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YASKAWA JUSP-NS115, User Manual

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4  MECHATROLINK-

II

 Communications

4.3.25  Positioning (POSING: 35H)

4-32

4.3.25

Positioning (POSING: 35H)

„

Related Parameters

Byte

POSING

Description

Command

Response

1

35H

35H

Processing 
classifications

Motion command 
group

Synchronization 
classifications

Synchronous

2

ALARM

Processing time

Within communi-
cations cycle

Subcommand

Can be used.

3

OPTION

STATUS

• Performs positioning at the target position (TPOS) using the target speed 

(TSPD).

• Can be used during phases 2 and 3.
• A warning will occur and the command will be ignored in the following cases.

- During phase 1: MECHATROLINK-II command warning (A.95)
- If the SERVOPACK is Servo OFF: MECHATROLINK-II command warning 
  (A.95)
- If the target speed (TSPD) exceeds the limit: Parameter setting warning 
  (A.94)

• OPTION can be selected. Refer to 

4.5.2  Option Field Specifications: OPTION

 

for details.

• The target position (TPOS) is a signed 4 bytes. It is set using an absolute posi-

tion in the reference coordinate system.

• The target speed (TSPD) is an unsigned 4 bytes. It is set using units/s.
• Changes can be made to the target position and target speed during movement.
• Use DEN (output complete) to confirm the completion of position reference 

output.

• The maximum positioning distance referenced by one POSING command is 

2147483647 (7FFFFFFFH).
Execute the POSING command so that  the following equation is satisfied:
Target position (TPOS) 

−

 current position (POS) 

≤

 The maximum positioning 

distance

4

5

TPOS

MONITOR1

6

7

8

9

TSPD

MONITOR2

10

11

12

13

SEL_MON 1/2

SEL_MON 1/2

14

IO_MON

15

16

WDT

RWDT

17

For 
subcommands 
use.  Refer to 

4.4  Subcom-
mands

.

For 
subcommands 
use.  Refer to 

4.4  Subcom-
mands

.

18

19

20

21

22

23

24

25

26

27

28

29

Pn No.

Description

Pn80A

First-step Linear Acceleration Parameter

Pn80B

Second-step Linear Acceleration Parameter

Pn80C

Acceleration Parameter Switching Speed

Pn80D

First-step Linear Deceleration Parameter

Pn80E

Second-step Linear Deceleration Parameter

Pn80F

Deceleration Parameter Switching Speed

Summary of Contents for JUSP-NS115

Page 1: ...YASKAWA MANUAL NO SIEP C710800 01C YASKAWA MECHATROLINK APPLICATION MODULE USER S MANUAL Series SGDH MODEL JUSP NS115 ...

Page 2: ... liability is assumed with respect to the use of the information contained herein Moreover because Yaskawa is con stantly striving to improve its high quality products the information contained in this 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: ...I Those designing Σ II Series servodrive systems Those installing or wiring Σ II Series servodrives Those performing trial operation or adjustments of Σ II Series servodrives Those maintaining or inspecting Σ II Series servodrives Description of Technical Terms In this manual the following terms are defined as follows Servomotor Σ ΙΙ Series SGMAH SGMPH SGMGH SGMSH or SGMDH servomo tor SERVOPACK Σ ...

Page 4: ...The following aids are used to indicate certain types of information for easier reference Indicates application examples Indicates supplemental information Indicates important information that should be memorized including precautions such as alarm displays to avoid damaging the devices Indicates definitions of difficult terms or terms that have not been previously explained in this manual EXAMPLE...

Page 5: ...omotors and capacities and detailed information on installation wiring trial operation using functions maintenance and inspection Σ ΙΙ Series SGM H SGDM Digital Operator Operation Manual TOE S800 34 Provides detailed information on the opera tion of the JUSP OP02A 2 Digital Opera tor which is an optional product High speed Field Network MECHATROLINK System User s Manual SIE S800 26 1 Provides deta...

Page 6: ... damage to the product or faulty operation Even items described in may result in a vital accident in some situ ations In either case follow these important notes Indicates actions that must never be taken Indicates compulsory actions that must be performed For example this symbol would be used as follows to indicate that grounding is compulsory The warning symbols for ISO and JIS standards are dif...

Page 7: ...products in an environment subject to water corrosive gases inflammable gases or combustibles Doing so may result in electric shock or fire Connect the ground terminal to electrical codes ground resistance 100 Ω or less Improper grounding may result in electric shock or fire CAUTION CAUTION WARNING Do not connect a three phase power supply to the U V or W output terminals Doing so may result in in...

Page 8: ... Before starting operation with a machine connected make sure that an emergency stop can be applied at any time Not doing so may result in injury Do not touch the heat sinks during operation Doing so may result in burns due to high temperatures Never touch the inside of the SERVOPACKs Doing so may result in electric shock Do not remove the panel cover while the power is ON Doing so may result in e...

Page 9: ...s subject to change due to product improvement specification modification and manual improvement When this manual is revised the manual code is updated and the new manual is published as a next edition The edition number appears on the front and back covers If the manual must be ordered due to loss or damage inform your nearest Yaskawa representative or one of the offices listed on the back of thi...

Page 10: ... 3 3 I O Signals 3 6 3 3 1 Connection Example of I O Signal Connector CN1 3 6 3 3 2 I O Signals Connector CN1 3 7 3 3 3 I O Signal Names and Functions 3 8 3 3 4 Interface Circuits 3 9 3 4 Fully Closed Encoder Signals Connector CN4 3 11 3 4 1 Fully Closed Encoder Connection Example 3 11 3 4 2 CN4 Connector Terminal Layout 3 11 3 5 Connections for MECHATROLINK II Communications 3 13 3 5 1 MECHATROLI...

Page 11: ...RD 1BH 4 18 4 3 12 Write Non volatile Parameter PPRM_WR 1CH 4 19 4 3 13 Set Coordinates POS_SET 20H 4 20 4 3 14 Apply Brake BRK_ON 21H 4 21 4 3 15 Release Brake BRK_OFF 22H 4 22 4 3 16 Turn Sensor ON SENS_ON 23H 4 23 4 3 17 Turn Sensor OFF SENS_OFF 24H 4 24 4 3 18 Stop Motion HOLD 25H 4 25 4 3 19 Request Latch Mode LTMOD_ON 28H 4 26 4 3 20 Release Latch Mode LTMOD_OFF 29H 4 27 4 3 21 Status Monito...

Page 12: ...ng 4 62 4 6 1 Command Data Execution Timing 4 62 4 6 2 Monitor Data Input Timing 4 62 4 7 Operation Sequence 4 63 4 7 1 Operation Sequence for Managing Parameters Using a Controller 4 63 4 7 2 Operation Sequence for Managing Parameters Using SERVOPACK 4 64 4 7 3 Operation Sequence When Being Servo ON 4 65 4 7 4 Operation Sequence When OT Overtravel Limit Switch Signal Is Input 4 66 5 Trial Operati...

Page 13: ...27 6 4 Setting Up the SERVOPACK 6 29 6 4 1 Parameters 6 29 6 4 2 Input Circuit Signal Allocation 6 29 6 4 3 Output Circuit Signal Allocation 6 34 6 4 4 Monitoring 6 36 6 5 Setting Stop Functions 6 38 6 5 1 Using the Dynamic Brake 6 38 6 5 2 Using the Holding Brake 6 39 6 6 Absolute Encoders 6 43 6 6 1 Selecting an Absolute Encoder 6 43 6 6 2 Absolute Encoder Setup 6 44 6 6 3 Multiturn Limit Settin...

Page 14: ...Command List A 2 A 2 MECHATROLINK II Command Format List A 5 Appendix B List of Parameters B 1 Parameters B 2 B 2 Function Switches B 9 Appendix C Using the Adjusting Command ADJ 3EH C 1 Autotuning C 2 C 1 1 Online Autotuning C 3 C 1 2 Machine Rigidity Settings for Online Autotuning C 5 C 1 3 Saving Results of Online Autotuning C 7 C 1 4 Parameters Related to Online Autotuning C 9 C 2 Absolute Enc...

Page 15: ...mes This chapter describes the procedure for checking Σ ΙΙ Series products and the NS115 upon delivery It also describes the names of product parts 1 1 Checking Products on Delivery 1 2 1 2 Product Part Names 1 4 1 3 Mounting the NS115 1 5 ...

Page 16: ...rs on the following page Is there any damage Check the overall appearance and check for damage or scratches that may have occurred during shipping Can the NS115 be installed on the SERVOPACK used Check the model number given on the SERVOPACK nameplate and the version seal on the front panel The model number must contain SGDH and E as shown below to support the NS115 Model number MODEL SGDH E The l...

Page 17: ...1 1 Checking Products on Delivery 1 3 1 Model Numbers NS115 JUSP NS11 5 Type of device NS11 MECHATROLINK II interface Design Revision Order SERVOPACK peripheral device ...

Page 18: ...Lit when MECHATROLINK II communications are in progress DIP Switch SW2 Used to set MECHATROLINK II communications Nameplate Indicates the model and serial numbers MECHATROLINK II Communications CN6A and CN6B Connectors Connects to the MECHATROLINK II system CN4 Fully Closed Encoder Signal Connector Used for fully closed signal connection A R NS115 S W 1 S W 2 C N 6 A C N 6 B C N 4 Ground wire Conn...

Page 19: ... Remove the connector cover from the CN10 connector on the SERVOPACK Mounting Type SERVOPACK Models Screw Remarks Base Mounted SGDH A3 to 02BE SGDH A3 to 10AE M3 10 round head screw spring or flat washer Use attached screws on the NS115 SGDH 15 to 50AE SGDH 05 to 30DE M4 10 round head screws spring or flat washer Use attached screws on the NS115 SGDH 60 75AE M4 8 round head screw spring or flat wa...

Page 20: ...point marked G on the SERVOPACK SGDH SERVOPACK YASKAWA SERVOPACK connector CN10 Connector Connect to SERVOPACK NS115 S W 1 A R S W 2 C N 6 A C N 6 B C N 4 MODE SET DATA CHARGE POWER SGDH SERVOPACK YASKAWA NS115 G Ground wire For SERVOPACK 30 W to 5 0 kW NS100 SERVOP ACK 200V SGDH YASKAWA G Ground wire For SERVOPACK 6 0 kW to 7 5 kW ...

Page 21: ...1 3 Mounting the NS115 1 7 1 When the NS115 has been mounted correctly the SERVOPACK will appear as shown in the following diagram YASKAWA SERVOPACK 200V SGDH A R NS115 S W 1 S W 2 C N 6 A C N 6 B C N 4 ...

Page 22: ...oduct installation The SGDH SERVOPACKs are base mounted servo controller Incorrect instal lation will cause problems Always observe the installation precautions shown in this chapter 2 1 Storage Conditions 2 2 2 2 Installation Site 2 2 2 3 Orientation 2 3 2 4 Installation 2 4 ...

Page 23: ...not exceed 55 C Installation Near a Heating Unit Minimize heat radiated from the heating unit as well as any temperature rise caused by natural convection so that the temperature around the SERVOPACK does not exceed 55 C Installation Near a Source of Vibration Install a vibration isolator beneath the SERVOPACK to avoid subject ing it to vibration Installation at a Site Exposed to Corrosive Gas Cor...

Page 24: ...the wall as shown in the figure The SERVOPACK must be oriented this way because it is designed to be cooled by natural convection or cooling fan Secure the SERVOPACK using 2 to 4 mounting holes The number of holes depends on the SERVOPACK capacity Ventilation Wall MADE IN JAPAN ...

Page 25: ...nstallation When installing SERVOPACKs side by side as shown in the figure above provide at least 10 mm 0 39 in between and at least 50 mm 1 97 in above and below each SERVOPACK Install cooling fans above the SERVOPACKs to avoid excessive temperature rise and to maintain even temperature inside the control panel Environmental Conditions in the Control Panel Ambient Temperature 0 to 55 C Humidity 9...

Page 26: ...CN1 3 6 3 3 2 I O Signals Connector CN1 3 7 3 3 3 I O Signal Names and Functions 3 8 3 3 4 Interface Circuits 3 9 3 4 Fully Closed Encoder Signals Connector CN4 3 11 3 4 1 Fully Closed Encoder Connection Example 3 11 3 4 2 CN4 Connector Terminal Layout 3 11 3 5 Connections for MECHATROLINK II Communications 3 13 3 5 1 MECHATROLINK II Communications Connection Example 3 13 3 5 2 MECHATROLINK II Com...

Page 27: ...ring 3 2 3 1 Connecting to Peripheral Devices This section provides examples of standard Σ ΙΙ Series product connections to peripheral devices It also briefly explains how to connect each peripheral device ...

Page 28: ...ller Controller for MECHATROLINK II Power Supply for Brake Used for a servomotor with a brake Digital Operator see note JUSP OP02A 2 Allows the user to set parameters or opera tion references and to display operation or alarm status Communication is also possible with a person al computer Encoder Cable Encoder Connector Regenerative Resistor Connect an external regenerative resistor to terminals B...

Page 29: ...rative Resistor Encoder Cable Encoder Connector Magnetic Contactor HI Series Turns the servo ON and OFF Install a surge suppressor on the magnetic contac tor JUSP OP02A 2 Allows theuser to set parameters or opera tion references and to display operation or alarmstatus Communication is also possible with a person al computer Note Used for maintenance Be sure to coordinate operation from these devic...

Page 30: ...200 to 230 V 50 60Hz 10 15 Noise filter Voltage Sensor Voltage Sensor Relay drive Gate drive Gate drive over current protector Interface Current Sensor Digital Operator personal computer Other station Other station Open during servo alarm Surge suppressor Power ON Power OFF Analog monitor output for supervision Monitor display Analog voltage converter Station No Power supply Fully closed PG Sequen...

Page 31: ...ero point return decel eration LS 3 LS enabled when ON Forward run prohibited Prohibited when OFF Reverse run prohibited Prohibited when OFF External latch 1 3 Latched when ON External latch 2 3 Latched when ON External latch 3 3 Latched when ON Alarm code output Maximum operating voltage 30 VDC Maximumoperating current 20 mA DC Positioning completed ON when positioning has been completed Brake ou...

Page 32: ...put 5 30 S RDY Servo ready output 6 SG GND 31 ALM Servo alarm output 7 32 ALM Servo alarm output 8 33 9 34 10 SG GND 35 11 36 12 37 ALO1 Alarm code output open collec tor output 13 38 ALO2 Alarm code output 14 39 ALO3 15 40 16 41 DEC Zero point return decel eration LS input 17 42 P OT Forwarddrive prohibited input 18 43 N OT Reverse run prohibited input 19 44 EXT1 External latch signal 1 input 20 ...

Page 33: ...s beyond the allowable range of motion EXT1 EXT2 EXT3 44 45 46 External latch signals 1 2 and 3 External signals for latching the current FB pulse counter 24VIN 47 Control power supply input for sequence signals Users must provide the 24 V power supply Allowable voltage fluctuation range 11 to 25 V BAT BAT 21 22 Connecting pin for the absolute encoder backup battery Connect to either CN8 or CN1 Si...

Page 34: ...the host controller that matches one of two types Connecting to an Open collector Output Circuit Alarm code signals are output from open collector transistor output circuits Connect an open collector output circuit through a photocoupler relay or line receiver circuit Note The maximum allowable voltage and current capacities for open col lector output circuits are as follows Voltage 30VDC max Curr...

Page 35: ...nce output signal circuits Connect a photocoupler output circuit through a relay or line receiver circuit Note The maximum allowable voltage and current capacities for photocoupler output circuits are as follows Voltage 30 VDC max Current 50 mA DC max 5 to 24 VDC Relay 5 to 12 VDC 0V 0V 0V 0V SERVOPACK end SERVOPACK end ...

Page 36: ...inal Layout The following diagram shows the CN4 connector terminal layout and connector specifica tions CN4 Connector Terminal Layout Note 1 The connector shell is connected to the FG frame ground 2 Do not use unused terminals as relay terminals External power supply External PG GND A A B B Z Z PG0V FC 17 18 19 14 15 1 2 3 NS115 16 FA FA CN4 FB FB FC 1 PG0 V Signal ground 11 2 PG0 V Signal ground ...

Page 37: ...Connector Terminal Layout 3 12 CN4 Specifications Specifications for SERVOPACK Connectors Applicable Receptacles Soldered Case Manufacturer 10220 52A2JL 20 pin Right Angle Plug 10120 3000VE 10320 52A0 008 SUMITOMO 3M LTD ...

Page 38: ...wing diagram shows an example of connections between a host controller and a SERVOPACK using MECHATROLINK II communications cables CN6A CN6B Note 1 The length of the cable between stations L1 L2 Ln must be 0 5 m or more 2 L1 L2 Ln must be 50 m or less Host controller L1 Ln L2 Terminator DC24V DC 0V MP2300 YASKAWA TEST Option Option RDY ALM TX RUN ERR BAT MON CNFG INT SUP STOP SW1 OFF ON BATTERY CP...

Page 39: ... trans mission bytes When the transmission cycle is 0 5 ms set the communications cycle in multiples of 1 0 ms Note 1 When the number of stations actually connected is less than the number of connectable stations the remaining channels up to 7 can be used as communications retry channels Number of communications retry channels Number of connnectable stations Number of actual stations connected 1 2...

Page 40: ...mmunications Cables and Terminator Cable Length The total cable length must be 50 m or less Cable Length for Stations The length of the cable between stations must be 0 5 m or more Terminal Processing Install a Terminator on the last SERVOPACK and host controller For more information on Terminators refer to 10 2 MECHATROLINK MECHATROLINK II Communications Cables and Terminator ...

Page 41: ...ocoupler Outputs Maximum operating voltage 30 VDC Maximum operating current 50 mA DC output 3 ON when brake is released SGDH E SERVOPACK NS115 To next MECHATROLINK II slave Connect to ground Connector shell Connect shield to connector shell 1 BAT BAT 24 VIN 24 V DEC P OT N OT EXT1 EXT2 EXT3 21 22 47 40 41 42 43 44 46 45 ALO1 ALO2 ALO3 SG 37 38 39 1 FG 3 3kΩ CN1 U V W CN2 CN4 CN6A CN6B L1 L2 L1C L2...

Page 42: ...hen using an absolute encoder connect a backup battery only when there is no battery con nected to the CN8 3 Make signal allocations using parameters Refer to 6 1 2 Standard Settings for CN1 I O Sig nals 4 Connect the ground wire of the NS115 to the marked G on the SERVOPACK Refer to 1 3 Mounting the NS115 ...

Page 43: ...LO1 ALO2 ALO3 SG 37 38 39 1 FG 3 3kΩ CN1 U V W CN2 CN4 CN6A CN6B L1 L2 L3 L1C L2C 1 2 1MC B1 B2 B3 1MC A 1 B 2 C 3 D 4 S S 2 SH SH S 3 4 S 3 4 2 COIN COIN 25 26 BK BK 27 28 ALM ALM 31 32 S RDY S RDY 29 30 G 5 Three phase 200 to 230 VAC 50 60Hz 10 15 M PG PG SGDH E SERVOPACK 3 NS115 Fully closed PG power supply Connector shell Connect shield to connector shell Fully closed speed and position detect...

Page 44: ...en there is no battery con nected to the CN8 3 Connect an external regenerative resistor between terminals B1 and B2 for SERVOPACKs with a capacity of 6 0 kW or higher 4 Make signal allocations using parameters Refer to 6 1 2 Standard Settings for CN1 I O Sig nals 5 Connect the ground wire of the NS115 to the marked G on the SERVOPACK Refer to 1 3 Mounting the NS115 ...

Page 45: ... ID ID_RD 03H 4 11 4 3 5 Set Up Device CONFIG 04H 4 12 4 3 6 Read Alarm or Warning ALM_RD 05H 4 13 4 3 7 Clear Alarm Warning ALM_CLR 06H 4 14 4 3 8 Start Synchronous Communications SYNC_SET 0DH 4 15 4 3 9 MECHATROLINK II Connection CONNECT 0EH 4 16 4 3 10 Disconnection DISCONNECT 0FH 4 17 4 3 11 Read Non volatile Parameter PPRM_RD 1BH 4 18 4 3 12 Write Non volatile Parameter PPRM_WR 1CH 4 19 4 3 1...

Page 46: ...4 4 5 Write Non volatile Parameter PPRM_WR 1CH 4 52 4 4 6 Request Latch Mode LTMOD_ON 28H 4 53 4 4 7 Release Latch Mode LTMOD_OFF 29H 4 53 4 4 8 Status Monitoring SMON 30H 4 54 4 5 Command Data Field 4 55 4 5 1 Latch Signal Field Specifications LT_SGN 4 55 4 5 2 Option Field Specifications OPTION 4 56 4 5 3 Status Field Specifications STATUS 4 57 4 5 4 Monitor Selection and Monitor Information Fie...

Page 47: ...er to the following manuals MECHATROLINK System User s Manual SIE S800 26 1 MECHATROLINK Servo Command User s Manual SIE S800 26 2 4 1 2 System Configuration The following illustration shows system configuration Refer to 3 5 3 Precautions for Wir ing MECHATROLINK II Cables for the number of stations possible to be connected Fig 4 1 System Configuration Host controller SERVOPACK M Servomotor SERVOP...

Page 48: ... been changed are enabled when the power is turned OFF and ON 1 When connecting to a MECHATROLINK network set bits 1 and 2 to OFF 2 Baud rate 4 Mbps transmission bytes 30 bit 1 OFF bit 2 ON cannot be used SW2 Item Setting Description Factory Setting Bit 1 Baud rate OFF 4 Mbps ON ON 10 Mbps Bit 2 Transmission bytes OFF 17 bytes ON ON 30 bytes Bit 3 Station address OFF Station address 40H SW1 OFF ON...

Page 49: ...nectable stations the remaining channels up to 7 can be used as communications retry channels Number of communications retry channels Number of connnectable stations Number of actual stations connected 1 2 When not using communications retry the number of connnectable stations is the number in Table 4 1 increased by one 3 Connect a repeater for more than 16 stations Table 4 1 Number of Connectable...

Page 50: ...d ON The factory setting for the station address is 41H SW2 bit 3 OFF SW1 1 Table 4 2 Station Address Settings Bit 3 of SW2 SW1 Station Address Bit 3 of SW2 SW1 Station Address OFF 0 Disabled ON 0 50H OFF 1 41H ON 1 51H OFF 2 42H ON 2 52H OFF 3 43H ON 3 53H OFF 4 44H ON 4 54H OFF 5 45H ON 5 55H OFF 6 46H ON 6 56H OFF 7 47H ON 7 57H OFF 8 48H ON 8 58H OFF 9 49H ON 9 59H OFF A 4AH ON A 5AH OFF B 4BH...

Page 51: ...ommand specific items that are unique to the NS115 The MECHATROLINK II main commands are upwardly compatible with the MECHATROLINK commands They use the first to the sixteenth bytes of the command and response data 03H is set in command byte 0 and 01H is returned to response byte 0 ...

Page 52: ...bcommand Can be used 3 STATUS Returns the status of the ALM WARNG and CMDRDY in STATUS bytes only All other bits are not used The response will be NOP when the power is turned ON until initialization has been completed and during this time the following status will be returned CMDRDY 0 Can be used during any phase 4 5 6 7 8 9 10 11 12 13 14 15 16 WDT RWDT 17 For subcommands use Refer to 4 4 Subcom...

Page 53: ... command will be ignored in the following cases If a warning occurs PARAMETER will not be dependable If a digital operator is connected MECHATROLINK II command warning A 95 If SigmaWin and so on are connected MECHATROLINK II command warning A 95 If NO is not within range Parameter setting warning A 94 If SIZE does not match Parameter setting warning A 94 If communications are in progress with a Di...

Page 54: ...ing cases During phases other than phases 2 and 3 MECHATROLINK II command warning A 95 If a digital operator is connected MECHATROLINK II command warning A 95 If SigmaWin and so on are connected MECHATROLINK II command warning A 95 If NO is not within range Parameter setting warning A 94 If SIZE does not match Parameter setting warning A 94 If PARAMETER is not within range or would result in a cal...

Page 55: ... The corresponding DEVICE_COD is shown in the table on the following page Can be used during phases 2 and 3 A warning will occur and the command will be ignored in the following cases If a digital operator is connected MECHATROLINK II command warning A 95 If SigmaWin and so on are connected MECHATROLINK II command warning A 95 If SIZE 1 to 8 does not match Parameter setting warning A 94 If communi...

Page 56: ... will be ignored in the following cases During phase 1 MECHATROLINK II command warning A 95 If a digital operator is connected MECHATROLINK II command warning A 95 If SigmaWin and so on are connected MECHATROLINK II command warning A 95 The following table shows status and output signal during CONFIG command execution If communications are in progress with a Digital Operator a command warn ing A E...

Page 57: ...llowing table The latest error and warning information is contained from byte 6 onwards of the ALM_DATA When there are no errors or warnings the remaining bytes are normal 99H A warning will occur and the command will be ignored in the following cases If a digital operator is connected MECHATROLINK II command warning A 95 If SigmaWin and so on are connected MECHATROLINK II command warning A 95 If ...

Page 58: ...rning status Alarm status history warning history is not preserved Can be used during any phase The ALM_CLR_MOD specifications are shown in the following table A warning will occur and the command will be ignored in the following cases During phases other than phases 2 and 3 MECHATROLINK II command warning A 95 If a digital operator is connected MECHATROLINK II command warning A 95 If SigmaWin and...

Page 59: ...anging edge However if WDT errors are being masked by parameter Pn800 0 processing is completed when this command is received During phase 1 a MECHATROLINK II command warning A 95 will occur and the command will be ignored During phase 3 the command will be ignored without a warning The SERVOPACK will change to Servo OFF if this command is received when the SERVOPACK is Servo ON during phase 2 The...

Page 60: ...s COM_TIM 32 ms Set the multiple number of 1 ms A warning will occur and the command will be ignored in the following cases If COM_MOD is not within range Parameter setting warning A 94 If COM_TIM is not within range Parameter setting warning A 94 If the transmission bytes is 17 and SUBCMD is 1 Parameter setting warning A 94 4 5 VER VER 6 COM_MOD COM_MOD 7 COM_TIM COM_TIM 8 9 10 11 12 13 14 15 16 ...

Page 61: ... time Communications cycle or more Subcommand Cannot be used 3 STATUS Releases the MECHATROLINK II connection The SERVOPACK changes communication to phase 1 Can be used during any phase When this command is received the following operations will be performed The SERVOPACK changes communication to phase 1 The SERVOPACK changes to Servo OFF The reference point setting will become invalid 4 5 6 7 8 9...

Page 62: ...Processing classifications Data communica tions command group Synchronization classifications Asynchronous 2 ALARM Processing time Within communi cations cycle Subcommand Cannot be used 3 STATUS This command is not supported When this command is received a MECHATROLINK II command warning A 95 will occur and the command will be ignored 4 5 NO 6 7 SIZE 8 9 10 11 12 13 14 15 16 WDT RWDT ...

Page 63: ...will occur and the command will be ignored in the following cases During phase 1 MECHATROLINK II command warning A 95 If a digital operator is connected MECHATROLINK II command warning A 95 If SigmaWin and so on are connected MECHATROLINK II command warning A 95 If NO is not within range Parameter setting warning A 94 If SIZE does not match Parameter setting warning A 94 If PARAMETER is not within...

Page 64: ...sifications Data communica tions command group Synchronization classifications Asynchronous 2 ALARM Processing time Within 200 ms Subcommand Cannot be used 3 STATUS Sets coordinates REFE can also enable zero point ZPOINT and software limits Can be used during phases 2 and 3 PS_SUBCMD Refer to the following table for coordinate setting modes Set position in POS_DATA A warning will occur and the com...

Page 65: ...g time Within communi cations cycle Subcommand Cannot be used 3 STATUS Applies brake This command is enabled when Pn005 0 is set to 1 Can be used during phases 2 and 3 A warning will occur and the command will be ignored in the following cases During phase 1 MECHATROLINK II command warning A 95 If Pn005 0 is set to 0 MECHATROLINK II command warning A 95 Brake signal output timing 4 5 MONITOR 1 6 7...

Page 66: ...chronous 2 ALARM Processing time Within communi cations cycle Subcommand Cannot be used 3 STATUS Applies brake This command is enabled when Pn005 0 is set to 1 Can be used during phases 2 and 3 A warning will occur and the command will be ignored in the following cases During phase 1 MECHATROLINK II command warning A 95 If Pn005 0 is set to 0 MECHATROLINK II command warning A 95 Brake signal outpu...

Page 67: ...a when an absolute encoder is used Position data is received from the encoder and the current position is created The reference point zero point ZPOINT and software limits will be enabled when an absolute encoder is used Can be used during phases 2 and 3 If an incremental encoder is being used the command will be ignored During phase 1 a MECHATROLINK II command warning A 95 will occur and the comm...

Page 68: ...ing time Within 500 ms Subcommand Cannot be used 3 STATUS Turns sensor OFF The position data is not specified The reference point zero point ZPOINT and software limits will be enabled Can be used during phases 2 and 3 If an incremental encoder is being used the command will be ignored During phase 1 a MECHATROLINK II command warning A 95 will occur and the command will be ignored 4 5 MONITOR 1 6 7...

Page 69: ...t complete to confirm the completion of motion processing Latch processing which is dependent on LATCH EX_POSING and SVC TRL will be cancelled ZRET latch processing and ZRET zero point alignment will be cancelled Upon completion of this command the reference position POS must be read and the controller coordinate system must be set up The stop method can be selected using HOLD_MOD 0 Decelerate to ...

Page 70: ... CMDRDY 1 to confirm that the Request Latch Mode command has been received It takes 4 ms max for the Request Latch Mode command to start Confirm that L_CMP is 1 in STATUS at the completion of latching When there is monitor data such as SMON or POSING appended to the command response LPOS is forcefully returned to MONITOR2 When there is no monitor data such as PRM_RD or ALM_RD appended to the comma...

Page 71: ...he com mand will be ignored in the following cases During phase 1 If LTMOD_OFF and LATCH ZRET EX_POSING or SVCTRL are executed simultaneously or if LTMOD_OFF is received during LATCH ZRET EX_POSING or SVCTRL execution the LTMOD_OFF will be ignored Check that CMDRDY is 1 to confirm that the Release Latch Mode command has been received It takes 4 ms max for the Release Latch Mode command to start 4 ...

Page 72: ...essing time Within communi cations cycle Subcommand Can be used 3 STATUS Reads the current status of the Servo Can be used during phases 2 and 3 During phase 1 a MECHATROLINK II command warning A 95 will occur and the command will be ignored 4 5 MONITOR1 6 7 8 9 MONITOR2 10 11 12 13 SEL_MON 1 2 SEL_MON 1 2 14 IO_MON 15 16 WDT RWDT 17 For subcommands use Refer to 4 4 Subcom mands For subcommands us...

Page 73: ...rence when ALM of STATUS is 1 If SENS_ON has not been completed when the absolute encoder is used OPTION can be selected Refer to 4 5 2 Option Field Specifications OPTION for details For linear motors not equipped with a pole sensor it takes 10 seconds max until the SERVOPACK changes to Servo ON the first time because the pole must be detected Upon completion of this command the reference position...

Page 74: ...time Follow settings from Pn506 to Pn508 Subcommand Can be used 3 STATUS The SERVOPACK changes to Servo OFF Can be used during phases 2 and 3 During phase 1 a MECHATROLINK II command warning A 95 will occur and the command will be ignored 4 5 MONITOR1 6 7 8 9 MONITOR2 10 11 12 13 SEL_MON 1 2 SEL_MON 1 2 14 IO_MON 15 16 WDT RWDT 17 For subcommands use Refer to 4 4 Subcom mands For subcommands use R...

Page 75: ...hases other than phase 3 MECHATROLINK II command warning A 95 If the SERVOPACK is Servo OFF MECHATROLINK II command warning A 95 If the output speed difference from the previous target position TPOS exceeds the limit Parameter setting warning A 94 If VFF is not within the setting range Parameter setting warning A 94 OPTION can be selected Refer to 4 5 2 Option Field Specifications OPTION for detai...

Page 76: ... It is set using an absolute posi tion in the reference coordinate system The target speed TSPD is an unsigned 4 bytes It is set using units s Changes can be made to the target position and target speed during movement Use DEN output complete to confirm the completion of position reference output The maximum positioning distance referenced by one POSING command is 2147483647 7FFFFFFFH Execute the ...

Page 77: ...gnored in the fol lowing cases During phase 1 MECHATROLINK II command warning A 95 If the SERVOPACK is Servo OFF MECHATROLINK II command warning A 95 If the target speed TSPD exceeds the limit Parameter setting warning A 94 OPTION can be selected Refer to 4 5 2 Option Field Specifications OPTION for details The target speed TSPD is a signed 4 bytes The direction is determined by the sign It is set...

Page 78: ...n No Description Pn80A First step Linear Acceleration Parameter Pn80B Second step Linear Acceleration Parameter Pn80C Acceleration Parameter Switching Speed Pn80D First step Linear Deceleration Parameter Pn80E Second step Linear Deceleration Parameter Pn80F Deceleration Parameter Switching Speed ...

Page 79: ...II command warning A 95 If the SERVOPACK is Servo OFF MECHATROLINK II command warning A 95 If the output speed difference from the previous target position TPOS exceeds the limit Parameter setting warning A 94 If VEF is not within the setting range Parameter setting warning A 94 If LTMOD_ ON OFF is received during LATCH execution or simul taneously MECHATROLINK II command warning A 95 the LTMOD_ON...

Page 80: ...I Communications 4 3 27 Interpolation Feeding with Position Detection LATCH 38H 4 36 Related Parameters Pn No Description Pn511 Input Signal Selections 5 Pn820 Latching Area Upper Limit Pn822 Latching Area Lower Limit ...

Page 81: ...ultaneously MECHATROLINK II command warning A 95 the LTMOD_ON OFF commands will be ignored OPTION can be selected Refer to 4 5 2 Option Field Specifications OPTION for details The target position TPOS is a signed 4 bytes units s It is set using an abso lute position in the reference coordinate system The target speed TSPD is an unsigned 4 bytes It is set using units s After the latch is input any ...

Page 82: ...rameter Pn80C Acceleration Parameter Switching Speed Pn80D First step Linear Deceleration Parameter Pn80E Second step Linear Deceleration Parameter Pn80F Deceleration Parameter Switching Speed Pn814 Final Travel Distance for External Positioning When a latch signal is input positioning is performed according to the final travel distance for external positioning specified in the parameter Pn814 Fin...

Page 83: ...ring phases 2 and 3 A command warning will occur and the command will be ignored in the fol lowing cases During phase 1 MECHATROLINK II command warning A 95 If the SERVOPACK is Servo OFF MECHATROLINK II command warning A 95 If the target speed TSPD exceeds the limit Parameter setting warning A 94 If LTMOD_ON OFF is received during ZRET execution or simultaneously MECHATROLINK II command warning A ...

Page 84: ...arameter Pn80C Acceleration Parameter Switching Speed Pn80D First step Linear Deceleration Parameter Pn80E Second step Linear Deceleration Parameter Pn80F Deceleration Parameter Switching Speed Pn816 Zero Point Return Direction Pn817 Zero Point Return Approach Speed 1 Pn818 Zero Point Return Approach Speed 2 Pn819 Final Travel Distance to Return to Zero Point Latch signal Final Travel Distance to ...

Page 85: ...0000H The direction is specified by the sign When the designation for VREF is larger than the maximum motor speed it is clamped at the OS detection speed The OS detection speed varies depending on the motor but is approximately 110 of the maximum speed STATUS status D8 ZSPD zero speed bit 0 Zero speed not detected 1 Zero speed detected D7 V_CMP speed coincidence bit 0 Speed coincidence not detecte...

Page 86: ...on is not effective Set P_TLIM TFF N_TLIM to 0 1 P_TLIM operates as the torque limit value Set N_TLIM to 0 2 TFF operates as the torque feed forward Set N_TLIM to 0 3 When P_CL and N_CL of OPTION field 0 parameters Pn402 and Pn403 operate as torque limit values When P_CL 0 and N_CL 1 N_TLIM operates as the torque limit value When P_CL 1 and N_CL 0 or P_CL and N_CL 1 P_TLIM operates as the torque l...

Page 87: ...r details TOREF torque reference The unit for torque reference is maximum motor torque 40000000H The direction is specified by the sign When the designation for TOREF is larger than the maximum motor torque it is clamped at the maximum torque STATUS status D11 V_LIM speed limit bit 0 Speed limit not detected 1 Speed limit detected MONITOR1 2 3 4 monitor The unit for torque is maximum motor torque ...

Page 88: ...1 Torque Control TRQCTRL 3DH 4 44 Speed Reference Option Operation Pn No and Digit Place Set Value Speed Reference Option Operation Pn002 1 0 The speed reference option is not effective Set VLIM to 0 1 VLIM operates as the speed limit value ...

Page 89: ...not be used 3 STATUS This command is for maintenance Refer to Appendix C Using the Adjusting Command ADJ 3EH A command warning will occur and the command will be ignored in the fol lowing cases During phase 1 MECHATROLINK II command warning A 95 If a digital operator is connected MECHATROLINK II command warning A 95 If SigmaWin and so on are connected MECHATROLINK II command warning A 95 4 5 CCMD ...

Page 90: ...motions listed in the following table can be executed Refer to each motion item for operating specifications Sequence Signals Any of the sequence signals listed in the following table can be executed Refer to each sequence item for operating specifications A command warning will occur and the command will be ignored in the fol lowing cases During phase 1 MECHATROLINK II command warning A 95 If the...

Page 91: ... 1 1 EXT3 D6 D5 D4 Motion During phase 1 a parameter setting warning A 94 will occur for POSING and FEED and the commands will be ignored For INTERPOLATE in all other phases except phase 3 a parameter setting warning A 94 will occur and the com mand will be ignored A warning may not be given depending on the sequence signal status 0 0 0 HOLD 0 0 1 INTERPOLATE 0 1 0 FEED 0 1 1 POSING D7 D6 D5 D4 D3...

Page 92: ... ms COM_TIM 32 ms A command warning will occur and the command will be ignored in the fol lowing cases If COM_MOD is not within range Parameter setting warning A 94 If COM_TIM is not within range Parameter setting warning A 94 4 5 VER VER 6 COM_MOD COM_MOD 7 COM_TIM COM_TIM 8 9 10 11 12 13 14 15 16 WDT RWDT D7 D6 D5 D4 D3 D2 D1 D0 SUBCMD 0 0 0 DTMOD SYNCMOD EXMOD EXMOD 0 Standard connection 1 Exte...

Page 93: ...K OK OK 04 CONFIG OK NO NO NO NO NO NO OK 05 ALM_RD OK NO NO NO NO NO NO OK 06 ALM_CLR OK NO NO NO NO NO NO OK 0D SYNC_SET OK NO NO NO NO NO NO NO 0E CONNECT OK NO NO NO NO NO NO NO 0F DISCONNECT OK NO NO NO NO NO NO NO 1C PPRM_WR OK NO NO NO NO NO NO OK 20 POS_SET OK NO NO NO NO NO NO OK 21 BRK_ON OK NO NO NO NO NO NO OK 22 BRK_OFF OK NO NO NO NO NO NO OK 23 SENS_ON OK NO NO NO NO NO NO OK 24 SEN...

Page 94: ...K 3F SVCTRL OK OK OK OK OK OK OK OK Byte NOP Description Command Response Processing classifications Network command group Processing time Within communica tions cycle 17 00H 00H Not operation command 18 Substatus 19 20 21 22 23 24 25 26 27 28 29 Table 4 3 Combination of Main Commands and Subcommands cont d Code Main Command Subcommand NOP PRM_RD PRM_WR ALM_RD PPRM_WR LTMOD_ON LTMOD_OFF SMON ...

Page 95: ...eters This command has the same function as the main command PRM_RD 18 Substatus 19 NO NO 20 21 SIZE SIZE 22 PARAMETER 23 24 25 26 27 28 29 Byte PRM_WR Description Command Response Processing classifications Data communica tions command group Processing time Within 6 ms 17 02H 02H Writes the parameters This command has the same function as the main command PRM_WR 18 Substatus 19 NO NO 20 21 SIZE S...

Page 96: ...2 s 17 05H 05H Reads the alarm or warning This command has the same function as the main com mand ALM_RD 18 Substatus 19 ALM_RD_MOD ALM_RD_MOD 20 ALM_DATA 21 22 23 24 25 26 27 28 29 Byte PPRM_WR Description Command Response Processing classifications Data communica tions command group Processing time Within 200 ms 17 1CH 1CH Writes the parameters This command has the same function as the main comm...

Page 97: ...ommand has the same function as the main com mand LTMOD_ON 18 LT_SGN Substatus 19 SEL_MON3 4 SEL_MON3 4 20 MONITOR3 21 22 23 24 MONITOR4 25 26 27 28 29 Byte LTMOD_OFF Description Command Response Processing classifications Control command group Processing time Within communi cations cycle 17 29H 29H Releases the modal latch mode This command has the same function as the main command LTMOD_OFF 18 S...

Page 98: ...nd Response Processing classifications Data communica tions command group Processing time Within communi cations cycle 17 30H 30H Reads the monitoring information specified in SEL_MON3 4 This command has the same function as the main command SMON 18 Substatus 19 SEL_MON3 4 SEL_MON3 4 20 MONITOR3 21 22 23 24 MONITOR4 25 26 27 28 29 ...

Page 99: ...the second byte of the above main commands or the eighteenth byte reserved area of the subcommands Refer to the following table for details on bit allocation Latch Signal Field Latch Signal Selection EXT1 EXT2 and EXT3 must be allocated to the CN1 input signal using parameter Pn511 If they are not allocated the latch operation will be undefined The latch operation will also be undefined if phase C...

Page 100: ...5 D4 D3 D2 D1 D0 0 0 0 ACCFIL 0 0 0 D15 D14 D13 D12 D11 D10 D9 D8 N CL P CL 0 PPI 0 0 0 G SEL Bit Name Description Set Value Details D0 0 D1 0 D2 0 D3 ACCFIL Position reference filter Note Never change position reference filter setting during output when DEN of STATUS is set to 0 0 No position reference filter 1 Uses exponential position ref erence filter D4 2 Uses S curve movement aver age positi...

Page 101: ... 0 Command cannot be received busy 1 Command can be received ready D3 SVON Servo ON 0 Servo OFF 1 Servo ON D4 PON Main power supply ON 0 Main power supply OFF 1 Main power supply ON D5 MLOCK Machine lock status always released 0 Machine lock released D6 ZPOINT Zero point 0 Out of zero point range 1 Within zero point range D7 PSET Positioning completion Output completion DEN is set to 1 and APOS is...

Page 102: ...onitor it with the thirteenth byte of the above main commands or the nineteenth byte reserved area of the subcommands SEL_MON1 2 3 4 Fields D9 T_LIM Torque limit 0 Not during torque limit 1 During torque limit D10 L_CMP Latch completion 0 Latch not completed 1 Latch completed D11 NEAR Positioning proximity 0 Out of positioning proxim ity range Position control mode 1 Within positioning proximity r...

Page 103: ...Reference units 2 PERR Position error Reference units 3 APOS Feedback position in the mechanical coordinate system Reference units 4 LPOS Feedback latch position in the mechanical coordi nate system Reference units 5 IPOS Reference position in the reference coordinate sys tem position before reference filter procedure Reference units 6 TPOS Target position in the reference coordinate system Refere...

Page 104: ...S input 0 OFF 1 ON D3 PA Encoder phase A input 0 OFF 1 ON D4 PB Encoder phase B input 0 OFF 1 ON D5 PC Encoder phase C input 0 OFF 1 ON D6 EXT1 First external latch signal input 0 OFF 1 ON D7 EXT2 Second external latch signal input 0 OFF 1 ON D8 EXT3 Third external latch signal input 0 OFF 1 ON D9 BRK Brake output 0 Released 1 Locked D10 Reserved 0 D11 Reserved 0 D12 IO12 CN1 input signal selected...

Page 105: ...eenth byte reserved area of the subcommands SUBSTATUS D7 D6 D5 D4 D3 D2 D1 D0 SBCMDRDY SBWARNG SBALM Bit Name Description Set Value Details D0 SBALM Subcommand alarm occurrence 0 None 1 Alarm occurs D1 SBWARNG Subcommand warning occurrence 0 None 1 Warning occurs D2 SBCMDRDY Subcommand ready Subcommand reception enabled 0 Disabled busy 1 Enabled ready ...

Page 106: ...4 6 1 Command Data Execution Timing Motion commands POSING INTERPOLATE and the OPTION command are executed 625 s after they are received 4 6 2 Monitor Data Input Timing The monitor I O and status data is the data 625 s before the response is sent Transmission cycle Master sent Received 625 µs until the motor starts Slave sent Command sent Sent Response received Transmission cycle Master sent Slave...

Page 107: ...or to connection then the CONNECT command is sent Table 4 4 Operation Sequence for Managing Parameters Using a Controller Proce dure Item Command Description Phase 1 Turn ON control and main circuit power sup plies NOP DISCONNECT Turn ON power supplies 1 2 Establish connection CONNECT Establish communications Start the WDT count 2 or 3 3 Check information such as device ID ID_RD Read information s...

Page 108: ...normally the DISCONNECT command is sent for two or more communica tions cycles prior to connection then the CONNECT command is sent 2 Do not use PRM_WR Table 4 5 Step 1 Saving Parameters During Set up Proce dure Item Command Description Phase 1 Turn ON control power supply NOP DISCONNECT 1 Turn ON power supply 1 3 Establish connection CONNECT Establish communications Start the WDT count 2 or 3 4 C...

Page 109: ...ds it is necessary to use the SMON command after the SERVOPACK changes to Servo ON to read the Servo refer ence coordinate POS and send an appropriate reference position Table 4 6 Step 2 Ordinary Operation Sequence Proce dure Item Command Description Phase 1 Turn ON control and main cir cuit power supplies NOP DISONNECT Turn ON power supplies 1 2 Establish connection CONNECT Establish communicatio...

Page 110: ...op commands Interpolation command INTERPOLATE LATCH The interpolation command updates the interpolation position then stops As an alternative send the HOLD command or SMON command Movement reference command other than the interpolation command Send the HOLD command 2 Use the output complete flag DEN 1 to confirm the completion of SERVOPACK OT processing By also confirming that PSET 1 it is possibl...

Page 111: ... Servomotors 5 2 5 1 2 SERVOPACKs 5 2 5 2 Trial Operation for MECHATROLINK II Communications 5 3 5 2 1 Preparations for Trial Operation 5 3 5 2 2 Operating the Servomotor 5 4 5 3 Trial Operation Inspection 5 5 5 4 Supplementary Information on Trial Operation 5 6 5 4 1 Minimum Parameters and Input Signals 5 6 5 4 2 Servomotors with Brakes 5 7 ...

Page 112: ...en stored for a long period of time Connection to machines or devices wiring and grounding are correct Are bolts and nuts securely tightened Is the oil seal undamaged and oiled Take appropriate actions immediately if one of the items above is incorrect 5 1 2 SERVOPACKs Inspect the following items before conducting trial operation Parameters are properly set for the applicable servomotor and specif...

Page 113: ...the switches on the NS115 SW1 and SW2 are set correctly and then turn the power OFF then ON again For information on switch settings refer to 4 2 Switches for MECHATROLINK II Com munications Settings 3 Send the CONNECT start connection command to start communications The status of the SERVOPACK can be checked using the SMON Status Monitoring command The response data from the SERVOPACK will be ala...

Page 114: ...mission Example POSING rapid traverse positioning command Option 0 Positioning setting 10000 current position 10000 with absolute encoders Rapid traverse speed 400 Make sure the servomotor is operating in the proper direction according to the reference Fig 5 1 Motor Forward Rotation If the reference and rotational direction do not match refer to 5 4 1 Minimum Parameters and Input Signals and set c...

Page 115: ...lowing items during the trial operation Unusual vibration Abnormal noise Excessive temperature rise Take actions according to Chapter 9 Troubleshooting if an alarm occurs Also note that the servomotor may overload during the trial operation if the load system is not suitably broken in ...

Page 116: ...Rotation Direction Use the following parameter to reverse the direction of rotation Input Signals Refer to the relevant page for details on each input signal Input signal selection settings through parameters can be used to eliminate the need for external short circuits Pn202 Electronic Gear Ratio Numerator See 6 3 2 Pn203 Electronic Gear Ratio Denominator See 6 3 2 Pn000 0 Function Selection Basi...

Page 117: ... holding brake operate normally with the servomotor disconnected from the machine When both of them oper ate normally connect the servomotor to the machine to start trial operation The following figure shows wiring for a servomotor with brakes Refer to 6 5 2 Using the Holding Brake for details on wiring Servomotor Holding brake Prevents the servomotor from rotating due to gravity Servomotor Extern...

Page 118: ...2 4 Fully Closed Control 6 12 6 2 5 Fully Closed System Specifications 6 12 6 2 6 Parameter Settings 6 13 6 3 Settings According to Host Controller 6 16 6 3 1 Sequence I O Signals 6 16 6 3 2 Electronic Gear Function 6 18 6 3 3 Acceleration Deceleration Function 6 22 6 3 4 Positioning Function 6 25 6 3 5 Zero Point Return 6 26 6 3 6 Backlash Compensation Function 6 27 6 4 Setting Up the SERVOPACK 6...

Page 119: ...tting and Functions 6 2 6 6 Absolute Encoders 6 43 6 6 1 Selecting an Absolute Encoder 6 43 6 6 2 Absolute Encoder Setup 6 44 6 6 3 Multiturn Limit Setting 6 45 6 6 4 Absolute Encoder Zero Point Position Offset 6 47 ...

Page 120: ...804 to Pn808 Set position parameters such as the reference pulse input form and electric gear ratio Speed Parameters Pn300 to Pn308 Set speed parameters such as speed reference input gain and soft start acceleration decelera tion time Torque Parameters Pn400 to Pn409 Set torque parameters such as the torque refer ence input gain and forward reverse torque lim its Acceleration Decel eration Paramet...

Page 121: ...are set automatically the first time the power to the SERVOPACK is turned ON after the NS115 has been mounted Startup will take approximately 6 seconds when these parameters are being set Table 6 1 List of Parameters for System Use with the NS115 Pn No Digit Parameter Name Set Value Contents Pn004 Reserved 0100H Pn200 2 Clear signal status 1 Error counter is not cleared Pn207 1 Position control op...

Page 122: ...ettings and Standard Settings for CN1 I O Signals Pn No Description Factory Setting Standard Setting Pn50A Input signal selections 1 2881 2881 Pn50B Input signal selections 2 6583 8883 Pn511 Input signal selections 5 8888 6541 Pn50E Output signal selections 1 3211 3001 Pn50F Output signal selections 2 0000 0200 Pn510 Output signal selections 3 0000 0000 SGDH SERVOPACK CN1 Not used DEC P OT N OT EX...

Page 123: ... of servomotor rotation can be reversed with out changing other items The direction of shaft motion is reversed Setting Reverse Rotation Mode Use parameter Pn000 0 Use the following settings to select the direction of servomotor rotation Standard Setting Reverse Rotation Mode Forward Reference Reverse Reference Pn000 0 Direction Selection Factory Setting 0 Position Control Setting Description 0 Fo...

Page 124: ... the SERVOPACK CN1 connector Connect limit switches as shown below to prevent damage to the machines during linear motion Drive status with an input signal ON or OFF is shown in the following table Input P OT CN1 42 Forward Run Prohibited Forward Overtravel Position Control Input N OT CN1 43 Reverse Run Prohibited Reverse Overtravel Position Control P OT CN1 42 at low level when ON Forward rotatio...

Page 125: ...Signal Mapping Reverse Run Prohibited Input Signal Factory Setting 3 Position Control Pn No Setting Description Pn50A 3 2 Factory setting Uses the P OT input signal for prohibiting forward rotation Forward rotation is prohibited when CN1 42 is open and is allowed when CN1 42 is at 0 V 8 Does not use the P OT input signal for prohibiting forward rotation Forward rotation is always allowed and has t...

Page 126: ...motor in Zero Clamp Mode Torque setting Pn406 emergency stop torque 2 Decelerates the servomotor to a stop at the preset torque value or less and puts the servomotor in coast status Torque setting Pn406 emergency stop torque Pn406 Emergency Stop Torque Unit Setting Range 0 to Max Torque Factory Setting 800 Valid when Pn001 1 is 1 or 2 Stopby dynamic brake Coast to a stop Decelerate to a stop Zero ...

Page 127: ...unction The software limits can be enabled or disabled The software limit function parameter is used to enable the software limit function The software limits can be enabled under the following conditions Under all other circum stances the software limits will not be enabled even if a software limit is exceeded Pn001 0 Servo OFF or Alarm Stop Mode Factory Setting 0 Pn No Setting Description Pn001 ...

Page 128: ... software limits in the positive and negative directions The negative limit must be less than the positive limit Pn801 0 Software Limit Function Factory Setting 0 Position Control Pn801 0 Setting Meaning 0 Factory setting Software limits enabled 1 Forward software limit disabled 2 Reverse software limit disabled 3 Both software limits disabled Pn801 2 Software Limit Check using References Factory ...

Page 129: ...r details 6 2 5 Fully Closed System Specifications This section describes the fully closed system specifications of the SGDH SERVOPACK when an NS115 is mounted Fully Closed Encoder Pulse Output Form 5 V Differential line driver output complies with EIA Standard RS 422A Fully Closed Encoder Pulse Signal Form 90 Phase difference 2 phase differential pulse phase A phase B Maximum receivable frequency...

Page 130: ...een made to this parameter turn OFF the power once The set value will become effective when the power is turned ON again Number of Fully Closed Encoder Pulses Set the number of fully closed encoder pulses for each motor rotation Set the number of pulses with a multiplication factor of 1 When changes have been made to this parameter turn OFF the power once The set value will become effective when t...

Page 131: ...e is not being used 2 This setting is for when Reverse Rotation Mode is being used Elec tronic gear Deviation counter Speed current loop Position reference Encoder posi tion output Machine Fully closed PG PG SERVOPACK Servo motor 4 Elec tronic gear Direction of Motor as Viewed from Load for Forward Rotation Relation between Fully Closed PG during Forward Rotation Input Phase Pn000 0 Setting Pn002 ...

Page 132: ...15 6 Pn000 0 can be used to change the rotational direction for forward rotation during normal operation If the motor runs out of control change Pn002 3 Fully Closed PG Input Fully Closed PG Input Phase A Phase B Phase A Phase B Time Time Fig 6 2 Fig 6 3 ...

Page 133: ... External power supply specifications for sequence input signal 24 1 VDC 50 mA min Yaskawa recommends using the same external power supply as that used for output circuits The allowable voltage range for the 24 V sequence input circuit power supply is 11 to 25 V Although a 12 V power supply can be used contact faults can easily occur for relays and other mechanical contacts under low currents Conf...

Page 134: ...external power supply as that used for input cir cuits Input 24VIN CN1 47 External I O Power Supply Input Position Control 24 V IN CN1 47 Connect an external I O power supply I O power supply 24 V SERVOPACK Host controller SERVOPACK Photocoupler 32 31 26 25 28 27 30 29 CN1 ALO1 ALO2 ALO3 39 38 37 1 SG CN1 24 V 0 V 0 V 0 V 20mA max S RDY S RDY BK BK COIN COIN ALM ALM 50mA max 50mA max Sequence outp...

Page 135: ...ters Pn202 and 203 1 Check machine specifications Items related to the electronic gear Deceleration ratio Ball screw pitch Pulley diameter When the Electronic Gear Function is Not Used When the Electronic Gear Function is Used Ball screw pitch 6mm 0 24in Workpiece No of encoder pulses 2048 Equipment conditions and reference units must be defined for the electronic gear function beforehand To movea...

Page 136: ...all screw pitch is 5 mm 0 20 in and the reference unit is 0 001 mm 0 00004 in Servomotor Model and Encoder Specifications Encoder Type Number of Encoder Pulses Per Revolution P R A Incremental encoder 13 bits 2048 B 16 bits 16384 C 17 bits 32768 1 Absolute encoder 16 bits 16384 2 17 bits 32768 Reference unit 0 001mm Determine the reference unit according to equipment specifications and positioning...

Page 137: ...shaft revolution load shaft revolu tion speed Reduce the electronic gear ratio to the lower terms so that both A and B are integers smaller than 65535 then set A and B in the respective parameters That is all that is required to set the electronic gear ratio Pn202 Electronic Gear Ratio Numerator Unit None Setting Range 1 to 65535 Factory Setting 4 Position Control Pn203 Electronic Gear Ratio Denom...

Page 138: ... Travel distance per load shaft revolution 6 mm 0 001 mm 6000 Electronic gear ratio B A 2048 4 1 6000 1 Pn202 Pn203 13 bit incremental encoder Load shaft Travel distance per load shaft revolut ion 360 0 1 3600 Electonic gear ratio B A 2048 4 3 3600 1 Pn202 Pn203 Reference unit 0 1 Deceleration ratio 3 1 Load shaft Travel distance per load shaft revolution 3 14 100 mm 0 0254 mm 12362 Electronic gea...

Page 139: ...ed loop Current loop M Pn203 Pn202 Pn203 Pn102 Pn203 Pn202 Pn10A Pn107 Pn109 Servomotor PG Position data inter polation SERVOPACK position control Encoder Bias addition range Pn108 B A B A Position data A B Pn202 4 Type Pn No Outline Acceleration deceleration Pn80A First step linear acceleration parameter Pn80B Second step linear acceleration parameter Pn80C Acceleration switching speed Pn80D Firs...

Page 140: ...tep acceleration is used When 2 step acceleration is not used set the acceleration switching speed Pn80C to 0 Pn80A First step Linear Acceleration Parameter Unit 10 000 reference units s2 Setting Range 1 to 65535 Factory Setting 100 Position Control Pn80B Second step Linear Acceleration Parameter Unit 10 000 reference units s2 Setting Range 1 to 65535 Factory Setting 100 Position Control Pn80C Acc...

Page 141: ...e fil ter Exponential Position Reference Filter Time Constant Set the time constant when using exponential position reference filter as position reference filter Pn80D First step Linear Deceleration Parameter Unit 10 000 reference units s2 Setting Range 1 to 65535 Factory Setting 100 Position Control Pn80E Second step Linear Deceleration Parameter Unit 10 000 reference units s2 Setting Range 1 to ...

Page 142: ...II PSET width in STATUS The COIN output signal width will also be changed Positioning Proximity Width Set the width for positioning proximity NEAR in STATUS Regardless of whether or not output has been completed DEN 1 when the position is within the positioning proximity width of the target position NEAR will be set to 1 This parameter is usually used to set NEAR output signal width but can also b...

Page 143: ...d set to 1 to return in the reverse direction The setting details are as show below Zero point Return Approach Speed 1 Set the speed for searching for the zero point after the deceleration limit switch signal turns ON for zero point returns Pn803 Zero Point Width Unit Reference unit Setting Range 0 to 65535 Factory Setting 10 Position Control Pn814 Final Travel Distance for External Positioning Un...

Page 144: ...olution is 1 pulse The direction of the backlash compensation is determined by the backlash compensation direction Pn81D 0 setting The backlash compensation is performed according to the motion data The backlash com pensation is not available after the SERVOPACK is Servo ON The backlash compensation is not available during Servo OFF state or overtravel state Pn818 Zero point Return Approach Speed ...

Page 145: ...sation is performed for the compensation amount the value set to Pn81B in the forward direction When Pn81D 0 is set to 1 The compensation is performed for the compensation amount the value set to Pn81B in the reverse direction Machine Motor axis BL BL Forward direction BL BL Machine Motor axis Forward direction ...

Page 146: ...settings in the following table Parameter Function Pn000 to Pn819 Specify SERVOPACK functions set servo gains etc Fn000 to Fn013 Execute auxiliary functions such as JOG Mode operations and zero point searches Un000 to Un00D Enable monitoring the motor speed and torque reference on the panel display SERVOPACK Parameters A Panel Operator Digital Operator or MECHATROLINK II commands are used to set p...

Page 147: ...signal Pn50A 0 Input Signal Allocation Mode Factory Setting 1 Position Control Pn50A 0 Setting Meaning 0 Reserved 1 Enables any sequence input signal settings Pn50A Input Signal Selections 1 Factory Setting 2881 Standard Setting 2881 Pn50B Input Signal Selections 2 Factory Setting 6583 Standard Setting 8883 Pn511 Input Signal Selections 5 Factory Setting 8888 Standard Setting 6541 SERVOPACK Determ...

Page 148: ...ystem configuration Pn50A 3 Setting Description Remarks 0 Inputs the P OT signal from the SI0 CN1 40 input terminal Signal Polarity Reverse function Not active Example Forward run prohibited signal P OT is valid when high OFF 1 Inputs the P OT signal from the SI1 CN1 41 input terminal 2 Inputs the P OT signal from the SI2 CN1 42 input terminal 3 Inputs the P OT signal from the SI3 CN1 43 input ter...

Page 149: ...m SI2 CN1 42 3 Inputs the signal on the left from SI3 CN1 43 4 Inputs the signal on the left from SI4 CN1 44 5 Inputs the signal on the left from SI5 CN1 45 6 Inputs the signal on the left from SI6 CN1 46 7 Sets the signal on the left to always enabled 8 Sets the signal on the left to always disabled 9 Inputs the reverse of the signal on the left from SI0 CN1 40 A Inputs the reverse of the signal ...

Page 150: ...ys enabled 8 Sets the signal on the left to always disabled D Inputs the reverse of the signal on the left from SI4 CN1 44 E Inputs the reverse of the signal on the left from SI5 CN1 45 F Inputs the reverse of the signal on the left from SI6 CN1 46 9 to F Sets the signal on the left to always disabled External Latch Signal 2 EXT2 ON low level Pn511 2 0 to F Same as above External Latch Signal 3 EX...

Page 151: ...hat will output the signals CN1 Connector Terminal Numbers Output Terminal Name Factory Setting Standard Setting Symbol Name Symbol Name 25 SO1 COIN Positioning com pleted COIN Positioning com pleted 26 COIN COIN 27 SO2 TGON Rotation detec tion BK Brake interlock 28 TGON BK 29 SO3 S RDY Servo ready S RDY Servo ready 30 S RDY S RDY Pn50E Output Signal Selections 1 Factory Setting 3211 Standard Sett...

Page 152: ...ignal on the left 1 Outputs the signal on the left from the SO1 CN1 25 and 26 output terminal 2 Outputs the signal on the left from the SO2 CN1 27 and 28 output terminal 3 Outputs the signal on the left from the SO3 CN1 29 and 30 output terminal Speed Coinci dence Detection V CMP Pn50E 1 0 to 3 Same as above Rotation Detection TGON Pn50E 2 0 to 3 Same as above Servo Ready S RDY Pn50E 3 0 to 3 Same...

Page 153: ...ings are as shown in the following table Output Terminals Parameter Description Number Setting SO1 CN1 25 26 Pn512 0 0 Output signal not reversed 1 Output signal reversed SO2 CN1 27 28 Pn512 1 0 Output signal not reversed 1 Output signal reversed SO3 CN1 29 30 Pn512 2 0 Output signal not reversed 1 Output signal reversed Not used Pn512 3 Pn813 0 Option Monitor 1 Factory Setting 0 Position Control ...

Page 154: ...e analog monitor Pn003 0 Analog Monitor 1 Factory Setting 2 Position Control Pn003 1 Analog Monitor 2 Factory Setting 0 Position Control Settings in Pn003 0 and Pn003 1 Monitor Signal Analog Monitor Gain CN5 Unit of Option Monitor OMN1 OMN2 0 Motor speed 1 V 1000 min 1 min 1 1 Speed reference 1 V 1000 min 1 min 1 2 Torque reference 1 V 100 rated torque 3 Position error 0 05 V 1 pulse Pulse 4 Posit...

Page 155: ...t have sufficient braking power 2 A dynamic brake is used when the control power are turned OFF 1 Dynamic brake DB The dynamic brake is a common way of suddenly stopping a servomotor Built into the SERVOPACK the dynamic brake suddenly stops a servomotor by electrically shorting its electri cal circuit Pn001 0 Servo OFF or Alarm Stop Mode Factory Setting 0 Position Control Pn001 0 Setting Descripti...

Page 156: ... used for braking Use the holding brake only to hold a stopped motor Brake torque is at least 120 of the rated motor torque Wiring Example Use the SERVOPACK sequence output signal BK and the brake power supply to form a brake ON OFF circuit The following diagram shows a standard wiring example 1 The output terminal allocated with Pn50F 2 2 Brake power supplies are available in 200 V and 100 V mode...

Page 157: ...that allocated to the BK signal in order to output the BK signal alone Refer to 6 4 3 Output Circuit Signal Allocation Output BK Brake Interlock Output Position Control ON Closed or low level Releases the brake OFF Open or high level Applies the brake Pn505 Brake operation Pn506 Time Delay from Brake Reference until Servo OFF Pn507 Speed Level for Brake Reference Output during Motor Operation Pn50...

Page 158: ...output The machine may move slightly due to gravity depending on machine configuration and brake characteristics If this happens use this parameter to delay Servo OFF timing This setting sets the brake ON timing when the servomotor is stopped Use Pn507 and Pn508 for brake ON timing during operation The servomotor will turn OFF immediately if an alarm occurs The machine may move due to gravity in t...

Page 159: ...tput Conditions During Servomotor Operation The circuit is open under either of the following conditions The actual setting will be the maximum speed even if Pn507 is set higher than the maximum speed Pn507 Brake Reference Output Speed Level during Mo tor Operation Unit min 1 Setting Range 0 to 10000 Factory Setting 100 Position Control Pn508 Timing for Brake Refer ence Output during Mo tor Operat...

Page 160: ...olute encoder 6 6 1 Selecting an Absolute Encoder Select the absolute encoder usage with the following parameter 0 in the following table must be set to enable the absolute encoder Note This parameter setting goes into effect when the power is turned OFF and ON again after the change has been made Pn002 2 Absolute Encoder Usage Factory Setting 0 Position Control Pn002 2 Setting Description 0 Use t...

Page 161: ...etup operation Fn008 when a Digital Operator is used Refer to Appendix C 2 Absolute Encoder Setup Initialization for details on the setup operation when the Adjusting command ADJ 3EH is used The absolute encoder setup operation is only possible when the SERVOPACK is Servo OFF After the setup processing is finished turn the power back ON again If the following absolute encoder alarms are displayed ...

Page 162: ...rection from the value set in Pn205 the multiturn data will change to 0 Set Pn205 to m 1 Changing the multiturn limit may change the absolute position data Be sure to set the multiturn limit following the controller s designation If the Multiturn Limit Disagreement alarm occurs check the setting of parameter Pn205 in the SERVOPACK to be sure that it is correct If Fn013 is executed when an incorrec...

Page 163: ...rn limit in the encoder must be changed This operation is performed in one of the following ways Refer to the Σ ΙΙ Series SGM H SGDH User s Manual Design and Maintenance SIE S800 32 2 for details on changing the multiturn limit setting Fn013 using a Digital Operator Refer to Appendix C 3 Multiturn Limit Setting for details on changing the value using the Adjusting command ADJ 3EH The multiturn lim...

Page 164: ...APOS can be set Settings are as shown in the following figure To set encoder position X as the machine zero point 0 set Pn808 to X Pn808 Absolute Encoder Zero Point Position Offset Unit Refer ence unit Setting Range 1073741823 to 1073741823 Factory Setting 0 Position Control Machine zero point APOS Zero point Encoder position Encoder position Zero point Encoder position X Pn808 ...

Page 165: ...when using a SERVOPACK with an NS115 mounted and Digital Operator connected It also describes Panel Operator indi cator operation 7 1 Connecting the Digital Operator 7 2 7 2 Limitations in Using a Hand held Digital Operator 7 3 7 3 Panel Operator Indicators 7 4 ...

Page 166: ...gital Operator is also called a Panel Operator The other one is a Hand held Digital Operator i e the JUSP OP02A 2 Digital Operator which can be connected to the SERVOPACK through connector CN3 of the SERVOPACK There is no need to turn OFF the SERVOPACK to connect the Hand held Digital Operator to the SERVOPACK For details on how to use the Hand held Digital Operator refer to the Σ ΙΙ Series SGM H ...

Page 167: ...aWin and so on too Normal Operation When a Hand held Digital Operator is connected or communications with SigmaWin and so on started during normal operation the following commands are prohibited Furthermore when a Hand held Digital Operator is connected or communications with a personal computer started while any of the following commands are being executed a com mand execution incomplete A ED ala...

Page 168: ...r is turned ON The indicator will not be lit when the Hand held Digital Operator is connected It will be lit when the Hand held Digital Operator is disconnected The indicator will not be lit for approximately 1 second when the following commands are received PRM_RD command PRM_WR PPRM_WR command CONFIG command SENS_ON command ADJ command ALM_RD ALM_CLR command for the error history Reading ID_RD c...

Page 169: ...fications and Dimensional Drawings This chapter provides the ratings specifications and dimensional drawings of the NS115 8 1 Ratings and Specifications 8 2 8 2 Dimensional Drawings 8 3 8 2 1 NS115 8 3 8 2 2 SERVOPACKs 8 4 ...

Page 170: ...p asymmetric Position Reference Filter Exponential movement average Fully Closed Control Position control with fully closed feedback is possible Fully Closed System Specifications Fully Closed Encoder Pulse Output Form 5 V differential line driver output complies with EIA Standard RS 422A Fully Closed Encoder Pulse Signal Form 90 Phase difference 2 phase differential pulse phase A phase B Maximum ...

Page 171: ...onal Drawings Dimensional drawings of the NS115 and SERVOPACKs are shown below 8 2 1 NS115 Dimensions of the NS115 are shown below Unit mm in Approx mass 0 2kg 0 44lb 24 0 94 NS115 S W 1 20 0 79 128 5 04 142 5 59 S W 2 A R C N 6 A C N 6 B C N 4 ...

Page 172: ...lated SERVOPACKs refer also to Σ ΙΙ Series SGM H SGDH User s Manual SIEPS80000005 Base Mounted Models SGDH A3AE to 02AE Single phase 200 V 30 to 200 W SGDH A3AE to 01BE Single phase 100 V 30 to 100 W SGDH 04AE Single phase 200 V 400 W SGDH 02BE Single phase 100 V 200 W Unit mm in MADE IN JAPAN NS115 S W 1 A R S W 2 C N 6 A C N 6 B C N 4 Ver 160 6 30 75 2 95 75 2 95 130 5 12 Approx mass 1 0 kg 2 21...

Page 173: ...15AE Three phase 200 V 1 5 kW Unit mm in MADE IN JAPAN NS115 S W 1 A R S W 2 C N 6 A C N 6 B C N 4 Ver 180 7 09 75 2 95 160 6 30 110 4 33 Approx mass 1 9 kg 4 19 lb 75 2 95 180 7 09 MADE IN JAPAN 160 6 30 130 5 12 Ver NS115 C N 4 C N 6 B C N 6 A S W 2 S W 1 A R Approx mass 3 0 kg 6 61 lb ...

Page 174: ... V 2 0 kW 3 0 kW SGDH 50AE Three phase 200 V 5 0 kW Unit mm in 75 2 95 180 7 09 MADE IN JAP AN 250 9 84 130 5 12 Ver NS115 C N 4 C N 6 B C N 6 A S W 2 S W 1 A R Approx mass 4 0 kg 8 82 lb 250 9 84 155 6 10 75 2 95 230 9 06 NS115S W 1 A R S W 2 C N 6 A C N 6 B C N 4 Ver 50AE Approx mass 5 7 kg 12 57 lb ...

Page 175: ...ional Drawings 8 7 8 SGDH 60AE 75AE Three phase 200 V 6 0 kW 7 5 kW Unit mm in 235 9 25 L1 L2 Ver POWER BATTERY CN3 CN8 350 13 78 250 9 84 NS115 C N 4 C N 6 B C N 6 A S W 2 S W 1 A R Approx mass 15 0 kg 33 07 lb ...

Page 176: ...oting procedures for problems which cause an alarm indication and for problems which result in no alarm indication 9 1 Alarm Displays and Troubleshooting 9 2 9 2 Troubleshooting with No Alarm Display 9 21 9 3 Alarm Display Table 9 23 9 4 Warning Displays 9 26 ...

Page 177: ...m cannot be solved by the described proce dures A 02 A 02 Parameter Breakdown Display and Outputs Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Cause Remedy A Power turned OFF during parameter write Alarm occurred at next power ON Initialize parameters using Fn005 and reinput user settings Replac...

Page 178: ...atus and Remedy for Alarm Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Cause Remedy A An out of range parameter was previously set or loaded Reset all parameters in range Otherwise re load correct parameter B Circuit board 1PWB is defective Replace the SERVOPACK C NS115 is defective Replace the NS115 At power ON A B C ...

Page 179: ...Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Cause Remedy A The following power supplies to the absolute encoder all failed 5 V supply supplied from the SEROVPACK Battery power Follow absolute encoder set up procedure B Absolute encoder malfunctioned Replace the servomotor C Circuit board 1PWB is defective Replace the SERVOPACK At power ON Pn002 2 0 Pn002 2 1 A B C C At SENS_ON command A C ...

Page 180: ...emedy for Alarm Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Cause Remedy A Error occurred during encoder memory check Follow absolute encoder set up proce dure Replace the servomotor if the error occurs frequently B Circuit board 1PWB is defective Replace the SERVOPACK At power ON A B At SENS_ON command B During operation A B ...

Page 181: ...m Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Cause Remedy A Battery is not connected Battery connection is defective Check and correct battery connection B Battery voltage is below specified value Specified value 2 7 V Install a new battery while the control power to SERVOPACK is ON After replacement turn ON the power again C Circuit board 1PWB is defective Replace the servomotor At po...

Page 182: ...utput ALO1 ALO2 ALO3 OFF OFF OFF OFF Cause Remedy A Encoder is defective Replace the servomotor if the error occurs frequently B Operational error in encoder caused by exter nal noise Check and correct wiring around the encoder as follows Grounding of the servomotor Separation between the encoder cable and the servomotor power cable Insertion of toroidal cores onto cables At power ON A During oper...

Page 183: ... a speed exceeding 200 min 1 Turn ON power supply again with the servomotor stopped B Circuit board 1PWB is defective Replace the SERVOPACK Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Cause Remedy A The ambient temperature of the servomo tor is high Alter conditions so that the ambient tempera ture goes below 40 C B Servomotor is operating under overload Reduce load ...

Page 184: ... and Remedy for Alarm Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 ON ON OFF ON Cause Remedy A A value outside the MECHATROLINK II communications setting range was set Reset correctly Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 ON ON OFF ON Cause Remedy A Presently unable to receive the sent command Adjust conditions to match the command Refer to the specifications for...

Page 185: ... transistor is OFF alarm state Status and Remedy for Alarm Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 ON OFF OFF ON Cause Remedy A Contact between the cable and the connector is faulty Correct the connector wiring B Malfunction due to noise Take noise prevention measures Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Cause Remedy A NS115 is defective Rep...

Page 186: ...ts ALM Output ALO1 ALO2 ALO3 ON OFF ON OFF Cause Remedy A Circuit board 1PWB is defective Replace the SERVOPACK B Encoder wiring error or faulty contact Check the wiring and check that the con nector is fully inserted on the encoder side C There is noise in the encoder wiring Separate the encoder wiring from the main circuit D Encoder is defective Replace the servomotor At power ON A 1 to 3 second...

Page 187: ... ALO1 ALO2 ALO3 ON OFF ON OFF Cause Remedy A Circuit board 1PWB is defective Replace the SERVOPACK B Encoder wiring error or faulty contact Check the wiring and check that the con nector is fully inserted on the encoder side C There is noise in the encoder wiring Separate the encoder wiring from the main circuit D Encoder is defective Replace the servomotor At power ON A 1 to 3 seconds after power...

Page 188: ...LM Output ALO1 ALO2 ALO3 ON OFF ON OFF Cause Remedy A The setting of the Multiturn Limit Setting Pn205 parameter in the SERVOPACK is incorrect Change parameter Pn205 B The multiturn limit has not been set in the encoder Check to be sure the Multiturn Limit Set ting Pn205 parameter in the SERVO PACK is correct and then execute the encoder multiturn limit setting change Fn013 when a Multiturn Limit ...

Page 189: ...ing and connectors at servomo tor B SERVOPACK was not correctly adjusted Increase speed loop gain Pn100 and position loop gain Pn102 C Motor load was excessive Reduce load torque or moment of inertia If problem not corrected replace with a servomotor with larger capacity D Position reference is too high Reduce the acceleration deceleration rate Correct electronic gear ratio At power ON E During se...

Page 190: ...15 Time Out Alarm Display and Outputs Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF ON ON OFF Cause Remedy A NS115 is defective Replace the NS115 Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF ON ON OFF Cause Remedy A NS115 is defective Replace the NS115 At power ON...

Page 191: ...us and Remedy for Alarm Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF ON ON OFF Cause Remedy A NS115 is defective Replace the NS115 B MECHATROLINK II communications inter rupted Turn the power ON again Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF ON ON OFF Cause Remedy A The setting of MECHATROLINK II trans mission cycle is out of range Correct the setting of MEC...

Page 192: ...nsistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF ON ON OFF Cause Remedy A WDT data does not match Update WDT data every communications cycle Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF ON ON OFF Cause Remedy A Contact between the cable and the connector is faulty Correct the connector...

Page 193: ...alarm state ON Output transistor is ON Status and Remedy for Alarm Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF ON ON OFF Cause Remedy A SERVOPACK is defective Replace the SERVOPACK B A software version of SERVOPACK is less than 33 Replace the SERVOPACK A software version is more than 33 C SgimaWin is connected Disconnect the SigmaWin Alarm Outputs Alarm Code Outputs ALM Output A...

Page 194: ...OFF alarm state ON Output transistor is ON Status and Remedy for Alarm Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF ON ON OFF Cause Remedy A SERVOPACK is defective Replace the SERVOPACK B MECHATROLINK II communications inter rupted Turn the power ON again At power ON A During MECHATROLINK II communications B ...

Page 195: ... for Alarm Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF ON ON OFF Cause Remedy A Command was interrupted Do not connect a Hand held Digital Operator or start communications with a personal computer while any of the fol lowing commands are being executed PRM_RD PRM_WR PPRM_WR CONFIG ALM_RD ALM_CLR SENS_ON ADJ ID_RD During MECHATROLINK II communications A ...

Page 196: ...o the encoder type being used P OT and N OT inputs are turned OFF Refer to section 6 2 2 Turn P OT and N OT input signals ON Software limits P SOT and N SOT are 1 Refer to section 6 2 3 Operate the servomotor within the software limits Servomotor Does Not Run Motion commands have not been sent Check using MECHAROLINK II communications or the MECHATROLINK II monitor Send the motion commands SV_ON c...

Page 197: ... Noise Mechanical mounting is incorrect Check servomotor mounting screws Tighten mounting screws Check couplings not centered Center coupling Check coupling balance Balance coupling Bearing is defective Check noise and vibration near bearing Consult your Yaskawa repre sentative if defective Machine causing vibrations Check foreign object intru sion damage or deformation of movable parts of machine...

Page 198: ...ration Error Regenerative circuit is faulty Regenerative resistor is faulty A 32 4 Regenerative Overload Regenerative energy exceeds regenerative resistor capacity A 40 4 OFF OFF ON OFF Overvoltage 3 Main circuit DC voltage is excessively high A 41 4 Undervoltage 3 Main circuit DC voltage is excessively low A 51 4 ON OFF ON OFF Overspeed Rotational speed of the motor is excessively high A 71 4 ON ...

Page 199: ...rred in the SERVOPACK A C1 ON OFF ON OFF Servo Overrun Detected The servomotor ran out of control A C6 Fully Closed Encoder Phase A B Disconnection Alarm The phase A B of the fully closed encoder was disconnected A C7 Fully Closed phase C Dis connection Alarm The phase C of the fully closed encoder was disconnected A C8 Encoder Clear Error and Multiturn Limit Setting Error 2 The multiturn for the ...

Page 200: ...the board in the NS115 A E4 MECHATROLINK II Transmission Cycle Setting Error The setting of MECHATROLINK II transmis sion cycle is out of range A E5 MECHATROLINK II Synchronization Error MECHATROLINK II synchronization error A E6 MECHATROLINK II Communications Error MECHATROLINK II communications error A EA SERVOPACK Malfunction 2 SERVOPACK is defective A EB SERVOPACK Initial Access Error 2 Initia...

Page 201: ...This warning occurs before the overload alarm A 71 or A 72 occurs If the warning is ignored and operation continues an over load alarm may occur A 92 ON OFF ON ON Regenera tive Over load This warning occurs before the regenerative overload alarm A 32 occurs If the warning is ignored and operation continues a regen erative overload alarm may occur A 94 ON ON OFF ON Parameter Setting Warning A value...

Page 202: ...s This chapter describes the peripheral devices for MECHATROLINK MECHATROLINK II and the fully closed encoder 10 1 Fully Closed Encoder Connector Kit 10 2 10 2 MECHATROLINK MECHATROLINK II Communications Cables and Terminator 10 3 ...

Page 203: ...0 2 10 1 Fully Closed Encoder Connector Kit Name Connector Kit Model Number Manufacturer Model Number Encoder Connector CN4 Plug JZSP VEP02 Manufacturer Sumitomo 3M ltd Plug connector 10120 3000VE Shell system 10320 52S0 00S ...

Page 204: ...cables and terminator can be used both for MECHATROLINK MECHATROLINK II communications Communications Cables with Connectors on Both Ends Terminator Name Model Number Cable Length MECHATROLINK MECHATROLINK II Com munications Cables JEPMC W6002 A5 0 5 m JEPMC W6002 01 1 0 m JEPMC W6002 03 3 0 m Name Model Number MECHATROLINK MECHATROLINK II Commu nications Terminator JEPMC W6022 ...

Page 205: ... A List of MECHATROLINK II Commands and Command Formats This appendix provides a list of MECHATROLINK II commands and com mand formats A 1 MECHATROLINK II Command List A 2 A 2 MECHATROLINK II Command Format List A 5 ...

Page 206: ... A Disabled 0D SYNC_SET Start Synchronous Commu nications command N A Disabled 0E CONNECT MECHATROLINK II Con nection command N A Disabled 0F DISCON NECT Disconnection command N A Disabled 1B PPRM_RD Read Non volatile Parame ter command D A Disabled Not supported 1C PPRM_WR Write Non volatile Parame ter command D A Disabled Motion Common Command 20 POS_SET Set Coordinates command D A Disabled 21 B...

Page 207: ... POSING Positioning command M A Enabled 36 FEED Constant Speed Feed com mand M A Enabled 38 LATCH Interpolation Feeding with Position Detection com mand M S Enabled 39 EX_POSING External Input Positioning command M A Enabled 3A ZRET Zero Point Return command M A Enabled 3C VELCTRL Speed Reference command M A Enabled Command special for MECHATROLIN K II 3D TRQCTRL Torque Reference command M A Enabl...

Page 208: ...D Read Parameter command 02 PRM_WR Write Parameter command 05 ALM_RD Read Alarm or Warning command 1B PPRM_RD Read Non volatile Parameter command Not supported 1C PPRM_WR Write Non volatile Parameter command 28 LTMOD_ON Request Latch Mode command NS115 extended command 29 LTMOD_OFF Release Latch Mode command NS115 extended command 30 SMON Status Monitoring command ...

Page 209: ...se Command Response Command Response Command Response Command Response 1 00H 00H 01H 01H 02H 02H 03H 03H 04H 04H 05H 05H 2 ALARM ALARM ALARM ALARM ALARM ALARM 3 STATUS STATUS STATUS STATUS STATUS STATUS 4 5 NO NO NO NO DEVICE_ COD DEVICE_ COD ALM_RD_ MOD ALM_RD_ MOD 6 OFFSET OFFSET ALM_ DATA 7 SIZE SIZE SIZE SIZE SIZE SIZE 8 PARAMETER PARAMETER PARAMETER ID 9 10 11 12 13 14 15 16 WDT RWDT WDT RWDT...

Page 210: ...sponse 1 06H 06H 0DH 0DH 0EH 0EH 0FH 0FH 1BH 1BH 1CH 1CH 2 ALARM ALARM ALARM ALARM ALARM 3 STATUS STATUS STATUS STATUS STATUS 4 5 ALM_CLR _MOD ALM_CLR _MOD VER VER NO NO NO NO 6 COM_MOD COM_MOD 7 COM_TIM COM_TIM SIZE SIZE SIZE SIZE 8 PARAME TER PARAMET ER PARAMET ER 9 10 11 12 13 14 15 16 WDT RWDT WDT RWDT WDT RWDT WDT RWDT WDT RWDT WDT RWDT 17 18 19 20 21 22 23 24 25 26 27 28 29 Table A 3 Common ...

Page 211: ...F SENS_ON Command Response Command Response Command Response Command Response 1 20H 20H 21H 21H 22H 22H 23H 23H 2 ALARM ALARM ALARM ALARM 3 STATUS STATUS STATUS STATUS 4 5 PS_SUBCMD PS_SUBCMD 6 POS_DATA POS_DATA 7 8 9 10 11 12 13 14 15 16 WDT RWDT WDT RWDT WDT RWDT WDT RWDT 17 18 19 20 21 22 23 24 25 26 27 28 29 ...

Page 212: ...N ALARM ALARM 3 STATUS OPTION STATUS STATUS STATUS 4 5 MONITOR1 MONITOR1 MONITOR1 6 7 8 9 MONITOR2 MONITOR2 MONITOR2 10 11 12 13 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 14 I O I O I O 15 16 WDT RWDT WDT RWDT RWDT WDT RWDT RWDT 17 For subcommands use Refer to 4 4 Subcom mands For subcommands use Refer to 4 4 Subcom mands 18 19 20 21 22 23 24 25 26 27 28 29 Table A 4 Motion...

Page 213: ...F MONITOR2 10 11 12 13 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 14 I O I O I O I O 15 16 WDT RWDT WDT RWDT WDT RWDT WDT RWDT 17 For subcommands use Refer to 4 4 Subcom mands For subcommands use Refer to 4 4 Subcom mands For subcommands use Refer to 4 4 Subcom mands For subcommands use Refer to 4 4 Subcom mands For subcommands use Refer to 4 4 Subcom m...

Page 214: ...MONITOR2 VFF MONITOR2 10 11 12 13 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 14 I O I O I O 15 16 WDT RWDT WDT RWDT WDT RWDT 17 For subcommands use Refer to 4 4 Subcom mands For subcommands use Refer to 4 4 Subcom mands For subcommands use Refer to 4 4 Subcom mands For subcommands use Refer to 4 4 Subcom mands For subcommands use Refer to 4 4 Subcom mands For subcommands use...

Page 215: ...ONITOR2 VREF MONITOR2 10 11 12 13 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 14 I O I O I O 15 16 WDT RWDT WDT RWDT WDT RWDT 17 For subcommands use Refer to 4 4 Subcom mands For subcommands use Refer to 4 4 Subcom mands For subcommands use Refer to 4 4 Subcom mands For subcommands use Refer to 4 4 Subcom mands For subcommands use Refer to 4 4 Subcom mands For subcommands use...

Page 216: ...DATA 9 TQREF MONITOR2 TSPD OR VFF MONITOR2 10 11 12 13 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 14 I O SQ_CMD I O 15 16 WDT RWDT WDT RWDT WDT RWDT 17 For subcommands use Refer to 4 4 Subcom mands For subcommands use Refer to 4 4 Subcom mands For subcommands use Refer to 4 4 Subcom mands For subcommands use Refer to 4 4 Subcom mands For subcommands use Refer to 4 4 Subcom mands For subcommands u...

Page 217: ...sponse Command Response Command Response Command Response Command Response 17 00H 00H 01H 01H 02H 02H 05H 05H 1BH 1BH 18 SUBSTATUS SUBSTATUS SUBSTATUS SUBSTATUS SUBSTATUS 19 NO NO NO NO ALM_RD_ MOD ALM_RD _MOD NO NO 20 ALM_DATA 21 SIZE SIZE SIZE SIZE SIZE SIZE 22 PARAMETER PARAMETER PARAMETER PARAMETER 23 24 25 26 27 28 29 ...

Page 218: ... Command Response Command Response Command Response Command Response 17 1CH 1CH 28H 28H 29H 29H 30H 30H 18 SUBSTATUS LT_SGN SUBSTATUS SUBSTATUS SUBSTATUS 19 NO NO SEL_MON3 4 SEL_MON3 4 SEL_MON3 4 SEL_MON3 4 SEL_MON3 4 SEL_MON3 4 20 MONITOR3 MONITOR3 MONITOR3 21 SIZE SIZE 22 PARAMETER PARAMETER 23 24 MONITOR4 MONITOR4 MONITOR4 25 26 27 28 29 ...

Page 219: ...ix B List of Parameters This appendix lists the parameters memory switches input signal selections and output signal selections for SGDH SERVOPACKs with an NS115 mounted B 1 Parameters B 2 B 2 Function Switches B 9 ...

Page 220: ...03 Function Selection Application Switches 3 2 0000H to 00FFH 0002H Pn004 Reserved by system 2 0000H to 1100H 0100H Pn005 Function Selection Application Switches 5 2 0000H to 0001H 0000H For Linear Motor Only Pn080 Function Selection Application Switches 2 0000H to 0011H 0000H Gain related Parameters Pn100 Speed Loop Gain 2 Hz 1 to 2000 40 Pn101 Speed Loop Integral Time Constant 2 0 01 ms 15 to 51...

Page 221: ... Reserved by system 2 0 Pn121 2 50 Pn122 2 0 Pn123 2 0 For Linear Motor Only Pn180 Bias 2 mm s 0 to 450 0 For Linear Motor Only Pn181 Mode Switch Speed Reference 2 mm s 0 to 5000 0 For Linear Motor Only Pn182 Mode Switch Acceleration 2 mm s2 0 to 3000 0 Position related Parameters Pn200 Position Control Reference Selection Switches 2 0000H to 1239H 0100H For Rotary Motor Only Pn201 PG Divider 2 16...

Page 222: ...ime Constant 2 0 01ms 0 to 65535 40 Pn308 Speed F B Filter Time Constant 2 0 01ms 0 to 65535 0 For Linear Motor Only Pn380 Speed 1 2 mm s 0 to 5000 10 For Linear Motor Only Pn381 Speed 2 2 mm s 0 to 5000 20 For Linear Motor Only Pn382 Speed 3 2 mm s 0 to 5000 30 For Linear Motor Only Pn383 JOG Speed 2 mm s 0 to 5000 50 Torque related Parameter Pn400 Reserved by system 2 30 Pn401 Torque Thrust Filt...

Page 223: ...nce related Parameters Pn500 Positioning Completed Width 2 referenceunit pulse for COIN output 0 to 250 7 For Rotary Motor Only Pn501 Zero Clamp Level 2 min 1 0 to 10000 10 For Rotary Motor Only Pn502 Rotation Detection Level 2 min 1 1 to 10000 20 For Rotary Motor Only Pn503 Speed Coincidence Signal 2 min 1 0 to 100 10 Sequence related Parameters Pn504 NEAR Signal Width 2 referenceunit pulse for N...

Page 224: ...0000H to FFFFH 6583H Pn50C Reserved by system 2 8888H Pn50D Reserved by system 2 8888H Pn50E Output Signal Selections 1 2 0000H to 3333H 3211H Pn50F Output Signal Selections 2 2 0000H to 3333H 0000H Pn510 Output Signal Selections 3 2 0000H to 0033H 0000H Pn511 Input Signal Selections 3 2 0000H to FFFFH 8888H Pn512 Output Signal Reversal 2 0000H to 0111H 0000H For Rotary Motor Only Pn51A Error Leve...

Page 225: ... Acceleration Deceleration Pn80A First step Linear Acceleration Parameter 2 10000 reference unit s2 1 to 65535 100 Pn80B Second step Linear Acceleration Parameter 2 10000 reference unit s2 1 to 65535 100 Pn80C Acceleration Parameter Switching Speed 2 100 reference unit s 0 to 65535 0 Pn80D First step Linear Deceleration Parameter 2 10000 reference unit s2 1 to 65535 100 Pn80E Second step Linear De...

Page 226: ...ro Point Return Mode Setting 2 0000H to 0001H 0000H Pn817 Zero Point Return Approach Speed 1 2 100 reference unit s 0 to 65535 50 Pn818 Zero Point Return Approach Speed 2 2 100 reference unit s 0 to 65535 5 Pn819 Pn81A Final Travel Distance to Return to Zero Point 4 reference unit 230 1 to 230 1 100 Pn81B Backlash Compensation Amount 2 0 1 reference unit 32768 to 32767 0000H Pn81C Reserved by syst...

Page 227: ...1 Stops the motor by applying dynamic brake DB and then releases DB 2 Makes the motor coast to a stop state without using the dynamic brake DB 1 Overtravel Stop Mode 0 Same setting as Pn001 0 Stops the motor by applying DB or by coasting 0 1 Sets the torque of Pn406 to the maximum value decelerates the motor to a stop and then sets it to servolock state 2 Sets the torque of Pn406 to the maximum va...

Page 228: ...lue When P_CL 1 and N_CL 0 or P_CL and N_CL 1 P_TLIM operates as the torque limit value 1 Speed Reference Option in Torque Control Mode 0 The speed reference option is not effective Set VLIM to 0 0 1 VLIM operates as the speed limit value 2 Absolute Encoder Usage 0 Uses absolute encoder as an absolute encoder 0 1 Uses absolute encoder as an incremental encoder 3 Fully Closed Encoder Usage 0 Do not...

Page 229: ...ear 1 V 100 mm s 7 Motor speed Rotary 1 V 125 min 1 Linear 1 V 10 mm s 8 Do not set 9 Do not set A Do not set B Do not set C Do not set D Do not set E Do not set F Do not set 1 Analog Monitor 2 0 to F Same settings as Pn003 0 0 2 Reserved by system Set to 0 0 3 Reserved by system Set to 0 0 Pn005 0 Brake Control Function Selection 0 Controls brakes with Servo 0 1 Controls brakes with controller 1 ...

Page 230: ...D 2 Uses acceleration as the condition Level setting Pn10E 3 Uses error pulse as the condition Level setting Pn10F 4 No mode switch function available 1 Speed Loop Control Method 0 PI control 0 1 IP control 2 Reserved by system Set to 0 0 3 Reserved by system Set to 0 0 Pn110 0 Online Autotuning Method 0 Tunes only at the beginning of operation 0 1 Always tunes 2 Does not perform autotuning 1 Spee...

Page 231: ...itches Pn207 0 Reserved by system Set to 0 0 1 Position Control Option 1 Uses V REF as a speed feed forward input Automatically sets to 1 when the NS115 is connected 1 2 Reserved by system Set to 0 0 3 Reserved by system Set to 0 0 Torque related Switches Pn408 0 Notch Filter Selection 0 Disabled 0 1 Uses a notch filter for torque reference 1 Reserved by system Set to 0 0 2 Reserved by system Set ...

Page 232: ... terminal 4 Inputs from the SI4 CN1 44 input terminal 5 Inputs from the SI5 CN1 45 input terminal 6 Inputs from the SI6 CN1 46 input terminal 7 Sets signal ON 8 Sets signal OFF 9 Inputs the reverse signal from the SI0 CN1 40 input terminal A Inputs the reverse signal from the SI1 CN1 41 input terminal B Inputs the reverse signal from the SI2 CN1 42 input terminal C Inputs the reverse signal from t...

Page 233: ...CN1 41 input terminal B Inputs the reverse signal from the SI2 CN1 42 input terminal C Inputs the reverse signal from the SI3 CN1 43 input terminal D Inputs the reverse signal from the SI4 CN1 44 input terminal E Inputs the reverse signal from the SI5 CN1 45 input terminal F Inputs the reverse signal from the SI6 CN1 46 input terminal 3 N CL Signal Mapping 0 to F Same settings as Pn50B 2 6 Pn50C 0...

Page 234: ... output terminal 3 Outputs from the SO3 CN1 29 30 output terminal 1 V CMP Signal Mapping 0 to 3 Same settings as Pn50E 0 1 2 TGON Signal Mapping 0 to 3 Same settings as Pn50E 0 2 3 S RDY Signal Mapping 0 to 3 Same settings as Pn50E 0 3 Pn50F 0 CLT Signal Mapping 0 to 3 Same settings as Pn50E 0 0 1 VLT Signal Mapping 0 to 3 Same settings as Pn50E 0 0 2 BK Signal Mapping 0 to 3 Same settings as Pn50...

Page 235: ...N1 43 input terminal D Inputs the reverse signal from the SI4 CN1 44 input terminal E Inputs the reverse signal from the SI5 CN1 45 input terminal F Inputs the reverse signal from the SI6 CN1 46 input terminal 1 EXT1 Signal Mapping 4 Inputs from the SI4 CN1 44 input terminal 8 5 Inputs from the SI5 CN1 45 input terminal 6 Inputs from the SI6 CN1 46 input terminal 7 Sets signal ON 8 Sets signal OFF...

Page 236: ...s turned OFF then ON again Sends a Set Up Device command at power ON when changing a parameter Called an offline parameter Do not access Sequence related Switches Pn512 0 Signal Reversal for SO1 CN1 25 26 Terminal 0 Signal is not reversed 0 1 Signal is reversed 1 Signal Reversal for SO2 CN1 27 28 Terminal 0 Signal is not reversed 0 1 Signal is reversed 2 Signal Reversal for SO3 CN1 29 30 Terminal ...

Page 237: ...Ignores parameter setting warning A 94 2 Ignores MECHATROLINK II command warning A 95 3 Ignores both parameter setting warning A 94 and MECHATROLINK II command warning A 95 4 Ignores communications error A 96 5 Ignores both parameter setting warning A 94 and communications error A 96 6 Ignores both MECHATROLINK II command warning A 95 and communications error A 96 7 Ignores parameter setting warni...

Page 238: ...Set to 0 0 Monitor Pn813 0 Option Monitor 1 0 As for Analog Monitor 1 Pn003 0 0 1 As for Analog Monitor 2 Pn003 1 2 Monitors initial multi rotation data IMTDATA 3 Monitors the encoder count value PGCNT 4 multiple number 4 Monitors the motor encoder initial multi rotation data value 5 Monitors the motor encoder count value 6 Monitors the motor encoder count latch value 7 Do not set 8 Monitors the f...

Page 239: ...2 Reserved by system Set to 0 0 3 Reserved by system Set to 0 0 Pn81D 0 Backlash Compensa tion Direction 0 Forward direction 0 1 Reverse direction 1 Reserved by system Set to 0 0 2 Reserved by system Set to 0 0 3 Reserved by system Set to 0 0 Pn81E 0 IO12 Mapping 0 No allocation 0 1 Monitors the SI0 CN1 40 input terminal 2 Monitors the SI1 CN1 41 input terminal 3 Monitors the SI2 CN1 42 input term...

Page 240: ...otuning C 3 C 1 2 Machine Rigidity Settings for Online Autotuning C 5 C 1 3 Saving Results of Online Autotuning C 7 C 1 4 Parameters Related to Online Autotuning C 9 C 2 Absolute Encoder Setup Initialization C 11 C 3 Multiturn Limit Setting C 12 C 4 Automatic Offset Adjustment of Motor Current Detection Signals C 13 C 5 Enabling the Panel Operator C 14 ...

Page 241: ...of the machine automatically and makes the necessary servo gain adjustments The function is easy to use and makes it possible for even beginners to perform servo gain tuning and set all servo gains as parameters The following parameters can be set automatically by using the online autotuning function Parameter Content Pn100 Speed loop gain Pn101 Speed loop integral time constant Pn102 Position loo...

Page 242: ...e load changes rapidly When the application has slow acceleration or deceleration using the soft start function and the speed error of the servomotor being driven is small When adjusting the servo gain manually and operating at low gain a machine rigidity of 1 or less Disable the online autotuning function and adjust the gain manually if tuning is not possible Refer to 9 3 Manual Tuning of the Σ Ι...

Page 243: ...ser s Manual SIEPS80000005 Start Operate with factory settings of parameters Set to always perform tuning Set Pn110 0 to1 Adjust the machinerigidity setting Clear theonline autotuning Set Pn110 0 to 2 Yes Load moment of inertia changes Operation OK Adjust the friction compensation Set in Pn110 2 End Make servogain adjustments manually No Yes No Yes No Yes No Yes No Save the results of autotuning t...

Page 244: ...gh however it may cause the machine to vibrate In that case decrease the set value The rigidity value setting automatically changes the parameters in the above table If parameters Pn102 Pn100 Pn101 and Pn401 are set manually with the online autotuning function enabled tuning is performed with the manually set values as target values Machine Rigidity Setting Fn001 Position Loop Gain S 1 Pn102 Speed...

Page 245: ...ond max after sending for the setting to be completed 4 Use the following data reference command to check when settings have been com pleted Set 00H Data reference in the CCMD field Set 2003H in the CADDRESS field 5 After setting the data send the command Confirm that the response is correct and that CMDRDY or STATUS is set to 1 Confirm that the value of the CDATA field in the response field is th...

Page 246: ... calculate the load moment of inertia at the time of online autotuning The moment of inertia ratio is factory set to 0 Before making servo gain adjustments manually be sure to set the inertia ratio in Pn103 If the moment of inertia ratio is incorrect the speed loop gain unit Hz set in Pn100 will be wrong Procedure for Saving Results of Online Autotuning The Adjusting command ADJ 3EH is used to sav...

Page 247: ... Confirm that the response is correct and that CMDRDY of STATUS is set to 1 The Online Autotuning Results Write Mode will be entered 4 Continue by using the following data setting command Set 01H Data setting in the CCMD field Set 2001H in the CADDRESS field Set 01H Execute in the CDATA field 5 After setting the data send the command Approximately one second after sending confirm that the response...

Page 248: ...110 0 to 2 if autotuning is not available or if the online autotuning function is not used because the load moment of inertia is already known and the SERVOPACK is manu ally adjusted by setting the moment of inertia ratio data in Pn103 Speed Feedback Compensation Selection Use the following parameter to enable or disable speed feedback compensation during autotuning Refer to 9 4 8 Speed Feedback C...

Page 249: ...e friction compensation accord ing to the extent of friction in order to ensure highly precise load moment of inertia calcula tion 1 Do not set friction compensation for loads with low friction 10 rated torque speed or less 2 Autotuning will be performed as if the load moment of inertia was 30 times the motor moment of inertia when the load moment of inertia exceeds 30 times the motor moment of in...

Page 250: ...the Setup Mode 4 Continue by using the following data setting command Set 01H Data setting in the CCMD field Set 2001H in the CADDRESS field Set 02H Save in the CDATA field 5 After setting the data send the command Confirm that the response is correct and that CMDRDY of STATUS is set to 1 6 Send the following command Set 01H Data setting in the CCMD field Set 2001H in the CADDRESS field Set 01H Ex...

Page 251: ...ng Mode will be entered 4 Continue by using the following data setting commands Set 01H Data setting in the CCMD field Set 2001H in the CADDRESS field Set 02H Save in the CDATA field 5 After setting the data send the command Confirm that the response is correct and that CMDRDY of STATUS is set to 1 6 Send the following command Set 01H Data setting in the CCMD field Set 2001H in the CADDRESS field ...

Page 252: ...and field can be set 2 Send the following data setting commands in each command field Set 01H Data setting in the CCMD field Set 2000H in the CADDRESS field Set 100EH in the CDATA field 3 After setting the data send the command Confirm that the response is correct and that CMDRDY of STATUS is set to 1 The automatic offset adjustment of motor current detection signals will be enabled 4 Continue by ...

Page 253: ...EH and byte 2 to 00H the following command field can be set 2 Send the following data setting commands to each command field Set 01H Data setting in the CCMD field Set 2002H in the CADDRESS field Set Desired data in the CDATA field 3 After setting the data send the command Confirm that the response is correct and that CMDRDY of STATUS is set to 1 When the settings are completed the Panel Operator ...

Page 254: ...holding brake 6 39 brake ON timing 6 41 brake operation 6 41 setting 6 42 wiring example 6 39 host controller 3 3 I I O signals connection example of I O signal connector CN1 3 6 I O signal names and functions 3 8 inertia ratio 9 14 C 3 C 7 C 9 C 10 input signals 3 8 enabling disabling input signals 6 8 input circuit signal allocation 6 29 input signal allocation mode 6 30 interface circuits 3 9 L...

Page 255: ...mode selection 6 10 Servomotor Stop Mode 6 8 servomotors with brakes 5 7 SERVOPACKs cooling 2 4 dimensional drawings 8 3 environmental conditions in the control panel 2 4 installation 2 4 installation site 2 2 internal block diagrams 3 5 orientation 2 3 ratings and specifications 8 2 side by side installation 2 4 storage conditions 2 2 software limit 6 11 forward software limit 6 11 reverse softwa...

Page 256: ...minator B 1 Addition Pn280 and Pn281 B 2 Revision Description of Pn002 0 and Pn002 1 April 2004 Back cover Revision Address March 2005 3 5 3 4 2 2 Revision Description of connectable slave stations 4 3 Revision Description of main command 4 4 Addition Table 4 3 Deletion Description of combination with main command shown in each subcommand table 4 5 2 6 3 3 Revision Acceleration deceleration filter...

Page 257: ...No 49 Wu Kong 6 Rd Wu Ku Industrial Park Taipei Taiwan Phone 886 2 2298 3676 Fax 886 2 2298 3677 YASKAWA ELECTRIC HK COMPANY LIMITED Rm 2909 10 Hong Kong Plaza 186 191 Connaught Road West Hong Kong Phone 852 2803 2385 Fax 852 2547 5773 BEIJING OFFICE Room No 301 Office Building of Beijing International Club 21 Jianguomenwai Avenue Beijing 100020 China Phone 86 10 6532 1850 Fax 86 10 6532 1851 TAIP...

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