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YASKAWA JAPMC-MC2140 User Manual Download Page 1

Model: JAPMC-MC2300 (-E)

SVA-01 Motion Module

Machine Controller MP2000 Series

USER’S MANUAL

MANUAL NO.   SIEP C880700 32F

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Overview

Settings and Installation

Setup

Operation Modes

Motion Parameters

Motion Parameter Setting Examples

Motion Commands

Switching Commands during Execution

Control Block Diagram

Absolute Position Detection

Utility Functions

Troubleshooting

Appendices

App

SVA-01

RUN

CH1

CH2

DC  IN

 

ON

 

+24V

 

ERR

Summary of Contents for JAPMC-MC2140

Page 1: ...2 3 4 5 6 7 8 9 10 11 12 Overview Settings and Installation Setup Operation Modes Motion Parameters Motion Parameter Setting Examples Motion Commands Switching Commands during Execution Control Block Diagram Absolute Position Detection Utility Functions Troubleshooting Appendices App SVA 01 RUN CH1 CH2 DC IN ON 24V ERR ...

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: ... 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 Devices System Design Panel Configuration and Wiring Trial Operation Maintenance ...

Page 4: ...20 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 MP2000 Series programming system MPE720 Σ Series SGM SGD User s Manual SIE S800 26 3 Describes the Σ Ι Series SERVOPACK models specifi cations and capacity selection methods Σ II Series SGM H SG...

Page 5: ...er Editor Programming Manual SIEZ C887 13 1 Describes the programming instructions of the New Lad der Editor which assists MP900 MP2000 Series design and maintenance Machine Controller MP900 MP2000 Series New Ladder Editor User s Manual SIEZ C887 13 2 Describes the operating methods of the New Ladder Edi tor which assists MP900 MP2000 Series design and maintenance cont d Manual Name Manual Number ...

Page 6: ... 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 results depending on circumstances Indicates prohibited actions Specific prohibitions are indicated inside For examp...

Page 7: ...machine or even cause acci dents resulting in injury or death Do not remove the front cover cables connectors or options while power is being supplied There is a risk of electrical shock Do not damage pull on apply excessive force to place heavy objects on or pinch cables There is a risk of electrical shock operational failure or burning of the Machine Controller Do not attempt to modify the Machi...

Page 8: ...o a core temperature of 56 C for 30 minutes or more If the electronic products which include stand alone products and products installed in machines are packed with fumigated wooden materials the electrical components may be greatly damaged by the gases or fumes resulting from the fumigation process In particular disinfectants containing halogen which includes chlorine fluorine bromine or iodine c...

Page 9: ... lines When connecting the battery connect the polarity correctly There is a risk of battery damage or explosion Only qualified safety trained personnel should replace the battery If the battery is replaced incorrectly machine malfunction or damage electric shock or injury may result When replacing the battery do not touch the electrodes Static electricity may damage the electrodes Consider the fo...

Page 10: ...ion 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 illustrations in this manual are sometimes shown without covers or protective guards Always replace the cover or protective guard as specified first and then operate the products...

Page 11: ... 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 12: ...roperty 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 ...

Page 13: ... Removing SVA 01 Modules 2 5 2 3 1 Mounting a SVA 01 Module 2 5 2 3 2 Removing SVA 01 Modules for Replacement 2 7 2 4 SVA 01 Module Connections 2 9 2 4 1 Connectors 2 9 2 4 2 Connection Procedure for 24 V Input Cable 2 10 2 4 3 CN1 and CN2 Connector Pin Arrangement 2 11 2 5 Cable Specifications and Connections 2 12 2 5 1 Cables 2 12 2 5 2 JEPMC W2040 E Details 2 12 2 5 3 JEPMC W2041 E Details 2 14...

Page 14: ...4 4 4 3 3 Torque in Simulation Mode 4 4 4 3 4 Functions That Cannot be Simulated 4 4 4 3 5 Output Signals in Simulation Mode 4 5 4 4 General purpose I O Mode 4 6 4 4 1 Motion Parameters That Can be Used in General purpose I O Mode 4 6 4 4 2 Correspondence Between Motion Parameter and Connector Pin Number 4 8 4 4 3 General purpose I O Signal Connection Example 4 9 4 4 4 Pulse Input Modes 4 10 4 4 5...

Page 15: ...ce VELO 7 73 7 2 10 Torque Reference TRQ 7 77 7 2 11 Phase References PHASE 7 81 7 3 Motion Subcommands 7 85 7 3 1 No Command NOP 7 85 7 3 2 Read Fixed Parameters FIXPRM_RD 7 86 8 Switching Commands during Execution 8 1 8 1 Switchable Motion Commands 8 2 8 1 1 Switching Between Motion Commands 8 2 8 1 2 Switching from POSING 8 3 8 1 3 Switching from EX_POSING 8 7 8 1 4 Switching from ZRET 8 11 8 1...

Page 16: ... Holding Brake Function of the SERVOPACK 11 2 11 1 2 Connections to Σ II Σ III Σ V or Σ 7 Series SGDM SGDH SGDS SGDV and SGD7S SERVOPACKs 11 2 11 1 3 Connections to Σ I Series SGDB SERVOPACK 11 4 11 1 4 Connections to Σ I Series SGDA SERVOPACK 11 6 11 2 Overtravel Function 11 8 11 2 1 Connections to Σ II Σ III Σ V or Σ 7 Series SGDH SGDS SGDV and SGD7S SERVOPACKs 11 8 11 2 2 Connections to Σ I Ser...

Page 17: ...t 12 32 Appendices A 1 Appendix A System Registers Lists A 2 A 1 System Service Registers A 2 A 2 Scan Execution Status and Calendar A 4 A 3 Program Software Numbers and Remaining Program Memory Capacity A 4 Appendix B Initializing the Absolute Encoder A 5 B 1 Σ III Σ V or Σ 7 Series SERVOPACK A 5 B 2 Σ II Series SERVOPACKs A 6 B 3 Σ I Series SERVOPACK A 8 Appendix C Fixed Parameter Setting Accord...

Page 18: ...1 Module 1 1 SVA 01 Module Overview and Features 1 2 1 1 1 Overview 1 2 1 1 2 Features 1 3 1 1 3 System Configuration Example 1 4 1 2 Specifications 1 5 1 2 1 Hardware Specifications 1 5 1 2 2 Functional Specifications 1 7 1 2 3 Performance Specifications 1 8 1 2 4 Applicable SERVOPACKs 1 9 ...

Page 19: ... torque monitoring pulse input phases A B and C 5 V differential and general purpose digital I O inter faces The control cycle is fixed at 500 μs Servo Controls Speed references Position control Torque references Phase control Zero point returns Monitor Functions Same as above System bus interface SERVOPACK parameters OW I W System bus connector Servo connector CN2 CN1 2 analog outputs Speed refer...

Page 20: ...cision control without being affected by the high speed scan cycle Position control speed reference outputs torque reference outputs or phase control can be performed inde pendently for each axis Inverters or Analog servos SVA 01 M M SGDA SGDB SGDM SGDH SGDS SGDV SGD7S SVA 01 SERVOPACK Speed Position and Phase Control Speed reference Torque limit Speed monitor Torque monitor Encoder pulses D A D A...

Page 21: ...cified cables and connectors Refer to 2 5 1 Cables on page 2 12 to select appropriate cables and con nectors to connect each device MP2300 YASKAWA RDY ALM TX RUN ERR BAT BATTERY SW1 OFF ON M 4 10 CPU I O POWER DC24V DC 0V STOP SUP INIT CNFG MON TEST Servos for 2 axes SVA 01 RUN ERR CH1 24V 0V DC IN CH2 SGDH 04EA SGDH 04EA 2 analog outputs axis 2 analog inputs axis 1 pulse input axis ...

Page 22: ...XT External latch signal input Digital Outputs 6 outputs 2 channels Sink mode output 24 V 100 mA DO_0 General purpose output SV_ON DO_1 General purpose output ALM_RST DO_2 General purpose output PCON Used for C SEL control mode switching signal DO_3 General purpose output DO_4 General purpose output DO_5 General purpose output SEN signal 5 V and 24 V outputs Pulse Inputs 1 input 2 channels phase A...

Page 23: ...r Mechanical Operating Conditions Vibration Resistance Conforms to JIS B 3502 Vibration amplitude acceleration 10 f 57 Hz Single amplitude of 0 075 mm 57 f 150 Hz Fixed acceleration of 9 8 m s2 10 sweeps 1 sweep 1 octave per minute each in the X Y and Z directions Shock Resistance Conforms to JIS B 3502 Peak acceleration of 147 m s2 twice for 11 ms each in the X Y and Z directions Electrical Opera...

Page 24: ... selection parameter Deceleration According to the acceleration deceleration unit selection parameter Filter Type Moving average or exponential acceleration deceleration Filter Time Constant ms Position Compensation mm inch degree pulse Speed Compensation According to the speed unit selection parameter Position Loop Gain 1 s Position Loop Integration Time Constant ms Speed Feed Forward Gain Positi...

Page 25: ...eleration time from rated speed to 0 Torque Units Rated torque percentage designation Electronic Gear Supported Position Control Methods Finite length position control infinite length position control absolute infinite length position control simple absolute infinite length position control Software Limits One each in forward and reverse directions Zero Point Return Types 17 Latch Function Phase C...

Page 26: ... 9 1 Overview 1 2 4 Applicable SERVOPACKs SERVOPACK Model Remarks SGDA SGDB S AD DD Σ I series AC SERVOPACK SGDM SGDH DA AD DE AE Σ II series SERVOPACK SGDS 01 02 05 Σ III series SERVOPACK SGDV 01 05 Σ V series SERVOPACK SGD7S 00 Σ 7 series SERVOPACK ...

Page 27: ... 4 2 3 Mounting Removing SVA 01 Modules 2 5 2 3 1 Mounting a SVA 01 Module 2 5 2 3 2 Removing SVA 01 Modules for Replacement 2 7 2 4 SVA 01 Module Connections 2 9 2 4 1 Connectors 2 9 2 4 2 Connection Procedure for 24 V Input Cable 2 10 2 4 3 CN1 and CN2 Connector Pin Arrangement 2 11 2 5 Cable Specifications and Connections 2 12 2 5 1 Cables 2 12 2 5 2 JEPMC W2040 E Details 2 12 2 5 3 JEPMC W2041...

Page 28: ... the operating status of the SVA 01 Module and error information SVA 01 LED indicators CN1 Servo connector CN3 24 V input connector RUN CH1 CH2 DC IN ON 24V ERR CN2 Servo connector Indicators Indicator Name Color Signification When Lit Signification When Unlit RUN Green Lights during normal operation of the microprocessor used for control An error has occurred in the micro processor for control ER...

Page 29: ...ng stopped Indicates that the Machine Controller s CPU is being stopped Execute a CPU RUN command to restore normal operation status Operating normally Indicates that the SVA 01 Module is operating normally Error A CPU Module error is detected 2 Watchdog time timeout error Number indicates the number of times blinking If a watchdog time timeout error is detected the processing time for the user pr...

Page 30: ...PMC CP2200 E 30 modules Ver 2 20 or later The maximum number of connectable Modules is the total for the maximum expansion to four racks 2 CPU 02 JAPMC CP2210 E 31 modules All versions CPU 03 JAPMC CP2220 E CPU 04 JAPMC CP2230 E MP2100M JAPMC MC2140 E 14 modules Ver 2 20 or later The maximum number of connectable Modules is the total for the maximum expansion to three racks 2 MP2101M JAPMC MC2142 ...

Page 31: ...ect 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 cables remove the Machine Controller and expansion racks from the panel or mounting rack and place them on a sufficiently wide and safe s...

Page 32: ... 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 SVA 01 Module has been completely inserted firmly push the front of the Module into the mounting base connectors If the SVA 01 Module has been installed correctly the front of the SVA 01 Module and the hook will be align...

Page 33: ...ove 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 cables remove the Machine Controller and expansion racks from the panel or mounting rack and place them on a sufficiently wide and safe surface such as working table 2 Removing SVA 01 Modules 1 Remove t...

Page 34: ...01 Module While holding the battery cover as shown in the photograph tilt the cover back with the knob as the pivot point to disconnect the Module The Module should move forward out of the case 4 Pull out the SVA 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 th...

Page 35: ...A 01 Module to two SERVOPACKs Use the following standard cable to connect each SERVOPACK to the SVA 01 Module JEPMC W2040 E for SGDH SGDM SGDS SGDV and SGD7S SERVOPACKs The user must provide cables for the SGDA and SGDB SERVOPACKs Pin No Signal Name Name 2 24V 24 VDC input 1 0V 0V DC IN ON 24V Name Connector Name No of Pins Connector Model Cable Model SVA 01 Module Side Cable Side Manufac turer Se...

Page 36: ...wing connection procedure 1 Remove the sheath to approximately 6 5 mm from the cable end 2 Remove the plug from the CN3 connector on the SVA 01 Module 3 Insert the bare core of the cable into the opening of the plug and then tighten the screws to a tightening torque of approximately 0 2 N m to 0 25 N m Pin No Signal Name Name 2 24V 24 VDC input 1 0V 0V Core Sheath 6 5 mm side pin number 2 side pin...

Page 37: ... HOME LS input 19 SG Ground For SEN signal 20 SEN 5 V SEN signal Servo 32 DO_5 SEN General purpose output DO_5 VS866 24 V SEN signal 21 AI_1 General purpose analog input 1 Torque reference monitor input 22 Not connected 23 PB 5 V differential phase B pulse input 24 PBL 5 V differential phase B pulse input 25 SG Ground 26 AI GND Analog input ground 27 AO GND Analog output ground 28 0V For 24 V 0 V ...

Page 38: ...ne end JEPMC W2041 01 E 1 0 m JEPMC W2041 03 E 3 0 m SVA SERVOPACK AI_0 AI_1 AI_GND P OT N OT EXT ZERO BRK BRK BAT 0 BAT L No in Above Figure Name Model Qty Manufacturer Remarks Plug on SVA 01 Module end 10136 3000PE 1 3M Japan Limited Soldering type Shell on SVA 01 Module end 10336 52A0 008 1 3M Japan Limited Cable HP SB 20276SR 26 28AWG Taiyo Electric Wire and Cable Co Ltd Shielded wires Socket ...

Page 39: ...Y 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 SG 2 V REF 5 PA 33 PA 34 PC 19 PC 20 SG 6 T REF 9 ALM 32 CN1 CN2 C SEL Control mode switching 41 CN1 SVA 01 P OT 42 24V IN 47 ALM 31 ZERO HOME LS input P OT input N OT input EXT DEC input TGON BRK 28 SG 10 SEN 4 BAT 22 BAT 21 PB 35 PB 36 SG 1 TGON BRK 27 ALM RST 44 S ON 40 N OT 43 Brake interlock o...

Page 40: ...pan Limited Cable Equivalent to UL20276 AWG28 Pin No Wire Color Dot Marks Pin No Wire Color Dot Marks Color Number Color Number 1 Orange Red 1 19 Pink Red 2 2 Orange Black 1 20 Pink Black 2 3 Gray Red 1 21 Orange Red 3 4 Gray Black 1 22 Orange Black 3 5 White Red 1 23 Gray Red 3 6 White Black 1 24 Gray Black 3 7 Yellow Red 1 25 White Red 3 8 Yellow Black 1 26 White Black 3 9 Pink Red 1 27 Yellow R...

Page 41: ...6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 SG 2 V REF 3 PA 20 PA 21 PC 24 PC 25 SG 4 T REF 1 ALM SG 35 CN1 CN2 P CON 15 CN1 SGDA SERVOPACK SVA 01 P OT 16 24V IN 13 ALM 34 ZERO HOME LS input P OT input N OT input EXT DEC input General purpose analog input General purpose analog input Analog input ground BK 7 0 SEN 6 SEN 5 BAT0 29 BAT 28 PB 22 PB 23 SG 1...

Page 42: ...17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 SG 2 V REF 5 PA 33 PA 34 PC 19 PC 20 SG 6 T REF 9 ALM 32 CN1 CN2 P CON 41 CN1 SVA 01 P OT 42 24V IN 47 ALM 31 ZERO HOME LS input P OT input N OT input EXT DEC input TGON BRK 28 SG 10 SEN 4 BAT 22 BAT 21 PB 35 PB 36 SG 1 TGON BRK 27 ALM RST 44 S ON 40 N OT 43 Brake interlock output Absolute encoder battery 0 V Absolute encoder battery 3 6 ...

Page 43: ...nts of pulses 16384 6000 20 bits 16 to 16384 in increments of pulses 16384 6000 Encoder Bits Pn212 Setting Range Pn212 Setting Example Motor Speed min 1 at a Divided Output Pulse Frequency of 1 6 MHz 17 bits 16 to 16384 in increments of pulses 16384 6000 16386 to 32768 in increments of pulses 32768 3000 20 bits 16 to 16384 in increments of pulses 16384 6000 16386 to 32768 in increments of pulses 3...

Page 44: ...oducts 24 bits 16 to 16384 in increments of pulses 16384 6000 16386 to 32768 in increments of pulses 32768 3000 32772 to 65536 in increments of pulses 65536 1500 65544 to 131072 in increments of pulses 131072 750 131088 to 262144 in increments of pulses 262144 375 262176 to 524288 in increments of pulses 524288 187 524352 to 1048576 in increments of pulses 1048576 93 1048704 to 2097152 in incremen...

Page 45: ...anually Allocating Modules 3 6 3 3 SVA Definition 3 7 3 3 1 Opening the SVA Definition Window 3 7 3 3 2 Setting the SVA 01 Module Fixed Parameters 3 9 3 4 SERVOPACK Parameter Settings 3 10 3 4 1 SGDA SERVOPACK Parameter Settings 3 10 3 4 2 SGDB SERVOPACK Parameter Settings 3 11 3 4 3 SGDM SGDH SGDS SGDV and SGD7S SERVOPACK Parameter Settings 3 12 3 5 SERVOPACK Reference Offset Adjustment 3 13 3 5 ...

Page 46: ... files are required to control the SERVOPACKs by using the SVA 01 Module mounted on the Machine Controller Module Configuration Definition of Machine Controller SVA Definition of SVA 01 Module Additionally the parameters of the connected SERVOPACK must be set for the SVA 01 Module ...

Page 47: ...CNFG Set the DIP switch CNFG on the Machine Controller to ON and then turn ON the power to execute self configura tion After execution of self configuration be sure to execute Save to Flash to save the results of self configuration in the Machine Controller For MP2100M and MP2500MD Machine Controllers the DIP switch is not commonly used for self configuration Use an MPE720 as described below to ex...

Page 48: ...tion on how to start the MPE720 2 Select Setup Module Configuration Definition from the Launcher The Module Configuration Window see the next page will open When Using MPE720 Version 5 1 Start the MPE720 installed in the personal computer that is connected to the Machine Controller Log on online to the application for the target Machine Controller in the File Manager Window Refer to Machine Contro...

Page 49: ...ration Window slightly differs depending on the Machine Controller model MP2300 MP2100M MP2200 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 50: ...PMC BU2210 is used or not Rack 1 is reserved for the CPU Module and cannot be set to Not Use Possible Slot Number Slot number Not possible Module Type 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 For the SVA 01 Module this item is reserved for system Not pos...

Page 51: ...Controller field in the Module Configuration Window refer to 3 2 2 Opening the Module Configuration Window on page 3 4 and then double click the slot number cell of the SVA 01 Module in the Module Details field The Create New Confirmation Dialog Box will open Click OK to display the Fixed Parameters Tab of the SVA Definition Window 2 Select the axis to be set or monitored from the Axis pull down l...

Page 52: ... Opening the SVA Definition Window 3 8 3 Click the Fixed Parameters Setup Parameters or Monitor tab to display the desired page Fig 3 1 Fixed Parameters Tab Fig 3 2 Setup Parameters Tab Fig 3 3 Monitor Parameters Tab read only ...

Page 53: ...g an incremental encoder 1 or 2 when using an absolute encoder and Pn002 2 0 0 when using an absolute encoder and Pn002 2 1 31 Rotation Direction Selection with an Absolute Encoder 0 when Cn 02 bit 0 0 Forward rotation 1 when Cn 02 bit 0 1 Reverse rotation 0 when Pn000 0 0 Forward rotation 1 when Pn000 0 1 Reverse rotation 34 Rated Motor Speed Rated speed min 1 Rated speed min 1 36 Number of Pulse...

Page 54: ...les the SEN signal input SEN Cn 01 bit 2 Forward rotation prohibited in put P OT enable disable 0 0 Enables the forward rotation prohibited input P OT This input can also be disabled Cn 01 bit 3 Reverse rotation prohibited in put N OT enable disable 0 0 Enables the reverse rotation prohibited input N OT This input can also be disabled Cn 01 bit A Control mode selection 0 1 Torque control II Torque...

Page 55: ...se rotation prohibited input N OT enable disable 0 0 Enables the reverse rotation pro hibited input N OT This input can also be disabled Cn 02 bit 2 Analog speed limit function 0 1 In torque control mode VREF is used as the analog speed limit Cn 02 bit 6 TRQ M analog monitor selection 0 0 Outputs torque to TRQ M Cn 02 bit 7 VTG M analog monitor selection 0 0 Outputs torque to VTG M Cn 02 bit 8 Ana...

Page 56: ...gnal mapping 0 0 Input signal from CN1 40 input terminal Used by SVA 01 system Pn50A 2 P CON signal mapping 1 8 Signal always disabled 2 Pn50A 3 P OT signal mapping 2 2 Input signal from CN1 42 input terminal 2 Pn50B 0 N OT signal mapping 3 3 Input signal from CN1 43 input terminal 2 Pn50B 1 ALM RST signal mapping 4 4 Input signal from CN1 44 input terminal Used by SVA 01 system Pn50B 2 P CL signa...

Page 57: ...e motor to stop while the zero speed reference is given Refer to the following manuals for details AC Servo Drives Σ III Series SGM SGDS User s Manual Manual No SIEP S800000 00 AC Servodrive Σ V Series SGM SGDV User s Manual Design and Maintenance Rotational Motor Analog Voltage and Pulse Train Reference Manual No SIEP S800000 45 AC Servodrive Σ I Series User s Manual Design and Maintenance Linear...

Page 58: ...e error is zeroed when servolock is stopped To deliberately set the offset to some value To check the offset data set in the speed reference offset automatic adjustment mode This function operates in the same way as the reference offset automatic adjustment mode Fn009 but the manual servo tuning Fn00A adjust inputting the amount of offset The offset adjustment range and setting units are as shown ...

Page 59: ...entered 4 Press the DATA Key for less than one second to display the speed reference offset amount 5 Enter the offset amount by pressing the UP or DOWN Key 6 Press the DATA Key for less than one second The display shown on the left in the figure below will appear and then will change to donE in a instant The offset amount is set 7 Press the DATA Key for a minimum of one second to return to the uti...

Page 60: ... 1 Motion Parameters That Can be Used in Simulation Mode 4 4 4 3 2 Position and Speed in Simulation Mode 4 4 4 3 3 Torque in Simulation Mode 4 4 4 3 4 Functions That Cannot be Simulated 4 4 4 3 5 Output Signals in Simulation Mode 4 5 4 4 General purpose I O Mode 4 6 4 4 1 Motion Parameters That Can be Used in General purpose I O Mode 4 6 4 4 2 Correspondence Between Motion Parameter and Connector ...

Page 61: ...g the fixed parameter No 0 Selection of Operation Modes in the Fixed Parameter Tab Page of SVA Definition Window Refer to 3 3 1 Opening the SVA Definition Window on page 3 7 for information on how to open the SVA Definition Window Fixed Parameter Name Setting Default Setting No 0 Selection of Operation Modes 0 Normal operation mode 1 Axis unused 2 Simulation mode 4 General purpose I O mode 5 Syste...

Page 62: ...set to 1 Use as a general purpose signal Refer to 11 4 4 General purpose DO_2 Signal Selection on page 11 17 for details The input signals DI_2 to DI_5 can be used by the user unless they are already used by the system These signals are referred to as shared signals S ON ALM RST P CON Used as C SEL signal SEM Selected by the user OW 00 bit 0 OW 00 bit 15 Internal variable OW 5D bit 3 OW 5D bit 4 I...

Page 63: ...incremental pulses to the feedback pulse counter For all motion commands other than the TRQ command the speed reference output will be returned For TRQ the speed limit output will be returned 4 3 3 Torque in Simulation Mode Torque reference are not monitored in simulation mode Therefore 0 zero is always stored in the following monitoring parameter 4 3 4 Functions That Cannot be Simulated The follo...

Page 64: ...NG command since no latch operation will be implemented Example 3 Latch LATCH command Executed as Interpolation INTERPOLATE command since no latch operation will be implemented Example 4 Modal Latch Request The latch operation will never be completed Refer to 11 4 1 Modal Latch Function on page 11 15 for information on modal latch 4 Absolute Read Request The Absolute Read Request will be ignored 5...

Page 65: ...Signal Polarity Selection 0 Positive logic 1 Negative logic 0 Bit 1 C Pulse Input Signal Polarity Selection 0 Positive logic 1 Negative logic 0 22 Pulse Counting Mode Selection 0 Sign mode 1 1 Sign mode 2 2 Up Down mode 1 3 Up Down mode 2 4 A B mode 1 5 A B mode 2 6 A B mode 4 6 Register No Name Description Default Value OW 00 Run Command Setting Bit 4 Latch Detection Demand 0 OFF 1 ON Used to set...

Page 66: ...rent position Range 231 to 231 1 Unit 1 1 reference unit pulse only IL 18 Machine Coordinate System Latch Position LPOS Used as the counter latch position Range 231 to 231 1 Unit 1 1 reference unit pulse only IL 1C Target Position Difference Monitor Used as the number of incremental pulses of feedback Range 231 to 231 1 Unit 1 1 reference unit pulse only IW 58 General purpose DI Monitor Bit 0 Gene...

Page 67: ..._2 12 Output Bit 3 General purpose DO_3 14 Output Bit 4 General purpose DO_4 13 Output Bit 5 General purpose DO_5 32 Output Monitoring Parameter CN1 CN2 Pin No Register No Name Description IW 58 General purpose DI Bit 0 General purpose DI_0 17 Input Bit 1 General purpose DI_1 35 Input Bit 2 General purpose DI_2 18 Input Bit 3 General purpose DI_3 15 Input Bit 4 General purpose DI_4 33 Input Bit 5 ...

Page 68: ...pin assignment is the same as of CH1 The connector CN3 for external 24 V power supply is commonly used L DO_5 SEN 32 DI_0 SVALM 17 L DO_4 OTR 13 L DO_3 OTF 14 L DO_2 PCON 12 L DO_1 ARMRST 30 L DO_0 SVON 31 Orange connector CN3 2 Orange connector CN3 1 24 V 24 VDC power supply 1 0 A 0 V 24 V 5 6K Ω DI_1 SVRDY 35 5 6K Ω DI_2 18 5 6K Ω DI_3 15 5 6K Ω DI_4 33 5 6K Ω DI_5 36 5 6K Ω CH2 DO CH2 DI 1 0 A ...

Page 69: ...se A input The counter counts down upon pulse B input The table below shows different pulse counting operations by combination of multiplier and polarity When pulse A and B are input at the same time the count will not change 0 Pulse Counting Method Polarity Count Up Forward Rotation Count Down Reverse Rotation Sign mode Input pulse multiplier 1 Positive logic Negative logic Sign mode Input pulse ...

Page 70: ...r counts down when the phase of pulse A input is advanced to pulse B The table below shows different pulse counting operations by combination of multiplier and polarity Pulse Counting Method Polarity Count Up Forward Rotation Count Down Reverse Rotation Pulse A B mode Input pulse multiplier 1 Positive logic Negative logic Pulse A B mode Input pulse multiplier 2 Positive logic Negative logic Pulse ...

Page 71: ...12 4 4 5 Pulse Counter Connection Example The following diagram illustrates an example of pulse counter connection Pulse A Pulse B Pulse C SVA 01 Connector shell Pulse generator 5 V linedriver output P P P 3 PA 4 PAL 23 PB PBL 24 5 PC 6 PCL 7 SG 330 Ω 330 Ω 330 Ω CN1 CN2 ...

Page 72: ...ters Setting Window 5 3 5 2 1 How to Open the Motion Parameter Setting Windows 5 3 5 2 2 Selecting a Motor Type 5 4 5 3 Motion Parameter Lists 5 5 5 3 1 Fixed Parameter List 5 5 5 3 2 Setting Parameter List 5 8 5 3 3 Monitoring Parameter List 5 13 5 4 MP2000 Series Machine Controller Parameter Details 5 17 5 4 1 Motion Fixed Parameter Details 5 17 5 4 2 Motion Setting Parameter Details 5 25 5 4 3 ...

Page 73: ...ing equation The following tables lists the motion parameters register numbers Leading motion parameter register number I or O W8000 module number 1 800h axis number 1 80h Module No Axis No 1 Axis No 2 1 8000 to 807F 8080 to 80FF 2 8800 to 887F 8880 to 88FF 3 9000 to 907F 9080 to 90FF 4 9800 to 987F 9880 to 98FF 5 A000 to A07F A080 to A0FF 6 A800 to A87F A880 to A8FF 7 B000 to B07F B080 to B0FF 8 ...

Page 74: ...ters in the Fixed Parameters Setup Parameters and Monitor tabs of the SVA Defini tion Window Fig 5 1 Fixed Parameters Tab Page Fig 5 2 Setup Parameters Tab Page Fig 5 3 Monitor Parameters Tab Page Read Only 5 2 1 How to Open the Motion Parameter Setting Windows Refer to 3 3 1 Opening the SVA Definition Window on page 3 7 for information on how to open motion parameter set ting windows ...

Page 75: ... 5 2 2 Selecting a Motor Type The motor type rotary or linear can be selected from the Servo Type pull down list in the SVA Definition Window Some of the fixed parameters will differ and some of the setting parameters will be disabled depending on the selected motor type ...

Page 76: ... system use 4 General purpose I O Mode 5 to 7 Reserved for system use 1 Function Selection Flag 1 Bit 0 Axis Selection 0 Finite length axis 1 Infinite length axis Set to 0 for linear type P 5 18 Bit 1 Soft Limit positive direction 0 Disabled 1 Enabled Bit 2 Soft Limit negative direction 0 Disabled 1 Enabled Bit 3 Overtravel Positive Direction 0 Disabled 1 Enabled Bit 4 Overtravel Negative Directio...

Page 77: ...stem use 20 Hardware Signal Selection 1 Bit 0 A B Pulse Input Signal Polarity Selection 0 Positive logic 1 Negative logic P 5 22 Bit 1 C Pulse Input Signal Polarity Selection 0 Positive logic 1 Negative logic Bits 2 to F Reserved for system use 21 Hardware Signal Selection 2 Bit 0 Deceleration LS Signal Selection 0 Use the setting parameter 1 Use the DI signal Bits 1 to 4 Reserved for system use B...

Page 78: ...ed for system use 34 Rated Motor Speed rotary type 1 1 min 1 P 5 24 Rated Speed linear type 1 0 1 m s 36 Number of Pulses per Motor Rotation rotary type 1 1 pulse rev Set the value before multiplication Number of Pulses per Linear Scale Pitch linear type 1 1 pulse linear scale pitch Set the value before multiplication P 5 24 38 Maximum Number of Absolute Encoder Turns Rotation 1 1 rev Set to 0 whe...

Page 79: ...e locked Bits 2 and 3 Reserved for system use Bit 4 Latch Detection Demand 0 OFF 1 ON Bit 5 Absolute Position Reading Demand 0 OFF 1 ON Bit 6 POSMAX Turn Number Presetting Demand 0 OFF 1 ON Set to 0 for linear type Bit 7 Request ABS Rotary Pos Load Absolute system infinite length position information LOAD 0 OFF 1 ON Set to 0 for linear type Bits 8 to A Reserved for system use Bit B Integration Res...

Page 80: ...NG Latch Target Positioning External Positioning 3 ZRET Zero Point Return 4 INTERPOLATE Interpolation 5 ENDOF_INTERPOLATE For system use 6 LATCH Interpolation Mode with Latch Input 7 FEED JOG Mode 8 STEP Relative Position Mode Step Mode 9 ZSET Set Zero Point 23 VELO Speed Reference 24 TRQ Torque Reference 25 PHASE Phase Reference P 5 29 OW 09 Motion Command Control Flag Bit 0 Holds a Command 0 OFF...

Page 81: ...W 03 bits 0 to 3 Speed Unit Selection P 5 32 OW 18 Override 1 0 01 P 5 33 OW 19 Reserved for system use OW 1A General purpose AO1 1 0 001 V P 5 33 OW 1B General purpose AO2 1 0 001 V OL 1C Position Reference Setting 1 1 reference unit P 5 33 OL 1E Width of Position ing Completed 1 1 reference unit P 5 34 OL 20 NEAR Signal Output Width 1 1 reference unit P 5 34 OL 22 Error Count Alarm Detection 1 1...

Page 82: ...depends on OW 03 bits 0 to 3 Speed Unit Selection OW 3C Zero Point Return Method 0 DEC1 and Phase C 1 ZERO Signal 2 DEC1 and ZERO Signal 3 C pulse 4 DEC2 and ZERO Signal 5 DEC1and Limit and ZERO Signal 6 DEC2 and C phase 7 DEC1 and Limit and C phase 8 to 10 Reserved for system use 11 C pulse Only 12 P OT and C pulse 13 P OT Only 14 HOME LS and C pulse 15 HOME Only 16 N OT and C pulse 17 N OT Only ...

Page 83: ...urpose DO_5 0 OFF 1 ON Bits 6 to F 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 P 5 42 OL 60 Encoder Position when Power is OFF Upper 2 words 1 1 pulse For linear type do not set this register P 5 42 OL 62 Pulse Position when Power is OFF Lower 2 words 1 1 pulse For linear type do not set this register OL 64 Pulse...

Page 84: ...3 Bit 1 Running Servo ON Bit 2 Reserved for system use Bit 3 Servo Ready Bits 4 to F Reserved for system use IW 01 Parameter Number when Range Over is Generated Setting parameters 0 or higher Fixed parameters 1000 or higher P 5 43 IL 02 Warning Bit 0 Excessive Deviation P 5 44 Bit 1 Set Parameter Error Setting parameter error Bit 2 Fixed Parameter Error Bit 3 Reserved for system use Bit 4 Motion C...

Page 85: ...s 4 to 7 Reserved for system use Bit 8 Command Execution Completed Bits 9 to F Reserved for system use IW 0C Position Management Status Bit 0 Discharging Completed DEN Bit 1 Positioning Completed POSCOMP Bit 2 Latch Completed LCOMP Bit 3 NEAR Position NEAR Bit 4 Zero Point Position ZERO Bit 5 Zero Point Return Setting Completed ZRNC Bit 6 During Machine Lock MLKL Bit 7 Absolute Position Read out C...

Page 86: ...s 0 to 3 Speed Unit Selection P 5 50 IL 22 Reserved for system use IL 24 Integral Output Monitor Unit depends on OW 03 bits 0 to 3 Speed Unit Selection P 5 50 IL 26 Primary Lag Monitor Unit depends on OW 03 bits 0 to 3 Speed Unit Selection Stores the result of IL 24 Output from primary delay element IL 28 Position Loop Output Monitor Unit depends on OW 03 bits 0 to 3 Speed Unit Selection P 5 50 IL...

Page 87: ... to F Reserved for system use IW 59 General purpose AI Monitor 1 1 0 001 V IW 5A General purpose AI Monitor 2 1 0 001 V IW 5B to IW 5C Reserved for system use IL 5E Encoder Position when Power is OFF Lower 2 words 1 1 pulse P 5 52 IL 60 Encoder Position when Power is OFF Upper 2 words 1 1 pulse IL 62 Pulse Position when Power is OFF Lower 2 words 1 1 pulse IL 64 Pulse Position when Power is OFF Up...

Page 88: ... application method of the axis 0 Normal Operation Mode Use this setting when actually using an axis 1 Axis Unused default No control will be performed for an axis set to this mode and 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 ...

Page 89: ...s 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 on page 11 13 for details of the software limit function Bit 3 Overtravel Positive Direction Enable Disable Set whether or not to use the overtr...

Page 90: ... page 10 16 for details Set to 0 for linear type No 2 Function Selection Flag 2 Setting Range Setting Unit Default Value 0000H Description Bit 3 Analog Adjust Not Ready Mask 0 Disabled default 1 Enabled Bit 4 PG Wire Breaking Down Status Mask Set whether or not to detect by hardware that the PG is not connected to the counter input pin in the General purpose I O Mode 0 Disabled default 1 Enabled N...

Page 91: ...ear Motors Linear Scale Pitch Setting Range Setting Unit Default Value 1 to 231 1 user units 10000 Description Set a value in accordance with the linear scale specifications Refer to 6 1 8 Linear Scale Pitch and Rated Motor Speed on page 6 15 for details No 8 Servo Motor Gear Ratio No 9 Machine Gear Ratio Setting Range Setting Unit Default Value 1 to 65535 revs revolutions 1 Description Set the ge...

Page 92: ...ere a negative direction software limit alarm IL 04 bit 4 will occur Enabled when the Soft Limit Negative Direction bit fixed parameter 1 bit 2 is set to 1 enabled Bit 1 0 Disabled 1 Enabled Negative Software Limit Positive Software Limit Range of machine movement No 1 Function Selection Flag 1 Bit 2 0 Disabled 1 Enabled No 1 Function Selection Flag 1 No 16 Backlash Compensation Amount Setting Ran...

Page 93: ...2 the user can directly control the general purpose DO_2 signal pin No 12 of CN1 CN2 0 Use as a system exclusive signal default 1 Use as a general purpose signal The parameter settings of the SERVOPACK to be used are required when setting this bit to 1 Refer to 11 4 4 General purpose DO_2 Signal Selection on page 11 17 for details No 22 Pulse Counting Mode Selection Setting Range Setting Unit Defa...

Page 94: ...oltage 10000 A D input voltage at 100 torque monitor fixed parameter No 26 Example Where A D input voltage at 100 torque monitor 3 V and the actual A D input voltage 1 5 V 1 5 V 10000 3V 5000 Therefore 5000 is stored in IL 42 No 28 Servo Driver Type Selection Setting Range Setting Unit Default Value 0 to 2 1 Description Set the series of servo drive that is being used 0 Σ I series 1 Σ II Σ III Σ V...

Page 95: ...ations of the linear motor to be used Refer to 6 1 8 Linear Scale Pitch and Rated Motor Speed on page 6 15 for details No 38 Maximum Number of Absolute Encoder Turns Rotation Setting Range Setting Unit Default Value 1 to 231 1 revs 65534 Description Set the maximum number of rotations for the absolute encoder to the highest number that the encoder can man age Set this parameter to match the settin...

Page 96: ...le below shows the relationship between each control mode and motion command 1 RUN Commands Control Mode Motion Command OW 08 Position Control 0 NOP No command 1 POSING Positioning 2 EX_POSING External positioning 3 ZRET Zero point return 4 INTERPOLATE Interpolation 5 ENDOF_INTERPOLATE For system use 6 LATCH Interpolation with latch function 7 FEED JOG operation 8 STEP STEP operation Phase Control...

Page 97: ...ting Demand 0 OFF default 1 ON Preset the Number of POSMAX Turns monitoring parameter IL 1E to the value set for the Number of POSMAX Turns Presetting Data setting parameter OL 4C Set to 0 for linear type Bit 7 Request ABS Rotary Pos Load When an infinite length axis is used with an absolute encoder this bit can be set to 1 to reset the position infor mation with the data encoder position and puls...

Page 98: ...ollowing two speed compensation values OW 31 Speed compensation OL 16 Secondly speed compensation 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 min default n number of decimal places fixed parameter 5 2 0 01 3 0 0001 Refer to 6 1 5 Speed Reference on p...

Page 99: ... reference generation processing when executing phase reference com mands 0 Enabled default 1 Disabled Enable this processing when an electronic shaft is being used Disable the processing when an electronic cam is being used Bit 8 Zero Point Return Deceleration LS Signal This bit functions as the LS signal when the bit 0 of fixed parameter No 21 Deceleration LS Signal Selection is set to 0 0 OFF d...

Page 100: ...e to a stop if this bit is changed to 1 while an axis is moving during positioning external positioning zero point return JOG operation STEP operation speed reference or torque reference and the remaining movement will be canceled Bit 2 Moving Direction JOG STEP Set the movement direction for JOG or STEP 0 Forward default 1 Reverse Bit 3 Zero Point Return Direction Selection Set the direction to m...

Page 101: ... mand For example set the Phase Correct Setting OL 28 to the same value as CPOS for 32 bit DPOS IL 14 If preventive measures are 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 whi...

Page 102: ...ue is set relative to the load torque of the machine the machine s torque is overpowered by the torque reference and the motor speed rapidly increases The torque reference speed limit functions to limit the Servomotor speed during torque control to protect the machine The setting is enabled when a torque reference command is executed No speed limit Speed limit used OW 0F Torque Reference 1st order...

Page 103: ...t Value 231 to 231 1 Depends on the torque unit set in Function Setting 1 setting parameter OW 03 bits C to F 30000 Description The value set in this parameter is output as the torque limit except when Torque Reference command TRQ is ex ecuted This parameter is used when a torque limit is required at specific timing during operation of the machine such as applica tions for pushing a load to stop i...

Page 104: ... will not operate OW 1A General purpose AO1 Setting Range Setting Unit Default Value 10000 to 10000 0 001 V 0 Description The analog data set in this parameter is output This parameter is valid only in general purpose I O mode OW 1B General purpose AO2 Setting Range Setting Unit Default Value 10000 to 10000 0 001 V 0 Description The analog data set in this parameter is output This parameter is val...

Page 105: ... when reference pulses have been distributed monitoring parameter IW 0C bit 0 If the NEAR Signal Output Width is set to a value other than 0 this bit will be turned ON when the result of subtracting the Machine Coordinate System Feedback Position monitoring parameter IL 16 from the Machine Coordinate Sys tem Reference Position monitoring parameter IL 12 is less than the NEAR Signal Output Width ev...

Page 106: ...0 Description Set the position compensation amount in reference units OW 26 Position Completion Check Time Setting Range Setting Unit Default Value 0 to 65535 ms 0 Description 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 ala...

Page 107: ... 0 01 0 Description Set the speed feed forward gain as a percentage of the rated speed for the phase reference PHASE com mands The setting unit for this parameter is 0 01 fixed Secondly Speed Compensation OL 16 can be used with the phase reference command PHASE and the unit can be selected for OL 16 When used at the same time as OL 16 speed compensation can be applied twice OW 32 Position Integrat...

Page 108: ...leration deceleration unit set in Function Setting 1 setting parameter OW 03 bits 4 to 7 0 Description Set the linear acceleration rate or linear acceleration time constant 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 unit setting is not shown here OL 38 Straight Line De...

Page 109: ... that monitoring parameter IW 0C bit 0 is ON before changing the time constant First select the filter type by using the parameter Filter Type Selection OW 03 bits 8 to B and then change the filter time constant Once 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 Bias Speed for Index Acceleration Deceleration Fi...

Page 110: ... speed unit set in Function Setting 1 setting parameter OW 03 bits 0 to 3 1000 Description Set the approach speed for a zero point return operation after the deceleration LS is passed The setting unit for this parameter depends on the Speed Unit Selection OW 03 bits 0 to 3 but the result of applying the speed unit setting is not shown here OL 40 Creep Rate Setting Range Setting Unit Default Value ...

Page 111: ...inate system This parameter 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 D...

Page 112: ... in the general purpose I O mode In the normal operation mode it is used by the sys tem Bit 2 General purpose DO_2 Set the general purpose DO 2 to OFF or ON 0 OFF default 1 ON This bit can be used both in the normal operation mode and the general purpose I O mode For use in normal operation mode this bit must be set to 1 Use as a general purpose signal in General Purpose DO_2 Signal Selection bit ...

Page 113: ...r 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 information will be recalculated with the values set here and the Encoder Position When Power is OFF OL 5E and OL 60 Refer to 10 4 Absolute Position Detection for Infinite Length Axes...

Page 114: ... page 11 13 for details Position Phase Speed Torque IW 00 RUN Status Range Unit Description Bit 0 Motion Controller Operation Ready 0 Operation not ready 1 Operation ready This bit turns ON when RUN preparations for the Motion Module have been completed This bit will be OFF under the following conditions Major damage has occurred Axis that is not used was selected Motion fixed parameter setting er...

Page 115: ...g parameters is set outside the setting range The number of the parameter for which the value is out of range is stored as the Parameter Number when Range Over is Generated monitoring parameter IW 01 Bit 2 Fixed Parameter Error 0 In setting range 1 Outside setting range This bit turns ON when one or more motion setting parameters is set outside the motion fixed parameter setting range The number o...

Page 116: ...e positive software limit is enabled and a Zero Point Return operation has been completed Refer to 11 3 Software Limit Function on page 11 13 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 finite axis...

Page 117: ...0 to 65535 Description Stores the motion command code for the command that is currently being executed This is the motion command code that is currently being executed and is the same as the Motion Command setting parameter OW 08 IW 09 Motion Command Status Range Unit Description Bit 0 Command Execution Flag BUSY 0 READY completed 1 BUSY processing This bit indicates the motion command status This...

Page 118: ...e distribution has been completed for a move command Bit 1 Positioning Completed POSCOMP 0 Outside positioning completed width 1 In positioning completed width This bit turns ON when pulse distribution has been completed and the current position is within the positioning completed width Bit 2 Latch Completed LCOMP 0 Latch not completed 1 Latch completed This bit turns OFF when a new latch command ...

Page 119: ...9 POSMAX Turn Preset Complete TPRSE 0 Preset not completed 1 Preset completed This bit turns ON when the POSMAX Turn Number Presetting Demand bit in the Run Command Setting set ting parameter OW 00 bit 6 is set to 1 and the POSMAX Number of Turns has been preset with the Num ber of POSMAX Turns Presetting Data setting parameter OL 4C Invalid for linear type Bit A ABS Encoder Rotating Direction 0 F...

Page 120: ...both finite and infinite length axes the value is refreshed between 231 and 231 1 IL 16 Machine Coordinate System Feedback Position APOS Range Unit 231 to 231 1 Reference 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...

Page 121: ...e This bit is valid in position control mode and phase control mode IL 40 Feedback Speed Range Unit 231 to 231 1 Depends on the speed unit set in Function Setting 1 setting parameter OW 03 bits 0 to 3 Description Stores the feedback speed The value is determined by the Feedback Speed Movement Averaging Time Constant fixed parameter 42 and unit set from the difference with the Machine Coordinate Sy...

Page 122: ...se I O mode however the user can use the signal only when the system does not use it in normal operation mode When the system is using the sig nal in normal operation mode the ZERO HOME LS signal input is stored in this bit Bit 3 General purpose DI_3 This bit turns ON when the general purpose DI_3 signal is being input The user can always use the general purpose DI_3 signal in general purpose I O ...

Page 123: ...nit 32768 to 32768 0 001 V Description Stores the general purpose analog input Stores the value of Analog Torque Monitor of SERVOPACK when using a SERVOPACK standard cable IL 5E Encoder Position when 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 The encoder position is normally...

Page 124: ...ine 6 1 Example Setting of Motion Parameters for the Machine 6 2 6 1 1 Reference Unit 6 2 6 1 2 Electronic Gear 6 2 6 1 3 Axis Type Selection 6 4 6 1 4 Position Reference 6 5 6 1 5 Speed Reference 6 9 6 1 6 Acceleration Deceleration Settings 6 11 6 1 7 Acceleration Deceleration Filter Settings 6 13 6 1 8 Linear Scale Pitch and Rated Motor Speed 6 15 ...

Page 125: ...led the output unit The electronic gear converts position or speed units from reference units to output units for the mechani cal 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 equal to th...

Page 126: ...io m 7 Fixed Parameter 9 Machine gear ratio n 5 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 put unit make the following settings...

Page 127: ...ls of the Axis Type Selection are listed in the following table Parameter Type Parameter No Register No 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 ...

Page 128: ...nate of the target position in OL 1C Always set to 0 when using a motion program 0 OL 1C Position Reference 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...

Page 129: ...tion 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 Target position a value between 0 and POSMAX IL 1...

Page 130: ...gnated 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 befor...

Page 131: ...SING 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 Setting ...

Page 132: ... specifications before setting this parameter 3000 No 36 Number of Puls es per Motor Rotation Set the number of pulses the value before multiplication per motor rotation Example For a 16 bit encoder set 2 16 2 16384 16384 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 P...

Page 133: ...tting Unit for OL 10 Speed Reference Setting Target Feed Speed Example Set Value for OL 10 Speed Reference Setting Unit Conversion Method 0 Reference unit s pulse pulse s 50 R s 50 R s 65536 pulses R 3276800 pulse s Set value 3726800 1500 R min 1500 R min 60 65536 pulses R 1638400 pulse s Set value 1638400 mm 1 reference unit 0 001 mm Reference unit s 0 001 mm s 500 mm s 500 mm s 1000 reference un...

Page 134: ... per motor rotation Example For a 16 bit encoder set 2 16 2 16384 16384 Motion Setting Parameters 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 ...

Page 135: ...nd OL 38 are handled as the linear acceleration rate and linear deceleration rate When the Acceleration Deceleration Degree Unit Selection OW 03 Bits 4 to 7 Set to 1 ms Set value of OL 36 is handled as the linear acceleration time constant required to reach rated speed from zero using linear acceleration Set value of OL 38 is handled as the linear deceleration time constant required to reach zero ...

Page 136: ...mmand other than VELO and TRQ ENDOF_INTERPOLATE Applicable Applicable Same as the above LATCH Applicable Applicable Same as the above FEED Applicable Applicable Same as the above STEP Applicable Applicable Same as the above VELO Applicable Applicable The filter can be continuously used for only a motion command VELO TRQ Applicable N A OW 0F Torque Reference 1st order Lag Filter is used instead of ...

Page 137: ... each parameter OL 36 0 OL 38 0 OW 3A OW 3A OW 3A OL 38 OW 3A OL 36 OL 38 OL 36 OL 38 OL 36 Curvature depends on OW 3A Curvature depends on relationship between OW 3A OL 36 and OL 38 Step input With Acceleration Deceleration OW 03 bits 8 to B 0 No filter Filter Type OW 03 bits 8 to B 1 Exponential acceleration deceleration filter OW 03 bits 8 to B 2 Moving average filter No Acceleration Decelerati...

Page 138: ...ription No 4 Reference Unit Selection mm The actual reference unit is determined by settings of this parameter and the number of digits below decimal point fixed parameter 5 When Number of Digits below Decimal Point 3 1 reference unit 0 001 mm 1 μm No 5 Number of Digits below Decimal Point 3 When Number of Digits below Decimal Point 3 or more the linear scale pitch 20 μm can be expressed in an int...

Page 139: ...tch 25 6 μm can be expressed in an integral num ber Therefore set to 4 No 6 Linear Scale Pitch user units 0 1 μm 256 1 reference unit 0 1 μm because Number of Digits below Decimal Point 4 Therefore set to 256 0 1 μm No 34 Rated Speed 0 1 m s 15 Set to 15 The value of linear motor rated speed 1 5 m s con verted in units of 0 1 m s No 36 Number of Pulses per Linear Scale Pitch pulse linear scale pit...

Page 140: ...SING 7 3 7 2 2 External Positioning EX_POSING 7 9 7 2 3 Zero Point Return ZRET 7 15 7 2 4 Interpolation INTERPOLATE 7 57 7 2 5 Latch LATCH 7 60 7 2 6 JOG Operation FEED 7 63 7 2 7 STEP Operation STEP 7 67 7 2 8 Zero Point Setting ZSET 7 71 7 2 9 Speed Reference VELO 7 73 7 2 10 Torque Reference TRQ 7 77 7 2 11 Phase References PHASE 7 81 7 3 Motion Subcommands 7 85 7 3 1 No Command NOP 7 85 7 3 2 ...

Page 141: ...nt in the machine coordinate sys tem When using an incremental encoder there are 17 dif ferent zero point return methods that can be used 7 15 4 INTERPOLATE Interpolation Performs interpolation feeding using positioning data dis tributed consecutively from the CPU Module 7 57 6 LATCH Latch Memorizes the current position when the latch signal is input during an interpolation feed operation 7 60 7 F...

Page 142: ... the POSING motion command When the bit 5 of OW 09 Position Reference Type is set to 1 Absolute Mode set the parameter OL 1C Position Reference Setting before or at the same scan timing as sending the POSING command 4 Set the target position OL 1C Positioning will start IW 08 will be 1 during the positioning IW 0C bit 3 will turn ON when the axis approaches the target position IW 0C bit 1 will tur...

Page 143: ...cleared and the remaining portion of the positioning will be restarted 3 Aborting Axis travel can be stopped during command execution and the remaining travel canceled by aborting execution of a command A command is aborted by setting the Interrupt 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 stopped the remain...

Page 144: ...g Specify the speed for the positioning 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 Reference Setting This setting can be changed during operation Setting range 0 ...

Page 145: ...on The axis will decelerate to a stop if it is moving Turns OFF when another command is exe cuted 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 com mand 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 c...

Page 146: ...ING 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 09 bit ...

Page 147: ...ils 7 2 1 Positioning POSING 7 8 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 148: ...ing OW 04 Speed Reference Setting OL 10 Filter Type Selection OW 03 bits 8 to B Position Reference Setting OL 1C The Speed Reference can be changed during operation An override of between 0 to 327 67 can be set for the speed reference A latch zone can be set 3 Set OW 08 to 2 to execute the EX_POSING motion command to use the preceding settings in the same scan 4 Turn ON the external positioning si...

Page 149: ...d bit OW 09 bit 0 to 0 The command hold status will be cleared and the remaining portion of the operation will be restarted 3 Aborting Axis travel can be stopped during command execution and the remaining travel canceled by aborting execution of a command A command is aborted by setting the Interrupt A Command bit OW 09 bit 1 to 1 Set the Interrupt A Command bit OW 09 bit 1 to 1 The axis will dece...

Page 150: ...t ting 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 Reference Setting This setting can be changed during operation Setting range 0 to 32767 0 to 327 67 Setting unit 1 0 01 OL 1C Position Reference Set ting Set the target position for positioning The ...

Page 151: ... cuted IW 09 Bit 8 Command Execution Completed Turns ON when EX_POSING 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 Positioning Completed Turns ON when pulse distribution has been completed and the current position is within the Positioning Com...

Page 152: ...IW 0C bit 0 DEN EXT DI_5 ZERO DI_2 or Phase C pulse signal IW 0C bit 1 POSCOMP Latch signal IW 0C bit 2 LCOMP Latch Completed 1 scan Travel distance This position is stored IL 18 OW 08 2 EX_POSING IW 08 2 EX_POSING IW 09 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_P...

Page 153: ... External Positioning EX_POSING 7 14 d Execution when an Alarm Occurs 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 COMPLETE IW 09 bit 3 FAIL IW 0C bit 0 DEN IW 0C bit 1 POSCOMP ...

Page 154: ...e Page 0 DEC1 Phase C Applies a 3 step deceleration method using the deceleration limit switch and phase C pulse DEC1 signal DI_5 or OW 05 bit 8 7 21 1 ZERO signal Uses the ZERO signal ZERO signal DI_2 7 22 2 DEC1 ZERO signals Applies a 3 step deceleration method using the deceleration limit switch and ZERO signal DEC1 signal DI_5 or OW 05 bit 8 ZERO signal DI_2 7 23 3 Phase C Uses the phase C pul...

Page 155: ...zero point signal for zero point return 1 2 4 and 5 HOME LS Valid Used as the deceleration limit switch LS signal for zero point return 14 Used as the zero point signal for zero point return 15 P OT General purpose DI_3 pin No 14 Invalid Invalid Used as the deceleration limit switch LS signal for zero point return 12 Used as the deceleration limit switch LS signal and the zero point signal for zer...

Page 156: ...o point return operation will start IW 08 will be 3 during the operation IB 0C bit5 will turn ON when the axis reaches the zero point and zero point return has been completed 5 Set OW 08 to 0 to execute the NOP motion command and then complete the zero point return operation 4 Holding Holding execution is not possible during zero point return operation The Holds A Command bit OW 09 bit 0 is ignore...

Page 157: ...r 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 Turns ON during ZRET command execution Turns OFF when command execution has been completed IW 09 Bit 1 Command Hold Completed Always OF...

Page 158: ...COMPLETE 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 159: ... Zero Point Return ZRET 7 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 160: ...on Select the signal to be used as DEC1 0 OW 05 bit 8 1 DI_5 OW 05 Bit 8 Zero Point Return Deceleration LS Signal DEC1 Used to input DEC1 signal from the ladder program when the bit 0 of fixed parameter No 21 is 0 OW 09 Bit 3 Zero Point Return Direction Selection Set the zero point return direction 0 Reverse rotation default 1 Forward rotation OL 10 Speed Reference Setting Set the speed to use whe...

Page 161: ...ame Setting OW 3C Zero Point Return Method 1 ZERO Signal Method OW 09 Bit 3 Zero Point Return Direction Selection Set the zero point return direction 0 Reverse rotation default 1 Forward rotation 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 detecting ...

Page 162: ... the ladder program when the bit 0 of fixed parameter No 21 is 0 OW 09 Bit 3 Zero Point Return Direction Selection Set the zero point return direction 0 Reverse rotation default 1 Forward rotation 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 Zer...

Page 163: ... Name Setting OW 09 Bit 3 Zero Point Return Direction Selection Set the zero point return direction 0 Reverse rotation default 1 Forward rotation OW 3C Zero Point Return Method 3 Phase C Method 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 detecting th...

Page 164: ...g parameter OL 3E 4 When the rising edge of the DEC2 signal is detected the axis decelerates to a stop 5 After decelerating to a stop the axis travels in the forward direction at the Creep Rate setting parame ter OL 40 6 After the falling edge of the DEC2 signal is detected the position is latched when the rising edge of the ZERO signal is detected 7 The axis moves from the latched position by the...

Page 165: ... of the DEC2 signal is detected the position is latched when the rising edge of the ZERO signal is detected 5 The axis moves from the latched position by the distance set in the Zero Point Return Travel Distance setting parameter OL 42 and stops The machine coordinate system is established with this final position as the zero point If an OT signal is detected during zero point return operation an ...

Page 166: ... bit 0 of fixed parameter No 21 is 0 0 OFF 1 ON 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 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 T...

Page 167: ...rection at the Creep Rate setting param eter OL 40 6 After the falling edge of the DEC1 signal is detected the position is latched when the rising edge of the ZERO signal is detected 7 The axis moves from the latched position by the distance set in the Zero Point Return Travel Distance setting parameter OL 42 and stops The machine coordinate system is established with this final position as the ze...

Page 168: ...fter decelerating to a stop the axis travels in the forward direction at the Creep Rate setting parame ter OL 40 8 After the falling edge of the DEC1 signal is detected the position is latched when the rising edge of the ZERO signal is detected 9 The axis moves from the latched position by the distance set in the Zero Point Return Travel Distance setting parameter OL 42 and stops The machine coord...

Page 169: ...edge of the ZERO signal is detected 5 The axis moves from the latched position by the distance set in the Zero Point Return Travel Distance setting parameter OL 42 and stops The machine coordinate system is established with this final position as the zero point If an OT signal is detected during the zero point return operation an OT alarm will occur Zero Point Return Travel Distance Region A Regio...

Page 170: ...e rising edge of the ZERO signal is detected 5 The axis moves from the latched position by the distance set in the Zero Point Return Travel Distance setting parameter OL 42 and stops The machine coordinate system is established with this final position as the zero point If an OT signal is detected during the zero point return operation an OT alarm will occur Zero Point Return Travel Distance Regio...

Page 171: ...edge of the ZERO signal is detected 5 The axis moves from the latched position by the distance set in the Zero Point Return Travel Distance setting parameter OL 42 and stops The machine coordinate system is established with this final position as the zero point If an OT signal is detected during the zero point return operation an OT alarm will occur Zero Point Return Travel Distance Region A Regio...

Page 172: ...bit 0 of fixed parameter No 21 is 0 0 OFF 1 ON 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 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 Th...

Page 173: ...OL 3E 4 When the rising edge of the DEC2 signal is detected the axis decelerates to a stop 5 After decelerating to a stop the axis travels in the forward direction at the Creep Rate setting parame ter OL 40 6 After the falling edge of the DEC2 signal is detected the position is latched when the rising edge of the first phase C pulse is detected 7 The axis moves from the latched position by the dis...

Page 174: ...ng edge of the DEC2 signal is detected the position is latched when the rising edge of the first phase C pulse is detected 5 The axis moves from the latched position by the distance set in the Zero Point Return Travel Distance setting parameter OL 42 and stops The machine coordinate system is established with this final position as the zero point If an OT signal is detected during the zero point r...

Page 175: ... of fixed parameter No 21 is 0 0 OFF 1 ON 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 Zero Point Return speed to be changed without changing the Speed Reference OL 10 Set the speed as a percentage of the Speed Reference Setting This setting can...

Page 176: ...is detected the axis decelerates to a stop 5 After decelerating to a stop the axis travels in the forward direction at the Creep Rate setting parame ter OL 40 6 After the falling edge of the DEC1 signal is detected the position is latched when the rising edge of the first phase C pulse is detected 7 The axis moves from the latched position by the distance set in the Zero Point Return Travel Distan...

Page 177: ...ng to a stop the axis travels in the forward direction at the Creep Rate setting parame ter OL 40 8 After the falling edge of the DEC1 signal is detected the position is latched when the rising edge of the first phase C pulse is detected 9 The axis moves from the latched position by the distance set in the Zero Point Return Travel Distance setting parameter OL 42 and stops The machine coordinate s...

Page 178: ...ing edge of the first phase C pulse is detected 5 The axis moves from the latched position by the distance set in the Zero Point Return Travel Distance setting parameter OL 42 and stops The machine coordinate system is established with this final position as the zero point If an OT signal is detected during the zero point return operation an OT alarm will occur Zero Point Return Travel Distance Re...

Page 179: ...of the first phase C pulse is detected 5 The axis moves from the latched position by the distance set in the Zero Point Return Travel Distance setting parameter OL 42 and stops The machine coordinate system is established with this final position as the zero point If an OT signal is detected during the zero point return operation an OT alarm will occur Zero Point Return Travel Distance Region A Re...

Page 180: ...ing edge of the first phase C pulse is detected 5 The axis moves from the latched position by the distance set in the Zero Point Return Travel Distance setting parameter OL 42 and stops The machine coordinate system is established with this final position as the zero point If an OT signal is detected during the zero point return operation an OT alarm will occur Zero Point Return Travel Distance Re...

Page 181: ...ed parameter No 21 is 0 0 OFF 1 ON 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 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 c...

Page 182: ...ravel Distance The posi tioning speed is set in the Speed Reference Setting If an OT signal is detected during creep speed operation an OT alarm will not occur the direction will be reversed and a search will be made for the phase C pulse If an OT signal is detected during positioning speed operation an OT alarm will occur OT Signal Detected during Creep Speed Operation The stopping method when th...

Page 183: ...for OL 10 Speed Reference Setting and OL 40 Creep Rate 0 Reference unit s 1 10n reference units min 2 Percentage of rated speed 1 0 01 3 Percentage of rated speed 1 0 0001 OL 10 Speed Reference Setting Set the positioning speed to use after detecting the phase C pulse The sign is ignored The travel direction will depend on the sign of the Zero Point Return Travel Distance Setting to 0 or a negativ...

Page 184: ...ame Setting OW 03 Bits 0 to 3 Speed Unit Selection Select the setting unit for OL 10 Speed Reference Setting OL 3E Approach Speed and OL 40 Creep Rate 0 Reference unit s 1 10n reference units min 2 Percentage of rated speed 1 0 01 3 Percentage of rated speed 1 0 0001 OL 10 Speed Reference Setting Set the positioning speed to use after detecting the phase C pulse The sign is ignored The travel dire...

Page 185: ...ign of the Zero Point Return Travel Distance Setting to 0 or a negative value will result in an error OW 18 Override This parameter allows the travel speed to be changed without changing the Speed Reference OL 10 The setting can be changed during operation moving Setting range 0 to 32767 0 to 327 67 Setting unit 1 0 01 OW 3C Zero Point Return Method 13 P OT Only Method OL 3E Approach Speed Set the...

Page 186: ... is detected is set in the Zero Point Return Travel Distance The posi tioning speed is set in the Speed Reference Setting 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 creep speed and positioning speed operation an OT alarm will occur Detecting the O...

Page 187: ... after detecting the phase C pulse The sign is ignored The travel direction will depend on the sign of the Zero Point Return Travel Distance Setting to 0 or a negative value will result in an error OW 18 Override This parameter allows the travel speed to be changed without changing the Speed Reference Setting OL 10 The setting can be changed during operation Setting range 0 to 32767 0 to 327 67 Se...

Page 188: ...urn Travel Dis tance The positioning speed is set in the Speed Reference Setting If an OT signal is detected during creep 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 Creep Speed Movement The stopping method whe...

Page 189: ...speed 1 0 0001 OL 10 Speed Reference Setting Set the positioning speed to use after detecting the HOME signal The sign is ignored The travel direction will depend on the sign of the Zero Point Return Travel Distance Setting to 0 or a negative value will result in an error OW 18 Override This parameter allows the travel speed to be changed without changing the Speed Reference Setting OL 10 The sett...

Page 190: ... Setting OL 3E Approach Speed and OL 40 Creep Rate 0 Reference unit s 1 10n reference units min 2 Percentage of rated speed 1 0 01 3 Percentage of rated speed 1 0 0001 OL 10 Speed Reference Setting Set the positioning speed to use after detecting a phase C pulse The sign is ignored The travel direction will depend on the sign of the Zero Point Return Travel Distance Setting to 0 or a negative valu...

Page 191: ...ompleted The stopping method when the OT signal is detected depends on the setting of SERVOPACK parameters Parameters to be Set Parameter Name Setting OW 03 Bits 0 to 3 Speed Unit Selection Select the setting unit for OL 10 Speed Reference Setting and OL 3E Approach Speed 0 Reference unit s 1 10n reference units min 2 Percentage of rated speed 1 0 01 3 Percentage of rated speed 1 0 0001 OL 10 Spee...

Page 192: ...he Zero Point Return Travel Distance The posi tioning 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 INPUT signal If an OT signal is detected during creep speed or positioning speed operation an OT alarm will occur Detecting the OT Signal during Appro...

Page 193: ...Zero Point Return Travel Distance Setting to 0 or a negative value will result in an error OW 18 Override This parameter allows the travel speed to be changed without changing the Speed Reference Setting OL 10 The setting can be changed during operation Setting range 0 to 32767 0 to 327 67 Setting unit 1 0 01 OW 3C Zero Point Return Method 18 INPUT Phase C Pulse Method OL 3E Approach Speed Set the...

Page 194: ... OT alarm will occur The INPUT signal is allocated to the motion setting parameter OW 05 bit B allowing the zero point return opera tion to be performed without actually wiring a signal This method can thus be used to temporarily set the zero point during trial operation Detecting the rising edge of the INPUT signal is performed using software processing The position where position ing is complete...

Page 195: ...signal The sign is ignored The travel direction will depend on the sign of the Zero Point Return Travel Distance Setting to 0 or a negative value will result in an error OW 18 Override This parameter allows the travel speed to be changed without changing the Speed Reference Setting OL 10 The setting can be changed during operation Setting range 0 to 32767 0 to 327 67 Setting unit 1 0 01 OW 3C Zero...

Page 196: ...gh speed scan Set the target position to be refreshed in OL 1C Position Reference Setting When the axis reaches the target position the bit 1 of IW 0C turns ON and the positioning is completed 4 Set OW 08 to 0 to execute the NOP motion command to complete the positioning operation 2 Holding and Aborting The axis will decelerate to a stop if there is no change in the target position each high speed...

Page 197: ...pleted for the command IW 0C bit 0 is ON Parameter Name Monitor Contents IW 00 Bit 1 Running At Servo ON Indicates the Servo ON status ON Power supplied to Servomotor OFF 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 ...

Page 198: ...TE 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 199: ... refreshed every high speed scan Set the target position to be refreshed in OL 1C Posi tion Reference Setting When the latch signal turns ON the current position is latched and stored in IL 18 When the axis reaches the target position the bit 1 of IW 0C turns ON and the positioning is completed 4 Set OW 08 to 0 to execute the NOP motion command and then complete the positioning operation 2 Holding...

Page 200: ...ter Name Monitor Contents IW 00 Bit 1 Running At Servo ON Indicates the Servo ON status ON Power supplied to Servomotor OFF 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 any alarms that have occurred during execution The response code is 6 during LATCH command operation IW 09 Bit...

Page 201: ...or Contents OW 08 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 EXT DI_5 ZERO DI_2 or phase C pulse 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 ...

Page 202: ...ype Selection OW 03 bits 8 to B The speed reference can be changed during operation 3 Set OW 08 to 7 to execute the FEED motion command JOG operation will start IW 08 will be 7 during the execution 4 Set OW 08 to 0 to execute the NOP motion command IW 0C bit 1 turns ON and the JOG operation has been completed 2 Holding Holding execution is not possible during FEED command execution The Holds A Com...

Page 203: ...tion Set the travel direction for JOG operation 0 Positive direction 1 Negative direction OL 10 Speed Reference Setting Specify the speed for the positioning This setting can be changed during operation The unit depends on the Function Setting 1 OW 03 bits 0 to 3 OW 18 Override This parameter allows the feed speed to be changed without changing the Speed Refer ence OL 10 Set the speed as a percent...

Page 204: ...mmand execution 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 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 distribution has...

Page 205: ...n Aborted c Execution when an Alarm Occurs 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 206: ...positioning has been completed 4 Set OW 08 to 0 to execute the NOP motion command and then complete the STEP operation 2 Holding Axis travel can be stopped during command execution and then the remaining travel can be restarted A command is held by setting the Holds A Command OW 09 bit 0 to 1 Set the Holds A Command bit OW 09 bit 0 to 1 The axis will decelerate to a stop When the axis has stopped ...

Page 207: ...n Set the travel direction for STEP operation 0 Positive direction 1 Negative direction OW 09 Bit 5 Position Reference Type Select the type of position reference 0 Incremental addition mode 1 Absolute mode Set this bit before setting the Motion Command OW 08 to 8 OL 10 Speed Reference Setting Specify the speed for the positioning This setting can be changed during operation The unit depends on the...

Page 208: ...or occurs during STEP command execution The axis will decelerate to a stop if it is moving Turns OFF when another command is exe cuted IW 09 Bit 8 Command Execution 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 Posit...

Page 209: ...W 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 IW 0C bit 0 DEN ...

Page 210: ... Confirmation Method 1 There are no alarms IL 04 is 0 2 Motion command execution has been completed IW 08 is 0 and IW 09 bit 0 is OFF Parameter Name Setting OW 08 Motion Command Set to 9 for ZSET command OW 09 Bit 0 Holds A Command This parameter is ignored for ZSET command OW 09 Bit 1 Interrupt A Command This parameter is ignored for ZSET command OL 48 Zero Point Position in Machine Coordinate Sy...

Page 211: ...7 2 Motion Command Details 7 2 8 Zero Point Setting ZSET 7 72 4 Timing Charts a Normal Execution OW 08 9 ZSET IW 08 9 ZSET IW 09 bit 0 BUSY IW 09 bit 8 COMPLETE IW 0C bit 5 ZRNC IW 09 bit 3 FAIL ...

Page 212: ... the Servo is OFF Position management using the position feedback is possible during operation with speed control mode 4 Execute another motion command to cancel the speed control mode 2 Holding Axis travel can be stopped during command execution and then the remaining travel can be restarted A command is held by setting the Holds A Command bit OW 09 bit 0 to 1 Set the Holds A Command bit OW 09 bi...

Page 213: ...9 Bit 0 Holds A Command The axis will decelerate to a stop if this bit is set to 1 during speed command opera tion The operation will restart if this bit is set to 0 while the command is being held OW 09 Bit 1 Interrupt A Command The axis will decelerate to a stop if this bit is set to 1 during operation OL 10 Speed Reference Setting Specify the speed This setting can be changed during operation T...

Page 214: ...axis will decelerate to a stop if it is operating Turns OFF when another command 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 completed a...

Page 215: ...O 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 IW 08 IW 09 bit 0 BUSY IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL IW 0C bit 0 DEN Speed control mode Position control ...

Page 216: ...K 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 mode 4 Execute another motion command to cancel the torque control mode 2 Holding Axis travel can be stopped during command execution and then the remaining travel can b...

Page 217: ... ON Turn the power to the Servomotor ON and OFF 1 Power ON to Servomotor 0 Power OFF to Servomotor Motor will start to rotate when the Servo is turned ON after switching to Torque Control Mode OW 03 Function Setting 1 Set the unit for torque reference OW 08 Motion Command The mode is changed to torque control mode when this parameter is set to 24 OW 09 Bit 0 Holds A Command The axis will stop if t...

Page 218: ...celerate to a stop if it is operating Turns OFF when another command is executed IW 09 Bit 8 Command Execution Completed Always OFF for TRQ 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 completed and the curren...

Page 219: ...0 BUSY IW 09 bit 8 COMPLETE IW 09 bit 3 FAIL IW 0C bit 0 DEN IW 0C bit 0 DEN 1 scan OW 09 bit 0 HOLD Torque control mode Position control mode OW 08 24 TRQ IW 08 24 TRQ IW 09 bit 0 BUSY IW 09 bit 3 FAIL IW 09 bit 1 HOLDL IW 09 bit 8 COMPLETE Speed control mode Alarm IW 0C bit 1 POSCOMP 1 scan Torque control mode Position control mode Speed control mode Undefined length of time OW 08 24 TRQ IW 08 2...

Page 220: ...el the phase control mode 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 When the motion command is changed from PHASE to NOP during execution of PHASE command the axis will decelerate to a stop in the speed control mode Once the axis stops the control mode will change from the speed control mode to the position control mode No...

Page 221: ...Set the number of pulses for phase compensation in pulses when an electronic shaft is being used Use the incremental addition mode to calculate the cam pattern target position when an electronic cam is being used OW 31 Speed Compensation Set the speed feed forward gain as a percentage of the rated speed The setting units for this parameter is 0 01 fixed OL 38 Straight Line Deceleration Deceleratio...

Page 222: ... the NEAR Position Setting even if pulse distribution has not been completed OFF in all other cases cont d Parameter Name Monitor Contents 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 IW 0C bit 1 POSCOMP Undefined length of time 1 scan The speed reference value is automatically refreshed every scan Position control mode Phase control mode Und...

Page 223: ... 7 84 c Execution when an Alarm Occurs 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 Position control mode Phase control mode Speed control mode ...

Page 224: ...ted COMPLETE is not defined Parameter Name Setting Contents OW 0A Motion Subcommand Set to 0 to specify no command NOP Parameter Name Monitoring Contents 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 Execution Flag Turns ON during NOP command execution Turns OFF when execution has...

Page 225: ... Parameters b Monitoring Parameters 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 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 read Parameter Name Monitor...

Page 226: ...mmands 3 Timing Charts a Normal End b Error End OW 0A 5 FIXPRM_RD IW 0A 5 FIXPRM_RD IW 0B bit 0 BUSY IL 56 Undefined Monitoring result IW 0B bit 8 COMPLETE IW 0B bit 3 FAIL OW 0A 5 FIXPRM_RD IW 0A 5 FIXPRM_RD IW 0B bit 0 BUSY IL 56 Undefined IW 0B bit 8 COMPLETE IW 0B bit 3 FAIL ...

Page 227: ...mmands 8 2 8 1 1 Switching Between Motion Commands 8 2 8 1 2 Switching from POSING 8 3 8 1 3 Switching from EX_POSING 8 7 8 1 4 Switching from ZRET 8 11 8 1 5 Switching from INTERPOLATE 8 13 8 1 6 Switching from ENDOF_INTERPOLATE or LATCH 8 16 8 1 7 Switching from FEED 8 17 8 1 8 Switching from STEP 8 21 8 1 9 Switching from ZSET 8 24 8 1 10 Switching from VELO 8 25 8 1 11 Switching from TRQ 8 30 ...

Page 228: ...l be decelerated to a stop and the newly set command will be executed The details of motion changes enacted when the command in execution is switched to another command are described in the following sections 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 LATC FEED STEP ZSET VELO TRQ PHAS Switched From Command in Execution 0 NOP 1 POSING 2 EX_POSING 3 ZRET 4...

Page 229: ...dition 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 POSING will switch to ZRET when the axis stops after deceleration POSING Cancelled POSING operation POSING Motion command Motion command response NOP POSING NOP POSING Cancelled POSING operation POSING EX_POSING POSING EX_POSING The speed wi...

Page 230: ...e Accel Decel Filter for INTERPOLATE Command ENDOF_INTER POLATE Same as INTERPOLATE LATCH Same as INTERPOLATE FEED POSING will immediately switch to FEED and the moving amount stored in the accel decel filter will be maintained Switched From Switched To Operation INTERPOLATE POSING POSING Motion command Motion command response INTERPOLATE POSING INTERPOLATE Distribution will start from the state S...

Page 231: ...speed smoothly do not set the filter for VELO command see 2 1 When Using the Accel Decel Filter for VELO Command Switched From Switched To Operation POSING POSING Motion command Motion command response STEP POSING STEP STEP The speed will smoothly change The speed at the time the motion command is switched will increase decrease until it reaches the STEP target speed The accel decel filter will re...

Page 232: ...s because PHASE is a motion command for which the accel decel filter is disabled Switched From Switched To Operation POSING POSING Motion command Motion command response VELO POSING VELO VELO Position control mode Speed control mode Cancelled POSING operation The accel decel filter for POSING command will be cancelled The speed will smoothly change The speed at the time the motion command is switc...

Page 233: ...ition IL 14 DPOS OL 1C OL 1C Incremental value In Absolute Mode OW 09 bit 5 1 OL 1C Target position EX_POSING EX_POSING operation will continue ZRET EX_POSING will switch to ZRET when the axis stops after deceleration EX_POSING Cancelled EX_POSING operation EX_POSING NOP EX_POSING NOP Motion command Motion command response EX_POSING Cancelled EX_POSING operation EX_POSING POSING EX_POSING POSING T...

Page 234: ...er for INTERPOLATE Command ENDOF_INTER POLATE Same as INTERPOLATE LATCH Same as INTERPOLATE FEED EX_POSING will be immediately switch to FEED and the moving amount stored in the accel decel filter will be maintained Switched From Switched To Operation INTERPOLATE EX_POSING Cancelled EX_POSING operation The accel decel filter for EX_POSING command will be cancelled EX_POSING Motion command Motion c...

Page 235: ...n EX_POSING EX_POSING Motion command Motion command response STEP EX_POSING STEP STEP The speed will smoothly change The speed at the time the motion command is switched will increase decrease until it reaches the STEP target speed STEP moving amount Cancelled EX_POSING operation EX_POSING Cancelled EX_POSING operation EX_POSING Motion command Motion command response ZSET EX_POSING ZSET A machine ...

Page 236: ...el filter will be reset to 0 After EX_POSING has switched to PHASE the PHASE command will be executed without accel decel filter This is because PHASE is a motion com mand for which the accel decel filter is disabled Switched From Switched To Operation EX_POSING EX_POSING Motion command Motion command response TRQ EX_POSING TRQ TRQ Position control mode Torque control mode The reference value of t...

Page 237: ...OLATE when the axis stops after deceleration 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 change in the Position Reference Setting OL 1C will be output as soon as the first high speed scan after INTERPOLATE execution starts Do not change...

Page 238: ...ncelled ZRET operation STEP Motion command Motion command response ZRET ZRET ZSET ZRET ZSET Cancelled ZRET operation A machine coordinate system will be established on the base of the position where the axis stops after deceleration Motion command Motion command response Motion command Motion command response ZRET ZRET VELO ZRET VELO Cancelled ZRET operation VELO Position control mode Speed contro...

Page 239: ...ue In Absolute Mode OW 09 bit 5 1 OL 1C Target position EX_POSING Same as POSING ZRET INTERPOLATE will immediately switch to ZRET and the moving amount stored in the accel decel filter will be reset to 0 INTERPOLATE INTERPOLATE operation will continue INTERPOLATE The amount stored in the accel decel filter will be output INTERPOLATE NOP INTERPOLATE NOP Motion command Motion command response INTERP...

Page 240: ...ERPOLATE The reference value of the ENDOF_INTERPOLATE command will be output as it is regardless of the speed at the time the motion command is switched to ENDOF_INTERPOLATE The accel decel filter will remain valid Motion command Motion command response INTERPOLATE INTERPOLATE FEED INTERPOLATE FEED FEED The speed will smoothly change The speed at the time the motion com mand is switched will incre...

Page 241: ...d 2 When Not Using the Accel Decel Filter for VELO Command Switched From Switched To Operation INTERPOLATE INTERPOLATE Motion command Motion command response ZSET INTERPOLATE ZSET The distribution of moving amount stored in the accel decel filter will be cancelled A machine coordinate system will be established on the base of the position where the axis stops after deceleration INTERPOLATE INTERPO...

Page 242: ...will be changed from position control mode to phase control mode The moving amount stored in the accel decel filter will be reset to 0 After INTERPOLATE has switched to PHASE the PHASE command will be executed without the accel decel filter This is because PHASE is a motion command for which the accel decel filter is disabled Switched From Switched To Operation INTERPOLATE INTERPOLATE TRQ INTERPOL...

Page 243: ...n the accel decel will be maintained 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 Target position FEED FEED NOP FEED NOP Motion command Motion command response FEED FEED Motion command Moti...

Page 244: ...stribution will be started from the state Speed 0 see 1 To change the speed smoothly do not set the filter for INTERPOLATE command see 2 1 When Using the Accel Decel Filter for INTERPOLATE Command 2 When Not Using the Accel Decel Filter for INTERPOLATE Command ENDOF_INTER POLATE Same as INTERPOLATE LATCH Same as INTERPOLATE FEED FEED operation will continue Switched From Switched To Operation FEED...

Page 245: ...ed from the state Speed 0 see 1 To change the speed smoothly do not set the filter for VELO command see 2 1 When Using the Accel Decel Filter for VELO Command Switched From Switched To Operation FEED FEED Motion command Motion command response STEP FEED STEP STEP The speed will smoothly change The speed at the time the motion command is switched will increase decrease until it reaches the STEP tar...

Page 246: ...be executed without the accel decel filter This is because PHASE is a motion command for which the accel decel filter is disabled Switched From Switched To Operation FEED FEED Motion command Motion command response VELO FEED VELO VELO Position control mode Speed control mode The speed will smoothly change The speed at the time the motion command is switched will increase decrease until it reaches ...

Page 247: ...e accel decel filter will be maintained 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 Target position STEP STEP NOP STEP NOP Motion command Motion command response STEP STEP POSING STEP POSI...

Page 248: ...tion will be started from the state Speed 0 see 1 To change the speed smoothly do not set the filter for INTERPOLATE command see 2 1 When Using the Accel Decel Filter for INTERPOLATE Command 2 When Not Using the Accel Decel Filter for INTERPOLATE Command ENDOF_INTER POLATE Same as INTERPOLATE LATCH Same as for INTERPOLATE Switched From Switched To Operation STEP STEP Motion command Motion command ...

Page 249: ... Decel Filter for VELO Command Switched From Switched To Operation STEP STEP FEED STEP FEED The speed will smoothly change The speed at the time the motion com mand is switched will increase decrease until it reaches the FEED target speed The accel decel filter will remain valid FEED Motion command Motion command response STEP STEP Motion command Motion command response ZSET STEP ZSET A machine co...

Page 250: ...disabled PHASE STEP will immediately switch to PHASE and the control mode will be changed from position control mode to phase control mode The moving amount stored in the accel decel filter will be reset to 0 After STEP has switched to PHASE the PHASE command will be executed without the accel decel filter This is because PHASE is a motion command for which the accel decel filter is disabled Switc...

Page 251: ...OSING switched from VELO starts its operation with the empty accel decel filter Therefore when the accel decel filter is set for POSING command the speed will not smoothly change and the distribution will be started from the state Speed 0 see 1 To change the speed smoothly do not set the filter for POSING command see 2 1 When Using the Accel Decel Filter for POSING Command 2 When Not Using the Acc...

Page 252: ...ed 0 see 1 To change the speed smoothly do not set the filter for EX_POSING command see 2 1 When Using the Accel Decel Filter for EX_POSING Command 2 When Not Using the Accel Decel Filter for EX_POSING Command ZRET VELO will switch to ZRET when the axis stops after deceleration and the control mode will be changed from speed control mode to position control mode Switched From Switched To Operation...

Page 253: ...ion control mode The moving amount stored in the accel decel filter will be reset to 0 FEED switched from VELO starts its operation with the empty accel decel fil ter Therefore when the accel decel filter is set for FEED command the speed will not smoothly change and the distribution will be started from the state Speed 0 see 1 To change the speed smoothly do not set the filter for FEED command se...

Page 254: ...g the Accel Decel Filter for STEP Command ZSET VELO will switch to ZSET when the axis stops after deceleration VELO VELO operation will continue Switched From Switched To Operation Speed control mode Position control mode VELO VELO Motion command Motion command response STEP VELO STEP STEP Distribution will start from the state Speed 0 since the accel decel filter is empty VELO VELO Motion command...

Page 255: ...de to phase control mode The moving amount stored in the accel decel filter will be reset to 0 After VELO has switched to PHASE the PHASE command will be executed without the accel decel filter This is because PHASE is a motion command for which the accel decel filter is disabled Switched From Switched To Operation VELO VELO TRQ VELO TRQ Speed control mode Torque control mode TRQ The reference val...

Page 256: ...t for POSING command the speed will not smoothly change and the distribution will be started from the state Speed 0 see 1 To change the speed smoothly do not set the filter for POSING command see 2 1 When Using the Accel Decel Filter for POSING Command 2 When Not Using the Accel Decel Filter for POSING Command TRQ Motion command Motion command response NOP TRQ NOP Torque control mode Position cont...

Page 257: ...g the Accel Decel Filter for EX_POSING Command 2 When Not Using the Accel Decel Filter for EX_POSING Command ZRET The axis will decelerate to a stop in speed control mode and the control mode will be changed from speed control mode to position control mode when the axis stops TRQ will switch to ZRET when the axis stops after deceleration Switched From Switched To Operation Distribution will start ...

Page 258: ... as INTERPOLATE FEED TRQ will immediately switch to FEED and the control mode will be changed from torque thrust control mode to position control mode FEED switched from TRQ starts its operation with the empty accel decel filter Therefore when the accel decel filter is set for FEED command the speed will not smoothly change and the distribution will be started from the state Speed 0 see 1 To chang...

Page 259: ... 2 When Not Using the Accel Decel Filter for STEP Command Switched From Switched To Operation TRQ FEED TRQ FEED Torque control mode Position control mode TRQ FEED The speed will smoothly change The speed at the time the motion command is switched will increase decrease until it reaches the FEED target speed The accel decel filter will be cancelled Motion command Motion command response Distributio...

Page 260: ...ilter for VELO Command 2 When Not Using the Accel Decel Filter for VELO Command TRQ TRQ operation will continue Switched From Switched To Operation TRQ TRQ Motion command Motion command response ZSET TRQ ZSET Torque control mode Position control mode Speed control mode A machine coordinate system will be established on the base of the position where the axis stops after deceleration In speed contr...

Page 261: ... will be reset to 0 After TRQ has switched to PHASE the PHASE command will be executed without the accel decel filter This is because PHASE is a motion command for which the accel decel filter is disabled Switched From Switched To Operation TRQ PHASE TRQ PHASE Torque control mode Phase control mode TRQ PHASE The reference value of the PHASE command will be output as it is regardless of the speed a...

Page 262: ... decel filter Therefore when the accel decel filter is set for POSING command the speed will not smoothly change and the distribution will be started from the state Speed 0 see 1 To change the speed smoothly do not set the filter for POSING command see 2 1 When Using the Accel Decel Filter for POSING Command 2 When Not Using the Accel Decel Filter for POSING Command PHASE PHASE Motion command Moti...

Page 263: ...G Command 2 When Not Using the Accel Decel Filter for EX_POSING Command ZRET The axis will decelerate to a stop in speed control mode and the control mode will be changed from speed control mode to position control mode when the axis stops PHASE will switch to ZRET when the axis stops after deceleration Switched From Switched To Operation Distribution will start from the state SPEED 0 since the ac...

Page 264: ... as INTERPOLATE FEED PHASE will immediately switch to FEED and the control mode will be changed from phase control mode to position control mode FEED switched from PHASE starts its operation with the empty accel decel filter Therefore when the accel decel filter is set for FEED command the speed will not smoothly change and the distribution will be started from the state Speed 0 see 1 To change th...

Page 265: ... Not Using the Accel Decel Filter for STEP Command Switched From Switched To Operation PHASE Motion command Motion command response FEED PHASE FEED Phase control mode Position control mode PHASE FEED The speed will smoothly change The speed at the time the motion command is switched will increase decrease until it reaches the FEED target speed The accel decel filter will be cancelled Distribution ...

Page 266: ...el Decel Filter for VELO Command 2 When Not Using the Accel Decel Filter for VELO Command Switched From Switched To Operation PHASE PHASE Motion command Motion command response ZSET PHASE ZSET Phase control mode Position control mode Speed control mode A machine coordinate system will be established on the base of the position where the axis stops after deceleration In speed control mode the axis ...

Page 267: ...e changed from phase control mode to torque thrust control mode PHASE PHASE operation will continue Switched From Switched To Operation PHASE TRQ PHASE TRQ Phase control mode Torque control mode PHASE TRQ The reference value of the TRQ command will be output as it is regardless of the speed at the time the motion command is switched to TRQ Motion command Motion command response ...

Page 268: ...9 1 9 Control Block Diagram 9 Control Block Diagram This chapter explains the SVA 01 Module control block diagram 9 1 SVA 01 Module Control Block Diagram 9 2 ...

Page 269: ...10 Speed Reference Setting OL 36 Straight LineAcceleration Acceleration Time Constant OL 38 Straight Line Deceleration Deceleration Time Constant Step Operation STEP Commands OL 10 Speed Reference Setting OL 36 Straight LineAcceleration Acceleration Time Constant OL 38 Straight Line Deceleration Deceleration Time Constant OL 44 STEP Travel Distance External Positioning EX_POSING Commands OL 10 Spe...

Page 270: ...OSING ZRET INTERPOLATE LATCH FEED STEP OW 12 OW 13 0 Speed Limiter TRQ TRQ Speed Reference Output Monitor IL 20 Torque calculation Analog Torque Reference Output D A Speed calcu lation Analog Speed Reference Output D A Current position calculation Feedback pulse input Speed calculation Moving average Torque calculation Analog Torque Monitor Input A D Analog Speed Monitor Input A D SERVOPACK PI con...

Page 271: ...10 3 1 Parameter Settings for Finite Length Axes 10 6 10 3 2 Detailed Descriptions on Parameter Settings for Finite Length Axes 10 8 10 3 3 Setting the Zero Point for a Finite Length Axis 10 10 10 3 4 Turning ON the Power after Setting the Zero Point of Machine Coordinate System 10 13 10 4 Absolute Position Detection for Infinite Length Axes 10 14 10 4 1 Simple Absolute Infinite Length Position Co...

Page 272: ...nges while the power is OFF The absolute encoder is comprised of a detector that is used to detect absolute position within one rotation and a counter that is used to count the number of rotations After the automatic operation starts the absolute encoder operates in the same way as an incremental encoder 10 1 2 Reading Absolute Data Turn ON the Machine Controller and the SERVOPACK at the same time...

Page 273: ...ined according to the number of bits of servomotor Feedback pulses per motor rotation RP Equation to calculate the absolute position Absolute position P N RP PO 10 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 ...

Page 274: ...r on page A 5 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 Finite Length Axis 10 3 1 Parameter Settings for Finite Length Axes on page 1...

Page 275: ...o the manual for the SERVOPACK for details For details on the procedure for initializing SERVOPACKs refer to Appendix B Initializing the Absolute Encoder on page A 5 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 needs to be initialized to 0 When a...

Page 276: ...10 3 2 Detailed Descriptions on Parameter Settings for Finite Length Axes on page 10 8 Set these parameters carefully If they are not set correctly the cur rent position may not be correct after the power is turned ON Machine damage may occur Fixed Parame ter No Name Setting Range Units Reference Caution 1 bit 0 Axis Selection 0 Finite length axis 1 Infinite length axis 10 3 2 1 22 Pulse Counting ...

Page 277: ...oder Usage 0 Uses absolute encoder as an absolute encoder 1 Uses absolute encoder as an incremental encoder 10 3 2 2 Σ II Series SGDM SGDH Pn000 0 Direction Selection 0 Sets counterclockwise CCW rotation as forward direction 1 Sets clockwise CW rotation as forward direction reverse rota tion mode Pn201 PG Divider 16 to 16384 P Rev 10 3 2 3 Pn205 Multiturn Limit Setting 0 to 65535 Rev 10 3 2 4 Pn00...

Page 278: ...ends on the value of Pn212 PG Dividing Pulse The values shown here are the max val ues that can be set Model Parameter Setting SVA 01 Module 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 Selection 1 Absolute encoder If the above s...

Page 279: ...bit 0 Set the parameters as shown in the following table when using an axis as a finite length axis Number of Bits Fixed Parameter No 36 Number of Pulses per Motor Rotation Fixed Parameter No 22 Pulse Counting Mode Selection 20 262144 6 Pulse A B mode Input pulse multiplier 4 22 1048576 6 Pulse A B mode Input pulse multiplier 4 24 4194304 6 Pulse A B mode Input pulse multiplier 4 If the above sett...

Page 280: ...e position as a standard and IL 16 to make the machine coordinate current position as a standard 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...

Page 281: ... 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 Position in Machine Coordinate System 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 Coordinat...

Page 282: ... 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 IL 10 from the Zero Point Position in Machine Coordinate System Offset OL 48 for the Machine Coordinate System and saves the result in OL 48 after setting the zero point This va...

Page 283: ...y to the SERVOPACK after 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 The offset saved in the M register is stored to OL 48 2 Check the Motion Controller Operation Ready SVCRDY bit Check to see if the Motion Controller Operation R...

Page 284: ...gth Position Control 2 Conditions to Enable the Simple Absolute 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 in...

Page 285: ...0 5 6 5 Criterion 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...

Page 286: ...ese 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 Parameter Fixed Parameter No 1 Bit 0 Axis Selection Fixed Parameter No 1 Bit 9 Simple ABS 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...

Page 287: ...2 Absolute Encoder Usage 0 Uses absolute encoder as an abso lute encoder 1 Uses absolute encoder as an incre mental encoder 10 4 3 1 Σ II Series SGDM SGDH 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 10 4 3 3 Pn201 PG Divider 16 to 16384 P Re...

Page 288: ...max val ues that can be set Model Parameter Setting SVA 01 Module 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 SERVO PACK Parameter Cn 0001 Bit E Encoder Selection 1 Absolute encoder If the above settings are not used correct motion control will not be performe...

Page 289: ... to 65535 when using a Σ II Σ III Σ V or Σ 7 series SERVOPACK for an infinite axis a fixed parameter setting error will occur Number of Bits Fixed Parameter No 36 Number of Pulses per Motor Rotation Fixed Parameter No 22 Pulse Counting Mode Selection 20 262144 6 Pulse A B mode Input pulse multiplier 4 22 1048576 6 Pulse A B mode Input pulse multiplier 4 24 4194304 6 Pulse A B mode Input pulse mult...

Page 290: ... and IL 10 or IL 16 1 Use the IL 10 to make the machine coordinate reference position as a standard and IL 16 to make the machine coordinate current position as a standard 2 The encoder position when the servo power is turned ON is the value that is calculated with the following equation and converted to reference unit Multiturn data Number of encoder pulses initial increment pulses Refer to your ...

Page 291: ...for more details 10 4 5 Turning ON the Power after Setting the Zero Point for Simple Absolute Infinite Length Axes The Zero Point Return Setting Completed bit IW 0C bit 5 will turn OFF when the power supply to the Machine Controller is turned OFF and ON the communication are interrupted by the power OFF to the SERVOPACK or com munication are interrupted in any other reason after the zero point has...

Page 292: ... amount while the power is OFF Terminology Encoder position Absolute encoder position information Multiturn data Number of encoder pulses Initial increment pulses Terminology Pulse Position The position information from the Machine Controller converted to pulses 3 Setting the Zero Point for an Infinite Length Axis without Simple Absolute Positions Parameter Fixed Parameter No 1 Bit 0 Axis Selectio...

Page 293: ...ter 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 becaus...

Page 294: ...eter 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 O...

Page 295: ... number 1 Change the motion parameter register number if the circuit and axis numbers are dif ferent Main Program Absolute system infinite length axis Axis 1 Leading address of toggle buffer MW30000 SVCRDY Operation Ready Position Information SAVE bit Zero Point Setting Completed Flag Motion fixed parameters setting error Toggle Buffer Selection Flag ON for only the first scan after high speed sca...

Page 296: ...ts of the buffer selected by the Toggle Buffer Selection Flag 2 Request ABS Rotary Pos Load bit 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 Completed bit monitoring parameter IW 0C bit 5 will turn ON Monitoring Par...

Page 297: ...lag 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 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 Copy the va...

Page 298: ...ferent Main Program Absolute System Infinite Length Mode Axis Axis 1 Leading address of toggle buffer MW30000 ON for only the first scan after high speed scan is started Servo power reset signal First scan or servo power reset signal Toggle Buffer Enabled Flag Position Data Re setup Request Flag ON Position Data Re setup Request Flag ON SVCRDY Ready to run Position Data Re setup Request Flag ON Ab...

Page 299: ...xecuting order for ladder programs H10 and H11 when an absolute encoder is used for an infinite length axis Main Program Save values in buffer 1 to setting parameters Absolute System Infinite Length Position Control Data Initialization Request Flag ON Position Information SAVE bit Absolute System Infinite Length Position Control Data Initialization Request Flag ON Position Data Re setup Request Fl...

Page 300: ...nections to Σ I Series SGDA SERVOPACK 11 6 11 2 Overtravel Function 11 8 11 2 1 Connections to Σ II Σ III Σ V or Σ 7 Series SGDH SGDS SGDV and SGD7S SERVOPACKs 11 8 11 2 2 Connections to Σ I Series SGDB or SGDA SERVOPACK 11 10 11 2 3 Rotation Direction Selection 11 12 11 3 Software Limit Function 11 13 11 3 1 Parameter Settings 11 13 11 3 2 Software Limit Detection Function 11 13 11 3 3 Axis Stopp...

Page 301: ... the BK contact output signal from the SERVOPACK and a brake power supply The following diagram shows the standard connections Refer to the manual for your SERVO PACK for details 1 The output terminals are allocated using parameter Pn50F 2 A setting of 1 terminal numbers 1 and 2 is selected in the example above 2 Brake control relay contact 3 There are 200 V and 100 V brake power supplies Vertical...

Page 302: ...dard 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 delayed to reduce the movement Parameter Name Unit Setting Range Default Control Mode Pn507 Brake ON Timing when Motor Running min 1 0 to 10000 100 Speed torque positio...

Page 303: ...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 304: ...rning 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 d...

Page 305: ...d OFF 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 SGDA SERVOPACK Servomotor with a brake 1 BK RY 24 V 7 10 BK SG COM 1CN M BK PG 50 mA max...

Page 306: ... 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 10 to 100 50 Speed torque position control Details Cn 15 Speed Level for BK Signal Output when Motor Running Cn 16 Timing ...

Page 307: ...II Σ V or Σ 7 Series SGDH SGDS SGDV and SGD7S SERVOPACKs The following parameters must be set to ensure the overtravel input signals are connected correctly for the overtravel function 1 Overtravel Input Signal Connections Correctly connect the input signals for the overtravel limit switches shown below to the corresponding pins on the SERVOPACK CN1 or 1CN connector P OT When ON CN1 42 is low Forw...

Page 308: ...ohibited when open allowed for 0 V 3 8 Disables the N OT signal Parameter Name Set Value Item Default Pn001 1 Overtravel Stop Mode 0 Recom mended Stops the motor according to Pn001 0 setting dynamic brake or coasting when overtravel is detected 0 1 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 zero cl...

Page 309: ... shown below Connections to SGDB SERVOPACK Connections to SGDA SERVOPACK P OT When ON CN1 42 1CN 16 is low Forward drive enabled Normal operating condition When OFF CN1 42 1CN 16 is high Forward drive disabled Reverse movement possible N OT When ON CN1 43 1CN 17 is low Reverse drive enabled Normal operating condition When OFF CN1 43 1CN 17 is high Reverse drive disabled Forward movement possible F...

Page 310: ...ed Parameter 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 C...

Page 311: ... Rotation Mode Settings for Reverse Rotation Mode Set the SERVOPACK parameter and the SVA 01 Module fixed parameter as shown below to use the servomotor in Reverse Rotation Mode Item Parameter No Description Set Value Factory Setting Parameter For SGDA and SGDB Cn 02 bit 0 Direction Selection 1 Reverse rotation mode 0 Standard mode For SGDH SGDM SGDS SGDV and SGD7S Pn000 0 SVA 01 Module Fixed Para...

Page 312: ...ch the amount of movement exceeds the software limit value will be cleared if Equation 2 is satisfied Conditions The Soft Limit bits fixed parameter No 1 bit 1 and 2 are set to 1 enabled The Zero Point Return Setting Completed bit IL 0C bit 5 is ON The servo is ON A motion command other than Zero Point Return ZRET command is being executed Equation 1 Forward Software Limit MPOS IL 12 OL 6E Stop Di...

Page 313: ...The alarm IL 04 will be cleared 2 Use the FEED or STEP command to return past the software limit Motion Command Stop Operation POSING EX_POSING FEED STEP The axis will start decelerating before the software limit position and stop at the software limit position INTERPOLATE ENDOF_INTERPOLATE LATCH The pulse distribution command will stop executing at the software limit position The Servo will perfo...

Page 314: ... monitoring parameter IL 18 Machine Coordinate System Latch Position Cancelling Latch Request Set the Latch Detection Demand bit setting parameter OW 00 bit 4 to OFF to cancel the latch request Signals Used for Latch DI_5 DI_2 and Phase C signals can be used as a latch signal Use the setting parameter Latch Detection Signal Selec tion OW 04 bits 0 to 3 to select a signal to be used as a latch sign...

Page 315: ...d parameters 11 4 3 Reading Absolute Data Online The ladder program can start reading out the absolute data by setting the Absolute Position Reading Demand bit set ting parameter OW 00 bit 5 to 1 ON The processing required to read out the data will be repeated a maximum of two times including one retry After this process has been completed the Absolute Position Read out Completed bit monitoring pa...

Page 316: ...Type Model Model Number Version Optional module SVA 01 JAPMC MC2300 E Ver 1 05 or later Engineering tool MPE720 Ver 5 CPMC MPE720 Ver 5 42 or later MPE720 Ver 6 CPMC MPE770 Ver 6 08 or later The following restrictions apply when using MPE720 Ver 5 41 or earlier or MPE720 Ver 6 07 or earlier to change a definition created using the MPE720 Ver 5 42 or later or MPE720 Ver 6 08 or later The setting of...

Page 317: ...isables the torque feed forward function Cn 02 bit F Torque reference input selection 0 1 In speed control mode TREF is used as the torque limit CN1 CN2 General purpose input N OT General purpose input P OT SGDA SERVOPACK CN1 SVA 01 Module Setting Monitoring Parameters Input Signals S ON OW 00 bit 0 Servo ON 31 14 OW 5D bit 2 General purpose DO_2 P CON 12 15 IW 58 bit 4 General purpose DI_4 33 N O...

Page 318: ...1 41 input terminal Pn50A 3 P OT signal mapping 2 2 Input signal from CN1 42 input terminal Pn50B 0 N OT signal mapping 3 3 Input signal from CN1 43 input terminal Pn50B 1 ALM RST signal mapping 4 4 Input signal from CN1 44 input terminal Used by SVA 01 system Pn50B 2 P CL signal mapping 5 8 Signal always disabled Pn50B 3 N CL signal mapping 6 8 Signal always disabled Pn50C 0 SPD D signal mapping ...

Page 319: ...ting System Errors 12 6 12 2 1 Outline of 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 Troubleshooting Motion Errors 12 28 12 4 1 Overvi...

Page 320: ...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 321: ... 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 on page 12 26 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 store...

Page 322: ...tatus 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 the CPU will start w...

Page 323: ...ption 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 diagnosti...

Page 324: ...details SW00000 System Service Register SW00030 System Status 12 2 4 1 System Status on page 12 11 SW00050 System Error Status 12 2 4 2 System Error Status on page 12 12 SW00080 User Operation Error Status 12 2 4 3 Ladder Program User Operation Error Status on page 12 13 SW00090 System Service Execution Status 12 2 4 4 System Service Execution Status on page 12 15 SW00110 User Operation Error Stat...

Page 325: ...se 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 2 2 Opening the Module Configuration Window on page 3 4 for details on how to display the Engi neering Manager Window 2 Select View Mode HEX to change the view mode to hexadecimal 3 Input the reg...

Page 326: ... to be accessed 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 Use the following procedure to display the register list 1 Open the Register List Subwindow on MPE720 version 6 The Register List Tab will a...

Page 327: ...ons 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 error Alarm Chec...

Page 328: ...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 329: ...40 bit E Operation Stop Request 0 RUN selection 1 STOP selection SW00040 bit F Run Switch Status at Power ON 0 STOP 1 RUN CPU Error Status SW00041 SW00041 bit 0 Serious Failure 1 WDGE undefined command See SW00050 for details SW00041 bit 1 Reserved by the system SW00041 bit 2 Reserved by the system SW00041 bit 3 Exception Error SW00041 bit 4 to SW00041 bit 7 Reserved by the system SW00041 bit 8 Us...

Page 330: ...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 331: ...r 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 i...

Page 332: ...low 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...

Page 333: ...nition 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 SW0...

Page 334: ...register number Reserved for the system SW00205 Not used SW00206 SW00207 I O Error Status SW00208 to SW00215 MP2100M Machine Controller error status SW00216 to SW00223 Reserved for the system SW00224 to SW00228 SVB 01 Module error status SW00229 to SW00239 Reserved for the system SW00240 to SW00247 Error status of slot 1 of rack 2 Depends on the mounted module and error code SW00248 to SW00255 Err...

Page 335: ...or 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 Erro...

Page 336: ...described below Classification Module Name I O Error Status is Written or Not Remarks CPU Module CPU 01 No Not equipped with external I O interface Motion Module SVA 01 No Use the monitoring parameter to obtain error information SVB 01 Yes Communication Module 217IF 01 No No I O 218IF 01 No No I O 260IF 01 Yes 261IF 01 Yes I O Module LIO 01 Yes LIO 02 Yes LIO 04 Yes Expansion IF Module EXIOIF No N...

Page 337: ... code Station error 1 Subslot No 3 SW00209 Bit No F ST 2 ST 1 Not used Not used SW00211 ST 30 ST 17 ST 16 Not used SW00212 Not used Not used SW00213 Not used Not used SW00214 Not used Not used SW00215 Not used 8 7 0 ST 15 SW00226 Error code I O error 2 Subslot No 1 SW00224 Error code I O error 2 Subslot No 2 SW00225 Not used Not used SW00227 Not used Not used SW00228 Not used Not used SW00229 Not ...

Page 338: ...r at the station n n local station number in slave mode ST 15 SW00233 Error code Station error 1 Subslot No 1 SW00232 ST 2 ST 1 Not used Not used SW00234 ST 30 ST 17 ST 16 Not used SW00235 Not used Not used SW00236 Not used Not used SW00237 Not used Not used SW00238 Not used Not used SW00239 Not used Bit No F 8 7 0 ST 15 SW00241 Error code Station error 1 Subslot No 2 SW00240 ST 0 ST 31 SW00242 ST...

Page 339: ...r of subslots 0001H SW00820 SVB 01 Function Module ID 9115H SW00821 SVB 01 Function Module status SW00822 to SW00823 Reserved by the system EXIOIF Information SW00824 EXIOIF 808FH SW00825 Hardware version BCD 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 ...

Page 340: ...Rack 3 Slot 6 Information SW00944 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 BCD SW00978 Software version BCD SW00979 Number of subslots SW00980 Subslot 1 Function Module I...

Page 341: ...bslot 1 Function Module ID SW00821 Subslot 1 Function Module status SW00822 Subslot 2 Function Module ID SW00823 Subslot 2 Function Module status Rack 1 Slot 2 Information SW00824 to SW00831 Same as above Rack 1 Slot 3 Information SW00832 to SW00839 Same as above Rack 1 Slot 4 Information SW00840 to SW00847 Same as above Rack 1 Slot 5 Information SW00848 to SW00855 Same as above Rack 1 Slot 6 Info...

Page 342: ...Slot 5 Information SW00984 to SW00991 Same as above Rack 3 Slot 6 Information SW00992 to SW00999 Same as above Rack 3 Slot 7 Information SW01000 to SW01007 Same as above Rack 3 Slot 8 Information SW01008 to SW01015 Same as above Rack 3 Slot 9 Information SW01016 to SW01023 Same as above Rack 4 Slot 1 Information SW01024 Module ID SW01025 Hardware version BCD SW01026 Software version BCD SW01027 Nu...

Page 343: ...ription Module Information SW00800 Basic Module C380H SW00801 Reserved by the system SW00802 CPU Software version BCD SW00803 Number of subslots 0004H SW00804 CPU Function Module ID C310H SW00805 CPU Function Module status SW00806 I O Function Module ID 8070H SW00807 I O Function Module status SW00808 SVB Function Module ID 9113H SW00809 SVB Function Module status SW00810 SVR Function Module ID 92...

Page 344: ...W03500 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 SW06325 SW03628 SW03631 SW03634 SW03637 8 SW3207 SW03670 to SW03727 SW03674 SW03677 SW03680 SW03683 SW03686 SW03689 SW03692 SW03695 9 SW3208 SW03728 to SW03785 SW03732 SW03735 SW03738 SW03741 S...

Page 345: ...designation 11h 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 e...

Page 346: ...rm IL 04 monitoring parameters The motion alarms for the SVA 01 Module are shown below Warning IL 02 Bit 1 Set Parameter Error Bit 2 Fixed Parameter Error Parameter Number when Range Over is Generated IW 01 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 Negative Direction Overtravel Bit 3 Positive...

Page 347: ... motion command Overtravel is detected when the overtravel signal in the direction of movement turns OFF Processing when Alarm Occurs The SERVOPACK performs stop processing The stop method and processing after stopping depends on the SERVOPACK parameter settings The Command Error Completed Status in the Motion Command Status IW 09 bit 3 will turn ON Machine Controller Processing The command is can...

Page 348: ...s IW 09 bit 3 will turn ON Error and Cause A move command commands for positioning external positioning STEP operation JOG operation etc was executed when the SERVOPACK was Servo OFF status Correction After clearing the motion command and resetting the alarm turn the SERVOPACK to the Servo ON sta tus Detection Timing Positioning was not completed within the time specified in OW 26 Positioning Comp...

Page 349: ...ction Phase reference Processing when Alarm Occurs The set command will not be executed The Command Error Completed Status in the Motion Command Status IW 09 bit 3 will turn ON Error and Cause A move command was set without executing the ZSET command IW 0C bit 5 is OFF Correction After clearing the motion command and resetting the alarm execute a Zero Point Setting operation Detection Timing Enabl...

Page 350: ...um speed A 0A Encoder Type Mismatch A serial encoder has been mounted that is not sup ported by the Σ II A 10 Overcurrent or Heat Sink Overheat There was an overcurrent in the power transistor The heat sink overheated SGDM A 30 Regeneration Error An error occurred in the regeneration processing cir cuit A 31 Position Error Pulse Overflow The position error pulses exceeded the Overflow limit set in...

Page 351: ...or B Broken The encoder s phase A or phase B is disconnected A c4 Encoder Phase C Broken The encoder s phase C is disconnected A c8 Encoder Clear Error Multiturn Limit Setting Error The absolute encoder s multiturn count could not be cleared or it could not be set properly A c9 Encoder Communication Error Communication could not be established between the Encoder and SERVOPACK A cA Encoder Paramet...

Page 352: ...he capacities of the SERVOPACK and Servomo tor do not match A 051 Unsupported Device Alarm An unsupported device was connected A 070 Motor Type Change Detected The connected motor is a different type of motor from the previously connected motor A 080 Linear Encoder Pitch Setting Error The setting of Pn282 Linear Encoder Pitch has not been changed from the default setting A 0b0 Invalid Servo ON Com...

Page 353: ...osition data was lost A 820 Encoder Checksum Alarm There is an error in the checksum results for encoder memory A 830 Encoder Battery Alarm The battery voltage was lower than the specified level after the control power supply was turned ON A 840 Encoder Data Alarm There is an internal data error in the encoder A 850 Encoder Overspeed The encoder was operating at high speed when the power was turne...

Page 354: ...der Communications Er ror Communications between the encoder and SERVO PACK is not possible A C91 Encoder Communications Po sition Data Acceleration Rate Error An error occurred in calculating the position data of the encoder A C92 Encoder Communications Tim er Error An error occurred in the communications timer between the encoder and SERVOPACK A CA0 Encoder Parameter Error The parameters in the ...

Page 355: ...d in the input timing of the safety function signal A EC8 Gate Drive Error 1 An error occurred in the gate drive circuit A EC9 Gate Drive Error 2 An error occurred in the gate drive circuit A F10 Power Supply Line Open Phase The voltage was low for more than one second for phase R S or T when the main power supply was ON A F50 Servomotor Main Circuit Cable Disconnection The Servomotor did not oper...

Page 356: ...and Calendar A 4 A 3 Program Software Numbers and Remaining Program Memory Capacity A 4 B Initializing the Absolute Encoder A 5 B 1 Σ III Σ V or Σ 7 Series SERVOPACK A 5 B 2 Σ II Series SERVOPACKs A 6 B 3 Σ I Series SERVOPACK A 8 C Fixed Parameter Setting According to Encoder Type and Axis Type A 10 D Terminology A 12 ...

Page 357: ...fter 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 After ...

Page 358: ... s Flicker 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...

Page 359: ... 1 ms Low speed Scan Current Value SW00011 Low speed 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...

Page 360: ...e Train Reference Manual No SIEP S800000 45 AC Servodrive Σ V Series User s Manual Design and Maintenance Linear Motor Analog Voltage and Pulse Train Reference Manual No SIEP S800000 47 Refer to the following manual for information on Σ 7 series SERVOPACKs AC Servo Drive Σ 7S SERVOPACK with Analog Voltage Pulse Train References Product Manual Manual No SIEP S800001 26 Follow the setup procedure be...

Page 361: ...it to be changed and then 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...

Page 362: ...Key several 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 e...

Page 363: ...coder 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 normal wiring and make sure the encoder battery is connected 5 Turn ON the system Rep...

Page 364: ... minutes 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 ...

Page 365: ...YES 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 No 1 bit 9 1 Simple ABS enabled No 1 bit 0 1 Infinite length axis No 1 bit 9 1 Simple ABS enabled No 1 bit 0 1 Infinite length axis No 1 bit 9 0 Simple ABS disabled No 1 bit 0 1 Infinit...

Page 366: ...r is OFF However the ZSET Set Zero Point command 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 encod...

Page 367: ...r zero point return is connected to the Zero Point Return Deceleration signal DEC Absolute Mode One of target position coordinate data setting methods for position control Target position coordinate data is directly set in Absolute Mode Refer to 6 1 4 Position Reference on page 6 5 for details Incremental Addition Mode One of the target position coordinate data setting methods for position control...

Page 368: ...pe Selection on page 6 4 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 Program Manual No ...

Page 369: ...5 46 5 47 command execution 5 46 5 47 command execution completed 5 46 5 47 command hold completed 5 46 command pause 5 29 5 41 communication error mask 5 19 COMPLETE 5 46 5 47 connector pin arrangement 2 11 control block diagram 9 2 controlling vertical axes 11 2 correcting user program errors 12 10 CPOS 5 48 CPOS for 32 bit 5 49 creep speed 5 39 D DEC1 phase C method 7 21 DEC1 ZERO signal method...

Page 370: ...e latch position 5 49 machine coordinate system 5 49 A 12 machine coordinate system position 5 49 machine coordinate target position 5 48 machine lock 5 25 machine lock ON 5 48 5 51 maximum number of absolute encoder turns 5 24 maximum value of rotary counter 5 20 MLKL 5 48 5 51 modal latch function 11 15 mode 1 5 27 modularized position 10 22 modularized position at power OFF lower 2 words 5 42 5...

Page 371: ...and status 5 46 servo OFF 5 45 12 30 servo ON 5 25 servo ready 5 43 servo user monitor 5 41 SERVOPACK connection cables 2 12 SERVOPACK parameter settings 3 10 SGDA 3 10 SGDB 3 11 SGDM SGDH SGDS SGDV and SGD7S 3 12 SERVOPACK parameters for absolute position detection finite length axis 10 7 SERVOPACK parameters for absolute position detection infinite length axis 10 17 SERVOPACK status 5 50 SERVOPA...

Page 372: ...matched with SERVOPACK motor type 5 46 Up Down mode 4 10 V VELO 7 73 W warning 5 44 WDT error mask 5 19 work coordinate system A 13 work coordinate system offset 5 40 Z ZERO 5 47 zero point not set 5 46 12 31 zero point offset 5 40 zero point position 5 47 5 51 zero point return 7 15 zero point return setting completed 5 48 5 51 zero point return final travel distance 5 39 zero point setting 7 71 ...

Page 373: ...sion Address December 2016 4 0 Front cover Revision Format 1 2 3 Revision Information on D A output delay time accuracy and temperature drift and A D input delay time and accuracy 2 1 3 Addition Information on hardware errors 8 Internal power supply error 2 5 Partly revised Back cover Revision Address format March 2015 3 0 Preface 1 2 3 5 6 8 1 10 11 12 4 3 Appendix B 1 Addition Information on Σ 7...

Page 374: ...ion Format 6 1 5 2 Revision The value of fixed parameter No 36 Back cover Revision Address format May 2010 5 5 4 1 10 Revision Description of Example in motion fixed parameter no 24 March 2010 4 1 2 1 Addition Description of input output impedance 2 5 2 2 Addition Remarks of 3 4 2 Revision Description of Back cover Revision Address January 2010 3 5 4 3 12 16 Revision IL 5A IW 5A IL 59 IW 59 Novemb...

Page 375: ... 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 www yaskawa com cn YASKAWA ELECTRIC CHINA CO LTD BEIJING OFFICE Room 1011 Tower W3 Oriental Plaza No 1 East Chang An Avenue Dong Cheng District Beijing 100738 China Phone 86 10 8518 4086 Fax 86 10 8518 4082 YASKAWA ELECTRIC TAIWAN CORPORATION 12F No 207 Section 3...

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