DEN IW 0C bit 1 POSCOMP Undefined length of time 1 scan The target position is refreshed every high speed scan Undefined length of time IW 0C bit 1 POSCOMP 1 scan Alarm OW 08 4 INTERPOLATE IW 08 4 INTERPOLATE IW 09 bit 0 BUSY IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL IW 0C bit 0 DEN ...

Page 205: ...C Power Input Σ V series SERVOPACKs 1 Executing Operating Procedure 1 Check to see if all the following conditions are satisfied 2 Set the following motion setting parameters Position Reference Setting OL 1C Filter Type Selection OW 03 bits 8 to B Speed Loop P PI Switch OW 01 Speed Feed Forward Amends OW 30 Function Setting 2 OW 04 3 Set OW 08 to 6 Latch to execute a LATCH motion command 6 is stor...

Page 206: ...pe Switch the type of position reference 0 Incremental addition mode 1 Absolute mode Set this parameter before setting the Motion Command OW 08 to 6 OL 1C Position Reference Setting Set the target position for positioning The setting can be updated every high speed scan OL 1E Width of Positioning Completion Set the width in which to turn ON the Positioning Completed bit IW 0C bit 1 OL 20 NEAR Sign...

Page 207: ...eted Turns ON when distribution has been completed for the move command Turns OFF during execution of a move command IW 0C Bit 1 Positioning Completed Turns ON when distribution has been completed and the current position is within the Width of Positioning Completion OFF in all other cases IW 0C Bit 2 Latch Complete This bit turns OFF when a new latch command is executed and turns ON when the latc...

Page 208: ...8 6 LATCH IW 08 6 LATCH IW 09 bit 0 BUSY Undefined length of time IW 09 bit 3 FAIL IW 0C bit 0 DEN 1 scan Latch signal IW 0C bit 2 LCOMP The target position is refreshed every high speed scan This position is stored in IL 18 IW 09 bit 8 COMPLETE IW 0C bit 1 POSCOMP Alarm Undefined length of time IW 0C bit 1 POSCOMP 1 scan OW 08 6 LATCH IW 08 6 LATCH IW 09 bit 0 BUSY IW 09 bit 8 COMPLETE IW 09 bit ...

Page 209: ...efer to Chapter 7 Switching Commands during Execution when changing the command being executed to a FEED command 2 Set the following motion setting parameters Moving Direction JOG STEP OW 09 bit 2 Speed Reference Setting OL 10 Filter Type Selection OW 03 bits 8 to B Speed Loop P PI Switch OW 01 The speed reference can be changed during operation 3 Set OW 08 to 7 to execute the FEED motion command ...

Page 210: ...pe OW 08 Motion Command The JOG operation starts when this parameter is set to 7 The axis is decelerated to a stop and the JOG operation is completed if this parameter is set to 0 during the execution of a FEED command OW 09 Bit 1 Interrupt a Command The axis is decelerated to a stop if this bit is set to 1 during JOG operation OW 09 Bit 2 Moving Direction JOG STEP Set the travel direction for JOG...

Page 211: ...ng FEED command execution The axis will decel erate to a stop if it is moving Turns OFF when another command is executed IW 09 Bit 8 Command Execution Completed Always OFF for FEED command IW 0C Bit 0 Discharging Completed Turns ON when pulse distribution has been completed for the move command Turns OFF during execution of a move command IW 0C Bit 1 Positioning Completed Turns ON when pulse distr...

Page 212: ... Alarm Occurs OW 08 7 FEED IW 08 7 FEED IW 09 bit 0 BUSY IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL IW 0C bit 0 DEN 1 scan 1 scan OW 09 bit 1 ABORT OW 08 7 FEED IW 08 7 FEED IW 09 bit 0 BUSY IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL IW 0C bit 0 DEN Alarm 1 scan OW 08 7 FEED IW 08 7 FEED IW 09 bit 0 BUSY IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL IW 0C bit 0 DEN ...

Page 213: ...tion An override of between 0 to 327 67 can be set for the travel speed 3 Set OW 08 to 8 to execute the STEP motion command STEP operation will start IW 08 will be 8 during execution IW 0C bit 3 will turn ON when the axis reaches the target position IW 0C bit 1 will turn ON when the axis reaches the target position and the positioning has been completed 4 Set OW 08 to 0 to execute the NOP motion c...

Page 214: ...he Position Reference Type OW 09 bit 5 when turning ON after decelerating to a stop OW 09 Bit 2 Moving Direction JOG STEP Set the travel direction for STEP operation 0 Positive direction 1 Negative direction OL 10 Speed Reference Setting Specify the speed for the positioning operation Only a positive value can be set This setting can be changed during operation The unit depends on the setting of t...

Page 215: ... error occurs during STEP command execution The axis will decelerate to a stop if it is moving Turns OFF when another command is executed IW 09 Bit 8 Command Execu tion Completed Turns ON when STEP command execution has been completed IW 0C Bit 0 Discharging Completed Turns ON when pulse distribution has been completed for the move command Turns OFF during execution of a move command IW 0C Bit 1 P...

Page 216: ... 09 bit 1 ABORT OW 08 8 STEP IW 08 8 STEP IW 09 bit 0 BUSY IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL IW 0C bit 0 DEN IW 0C bit 1 POSCOMP Undefined length of time 1 scan OW 08 8 STEP IW 08 8 STEP IW 09 bit 0 BUSY IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL IW 0C bit 0 DEN IW 0C bit 1 POSCOMP Undefined length of time Alarm 1 scan OW 08 8 STEP IW 08 8 STEP IW 09 bit 0 BUSY IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL...

Page 217: ...and then complete the zero point setting 2 Holding and Aborting The Holds a Command bit OW 09 bit 0 and the Interrupt a Command bit OW 09 bit 1 cannot be used 3 Related Parameters a Setting Parameters R No Execution Conditions Confirmation Method 1 There are no alarms Both IL 02 and IL 04 are 0 2 Motion command execution has been completed IW 08 is 0 and IW 09 bit 0 is OFF Axis Setting Position Da...

Page 218: ... Flag Turns ON during ZSET command execution and turns OFF when ZSET com mand execution has been completed IW 09 Bit 1 Command Hold Completed Always OFF for ZSET command IW 09 Bit 3 Command Error Completed Status Turns ON if an error occurs during ZSET command execution Turns OFF when another command is executed IW 09 Bit 8 Command Execution Completed Turns ON when ZSET command execution has been ...

Page 219: ...and enable the setting IW 08 will be 10 during command execution IW 09 bit 0 will turn ON during the command processing and will turn OFF when the processing has been completed 3 Set OW 08 to 0 to execute the NOP motion command and then complete the change of the linear acceleration time constant 2 Holding and Aborting The Holds a Command bit OW 09 bit 0 and the Interrupt a Command bit OW 09 bit 1...

Page 220: ... 0 Command Execution Flag Turns ON during ACC command execution and turns OFF when execution has been completed IW 09 Bit 1 Command Hold Completed Always OFF for ACC command IW 09 Bit 3 Command Error Completed Status Turns ON if an error occurs during ACC command execution Turns OFF when another command is executed IW 09 Bit 8 Command Execution Completed Turns ON when ACC command execution has bee...

Page 221: ...stant in the SERVOPACK and enables the setting IW 08 will be 11 during command execution IW 09 bit 0 will turn ON during the command processing and will turn OFF when the processing has been completed 3 Set OW 08 to 0 to execute the NOP motion command and then complete the change of the linear deceleration time constant 2 Holding and Aborting The Holds a Command bit OW 09 bit 0 and the Interrupt a...

Page 222: ...t 0 Command Execution Flag Turns ON during DCC command execution and turns OFF when execution has been completed IW 09 Bit 1 Command Hold Completed Always OFF for DCC command IW 09 Bit 3 Command Error Completed Status Turns ON if an error occurs during DCC command execution Turns OFF when another command is executed IW 09 Bit 8 Command Execution Completed Turns ON when DCC command execution has be...

Page 223: ...ing Average Time With exponential acceleration deceleration filter Exponential Acceleration Deceleration Time Constant IW 08 will be 12 during command execution IW 09 bit 0 will turn ON during the command processing and will turn OFF when the processing has been completed 3 Set OW 08 to 0 to execute the NOP motion command and then complete the change of the linear deceleration time constant 2 Hold...

Page 224: ... 0 Command Execution Flag Turns ON during SCC command execution and turns OFF when execution has been completed IW 09 Bit 1 Command Hold Completed Always OFF for SCC command IW 09 Bit 3 Command Error Completed Status Turns ON if an error occurs during SCC command execution Turns OFF when another command is executed IW 09 Bit 8 Command Execution Completed Turns ON when SCC command execution has bee...

Page 225: ...ing Parameters b Monitoring Parameters No Execution Conditions Confirmation Method 1 There are no alarms Both IL 02 and IL 04 are 0 2 Pulse distribution has been completed for the SERVOPACK IW 0C bit 0 is ON 3 Motion command execution has been completed IW 08 is 0 and IW 09 bit 0 is OFF Parameter Name Setting OW 03 Function Setting 1 Set the speed unit acceleration deceleration units and filter ty...

Page 226: ...TER 6 61 Motion Commands 4 Timing Charts a Normal End b Error End OW 08 13 CHG FILTER IW 08 13 CHG FILTER IW 09 bit 0 BUSY IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL 1 scan OW 08 13 CHG FILTER IW 08 13 CHG FILTER IW 09 bit 0 BUSY IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL ...

Page 227: ...9 bit 1 cannot be used When the tuning less function of the SGDV or SGD7S SERVOPACK is enabled or when the SERVOPACK parameter Pn170 0 is set to 1 Tuning less Function Selection is enabled these settings are disabled and ignored 3 Related Parameters a Setting Parameters b Monitoring Parameters No Execution Conditions Confirmation Method 1 There are no alarms Both IL 02 and IL 04 are 0 2 Motion com...

Page 228: ...8 Command Execution Completed Turns ON when KVS command execution has been completed cont d Parameter Name Monitor Contents OW 08 14 KVS IW 08 14 KVS IW 09 bit 0 BUSY IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL Undefined length of time OW 08 14 KVS IW 08 14 KVS IW 09 bit 0 BUSY IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL Undefined length of time ...

Page 229: ...ion of the SGDV or SGD7S SERVOPACK is enabled or when the SERVOPACK parameter Pn170 0 is set to 1 Tuning less Function Selection is enabled these settings are disabled and ignored 3 Related Parameters a Setting Parameters b Monitoring Parameters No Execution Conditions Confirmation Method 1 There are no alarms Both IL 02 and IL 04 are 0 2 Motion command execution has been completed IW 08 is 0 and ...

Page 230: ... Motion Commands 4 Timing Charts a Normal End b Error End OW 08 15 KPS IW 08 15 KPS IW 09 bit 0 BUSY IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL Undefined length of time OW 08 15 KPS IW 08 15 KPS IW 09 bit 0 BUSY IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL Undefined length of time ...

Page 231: ...W 09 bit 1 cannot be used When the tuning less function of the SGDV or SGD7S SERVOPACK is enabled or when the SERVOPACK parameter Pn170 0 is set to 1 Tuning less Function Selection is enabled these settings are disabled and ignored 3 Related Parameters a Setting Parameters b Monitoring Parameters No Execution Conditions Confirmation Method 1 There are no alarms Both IL 02 and IL 04 are 0 2 Motion ...

Page 232: ...Command Execution Completed Turns ON when KFS command execution has been completed cont d Parameter Name Monitor Contents OW 08 16 KFS IW 08 16 KFS IW 09 bit 0 BUSY IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL Undefined length of time OW 08 16 KFS IW 08 16 KFS IW 09 bit 0 BUSY IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL Undefined length of time ...

Page 233: ... turn ON during the command processing and will turn OFF when the command processing has been completed 3 Set OW 08 to 0 to execute the NOP motion command and then complete the reading operation 2 Holding and Aborting The Holds a Command bit OW 09 bit 0 and the Interrupt a Command bit OW 09 bit 1 cannot be used 3 Related Parameters a Setting Parameters No Execution Conditions Confirmation Method 1...

Page 234: ...eted IW 09 Bit 1 Command Hold Completed Always OFF for PRM_RD command IW 09 Bit 3 Command Error Completed Status Turns ON if an error occurs during PRM_RD command execution Turns OFF when another command is executed IW 09 Bit 8 Command Execution Completed Turns ON when PRM_RD command execution has been completed IW 36 Servo Driver User Constant No Stores the number of the SERVOPACK parameter that ...

Page 235: ...Motion Command The SERVOPACK parameter is written when this parameter is set to 18 OW 09 Bit 0 Holds a Command This parameter is ignored for PRM_WR command OW 09 Bit 1 Interrupt a Command This parameter is ignored for PRM_WR command OW 50 Servo Driver User Constant No Set the number of the SERVOPACK parameter to be written OW 51 Servo Driver User Constant Size Set the size of the SERVOPACK paramet...

Page 236: ... Commands 4 Timing Charts a Normal End b Error End OW 08 18 PRM_WR IW 08 18 PRM_WR IW 09 bit 0 BUSY IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL Undefined length of time OW 08 18 PRM_WR IW 08 18 PRM_WR IW 09 bit 0 BUSY IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL Undefined length of time ...

Page 237: ...ution Conditions Confirmation Method 1 Motion command execution has been completed IW 08 is 0 and IW 09 bit 0 is OFF Parameter Name Setting OW 08 Motion Command Alarms are monitored when this parameter is set to 19 OW 09 Bit 0 Holds a Command This parameter is ignored for ALM_MON command OW 09 Bit 1 Interrupt a Command This parameter is ignored for ALM_MON command OW 4F Servo Driver Alarm Monitor ...

Page 238: ...08 19 ALM_MON IW 08 19 ALM_MON IW 09 bit 0 BUSY IW 2D Alarm code 0 Alarm code 0 IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL Undefined length of time Specified alarm code Alarm code 0 Alarm code 0 OW 08 19 ALM_MON IW 08 19 ALM_MON IW 09 bit 0 BUSY IW 2D IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL Undefined length of time Alarm code 0 ...

Page 239: ...rmation Method 1 Motion command execution has been completed IW 08 is 0 and IW 09 bit 0 is OFF Parameter Name Setting OW 08 Motion Command The alarm history is monitored when this parameter is set to 20 OW 09 Bit 0 Holds a Command This parameter is ignored for ALM_HIST command OW 09 Bit 1 Interrupt a Command This parameter is ignored for ALM_HIST command OW 4F Servo Driver Alarm Monitor No Sets th...

Page 240: ...OW 08 20 ALM_HIST IW 08 20 ALM_HIST IW 09 bit 0 BUSY IW 2D Alarm code 0 Alarm code 0 IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL Undefined length of time Specified alarm code Alarm code 0 Alarm code 0 OW 08 20 ALM_HIST IW 08 20 ALM_HIST IW 09 bit 0 BUSY IW 2D IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL Undefined length of time Alarm code 0 ...

Page 241: ...thod 1 Motion command execution has been completed IW 08 is 0 and IW 09 bit 0 is OFF Parameter Name Setting OW 08 Motion Command The alarm history is cleared when this parameter is set to 21 OW 09 Bit 0 Holds a Command This parameter is ignored for ALMHIST_CLR command OW 09 Bit 1 Interrupt a Command This parameter is ignored for ALMHIST_CLR command Parameter Name Monitor Contents IL 02 Warning Sto...

Page 242: ...21 ALMHIST_CLR IW 08 21 ALMHIST_CLR IW 09 bit 0 BUSY IW 2D Alarm code 0 Alarm code 0 IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL Undefined length of time Specified alarm code Alarm code 0 Alarm code 0 OW 08 21 ALMHIST_CLR IW 08 21 ALMHIST_CLR IW 09 bit 0 BUSY IW 2D IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL Undefined length of time Alarm code 0 ...

Page 243: ...l turn ON when the command processing has been completed 3 Set OW 08 to 0 to execute the NOP motion command to initialize the absolute encoder When using an SGD7S SGDV or SGDH NS115 SERVOPACK Always turn OFF the power to the SERVOPACK and then turn it ON again after executing the ABS_RST command When using an SGDS SERVOPACK It is not necessary to turn OFF the power to the SERVOPACK and then turn i...

Page 244: ...us between the Machine Controller and SERVOPACK 1 Communication synchronized 0 Communication disconnected IW 00 Bit 1 Servo ON Indicates the Servo ON status 1 Power supplied to Servomotor 0 Power not supplied to Servomotor IL 02 Warning Stores the most current warning IL 04 Alarm Stores the most current alarm IW 08 Motion Command Response Code Indicates the motion command that is being executed Th...

Page 245: ...T IW 08 22 ABS_RST IW 09 bit 0 BUSY IW 09 bit 3 FAIL IW 09 bit 7 ABS_RSTC IW 09 bit 8 COMPLETE IW 00 bit 0 SVCRDY Undefined length of time Undefined length of time approx 2 s OW 08 22 ABS_RST IW 08 22 ABS_RST IW 09 bit 0 BUSY IW 09 bit 5 FAIL IW 09 bit 7 ABS_RSTC IW 09 bit 8 COMPLETE IW 00 bit 0 SVCRDY Undefined length of time ...

Page 246: ...during operation An override of between 0 to 327 67 can be set for the reference speed 3 Set OW 08 to 23 to execute the VELO motion command The control mode in the SERVOPACK will be switched to speed control IW 08 will be 23 during command execution This command can be executed even when the Servo is OFF Position management using the position feedback is possible during operation with speed contro...

Page 247: ...eed Loop P PI Switch Switch the speed control loop between PI control and P control 0 PI control 1 P control OW 03 Function Setting 1 Set the speed unit acceleration deceleration units and filter type OW 08 Motion Command The mode is changed to speed control mode when this parameter is set to 23 OW 09 Bit 0 Holds a Command The axis will decelerate to a stop if this bit is set to 1 during speed com...

Page 248: ...The axis will decelerate to a stop if it is operating Turns OFF when another com mand is executed IW 09 Bit 8 Command Execution Completed Always OFF for VELO command IW 0C Bit 0 Discharging Completed Turns ON when pulse distribution has been completed for the move command Turns OFF during execution of a move command IW 0C Bit 1 Positioning Completed Turns ON when pulse distribution has been comple...

Page 249: ...0 BUSY IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL IW 0C bit 0 DEN Speed Control Mode Position Control Mode OW 08 23 VELO IW 08 23 VELO IW 09 bit 0 BUSY IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL IW 0C bit 0 DEN OW 08 23 VELO OW 09 bit 0 HOLD IW 08 23 VELO IW 09 bit 1 HOLDL IW 09 bit 0 BUSY IW 09 bit 3 FAIL IW 09 bit 8 COMPLETE IW 0C bit 0 DEN Speed Control Mode Position Control Mode 1scan Alarm 1 scan OW 08...

Page 250: ...eed Loop P PI Switch OW 01 The torque reference OL 0C can be changed during operation 3 Set OW 08 to 24 to execute the TRQ motion command The control mode in the SERVOPACK will be changed to torque control IW 08 will be 24 during command execution This command can be executed even when the Servo is OFF Position management using the position feedback is possible during operation with torque control...

Page 251: ...set to 1 during operation OL 0C Torque Reference Set the torque reference This setting can be changed during operation The unit depends on the Function Setting 1 OW 03 bits C to F OW 0E Speed Limit Setting at the Torque Thrust Reference Set the speed limit for torque references The speed limit is set as a percentage of the rated speed OL 38 Straight Line Deceler ation Deceleration Time Constant Se...

Page 252: ... 3 NEAR Position The operation of this bit depends on the setting NEAR Signal Output Width set ting parameter OL 20 OL 20 0 Turns ON when pulse distribution has been completed DEN ON Otherwise it turns OFF OL 20 0 Turns ON when the absolute value of the difference between MPOS IL 12 and APOS IL 16 is less than the NEAR Signal Output Width even if pulse distribution has not been completed OFF in al...

Page 253: ...09 bit 0 BUSY IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL IW 0C bit 0 DEN 1scan OW 09 bit0 HOLD IW 09 bit 1 HOLDL Torque Control Mode Position Control Mode Alarm IW 0C bit 1 POSCOMP 1 scan Torque Control Mode Position Control Mode Undefined length of time OW 08 24 TRQ IW 08 24 TRQ IW 09 bit 0 BUSY IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL IW 0C bit 0 DEN ...

Page 254: ... motion command Synchronized operation using phase control will start IW 08 will be 25 during the execution R If you use the SVB Module to synchronously operate more than one axis as electronic shafts make sure that the command resolution is the same for all of the axes Example If you use a SERVOPACK with a 17 bit encoder together with a SERVOPACK with a 20 bit encoder to con trol more than one ax...

Page 255: ... can be changed during operation The unit depends on the Function Setting 1 setting OW 03 bits 0 to 3 OL 16 Second Speed Com pensation Set the speed feed forward amount for the Phase Reference command PHASE The setting unit for Speed Compensation setting parameter OW 31 is 0 01 fixed The unit for this parameter however can be selected by the user When used at the same time as OW 31 speed compensat...

Page 256: ...it 1 Positioning Completed Turns ON when pulse distribution has been completed and the current posi tion is within the width of Positioning Completion OFF in all other cases IW 0C Bit 3 NEAR Position The operation of this bit depends on the setting of NEAR Signal Output Width setting parameter OL 20 OL 20 0 Turns ON when pulse distribution has been completed DEN ON Otherwise it turns OFF OL 20 0 T...

Page 257: ...e IW 0C bit 1 POSCOMP 1scan OW 08 25 PHASE IW 09 bit 0 BUSY IW 08 25 PHASE IW 09 bit 3 FAIL IW 0C bit 0 DEN IW 09 bit 8 COMPLETE The Target Position is automatically refreshed every scan Undefined length of time IW 0C bit 1 POSCOMP 1 scan Alarm OW 08 25 PHASE IW 08 25 PHASE IW 09 bit 0 BUSY IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL IW 0C bit 0 DEN ...

Page 258: ...nd bit OW 09 bit 0 and the Interrupt a Command bit OW 09 bit 1 cannot be used When the tuning less function of the SGDV or SGD7S SERVOPACK is enabled or when the SERVOPACK parameter Pn170 0 is set to 1 Tuning less Function Selection is enabled these settings are disabled and ignored 3 Related Parameters a Setting Parameters b Monitoring Parameters No Execution Conditions Confirmation Method 1 Ther...

Page 259: ...t 8 Command Execution Completed Turns ON when KIS command execution has been completed cont d Parameter Name Monitor Contents OW 08 26 KIS IW 08 26 KIS IW 09 bit 0 BUSY IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL Undefined length of time OW 08 26 KIS IW 08 26 KIS IW 09 bit 0 BUSY IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL Undefined length of time ...

Page 260: ...ns Use the PPRM_WR command only when it is really necessary Otherwise use the PRM_WR Write SERVOPACK Parameter command for writing to a parameter Special care must be taken to set OW 50 Servo Driver User Constant No to the correct number Setting an incorrect number may result in adverse operation For some parameters the power must be turned OFF and then ON again to validate a change in the param e...

Page 261: ... Execution Execution Flag ON during PPRM_WR command execution Turns OFF when the execution is com pleted IW 09 Bit 1 Command Hold Completed Always OFF for PPRM_WR command IW 09 Bit 3 Command Error Completed Status Turns ON when an error occurs during PPRM_WR command execution Turns OFF when another command is executed IW 09 Bit 8 Command Execution Completed Turns ON when PPRM_WR command execution ...

Page 262: ...g tool versions that allow multiturn limit setting to be used with MP2000 series SVB mod ules are shown in the table below The table below indicates whether or not the function can be executed depending on the combination of the versions of the MP2000 series SVB module and MPE720 Controller Model Version MP2100 JAPMC MC2100 E Version 2 73 or later MP2100M JAPMC MC2140 E MP2300 JEPMC MP2300 E MP230...

Page 263: ...tion Ready will turn OFF and IW 09 bit 8 COMPLETE will turn ON when command processing has been com pleted 3 Set OW 08 to 0 to execute the NOP command to complete multiturn limit setting 4 When using an SGDH SGDV or SGD7S SERVOPACK turn OFF the power to the SERVOPACK and then turn it back ON 5 Execute Alarm Clear OW 00 bit F and re establish communications When multiturn limit setting has been com...

Page 264: ...eter is ignored for the MLTTRN_SET command OW 09 bit 1 Interrupt a Command This parameter is ignored for the MLTTRN_SET command Parameter Name Monitor Contents IW 00 bit 0 Motion Controller Opera tion Ready Indicates the communication status between the Machine Controller and SERVOPACK 1 Communication synchronized 0 Communication disconnected IW 00 bit 1 Servo ON Indicates the Servo ON status 1 Po...

Page 265: ...ror End OW 08 39 MLTTRN_SET IW 08 39 MLTTRN_SET IW 09 Bit 0 BUSY Undefined length of time IW 09 Bit 3 FAIL IW 00 Bit 0 SVCRDY IW 09 Bit 8 COMPLETE Undefined length of time Undefined length of time OW 08 39 MLTTRN_SET IW 08 39 MLTTRN_SET IW 09 Bit 0 BUSY IW 09 Bit 3 FAIL IW 00 Bit 0 SVCRDY IW 09 Bit 8 COMPLETE ...

Page 266: ...CHATROLINK I and MECHATROLINK II communication See the following table Can be executed Cannot be executed Command Code Command Name Function Reference 0 NOP No Command This is a null command When a subcommand is not being specified set this no command code 6 4 1 1 PRM_RD Read User Constant Reads the specified SERVOPACK parameter and stores it in the monitoring parameters 6 4 2 2 PRM_WR Write User ...

Page 267: ...eter Name Setting Contents SVR OW 0A Motion Subcommand Set to 0 to specify no command NOP OW 4E Servo User Monitor Set ting Set the information to manage the servo driver that will be monitored Parameter Name Monitoring Contents SVR IW 0A Motion Subcommand Response Code Indicates the motion subcommand that is being executed The response code is 0 during NOP command execution IW 0B Bit 0 Command Ex...

Page 268: ...ons Confirmation Method 1 Motion subcommand execution has been completed IW 0A is 0 and IW 0B bit 0 is OFF 2 No alarms have occurred IL 02 is 0 and IL 04 0 Parameter Name Setting Contents OW 0A Motion Subcommand The SERVOPACK parameter is read when this parameter is set to 1 OW 54 Servo Driver for Assis tance User Constant No Set the parameter number of the SERVOPACK parameter to be read OW 55 Ser...

Page 269: ... length of time OW 0A 1 PRM_RD IW 0A 1 PRM_RD IW 0B bit 0 BUSY Parameter number IW 0B bit 8 COMPLETE IW 0B bit 3 FAIL Parameter data Undefined IW 37 Undefined IL 3A 1 scan Undefined Undefined Undefined length of time OW 0A 1 PRM_RD IW 0A 1 PRM_RD IW 0B bit 0 BUSY IW 0B bit 8 COMPLETE IW 0B bit 3 FAIL IW 37 IL 3A 1 scan ...

Page 270: ...ings have been completed Refer to 6 4 3 1 a Setting Parameters below for details Parameter Name Setting Contents OW 0A Motion Subcommand The SERVOPACK parameter is written when this parameter is set to 2 OW 54 Servo Driver for Assis tance User Constant No Set the number of the SERVOPACK parameter to be written OW 55 Servo Driver for Assis tance User Constant Size Set the size of the SERVOPACK para...

Page 271: ...nd b Error End Parameter number Undefined Undefined length of time OW 0A 2 PRM_WR IW 0A 2 PRM_WR IW 0B bit 0 BUSY IW 0B bit 8 COMPLETE IW 0B bit 3 FAIL IW 37 1 scan Undefined Undefined length of time OW 0A 2 PRM_WR IW 0A 2 PRM_WR IW 0B bit 0 BUSY IW 0B bit 8 COMPLETE IW 0B bit 3 FAIL IW 37 1 scan ...

Page 272: ...or ing parameter IW 0A will be 4 during command execution IW 0B bit 0 will turn ON during the command processing and will turn OFF when the command processing has been completed 3 Set OW 0A to 0 to execute the NOP motion command and then complete the monitoring operation Set Value Name Description 0 POS Reference coordinate system s reference position after reference filter 1 MPOS Machine coordina...

Page 273: ... during SMON command execution IW 0B Bit 0 Command Execution Flag Always OFF during SMON command execution IW 0B Bit 3 Command Error Completed Status Turns ON if an error occurs during SMON command execution Turns OFF when another command is executed IW 0B Bit 8 Command Execution Completed Turns ON when SMON command execution has been completed IW 2F Servo Driver User Monitor Information Stores ei...

Page 274: ...rs a Setting Parameters b Monitoring Parameters R No Execution Conditions Confirmation Method 1 Motion subcommand execution has been completed IW 0A is 0 and IW 0B bit 0 is OFF Parameter Name Setting Contents SVR OW 0A Motion Subcommand The Read Fixed Parameter subcommand is executed when this parameter is set to 5 OW 5C Fixed Parameter Number Set the parameter number of the fixed parameter to be ...

Page 275: ...Timing Charts a Normal End b Error End Undefined OW 0A 5 FIXPRM_RD IW 0A 5 FIXPRM_RD IW 0B bit 0 BUSY IL 56 Monitoring result IW 0B bit 8 COMPLETE IW 0B bit 3 FAIL Undefined OW 0A 5 FIXPRM_RD IW 0A 5 FIXPRM_RD IW 0B bit 0 BUSY IL 56 IW 0B bit 8 COMPLETE IW 0B bit 3 FAIL 1 scan ...

Page 276: ...n Commands 7 2 7 1 2 Setting a Subcommand During Command Execution 7 4 7 2 Motions After Switching Motion Commands 7 5 7 2 1 Switching from POSING 7 6 7 2 2 Switching from EX_POSING 7 10 7 2 3 Switching from ZRET 7 14 7 2 4 Switching from INTERPOLATE 7 17 7 2 5 Switching from ENDOF_INTERPOLATE or LATCH 7 20 7 2 6 Switching from FEED 7 21 7 2 7 Switching from STEP 7 25 7 2 8 Switching from ZSET 7 2...

Page 277: ...or CHG_FILTER before the pulse distribution is completed will cause a Command Error Code Switched From Command in Execution Switched To Newly Set Command 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 NOP POS EX_P ZRET INTE ENDO LATC FEED STEP ZSET ACC DCC SCC CHG KVS KPS 0 NOP 1 POSING 2 EX_POSING Δ Δ Δ Δ 3 ZRET 4 INTERPO LATE 5 ENDOF_IN TERPO LATE 6 LATCH 7 FEED Δ Δ 8 STEP 9 ZSET 10 ACC 11 DCC 12 SCC 13 ...

Page 278: ...sing for the command in execution will continue Code Switched From Command in Execution Switched To Newly Set Command 16 17 18 19 20 21 22 23 24 25 26 29 30 31 KFS PRM_ PRM_ ALM_ ALM_ ALMH ABS_ VELO TRQ PHAS KIS SV_ON SV_OF ALM 0 NOP 1 POSING 2 EX_POSING Δ Δ Δ Δ Δ Δ Δ 3 ZRET 4 INTERPO LATE 5 ENDOF_IN TERPO LATE 6 LATCH 7 FEED 8 STEP 9 ZSET 10 ACC 11 DCC 12 SCC 13 CHG_ FILTER 14 KVS 15 KPS 16 KFS 1...

Page 279: ...ile a motion command is being executed Possible Not possible Code Motion Command in Execution Subcommand 0 1 2 4 5 NOP PRM_RD PRM_WR SMON FIXPRM_RD 0 NOP 1 POSING 2 EX_POSING 3 ZRET 4 INTERPOLATE 5 ENDOF_INTERPOLATE 6 LATCH 7 FEED 8 STEP 9 ZSET 10 ACC 11 DCC 12 SCC 13 CHG_FILTER 14 KVS 15 KPS 16 KFS 17 PRM_RD 18 PRM_WR 19 ALM_MON 20 ALM_HIST 21 ALMHIST_CLR 22 ABS_RST 23 VELO 24 TRQ 25 PHASE 26 KIS...

Page 280: ...ibed in 7 2 1 Switching from POSING Available The command in execution is aborted the axis will be decelerated to a stop and the newly set command will be executed Switching Between Commands Switched To Newly Set Command 0 1 2 3 4 5 6 7 8 9 23 24 25 NOP POS EX_P ZRET INTE ENDO LAT FEED STEP ZSET VELO TRQ PHAS Switched From Command in Execution 0 NOP 1 POSING 2 EX_POSING 3 ZRET 4 INTERPOLATE 5 ENDO...

Page 281: ...absolutely necessary Values are written to the related parameters when execution of EX_POSING starts so the speed may drop ZRET POSING will immediately switch to ZRET When this happens the amount of motion stored in the acceleration deceleration filter will be output When execution of ZRET is started values are written to the related servo parameters and then the zero point return operation starts...

Page 282: ...ER POLATE Same as INTERPOLATE LATCH Same as INTERPOLATE FEED POSING will immediately switch to FEED and the moving amount stored in the acceler ation deceleration filter will be maintained STEP POSING will switch to STEP when the axis stops after deceleration cont d Switched From Switched To Operation POSING Canceled POSING operation POSING INTERPOLATE POSING INTERPOLATE INTERPOLATE Motion command...

Page 283: ...de to torque control mode The moving amount stored in the acceleration decel eration filter will be reset to 0 After POSING has switched to TRQ the TRQ command will be executed without the acceleration deceleration filter This is because TRQ is a motion command for which the acceleration deceleration filter is disabled cont d Switched From Switched To Operation POSING operation continues POSING PO...

Page 284: ...ol mode will change from posi tion control mode to phase control mode cont d Switched From Switched To Operation Canceled POSING operation The reference value of the PHASE command will be output as is regardless of the speed when the motion command is switched POSING PHASE POSING PHASE POSING PHASE Position control mode Phase control mode Motion command Motion command response ...

Page 285: ...to POSING and the moving amount stored in the acceleration deceleration filter will be maintained The set value of the Position Reference Setting OL 1C will be OL 1C Target position EX_POSING The EX_POSING operation will continue EX_POSING Canceled EX_POSING operation EX_POSING NOP EX_POSING NOP Motion command Motion command response Canceled EX_POSING operation EX_POSING EX_POSING POSING EX_POSIN...

Page 286: ...DOF_IN TERPOLATE Same as INTERPOLATE LATCH Same as INTERPOLATE FEED EX_POSING will be immediately switch to FEED and the moving amount stored in the acceleration deceleration filter will be maintained cont d Switched From Switched To Operation EX_POSING EX_POSING ZRET EX_POSING ZRET ZRET Canceled EX_POSING operation The speed will smoothly change The speed at the time the motion com mand is switch...

Page 287: ...after deceleration and the control mode will change from position control mode to speed control mode cont d Switched From Switched To Operation Canceled EX_POSING operation EX_POSING EX_POSING STEP EX_POSING STEP STEP STEP moving amount Motion command Motion command response EX_POSING Canceled EX_POSING operation EX_POSING ZSET EX_POSING ZSET A machine coordinate system will be constructed where t...

Page 288: ...eration filter is disabled PHASE EX_POSING will switch to PHASE when the axis stops after deceleration and the control mode will change from the position control mode to phase control mode cont d Switched From Switched To Operation Canceled EX_POSING operation EX_POSING TRQ EX_POSING TRQ EX_POSING TRQ Position control mode Torque control mode Motion command Motion command response Canceled EX_POSI...

Page 289: ... to EX_POSING when the axis stops after deceleration When execution of EX_POSING is started values are written to the related servo parame ters and then the positioning operation starts Change in Position Reference Setting OL 1C during Deceleration In Incremental Addition Mode OW 09 bit 5 0 Any change in the Position Reference Setting OL 1C will be ignored In Absolute Mode OW 09 bit 5 1 The value ...

Page 290: ...s absolutely necessary ENDOF_IN TERPOLATE Same as INTERPOLATE LATCH Same as INTERPOLATE FEED ZRET will switch to FEED when the axis stops after deceleration STEP ZRET will switch to STEP when the axis stops after deceleration ZSET ZSET command will be executed when the axis stops after deceleration cont d Switched From Switched To Operation ZRET ZRET INTERPOLATE ZRET INTERPOLATE Canceled ZRET oper...

Page 291: ...ps after deceleration cont d Switched From Switched To Operation Motion command Motion command response ZRET ZRET VELO ZRET VELO Canceled ZRET operation VELO Position control mode Speed control mode Motion command Motion command response ZRET ZRET TRQ ZRET TRQ Canceled ZRET operation TRQ Position control mode Torque control mode Motion command Motion command response ZRET ZRET PHASE ZRET PHASE Can...

Page 292: ...l be output When execution of EX_POSING is started values are written to the related servo parame ters and then the positioning operation starts The value of Position Reference Setting OL 1C when the motion command is switched will be as follows In Incremental Addition Mode OW 09 bit 5 0 Incremental value Target position IL 14 DPOS OL 1C OL 1C Incremental value In Absolute Mode OW 09 bit 5 1 OL 1C...

Page 293: ...on INTERPOLATE Commands are held because the values of the parameters relating to zero point return are changed INTERPOLATE ZRET INTERPOLATE ZRET ZRET Motion command Motion command response INTERPOLATE INTERPOLATE ENDOF_INTERPOLATE INTERPOLATE ENDOF_INTERPOLATE ENDOF_ INTERPOLATE The reference value of the ENDOF_INTERPOLATE command will be distributed regardless of the speed when the motion comman...

Page 294: ...trol mode will change from position control mode to torque control mode The moving amount stored in the acceleration deceleration filter will be reset to 0 After INTERPOLATE has switched to TRQ the TRQ command will be exe cuted without the acceleration deceleration filter This is because TRQ is a motion command for which the acceleration deceleration filter is disabled cont d Switched From Switche...

Page 295: ...TE PHASE INTERPOLATE will immediately switch to PHASE and the control mode will change from position control mode to phase control mode cont d Switched From Switched To Operation INTERPOLATE INTERPOLATE PHASE INTERPOLATE PHASE Position control mode Phase control mode PHASE The reference value of the PHASE command will be output as it is regardless of the speed when the motion command is switched M...

Page 296: ...ation will be ignored In Absolute Mode OW 09 bit 5 1 FEED will immediately switch to POSING and the moving amount stored in the accelera tion deceleration filter will be maintained The set value of Position Reference Setting OL 1C will be OL 1C Target position FEED FEED NOP FEED NOP Motion command Motion command response Canceled FEED operation FEED FEED POSING FEED POSING POSING Motion command Mo...

Page 297: ... will be OL 1C Target position ZRET FEED will immediately switch to ZRET and the moving amount stored in the accelera tion deceleration filter will be maintained cont d Switched From Switched To Operation Canceled FEED operation FEED FEED EX_POSING FEED EX_POSING EX_POSING Motion command Motion command response FEED FEED EX_POSING FEED EX_POSING The speed will smoothly change The speed at the time...

Page 298: ...ange the Position Reference Setting during deceleration unless it is absolutely necessary ENDOF_IN TERPOLATE Same as INTERPOLATE LATCH Same as INTERPOLATE FEED FEED operation will continue STEP FEED will switch to STEP when the axis stops after deceleration ZSET FEED will immediately switch to ZSET and the FEED operation will continue In actual operation set the zero point by executing ZSET in the...

Page 299: ...the acceleration deceleration filter This is because TRQ is a motion com mand for which the acceleration deceleration filter is disabled PHASE FEED will immediately switch to PHASE and the control mode will change from posi tion control mode to phase control mode cont d Switched From Switched To Operation FEED FEED VELO FEED VELO VELO Position control mode Speed control mode The speed will smoothl...

Page 300: ...ion deceleration filter will be maintained The value of the Position Reference Setting OL 1C when the motion command is switched will be as follows In Incremental Addition Mode OW 09 bit 5 0 Incremental value Target position IL 14 DPOS OL 1C OL 1C Incremental value In Absolute Mode OW 09 bit 5 1 OL 1C Target position STEP STEP NOP STEP NOP Motion command Motion command response STEP STEP POSING ST...

Page 301: ...OLATE Same as INTERPOLATE LATCH Same as for INTERPOLATE FEED STEP will immediately switch to FEED and the moving amount stored in the accelera tion deceleration filter will be maintained STEP STEP operation will continue cont d Switched From Switched To Operation STEP Canceled STEP operation STEP ZRET STEP ZRET The speed will smoothly change The speed at the time the motion com mand is switched wi...

Page 302: ...nd the control mode will change from position control mode to torque control mode The moving amount stored in the acceleration decel eration filter will be reset to 0 After STEP has switched to TRQ the TRQ command will be executed without the acceleration deceleration filter This is because TRQ is a motion com mand for which the acceleration deceleration filter is disabled cont d Switched From Swi...

Page 303: ...the ZSET command is being carried out as soon as it is issued STEP PHASE STEP will immediately switch to PHASE and the control mode will change from position control mode to phase control mode cont d Switched From Switched To Operation STEP STEP PHASE STEP PHASE Position control mode Phase control mode PHASE The reference value of the PHASE command will be output as is regardless of the speed when...

Page 304: ...on decel eration filter hold the VELO operation by executing an NOP command or other commands Then when the Discharging Completed bit IW 0C bit 0 turns ON execute a POSING command The value of the Position Reference Setting OL 1C when the motion command is switched will be as follows In Incremental Addition Mode OW 09 bit 5 0 Incremental value Target position IL 14 DPOS OL 1C OL 1C Incremental val...

Page 305: ...ng OL 1C when the motion command is switched will be as follows In Incremental Addition Mode OW 09 bit 5 0 Incremental value Target position IL 14 DPOS OL 1C OL 1C Incremental value In Absolute Mode OW 09 bit 5 1 OL 1C Target position ZRET VELO will switch to ZRET when the axis stops after deceleration and the control mode will change from speed control mode to position control mode cont d Switche...

Page 306: ...s Do not change the Position Reference Setting during deceleration unless it is absolutely necessary ENDOF_IN TERPOLATE Same as INTERPOLATE LATCH Same as INTERPOLATE FEED VELO will immediately switch to FEED and the control mode will change from speed control mode to position control mode The moving amount stored in the acceleration deceleration filter will be reset to 0 cont d Switched From Switc...

Page 307: ... will continue cont d Switched From Switched To Operation VELO VELO STEP VELO STEP STEP Speed control mode Position control mode The speed will smoothly change The speed at the time the motion com mand is switched will increase decrease until it reaches the target speed of STEP The acceleration deceleration filter will be canceled STEP moving amount Motion command Motion command response VELO VELO...

Page 308: ...is disabled PHASE VELO will immediately switch to PHASE and the control mode will change from speed control mode to phase control mode The moving amount stored in the acceleration decel eration filter will be reset to 0 cont d Switched From Switched To Operation VELO VELO TRQ VELO TRQ Speed control mode Torque control mode TRQ The reference value of the TRQ command will be output as is regardless ...

Page 309: ...itched will be as follows In Incremental Addition Mode OW 09 bit 5 0 Incremental value Target position IL 14 DPOS OL 1C OL 1C Incremental value In Absolute Mode OW 09 bit 5 1 OL 1C Target position TRQ NOP TRQ NOP Torque control mode Position control mode TRQ In position control mode the axis will be decelerated to a stop from the speed when the motion command is switched Motion command Motion comm...

Page 310: ...lows In Incremental Addition Mode OW 09 bit 5 0 Incremental value Target position IL 14 DPOS OL 1C OL 1C Incremental value In Absolute Mode OW 09 bit 5 1 OL 1C Target position ZRET The axis will decelerate to a stop in position control mode When the axis stops TRQ will switch to ZRET cont d Switched From Switched To Operation TRQ EX_POSING TRQ EX_POSING Torque control mode Position control mode TR...

Page 311: ...position control mode The moving amount stored in the acceleration deceleration filter will be reset to 0 After TRQ has switched to FEED the FEED command will be executed with out the acceleration deceleration filter To enable the acceleration decelera tion filter hold the TRQ operation by executing an NOP command or other commands Then when the Discharging Completed bit IW 0C bit 0 turns ON execu...

Page 312: ...urns ON execute a STEP command ZSET The axis will decelerate to a stop in position control mode When the axis stops ZSET command execution will start cont d Switched From Switched To Operation TRQ STEP TRQ STEP Torque control mode Position control mode TRQ STEP The speed will smoothly change The speed at the time the motion com mand is switched will increase decrease until it reaches the target sp...

Page 313: ...e control mode to phase control mode The moving amount stored in the acceleration decel eration filter will be reset to 0 After TRQ has switched to PHASE the PHASE command will be executed without the acceleration deceleration filter This is because PHASE is a motion command for which the acceleration deceleration filter is disabled cont d Switched From Switched To Operation TRQ VELO TRQ VELO Torq...

Page 314: ... OL 1C when the motion command is switched will be as follows In Incremental Addition Mode OW 09 bit 5 0 Incremental value Target position IL 14 DPOS OL 1C OL 1C Incremental value In Absolute Mode OW 09 bit 5 1 OL 1C Target position PHASE NOP PHASE NOP Phase control mode Position control mode PHASE The amount stored in the acceleration deceleration filter will be output Motion command Motion comma...

Page 315: ...ode When this happens the amount of motion stored in the acceleration deceleration filter will be output When execution of ZRET is started values are written to the related servo parameters and then the zero return operation starts INTERPOLATE PHASE will immediately switch to INTERPOLATE and the control mode will change from phase control mode to position control mode ENDOF_IN TERPOLATE Same as IN...

Page 316: ...ed status cont d Switched From Switched To Operation PHASE FEED PHASE FEED Phase control mode Position control mode PHASE FEED The speed will smoothly change The speed at the time the motion com mand is switched will increase decrease until it reaches the target speed of FEED Motion command Motion command response PHASE STEP PHASE STEP Phase control mode Position control mode PHASE STEP The speed ...

Page 317: ...rns ON execute a VELO command TRQ PHASE will immediately switched to TRQ and the control mode will be changed from phase control mode to torque control mode PHASE PHASE operation will continue cont d Switched From Switched To Operation PHASE VELO PHASE VELO Phase control mode Speed control mode PHASE VELO The speed will smoothly change The speed at the time the motion com mand is switched will inc...

Page 318: ...Diagram for Position Control 8 6 8 2 Phase Control 8 8 8 2 1 Motion Parameters for Phase Control 8 8 8 2 2 Control Block Diagram for Phase Control 8 12 8 3 Torque Control 8 14 8 3 1 Motion Parameters for Torque Control 8 14 8 3 2 Control Block Diagram for Torque Control 8 18 8 4 Speed Control 8 20 8 4 1 Motion Parameters for Speed Control 8 20 8 4 2 Control Block Diagram for Speed Control 8 24 ...

Page 319: ...vo Motor Gear Ratio 1 1 to 65535 9 Machine Gear Ratio 1 1 to 65535 10 Infinite Length Axis Reset Position POSMAX Reference unit 360000 1 to 231 1 12 Positive Software Limit Value Reference unit 231 1 231 to 231 1 14 Negative Software Limit Value Reference unit 231 231 to 231 1 16 Backlash Compensation Amount Reference unit 0 231 to 231 1 30 Encoder Selection 0 0 to 3 34 Rated Motor Speed Rotary Mo...

Page 320: ...tioning Completion Check Time ms 0 0 to 65535 OL 28 Phase Correction Setting Reference unit 0 231 to 231 1 OL 2A Latch Zone Lower Limit Setting for External Po sitioning Reference unit 231 231 to 231 1 OL 2C Latch Zone Upper Limit Setting for External Po sitioning Reference unit 231 1 231 to 231 1 OW 2E Position Loop Gain 0 1 s 300 0 to 32767 OW 2F Speed Loop Gain Hz 40 1 to 2000 OW 30 Speed Feed ...

Page 321: ... Servo Driver for Assistance User Constant No 0 0 to 65535 OW 55 Servo Driver for Assistance User Constant Size 1 1 2 OL 56 Servo Driver for Assistance User Constant Set Point 0 231 to 231 1 OW 5C Fixed Parameter Number 0 0 to 65535 OL 5E Encoder Position When Power is OFF Lower 2 words pulse 0 231 to 231 1 OL 60 Encoder Position When Power is OFF Upper 2 words pulse 0 231 to 231 1 OL 62 Pulse Pos...

Page 322: ...ce unit 231 to 231 1 IL 1C Target Position Difference Monitor Reference unit 231 to 231 1 IL 1E Number of POSMAX Turns Reference unit 231 to 231 1 IL 20 Speed Reference Output Monitor pulse s 231 to 231 1 IW 2C Servo Driver Status Bit setting IW 2D Servo Driver Alarm Code 32768 to 32767 IW 2E Servo Driver I O Monitor Bit setting IW 2F Servo Driver User Monitor Information Bit setting IL 30 Servo D...

Page 323: ...arning IL 04 Alarm IW 08 Motion Command Response Code IW 09 Motion Command Status IW 0A Motion Subcommand Response Code IW 0B Subcommand Status IW 0C Position Management Status IL 0E Target Position in Machine Coordinate System TPOS IL 10 Calculated Position in Machine Coordinate System CPOS IL 12 Machine Coordinate System Position MPOS IL 14 CPOS for 32bit DPOS IL 16 Machine Coordinate System Fee...

Page 324: ...Loop Gain Pn811 or Pn812 OW 3A OW 32 OW 30 OW 2F S Kp Ti OW 2E OW 34 Kv NTi FB Vref SERVOPACK NS100 NS115 MPOS APOS LPOS TRQ B A Counter Latch signal Counter POSING command Acceleration deceleration processing Acceleration Pn80B OL 36 Deceleration Pn80E OL 38 INTERPOLATE command Differ ential Speed Feed Forward Compensation Position Integration Time Constant Speed Integration Time Constant Current...

Page 325: ... Bit setting 2 Function Selection Flag 2 0000h Bit setting 4 Reference Unit Selection 0 0 to 3 5 Number of Digits below Decimal Point 3 0 to 5 6 Travel Distance per Machine Rotation Reference unit 10000 1 to 231 1 Linear Scale Pitch Linear Motor Reference unit 10000 1 to 231 1 8 Servo Motor Gear Ratio 1 1 to 65535 9 Machine Gear Ratio 1 1 to 65535 10 Infinite Length Axis Reset Position POSMAX Refe...

Page 326: ...n Check Time ms 0 0 to 65535 OL 28 Phase Correction Setting Reference unit 0 231 to 231 1 OL 2A Latch Zone Lower Limit Setting for External Po sitioning Reference unit 231 231 to 231 1 OL 2C Latch Zone Upper Limit Setting for External Po sitioning Reference unit 231 1 231 to 231 1 OW 2E Position Loop Gain 0 1 s 300 0 to 32767 OW 2F Speed Loop Gain Hz 40 1 to 2000 OW 30 Speed Feed Forward Amends 0 ...

Page 327: ...rvo Driver for Assistance User Constant No 0 0 to 65535 OW 55 Servo Driver for Assistance User Constant Size 1 1 2 OL 56 Servo Driver for Assistance User Constant Set Point 0 231 to 231 1 OW 5C Fixed Parameter Number 0 0 to 65535 OL 5E Encoder Position When Power is OFF Lower 2 words pulse 0 231 to 231 1 OL 60 Encoder Position When Power is OFF Upper 2 words pulse 0 231 to 231 1 OL 62 Pulse Positi...

Page 328: ... unit 231 to 231 1 IL 1C Target Position Difference Monitor Reference unit 231 to 231 1 IL 1E Number of POSMAX Turns Reference unit 231 to 231 1 IL 20 Speed Reference Output Monitor pulse s 231 to 231 1 IW 2C Servo Driver Status Bit setting IW 2D Servo Driver Alarm Code 32768 to 32767 IW 2E Servo Driver I O Monitor Bit setting IW 2F Servo Driver User Monitor Information Bit setting IL 30 Servo Dri...

Page 329: ...mand OL 4C Number of POSMAX Turns Presetting Data IW 00 RUN Status IL 02 Warning IL 04 Alarm IW 08 Motion Command Response Code IW 09 Motion Command Status IW 0A Motion Subcommand Response Code Position Management Status Target Position in Machine Coordinate System TPOS IW 0B Subcommand Status IW 0C IL 0E IL 10 IL 12 IL 14 IL 16 IL 18 IL 1A IL 1C IL 1E IL 20 IW 2C Servo Driver Status IW 2D IW 2E I...

Page 330: ...g monitor value Pn109 Pn10A Pn102 Pn101 A B Pn100 A B M PG Pn11F A B Speed Loop Gain Position Loop Gain OW 3A OW 32 OW 30 OW 2F S Kp Ti OW 2E OW 34 Kv NTi FB Vref SERVOPACK NS110 NS115 MPOS APOS LPOS TRQ B A Counter Latch signal Counter Differ ential Speed Feed Forward Amends Position Integration Time Constant Speed Integration Time Constant Current loop ...

Page 331: ...Motor Gear Ratio 1 1 to 65535 9 Machine Gear Ratio 1 1 to 65535 10 Infinite Length Axis Reset Position POSMAX Reference unit 360000 1 to 231 1 12 Positive Software Limit Value Reference unit 231 1 231 to 231 1 14 Negative Software Limit Value Reference unit 231 231 to 231 1 16 Backlash Compensation Amount Reference unit 0 231 to 231 1 30 Encoder Selection 0 0 to 3 34 Rated Motor Speed Rotary Motor...

Page 332: ...on Check Time ms 0 0 to 65535 OL 28 Phase Correction Setting Reference unit 0 231 to 231 1 OL 2A Latch Zone Lower Limit Setting for External Po sitioning Reference unit 231 231 to 231 1 OL 2C Latch Zone Upper Limit Setting for External Po sitioning Reference unit 231 1 231 to 231 1 OW 2E Position Loop Gain 0 1 s 300 0 to 32767 OW 2F Speed Loop Gain Hz 40 1 to 2000 OW 30 Speed Feed Forward Amends 0...

Page 333: ...ervo Driver for Assistance User Constant No 0 0 to 65535 OW 55 Servo Driver for Assistance User Constant Size 1 1 2 OL 56 Servo Driver for Assistance User Constant Set Point 0 231 to 231 1 OW 5C Fixed Parameter Number 0 0 to 65535 OL 5E Encoder Position When Power is OFF Lower 2 words pulse 0 231 to 231 1 OL 60 Encoder Position When Power is OFF Upper 2 words pulse 0 231 to 231 1 OL 62 Pulse Posit...

Page 334: ...e unit 231 to 231 1 IL 1C Target Position Difference Monitor Reference unit 231 to 231 1 IL 1E Number of POSMAX Turns Reference unit 231 to 231 1 IL 20 Speed Reference Output Monitor pulse s 231 to 231 1 IW 2C Servo Driver Status Bit setting IW 2D Servo Driver Alarm Code 32768 to 32767 IW 2E Servo Driver I O Monitor Bit setting IW 2F Servo Driver User Monitor Information Bit setting IL 30 Servo Dr...

Page 335: ...get Position in Machine Coordinate System TPOS IL 10 Calculated Position in Machine Coordinate System CPOS IL 12 Machine Coordinate System Reference Position MPOS IL 14 CPOS for 32bit DPOS IL 16 Machine Coordinate System Feedback Position APOS IL 18 Machine Coordinate System Latch Position LPOS IL 1A Position Error PERR IL 1C Target Position Difference Monitor IL 1E Number of POSMAX Turns IL 20 Sp...

Page 336: ...ock Diagram for Torque Control 8 19 Control Block Diagrams Analog monitor value Current loop M PG A B SERVOPACK NS110 NS115 APOS LPOS B A Counter Latch signal Counter TRQ T REF V REF Speed limit operation Torque reference operation MPOS ...

Page 337: ...tor Gear Ratio 1 1 to 65535 9 Machine Gear Ratio 1 1 to 65535 10 Infinite Length Axis Reset Position POSMAX Reference unit 360000 1 to 231 1 12 Positive Software Limit Value Reference unit 231 1 231 to 231 1 14 Negative Software Limit Value Reference unit 231 231 to 231 1 16 Backlash Compensation Amount Reference unit 0 231 to 231 1 30 Encoder Selection 0 0 to 3 34 Rated Motor Speed Rotary Motor m...

Page 338: ...n Check Time ms 0 0 to 65535 OL 28 Phase Correction Setting Reference unit 0 231 to 231 1 OL 2A Latch Zone Lower Limit Setting for External Po sitioning Reference unit 231 231 to 231 1 OL 2C Latch Zone Upper Limit Setting for External Po sitioning Reference unit 231 1 231 to 231 1 OW 2E Position Loop Gain 0 1 s 300 0 to 32767 OW 2F Speed Loop Gain Hz 40 1 to 2000 OW 30 Speed Feed Forward Amends 0 ...

Page 339: ...rvo Driver for Assistance User Constant No 0 0 to 65535 OW 55 Servo Driver for Assistance User Constant Size 1 1 2 OL 56 Servo Driver for Assistance User Constant Set Point 0 231 to 231 1 OW 5C Fixed Parameter Number 0 0 to 65535 OL 5E Encoder Position When Power is OFF Lower 2 words pulse 0 231 to 231 1 OL 60 Encoder Position When Power is OFF Upper 2 words pulse 0 231 to 231 1 OL 62 Pulse Positi...

Page 340: ... unit 231 to 231 1 IL 1C Target Position Difference Monitor Reference unit 231 to 231 1 IL 1E Number of POSMAX Turns Reference unit 231 to 231 1 IL 20 Speed Reference Output Monitor pulse s 231 to 231 1 IW 2C Servo Driver Status Bit setting IW 2D Servo Driver Alarm Code 32768 to 32767 IW 2E Servo Driver I O Monitor Bit setting IW 2F Servo Driver User Monitor Information Bit setting IL 30 Servo Dri...

Page 341: ... Position in Machine Coordinate System CPOS IL 12 Machine Coordinate System Reference Position MPOS IL 14 CPOS for 32bit DPOS IL 16 Machine Coordinate System Feedback Position APOS IL 18 Machine Coordinate System Latch Position LPOS IL 1A Position Error PERR IL 1C Target Position Difference Monitor IL 1E Number of POSMAX Turns IL 20 Speed Reference Output Monitor IW 2C Servo Driver Status IW 2D Se...

Page 342: ... Block Diagrams Analog monitor value Pn101 Pn100 Current loop M PG A B Speed Loop Gain Speed Integration Time Constant NS100 NS115 OW 2F OW 34 Kv NTi Vref SERVOPACK APOS LPOS B A Counter Latch signal Counter TRQ V REF T REF Torque limit operation MPOS Speed reference operation ...

Page 343: ... 9 4 9 2 2 Initializing the Absolute Encoder 9 5 9 3 Absolute Position Detection for Finite Length Axes 9 6 9 3 1 Parameter Settings for Finite Length Axes 9 6 9 3 2 Setting the Zero Point for a Finite Length Axis 9 9 9 3 3 Turning ON the Power after Setting the Zero Point of Machine Coordinate System 9 12 9 4 Absolute Position Detection for Infinite Length Axes 9 13 9 4 1 Simple Absolute Infinite...

Page 344: ...rotations After the automatic operation starts the absolute encoder operates in the same way as an incremental encoder 9 1 2 Reading Absolute Data Turn ON the Machine Controller and the SERVOPACK at the same time or turn ON the SERVOPACK first to read the absolute data loaded from the absolute encoder to the Machine Controller The following diagram shows an overview of the absolute data read opera...

Page 345: ...ate the absolute position Absolute position P N RP PO 9 1 3 Finite Length Infinite Length Axes and Absolute Position Detection There are two types of axes An infinite length axis resets the current position to a specified value every rotation and the finite length axis does not Set a finite length axis if return and other operations are performed only within a specified range or for an axis that m...

Page 346: ... 2 Initializing the Absolute Encoder and Appendix C Initializing the Absolute Encoder 3 Setting Parameters Related to the Machine Controller and the SERVOPACKs Set all parameters related to the Absolute Position Detection Function of the Machine Controller and SERVOPACKs The setting procedure for a finite length axis is different from that for an infinite length axis When using the axis as a Finit...

Page 347: ...ls ABS_RST Command Procedure Refer to 6 2 21 Absolute Encoder Reset ABS_RST for details For details on the procedure for initializing SERVOPACKS refer to Appendix C Initializing the Absolute Encoder Initialize the absolute encoder in the following situations When the absolute position detection system is started up for the first time When number of rotations from the absolute reference position ne...

Page 348: ...e Position Detection The parameters for which precautions are provided must be set referring to 9 3 1 3 Detailed Descriptions Set these parameters carefully If they are not set correctly the current position may not be correct after the power is turned ON Machine damage may occur CAUTION Fixed Parameter No Name Setting Range Units Reference Caution 1 bit 0 Axis Selection 0 Finite length axis 1 Inf...

Page 349: ...s absolute encoder as an absolute encoder 1 Uses absolute encoder as an incremental encoder 9 3 1 3 b Σ II Series SGDH E NS100 NS115 Pn000 0 Direction Selection 0 Sets counterclockwise CCW rotation as forward direction 1 Sets clockwise CW rotation as forward direction reverse rota tion mode Pn205 Multiturn Limit Setting 0 to 65535 Rev 9 3 1 3 d Pn002 2 Absolute Encoder Usage 0 Uses absolute encode...

Page 350: ...is Machine Controller fixed parameter 1 bit 0 Set the parameters as shown in the following table when using an axis as a finite length axis Model Parameter Setting Machine Controller Fixed parameter 30 Encoder Selection 1 Absolute encoder Σ II Σ III Σ V or Σ 7 Series Parameter Pn002 2 Absolute Encoder Usage 0 Uses absolute encoder as an absolute encoder Σ I Series Parameter Cn 0001 Bit E Encoder T...

Page 351: ... 16 to make the current position of the machine coordinates into a positive position 2 The encoder position when servo power is turned ON is as follows Multiturn data Number of encoder pulses initial increment pulses Refer to your SERVOPACK manual for information on the initial increment pulses Example IL 10 10 000 and OL 48 100 Set the encoder position when servo power is turned ON to a negative ...

Page 352: ...om the MPE720 Parameter Window Open the Parameter Window for the specified axis on the MPE720 and use the following procedure to save the Zero Point Offset 1 Check the value in IL 10 in the Monitor Tab Page 2 Check the current value in OL 48 in the Setup Parameters Tab Page Subtract the Calculated Posi tion IL 10 from the Zero Point Position in Machine Coordinate System Offset OL 48 and save the r...

Page 353: ...er program used to store the offset value of axis 1 of line number 1 In a ladder program for an actual application select a register with a different address for each axis The ladder program shown here is used to carry out the following processing Subtracts the Calculated Position in Machine Coordinate System CPOS IL 10 from the Zero Point Posi tion in Machine Coordinate System Offset OL 48 and sa...

Page 354: ...the zero point has been set The Zero Point Return Setting Completed bit must therefore be turned ON when the power supply is restored Use the following procedure 1 Turn ON the power supply to the Machine Controller Or clear alarms to restart communication The offset saved in the M register is stored to OL 48 2 Check to see if communication has been synchronized Check to see if the Motion Controlle...

Page 355: ...te Infinite Axis Position Control Set the Maximum Number of Absolute Encoder Turns Rotation fixed parameter 38 to a value that satisfies the fol lowing equation to enable the Simple Absolute Infinite Axis Position Control The reset number of turns will differ depending on whether the command unit is set to pulse or millimeters degrees inches as shown below The settings above can be used to enable ...

Page 356: ... to use Simple Absolute Infinite Length Position Control 59705 1 6 5 49755 The Simple Absolute Infinite Length Position Control can be used since the result of the above equation is an integer remainder 0 Fixed Parameter No Name Setting Value 4 Reference Unit Selection 2 deg 6 Travel Distance per Machine Rotation 360000 8 Servo Motor Gear Ratio 6 9 Machine Gear Ratio 5 10 Infinite Length Axis Rese...

Page 357: ...y If they are not set correctly the current position may not be correct after the power is turned ON Machine damage may occur CAUTION Parameter Fixed Parameter No 1 Bit 0 Axis Selection Fixed Parameter No 1 Bit 9 Simple Rotary Pos Mode Fixed Parameter No 30 Encoder Selection Setting 1 Infinite length axis 1 Enabled 1 Absolute encoder Fixed Parameter No Name Setting Range Units Reference Caution No...

Page 358: ...es absolute encoder as an abso lute encoder 1 Uses absolute encoder as an incre mental encoder 9 4 2 4 a Σ II Series SGDH E NS100 NS115 Pn000 0 Direction Selection 0 Sets counterclockwise CCW rotation as forward direction 1 Sets clockwise CW rotation as forward direction reverse rotation mode Pn205 Multiturn Limit Setting 0 to 65535 Rev 9 4 2 4 c Pn002 2 Absolute Encoder Usage 0 Uses absolute enco...

Page 359: ...a fixed parameter setting error will occur When using a direct drive motor set both the Machine Controller s fixed parameter 38 and the SERVOPACK s parameter Pn205 to 0 Model Parameter Setting Machine Controller Fixed parameter 30 Encoder Selection 1 Absolute encoder Σ II Σ III Σ V or Σ 7 Series Parameter Pn002 2 Absolute Encoder Usage 0 Uses absolute encoder as an absolute encoder Σ I Series SERV...

Page 360: ...ment pulses Refer to your SERVOPACK manual for information on the initial increment pulses Example IL 10 10 000 and OL 48 100 Set the encoder position when servo power is turned ON to a negative value as shown below OL 48 IL 10 100 10000 9900 Set OL 48 to 9900 to assign the current position in the machine coordinate system as the zero point 2 Setting the Zero Point for Simple Absolute Infinite Axi...

Page 361: ...meter Settings for Infinite Length Position Control without Simple Absolute Positions Set the infinite length position control without simple absolute positions by setting the fixed parameters No 1 bit 0 and bit 9 and No 30 as shown in the table below when the simple absolute infinite length position control function cannot be used 2 Infinite Length Axis Position Control without Simple Absolute Po...

Page 362: ...ed Use the ZSET command to set the zero point Perform the procedure shown in the figure on the left to set the zero point for infinite length position control without simple absolute positions The OL 48 value zero point data does not have to be stored in an M register with this method Set a desired position in OL 48 and execute the ZSET command to set the zero point With this setting the current p...

Page 363: ...r backed up by battery Monitoring Parameter Encoder Position when the Power is OFF All four words at IL 5E to IL 60 Monitoring Parameter Pulse Position when the Power is OFF All four words at IL 62 to IL 64 The M register that is used to save the above monitoring parameters is structured as shown below Two buffers are needed to save the encoder position and the pulse position at power OFF because ...

Page 364: ...er value and paste it in Buffer 0 Toggle Buffer Enabled Flag is set to 1 Copy the monitoring parameter value and paste it in Buffer 1 End of high speed scan drawing YES NO YES NO YES NO 1st scan after the drawing starts Operation is not ready and an alarm is occurring Toggle Buffer Selection Flag is set to 1 Position Data Save Request Flag is set to 0 NO YES Zero Point Setting Completed status ON ...

Page 365: ...Absolute Positions 9 23 Absolute Position Detection The following programming example ladder program is for the flowchart shown on the previous page The axis used here is axis 1 of circuit number 1 Change the motion parameter register number if the circuit and axis numbers are dif ferent P00001 H10 Main Program ...

Page 366: ...All four words from OL 62 to OL 64 Store the contents of the buffer selected by the Toggle Buffer Selection Flag 2 Infinite Length Axis Position Information LOAD Reset the Request ABS Rotary Pos Load bit setting parameter OW 00 bit 7 to 0 1 and 0 again This will allow all position data to be settled The following monitoring parameters will then be enabled and the Zero Point Return Setting Complete...

Page 367: ...tup Request Flag is set to 1 ABS System Infinite Length Position Control Data Initialization Completed Flag is set to 0 Toggle Buffer Enabled Flag is set to 1 Toggle Buffer Selection Flag is set to 1 Copy the value of Buffer 1 and paste it in the setting parameter ABS System Infinite Length Position Control Data Initialization Request Flag is set to 1 Position Data Save Request Flag is set to 1 Co...

Page 368: ...ontrol without Simple Absolute Positions 9 26 The following programming example ladder program is for the flowchart shown above The axis used here is axis 1 of circuit number 1 Change the motion parameter register number if the circuit and axis numbers are different P00001 H11 Main Program ...

Page 369: ...h Axes 9 4 5 Infinite Length Position Control without Simple Absolute Positions 9 27 Absolute Position Detection There are no restrictions in the executing order for ladder programs H10 and H11 when an absolute encoder is used for a finite length axis ...

Page 370: ...Inverters 10 11 10 2 5 I O Options 10 12 10 3 Main Commands and Subcommands 10 14 10 3 1 List of Main Commands and Subcommands 10 14 10 3 2 Applicable Combinations of Commands and Subcommands 10 15 10 3 3 Command Details 10 16 10 3 4 Subcommand Details 10 22 10 4 Motion Parameter Details 10 28 10 4 1 Fixed Parameter List 10 28 10 4 2 Setting Parameter List 10 29 10 4 3 Monitoring Parameter List 10...

Page 371: ...nsmission cycle 1 ms 15 C2 Message with 1 none 0 Number of retries to slaves Setting range of number of retries to slaves is 0 to 7 Communication Specifications MECHATROLINK II 32 byte MECHATROLINK II 17 byte MECHATROLINK I Supported Models SVB Module Built in SVB With CPU version 2 20 or later SVB 01 Version 1 10 or later Engineering Tool MPE720 version 5 12 or later Inverter VarispeedG7 Varispee...

Page 372: ...peration Method Selection must be set to 3 Option Board The inverter constants shown in the following table must be correctly set 2 For VSminiV7 Inverter user constant n004 Reference Selection must be set to 9 Option Board Inverter user constant n003 Operation Method Selection must be set to 3 Option Board Inverter Constant No Name Setting Range Default Setting F6 01 Operation selection after comm...

Page 373: ...n OFF 2 Change in MECHATROLINK Allocation While the Inverter is Running While the inverter is running IW 10 bit 5 ON the MECHATROLINK definitions of SVB Definition Window cannot be saved Save the MECHATROLINK definition while the inverter is stopped IW 10 bit 5 OFF 3 Change in Fixed Parameter Setting While the Inverter is Running The fixed parameters cannot be saved while the inverter is running I...

Page 374: ...ions 10 5 Settings for Connecting Inverters 6 Saving Fixed Parameters Always save the fixed parameters after manually allocating inverters If not saved the current values setting parameters will be reset to their default values when restarting the Machine Controller ...

Page 375: ...verter can be also manually allocated Refer to 10 2 4 Manually Allocating Inverters for details 2 Start the MPE720 version 5 12 or later in the personal computer connected to the Machine Controller and open the Module Configuration Window Refer to 3 4 1 1 How to Open the Module Configuration Window for more information 3 Double click the Slot Number cell of the SVB column in the Module Details fie...

Page 376: ...he Details Window to check the status of each bit When bit 3 is set to 1 ON the inverter is ready to run and the connection has been established When it is set to 0 OFF check the MECHATROLINK cable connection settings for inverter user constants and link assignment of the SVB module 6 Click the Setup Parameters Tab to switch the tab page then set bit D Drive Permission of Run Com mand Setting para...

Page 377: ...e Permission of Run Command Setting parameter OW 00 to 0 OFF then to 1 ON again 8 Click the Setup Parameters Tab Set the setting parameter Command Code OW 08 to Inverter Drive Control in the Setup Parameters Tab Page After setting bit D Drive Permission of Run Command Setting parameter OW 00 in step 6 wait at least the time equivalent to one high speed scan to set the setting parameter Command Cod...

Page 378: ...hen Output Data Option Selection OW 0C is selected while the command Inverter Drive Control is being executed or when Auxiliary Output Data Option Selection OW 0E is selected while the subcommand Inverter I O Control is being executed The subcommand Inverter I O Control is valid only in MECHATROLINK II 32 byte mode If the command Inverter Drive Control is switched to another command during its exe...

Page 379: ...n Input Data Option Selection OW 0D is selected while the command Inverter Drive Control is being executed or when Auxiliary Input Data Option Selection OW 0F is selected while the subcommand Inverter I O Control is being executed The subcommand Inverter I O Control is valid only in MECHATROLINK II 32 byte mode The input data that can be used depends on the Inverter model Refer to 10 4 5 Inverter ...

Page 380: ... SVB column in the Module Details field and select MECHATROLINK from the pop up menu The MECHATROLINK Definition Window for parameter setting will open 3 Click Link Assignment Tab to display the tab page 4 Click the Button in the TYPE column and select VS 7Series Inverter from the list Always select VS 7Series regardless of the actual inverter model 5 Select File Save from the main menu to save th...

Page 381: ... Data Option Selection OW 0D is selected while the command Inverter Drive Control is being executed The Auxiliary Input Data Option Selection OW 0F is selected while the subcommand Inverter I O Control is being executed Data of selected input options can be monitored by using the Input Data Option Selection Monitor IW 0D and Auxiliary Input Data Option Selection Monitor IW 0F of the monitoring par...

Page 382: ...ed for Response Standard output data 1 1 1 2 1 3 2 4 2 Number of Selected Auxiliary Output Data Options Time Required for Response Standard output data 1 1 1 2 1 3 1 4 1 Number of Selected Input Data Options OW 0D and Time Required for Response Number of Selected Auxiliary Input Data OW 0F and Time Required for Response Number of Selected Input Data Options Time Required for Response Standard inpu...

Page 383: ...ECHATROLINK II 17 byte mode MECHATROLINK I Main Commands OW 08 00 No Command Applicable Applicable Applicable 01 Inverter Drive Control Applicable Applicable Applicable 02 Read User Constant 1 Applicable Applicable 03 Write User Constant 1 Applicable Applicable 04 Alarm Monitor Applicable Applicable Applicable 05 Alarm History Monitor Applicable Applicable Applicable 06 User Constant RAM Writing A...

Page 384: ...Module If the received main command and subcommand are incompatible the Inverter will process the main command first If a command that is incompatible with the command being processed is received the command being processed will have priority If the command Inverter Drive Control is incompatible with the subcommand Inverter I O Control the main command processing will be overwritten by the subcomm...

Page 385: ...ng Range Remarks Command Response Code IW 08 0 to 8 00 No Command Command Status IW 09 Bit Bit 0 Command execution flag Always OFF Bit 3 Command error completed status On when an error occurs during command processing Bit 8 Command execution com pleted status ON when command execution is completed Status IW 10 Bit Inverter status Response Alarm Code IW 30 0 to FFFFH Inverter alarm code Name Regist...

Page 386: ... IW 15 0 to 65535 Valid when Input Data Option Selection OW 0D bit 2 is ON Frequency Reference IW 16 Valid when Input Data Option Selection OW 0D bit 3 is ON Multi function Analog Input A2 Option IW 17 Valid when Input Data Option Selection OW 0D bit 4 is ON Main Bus Voltage Option IW 18 Valid when Input Data Option Selection OW 0D bit 5 is ON Alarm Code Option IW 19 Valid when Input Data Option S...

Page 387: ...it 3 Command error completed status ON when an error occurs during com mand processing Bit 8 Command execution com pleted ON when command execution is com pleted Status IW 10 Bit Inverter status Response Alarm Code IW 30 0 to FFFFH Inverter alarm code Inverter User Constant Number IW 3C 0 to FFFFH User Constant Reading Data 1 IW 3E 0 to 65535 User Constant Reading Data 2 IW 3F 0 to 65535 User Cons...

Page 388: ...o FFFFH Inverter alarm code Inverter User Constant Number IW 3C 0 to FFFFH Name Register No Setting Range Remarks Command Code OW 08 0 to 8 04 Alarm Monitor Inverter Alarm Monitor Number OW 32 0 Alarm monitor number Name Register No Setting Range Remarks Command Response Code IW 08 0 to 8 04 Alarm Monitor Command Status IW 09 Bit Bit 0 Command execution flag ON during execution Bit 3 Command error...

Page 389: ...t 3 Command error completed status ON when an error occurs during com mand processing Bit 8 Command execution com pleted ON when command execution is com pleted Status IW 10 Bit Inverter status Response Alarm Code IW 30 0 to FFFFH Inverter alarm code Inverter Alarm Code IW 32 0 to FFFFH The alarm history is read out Name Register No Setting Range Remarks Command Code OW 08 0 to 8 06 User Constant ...

Page 390: ...Inverter status Response Alarm Code IW 30 0 to FFFFH Inverter alarm code Name Register No Setting Range Remarks Command Code OW 08 0 to 8 08 Transmission Reference Transmission Reference Output Data 0 OW 70 0 to FFFFH Command code on Lo lower bytes 0 to FFFFH Transmission Reference Output Data 7 OW 77 0 to FFFFH The system implements watchdog timeout timer Name Register No Setting Range Remarks Co...

Page 391: ...No Setting Range Remarks Subcommand Response Code IW 0A 0 to 9 00 No Command Subcommand Status IW 0B Bit Bit 0 Command execution flag Always OFF Bit 3 Command error completed status Always OFF Bit 8 Command execution com pleted Always OFF Subcommand Response Status IW 31 Bit Inverter status Name Register No Setting Range Remarks Subcommand Code OW 0A 0 to 9 01 Inverter I O Control Auxiliary Output...

Page 392: ...2 of Auxiliary Input Data Option Selec tion OW 0F is ON Frequency Reference U1 01 Option IW 16 Valid when bit 3 of Auxiliary Input Data Option Selec tion OW 0F is ON Multi function Analog Input A2 Option IW 17 Valid when bit 4 of Auxiliary Input Data Option Selec tion OW 0F is ON Main Bus Voltage Option IW 18 Valid when bit 5 of Auxiliary Input Data Option Selec tion OW 0F is ON Alarm Code Option ...

Page 393: ...auxiliary inverter Name Register No Setting Range Remarks Subcommand Response Code IW 0A 0 to 9 02 Read User Constant Subcommand Status IW 0B Bit Bit 0 Command execution flag ON during execu tion Bit 3 Command error completed status ON when an error occurs during com mand processing Bit 8 Command execution com pleted ON when command execution is com pleted Subcommand Response Status IW 31 Bit Refe...

Page 394: ...t Number Size OW 43 1 to 4 Data type Word Enter the size of user constant that read out from the leading user constant number of the auxiliary inverter Auxiliary Inverter User Constant Set Point 1 OW 44 0 to 65535 Auxiliary Inverter User Constant Set Point 2 OW 45 0 to 65535 Auxiliary Inverter User Constant Set Point 3 OW 46 0 to 65535 Auxiliary Inverter User Constant Set Point 4 OW 47 0 to 65535 ...

Page 395: ... execution com pleted ON when command execution is com pleted Subcommand Response Status IW 31 Bit Refer to Subcommand Response Status of 10 4 3 Monitor ing Parameter List Auxiliary Inverter Alarm Code IW 33 0 to FFFFH The currently occurring alarm that is read out Name Register No Setting Range Remarks Subcommand Code OW 0A 0 to 9 05 Alarm History Monitor Auxiliary Inverter Alarm Monitor Num ber ...

Page 396: ...ommand Response Code IW 0A 0 to 9 08 Transmission Reference Subcommand Status IW 09 Bit Bit 0 Command execution flag ON during exe cution Bit 3 Command error completed status Always OFF Bit 8 Command execution com pleted Always OFF Transmission Reference Input Data 8 IW 78 0 to FFFFH Subcommand on Lo lower bytes and substatus on Hi upper bytes 0 to FFFFH Transmission Reference Input Data 15 IW 7F ...

Page 397: ...rror will not be written in the monitoring parameter Alarm or Warning Bit 1 WDT Abnormality Detection Mask Applicable only for synchronous communications supported in verters Specifies whether or not to mask synchronized processing with the Inverter 0 Disabled default Synchronized processing with the Inverter using the watchdog timer will be performed 1 Enabled Synchronized processing with the Inv...

Page 398: ...ablishes the connection for communications with the Inverter whether the communications is stopped or in process Also clears the monitoring parameter Alarm This bit is captured at the rising edge Application Example With the setting to continue communications after a com munication error occurrence 1 the SVB Module will continue communications whether or not the Inverter stops communication becaus...

Page 399: ...isabled 1 Enabled When this bit is set to 1 enabled the output data option Torque Compensation OW 13 will be validated when the command Inverter Drive Control is executed Bit 1 Multi function Ana log Output FM 0 Disabled 1 Enabled When this bit is set to 1 enabled the output data option Multi function Analog Output FM OW 14 will be validated when the command Inverter Drive Control is executed Bit ...

Page 400: ...data option Main Bus Voltage IW 18 will be monitored when the command Inverter Drive Control is executed Bit 6 Alarm Code 0 Disabled 1 Enabled When this bit is set to 1 enabled the output data option Alarm Code IW 19 will be monitored when the command Inverter Drive Control is executed Bit 7 Warning Code 0 Disabled 1 Enabled When this bit is set to 1 enabled the output data option Alarm Code IW 1A...

Page 401: ...ted Bit 1 Torque Reference U1 09 0 Disabled 1 Enabled When this bit is set to 1 enabled the output data option Torque Reference IW 14 will be monitored when the subcommand Inverter I O Control is executed Bit 2 Encoder Count 0 Disabled 1 Enabled When this bit is set to 1 enabled the output data option Encoder Count IW 15 will be monitored when the subcommand Inverter I O Control is executed Bit 3 ...

Page 402: ...2 Multi function Input Command S3 0 OFF 1 ON Initial value External fault EF3 Bit 3 Multi function Input Command S4 0 OFF 1 ON Initial value Error reset Bit 4 Multi function Input Command S5 0 OFF 1 ON Initial value Multi step reference 1 Bit 5 Multi function Input Command S6 0 OFF 1 ON Initial value Multi step reference 2 Bit 6 Multi function Input Command S7 0 OFF 1 ON Initial value JOG command ...

Page 403: ...to OW 3B Reserved by the system OW 3C Inverter User Constant Number Setting range 0 to FFFFH Sets the leading number of the user constants to read by executing the command Read User Constant or set the leading number of the user constants to write by execut ing the command Write User Constant Set the register number used for MEMOBUS communications OW 3D Inverter User Constant Number Size Setting r...

Page 404: ...Point 2 Setting range 0 to 65535 Sets the data to write for the subcommand Write User Constant Valid when Auxiliary Inverter User Constant Number Size 2 to 4 OW 46 Auxiliary Inverter User Constant Set Point 3 Setting range 0 to 65535 Sets the data to write for the subcommand Write User Constant Valid when Auxiliary Inverter User Constant Number Size 3 or 4 OW 47 Auxiliary Inverter User Constant Se...

Page 405: ...f the subcommand Transmission Reference OW 7A Transmission Reference Output Data 10 Setting range 0 to FFFFH This will be sent as the 3rd word of the subcommand Transmission Reference OW 7B Transmission Reference Output Data 11 Setting range 0 to FFFFH This will be sent as the 4th word of the subcommand Transmission Reference OW 7C Transmission Reference Output Data 12 Setting range 0 to FFFFH Thi...

Page 406: ...etting is incorrect out of the setting range The parameter number offset by 1000 is displayed IL 02 Warning Bit 0 Reserved by the system Bit 1 Set Parameter Error Turns ON when setting parameter error occurs Correct the setting parameter to clear the warning This warning can also be cleared by executing Alarm Clear Bit 2 Fixed Parameter Error Turns ON when fixed parameter error occurs Correct the ...

Page 407: ...User Constant is selected 03 Write User Constant Write User Constant is selected 04 Alarm Monitor Alarm Monitor is selected 05 Alarm History Monitor Alarm History Monitor is selected 06 User Constant RAM Writing User Constant RAM Writing is selected 07 User Constant EEPROM Writing User Constant EEPROM Writing is selected 08 Transmission Reference Transmission Reference is selected IW 09 Command St...

Page 408: ...ata is being normally updated Bit 4 Multi function Analog Input A2 ON when Multi function Analog Input 2 monitor is selected for Input Data Option Selection OW 0D and the data is being normally updated Bit 5 Main Bus Voltage ON when Main Bus Voltage monitor is selected for Input Data Option Selection OW 0D and the data is being normally updated Bit 6 Alarm Code ON when Alarm Code monitor is select...

Page 409: ...elected for Auxiliary Input Data Option Selection OW 0F and the data is being normally updated Bit 6 Alarm Code ON when Alarm Code monitor is selected for Auxiliary Input Data Option Selection OW 0F and the data is being normally updated Bit 7 Warning Code ON when Warning Code monitor is selected for Auxil iary Input Data Option Selection OW 0F and the data is being normally updated Bit 8 Reserved...

Page 410: ...ady 1 Inverter ready Bit B OPE OPE Error 0 No OPE error 1 OPE error occurred Bit C UV_R Momentary Power Cut 0 Momentary 1 Power cut Bit D REMOTE Remote Operation 0 Local 1 Remote Bits E and F Reserved by the system IW 11 Output Frequency Unit According to n035 for VSminiV7 o1 03 for Varispeed F7 and G7 IW 12 Output Current For VSminiV7 Varispeed F7 and G7 Unit 0 1 A or 0 01 A For A1000 and V1000 8...

Page 411: ... alarm activation Bit 1 Subcommand Warn ing 0 Not used 1 Warning Turns ON when subcommand warning activation Bit 2 Subcommand Ready 0 Busy 1 Ready Turns ON when the subcommand execution is com pleted Bits 3 to F Reserved by the system IW 32 Inverter Alarm Code Range 0 to FFFFH Displays the alarm code returned in the response to the command Alarm Monitor or Alarm History Monitor IW 33 Auxiliary Inv...

Page 412: ...e subcom mand Read User Constant Valid when Auxiliary Inverter User Constant Number Size OW 43 3 or 4 IW 47 Auxiliary User Constant Reading Data 4 Range 0 to 65535 Displays the value read out by executing the subcom mand Read User Constant Valid when Auxiliary Inverter User Constant Number Size OW 43 4 IL 48 Fixed Parameter Monitor Displays the fixed parameter value read out by execut ing the subc...

Page 413: ...t Data 9 Range 0 to FFFFH Displays the 2nd word of the subresponse data to the command Transmission Reference IW 7A Transmission Reference Input Data 10 Range 0 to FFFFH Displays the 3rd word of the subresponse data to the command Transmission Reference IW 7B Transmission Reference Input Data 11 Range 0 to FFFFH Displays the 4th word of the subresponse data to the command Transmission Reference IW...

Page 414: ...et Fault Reset Fault Reset Bit A Initial value Multi step Speed Reference 3 Reserved by the system Bit B Initial value Multi step Speed Reference 4 Bit C Initial value Accelera tion Deceleration Time Selection 1 Bit D Initial value Emergency Stop Bit E Fault Trace Clear Fault Trace Clear Fault Trace Clear Bit F External Base Block command External Base Block command External Base Block command OW ...

Page 415: ... constant o1 03 Unit depends on the inverter user constant o1 03 Unit depends on the inverter user constant n035 IW 12 Output Current Unit 0 1 A or 0 01 A Unit 0 1 A or 0 01 A Unit 0 1 A or 0 01 A IW 13 Motor Speed Option Unit depends on the inverter user constant o1 03 Invalid in V f with PG control mode Unit depends on the inverter user constant o1 03 Invalid in V f with PG control mode Unit dep...

Page 416: ...rminal 6 Status Terminal 6 Status Bit 6 Terminal 7 Status Terminal 7 Status Terminal 7 Status Bit 7 Terminal 8 Status Terminal 8 Status Terminal 8 Status Bit 8 Terminal 9 Status Terminal 9 Status Terminal 9 Status Bit 9 Terminal 10 Status Terminal 10 Status Terminal 10 Status Bit A Terminal 11 Status Terminal 11 Status Terminal 11 Status Bit B Terminal 12 Status Terminal 12 Status Terminal 12 Stat...

Page 417: ...Warning Incorrect operation or minor failure that will not likely result in a serious situation Inverter Communication Warning MECHATROLINK communication error warning SI T Alarm Code IW 30 Status IW 10 Digital Operator Display Contents Varispeed G7 Varispeed F7 VSminiV7 WARNG ALM 01H ON PUF Blown fuse 02H ON UV1 Main circuit undervoltage 03H ON UV2 Control circuit undervoltage 04H ON UV3 MC failu...

Page 418: ...EF12 External fault 12 31H ON VCF Neutral point error 50H ON STP Emergency stop 51H ON EF1 External fault 1 52H ON EF2 External fault 2 83H ON CPF02 Baseblock circuit fault 84H ON CPF03 EEPROM fault 2 85H ON CPF04 CPU internal A D fault 3 86H ON CPF05 CPU external A D fault 87H ON CPF06 Optional board fault 88H ON CPF07 ASIC internal RAM fault 89H ON CPF08 Watchdog timer fault 8AH ON CPF09 CPU ASI...

Page 419: ...F5 External fault 5 0CH ON EF6 External fault 6 0DH ON EF7 External fault 7 0EH ON EF8 External fault 8 0FH ON FAN Cooling fan fault 10H ON OS Excessive Speed 11H ON DEV Excessive speed deviation 12H ON PGO PG disconnected 13H ON OPR Operator disconnected 14H ON CE MEMOBUS transmission error 17H ON OL1 Motor overload 18H ON OL2 Inverter overload 1AH ON EFO External fault 1BH ON RUN Motor running 1...

Page 420: ...d F7 VSminiV7 WARNG ALM E5H ON E5 MECHATROLINK II WDT timeout error E6H ON BUS MECHATROLINK II communication error ECH ON WDC timeout error in communication with Inverter EDH ON Inverter access permission error EEH ON Inverter watchdog timeout Device Code Switch Name Status Description S1 1 BRS10 4 OFF 4 Mbps ON 10 Mbps S1 2 BYTE16 31 OFF 17 byte transmission mode For MECHATROLINK I and MECHATROLI...

Page 421: ...SVB Module Device Code Switch Name Status Description S2 SA 0 to F Sets the first digit of the station address 0H to FH in hexadecimal S1 3 S2 Station Address ST Station Address in Network Analyzer for MECHATROLINK Communications Decimal Number Hexadecimal Number OFF 0 1 1 1 1 1 01H 21H 2 2 02H 22H 3 3 03H 23H 4 4 04H 24H 5 5 05H 25H 6 6 06H 26H 7 7 07H 27H 8 8 08H 28H 9 9 09H 29H A 10 0AH 2AH B 1...

Page 422: ...GD SERVOPACK 11 13 11 3 Software Limit Function 11 15 11 3 1 Fixed Parameter Settings 11 15 11 3 2 Effects of the Software Limit Function 11 15 11 3 3 Processing after an Alarm Occurs 11 16 11 4 Modal Latch Function 11 17 11 5 Bank Switching Function 11 18 11 5 1 Bank Switching Specifications 11 18 11 5 2 Bank Switching Function Unsupported Motion Commands 11 18 11 5 3 SERVOPACK Parameter Settings...

Page 423: ...External Latches with DC Power Input Σ V series SERVOPACKs 11 30 11 8 Precautions When Using Σ 7 series SGD7S SERVOPACKs with Rotary Servomotors 11 31 11 8 1 SGD7S Electronic Gear Ratio Settings 11 31 11 8 2 Link Assignment 11 31 11 8 3 Number of Pulses per Motor Rotation 11 31 11 8 4 Motion Image 11 31 11 8 5 Software Limit Settings 11 32 11 8 6 When the Tuning less Function is Enabled 11 32 11 8...

Page 424: ...ON and OFF Circuit A circuit is configured to turn the brake ON and OFF using the BK contact output signal from the SERVOPACK and a brake power supply The following diagram shows a standard connection example Refer to the manual for your SER VOPACK for details Vertical Axis Axis Subject to External Force Servomotor Holding brake External force Servomotor Preventing movement due to gravity when pow...

Page 425: ...meter Name Unit Setting Range Default Control Mode Pn506 Brake ON Timing after Motor Stops 10 ms 0 to 50 0 Speed torque position control Details This parameter adjusts the delay time from BK Signal Output until Servo OFF stopping Servomotor output and it is used to be set when the machine moves slightly due to gravity or other factors after turning the brake ON This parameter is used to set the ti...

Page 426: ... for BK Signal Output when Motor Running Pn508 Timing of BK Signal Output when Motor Running These settings are used to set the timing for applying the brake when the Servo turns OFF due to an S ON input signal or alarm cont d Motor speed Pn507 BK output Servo ON Servo OFF Pn508 Brake holding S ON input or alarm occurred Power OFF Stop with dynamic brake or by coasting Pn001 0 Brake released The b...

Page 427: ...ERVOPACK and a brake power supply The following diagram shows the standard connections 1 The terminal is allocated using parameter Cn 2D In the example above BK signal 4 is set in the 2nd digit 2 Brake control relay contact 3 There are 200 V and 100 V brake power supplies Power supply M BK PG U V W CN2 Red Black White AC DC BK RY 24 V R S T r t Brake power supply SGDB SERVOPACK 27 28 A B C D E F B...

Page 428: ...ing the brake ON This parameter is used to set the timing when the motor is stopped Brake operation while the motor is running is set in Cn 15 and Cn 16 For the standard settings the Servo will turn OFF simultaneously with the BK output Brake Opera tion If gravity causes the machine to move slightly at this time due to machine configuration or brake characteristics turning OFF the Servo can be del...

Page 429: ...F using the BK contact output signal from the SERVOPACK and a brake power supply The standard connections are shown in the following diagram 1 Brake control relay contact 2 There are 200 V and 100 V brake power supplies R T U V W 2CN 1 2 3 4 5 6 Power supply BK RY White Red Black AC DC Brake power supply 2 SGD or SGDA SERVOPACK Servomotor with a brake 1 BK RY 24 V 7 10 BK SG COM 1CN M BK PG 50 mA ...

Page 430: ...due to machine configuration or brake characteristics turning OFF the Servo can be delayed to reduce the movement Parameter Name Unit Setting Range Default Control Mode Cn 15 Brake ON Timing when Motor Running min 1 0 to max speed 100 Speed torque position control Cn 16 10 ms 0 to 100 50 Speed torque position control Details Cn 15 Speed Level for BK Signal Output when Motor Running Cn 16 Timing of...

Page 431: ... SERVOPACKs and Σ 7 Series SGD7S SERVO PACKs Connections to Σ II Σ III Σ V or Σ 7 Series SGDH SGDS SGDV and SGD7S SERVOPACKs The following parameters must be set to ensure that the overtravel input signals are connected correctly for the over travel function 1 Overtravel Input Signal Connections Correctly connect the input signals for the overtravel limit switches shown below to the corresponding ...

Page 432: ...travel Positive overtravel Parameter Name Set Value Item Default Pn50A 3 P OT Signal Mapping 2 Recom mended Enables use of Positive Prohibit Input Signal P OT Forward rotation prohibited when open allowed for 0 V 2 8 Disables the P OT signal Pn50B 0 N OT Signal Mapping 3 Recom mended Enables use of Negative Prohibit Input Signal N OT Reverse rotation prohibited when open allowed for 0 V 3 8 Disabl...

Page 433: ...lerates the motor to a stop by applying the torque specified in Pn406 Emergency Stop Torque when overtravel is detected and then sets it to zero clamp servolock mode 2 Decelerates the motor to a stop by applying the torque specified in Pn406 Emergency Stop Torque when overtravel is detected and then sets it to coast servo OFF mode Pn001 0 Servo OFF Stop Mode 0 Recom mended Stops the motor by apply...

Page 434: ...he overtravel limit switches to the corresponding pins on the SERVOPACK CN1 or 1CN connector as shown below Connections to SGDB and SGD SERVOPACK P OT When ON 1CN 7 is low Forward drive enabled Normal operating condition When OFF 1CN 7 is high Forward drive disabled Reverse movement possible N OT When ON 1CN 8 is low Reverse drive enabled Normal operating condition When OFF 1CN 8 is high Reverse d...

Page 435: ...r Name Set Value Item Default Cn 01 Bit 8 Selection of stopping method for overtravel 0 Recommended Uses the same stopping method as for Servo OFF Stops the motor according to Cn 01 bit 6 set ting dynamic brake or coasting when over travel is detected 0 1 Decelerates the motor to a stop by applying the torque specified in Cn 06 EMGTRQ Emer gency Stop Torque when overtravel is detected Cn 01 Bit 9 ...

Page 436: ...ware Limit Function If a position command that exceeds the positive and negative software limit is executed with the software limit function enabled an alarm will occur and the Machine Controller will stop the axis The type that the axis stops depends on the motion command as shown below The software limit settings is disabled for ZRET operation Servo motor Negative overtravel Software Limit lower...

Page 437: ... Clear software limit alarms using the procedure below 1 Set the Alarm Clear bit to 1 in the RUN Command Setting OW 00 bit F to clear the alarm The alarm IL 04 will be cleared 2 Use the FEED or STEP command to return past the software limit Name Register Number Meaning Alarm IL 04 Bit 3 Positive Direction Software Limit Bit 4 Negative Direction Software Limit Name Register Number Meaning RUN Comma...

Page 438: ...osition LPOS Canceling Latch Request Set the Latch Detection Demand setting parameter OW 00 bit 4 to OFF to cancel the latch request Signals Used for Latch The phase C pulse or EXT1 EXT2 or EXT3 signals can be used as a latch signal Use the setting parameter Latch Detection Signal Selection OW 04 bits 0 to 3 to select the signal to be used as a latch signal Parameters Related to Modal Latch Functi...

Page 439: ... OW 04 bits C to F will be sent to servo by executing the MECHATROLINK servo command When it is not available the set values of Bank Selector will be ignored Refer to 4 4 2 5 Function Setting 2 for details on the setting parameter Bank Selector Refer to 11 5 4 Bank Member Setting for information on the related parameters 11 5 2 Bank Switching Function Unsupported Motion Commands The parameter Bank...

Page 440: ...t 0 to F Set the bit of option field to allocate V_PPI C Δ C 1 With Without V_PPI Allocation 0 Not allocated in option field 1 Δ 1 1 Allocated in option field 2 P_PL_CLR Allocation Bit 0 to F Set the bit of option field to allocate P_PL_CLR D Δ D 3 With Without P_PL_CLR Allo cation 0 Not allocated in option field 1 Δ 1 1 Allocated in option field Pn82C Optional Bit Allocation 3 2 000H 1F1FH 1F1EH ...

Page 441: ...n920 to Pn95F Parameter Bank Data 2 Depends on member Depends on member Depends on member 0 As required Parameter No Name Size Setting Range Unit Factory Setting Valida tion Setting Min Max Pn80A First Step Linear Acceleration Constant 2 1 65535 10000 reference units s2 0 Δ As required Pn80B Second Step Linear Acceleration Constant 2 1 65535 10000 reference units s2 0 Δ As required Pn80C Accelerat...

Page 442: ...parameter bank data area starting from Pn920 See the following Setting Example 4 Turn OFF the power to the SERVOPACK and then turn ON again Setting Example Three Banks with Members Pn80B Pn80E and Pn80C The Bank Number starts from 0 zero Set above bank numbers in the Machine Controller s motion setting parameter Bank Selector OW 04 bits C to F Pn900 3 Number of Banks Pn901 3 Number of Members Pn90...

Page 443: ...EN 0 If the Parameter Bank Data Pn920 to Pn95F of the selected bank is changed while pulse is being distributed DEN 0 the SERVOPACK will generate the warning A 95A and ignore the command A 04A Parameter Error will occur after turning ON the power and then turning OFF or after executing CON FIG command in the following cases A parameter that is not applicable for bank member has been set The bank d...

Page 444: ...llowing a communication interruption The parameters are written only when User Constants Self writing Function is enabled when bit A of fixed parameter 1 in the Machine Controller is set to 0 1 Updated when using MECHATROLINK II 10 Mbps 32 bytes 2 When Pn833 0 is set to 0 Pn80B will be updated When Pn833 0 is set to 1 Pn836 will be updated 3 When Pn833 0 is set to 0 Pn80E will be updated When Pn83...

Page 445: ...Updating occurs on all SERVOPACKs connected to a MECHATROLINK II operating at 10 Mbps in 32 byte mode 1 When Pn833 0 is set to 0 Pn80B will be updated When Pn833 0 is set to 1 Pn836 will be updated 2 When Pn833 0 is set to 0 Pn80E will be updated When Pn833 0 is set to 1 Pn83C will be updated MP2000 Series Machine Controller SERVOPACK Parameter Remarks SGD N SGDB N NS100 NS115 SGDS SGDV SGD7S Fixe...

Page 446: ...7S Setting Parameters Latch Zone Lower Limit Setting OL 2A Pn822 EX_POSING Latch Zone Upper Limit Setting OL 2C Pn820 EX_POSING Straight Line Ac celeration Accel eration Time Constant OL 36 Cn 0020 Pn80B 1 Pn80B Pn836 2 POSING EX_POSING ZRET FEED STEP Only when DEN ON when pulse dis tribution has been completed Straight Line De celeration Decel eration Time Constant OL 38 Pn80E 1 Pn80E Pn83C 3 Fil...

Page 447: ... when the axis has been set The default settings are used for all those parameters not listed above MP2000 Series Machine Controller SERVOPACK Fixed Parameters SGD N SGDB N SGDH NS100 SGDH NS115 SGDS SGDV or SGD7S No Name Motor Type Selection Depends on the specifications of the connected Servomotor 30 Encoder Selection Rotary 34 Rated Motor Speed 36 Number of Pulses per Motor Rotation 38 Maximum ...

Page 448: ...0B 0 SERVOPACK Software Limit Func tion Positive Disable Cn 0014 Bit 2 Pn801 0 SERVOPACK Software Limit Func tion Negative Disable Cn 0014 Bit 3 SERVOPACK Electronic Gear Ratio Numerator 1 Cn 0024 Pn202 Pn20E SERVOPACK Electronic Gear Ratio Denominator 1 Cn 0025 Pn203 Pn210 Normal Autotuning Switches Disable Pn110 DEC Signal Mapping 2 Pn511 0 EXT1 Signal Mapping 2 Pn511 1 EXT2 Signal Mapping 2 Pn5...

Page 449: ... has been set The above set values are written to the SERVOPACK s EEPROM b SERVOPACK Parameters 2 The above set values are written to the SERVOPACK s RAM MP2000 Series Machine Controller SERVOPACK SERVOPACK Parameters SGD N SGDB N SGDH NS100 SGDH NS115 SGDS SGDV SGD7S Name Setting Position Error Overflow Range 65535 Cn 001E Overflow Level 32767 Pn505 Excessive Position Error Alarm Level 230 1 Pn52...

Page 450: ...t affect actual operations 3 Gain Switching Even if the setting for Mode Setting 1of the Gain Switch is changed this setting does not affect actual operations 11 7 3 Saving the Parameter Bank Data When using the Parameter Bank function the Bank data Pn920 to Pn95F is not saved in the nonvolatile memory These parameters must always be reset if using a MECHATROLINK network between the Motion Control...

Page 451: ...d This signal is disabled in the default settings If you attempt to execute a motion command 2 using EXT1 1 when EXT1 is disabled a Set Parameter Error warning Monitoring Parameter IL 02 bit 1 will occur and execution of the motion command will end in an error 1 Set bits 0 to 3 Latch Detection Signal Selection or bits 4 to 7 External Positioning Signal Setting of Setting Parameter OW 04 to 3 EXT1 ...

Page 452: ...f you execute self configuration If you set fixed parameter No 36 Number of Pulses per Motor Rotation to a value of 16777216 24 bits or higher the monitoring parameters will be as follows 11 8 4 Motion Image Servo Parameter No Name Setting Default Pn20E Electronic Gear Ratio Numerator 16 64 Pn210 Electronic Gear Ratio Denominator 1 1 TYPE INPUT SIZE OUTPUT SIZE SCAN SGD7S 10 Blank Blank Blank Blan...

Page 453: ...ess Function is Enabled The default servo parameter setting for the SGD7S is 1 Tuning less Function Selection is enabled for Pn170 0 Tun ing less Selection For functions that are disabled in this state refer to 11 7 2 When the Tuning less Function is Enabled 11 8 7 Saving the Parameter Bank Data When using the Parameter Bank function the Bank data Pn920 to Pn95F is not saved in the nonvolatile mem...

Page 454: ...System Errors 12 6 12 2 2 Troubleshooting Flowchart for System Errors 12 9 12 2 3 Correcting User Program Errors 12 10 12 2 4 System Register Configuration and Error Status 12 11 12 3 Motion Program Alarms 12 27 12 3 1 Motion Program Alarm Configuration 12 27 12 3 2 Motion Program Alarm Code List 12 27 12 4 List of Causes for Command Error Occurrence 12 28 12 5 Troubleshooting Motion Errors 12 32 ...

Page 455: ...d below Step 1 Visually confirm the following items Machine movement or status if stopped Power supply I O device status Wiring status Indicator status LED indicators on each Module Switch settings e g DIP switches Parameter settings and program contents Step 2 Monitor the system to see if the problem changes for the following operations Switching the Controller to STOP status Resetting alarms Tur...

Page 456: ...egister and system work number 3 Obtain the motion program alarm code from Work Using Program Information 58 words Obtain the system work number and then determine the contents of the alarm code referring to 12 2 4 9 Motion Program Execution Information An alarm code is prepared for each Parallel When a parallel execution instruction such as PFORK JOINTO PJOINT is not used the alarm code will be s...

Page 457: ... the LED indi cator status to determine the general nature of the error using the contents of system S registers to check drawings and function numbers causing the error and knowing the meaning of opera tion errors RDY ERR TRX RUN ALM BAT Classification LED Indicator Indicator Details Countermeasures RDY RUN ALM ERR BAT Normal operation Not lit Not lit Lit Lit Not lit Hardware reset status Usually...

Page 458: ... exception 11 LTB error read exception 12 LTB error write exception 13 LTB protection violation read exception 14 LTB protection violation write exception 15 Initial page write exception A hardware error has occurred Replace the Module Not lit Not lit Blinking Blinking Not lit Hardware Error Number of LED blinks indicates error type 2 RAM diagnostic error 3 ROM diagnostic error 4 CPU function diag...

Page 459: ... system registers Refer to the sections given on the right for details SW00000 System Service Register SW00030 System Status 12 2 4 1 System Status SW00050 System Error Status 12 2 4 2 System Error Status SW00080 User Operation Error Status 12 2 4 3 Ladder Program User Operation Error Status SW00090 System Service Execution Status 12 2 4 4 System Service Execution Status SW00110 User Operation Err...

Page 460: ...rsion 5 Use the following procedure to display the register list on the MPE720 version 5 1 Select File Open Tool Register List from the MPE720 Engineering Manager Window to open the Register List Window Refer to 3 4 1 Module Configuration Definition for details on how to display the Engineering Manager Window 2 Select View Mode HEX to change the view mode to hexadecimal 3 Input the register number...

Page 461: ...for Register input the register number of the last system register to be accessed for D and click anywhere in the list The contents of the specified range of register numbers will be displayed c Register List Display Procedure MPE720 Version 6 or 7 Use the following procedure to display the register list 1 Open the Register List Subwindow on MPE720 version 6 or 7 The Register List Tab will appear ...

Page 462: ... Classifications Fatal error ERR indicator blinking Hardware failure watchdog timer timeout Only ERR indicator lit Turn OFF the STOP switch on DIP switch SW6 and turn ON the power Online Stop Mode Only RDY indicator lit Check SW00050 Watchdog timer timeout User program error Hardware failure Check CPU Error Status SW00041 User program error Battery alarm indicator BAT lit Replace battery Fatal err...

Page 463: ...ontents of SW00057 Error Task and SW00058 Drawing Number to determine the drawing with the error Check the contents of SW00059 Function Referencing Drawing Step No to determine the step number with the operation error 5 Correct the program Correct the program at the point where the error occurred 1 Check to see whether an oper ation error has occurred Check the error count for each drawing in SW00...

Page 464: ... SW00040 BitE Operation Stop Request 0 RUN selection 1 STOP selection SW00004 BitF Run Switch Status at Power ON 0 STOP 1 RUN CPU Error Status SW00041 SW00041 Bit0 Serious Failure 1 WDGE undefined command See SW00050 for details SW00041 Bit1 Reserved by the system SW00041 Bit2 Reserved by the system SW00041 Bit3 Exception Error SW00041 Bit4 to SW00041 Bit7 Reserved by the system SW00041 Bit8 User ...

Page 465: ...rogram child drawing 00H H Child drawing number Ladder program grandchild drawing yyH Hyy Grandchild drawing number Motion program F0 H H Program number Ladder Program Function Calling Drawing Type SW00057 Type of drawing that calls the ladder program function in which an error occurred 0001H DWG A 0002H DWG I 0003H DWG H 0005H DWG L 0008H Ladder program function 0010H Reserved by system 0011H Res...

Page 466: ... Parent drawing FFFFH Child drawing 00H H Child drawing number Grandchild drawing yyH Hyy Grandchild drawing number Function 8000H Motion program F0 H H Program number Function Calling Drawing Number Number of the drawing that calls the func tion in which an error occurred Function Calling DWG Step Number Step number of the drawing that calls the function in which an error occurred 0 when there is...

Page 467: ...w Yes Store not executed 1 0E 38 0023H Real number operation division by zero error Yes Operation not executed The F register remains the same 0030H Real number operation invalid operation non numeric No Operation not executed 0031H Real number operation exponent underflow No 0 0 0032H Real number operation exponent overflow No Maximum value 0033H Real number operation division error non numeric 0...

Page 468: ...tion exists 1 No definition 0 Data Trace Execution Status SW00099 Bits 0 to 3 Group 1 to 4 Trace stopped 1 Trace executing 0 Name Register No Remarks Data Trace Group 1 SW00100 Latest record number Data Trace Group 2 SW00101 Latest record number Data Trace Group 3 SW00102 Latest record number Data Trace Group 4 SW00103 Latest record number Name Register No Remarks Number of Alarm Occurrences SW001...

Page 469: ...put Errors SW00201 Number of input error occurrences Input Error Address SW00202 Address of the latest input error IW register num ber Number of Output Errors SW00203 Number of output error occurrences Output Error Address SW00204 Address of the latest output error OW register number Reserved for the system SW00205 Not used SW00206 SW00207 I O Error Status SW00208 to SW00215 MP2100M Machine Contro...

Page 470: ... code SW00240 to SW00247 Error status of slot 3 of rack 1 Depends on the mounted module and error code SW00248 to SW00255 Error status of slot 4 of rack 1 Depends on the mounted module and error code SW00496 to SW00503 Error status of slot 9 of rack 4 Depends on the mounted module and error code Name Register No Remarks I O Error Count SW00200 Number of I O error occurrences Number of Input Errors...

Page 471: ...Module Name Register No Remarks Slot 0 Error Status SW00208 to SW00215 Depends on the mounted module and error code Reserved by the system SW00216 to SW00223 Depends on the mounted module and error code Slot 1 Error Status SW00224 to SW00231 Depends on the mounted module and error code Slot 2 Error Status SW00232 to SW00239 Depends on the mounted module and error code Slot 3 Error Status SW00240 t...

Page 472: ... check errors when SERVOPACKs and or MECHATROLINK II inverters are connected Not used SW00226 Error code I O error 2 Subslot No 1 SW00224 Error code I O error 2 Subslot No 2 SW00225 Bit No F 8 7 0 Not used Not used SW00227 Not used Not used SW00228 Not used Not used SW00229 Not used Not used SW00230 Not used Not used SW00231 Not used ST 15 SW00233 Error code Station error 1 Subslot No 1 SW00232 Bi...

Page 473: ...0 ST 31 SW00242 ST 16 ST 47 SW00243 ST 32 ST 63 SW00244 ST 48 Name Register No Description Module Information SW00800 MP2100 ID C180H SW00801 Reserved by the system SW00802 CPU Software version BCD SW00803 Number of subslots Version 2 45 or before 0004H Version 2 46 or later 0007H SW00804 CPU Function Module ID C110H SW00805 CPU Function Module status SW00806 I O Function Module ID 8070H SW00807 I...

Page 474: ...on Module ID 9115H SW00821 SVB 01 Function Module status SW00822 to SW00823 Reserved by the system EXIOIF Information SW00824 EXIOIF 808FH SW00825 Hardware version HEX SW00826 Reserved by the system SW00827 Number of subslots 0001H SW00828 EXIOIF Function Module ID 800FH SW00829 EXIOIF Function Module status SW00830 to SW00831 Reserved by the system Rack 2 Slot 1 Information SW00832 Module ID SW00...

Page 475: ... to SW00951 Same as above Rack 3 Slot 7 Information SW00952 to SW00959 Same as above Rack 3 Slot 8 Information SW00960 to SW00967 Same as above Rack 3 Slot 9 Information SW00968 to SW00975 Same as above Rack 4 Slot 1 Information SW00976 Module ID SW00977 Hardware version HEX SW00978 Software version BCD SW00979 Number of subslots SW00980 Subslot 1 Function Module ID SW00981 Subslot 1 Function Modu...

Page 476: ...CPU 02 USB Function Module ID 8F20H SW00811 CPU 02 USB Function Module status SW00812 to SW00815 Reserved by the system Rack 1 Slot 1 Information SW00816 Module ID SW00817 Hardware version HEX SW00818 Software version BCD SW00819 Number of subslots SW00820 Subslot 1 Function Module ID SW00821 Subslot 1 Function Module status SW00822 Subslot 2 Function Module ID SW00823 Subslot 2 Function Module st...

Page 477: ...ame as above Rack 2 Slot 8 Information SW00936 to SW00943 Same as above Rack 2 Slot 9 Information SW00944 to SW00951 Same as above Rack 3 Slot 1 Information SW00952 Module ID SW00953 Hardware version HEX SW00954 Software version BCD SW00955 Number of subslots SW00956 Subslot 1 Function Module ID SW00957 Subslot 1 Function Module status SW00958 Subslot 2 Function Module ID SW00959 Subslot 2 Functio...

Page 478: ...ck 4 Slot 6 Information SW01064 to SW01071 Same as above Rack 4 Slot 7 Information SW01072 to SW01079 Same as above Rack 4 Slot 8 Information SW01080 to SW01087 Same as above Rack 4 Slot 9 Information SW01088 to SW01095 Same as above cont d Name Register No Description Name Register No Description Module Information SW00800 Basic Module C380H SW00801 Reserved by the system SW00802 CPU Software ver...

Page 479: ...W03402 SW03405 4 SW3203 SW03438 to SW03495 SW03442 SW03445 SW03448 SW03451 SW03454 SW03457 SW03460 SW03463 5 SW3204 SW03496 to SW03553 SW03500 SW03503 SW03506 SW03509 SW03512 SW03515 SW03518 SW03521 6 SW3205 SW03554 to SW03611 SW03558 SW03561 SW03564 SW03567 SW03570 SW03573 SW03576 SW03579 7 SW3206 SW03612 to SW03669 SW03616 SW03619 SW03622 SW03625 SW03628 SW03631 SW03634 SW03637 8 SW3207 SW03670 ...

Page 480: ...1h Interpolation feed speed exceeded 12h Interpolation feed speed not specified 13h Range exceeded after acceleration deceleration speed parameter conversion 14h LONG_MAX exceeded for circular arc length 15h No vertical specification for circular plane designation 16h No horizontal specification for circular plane designation 17h Specified axes exceeded 18h Specified number of turns exceeded 19h L...

Page 481: ...ting is not completed A Zero Point Unsetting In servo OFF status A Servo OFF Alarm is occurring Asynchronous communication status A Servo Driver Synchronization Communications Error SERVOPACK parameter writing was not com pleted within the specified time A Servo Driver Command Timeout Error Warning A 94 or A 95 occurred in the SERVO PACK W Servo Driver Error The selected external signal is outside...

Page 482: ...us A Servo Driver Synchronization Communications Error 8 Relative Position Mode Step mode STEP Positioning movement exceeds the allowable value A Excessive Positioning Moving Amount In servo OFF status A Servo OFF An alarm is occurring Asynchronous communication status A Servo Driver Synchronization Communications Error 9 Set Zero Point ZSET An alarm is occurring Asynchronized communication status...

Page 483: ...rm History Monitor ALM_HIST The command to the SERVOPACK was not com pleted within the specified time A Servo Driver Command Timeout Error Servo driver alarm monitor number is outside set ting range W Set Parameter Error 21 Clear Alarm History ALMHIST_CLR The command to the SERVOPACK was not com pleted within the specified time A Servo Driver Command Timeout Error 22 Absolute Encoder Reset ABS_RST...

Page 484: ...cified time A Servo Driver Command Timeout Error Warning A 94 or A 95 occurred in the SERVO PACK W Servo Driver Error SERVOPACK parameter number or size is outside the setting range W Set Parameter Error 39 Multiturn Limit Setting MLTTRN_SET The command was used for a SERVOPACK that doesn t support it Executed while servo was ON Asynchronous communication status A Servo Driver Synchronization Comm...

Page 485: ...ality are shown below 1 Refer to 12 5 2 Motion Error Details and Corrections 2 Refer to 12 5 3 1 Servo Driver Status IW 2C List 3 Refer to 12 5 3 2 Servo Driver Alarm Code IW 2D Warning IL 02 Bit 1 Setting Parameter Error Bit 2 Fixed Parameter Error Bit 0 Excessive Deviation Bit 3 Servo Driver Error Bit 4 Motion Command Set Error Bit 0 Servo Driver Error Bit 1 Positive Direction Overtravel Bit 2 N...

Page 486: ...Bit 16 Not used Bit 7 Excessive Positioning Moving Amount Bit 17 Not used Bit 8 Excessive Speed Bit 18 Not used Bit 9 Excessive Deviation Bit 19 Not used Bit A Filter Type Change Error Bit 1A Not used Bit B Filter Time Constant Change Error Bit 1B Not used Bit C Not used Bit 1C Not used Bit D Zero Point Unsetting Bit 1D Detected Servo Driver Type Error Bit E Not used Bit 1E Motor Type Set Error Bi...

Page 487: ...vel direction will be disabled and an alarm will occur again if one is executed For a vertical axis the following should be set at the SERVOPACK to avoid dropping and vibration at the overtravel limit An emergency deceleration stop Zero clamp status after the deceleration stop Detection Timing Enabled when using a motion command and detected by the position management section The software limits a...

Page 488: ...he Positioning Completion Check Time OW 26 is too short The capacity of the motor is insufficient for the machine load Connections are not correct between the SERVOPACK and the motor Correction Check the following Check the SERVOPACK gain parameters Check connections between the SERVOPACK and the motor Check the motor capacity Check the Positioning Completion Check Time OW 26 Detection Timing Posi...

Page 489: ...N SGDB AN MECHATROLINK I compatible AC SERVOPACK 16384000 SGDH E JUSP NS100 SGDH SERVOPACK NS100 MECHATROLINK I Application Module 131068000 SGDH E JUSP NS115 SGDH SERVOPACK NS115 MECHATROLINK II Application Module 32767000 SGDS 1 SGDS SERVOPACK 1048576000 SGDX 12 SGDX SERVOPACK 1048576000 SGDV 1 SGDV SERVOPACK 2097152000 SGD7S 10 SGD7S SERVOPACK 2097152000 SJDE AN SJDE SERVOPACK 1048576000 Detect...

Page 490: ...C command after Distribution Completed status i e that IW 0C bit 0 is ON is checked Detection Timing Enabled only when an absolute encoder is used for an infinite length axis and detected when the next com mand is set in the Motion Command OW 08 Commands Positioning External Positioning Interpolation Interpolation with position detection function phase reference Processing when Alarm Occurs The se...

Page 491: ...ad from the absolute encoder when the SEN signal turned ON is ignored Error and Cause An operation error occurred when the absolute position information read from the absolute encoder is con verted from pulses to reference units at power ON Correction Check the gear ratio number of encoder pulses for other motion fixed parameters Detection Timing Detected by the communication control section when ...

Page 492: ...ion is not in the zero point 1 The APOS absolute position is in the zero point range Bit 7 Locating Complete PSET 0 Pulse distribution is not completed or the APOS is not in the positioning completed width 1 Pulse distribution is completed and the APOS is within the positioning completed width Bit 8 Commanded Profile Complete DEN 0 Pulse distribution is being performed for positioning command 1 Pu...

Page 493: ... Corrupted 10 Overcurrent 11 Ground Fault 40 Overvoltage 41 Undervoltage 51 Excessive Speed 71 Overload Instantaneous 72 Overload Continuous 7A Heat Sink Heating 80 Absolute Encoder Error 81 Absolute Encoder Backup Error 82 Absolute Encoder Checksum Error 83 Absolute Encoder Battery Error 84 Absolute Encoder Data Error 85 Absolute Encoder Excessive Speed B1 Gate Array 1 Error B2 Gate Array 2 Error...

Page 494: ...uit Wiring Error 40 Overvoltage 41 Undervoltage 51 Excessive Speed 71 Overload Instantaneous Maximum Load 72 Overload Continuous Maximum Load 73 DB Overload 74 Inrush Resistance Overload 7A Heat Sink Overheat 81 Encoder Backup Alarm 82 Encoder Checksum Alarm 83 Encoder Battery Alarm 84 Encoder Data Alarm 85 Encoder Excessive Speed 86 Encoder Overheat B1 Speed Reference A D Error B2 Torque Referenc...

Page 495: ...er Number Code Meaning Servo Driver Alarm Code IW 2D 000 Normal 900 Excessive Position Error 901 Excessive Position Error at Servo ON 910 Overload 911 Vibration 920 Regeneration Overload 930 Absolute Encoder Battery Error 94A Data Setting Warning 1 Parameter Number 94B Data Setting Warning 2 Outside Data Range 94C Data Setting Warning 3 Calculation Error 94D Data Setting Warning 4 Parameter Size 9...

Page 496: ...er Checksum Alarm 880 Fully closed Serial Encoder Data Alarm 8A0 Fully closed Serial Encoder Scale Error 8A1 Fully closed Serial Encoder Module Error 8A2 Fully closed Serial Encoder Sensor Error Incremental Value 8A3 Fully closed Serial Encoder Position Error Absolute Value B31 Current Detection Error 1 B32 Current Detection Error 2 B33 Current Detection Error 3 B6A MECHATROLINK Communication ASIC...

Page 497: ...r Code Meaning The upper two digits of the normal alarm code e g 71 for 710 are stored in Servo Driver Alarm Code IW 2D If you execute the Alarm Monitor motion command ALM_MON all three digits of the code are stored Name Register Number Code Meaning Servo Driver Alarm Code IW 2D 020 Parameter Checksum Error 1 021 Parameter Format Error 1 022 System Checksum Error 1 030 Main Circuit Detector Error ...

Page 498: ... Error of Position Absolute 8A5 External Encoder Overspeed 8A6 External Encoder Overheated b31 Current Detection Error 1 Phase U b32 Current Detection Error 2 Phase V b33 Current Detection Error 3 Current detector b6A MECHATROLINK Communications ASIC Error 1 bF0 System Alarm 0 bF1 System Alarm 1 bF2 System Alarm 2 bF3 System Alarm 3 bF4 System Alarm 4 C10 Servo Overrun Detected C20 Phase Detection...

Page 499: ...Servo ON d10 Motor load Position Error Pulse Overflow d30 Position Data Overflow E02 MECHATROLINK II Internal Synchronization Error 1 E40 MECHATROLINK II Transmission Cycle Setting Error E50 MECHATROLINK II Synchronization Error E51 MECHATROLINK II Synchronization Failed E60 MECHATROLINK II Communications Error Reception error E61 MECHATROLINK II Transmission Cycle Error Synchronization interval e...

Page 500: ...ce Alarm 070 Motor Type Change Detected 080 Linear Encoder Pitch Setting Error 0b0 Invalid Servo ON Command Alarm 100 Overcurrent Detected 101 Motor Overcurrent Detected 300 Regeneration Error 320 Regenerative Overload 330 Main Circuit Power Supply Wiring Error 400 Overvoltage 410 Undervoltage 510 Overspeed 511 Encoder Output Pulse Overspeed 520 Vibration Alarm 521 Autotuning Alarm 550 Maximum Spe...

Page 501: ...ions Error C91 Encoder Communications Position Data Acceleration Rate Error C92 Encoder Communications Timer Error CA0 Encoder Parameter Error Cb0 Encoder Echoback Error CC0 Multiturn Limit Disagreement CF1 Reception Failed Error in Feedback Option Module Communications CF2 Timer Stopped Error in Feedback Option Module Communications d00 Position Deviation Overflow d01 Position Deviation Overflow ...

Page 502: ... Codes 12 49 Troubleshooting These alarm codes are not stored in IW 2D Servo Driver Alarm Code cont d IW 2D cont d FL 1 System Alarm FL 2 FL 3 FL 4 FL 5 CPF00 Digital Operator Communications Error 1 CPF01 Digital Operator Communications Error 2 cont d Name Register Number Code Meaning ...

Page 503: ...the Multiturn Limit A 18 D 1 Overview A 18 D 2 Setting Method A 18 E Fixed Parameter Setting According to Encoder Type and Axis Type A 20 F SVB Module Throughput A 22 F 1 For Servos and Inverters A 22 F 2 For I Os A 22 G Settings when Connecting MECHATROLINK II Compatible Stepping Motor Drivers A 23 G 1 Required Firmware and Engineering Tool Versions A 23 G 2 Applicable Communication Methods and C...

Page 504: ...mission Reference Mode A 39 I 1 What is Servo Driver Transmission Reference Mode A 39 I 2 MECHATROLINK Communication Management by the System A 39 I 3 Motion Parameters That Can be Used in Servo Driver Transmission Reference Mode A 40 I 4 MECHATROLINK Commands That Cannot Be Used A 40 I 5 Operation Procedure in Servo Driver Transmission Reference Mode A 41 I 6 Precautions When Using Servo Driver T...

Page 505: ...scan after low speed scan is started Always ON SB000004 Always ON 1 Reserved Reserved for the system SB000005 to SB00000F Not used Name Register No Remarks 1 scan Flicker Relay SB000010 0 5 s Flicker Relay SB000011 1 0 s Flicker Relay SB000012 2 0 s Flicker Relay SB000013 0 5 s Sampling Relay SB000014 1 0 s Sampling Relay SB000015 2 0 s Sampling Relay SB000016 60 0 s Sampling Relay SB000017 1 0 s ...

Page 506: ...cker Relay SB000032 2 0 s Flicker Relay SB000033 0 5 s Sampling Relay SB000034 1 0 s Sampling Relay SB000035 2 0 s Sampling Relay SB000036 60 0 s Sampling Relay SB000037 1 0 s After Start of Scan Relay SB000038 2 0 s After Start of Scan Relay SB000039 5 0 s After Start of Scan Relay SB00003A 1 scan 1 scan 0 5s 0 5s 1 0s 1 0s 2 0s 2 0s 0 5s 0 5s 1 scan 1 0s 1 0s 1 scan 1 scan 2 0s 2 0s 1 scan 60 0s...

Page 507: ...ed Scan Current Value 0 1 ms Low speed Scan Maximum Value SW00012 Low speed Scan Maximum Value 0 1 ms Reserved by the system SW00013 Not used Executing Scan Current Value SW00014 Executing Scan Current Value 0 1 ms Calendar Year SW00015 1999 0099 BCD Last two digits only Calendar Month Day SW00016 December 31 1231 BCD Calendar Hours Minutes SW00017 23 hours 59 minutes 2359 BCD Calendar Seconds SW0...

Page 508: ... column after allocation by self configuration JEPMC IO350 JAMSC 120DAI53330 JAMSC 120DAI73330 JAMSC 120DAO83330 JAMSC 120DRA83030 For the slave devices with the I O display set the correct device type in the TYPE column in the Link Assignment Tab Page Model Setting TYPE SIZE SCAN INPUT OUTPUT Supported Communication Method MECHATROLINK I only JEPMC IO350 4 4 Can be set MP940 8 8 Can be set JAMSC ...

Page 509: ...ut 5 JAPMC IO2920 E 16 point I O 6 JEPMC IO350 JEPMC IO2310 and JEPMC IO2330 64 point I O Command Data High speed Low speed control data 1 word Response Data OW None Command Data Response Data High speed Low speed control data 1 word None IW Command Data Response Data High speed Low speed control data 1 word None IW Response Data High speed Low speed control data 1 word Response Data OW None Respo...

Page 510: ...IW 1 OW 2 IW 2 OW 3 IW 3 OW 4 IW 4 OW 5 IW 5 OW 6 IW 6 OW 7 IW 7 Command Data High speed Low speed control data 2 words Response Data OW Reserved by the system IW High speed Low speed control data 7 words OW 1 Not used IW 1 IW 2 CH1 Analog input value IW 3 CH2 Analog input value IW 4 CH3 Analog input value IW 5 CH4 Analog input value IW 6 Status Command Data Response Data High speed Low speed cont...

Page 511: ...istributed I O Module User s Manual for MECHATROLINK manual number SIE C887 5 1 for details 12 MP940 Machine Controller Command Data Response Data OW Scan counter High speed Low speed control data 8 words IW High speed Low speed control data 7 words OW 1 Not used IW 1 OW 2 Output coil IW 2 Input relay OW 3 Output coil IW 3 Input register OW 4 Output register IW 4 Input register OW 5 Output registe...

Page 512: ...ta 8 words OW 1 IW 1 OW 2 IW 2 OW 3 IW 3 OW 4 IW 4 OW 5 IW 5 OW 6 IW 6 OW 7 IW 7 Command Data Response Data OW High speed Low speed control data 15 words IW High speed Low speed control data 15 words OW 1 IW 1 OW 2 IW 2 OW 3 IW 3 OW 14 IW 14 Command Data Response Data OW High speed Low speed control data 8 words IW Highs speed Low speed control data 8 words OW 1 IW 1 OW 2 IW 2 OW 3 IW 3 OW 4 IW 4 ...

Page 513: ...lowing precautions must be observed when handling 1 byte module data Output module The most significant bytes will be valid and the least significant bytes will not be specified OB 8 to OB F are valid Input module The least significant bytes will be valid and the most significant bytes will not be specified IB 0 to IB 7 are valid Most significant bytes Least significant bytes F 8 7 0 Most signific...

Page 514: ... encoder alarm reset If the display is not switched and NO_OP is displayed in the status display the Write Prohibited setting Fn010 0001 is set Check the status and reset Then clear the Write Prohibited setting SERVOPACK Series Manual Name Manual Number Σ III SGM SGDS User s Manual SIEP S800000 00 SGM SGDS USER S MANUAL Rotational Motor MECHATROLINK II Communications Reference SIEP S800000 11 SGM ...

Page 515: ... 3 Keep pressing the Key until PGCL1 is changed to PGCL5 4 Press the Key BB in the status display changes to Done 5 Press the Key The display returns to the Utility Function Mode main menu This completes setting up the absolute encoder Turn the power supply OFF and then back ON to reset the SERVO PACK ...

Page 516: ...hen using the UP and DOWN Keys to change the value of the digit 3 Press the DATA ENTER Key The following display will appear 4 The rightmost digit will be incremented each time the UP Key is pressed Press the UP Key sev eral times until PGCL5 is displayed If a mistake is made in the key operation nO_OP will blink on the display for 1 second and then the display will return to the Auxiliary Functio...

Page 517: ...veral time until PGCL5 is displayed If a mistake is made in the key operation nO_OP will blink on the display for 1 second and then the display will return to the Auxiliary Function Mode If this happens return to step 3 above and repeat the operation 5 Press the MODE SET Key The display will change as shown below and the clear operation will be performed for multiturn data for the absolute encoder...

Page 518: ... bit Absolute Encoder Use the following procedure to initialize a 12 bit absolute encoder 1 Properly connect the SERVOPACK Servomotor and Machine Controller 2 Disconnect the connector on the encoder end and short circuit pins 13 and 14 on the encoder end con nector for 2 seconds or more 3 Remove the short piece and insert the connector securely in its original position 4 Connect the cables using n...

Page 519: ...tes c Remove the short piece and insert the connector securely in its original position At the Encoder End Connector a Disconnect the connector on the encoder end b Use a short piece to short circuit together connector pins R and S on the encoder end and leave the pins short circuited for at least 2 minutes c Remove the short piece and insert the connector securely in its original position 3 Conne...

Page 520: ...05 D 2 Setting Method The procedure for using SigmaWin is explained here When using the digital operator or panel operator refer to the user s manual for the SERVOPACK being used 1 Change the multiturn reset value of Pn205 After setting a value not exceeding 65534 for Pn205 on the Edit Parameters screen click Write to SERVO PACK 2 Turn the power to the SERVOPACK OFF and back ON A multiturn limit m...

Page 521: ...Appendix D Setting the Multiturn Limit D 2 Setting Method A 19 Appendices ...

Page 522: ... Direct drive motor YES NO Infinite length axis START NO YES Simple ABS applicable YES NO Fixed Parameter Setting No 1 bit 0 0 Finite length axis No 1 bit 0 0 Finite length axis No 1 bit 0 1 Infinite length axis 㧗 No 1 bit 9 1 Simple ABS enabled No 1 bit 0 1 Infinite length axis 㧗 No 1 bit 9 1 Simple ABS enabled No 1 bit 0 1 Infinite length axis 㧗 No 1 bit 9 0 Simple ABS disabled No 1 bit 0 1 Infi...

Page 523: ...and must be executed to validate the software limit function While the power to the Machine Controller is OFF the encoder retains the position data within one turn incremental pulses however it does not retain multiturn data Requires to execution of the ZSET Set Zero Point command after turning ON the power Requires no special processing since the encoder retains the position data while the power ...

Page 524: ...eed scan setting Communication cycle n n an integer Required time for response High speed scan set time 2 Communication cycle 1 When the high speed scan setting Communication cycle n n a non integer Required time for response High speed scan set time 2 Communication cycle 2 When Wait For Monitor Data Update mode is used the required time will be same as for built in SVB Modules F 2 For I Os 1 Time...

Page 525: ...ntroller MP2100 JAPMC MC2100 Version 2 46 or later MP2100M JAPMC MC2140 Version 2 46 or later MP2300 JEPMC MP2300 Version 2 46 or later MP2300S JEPMC MP2300S E Version 2 60 or later MP2310 JEPMC MP2310 E Version 2 60 or later MP2400 JEPMC MP2400 E Version 2 60 or later MP2500 JEPMC MP2500 A B or C Version 2 46 or later MP2500M JEPMC MP2540 A B or C Version 2 46 or later MP2500D JEPMC MP2500 D Vers...

Page 526: ...and open the Link Assignment Tab Page in the MECHATROLINK Transmission Defini tion Window Make the setting as shown below in the station number to which you want to allocate the M II Stepper in the Link Assignment Tab Page Refer to 3 4 2 1 How to Open the MECHATROLINK Transmission Definition Window for information on how to open the MECHATROLINK Transmission Definition Window TYPE INPUT SIZE OUTPU...

Page 527: ... 0 Bit 1 Phase Reference Creation Calculation Disable Bit B Zero Point Return Input Signal OW 09 Motion Command Control Flag Bit setting 0 Bit 4 Latch Zone Effective Selection Bit 6 Phase Compensation Type OL 0C Torque Thrust Reference Setting 231 to 231 1 0 1 0 01 or 0 0001 OW 0E Speed Limit Setting at the Torque Thrust Reference 32768 to 32767 15000 1 0 01 OL 14 Positive Side Limiting Torque Thr...

Page 528: ... is allocated on the Link Assignment Tab Page the stepper parameter can be set on the SERVOPACK Tab bed Page in the SVB Definition Window Refer to 3 4 3 1 Opening the SVB Definition Window for information on how to open the SVB Definition Window Register Name Setting Range Default Description OW 06 Option Setting Bit setting 0 Bits 0 to F Copied in the option field of MECHATROLINK stepper command ...

Page 529: ...tion Time DCC The axis motion depends on the setting of the Parameter Switch 12 Change Filter Time Constant SCC Invalid If executed a normal completion response will be returned although no processing has been implemented 13 Change Filter Type CHG_FILTER Invalid If executed a normal completion response will be returned although no processing has been implemented Use the Option Setting parameter OW...

Page 530: ...teppers absolute encoder finite length axis setting is possible However the allowable stroke range will be determined by the M II Stepper specifications Check the absolute position data range that the M II Stepper can store and determine whether the absolute encoder finite length axis can be used or not 4 Instructions That Cannot be Used in Motion Programs The following instructions cannot be used...

Page 531: ...eter of the stepper model as the move amount after the external signal input Parameter Switch 0000h Operation 0 Standard Parameter The zero point return will be carried out according to the following parameter settings OW 09 Motion Command Control Flag bit 3 Zero Point Return Direction Selection OL 3E Approach Speed OL 40 Creep Rate OL 42 Zero Point Return Travel Distance 1 Unique Parameter The ze...

Page 532: ...bit A is set to 0 enabled Only when using standard parameters In any communication mode regardless of the setting of fixed parameter No 1 bit A Only when using standard parameters Machine Controller Setting Parameter M II Stepper Parameter Straight Line Acceleration Acceleration Time Constant OL 36 No 15 Straight Line Deceleration Decel eration Time Constant OL 38 No 16 Machine Controller Setting ...

Page 533: ... Encoder Resolution Additionally the setting of the User Constants Self writing Function bit of the fixed parameter Function Selection Flag 1 No 1 bit A will be changed to 1 disabled 2 Stepper Parameters The settings of the following parameters will be changed Where the definition has already been made it will stay unchanged Machine Controller Setting Parameter M II Stepper Parameter P OT Invalid ...

Page 534: ...ero Point Position Range 2 Reference unit 9 Home Offset For Absolute Encoder 4 Reference unit 10 Positioning Completed Width 2 Reference unit 11 Positioning Completed Width 2 NEAR 2 Reference unit 12 Forward Software Limit 4 Reference unit 13 Reserve Software Limit 4 Reference unit 14 Start Speed 2 100 reference units 15 Linear Acceleration Constant Acceleration Rate 2 10000 reference units 16 Lin...

Page 535: ...eter 1 Use unique parameter 8 Acceleration Deceleration Rate Parameter Options 0 Use standard parameter 1 Use unique parameter 9 External Positioning Move Distance Parameter Options 0 Use standard parameter 1 Use unique parameter A Zero Point Return Speed Approach Speed and Creep Speed Parameter Options 0 Use standard parameter 1 Use unique parameter B Home Offset Zero Point Return Final Travel Di...

Page 536: ...3 B WDT Check For Debugging 0 With WDT check 1 Without WDT check Ignores error 04 C Communication Error Count 0 to F Communication error processing will be imple mented when received errors timeout and CRC error occur continuously a set number of times Processing to a safe stop such as power dis connection and excitation OFF 0 Select a value from the options specified for the system Valid only for...

Page 537: ...unication cycle Transmission cycle Check the specifications of the slave device because the communication setting depends on the product specifica tions Type Model Model Number Version Number Machine Controller MP2100 JAPMC MC2100 Version 2 48 or later MP2100M JAPMC MC2140 Version 2 48 or later MP2300 JEPMC MP2300 Version 2 48 or later MP2300S JEPMC MP2300S E Version 2 60 or later MP2310 JEPMC MP2...

Page 538: ...ation Degree Unit Selection OW 04 Function Setting 2 0 to 14 0 Bits C to F Bank Selector OW 06 Option Setting Bit setting 0 Bits A to F Options for Stepper OW 09 Motion Command Control Flag Bit setting 0 Bit 3 Zero Point Return Direction Selec tion Bit 4 Latch Zone Effective Selection OL 1E Width of Positioning Completion 0 to 65535 100 1 1 reference unit OL 2A Latch Zone Lower Limit Setting 231 t...

Page 539: ...n Selection and Zero Point Return Travel Distance DEC1 ZERO DEC1 and ZERO Signal The following setting parameters are invalid Zero Point Return Direction Selection Approach Speed Creep Rate and Zero Point Return Travel Distance C Phase Pulse The following setting parameters are invalid Zero Point Return Direction Selection and Zero Point Return Travel Distance C pulse only POT C pulse HOME LS C pu...

Page 540: ...S Invalid 17 Read User Constant PRM_RD 18 Write User Constant PRM_WR 19 Alarm Monitor ALM_MON 20 Alarm History Monitor ALM_HIST 21 Clear Alarm History ALMHIST_CLR 22 Absolute Encoder Reset ABS_RST Executing this command will cause Command Error Completed Status FAIL 23 Speed Reference VELO Operation is possible The internal processing will be implemented while assuming the maximum speed to be 4500...

Page 541: ...d synchronous communications When an alarm is cleared the system automatically clears the alarms of MECHATROLINK connected servos At the same time the system will execute processing to restore MECHATROLINK communication phase 3 synchronous communication status 2 Watchdog Timer Processing The WDT field of the 16th byte both command and response of the MECHATROLINK servo command is used by the syste...

Page 542: ... setup request command CONFIG Sensor ON command SENS_ON Sensor OFF command SENS_OFF No Name Setting Range Default Setting Description 1 Function Selection Flag 1 Bit setting 0 Bit 8 Interpolation Segment dis tribution Processing 2 Function Selection Flag 2 Bit setting 0 Bit 0 Communication Abnor mality Detection Mask Bit 1 WDT Abnormality Detection Mask Register Name Setting Range Default Setting ...

Page 543: ... Reference Mode for fixed parameter No 0 Selection of Operation Mode and save the setting 3 Display the registers OW 70 to OW 7E in the Register List MPE720 Version 5 Select File Open Tool Register List in the Engineering Manager Win dow In the Register List Window that opens enter OW 70 in Register No column and 16 in D column MPE720 Version 6 Open the Register List Subwindow and enter OW 70 in R...

Page 544: ... Example to Write 180 00B4H in Pn 102 3 Display registers IW 70 to IW 77 in the Register List The response to the PPRM_WR command can be confirmed in registers IW 70 to IW 77 as shown below MECHATROLINK Command Settings in Register List Byte Command Set Value Register Set Value HEX 1 PPRM_WR 1CH OW 70 001CH Enter at the end 2 0 3 0 OW 71 0 4 0 5 NO 02H OW 72 0120H 6 01H 7 SIZE byte 2 OW 73 B402H 8...

Page 545: ...cle 3 High speed scan set time MECHATROLINK com munication cycle 6 Number of scans rounded up to the nearest integer MECHATROLINK communication cycle 6 High speed scan set time 1 When High speed scan set time MECHATROLINK communication cycle 6 Number of scans 1 Always set the Interpolation Segment Distribution Processing bit fixed parameter No 1 Function Selection Flag 1 bit 8 to 0 enabled when us...

Page 546: ...eration LS for zero point return is connected to the Zero Point Return Deceleration signal DEC Absolute Mode One of target position CPOS coordinate data setting methods for position control Target position CPOS coordinate data is directly set in Absolute Mode Refer to 5 1 4 Position Reference for details Incremental Addition Mode One of the target position CPOS coordinate data setting methods for ...

Page 547: ...pe Selection for details Work Coordinate System The coordinate system used in motion programs It is called the Work Coordinate System to distinguish it from the Machine Coordinate System The work coordinate system can be set by executing the Change Current Value POS instruction of the motion program Refer to Machine Controller MP900 MP2000 Series User s Manual Motion Programming manual number SIEZ...

Page 548: ... following motion commands Positioning POSING External input positioning EX_POSING Zero Point Return ZRET JOG operation FEED STEP operation STEP 4 4 2 23 Acceleration Decelera tion Settings 3 Continuous Latch By selecting Latch Detection Demand in the parameter RUN Command Setting OW 00 bit 4 the Contin uous Latch Function is enabled This function is for SGDV SERVOPACKs so the appropriate paramete...

Page 549: ...unction 11 18 bias speed for exponential acceleration deceleration filter 4 52 built in SVB 1 2 BUSY 4 64 4 65 C C pulse only method 6 25 cables 1 5 calculating the zero point of the machine coordinate system 9 9 9 18 change linear acceleration time constant 6 55 change linear deceleration time constant 6 57 change position loop integral time constant 6 94 CHG_FILTER 6 61 CMDRDY 4 68 command error...

Page 550: ...8 HOME LS signal method 6 30 I I O map tab 3 19 I O modules 1 4 incremental addition mode A 44 incremental encoder 6 16 infinite length axes 9 3 infinite length axis A 44 ladder program for position control 9 21 reset position 4 21 infinite length axis position control without simple absolute positions 9 19 infinite length axis with absolute encoder position information LOAD request 4 26 infinite ...

Page 551: ...ted by SERVOPACK models 6 4 motion control functions 1 10 motion controller operation ready 4 58 motion errors details 12 33 overview 12 32 motion monitor parameter window 4 4 motion parameters example setting 5 2 register numbers 4 2 setting window 4 4 motion parameters for phase control 8 8 motion parameters for position control 8 2 motion parameters for speed control 8 20 motion parameters for ...

Page 552: ...or transmission reference mode 4 72 reverse outside limiting torque input 4 26 rotary switches 2 5 rotating table 5 3 RUN commands 4 25 run status 4 58 running at servo ON 4 58 S saving OL 48 values 9 10 SCC 6 59 secondary speed compensation 4 43 segment distribution processing 4 19 selection of operation modes 4 18 self configuration 3 2 how to execute self configuration 3 4 servo driver alarm co...

Page 553: ...switching from ZRET 7 14 switching from ZSET 7 28 synchronization between modules 1 7 system busy 4 58 system configuration example 1 3 system error status 12 12 system errors troubleshooting 12 6 system I O error status 12 16 system register configuration 12 11 system registers list A 3 system service execution status 12 15 system startup 3 5 system status 12 11 T target position difference monit...

Page 554: ...on 6 16 zero point setting 6 53 zero point unsetting 4 63 12 37 ZERO signal method 6 22 zero speed 4 68 ZPOINT 4 68 ZRET 6 16 switching the motion command being executed 7 14 ZRNC 4 66 ZSET 6 53 switching the motion command being executed 7 28 ZSPD 4 68 ...

Page 555: ...n the web web version SIEP C880700 33G 9 1 Back cover Revision Address October 2016 9 1 3 4 3 3 a Revision Compatible versions under 3 Environmental Requirements of SGD7S SERVOPACKs July 2016 0 Printed version of the user s manual that is available on the web web version SIEP C880700 33G 8 2 June 2016 8 2 3 4 3 2 a 3 a 6 2 27 1 Appendix G 1 Appendix H 1 Revision Controller model numbers and versio...

Page 556: ...range of IW 15 September 2010 2 5 1 4 Revision Description of OW 09 bit 5 Back cover Revision Address June 2010 1 6 2 1 4 a 6 2 2 4 a 6 2 6 4 a 6 2 7 4 a Revision Setting of OL 10 June 2010 0 Based on Japanese user s manual SIJP C880700 33D 12 1 available on the Web in May 2010 All chapters Completely revised 12 5 3 2 d Revision Servo driver alarm code Back cover Revision Address December 2009 1 5...

Page 557: ...017 0799 http www yaskawa co th YASKAWA ELECTRIC CHINA CO LTD 22F Link Square 1 No 222 Hubin Road Shanghai 200021 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 http www yaskawa com cn YASKAWA ELECTRIC CHINA CO LTD BEIJING OFFICE Room 1011 Tower W3 Oriental Plaza No 1 East Chang An Ave Dong Cheng District Beijing 100738 China Phone 86 10 8518 4086 Fax 86 10 8518 4082 YASKAWA ELECTRIC TAIWAN CORPO...

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