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6.3 Torque Feedforward Function

6.3.1 Relationship between the Host Controller and SERVOPACK

6-7

6

Function/Command Related Parameter

s

6.3

Torque Feedforward Function

The torque feedforward function applies feedforward compensation to position control or
speed control to shorten the positioning time. The torque feedforward reference is created from
the differential of the position reference at the host controller. Torque feedforward is specified
with TFF (torque feedforward) in the position control or speed control command.

You can specify torque feedforward for the INTERPOLATE and VELCTRL commands.

6.3.1

Relationship between the Host Controller and SERVO-
PACK

The following figures illustrate specifying torque feedforward in commands from the host con-
troller when the SERVOPACK is performing speed control or position control.



When SERVOPACK Performs Speed Control



When SERVOPACK Performs Position Control

S

ervomotor

S

peed feedback

Current feedback

S

ERVOPACK (when VELCTRL command i

s

u

s

ed)

Ho

s

t controller

Encoder divided
pul

s

e output

M

Current
control

s

ection

Power
amplifier

Divider

S

peed

conver

s

ion

Pn426

TFF

VREF

KFF

Differential

Pn212

ENC

KFF: Feedforward gain

Torque feedforward
average movement time

S

peed

reference

-

+

-

+

S

peed

control

s

ection

B
A

S

ervomotor

S

peed

feedback

Po

s

ition

feedback

Current feedback

S

ERVOPACK (when INTERPOLATE command i

s

u

s

ed)

Ho

s

t controller

Encoder divided
pul

s

e output

M

Current
control

s

ection

Power
amplifier

Divider

S

peed

conver

s

ion

Pn

3

0C

VFF

TPO

S

KFF

Differential

Pn212

ENC

KFF: Feedforward gain

S

peed feedforward

average movement time

Pn426

TFF

Torque feedforward
average movement time

Po

s

ition

reference

S

peed

control

s

ection

KFF

Differential

Differential

-

+

+

-

+

-

+

Deviation
counter

S

moothing

Electronic
gear

Po

s

ition

control

s

ection

Pn20E
Pn210

Pn811
Pn812

Pn522
Po

s

itioning

completed
width

P

S

ET

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Summary of Contents for S-7 Series

Page 1: ...nual MANUAL NO SIEP S800001 31C 1 2 3 4 5 6 7 8 9 Command Format Main Commands Subcommands Operation Sequence Function Command Related Parameters Common Parameters Virtual Memory Space MECHATROLINK II...

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

Page 3: ...contents of the chapters of this manual are described in the following table Refer to these chapters as required Chapter Chapter Title Contents 1 MECHATROLINK III Communication Settings Provides deta...

Page 4: ...Documents 7 Series Servomotor Product Manuals SERVOPACKs with Built in Controllers 7C Enclosed Documents Built in Function Manuals 7 Series 7C SERVOPACK Product Manual 7 Series 7C SERVOPACK Troublesh...

Page 5: ...iled information on the specifications system configu ration and communications con nection methods for the Ethernet communications that are used with MP3000 Series Machine Control lers and 7 Series 7...

Page 6: ...ide DeviceNet Module TOBP C720829 07 Provides detailed procedures for installing the DeviceNet Module in a SERVOPACK AC Servo Drive Rotary Servomotor Safety Precautions TOBP C230260 00 Provides detail...

Page 7: ...K Command Option Attachable Type with INDEXER Module Product Manual SIEP S800001 64 7 Series AC Servo Drive 7S SERVOPACK Command Option Attachable Type with DeviceNet Module Product Manual SIEP S80000...

Page 8: ...o Drive 7S SERVOPACK with FT EX Specification for Cutting Application Feed Shaft Motor Product Manual SIEP S800002 10 Option Module User s Manual V Series V Series for Large Capacity Models 7 Series U...

Page 9: ...ies Motion Programming Manual SIEP C880725 14 Provides detailed information on the motion programming and sequence programming specifica tions and instructions for MP3000 Series Machine Controllers an...

Page 10: ...eceived asynchro nously to the communication cycle Subsequent commands can be sent after confirming the completion of processing of the slave station that received the command The WDT Watchdog Timer i...

Page 11: ...he third digit from the right is set to 2 Position Torque The control methods for which the parameters apply are given Speed Speed control Position control Torque control This is the parameter setting...

Page 12: ...g aids are used to indicate certain types of information for easier reference Indicates precautions or restrictions that must be observed Also indicates alarm displays and other precautions that will...

Page 13: ...ation marked as shown below is important for safety Always read this information and heed the precau tions that are provided DANGER Indicates precautions that if not heeded are likely to result in los...

Page 14: ...y the product There is a risk of fire or failure The warranty is void for the product if you disassemble repair or modify it CAUTION The SERVOPACK heat sinks regenerative resistors External Dynamic Br...

Page 15: ...y of the following locations Locations that are subject to direct sunlight Locations that are subject to ambient temperatures that exceed product specifications Locations that are subject to relative...

Page 16: ...amaged by the gases or fumes resulting from the fumigation process In particular disinfectants containing halogen which includes chlorine fluorine bromine or iodine can contribute to the erosion of th...

Page 17: ...RVOPACK in a control panel Do not allow any foreign matter to enter a SERVOPACK or a Servomotor with a Cooling Fan and do not cover the outlet from the Servomotor s cooling fan There is a risk of fail...

Page 18: ...supply to the SERVOPACK only after all wiring including the main circuit termi nals has been completed If a connector is used for the main circuit terminals remove the main circuit connector from the...

Page 19: ...ch as broken signal lines occur For example the P OT and N OT signals are set in the default settings to operate on the safe side if a signal line breaks Do not change the polarity of this type of sig...

Page 20: ...sible after a faulty SERVOPACK is replaced possibly resulting in machine or equipment damage DANGER Do not change any wiring while power is being supplied There is a risk of electric shock or injury W...

Page 21: ...and short circuiting or install a molded case circuit breaker combined with a ground fault detector There is a risk of SERVOPACK failure or fire if a ground fault occurs The holding brake on a Servom...

Page 22: ...red product in a manner in which it was not originally intended Causes that were not foreseeable with the scientific and technological understanding at the time of shipment from Yaskawa Events for whi...

Page 23: ...property Systems that require a high degree of reliability such as systems that supply gas water or elec tricity or systems that operate continuously 24 hours a day Other systems that require a simila...

Page 24: ...5 4 Combinations of Main Commands and Subcommands 1 9 Command Format 2 2 1 Common Command Format 2 3 2 2 Command Header Section of Main Command Area 2 5 2 2 1 Command Code CMD RCMD 2 5 2 2 2 Watchdog...

Page 25: ...dinates Command POS_SET 20h 3 24 3 2 2 Apply Brake Command BRK_ON 21h 3 26 3 2 3 Release Brake Command BRK_OFF 22h 3 27 3 2 4 Turn Sensor ON Command SENS_ON 23h 3 30 3 2 5 Turn Sensor OFF Command SENS...

Page 26: ...for Managing Parameters Using a SERVOPACK 5 7 5 3 Setting the Zero Point before Starting Operation 5 8 5 4 Operation Sequence when Turning the Servo ON 5 9 5 5 Operation Sequence when OT Overtravel Li...

Page 27: ...ns or Commands 7 7 1 Communication Related Alarms 7 2 7 2 Warnings Related to Communication and Commands 7 5 7 2 1 Communication Errors COMM_ALM 7 5 7 2 2 Command Errors CMD_ALM 7 5 7 2 3 Monitoring C...

Page 28: ...a Execution Timing 1 5 1 4 2 Monitored Data Input Timing 1 5 1 4 3 Transmission Cycle and Communications Cycle Support for 125 s 1 6 1 5 List of Commands 1 7 1 5 1 Command Types 1 7 1 5 2 Main Command...

Page 29: ...Interconnection reference model This manual describes standard servo profile commands for the application layer OSI MECHATROLINK III Protocol Layer 7 Application layer MECHATROLINK III application lay...

Page 30: ...s also possible to use a main command alone The application layer interfaces with only the information field Classification Byte Command Response Information Field 0 to 31 Used by main commands 32 to...

Page 31: ...State Transition Slave Station State Transition Start P1 Waits for connection establishment P2 Asynchronous communications state P3 Synchronous communications state Sends CONNECT Asynchronous communic...

Page 32: ...tion commands such as POSING and INTERPOLATE and the servo command control and servo command I O signals SVCMD_CTRL and SVCMD_IO are executed 125 s after their reception 1 4 2 Monitored Data Input Tim...

Page 33: ...t for 125 s 1 6 1 4 3 Transmission Cycle and Communications Cycle Sup port for 125 s By adopting a shorter transmission cycle the command throughput of the host controller is improved by eliminating t...

Page 34: ...03h ID_RD Read ID command Reads the device ID 3 1 2 04h CONFIG Device setup request command Enables the current parameter settings 3 1 3 05h ALM_RD Read alarm warning command Reads the current alarm o...

Page 35: ...et speed TSPD 3 2 10 36h FEED Constant speed feed command Starts constant speed feeding at the target speed TSPD 3 2 11 37h EX_FEED Positioning at con stant speed by external input command Starts cons...

Page 36: ...tatus and the alarm history 4 3 06h ALM_CLR Clear alarm warning state com mand Clears the current alarm or warning status and the alarm history 4 4 1Dh MEM_RD Read memory com mand Reads data from virt...

Page 37: ...SVPRM_RD 40h SVPRM_WR 41h Continued from previous page Main Command Subcommands NOP 00h ALM_RD 05h ALM_ CLR 06h MEM_ RD 1Dh MEM_ WR 1Eh SMON 30h SVPRM _RD 40h SVPRM _WR 41h Even for a valid combinatio...

Page 38: ...ommand Control SUB_CTRL 2 11 2 3 3 Subcommand Status SUB_STAT 2 12 2 4 Servo Command Format 2 13 2 5 Command Header Section 2 14 2 5 1 Servo Command Control SVCMD_CTRL 2 14 2 5 2 Servo Command Status...

Page 39: ...2 7 Command Data 2 27 2 7 1 Data Order 2 27 2 7 2 Specifying Units 2 27 2 7 3 Specifying Monitor Data 2 28 2 7 4 Position Data 2 29...

Page 40: ...he command header section and the command data section Fields in the command header section of the main command area Fields in the command header section of the subcommand area Command CMD WDT CMD_CTR...

Page 41: ...o the following section 2 3 2 Subcommand Control SUB_CTRL on page 2 11 SUB_STAT Refer to the following section 2 3 3 Subcommand Status SUB_STAT on page 2 12 SUB_CMD_DATA SUB_RSP_DATA Specified for ind...

Page 42: ...d parameter 2 02h PRM_WR Write parameter 2 03h ID_RD Read ID 04h CONFIG Device setup request 05h ALM_RD Read alarm warning 06h ALM_CLR Clear alarm warning state 0Dh SYNC_SET Request for establishing s...

Page 43: ...format are specified as the CMD_CTRL field The designation in the CMD_CTRL field is valid even when an alarm specified by CMD_ALM has occurred The CMD_CTRL field is specified as shown below by the com...

Page 44: ...e 3 of the response format are specified as the CMD_STAT field The CMD_STAT field is specified as shown below by the communication specification D_ALM Definition This bit indicates the device alarm st...

Page 45: ...ans that command processing is in progress While CMDRDY 0 the slave station continues to process the current command but the slave station will discard new commands received while CMDRDY 0 Only the DI...

Page 46: ...normal command is received after the occurrence of a command error CMD_ALM is automatically cleared The phase doesn t change even if the status of CMD_ALM is not 0 The servo ON OFF state doesn t chan...

Page 47: ...mmand data has not been received 3 Synchronous frame not received The SERVOPACK detects that the synchronous frame has not been received 2 Command data not received 3 Synchronous frame not received 4...

Page 48: ...each command for the details of the restric tions 2 Can be executed Ignored Command error Indefinite response data 2 3 2 Subcommand Control SUB_CTRL The following describes the subcommand control dat...

Page 49: ...15 Selects the monitor information with the setting value 20 to 23 SEL_MON6 Monitor selection 6 0 to 15 Selects the monitor information with the setting value bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1...

Page 50: ...te Command Response Description 0 CMD RCMD CMD_CTRL Refer to the following section 2 2 3 Command Control CMD_CTRL on page 2 6 CMD_STAT Refer to the following section 2 2 4 Command Status CMD_STAT on p...

Page 51: ...ls of Control Bits The following table shows the details of the control bits bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 Reserved 0 ACCFIL STOP_MODE CMD_ CANCEL CMD_ PAUSE bit 15 bit 14 bit 13 bit...

Page 52: ...m LT_SEL2 Important The 7F Integrated Servomotor Model SGF7 2 supports C phase only This setting is disabled when the control bits are set to external input signal 1 2 or 3 12 13 LT_SEL2 Latch Signal...

Page 53: ...sing of move command com pleted The status used to judge the completion of pausing of the POSING FEED EX_FEED EX_POS ING ZRET and VELCTRL commands 1 CMD_CANCEL_ CMP Completion of Cancellation of Move...

Page 54: ...judge if the motor is energized or not 16 to 19 SEL_MON1 Monitor Selection 1 Returns what data is being monitored 0 to 15 Monitor selection The status used to judge the data currently being monitored...

Page 55: ...ith STOP_MODE When deceleration to a stop is specified the slave station decelerates its motion at the deceleration specified in DECR of the command 3 1 is set for CMD_PAUSE_CMP at the slave station w...

Page 56: ...on specified in DECR of the command 3 1 is set for CMD_CANCEL_CMP at the slave station in the following circumstances In the position control mode When CMD_CANCEL and DEN become 1 In the speed control...

Page 57: ...CMD_CANCEL 2 20 Example of Canceling the POSING Command Example of Canceling the VELCTRL Command Communication cycle CMD POSING OFF ON CMD_CANCEL OFF ON CMD_CANCEL_CMP OFF ON DEN OFF ON PSET CMD VELC...

Page 58: ...1 LT_REQ 1 Command without a latch function LT_SEL 1 LT_REQ 1 Continues the latch request before switching Command without a latch function LT_SEL 1 LT_REQ 1 Command without a latch function LT_SEL 2...

Page 59: ...bit 17 bit 16 Reserved SO3 SO2 SO1 BANK_SEL bit 31 bit 30 bit 29 bit 28 bit 27 bit 26 bit 25 bit 24 Reserved 0 bit Name Description Value Setting Enabled Timing 4 V_PPI Speed Loop P PI Control 0 PI c...

Page 60: ...20 to 22 SO1 to SO3 I O Signal Output Com mand 0 Signal OFF Level 1 Signal ON Turns ON OFF the signal output for I O signal outputs SO1 to SO3 Important The OUT_SIGNAL operation is disabled when othe...

Page 61: ...ed 5 EXT2 External Latch 2 Input 0 OFF 1 ON The status used to judge the state of the external latch 2 input signal Important The 7F Integrated Servomotor Model SGF7 2 does not support monitoring beca...

Page 62: ...n is within the range of the Positioning Com pleted Width common parameter 66 This bit is valid only in the position control mode Refer to the following section for details 5 9 Notes when the Position...

Page 63: ...gnal ON The status used to indicate the I O signal state of CN1 Allocate the input signals using parameters Pn860 to Pn866 Pn868 and Pn869 Important The 7F Integrated Servomotor Model SGF7 2 does not...

Page 64: ...r details Chapter 8 Common Parameters Speed The following units can be selected Settings are made with common parameters 41 and 42 Position The following units can be selected Settings are made with c...

Page 65: ...r 48 Selection Code Monitor Name Description Remark 0 APOS Feedback Position 1 CPOS Command Position 2 PERR Position Error Valid only when performing position control 3 LPOS1 Latched Position 1 4 LPOS...

Page 66: ...4 byte data as position data For infinite length operation position data beyond this limit are expressed as shown in the diagram below Position data in MECHATROLINK III communication Reference unit 7...

Page 67: ...19 3 1 9 Read Memory Command MEM_RD 1Dh 3 20 3 1 10 Write Memory Command MEM_WR 1Eh 3 21 3 2 Servo Commands 3 24 3 2 1 Set Coordinates Command POS_SET 20h 3 24 3 2 2 Apply Brake Command BRK_ON 21h 3 2...

Page 68: ...Return Command ZRET 3Ah 3 45 3 2 15 Velocity Control Command VELCTRL 3Ch 3 48 3 2 16 Torque Control Command TRQCTRL 3Dh 3 49 3 2 17 Read Servo Parameter Command SVPRM_RD 40h 3 50 3 2 18 Write Servo P...

Page 69: ...on command Asynchronous command Processing Time Within communication cycle Subcommand Can be used Byte NOP Description Command Response 0 00h 00h You cannot use the NOP command during network control...

Page 70: ...3h and CMD_STAT CMDRDY 1 and also checking the setting for ID_CODE OFFSET and SIZE In the following cases an alarm will occur Do not read ID in the response in those cases because the ID value will be...

Page 71: ...DI associated with function addi tions and function changes such as addition of profiles Minor version When there are changes to the MDI associated with minor function addi tions or function changes R...

Page 72: ...Cycle 4 bytes Binary Data 12500 0 01 s unit 0 125 ms The minimum communication cycle that the device supports 1Ah Maximum Value of Communica tion Cycle 4 bytes Binary Data 3200000 0 01 s unit 32 ms T...

Page 73: ...it4 bit3 bit2 bit1 bit0 Reserved 0 ALM_ CLR ALM_ RD CONFIG ID_RD PRM_ WR PRM_RD NOP 0 1 1 1 1 0 0 1 bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 DISCON NECT CON NECT SYNC_ SET Reserved 0 Reserved 0 R...

Page 74: ...d from previous page ID_CODE Description Data Size Data Type Compliance bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 Reserved 0 ALM_ CLR ALM_ RD Reserved 0 Reserved 0 PRM_ WR PRM_RD NOP 0 1 1 0 0 0 0 1 bit...

Page 75: ...ved 0 Reserved 0 Reserved 0 Reserved 0 Reserved 0 29 28 0 0 0 0 0 0 1 1 bit71 bit70 bit69 bit68 bit67 bit66 bit65 bit64 47 46 45 44 43 42 41 Reserved 0 1 1 1 1 1 1 1 0 bit79 bit78 bit77 bit76 bit75 bi...

Page 76: ...00 Not supported NULL The name of sub device 3 ASCII code B8h Sub Device 3 Version 4 bytes Binary Data Not supported 0000000h The version number of sub device 3 BCh to BFh Reserved C0h Sub Device 4 Na...

Page 77: ...n by checking that RCMD CONFIG 04h and CMD_STAT CMDRDY 1 and also checking the setting for CONFIG_MOD CMD_STAT Indefinite until the completion of the command In the following cases an alarm will occur...

Page 78: ...tus and Output Signal Before CONFIG Pro cessing During CONFIG Pro cessing After CONFIG Pro cessing ALM Current state Current state Current state CMDRDY 1 0 1 M_RDY Current state Indefinite Current sta...

Page 79: ...Byte ALM_RD Description Command Response 0 05h 05h The ALM_RD command reads the alarm or warning state The current alarm or warning state is read to ALM_ DATA Confirm the completion of the command exe...

Page 80: ...wing con figuration ALM_RD_MOD Description Processing Time 0 Current alarm warning state Max 10 items byte 8 to 27 00h is set for the remaining bytes byte 28 to 31 Within communication cycle 1 Alarm o...

Page 81: ...error reception error or syn chronous communication error watchdog data error occurs during synchronous communication synchro nous communication must be recovered by using the SYNC_SET command after t...

Page 82: ...or Synchronous communication is established by taking the transition of the watchdog data WDT during the execution of this command as the reference Maintains this command at the master station until p...

Page 83: ...Confirm the completion of the command execution by checking that RCMD CONNECT 0Eh and CMD_STAT CMDRDY 1 and also that the settings of VER COM_MODE COM_TIME and PROFILE_TYPE of the response agree with...

Page 84: ...secutive transmission 10 Reserved 11 Reserved SUBCMD Subcommand setting 0 Subcommand disabled 1 Subcommand enabled COM_TIM Communication cycle setting Sets the number by which to multiply the transmis...

Page 85: ...establish the connection It then waits for the connect establishment request from the master station The DISCONNECT command can be sent regardless of the state of the CMD_STAT CMDRDY bit If the DIS CO...

Page 86: ...ata size for reading Confirm the completion of the command execution by checking that RCMD MEM_RD 1Dh and CMD_STAT CMDRDY 1 and also checking the setting for ADDRESS SIZE and MODE DATA_TYPE In the fol...

Page 87: ...cution by checking that RCMD MEM_WR 1Eh and CMD_STAT CMDRDY 1 and also checking the setting for ADDRESS SIZE MODE DATA_TYPE and DATA In the following cases an alarm will occur and the com mand will no...

Page 88: ..._WR ADDRESS 80004002h MODE DATA_TYPE 12h SIZE 0001h DATA 0002h To confirm the completion of the execution check that CMDRDY 1 If an error occurs carry out the operation in step 4 to abort execution bi...

Page 89: ...Set the number of data of the data type specified by DATA_TYPE The details of CMD_ALM of the MEM_RD MEM_WR command are described below Area Name Details DATA_TYPE SIZE Accessible inaccessible Vendor...

Page 90: ...rovides a function to set the refer ence point Specifying this command after setting REFE 1 sets the machine zero point according to the coor dinate setting values and enables the stroke check softwar...

Page 91: ...S_DATA REFE Enable Disable setting of reference point 0 Disables setting of a reference point 1 Enables setting of a reference point The coordinate reference point setting is confirmed and the ZPOINT...

Page 92: ...utputs a brake operation sig nal Confirm the completion of the command execution by checking that RCMD BRK_ON 21h and CMD_STAT CMDRDY 1 Valid only in the servo OFF state To use this command set Pn50F...

Page 93: ...be used Byte BRK_OFF Description Command Response 0 22h 22h The BRK_OFF command releases the brake Confirm the completion of the command execution by checking that RCMD BRK_OFF 22h and CMD_STAT CMDRD...

Page 94: ...always valid as command as long as no warning occurs Always make sure of the status of brake control command when using BRK_ON or BRK_OFF command Sending BRK_OFF command while the servomotor is being...

Page 95: ...Other Than a MECHATROLINK Communications Error Related Alarm Command Alarm status Servo status Brake signal BK NOP BRK_OFF SV_ON ON OFF OFF ON OFF Normal status Alarm status Command Communications er...

Page 96: ...MON2 Monitor data can be selected by changing the common parameter setting Refer to the following chapter for details Chapter 8 Common Parameters When an absolute encoder is used the initial position...

Page 97: ...SEL_MON2 Monitor data can be selected by changing the common parameter setting Refer to the following chapter for details Chapter 8 Common Parameters When an absolute encoder is used the position data...

Page 98: ...ormation position speed output torque etc specified in monitor setting and the state of the I O signals of the servo drive Confirm the completion of the command execution by checking that RCMD SMON 30...

Page 99: ...on Parameters To establish the servo ON state after a warning has occurred send a command other than SV_ON such as the SV_OFF command and then send the SV_ON com mand Upon completion of execution of t...

Page 100: ...g Time for SVOFF at Decel eration to Stop is set to a value other than 0 the servo will be turned OFF after the servomotor deceler ates to a stop according to the deceleration constant for stopping se...

Page 101: ...Parameter No Description Pn829 SVOFF Waiting Time for SVOFF at Decelera tion to Stop Pn827 Pn840 Linear Deceleration Constant 1 for Stopping Linear Deceleration Constant 2 for Stopping SV_OFF command...

Page 102: ...VFF velocity feedforward Set the speed feedforward value with a signed value Use it as a speed feedforward function TFF torque feedforward Set the torque feedforward value with a signed value Use it...

Page 103: ...meters Notes on using the command TPOS target position Set the target position with a signed value TSPD target speed Set the target speed with an unsigned value ACCR acceleration Set the acceleration...

Page 104: ...eration deceleration will be used Linear acceleration deceleration will be used when the rate of acceleration deceleration meets the following condition for the target speed TSPD Acceleration decelera...

Page 105: ...command TSPD target speed Set the target speed with a signed value ACCR acceleration Set the acceleration with an unsigned value DECR deceleration Set the deceleration with an unsigned value When both...

Page 106: ...3 2 Servo Commands 3 2 11 Feed Command FEED 36h 3 40 Speed Time Feed speed SVCMD_CTRL CANCEL 1...

Page 107: ...y changing the common param eter setting Refer to the following chapter for details Chapter 8 Common Parameters Notes on using the command To send this command select the latch signal with LT_SEL1 of...

Page 108: ...ce to target position P3 the slave station sets the motion reference output completed flag DEN to 1 to notify the master station of the completion of motion reference output to move the device to targ...

Page 109: ...rs Notes on using the command To send this command select the latch signal with LT_ SEL1 of SVCMD_CTRL and output the latch request by setting LT_REQ1 1 TPOS target position Set the target position wi...

Page 110: ...al input positioning target P3 5 After the completion of motion reference output to move the device to target position P3 the slave station sets the motion reference output completed flag DEN to 1 to...

Page 111: ...to the following chapter for details Chapter 8 Common Parameters Notes on using the command To send this command select the latch signal with LT_SEL1 of SVCMD_CTRL and output the latch request by set...

Page 112: ...The master station sends the ZRET command It selects the latch signal with LT_SEL1 of SVCMD_CTRL and outputs the latch request by setting LT_REQ1 1 2 The slave station starts feeding in the direction...

Page 113: ...ined by the sign of the value set for the Final Travel Distance for Homing If the Final Travel Distance for Homing is a positive value After latching during motion in the positive direction the motor...

Page 114: ...the common parameter setting Refer to the following chapter for details Chapter 8 Common Parameters Notes on using the command VREF Velocity reference Set the speed reference with a signed value TFF t...

Page 115: ...for details Chapter 8 Common Parameters Notes on using the command TQREF torque reference Set the torque reference with a signed value VLIM Velocity limit Set the speed limit with an unsigned value R...

Page 116: ...arameter in the read mode to read the corresponding servo parameter Confirm the completion of the command execution by checking that RCMD SVPRM_RD 40h and CMD_STAT CMDRDY 1 and also checking the setti...

Page 117: ...re written However the following parameters are not enabled even if the CONFIG command is sent You must turn the power supply OFF and ON again after you change either of these parameters Pn002 n X Ext...

Page 118: ...1h A 97B Operates with the speed clamped at the maximum output speed TQREF TFF Torque reference Torque feedforward value Set signed 4 byte data Maximum torque to Maximum torque 0h Normal Operates acco...

Page 119: ...ation deceleration and the alarm CMD_ALM does not occur Both ACCR and DECR are set at 0 0h Normal Acceleration deceleration is performed according to the parameter settings ACCR DECR Accelera tion Dec...

Page 120: ...during Position Control If you use a positioning command i e POSING FEED EX_FEED EX_POSING or ZRET for a 7 Series Rotary Servomotor the following restrictions apply to the deceleration time Electric...

Page 121: ...Using Servo Commands 3 Main Commands 3 55 The following figure shows the relationship between the reference speed and deceleration time Motor Speed Time 6000 min 1 If you reduce the reference speed t...

Page 122: ...4 4 Clear Alarm or Warning Subcommand ALM_CLR 06h 4 5 4 5 Read Memory Subcommand MEM_RD 1Dh 4 6 4 6 Write Memory Subcommand MEM_WR 1Eh 4 7 4 7 Servo Status Monitor Subcommand SMON 30h 4 8 4 8 Read Se...

Page 123: ...subsection describing each command for the details of the restric tions 2 Can be executed Ignored Command error Indefinite response data Profile Command Code Command Operation Communication Phases 2...

Page 124: ...tion Common command Asynchronous command Processing Time Within communication cycle Byte NOP Description Command Response 32 00h 00h The NOP subcommand is used for network control Confirm the completi...

Page 125: ...M_RD subcommand reads the current alarm or warning state as an alarm or warning code Confirm the completion of the subcommand execution by checking that RSUBCMD ALM_RD 05h and SUB_STAT SBCMDRDY 1 ALM_...

Page 126: ...es not eliminate the cause of the alarm or warning ALM_ CLR should be used to clear the state after the cause of the alarm or warning has been eliminated Confirm the completion of the subcommand execu...

Page 127: ...the initial address and the data size for reading Confirm the completion of the subcommand execution by checking that RSUBCMD MEM_RD 1Dh and SUB_STAT SUBCMDRDY 1 and also checking the setting for ADDR...

Page 128: ...and provides an adjustment function equivalent to that of the ADJ command of the MECHA TROLINK II compatible profile For the operation proce dure refer to the MEM_WR main command Confirm the completio...

Page 129: ...e Subcommand Byte SMON Description Command Response 32 30h 30h The SMON subcommand reads the alarms status and monitor information position speed output torque etc specified in monitor setting and the...

Page 130: ...mber data size and the read mode Confirm the completion of the subcommand execution by checking that RSUBCMD SVPRM_RD 40h and SUB_STAT SUBCMDRDY 1 and also checking the setting for NO SIZE and MODE In...

Page 131: ...rites the servo param eters on specification of the servo parameter number data size and write mode Confirm the completion of the subcommand execution by checking that RSUBCMD SVPRM_WR 41h and SUB_STA...

Page 132: ...2 Operation Sequence for Managing Parameters Using a SERVOPACK 5 7 5 3 Setting the Zero Point before Starting Operation 5 8 5 4 Operation Sequence when Turning the Servo ON 5 9 5 5 Operation Sequence...

Page 133: ...Station Address Set the station address using the rotary switches S1 and S2 S3 Function Setting Factory setting 1 2 Number of transmission bytes Pins 1 and 2 Sets the number of transmission bytes OFF...

Page 134: ...rvomotor OFF and ON again to enable the new setting Setting the Number of Transmission Bytes Set the number of transmission bytes in Pn881 Number of Transmission Bytes Setting Important After you chan...

Page 135: ...it In the CONNECT command uncompleted state D1 POWER LED Lit while the control power is being supplied normally 7 segment LED In normal state Indicates the status In alarm warning state Indicates the...

Page 136: ...k status Not lit No MECHATROLINK III link no MECHATROLINK III communications cable con nection Lit MECHATROLINK III link electrical connection to device Status Indicator Lighting Pattern Not lit Alway...

Page 137: ...the steps to enable starting of communications regardless of the status at that point Procedure Operation Command to Send 1 Turn ON the control and main circuit power supplies 2 Confirm the completio...

Page 138: ...us communications status DISCONNECT 3 Establish communications connection and starts WDT count CONNECT 4 Check information such as device ID ID_RD 5 Get device setting data such as parameters SVPRM_RD...

Page 139: ...0 POS_SET_ MODE REFE 1 and POS_DATA reference position ZPOINT and software limits are enabled after the reference coordinate system has been set When Using an Absolute Encoder When an absolute encoder...

Page 140: ...a so that the reference coordinate system CPOS MPOS and the feedback coordi nate system APOS are equal For correct execution of motion commands therefore it is nec essary to use the SMON status monito...

Page 141: ...r is completely stopped Keep the command used in procedure 1 active until both of the above flags are set to 1 3 Read out the current reference position CPOS and use it as the start position for retra...

Page 142: ...ergency stop no specific process is required For circuits that turn OFF only the main circuit power supply follow the procedure below After confirming that the SV_ON or PON bit in the STATUS field of...

Page 143: ...VCMD_IO servo command input signal field If a forced stop status is detected send a command such as SV_OFF to stop the motor BB status baseblocked RUN status HWBB status hard wire baseblocked HWBB1 HW...

Page 144: ...Complete the preparation for operation after establishing the servo ON state 6 Start operation Note 1 If the SERVOPACK enters the HWBB status while sending an SV_ON command reset the HWBB1 or HWBB2 si...

Page 145: ...Error Alarms When a communication error alarm COMM_ALM 8 occurs the communication phase shifts to phase 2 To restore communication phase 3 send a SYNC_SET command after resetting the alarm For Warnin...

Page 146: ...ply was turned OFF PON of SVCMD_STAT set to 0 The motor has stopped due to overtravel P OT or N OT of SVCMD_IO set to 1 or a soft ware limit P_SOT or N_SOT of SVCMD_IO set to 1 The servo OFF state SV_...

Page 147: ...6 3 2 Setting Parameters 6 8 6 4 Speed Feedforward Function 6 9 6 4 1 Relationship between the Host Controller and SERVOPACK 6 9 6 4 2 Setting Parameters 6 10 6 5 Software Limit Function 6 11 6 6 Lat...

Page 148: ...alues are specified using the INTERPOLATE command the values will be cleared when another command is executed 6 1 2 Positioning Command There are the following two kinds of acceleration deceleration m...

Page 149: ...Factory set ting Use Pn80A to Pn80F and Pn827 The settings of Pn834 to Pn840 are ignored 2 0000h to 0001h n 1 Use Pn834 to Pn840 The settings of Pn80A to Pn80F and Pn827 are ignored Parameter Name Da...

Page 150: ...tant 2 4 1 to 20971520 10000 reference units s2 100 Pn838 Acceleration Constant Switching Speed 2 4 0 to 2097152000 Reference units s 0 Pn83A First Stage Linear Deceleration Constant 2 4 1 to 20971520...

Page 151: ...sing P_CL N_CL Bits of SVCMD_IO Field This method uses the P_CL and N_CL bits of the SVCMD_IO field to limit the output torque to the values set for the following parameters Settings can be made using...

Page 152: ...limit specified by the TLIM field remains valid During execution of the SV_OFF or TRQC TRL command the torque limit specified by the TLIM field becomes invalid and the maximum torque will be used as...

Page 153: ...or position control When SERVOPACK Performs Speed Control When SERVOPACK Performs Position Control Servomotor Speed feedback Current feedback SERVOPACK when VELCTRL command is used Host controller Enc...

Page 154: ...r is slow the torque feedforward reference may be applied stepwise as shown on the left in the following figure You can set Pn426 Torque Feedforward Average Movement Time to a suitable value to create...

Page 155: ...between the Host Controller and SERVO PACK The following figure illustrates specifying speed feedforward in a command from the host con troller when the SERVOPACK is performing speed control B A Servo...

Page 156: ...n the left in the following figure You can set Pn30C Speed Feedforward Average Movement Time to a suitable value to create a smooth speed feedforward reference as shown on the right in the above figur...

Page 157: ...he function remains disabled Zero point return operation by the ZRET command is completed The coordinate setting is completed after reference point setting REFE 1 by executing the POS_SET command When...

Page 158: ...e positioning will be performed by using the software limit value as the tar get position Parameter Meaning Data Size Byte Setting Range Unit Pn801 n 0 Enable both forward and reverse soft ware limits...

Page 159: ...f the following cases latching will not be performed since the latching conditions are not satisfied Outside the latching allowable area set by parameters Inside the latching disabled area in the oper...

Page 160: ...tart of the next latch and enables sequential latch operations at high speed How to Start and Stop Continuous Latch Operation Set the following parameters and then set LT_REQ2 to 1 to start continuous...

Page 161: ...latching can be obtained by using the follow ing monitor The previously latched position data can be obtained by using the following optional monitors Operation Example An example of a continuous latc...

Page 162: ...ch Sequence 5 to 8 Settings 2 0000h to 3333h 0000H 1 Latch Sequence 5 Signal Selection 0 Phase C 0 to 3 0 1 EXT1 signal 2 EXT2 signal 3 EXT3 signal 2 Latch Sequence 6 Signal Selection As above 3 Latch...

Page 163: ...s of the SVCMD_CTRL field is set to 1 requesting latch ing For the MECHATROLINK II compatible profile the conditions are different The above conditions for enabling latch signal input are valid for th...

Page 164: ...eters can be registered as parameter bank members by parameters Pn902 to Pn910 For 4 byte parameters one parameter must be registered as two consecutive members See Setting Example 2 Name Description...

Page 165: ...e bank function enabled and start the operation without setting parameters Pn920 to Pn95F the operation will be carried out under the condition that all bank data is set to 0 zero or the minimum setti...

Page 166: ...Pn901 64 If a parameter that is not allowed to be a bank member is registered the bank data of the parameter registered member will become invalid Bank data that exceeds the setting range of the regis...

Page 167: ...applicable manual for design and maintenance of the SERVOPACK 7 1 Communication Related Alarms 7 2 7 2 Warnings Related to Communication and Commands 7 5 7 2 1 Communication Errors COMM_ALM 7 5 7 2 2...

Page 168: ...er of transmission bytes S3 Review the communica tion setting of the con troller Zero speed stop ping A E41 Possi ble 0 Station address set ting error The station address setting is invalid or a stati...

Page 169: ...e Commu nication Synchro nization Error C Synchroniza tion error The controller is not refreshing the WDT data in each commu nication cycle after completing communication synchroniza tion in communica...

Page 170: ...meter settings Refer to 6 7 Acceleration Deceleration Parameter High speed Switching Function for details Cause 2 The settings of the reserved parame ters have been changed as follows Pn200 n X is not...

Page 171: ...ws the warnings related to the validity of commands When an error of this kind is detected the warning code is displayed on the SERVOPACK as well Category Alarm in Response SERVOPACK Side COM M_ALM Me...

Page 172: ...exadecimal Com mand Warning A The command sequence is incor rect Review the command sending sequence of the controller Refer to the conditions of each command A 95A Cleared auto matically 8 An unsuppo...

Page 173: ...8 1 Overview 8 2 8 2 List of Common Parameters 8 3 8 3 Common Parameters and Corresponding Device Parameters 8 11 Common Parameters 8...

Page 174: ...to Pn8 specific to this SERVOPACK As shown in the follow ing example setting either the common parameter or the device parameter will change the value of the corresponding parameter Refer to the follo...

Page 175: ...ed Selection read only 0 to 1 All 04 PnA08 4 Rated Motor Speed read only 0 to FFFFFFFF 1 min 1 All 05 PnA0A 4 Maximum Output Speed read only 0 to FFFFFFFF 1 min 1 All 06 PnA0C 4 Speed Multiplier read...

Page 176: ...823 1 reference unit 1073741 823 All Immedi ately 29 PnA52 4 Reserved parameter Do not use 0 All Immedi ately 41 PnA82 4 Speed Unit Selection 2 0 to 4 0 All After restart Unit settings 42 PnA84 4 Spee...

Page 177: ...1011F h All Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Resolution Default Setting Applicable Motors When Enabled Classi fication 0000h Refere...

Page 178: ...ately 6 83 PnB06 4 External Positioning Final Travel Distance 1 073 741 823 to 1 073 741 823 1 reference unit 100 All Immedi ately 84 PnB08 4 Origin Approach Speed 0h to 3FFFFFFFh 10 3 min 1 5 000 ref...

Page 179: ...1 02h Phase 2 03h Phase 3 Byte 2 Current control mode 00h Position control mode 01h Speed control mode 02h Torque control mode Byte 3 Reserved Byte 4 Expansion signal monitor 0007h Reserved 0008h INIT...

Page 180: ...Control Field Enable Disable Selections read only 0FFF3F3F h All Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Resolution Default Setting Appli...

Page 181: ...d Bits 4 and 5 ACCFIL 1 Enabled Bits 6 and 7 Reserved 0 Disabled Bit 8 L_CMP1 1 Enabled Bit 9 L_CMP2 1 Enabled Bit 10 POS_RDY 1 Enabled Bit 11 PON 1 Enabled Bit 12 M_RDY 1 Enabled Bit 13 SV_ON 1 Enabl...

Page 182: ...he setting during operation the reference output will be affected 93 PnB26 4 Input Bit Enable Dis able Selections read only FF0FFEFE h All Command related parameters Continued from previous page Param...

Page 183: ...ear Ratio Numerator Pn20E 22 Electronic Gear Ratio Denominator Pn210 23 Absolute Encoder Origin Offset Pn808 24 Multiturn Limit Setting Pn205 25 Limit Setting Pn50A Pn50B Pn801 26 Forward Software Lim...

Page 184: ...Command Related Parameters 81 Exponential Acceleration Deceleration Time Constant Pn811 82 Movement Average Time Pn812 83 External Positioning Final Travel Distance Pn814 EX_POS ING EX_ FEED 84 1 Orig...

Page 185: ...9 1 Virtual Memory Space 9 2 9 2 Information Allocated to Virtual Memory 9 3 9 2 1 ID Information Area 9 3 9 2 2 Common Parameter Area 9 4 9 2 3 Adjustment Operation Area 9 5 Virtual Memory Space 9...

Page 186: ...at common addresses h FFFF FFFF Vendor specific area 8000 4002 Adjustment operation area 8000 4000 8000 0000 7FFF FFFF Reserved 1000 0000 0FFF FFFF Device information area 0001 02FF Common parameter...

Page 187: ...lue 1Dh 0000 0070 Number of Transmission Bytes Current Value 1Ch 0000 0360 Sub Device 5 Version D8h 0000 006C Number of Transmission Bytes 1Bh 0000 0240 0000 035F Sub Device 5 Name D0h 0000 0068 Maxim...

Page 188: ...for SEL_MON2 8Ah 0001 009C Reserved 00000000h 0001 0224 Monitor Select for SEL_MON1 89h 0001 0098 Forward Software Limit 26h 0001 0220 Monitor Selection 2 88h 0001 0094 Limit Setting 25h 0001 021C Mon...

Page 189: ...ection for the command communications procedure for adjustment operations 3 1 10 Write Memory Command MEM_WR 1Eh on page 3 21 Address Description Data Size Byte Data Type 8000 4000h Name Command code...

Page 190: ...over Revision Format Preface Partly revised 2 5 1 2 6 3 1 2 5 1 Addition Information on the 7F Integrated Servomotor Model SGF7 2 2 7 3 Revision Monitor data list 3 2 18 Revision Description of data f...

Page 191: ...http www yaskawa co th YASKAWA ELECTRIC CHINA CO LTD 22F One Corporate Avenue No 222 Hubin Road Shanghai 200021 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 http www yaskawa com cn YASKAWA ELECTRIC...

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