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8.9 Anti-resonance Control Adjustment

8.9.4 Related Parameters

8-52

8.9.4

Related Parameters

The following parameters are automatically adjusted or used as reference when you adjust anti-
resonance control.

Do not change the settings while anti-resonance control is being adjusted.

Yes: The parameter is automatically set.

No: The parameter is not automatically set, but the setting is read during execution.

8.9.5

Suppressing Different Vibration Frequencies with Anti-
resonance Control

When you use anti-resonance control and increase the control gain, for some mechanisms,
vibration can occur at a higher frequency than the frequency for which vibration was sup-
pressed. If this occurs, you can suppress vibration for more than one frequency by adjusting
Pn166 (Anti-Resonance Damping Gain 2).

Required Parameter Settings

The following parameter settings are required to use anti-resonance control for more than one
vibration frequency.

Parameter

Name

Automatic

Changes

Pn160

Anti-Resonance Control-Related Selections

Yes

Pn161

Anti-Resonance Frequency

Yes

Pn162

Anti-Resonance Gain Correction

No

Pn163

Anti-Resonance Damping Gain

Yes

Pn164

Anti-Resonance Filter Time Constant 1 Correction

No

Pn165

Anti-Resonance Filter Time Constant 2 Correction

No

Guidelines for Vibration That Can Be Suppressed

Anti-resonance frequency (Pn161): fa [Hz], Another vibration frequency that occurs when the
control gain is increased: fb [Hz]

•

Vibration frequencies: 100 Hz to 1,000 Hz

•

Range of different vibration frequencies: 1 < (fb/fa)

≤

3 to 4

Parameter

Meaning

When Enabled

Classification

Pn160

n.



0

(default setting)

Do not use anti-resonance control.

Immediately

Tuning

n.



1

Use anti-resonance control.

Pn161

Anti-Resonance Frequency

Setting Range

Setting Unit

Default Setting

When Enabled

Classification

10 to 20,000

0.1 Hz

1000

Immediately

Tuning

Pn162

Anti-Resonance Gain Correction

Setting Range

Setting Unit

Default Setting

When Enabled

Classification

1 to 1,000

1%

100

Immediately

Tuning

Pn163

Anti-Resonance Damping Gain

Setting Range

Setting Unit

Default Setting

When Enabled

Classification

0 to 300

1%

0

Immediately

Tuning

Pn164

Anti-Resonance Filter Time Constant 1 Correction

Setting Range

Setting Unit

Default Setting

When Enabled

Classification

-1,000 to 1,000

0.01 ms

0

Immediately

Tuning

Continued on next page.

Information

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Summary of Contents for SGD7C-AMAA

Page 1: ...NO SIEP S800002 04B 1 2 3 4 5 6 7 8 9 10 11 12 Installation Wiring and Connections Preparations Device Specific Settings Trial Operation Creating User Programs Tuning Monitoring Maintenance Parameter...

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: ...oca tions 3 Wiring and Connections Provides information on wiring and connecting SERVOPACKs to power supplies and peripheral devices 4 Preparations Describes the Engineering Tool and the SERVOPACK set...

Page 4: ...7W SERVOPACKs with Built in Controllers 7C Servomotors Other Documents Built in Function Manuals 7 Series 7S 7W SERVOPACK Product Manuals such as this manual 7 Series 7S 7W SERVOPACK Hardware Option P...

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: ...edures for installing the Safety Module in a SERVOPACK V Series V Series for Large Capacity Models 7 Series Installation Guide INDEXER Module TOBP C720829 02 Provides detailed procedures for installin...

Page 7: ...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 S800001...

Page 8: ...S800001 95 7 Series AC Servo Drive 7S SERVOPACK with FT EX Specification for Torque Force Assistance for Conveyance Application Product Manual SIEP S800002 09 7 Series AC Servo Drive 7S SERVOPACK wit...

Page 9: ...ns Command Manual SIEP S800001 30 Provides detailed information on the MECHATROLINK II communi cations commands that are used for a 7 Series Servo System 7 Series AC Servo Drive MECHATROLINK III Commu...

Page 10: ...Servo System AC Servo Drive Engineering Tool SigmaWin Operation Manual SIET S800001 34 Provides detailed operating proce dures for the SigmaWin Engineer ing Tool for a 7 Series Servo System Distribut...

Page 11: ...ion reference of 0 Main Circuit Cable One of the cables that connect to the main circuit terminals including the Main Circuit Power Supply Cable Control Power Supply Cable and Servomotor Main Circuit...

Page 12: ...for the parameter This is the parameter classification This is when any change made to the parameter will become effective This is the parameter setting set before shipment The control methods for whi...

Page 13: ...icates alarm displays and other precautions that will not result in machine damage Indicates definitions of difficult terms or terms that have not been previously explained in this manual Indicates op...

Page 14: ...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 15: ...tion The warranty is void for the SERVOPACK if you disassemble repair or modify it The installation must be suitable and it must be performed only by an experienced technician There is a risk of elect...

Page 16: ...that are subject to direct sunlight Locations that are subject to ambient temperatures that exceed SERVOPACK specifications Locations that are subject to relative humidities that exceed SERVOPACK spe...

Page 17: ...packed with fumigated wooden materials the electrical components may be greatly damaged by the gases or fumes resulting from the fumigation process In particular disinfectants containing halogen which...

Page 18: ...not allow foreign objects to enter a SERVOPACK or a Servomotor with a Cooling Fan and do not cover the inlet or outlet of the Servomotor s cooling fan There is a risk of failure Never install the SER...

Page 19: ...ue to faulty contact possibly resulting in fire Use shielded twisted pair cables or shielded multi twisted pair cables for I O Signal Cables and Encoder Cables Observe the following precautions when w...

Page 20: ...les If the I O signal lines and power lines are not separated properly malfunction may occur NOTICE Whenever possible use the Cables specified by Yaskawa If you use any other cables confirm the rated...

Page 21: ...nd disconnect it from the machine There is a risk of injury Forcing the motor to stop for overtravel is disabled when the Jog Origin Search or Easy FFT utility function is executed Take necessary prec...

Page 22: ...t use the dynamic brake for any application other than an emergency stop There is a risk of failure due to rapid deterioration of elements in the SERVOPACK and the risk of unexpected operation machine...

Page 23: ...rates safely There is a risk of injury or device damage The linear interpolation for the Helical Interpolation MCW and MCC instructions can be used for both linear axes and rotary axes However dependi...

Page 24: ...the system After you complete trial operation of the machine and facilities use the MPE720 or the Sig maWin to create a backup file of the SERVOPACK parameters You can use them to reset the parameters...

Page 25: ...you reset an alarm There is a risk of injury or machine damage Always insert a magnetic contactor in the line between the main circuit power supply and the main circuit power supply terminals on the...

Page 26: ...ou need a new copy of this manual because it has been lost or damaged contact your near est Yaskawa representative or one of the offices listed on the back of this manual This manual is subject to cha...

Page 27: ...ered 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 wh...

Page 28: ...property Systems that require a high degree of reliability such as systems that supply gas water or electricity or systems that operate continuously 24 hours a day Other systems that require a simila...

Page 29: ...ards UL Certification for the SGM7F 07A is pending Product Model North American Safety Standards UL File No SERVOPACKs SGD7C UL 61800 5 1 E147823 CSA C22 2 No 274 Rotary Servomo tors SGMMV SGM7A SGM7J...

Page 30: ...nd environment Low Voltage Directive 2006 95 EC EN 60034 1 EN 60034 5 RoHS Directive 2011 65 EU EN 50581 SGM7J SGM7A SGM7P SGM7G EMC Directive 2014 30 EU EN 55011 group 1 class A EN 61000 6 2 EN 61000...

Page 31: ...tion Specifications 1 14 1 5 5 Controller Section Specifications 1 15 1 6 Block Diagrams 1 25 1 6 1 SGD7C 1R6A and 2R8A 1 25 1 6 2 SGD7C 5R5A and 7R6A 1 26 1 7 External Dimensions 1 27 1 7 1 Front Cov...

Page 32: ...ns 3 3 1 Wiring Precautions 3 3 3 1 1 General Precautions 3 3 3 1 2 Countermeasures against Noise 3 6 3 1 3 Grounding 3 9 3 2 Basic Wiring Diagrams 3 10 3 3 Flow of Wiring and Connections 3 12 3 4 Wir...

Page 33: ...tion 4 3 4 1 3 Offline Startup 4 11 4 2 Project Files 4 16 4 2 1 What Are Project Files 4 16 4 2 2 Creating a Project File 4 17 4 3 Self Configuration 4 21 4 3 1 Self Configuration 4 21 4 3 2 Confirmi...

Page 34: ...to Perform Polarity Detection 5 26 5 11 Overtravel Function and Settings 5 28 5 11 1 Overtravel Signals 5 28 5 11 2 Setting to Enable Disable Overtravel 5 29 5 11 3 Motor Stopping Method for Overtrav...

Page 35: ...Torque Limits 5 69 5 23 2 External Torque Limits 5 70 5 23 3 CLT Torque Limit Detection Output Signal 5 73 5 24 Absolute Encoders 5 74 5 24 1 Connecting an Absolute Encoder 5 74 5 24 2 Structure of t...

Page 36: ...rograms 7 7 1 User Program Types and Execution Timing 7 3 7 1 1 Ladder Programs 7 3 7 1 2 Motion Programs 7 11 7 1 3 Sequence Programs 7 23 7 1 4 The M EXECUTOR Function Module 7 25 7 1 5 Registers 7...

Page 37: ...gram 7 75 7 7 8 Cross Reference Searches 7 75 7 7 9 Monitoring Motion Alarms 7 76 7 7 10 Alarm Code Details 7 79 7 8 Monitoring Machine Operation 7 82 7 8 1 Axis Monitor 7 82 7 8 2 Alarm Monitor 7 86...

Page 38: ...4 Automatically Adjusted Function Setting 8 47 8 8 5 Tuning Example for Tuning Mode 2 or 3 8 47 8 8 6 Related Parameters 8 48 8 9 Anti resonance Control Adjustment 8 49 8 9 1 Outline 8 49 8 9 2 Prepar...

Page 39: ...hine Operation Status and Signal Waveforms 9 6 9 3 1 Items That You Can Monitor 9 6 9 3 2 Operating Procedure 9 7 9 4 Monitoring Product Life 9 9 9 4 1 Items That You Can Monitor 9 9 9 4 2 Operating P...

Page 40: ...File Security 12 37 12 6 2 Program Security 12 41 12 6 3 Online Security 12 44 12 7 IO16 Function Module 12 49 12 7 1 What Is the IO16 Function Module 12 49 12 7 2 Setting Procedure for the IO16 Func...

Page 41: ...bers 1 9 1 5 Ratings and Specifications 1 11 1 5 1 Ratings 1 11 1 5 2 SERVOPACK Overload Protection Characteristics 1 12 1 5 3 General Specifications 1 13 1 5 4 Servo Section Specifications 1 14 1 5 5...

Page 42: ...Peripheral Devices 1 36 1 11 Combinations of SERVOPACKs and Servomotors 1 38 1 11 1 Combinations of Rotary Servomotors and SERVOPACKs 1 38 1 11 2 Combinations of Direct Drive Servomotors and SERVOPACK...

Page 43: ...nected through MECHATROLINK III Standard features for device control such as I O ports and Ethernet ports enable building PLC free small scale device systems You can install Optional Units to use MP2...

Page 44: ...es the need for regular battery replacement and reduces costs Protection has been improved for outputs from the Controller Section A conceptual diagram of an 7C SERVOPACK is provided below 7C SERVOPAC...

Page 45: ...prevent electric shock Always connect this terminal MECHATROLINK III Com munications Connector CN6 Connects to MECHATROLINK III compatible devices page 3 44 Computer Connector CN7 A USB connector to c...

Page 46: ...tion Status Indicators Show the status of the CPU page 1 32 DIP Switches Mode Switches Primarily used to set the operating mode of the CPU page 1 34 USB Status Indicator Show the status of USB memory...

Page 47: ...7 1 Basic Information on SERVOPACKs 1 3 Interpreting the Nameplate The following basic information is provided on the nameplate BTO information Serial number Order number SERVOPACK model Surrounding...

Page 48: ...Manual No SIEP S800001 73 5 Refer to the following manual for details 7 Series 7W SERVOPACK with Hardware Option Specifications HWBB Function Product Manual Manual No SIEP S800001 72 Voltage 1R6 1 2R...

Page 49: ...ies 1st 2nd digits 1st 2nd digits Specification Code With 24 V holding brake With oil seal Straight With key and tap With two flat seats 17 bit absolute encoder 24 bit absolute encoder 24 bit incremen...

Page 50: ...W2 M M2 Specification The specifications for the 3rd digit on depend on the Servomotor type Magnetic Way Moving Coil Specification Code Moving Coil Magnetic Way 2nd digit Series 1st digit 2nd digit 3...

Page 51: ...in Regenerative Resistor Power Loss W 8 8 16 16 Total Power Loss W 49 0 68 3 111 9 127 2 Regenera tive Resistor Built In Regenerative Resistor Resistance 40 40 12 12 Capacity W 40 40 60 60 Minimum Al...

Page 52: ...characteristics In most cases that will be the overload protection characteristics of the Servomotor SGD7C 1R6 2R8 Note The above overload protection characteristics do not mean that you can perform...

Page 53: ...inear encoder The signal resolution depends on the abso lute linear encoder Incremental linear encoder The signal resolution depends on the incremental linear encoder or Serial Converter Unit Environ...

Page 54: ...t signal A signal can be allocated and the positive and negative logic can be changed Sequence Output Signals Fixed Outputs Allowable voltage range 5 VDC to 30 VDC Number of output points 2 Output sig...

Page 55: ...SDRAM Capacity 256 MB MRAM Capacity 4 MB Calendar Seconds minutes hour day week month year day of week and timing Ethernet One port 10Base T or 100Base TX MECHATROLINK MECHATROLINK III 1 circuit with...

Page 56: ...of Startup Drawings DWG A 64 Number of steps per drawing 4 000 Number of Interrupt Drawings DWG I 64 Number of High Speed Scan Drawings DWG H 1000 Number of Low Speed Scan Drawings DWG L 2000 Number...

Page 57: ...Subscript i Supported Special registers for offsetting addresses Subscripts i and j function identically Subscript j Supported Array Registers Supported Used to handle registers as arrays Data Tracin...

Page 58: ...ead 2 044 words MELSEC A Compatible 1E Write 256 words Read 256 words MELSEC QnA Compati ble 3E Write 960 words Read 960 words MODBUS TCP Write 100 words Read 125 words OMRON Write 996 words Read 999...

Page 59: ...signed from the registers for each circuit Refer to the following manuals for details 7 Series 7C SERVOPACK Motion Control User s Manual Manual No SIEP S800002 03 MECHA TROLINK III communica tions Com...

Page 60: ...ecution L scan Scan execution System Work The same number is used for the definition number and system work number Program Designation Method Direct designation or indirect des ignation Direct designa...

Page 61: ...rectory Function 16 Maximum Number of Simulta neously Open Files 16 Formatting Not supported Use a formatted USB memory device Model Specification Manufacturer SFU24096D1BP1TO C QT 111 CAP 4 GB USB me...

Page 62: ...input Input Circuits Phases A and B 5 V differential input not isolated maxi mum frequency 4 MHz Phase Z 5 V 12 V or 24 V photocoupler input maximum frequency 500 kHz Input Modes Phases A and B sign a...

Page 63: ...atus SW00104 to SW00109 Reserved SW00110 to SW00189 Detailed User Operation Error Status SW00190 to SW00199 Reserved SW00200 to SW00503 System I O Error Status SW00504 and SW00505 Reserved SW00506 and...

Page 64: ...on System Service Execution Status SW16012 to SW16199 Reserved SW16200 to SW17999 Alarm History Information SW18000 to SW19999 Reserved SW20000 to SW22063 Product Information SW22064 to SW23999 Reserv...

Page 65: ...brake circuit UA VA WA UB VB WB I O CN1 CN2B CN2A Control power supply L1C L2C CN7 Status display CHARGE M ENC M ENC Servomotor for axis B Servomotor for axis A Dynamic brake circuit Gate drive overc...

Page 66: ...supply Gate drive overcurrent protection CHARGE M ENC M ENC Servomotor for axis B Servomotor for axis A Gate drive Dynamic brake circuit Dynamic brake circuit Gate drive overcurrent protection Control...

Page 67: ...to the following figures and table Front Cover Dimensions Connector Specifications Note The above connectors or their equivalents are used for the SERVOPACKs Connector No Model Number of Pins Manufact...

Page 68: ...R6A 180 76 26 17 100 4 160 5 5 100 168 168 Ground terminals 3 M4 screws Approx mass 2 0 kg Unit mm Two sets of terminals Mounting Hole Diagram 160 0 5 mounting pitch Exterior 4 M4 90 0 5 mounting pitc...

Page 69: ...s 3 M4 screws 100 160 168 195 17 5 5 80 76 180 26 17 24 5 2 100 15 50 0 5 166 min 7 195 180 0 5 mounting pitch 4 x M4 mounting pitch Exterior Two sets of terminals Mounting Hole Diagram Approx mass 2...

Page 70: ...the control power supply Servo Section Displays There are two displays on the Servo Section These displays give the status of axes A and B connected to the SERVOPACK The left display gives the status...

Page 71: ...ified value Set the specified value of the Servomotor speed in Pn502 or Pn581 The default setting is 20 min 1 or 20 mm s Base Block State Lit Base block is active servo OFF state Not lit Servo is ON L...

Page 72: ...ows the status of USB memory Indicator Name Color Status When Lit RDY Green Operation is normal RUN Green A user program is being executed ALM Red An alarm occurred ERR Red An error occurred M ALM Red...

Page 73: ...Display Description Status Red Initializing The RDY status indicator is not lit The CPU started normally after the power was turned ON or after the sys tem was reset Normal operation The RDY status in...

Page 74: ...definition stored in flash memory the IP address is set to 192 168 1 1 OFF Does not set the default IP address INIT ON Resets memory OFF If this pin is set to ON the data stored in the RAM will be del...

Page 75: ...e USB memory Lightly press this switch to prepare the USB memory device for removal The USB memory device can be safely removed when the USB status indicator changes from flashing to not lit Press and...

Page 76: ...breaker Magnetic Contactor Power supply Three phase 200 VAC R S T External Regenerative Resistor Cable Control Power Supply Cable Ground cable SERVOPACK main circuit wires CN2A CN2B Encoder Cable for...

Page 77: ...netic Contactor Power supply Three phase 200 VAC R S T External Regenerative Resistor Cable Control Power Supply Cable Ground cable SERVOPACK main circuit wires Linear encoder Sensor Cable Linear Enco...

Page 78: ...MV A2A 20 W SGMMV A3A 30 W 1R6A 2R8A SGM7J Medium Inertia Small Capacity 3000 min 1 SGM7J A5A 50 W 1R6A 2R8A SGM7J 01A 100 W SGM7J C2A 150 W 1R6A 2R8A SGM7J 02A 200 W SGM7J 04A 400 W 2R8A 5R5A 7R6A SG...

Page 79: ...75 SGM7E 16E 16 48 5R5A SGM7E 35E 35 105 SGM7F Small Capacity With Core Inner Rotor SGM7F 04B 4 12 2R8A SGM7F 10B 10 30 SGM7F 14B 14 42 5R5A SGM7F 08C 8 24 2R8A SGM7F 17C 17 51 5R5A SGM7F 25C 25 75 7R...

Page 80: ...2R8A SGLGW 60A140C 70 220 1R6A SGLGW 60A253C 140 440 2R8A SGLGW 60A365C 210 660 5R5A SGLG Coreless Models Used with High Force Magnetic Way SGLGW 40A140C 57 230 1R6A SGLGW 40A253C 114 460 2R8A SGLGW...

Page 81: ...iation Communications Modules 260IF 01 217IF 01 and 265IF 01 218IF 01 218IF 02 261IF 01 262IF 01 263IF 01 and 264IF 01 266IF 01 266IF 02 and 267IF 01 Communications Modules from other companies AFMP 0...

Page 82: ...er page 5 46 Setting the Regenerative Resistor Capacity page 5 49 Operation for Momentary Power Interruptions page 5 65 SEMI F47 Function page 5 66 Setting the Motor Maximum Speed page 5 68 Multiturn...

Page 83: ...1 Anti Resonance Control Adjustment page 8 49 Vibration Suppression page 8 54 Gain Selection page 8 64 Friction Compensation page 8 68 Gravity Compensation page 8 70 Model Following Control page 8 81...

Page 84: ...ual Manual No SIEP C880725 13 Scan 7 1 User Program Types and Execution Timing on page 7 3 Self Configuration 4 3 Self Configuration on page 4 21 Communications Function Module The Communications Func...

Page 85: ...ons 2 3 2 3 Mounting Hole Dimensions 2 4 2 4 Mounting Interval 2 5 2 4 1 Installing One SERVOPACK in a Control Panel 2 5 2 4 2 Installing More Than One SERVOPACK in a Control Panel 2 5 2 5 Monitoring...

Page 86: ...ounding air conditions Installation Near Sources of Vibration Install a vibration absorber on the installation surface of the SERVOPACK so that the SERVO PACK will not be subjected to vibration Instal...

Page 87: ...SERVOPACK vertically as shown in the following figures Also mount the SERVOPACK so that the front panel is facing toward the operator Note Prepare three or four mounting holes for the SERVOPACK and m...

Page 88: ...surface Note To mount the SERVOPACK you will need to prepare a screwdriver that is longer than the depth of the SER VOPACK SERVOPACK Model Dimensions mm Screw Size Num ber of Screws A B C D E F G H SG...

Page 89: ...right side of a SERVOPACK when looking at the SERVOPACK from the front depends on the SERVOPACK models Refer to the following table 30 mm min 30 mm min 40 mm min 40 mm min SERVOPACK Install cooling f...

Page 90: ...tion Environment Monitor SERVO PACK Implement one or more of the following actions if the monitor value exceeds 100 Lower the surrounding temperature Decrease the load The value of the SERVOPACK Insta...

Page 91: ...ation 2 6 Derating Specifications If you use the SERVOPACK at an altitude of 1 000 m to 2 000 m you must apply the derating rates given in the following graph SGD7C 1R6A 2R8A 5R5A and 7R6A 2000 m 100...

Page 92: ...2 second environment Three Phase 200 VAC Code Cable Name Specification I O Signal Cable CN1 Shielded cable Motor Main Circuit Cable for axis A Shielded cable Encoder Cable for axis A Shielded cable Mo...

Page 93: ...able Shielded cable MECHATROLINK III Communications Cable Shielded cable Ethernet Cable Shielded cable I O Signal Cable CN13 Shielded cable PE PE Shield box MECHATROLINK III Controller Brake power sup...

Page 94: ...You can mount one Option Module on the SERVOPACK First connect the Optional Unit to the SERVOPACK and then mount the Option Module Refer to the following manual for details on mounting the Option Mod...

Page 95: ...13 3 4 3 Wiring the SERVOPACK to the Encoder 3 14 3 4 4 Wiring the SERVOPACK to the Holding Brake 3 24 3 5 Wiring the Power Supply to the SERVOPACK 3 26 3 5 1 Terminal Symbols and Terminal Names 3 26...

Page 96: ...7 1 I O Signal Connector CN13 Names and Pin Layout 3 41 3 7 2 I O Circuits 3 42 3 8 Connecting MECHATROLINK Communications Cables 3 44 3 9 Connecting the Other Connectors 3 45 3 9 1 Computer Connecto...

Page 97: ...ult of any of these causes the holding brake will not work This could damage the machine or cause an accident that may result in death or injury Connect the AC or DC power supplies to the specified SE...

Page 98: ...locks to generate heat due to faulty con tact possibly resulting in fire Use shielded twisted pair cables or shielded multi twisted pair cables for I O Signal Cables and Encoder Cables Observe the fol...

Page 99: ...he influence of noise from the power cables If the I O signal lines and power lines are not separated properly malfunction may occur NOTICE Whenever possible use the Cables specified by Yaskawa If you...

Page 100: ...Control Power Supply Cable even if the same power supply is not shared with the high frequency generator Refer to the following section for information on connecting Noise Filters Noise Filters on pa...

Page 101: ...se Filters Noise Filter Wiring and Connection Precautions on page 3 7 Noise Filter Wiring and Connection Precautions Always observe the following precautions when wiring or connecting Noise Filters Se...

Page 102: ...e to other ground wires If a Noise Filter is located inside a control panel first connect the Noise Filter ground wire and the ground wires from other devices inside the control panel to the grounding...

Page 103: ...ound or Motor Ground If you ground the Servomotor through the machine switching noise current can flow from the main circuit of the SERVOPACK through the stray capacitance of the Servomotor To prevent...

Page 104: ...Relay terminal block Relay terminal block Signal ground Servo Alarm Output OFF for alarm General Purpose Sequence Output 5 General Purpose Sequence Output 4 General Purpose Sequence Output 3 General P...

Page 105: ...pply with double insulation or reinforced insulation Note 1 You can use parameter settings to change some of the I O signal allocations Refer to the following section for details 5 19 I O Signal Alloc...

Page 106: ...ecting MECHATROLINK Communications Cables on page 3 44 4 After wiring the power supplies turn ON the power supplies and confirm that power is being supplied normally If power is supplied normally the...

Page 107: ...Refer to the following section for the wiring proce dure 3 5 2 Wiring Procedure for Main Circuit Connector on page 3 27 UB VB and WB Servomotor terminals for axis B Ground terminal CN2A Encoder conne...

Page 108: ...10 1 3 Replacing the Battery on page 10 3 Wiring Example When Using an Encoder Cable with a Battery Case 1 The absolute encoder pin numbers for wiring the connector depend on the Servomotor that you...

Page 109: ...evice Selection Manual Manual No SIEP S800001 32 When Installing a Battery on the Host Controller Insert a diode near the battery to prevent reverse current flow ENC 3 4 17 18 BAT_A BAT_A CN2A CN1 2 2...

Page 110: ...n numbers for wiring the connector depend on the Servomotor that you use 2 represents a shielded twisted pair cable 1 2 5 6 CN2A ENC Shield 2 1 PS PS PG5V PG0V 1 2 5 6 ENC Shield 2 1 PS PS PG5V PG0V C...

Page 111: ...a shielded twisted pair cable PS PS PG5V PG0V 2 6 1 5 Shield 5 6 1 2 CN2A UA VA WA M PS PS PG5V PG0V 2 6 1 5 Shield 5 6 1 2 CN2B UB VB WB M Connector shell Connector shell Absolute Linear Encoder fro...

Page 112: ...td SR77 SR87 SQ47 and SQ57 represents a shielded twisted pair cable PS PS PG5V PG0V Shield 5 6 1 2 CN2A M PS PS PG5V PG0V Shield 5 6 1 2 CN2B M UA VA WA UB VB WB Connector shell Connector shell Absolu...

Page 113: ...5V PG0V 2 6 1 5 5 6 1 2 CN2 9 3 7 4 2 11 14 Shield Shield CN2A CN1 COS SIN REF REF 5V 0V SIN COS PS PS M 1 9 3 7 4 2 11 14 1 PG5V PG0V 2 6 1 5 5 6 1 2 CN2 9 3 7 4 2 11 14 Shield Shield CN2B CN1 COS SI...

Page 114: ...S 2 6 1 5 CN2 Shield Shield CN1 5 6 1 2 CN2A M 9 1 10 11 4 12 2 3 9 1 10 11 4 12 2 3 COS PS PS PG5V PG0V SIN REF REF 5V 0V SIN COS 2 6 1 5 CN2 Shield Shield CN1 5 6 1 2 CN2B M UA VA WA UB VB WB Connec...

Page 115: ...om Magnescale Co Ltd the wiring will depend on the model of the linear encoder SR75 and SR85 represents a shielded twisted pair cable PS PS PG5V PG0V Shield 5 6 1 2 CN2A M PS PS PG5V PG0V Shield 5 6 1...

Page 116: ...is is the model of the Interpolator represents a shielded twisted pair cable Linear Encoder Model Interpolator Model SL700 SL710 SL720 and SL730 PL101 RY 1 SQ10 MQ10 FLA 2 MQ10 GLA 2 Interpolator PS P...

Page 117: ...r cable PS PS PG0V Shield 5 6 5 6 2 2 1 12 14 16 CN2A 5 V 0 V M PS PS PG0V Shield 5 6 5 6 2 2 1 12 14 16 CN2B 5 V 0 V M UA VA WA UB VB WB External power supply Cable from Magnescale Co Ltd Interpolato...

Page 118: ...plica tion The Surge Absorber may affect the brake operation delay time Configure the relay circuit to activate the holding brake for an emergency stop You can change the output signal allocation of t...

Page 119: ...for axis A M BK ENC UA VA WA CN2A AC DC BK RY1 L1 L2 L3 L1C L2C BK RY1 24 V BK_A BK_A CN1 1D 0 V Servomotor with Holding Brake for axis B M BK ENC UB VB WB CN2B BK RY2 24 V BK_B BK_B CN1 2D 0 V AC DC...

Page 120: ...Resistors on page 3 32 If the internal regenerative resistor is insufficient remove the lead or short bar between B2 and B3 and connect an Exter nal Regenerative Resistor between B1 and B2 The Exter...

Page 121: ...Supply Input Setting on page 5 13 3 5 2 Wiring Procedure for Main Circuit Connector Required Items 1 Remove the main circuit connector and motor connector from the SERVOPACK 2 Remove the sheath from...

Page 122: ...sequence so that main circuit power supply is turned OFF when an ALM Servo Alarm Output signal is output Make sure that the power supply specifications of all parts are suitable for the input power su...

Page 123: ...the power supply terminals after you turn OFF the power When the voltage is discharged the CHARGE indicator will turn OFF Make sure the CHARGE indicator is OFF before you start wiring or inspection w...

Page 124: ...tic Contactor for main circuit power supply 1Ry Relay 1PL Indicator lamp 1SA Surge Absorber 2SA Surge Absorber 3SA Surge Absorber 1D Flywheel diode 1PL 1KM 2KM 1SA Servo power ON Servo power OFF 2SA 1...

Page 125: ...PACKs Be sure to consider the load conditions R S T 1QF 2KM 1Ry 24 V L1 L2 L3 L1C 0 V L2C Power supply M L1 L2 L3 L1 L2 L3 L1C 1D L2C M M M M M L1C L2C 3SA 1QF Molded case circuit breaker 1FLT Noise F...

Page 126: ...ing Regenerative Resistors 1 Remove the lead from between the B2 and B3 terminals on the SERVOPACK 2 Connect the External Regenerative Resistor between the B1 and B2 terminals 3 Set Pn600 Regenerative...

Page 127: ...red Refer to the following manual for details on reactors for har monic suppression 7 Series Peripheral Device Selection Manual Manual No SIEP S800001 32 Refer to the following figures to connect reac...

Page 128: ...T_B 10 SI03 DEC_A 5 General Purpose Sequence Inputs 3 and 9 Origin Return Decelera tion Switch Input You can allocate the input signals to use with parameters Connects the deceleration limit switch fo...

Page 129: ...Sequence Output 1 Brake Output You can allocate the output signals to use with parameters Controls the brake The brake is released when the signal turns ON closes For A axis BK_A and BK_A For B axis...

Page 130: ...ose Sequenc e Output 2 8 SI06 EXT_A3 General Pur pose Sequen ce Input 6 26 SO2 BK_B General Purpose Sequenc e Output 2 9 SI07 P OT_B General Pur pose Sequen ce Input 7 27 SO3 General Purpose Sequenc e...

Page 131: ...hared the I O signals may malfunction FG Frame ground Connect shield to connector shell Connector shell CN1 SERVOPACK BK_A BK_B BK_A BK_B SO3 SO3 SO4 ALM_A ALM_B ALM_A ALM_B 23 25 24 26 27 28 19 21 20...

Page 132: ...l TH_A TH_B 33 34 CN1 SERVOPACK BK_A BK_B BK_A BK_B SO3 SO3 SO4 ALM_A ALM_B ALM_A ALM_B 23 25 24 26 27 28 19 21 20 22 24VIN 24 V 4 7 k 1 4 10 6 12 5 11 7 13 8 14 P OT_A P OT_B N OT_A N OT_B DEC_A DEC_...

Page 133: ...he connection examples in 3 6 3 I O Signal Wiring Examples on page 3 37 are for sink circuit connections Example for Relay Circuits Examples for Open Collector Circuits Sink Circuits Source Circuits I...

Page 134: ...ltage and current range for photocoupler output circuits are as follows Maximum allowable voltage 30 VDC Current range 5 mA DC to 50 mA DC Incorrect wiring or incorrect voltage application to the outp...

Page 135: ...Output 2 34 DO_05 Digital Output 5 10 DO_04 Digital Output 4 35 DO_07 Digital Output 7 11 DO_06 Digital Output 6 36 DO_G ND2 DO Ground 2 12 DO_G ND2 DO Ground 2 37 DO_24 V2 DO 24 V Input 2 13 DO_08 D...

Page 136: ...ircuits are shown in the following figure Digital Output Circuits CN13 6 to CN13 16 and CN13 31 to CN13 41 are used for the digital output Details on the digital output circuits are shown in the follo...

Page 137: ...uits CN13 1 to CN13 3 and CN13 26 to CN13 28 are used for the pulse inputs Details on the pulse input circuits are shown in the following figure GND GND 29 30 3 28 4 5 V PLIN PLCOM5V PLCOM12V 5 PLCOM2...

Page 138: ...tations L1 L2 Ln must be 50 m or less Use the following procedure to remove the MECHATROLINK III Communications Cable con nectors from the SERVOPACK Note The MECHATROLINK III Communications Cable conn...

Page 139: ...ctor CN10 To use a USB memory device connect the USB memory device to CN10 on the SERVOPACK Connecting a USB Memory Device to the USB Connector This section describes how to insert and remove a USB me...

Page 140: ...n using the MPE720 Chapter 4 Preparations If you want to use a USB memory device for an extended period of time lock the cover as shown in the following figure and then use the enclosed cable tie to s...

Page 141: ...6 4 2 2 Creating a Project File 4 17 4 3 Self Configuration 4 21 4 3 1 Self Configuration 4 21 4 3 2 Confirming Definition Information Updated by Self Configuration 4 29 4 3 3 Confirming the Detailed...

Page 142: ...ction methods that you can use to connect the MP720 and SigmaWin to a SERVOPACK are given in the following table Engineering Tool Applications MPE720 Writing user programs Monitoring the IO16 Function...

Page 143: ...7 System Integrated Engineering Tool Document No KAEP C880761 00 Refer to the following manual for the system requirements for the SigmaWin AC Servo Drive Engineering Tool SigmaWin Operation Manual M...

Page 144: ...4 1 Starting the Engineering Tools 4 1 2 Installation 4 4 3 Click the Next Button 4 Enter the user name company name and serial number on the DVD ROM package and then click the Next Button...

Page 145: ...ing the Engineering Tools 4 1 2 Installation 4 Preparations 4 5 5 Specify the destination for the MPE720 installation To use the default installation loca tion click the Next Button 6 Click the Instal...

Page 146: ...4 1 Starting the Engineering Tools 4 1 2 Installation 4 6 7 Click the Finish Button The YASKAWA Engineering Tool Install Launcher Dialog Box will be displayed 8 Click OK Button...

Page 147: ...rting the Engineering Tools 4 1 2 Installation 4 Preparations 4 7 The YASKAWA SigmaWin Ver 7 InstallShield Wizard Dialog Box will be displayed 9 Click the Next Button The License Agreement will be dis...

Page 148: ...4 1 Starting the Engineering Tools 4 1 2 Installation 4 8 10 Check the contents of the License Agreement and then select the accept the terms of the license agreement Option 11 Click the Next Button...

Page 149: ...ng the Engineering Tools 4 1 2 Installation 4 Preparations 4 9 12 Specify the destination for the SigmaWin installation To use the default installation location click the Next Button 13 Click the Inst...

Page 150: ...4 1 Starting the Engineering Tools 4 1 2 Installation 4 10 14 Click the Finish Button This concludes the installation of the MPE720 and SigmaWin in your computer...

Page 151: ...displayed This concludes the operation SigmaWin Any of the following two methods can be used to start the SigmaWin Use the desktop icon Use the icon in the Function List Dialog Box of the MPE720 Usin...

Page 152: ...ing the Engineering Tools 4 1 3 Offline Startup 4 12 2 Click Start SigmaWin offline 3 Click on your SERVOPACK The selected SERVOPACK model will be displayed for the Selected SERVOPACK Model in the dia...

Page 153: ...volt ages and capacities Select the voltage and capacity of the SERVOPACK from the SERVO PACK list 2 Specification Select the option specification of the SERVOPACK from the list in the Specifications...

Page 154: ...f the MPE720 Double click the axis to operate on the Module Configuration Definition Tab Page of the MPE720 The Function List Dialog Box will be displayed Use the following procedure to start the Sigm...

Page 155: ...ations 4 15 4 Double click the Servo Tuning Icon The SigmaWin will start 5 The SERVOPACK will be connected offline in the same way as when you use the desk top icon to start the SigmaWin Refer to the...

Page 156: ...file extension is swpp Only one project file can be opened in a single window with the SigmaWin The same project file cannot be opened in more than one window with the SigmaWin If you try to open a pr...

Page 157: ...the Start Tab Page Select File New Project from the menu bar 2 Open the target folder enter the file name select the file type and specify the SERVO PACK to use If a project file was being edited a di...

Page 158: ...ct File You can open an existing project files by dragging its icon to the window of MPE720 Alternatively select File Open Project from the menu bar to display the Open Project Dialog Box and then sel...

Page 159: ...a Project File 4 Preparations 4 19 SigmaWin Use the following procedure to create a SigmaWin project file 1 Click the Home Button in the SigmaWin Main Window The Home Window will be displayed 2 Click...

Page 160: ...4 2 Project Files 4 2 2 Creating a Project File 4 20 4 Enter the location and file name for the project file and then click the Save Button This concludes the procedure to create a project file...

Page 161: ...em Use the DIP switch on the SERVOPACK or use the MPE720 to execute self configuration The following figure illustrates self configuration Executing Self Configuration I O Servomotor Servomotor Servom...

Page 162: ...d Both procedures are described below First Self Configuration after Connecting the Devices The following procedure performs a new self configuration of the SERVOPACK and creates new definition files...

Page 163: ...ned OFF and ON again when the INIT pin on the DIP switches is turned ON the data in RAM will be cleared If the power supply is turned OFF and ON again when the INIT pin is turned OFF the data from the...

Page 164: ...s 1 Click the Module Configuration Button on the My Tool View of the Start Tab Page The Module Configuration Definition Tab Page will be displayed Power Interruptions after Self Configuration After pe...

Page 165: ...he All modules Button The MC Configurator Dialog Box will be displayed 4 Click the OK Button Self configuration will be executed Self Configuration of Specified Modules Before performing this procedur...

Page 166: ...tion Tab Page will be displayed 2 In the Function Module Slave Column select the Modules to configure using self con figuration 3 Click the specified module Button on the Launcher The MC Configurator...

Page 167: ...tion registers IW087FF and OW087FF input registers IW08000 to IW087FF output registers OW08000 to OW087FF SVC4 MECHATROLINK First I O registers IW00800 and OW00800 Last I O registers IW00BFF and OW00B...

Page 168: ...Cycle 250 s Message Communications Enabled Number of Retry to Slaves 1 Number of Connection 8 Slave Synchronous Function Disabled Item Settings after Self Configuration Discrete Input IW00C00 Discrete...

Page 169: ...ated by Self Con figuration Confirm the results of the assignments to the slave devices MECHATROLINK connected devices such as SERVOPACKs or distributed I O in the definition information during self c...

Page 170: ...is assigned to the Module Circuit No 1 to 16 Possi ble Occu pied cir cuits Displays the number of circuits that are assigned to the Module 1 and 2 Possi ble Motion Register Displays the first and last...

Page 171: ...rameters Always save all settings to the flash memory after changing them When changing the settings be careful not to set register numbers that overlap with other Modules Set I O start and end regist...

Page 172: ...ily connect to the host device with the MPE720 Using the MPE720 for Easy Connection 1 Click the row for the 218IFD on the Module Configuration Definition Tab Page The Detail Dialog Box will be display...

Page 173: ...cations protocol type from the list and click the OK Button This concludes the setting procedure Refer to the following manual for details MP3000 Series Communications User s Manual Manual No SIEP C88...

Page 174: ...ays the address of the local station The setting is always 01h Communication Cycle Displays the transmission cycle Select from the following 125 s 250 s 500 s 1 ms 1 5 ms 2 ms and 3 ms Enabled mes sag...

Page 175: ...corresponds to the number of slave stations that is set on the Transmission Parameters Tab Page This number is automatically assigned No Item Description ST Displays the station number ADR Sets the s...

Page 176: ...ti station modules multi slaves are grouped together as a single node This box is displayed when the Display Expansionist Address Button is clicked and is hidden when the Omit Expansionist Address But...

Page 177: ...le s I O registers OUTPUT Sets the first register address of the output area These settings are disabled if the profile is set to Standard Servo Setting range The range of the Module s I O registers D...

Page 178: ...gh or Low Station Name comment Enter a comment of up to 32 characters if required Deleting Station Assignments You can delete the items on the Link Assignment Tab Page for a station Click any cell in...

Page 179: ...for the motion parameters of the selected axis will be displayed Fixed Parameter Setting The values of the fixed parameters depend on the Servomotor that is controlled by the SERVO PACK and also on th...

Page 180: ...Parameters The values of these parameters are normally set from a ladder program However values for setting parameters that do not need to be set from a ladder program can be specified on this tab pa...

Page 181: ...ameters The settings of the parameters can be prepared inside the CPU of the SERVOPACK while it is offline When the SERVOPACK is connected you can transfer these values to the SERVOPACK in one batch T...

Page 182: ...OT Signal Mapping Disabled 25 Bit 0 Limit Setting P OT N OT Signal Mapping Disabled 25 Bit 1 Limit Setting N OT Forward Servo Software Limit Disabled 25 Bit 4 Limit Setting P SOT Reverse Servo Softwar...

Page 183: ...n time of a high speed processing program H H or H in milliseconds The setting that is set here will determine the reference pulse distribution cycle accuracy The following table shows the different h...

Page 184: ...l occur in the SERVOPACK I O Processing If the high speed scan time is set to at least 0 5 ms the I O service I O processing of the MP2000 Option Module will be performed every scan The following figu...

Page 185: ...ows settings for a control cycle of pushbuttons and similar controls The following table shows the possible settings for the low speed scan time I O Processing During the low speed scan the I O servic...

Page 186: ...nection for the SigmaWin The procedure for setting the IP address of the computer is given below 1 On the computer select Control Panel Network Connection Local Area Connection Properties from the Win...

Page 187: ...line by using a project link connection Use the following procedure to place a SERVOPACK online 1 Use an Ethernet cable to connect the Ethernet connector on the SERVOPACK to the LAN connector on the P...

Page 188: ...e 4 48 3 After the MPE720 starts select Communications Setting 4 Select the IP address that is set for the PC such as Ethernet IP 192 168 1 2 from the list of communications ports 5 Click the Search B...

Page 189: ...ng Online with a SERVOPACK 4 4 2 Placing the MPE720 Online 4 Preparations 4 49 6 The connection was successfully established if the MPE720 window appears with Online displayed in it Verify going onlin...

Page 190: ...ethods to connect to the SERVOPACK Select Online Connection from the menu bar Click the Connection Disconnection Button on the My Tool View After a connection to the SERVOPACK is successfully establis...

Page 191: ...PACK online using an Ethernet connection 1 Use an Ethernet cable to connect the Ethernet connector on the SERVOPACK to the LAN connector on the PC 2 Double click the SigmaWin Ver 7 Icon on the desktop...

Page 192: ...escription 1 Network adapter Select your network adapter from the Network adapter Box 2 IP Address Enter the IP address Note Do not enter an IP address that is the same as the IP address of the SERVOP...

Page 193: ...oller search results will be displayed If the Backup the above information when the settings are made Check Box is selected the following dialog box will be displayed when the SigmaWin is closed Selec...

Page 194: ...he Machine Controller to connect and click the Connect Button The IP address of the selected Machine Controller will be displayed 9 Click the Search for SERVOPACKs Button A search will be made for the...

Page 195: ...CK 4 4 3 Placing the SigmaWin Online 4 Preparations 4 55 10 Select the Connect Target Check Box for SERVOPACK to connect to and click the Con nect Button The selected SERVOPACK will be placed online a...

Page 196: ...tor on the SERVOPACK to a USB connec tor on the PC 2 Double click the SigmaWin Ver 7 Icon on the desktop The SigmaWin will start When the SigmaWin starts the Home Window will remain open and the Main...

Page 197: ...PACK 4 4 3 Placing the SigmaWin Online 4 Preparations 4 57 5 Select the Connect Check Box for the SERVOPACK to connect to and click the Connect Button The selected SERVOPACK will be placed online and...

Page 198: ...ns When Setting Circuit Numbers 5 12 5 2 2 Precautions When Setting Module Configuration Definitions 5 12 5 3 Power Supply Type Settings for the Main Circuit and Control Circuit 5 13 5 3 1 AC Power Su...

Page 199: ...4 Output Timing of BK Brake Output Signal When the Servomotor Is Operating 5 34 5 13 Motor Stopping Methods for Servo OFF and Alarms 5 36 5 13 1 Stopping Method for Servo OFF 5 36 5 13 2 Servomotor S...

Page 200: ...5 23 2 External Torque Limits 5 70 5 23 3 CLT Torque Limit Detection Output Signal 5 73 5 24 Absolute Encoders 5 74 5 24 1 Connecting an Absolute Encoder 5 74 5 24 2 Structure of the Position Data of...

Page 201: ...5 28 Forcing the Motor to Stop 5 87 5 28 1 FSTP Forced Stop Input Signal 5 87 5 28 2 Stopping Method Selection for Forced Stops 5 87 5 28 3 Resetting Method for Forced Stops 5 89...

Page 202: ...does not need to set the tuning parameters individually Use the various SigmaWin tuning functions to set the related tuning parameters to increase the response even further for the conditions of your...

Page 203: ...ter setting set before shipment Speed The control methods for which the parameters apply are given Torque Position This column explains the selections for the function Parameter number This is the set...

Page 204: ...nu Dialog Box The Edit Parameters Dialog Box will be displayed 3 Click the cell of the parameter to edit If the parameter to edit is not displayed in the Edit Parameters Dialog Box click the or Button...

Page 205: ...the SERVOPACK OFF and ON again This concludes the procedure to set the parameters 5 1 4 Write Prohibition Setting for Parameters You can prohibit changes to parameters or prohibit the execution of spe...

Page 206: ...ohibition Setting in the Menu Dialog Box The Write Prohibition Setting Dialog Box will be displayed 3 Click the Button or Button for the rightmost digit and set one of the following 0000 Writing is pe...

Page 207: ...tor Current Detection Offset Adjustment Cannot be executed page 5 83 Cannot be executed Multiturn Limit Setting Cannot be executed page 5 76 Vibration Detection Level Initialization Cannot be executed...

Page 208: ...eters Dialog Box will be displayed 3 Select any parameter of the axis to initialize 4 Click the Initialize Button in the Function Group 5 Click the OK Button Click the Cancel Button to cancel initiali...

Page 209: ...time Otherwise processing may exceed the time limit of the high speed scan Before writing module configuration definitions make sure the machine is not in operation Before you use the SERVOPACK save a...

Page 210: ...is specified Pn001 n 0 An AC power supply is input to the L1 L2 and L3 terminals even though a DC power sup ply is specified Pn001 n 1 Parameter Meaning When Enabled Classification Pn001 n 0 default s...

Page 211: ...lassification Pn00B n 0 default setting Use a three phase power supply input After restart Setup n 1 Use a three phase power supply input as a single phase power supply input 1 If you use a single pha...

Page 212: ...otor type If an encoder is not connected e g for a test without a motor you can specify a Rotary Ser vomotor or a Linear Servomotor in Pn000 n X Rotary Linear Servomotor Startup Selection When Encoder...

Page 213: ...OT Reverse Drive Prohibit Input signal n 1 Use CW as the forward direc tion Reverse Rotation Mode Forward reference P OT Forward Drive Prohibit Input signal Reverse reference N OT Reverse Drive Prohi...

Page 214: ...ly OFF and ON again Serial Converter Unit The Serial Converter Unit converts the signal from the linear encoder into a form that can be read by the SERVOPACK Scale Pitch A linear encoder has a scale f...

Page 215: ...neous Overload A 720 Continuous Overload and A C90 Encoder Communications Error Operating Procedure Use the following procedure to write the motor parameters to the Linear Encoder 1 Prepare the motor...

Page 216: ...l Button to cancel writing the motor parameters to the linear encoder The Main Win dow will return If the write is completed normally the Motor Parameter Scale Write File Select Dialog Box will be dis...

Page 217: ...n that is displayed is suitable for your Servomotor and then click the Next Button Click the Cancel Button to cancel writing the motor parameters to the linear encoder The Main Win dow will return 8 C...

Page 218: ...Button 11 Click the OK Button 12 Turn the power supply to the SERVOPACK OFF and ON again This concludes the procedure to write the motor parameters Confirming If the Motor Parameters Have Been Writte...

Page 219: ...at only the correct number of feedback pulses is returned If the correct number and only the correct number of pulses is returned the signal is being received correctly from the linear encoder Note Th...

Page 220: ...ondi tions may exist Check the situation and correct any problems The linear encoder pitch is not correct If the scale pitch that is set in Pn282 does not agree with the actual scale pitch the expecte...

Page 221: ...se polarity sensor default setting If the Linear Servomotor does not have a polarity sensor set Pn080 to n 1 Do not use polarity sensor Turn the power supply OFF and ON again to enable the new setting...

Page 222: ...must not be subjected to an imbalanced external force We recommend 5 or less of the rated force The mass ratio must be 50x or less The axis must be horizontal There must be friction equivalent to a f...

Page 223: ...PACK OFF and then ON again and then turn ON the servo As soon as polarity detection is completed the S RDY Servo Ready Output signal will turn ON Polarity detection will start as soon as the servo tur...

Page 224: ...larity Detection 5 Device Specific Settings 5 27 3 Click the Continue Button Click the Cancel Button to cancel polarity detection The Main Window will return 4 Click the Start Button Polarity detectio...

Page 225: ...AUTION To prevent accidents that may result from contact faults or disconnections use normally closed limit switches Do not change the default settings of the polarity of the overtravel signals P OT a...

Page 226: ...annot decelerate a Servomotor to a stop during torque control For torque control the Servomotor will be stopped with the dynamic braking or coast to a stop according to the setting of Pn001 n X Motor...

Page 227: ...e Servomotor by Setting the Deceleration Time To specify the Servomotor deceleration time and use it to stop the Servomotor set Pn30A Deceleration Time for Servo OFF and Forced Stops If you set Pn30A...

Page 228: ...not reach the target position speci fied by the Controller Section Check the feedback position to make sure that the axis is stopped at a safe position Parameter Meaning When Enabled Classification P...

Page 229: ...ctual equipment before using the application The brake built into a Servomotor with a Brake is a de energization brake It is used only to hold the Servomotor and cannot be used for braking Use the hol...

Page 230: ...utput signal that controls the brake You can change the connector pin that is allocated For details refer to Allocating the BK Brake Output Signal The BK signal is turned OFF to operate the brake when...

Page 231: ...30 If you allocate more than one signal to the same output connector pin a logical OR of the signals is output Allocate the BK signal to its own output connector pin i e do not use the same out put c...

Page 232: ...ting When Enabled Classification 0 to 10 000 1 mm s 10 Immediately Setup Pn508 Servo OFF Brake Command Waiting Time Setting Range Setting Unit Default Setting When Enabled Classification 10 to 100 10...

Page 233: ...ence of 0 The current stop position is held The dynamic brake is used for emergency stops The dynamic brake circuit will operate fre quently if the power supply is turned ON and OFF or the servo is tu...

Page 234: ...The default setting is to stop by applying the dynamic brake Refer to the following section for details 5 13 1 Stopping Method for Servo OFF on page 5 36 Motor Stopping Method for Group 2 Alarms When...

Page 235: ...ls on Pn30A Deceleration Time for Servo OFF and Forced Stops Stopping the Servomotor by Setting the Deceleration Time on page 5 30 Parameter Servomotor Stop ping Method Status after Servomo tor Stops...

Page 236: ...rning is detected in 20 of the time required to detect an overload alarm You can change the time required to detect an over load warning by changing the setting of the overload warning level Pn52B You...

Page 237: ...n below for a diagram that shows the relationships between the Servomotor heat dissipation conditions heat sink size surrounding air temperature and derating You can protect the Servomotor from overlo...

Page 238: ...6 and that the linear encoder pitch is 20 m Workpiece Resolution 16 777 216 24 bits Ball screw lead 6 mm When the Electronic Gear Is Used When the Electronic Gear Is Not Used To move a workpiece 10 mm...

Page 239: ...ic Gear Ratio Settings 5 42 5 15 1 Electronic Gear Ratio Settings Make the electronic gear settings in the Controller Section Refer to the following manual for details 7 Series 7C SERVOPACK Motion Con...

Page 240: ...cksum Alarm Always use the operation to reset the absolute encoder to clear these alarms If an A 8 alarm Internal Encoder Monitoring Alarm occurs turn OFF the power supply to reset the alarm 5 16 2 Pr...

Page 241: ...3 Select Absolute Encoder Reset in the Menu Dialog Box The Absolute Encoder Warning Dialog Box will be displayed 4 Click the Continue Button Click the Cancel Button to cancel resetting the absolute en...

Page 242: ...l lowing dialog box will be displayed and processing will be canceled Click the OK Button The Main Window will return Turn OFF the servo and repeat the procedure from step 1 When Resetting Is Successf...

Page 243: ...EVOLUTE Series Models EL36Y Renishaw PLC RESOLUTE Series Models RL36Y Preparations Always check the following before you set the origin of an absolute linear encoder The parameters must not be write...

Page 244: ...f an absolute linear encoder 1 Click the Servo Drive Button in the workspace of the Main Window of the Sig maWin 2 Select Set Origin in the Menu Dialog Box The Set Origin Dialog Box will be displayed...

Page 245: ...urn the power supply to the SERVOPACK OFF and ON again 8 If you use a Linear Servomotor that does not have a polarity sensor perform polarity detection Refer to the following section for details on th...

Page 246: ...that the SERVOPACK s built in regenerative resistor or Yaskawa s Regen erative Resistor Unit is being used WARNING If you connect an External Regenerative Resistor set Pn600 and Pn603 to suitable val...

Page 247: ...o restrictions in the combina tions of I O signals and pin numbers allowing for flexible signal allocations Parameter Description When Enabled Classification Pn50A n 1 default set ting 7S compatible I...

Page 248: ...dure 5 1 3 Parameter Setting Methods on page 5 7 Parameter Setting Pin No Description Axis A Axis B 0 3 9 A reverse signal a signal with before the signal abbreviation such as the P CL signal is activ...

Page 249: ...9 5 Input Signal Input Signal Name Parameter P OT Forward Drive Prohibit Input Pn590 N OT Reverse Drive Prohibit Input Pn591 DEC Origin Return Deceleration Switch Input Pn592 EXT1 External Latch Input...

Page 250: ...e signals that are not detected are considered to be OFF For example the COIN Position ing Completion signal is considered to be OFF during speed control Reversing the polarity of the BK Brake Output...

Page 251: ...Comple tion Output Pn50E n X COIN 1 2 0 default setting Speed Coincidence Detection Output Pn50E n X V CMP 1 2 0 default setting Rotation Detection Output Pn50E n X TGON 1 2 0 default setting Servo R...

Page 252: ...ameter Settings and Polarities Checking Output Signal Status You can confirm the status of output signals on the I O signal monitor Refer to the following section for information on the I O signal mon...

Page 253: ...locate the WARN signal to use it The parameters that you use depend on the allocation method Refer to the following section for details 5 19 2 Output Signal Allocations on page 5 53 Configure an exter...

Page 254: ...st be allocated ON closed Rotary Servomotors The Servomotor is operating at the set ting of Pn502 or faster Linear Servomotors The Servomotor is operating at the set ting of Pn581 or faster OFF open R...

Page 255: ...e as the reference speed This signal is used for example to interlock the Servo Section and the Controller Section You can use this output signal only during speed control The V CMP signal is describe...

Page 256: ...l Output Width Setting Range Setting Unit Default Setting When Enabled Classification 0 to 100 1 min 1 10 Immediately Setup If Pn503 is set to 100 and the speed reference is 2 000 min 1 the signal wou...

Page 257: ...s given by the value of the deviation counter is equal to or less than the setting of the positioning completion width Pn522 The setting of the positioning completion width has no effect on final posi...

Page 258: ...ion Output Signal Output Timing to change output timing for the COIN signal Parameter Description When Enabled Classifica tion Pn207 n 0 default setting Output the COIN signal when the absolute value...

Page 259: ...between the ref erence position and the current position i e the position deviation as given by the value of the deviation counter is equal to or less than the setting of the near signal width Pn524...

Page 260: ...d is being limited by the speed limit is described in the following table Note You must allocate the VLT signal to use it The parameters that you use depend on the allocation method Refer to the follo...

Page 261: ...arameter setting exceeds the maximum speed of the Servomotor the Servomotor s maximum speed or the overspeed alarm detection speed will be used External Speed Limiting The motor speed will be limited...

Page 262: ...pply the SERVOPACK can withstand a power interruption that lasts longer than 50 000 ms 3 The holding time of the SERVOPACK control power supply is approximately 100 ms If control operations become imp...

Page 263: ...n is executed by the SVD or by the Servo Section The default setting Pn008 n 0 disables detection of an A 971 warning Undervoltage Execution with the SVD Pn008 n 1 The SVD limits the torque in respons...

Page 264: ...up for momen tary power interruptions that exceed these voltage and time ranges Set the SVD or Servo Section torque limit so that a torque reference that exceeds the specified acceleration torque will...

Page 265: ...it the speed so that the load is not driven beyond the allowable moment of inertia Refer to relevant manual from the following list for the relationship between the speed and the allowable moment of i...

Page 266: ...ine Control Method Reference Internal Torque Limits The torque is always limited with the setting of a parameter Speed control position control or torque control 5 23 1 External Torque Limits The torq...

Page 267: ...near Servomotor 2 Pn484 is used for a Linear Servomotor Pn483 Forward Force Limit Setting Range Setting Unit Default Setting When Enabled Classification 0 to 800 1 30 Immediately Setup Pn484 Reverse F...

Page 268: ...ocation Multi Axis I O Signal Allo cations Pn50A n 2 Multi Axis I O Signal Allocations Pn598 P CL Forward External Torque Limit Input Signal Allocation Pn599 N CL Reverse External Torque Limit Input S...

Page 269: ...the forward direction Linear Servomotors In this example the Servomotor direction is set to Pn000 n 0 Use the direction in which the linear encoder counts up as the forward direction P CL signal OFF O...

Page 270: ...e following section for details 5 19 2 Output Signal Allocations on page 5 53 Type Signal Connector Pin No Signal Status Meaning Output CLT Must be allocated ON closed The motor output torque is being...

Page 271: ...to the Encoder on page 3 14 Parameter Meaning When Enabled Classification Pn002 n 0 default setting Use the encoder as an incremental encoder A battery is not required After restart Setup n 1 Use the...

Page 272: ...wer supply OFF and ON again 5 24 4 Multiturn Limit Setting The multiturn limit is used in position control for a turntable or other rotating body For example consider a machine that moves the turntabl...

Page 273: ...Limit an A CC0 alarm Multiturn Limit Dis agreement will be displayed because the setting disagrees with the value in the encoder If this alarm is displayed use the following procedure to change the m...

Page 274: ...the Servo Drive Button in the workspace of the Main Window of the Sig maWin 2 Select Multiturn Limit Setting in the Menu Dialog Box The Multiturn Limit Setting Dialog Box will be displayed 3 Click th...

Page 275: ...cause setting the multiturn limit in the Servomotor is not yet completed even though the setting has been changed in the SERVOPACK 8 Select Multiturn Limit Setting in the Menu Dialog Box 9 Click the C...

Page 276: ...oder with MECHATROLINK commu nications Refer to the following section for information on connecting absolute linear encoders 3 4 3 Wiring the SERVOPACK to the Encoder on page 3 14 5 25 2 Structure of...

Page 277: ...ation detection level The parameters must not be write prohibited The test without a motor function must be disabled Pn00C n 0 Parameter Meaning When Enabled Classification Pn310 n 0 default setting D...

Page 278: ...ow of the Sig maWin 2 Select Initialize Vibration Detection Level in the Menu Dialog Box The Initialize Vibration Detection Level Dialog Box will be displayed 3 Select Pn311 Vibration Detection Sensit...

Page 279: ...meter cannot be changed using the SigmaWin or other tool while this function is being executed Allowed The parameter can be changed using the SigmaWin or other tool while this func tion is being execu...

Page 280: ...lowing before you automatically adjust the motor current detection signal offset The parameters must not be write prohibited The servo must be in ready status The servo must be OFF Operating Procedure...

Page 281: ...torque ripple is still too large You can specify the axis or axes to manually adjust If the offset is incorrectly adjusted with this function the Servomotor characteristics may be adversely affected...

Page 282: ...t the Motor Current Detection Signal Offsets in the Menu Dialog Box The Adjust the Motor Current Detection Signal Offsets Dialog Box will be displayed 4 Click the Continue Button 5 Click the Manual Ad...

Page 283: ...s 6 to 9 until the torque ripple cannot be decreased any further regardless of whether you increase or decrease the offsets 11 Reduce the amount by which you change the offsets each time and repeat st...

Page 284: ...F and Group 1 Alarms Panel Operator When a forced stop is performed the Panel Operator will display FSTP CAUTION To prevent accidents that may result from contact faults or disconnections use a normal...

Page 285: ...etting the Deceleration Time for Servo OFF and Forced Stops Pn30A To specify the Servomotor deceleration time and use it to stop the Servomotor set Pn30A Deceleration Time for Servo OFF and Forced Sto...

Page 286: ...TP Forced Stop Input signal is OFF and the servo ON command is input from the SVD the forced stop state will be maintained even after the FSTP signal is turned ON First turn OFF the servo in the SVD t...

Page 287: ...rial Operation 6 5 6 3 Trial Operation for Servomotor without Load 6 6 6 3 1 Preparations 6 6 6 3 2 Operating Procedure 6 7 6 4 Trial Operation with the SVD 6 9 6 5 Trial Operation with the Servomotor...

Page 288: ...ad Do not connect the CN1 connector on the SERVOPACK Chapter 3 Wiring and Connections 3 Confirmations before Trial Operation 6 2 Inspections and Confirmations before Trial Opera tion on page 6 5 4 Pow...

Page 289: ...on is checked with out a load Do not connect the CN1 connec tor on the SERVOPACK Chapter 3 Wiring and Connections 3 Confirmations before Trial Operation 6 2 Inspections and Confirmations before Trial...

Page 290: ...ad 6 3 Trial Operation for Servomotor without Load on page 6 6 2 Trial Operation with the SVD 6 4 Trial Operation with the SVD on page 6 9 3 Trial Operation with the Servomotor Connected to the Machin...

Page 291: ...seal is not damaged Also make sure that oil has been applied If you are performing trial operation on a Servomotor that has been stored for a long period of time make sure that all Servomotor inspecti...

Page 292: ...Drive Servomotors CAUTION During jogging the overtravel function is disabled Consider the range of motion of your machine when you jog the Servomotor Pn304 Jogging Speed Setting Range Setting Unit Def...

Page 293: ...eed and then click the Servo ON Button The display in the Operation Area will change to Servo ON Pn383 Jogging Speed Setting Range Setting Unit Default Setting When Enabled Classification 0 to 10 000...

Page 294: ...rating Procedure 6 8 5 Click the Forward Button or the Reverse Button Jogging will be performed only while you hold down the mouse button 6 After you finish jogging turn the power supply to the SERVOP...

Page 295: ...ect the I O signal connector CN1 con nector Refer to the following chapter for details on wiring Chapter 3 Wiring and Connections 2 Turn ON the power supplies to the SERVOPACK If control power is bein...

Page 296: ...olute encoder add 10 000 to the current position 28 Speed reference setting 40 8 Positioning 13 While operation is in progress for step 12 confirm the following items Note If the load machine is not s...

Page 297: ...ng before you perform the trial operation procedure for both the machine and Servomotor Make sure that the procedure described in 6 4 Trial Operation with the SVD page 6 to 10 has been completed Make...

Page 298: ...be stopped safely should an error occur during the remainder of the procedure 7 Perform trial operation according to 6 4 Trial Operation with the SVD on page 6 9 and confirm that the same results are...

Page 299: ...The main circuit power supply must be ON There must be no alarms The servo must be OFF The range of machine motion and the safe travel speed of your machine must be considered when you set the travel...

Page 300: ...ion deceleration time Pn534 Number of movements Pn536 Speed 0 Travel Speed Rotary Servomotor Pn533 Linear Servomotor Pn585 Travel distance Pn531 Travel distance Pn531 Waiting time Pn535 Waiting time P...

Page 301: ...ely Setup Pn533 Program Jogging Movement Speed Setting Range Setting Unit Default Setting When Enabled Classification 1 to 10 000 1 min 1 500 Immediately Setup Pn534 Program Jogging Acceleration Decel...

Page 302: ...to 1 000 1 time 1 Immediately Setup Pn530 Program Jogging Related Selections Setting Range Setting Unit Default Setting When Enabled Classification 0000h to 0005h 0000h Immediately Setup Pn531 Program...

Page 303: ...peration 1 Click the Servo Drive Button in the workspace of the Main Window of the Sig maWin 2 Select JOG Program in the Menu Dialog Box The Jog Program Dialog Box will be displayed 3 Read the warning...

Page 304: ...1 Direct Drive Servomotors 6 min 1 Linear Servomotors 15 mm s CAUTION Be aware of the following points if you cancel the program jogging operation while the Ser vomotor is operating If you cancel oper...

Page 305: ...ng Procedure Use the following procedure to perform an origin search 1 Click the Servo Drive Button in the workspace of the Main Window of the Sig maWin 2 Select Search Origin in the Menu Dialog Box T...

Page 306: ...ug the system and verify parameters to shorten the time required for setup work and to prevent damage to the machine that may result from possible malfunctions The operation of the Servomotor can be c...

Page 307: ...SERVOPACK will be used for the rated motor speed and maximum motor speed Use the monitor displays Un020 Rated Motor Speed and Un021 Maximum Motor Speed to check the val ues Encoder information Encode...

Page 308: ...ary Servomotor After restart Setup n 1 When an encoder is not connected start as SERVOPACK for Linear Servomotor Pn282 Linear Encoder Scale Pitch Setting Range Setting Unit Default Setting When Enable...

Page 309: ...Button in Menu Dialog Box Function Executable Reference Motor Not Connected Motor Connected Setup Origin Search page 6 18 Absolute Encoder Reset page 5 43 Motor Current Detection Offset Adjustment pa...

Page 310: ...eating a Motion Main Program 7 43 7 3 3 Creating a Motion Subprogram 7 45 7 4 Creating a Sequence Program 7 47 7 4 1 Creating a Sequence Main Program 7 47 7 4 2 Creating a Sequence Subprogram 7 48 7 5...

Page 311: ...Enabling and Disabling a Program 7 70 7 7 Debugging a Motion or a Sequence Program 7 71 7 7 1 Tab Page Items 7 72 7 7 2 Monitoring Program Execution 7 73 7 7 3 Register List Panes 7 74 7 7 4 Watch Pan...

Page 312: ...om an Option Module These ladder drawings are executed with higher priority than high speed scan process draw ings regardless of the scan cycle DWG H High Speed Scan Process Drawings This type of ladd...

Page 313: ...ng cannot call a child drawing from a different type of drawing Similarly a child drawing cannot call a grandchild drawing from a different type of drawing A parent drawing cannot call a grandchild dr...

Page 314: ...cally called and executed by the system Drawings Number of Drawings DWG A DWG I DWG H DWG L Parent Drawings 1 1 1 1 Operation Error Draw ings 1 1 1 1 Child Drawings Total of 62 max Total of 62 max Tot...

Page 315: ...rom a parent drawing or a child drawing using the SEE instruction 2 You can call functions from any drawing You can also call functions from other functions 3 If an operation error occurs the operatio...

Page 316: ...ng the High speed and Low speed Scan Times Use MPE720 and perform the procedure given below to set the high speed and low speed scan times 1 Stop the CPU 2 Select File Environment Setting from the men...

Page 317: ...t it is 1 25 times greater than the maximum value If the scan setting is too close to the maximum value the refresh rate of the MPE720 window will noticeably drop and can cause communications timeout...

Page 318: ...ox will be displayed 3 Select High Speed or Normal in the High Speed Drawing Operation Mode Box DWG A DWG I and DWG L drawings do not have operation mode settings The more often the following instruct...

Page 319: ...reation and maintenance You can use standard functions that are provided by the system and you can define user func tions Standard System Functions The following functions for communications and other...

Page 320: ...Subprograms MPS 1 to 512 Subprograms are called from a main program 1 The same numbers are used to manage the motion programs and sequence programs Use a unique number for each program Motion program...

Page 321: ...programs is controlled by the sys tem You can also register the motion program in the M EXECUTOR Motion Executor to call it Refer to the following section for details 7 1 4 The M EXECUTOR Function Mod...

Page 322: ...MSEE instruction Calling the Motion Program by Specifying It Indirectly Indirect designation is used to call a motion program by specifying its number in a register In this method the program MPM whos...

Page 323: ...ormation is provided in the Motion Alarm Dialog Box and in the S registers Bit No Status 0 Program is being executed 1 Program is paused 2 Program is stopped due to a stop request for system use 3 Res...

Page 324: ...rride in the parameter setting is used Note 1 Use the specified signal types for the ladder program inputs 2 If the Request for Start of Programmed Operation control signal is ON when the power supply...

Page 325: ...et Request Status flag Program Alarm Status flag Program Stopped for Stop Request Axis operation Pulse distribution for Interpolation instruction Axis operation Pulse distribution for Origin Return in...

Page 326: ...alarm will occur 2 If the Request for Stop of Program control signal is turned ON while the axis is being con trolled for an interpolation motion language instruction the axes will stop immediately To...

Page 327: ...ram or a ladder program To use this method include the MSEE instruction in a ladder H drawing In this case the MSEE work registers are used to set and monitor the motion program The following figure s...

Page 328: ...7 1 User Program Types and Execution Timing 7 1 2 Motion Programs 7 Creating User Programs 7 19 Ladder Program Example...

Page 329: ...le if the system work number is 1 you can monitor the execution information of the motion program with the Work 1 Program Information registers SW03264 to SW03321 When Bit D System Work Number Setting...

Page 330: ...7 Bit 0 Program Execution Bits Number of Program Using Work Number 32 Number of Program Using Work Number 31 Number of Program Using Work Number 30 Number of Program Using Work Number 29 Number of Pro...

Page 331: ...m Current Position Logical Axis 9 Program Current Position Logical Axis 8 Program Current Position Logical Axis 7 Program Current Position Logical Axis 6 Program Current Position Logical Axis 5 Progra...

Page 332: ...program will be executed the next time when the power supply is turned ON Classification Designation Method Features Number of Programs Main programs SPM 1 to 512 Main programs are called from the M E...

Page 333: ...ags Bit No Status 0 Program is being executed 1 Reserved 2 Reserved 3 Reserved 4 Reserved 5 Reserved 6 Reserved 7 Reserved 8 There is a program alarm 9 Execution is stopped at a breakpoint A Reserved...

Page 334: ...PLC Sequence control can be written in motion language A sequence program can be used in place of a ladder program Refer to the following manual for instructions that can be used in sequence programs...

Page 335: ...g These registers cannot be shared by other drawings Local registers are stored in the program memory for each drawing Ladder Program Conceptual Diagram Ladder programs User functions Motion programs...

Page 336: ...S registers SBnnnnnh SWnnnnn SLnnnnn SQnnnnn SFnnnnn SDnnnnn SAnnnnn SW00000 to SW65534 These registers are prepared by the system They report the status of the SERVOPACK and other information The sy...

Page 337: ...tion control IW20000 to IW21FFF These registers are used for CPU interface input data O Output registers O registers OBhhhhhh OWhhhhh OLhhhhh OQhhhhh OFhhhhh ODhhhhh OAhhhhh OW00000 to OW07FFF OW10000...

Page 338: ...integers XL00001 to XL00015 Quadruple length integers XQ00001 to XQ00013 Real numbers XF00001 to XF00015 Double precision real numbers XD00001 to XD00013 Function specific Y Function output registers...

Page 339: ...e registers are used for outputs from functions Bit outputs YB000000 to YB00000F Integer outputs YW00001 to YW00016 Double length integers YL00001 to YL00015 Quadruple length integers YQ00001 to YQ000...

Page 340: ...tions Y registers function output registers If output values are not set the values will be uncertain Always set the values of the range of Y registers that is specified in the output defini tions Z r...

Page 341: ...Fh 2 words Used for numeric operations The values in parentheses on the left are for logical operations Q Quadruple length integer 1 9 223 372 036 854 775 808 to 9 223 372 036 854 775 807 800000000000...

Page 342: ...D E F MA0000101 Integer data Double length integer or real number data type MB00001003 MB0000103B An extra digit that specifies the bit 3 is appended to the end of the register address 0000100 The add...

Page 343: ...of the variable 0123 123 49 0 01 Storing Real Number Data in a Double Length Integer Register ML0000100 MF0000200 the real number is stored after it is converted to an integer 65432 65432 1 Storing D...

Page 344: ...lue of i or j to the register address For example if i 2 MB00000000i is the same as MB00000002 Attaching an Index to an Integer Register Using an index is the same as adding the value of i or j to the...

Page 345: ...Quadruple length integers and double precision real numbers use a region that is 4 words in size For example when using MQ0000000j with both j 0 and j 2 the two word area of MW0000002 and MW0000003 w...

Page 346: ...e array register to the register address For example if DW00000 30 ML0000002 DW00000 is the same as ML0000062 DL00002 ML00000 30 2 2 ML0000062 Format This section describes the formats of array regist...

Page 347: ...dder Pane will be displayed 2 Right click High speed under Ladder program and select New The Create New Program Dialog Box will be displayed 3 Click the OK Button The Edit Ladder Program Tab Page will...

Page 348: ...r to compile the program When the compilation is finished the ladder program will be saved automatically Ladder Program Creation Example The following example shows how to insert an NO Contact instruc...

Page 349: ...ton 3 Double click the box with a question mark The Edit Parameter Dialog Box will be displayed 4 Enter MB000000 in the Variable Register Box and click the OK Button MB000000 will be displayed for the...

Page 350: ...uses M registers for switches and lamps When you enter a ladder program for an actual system use the appropriate I and O registers To insert a comment right click the tab with the row number and selec...

Page 351: ...main programs and motion subprograms 7 3 1 Creating a Group Definition Before creating a motion program we have to group the axes together as required by the machine configuration 1 Click the Motion...

Page 352: ...etails on group definitions 7 Series 7C SERVOPACK Motion Control User s Manual Manual No SIEP S800002 03 7 3 2 Creating a Motion Main Program Use the following procedure to create a motion main progra...

Page 353: ...istance feature is used by right clicking on the Edit Motion Program Tab Page Calling the Instruction Input Assistance Feature Select Motion Command Assist 5 Select Compile Compile from the menu bar t...

Page 354: ...rams 7 45 7 3 3 Creating a Motion Subprogram Use the following procedure to create a motion subprogram 1 Display the Edit Motion Program Tab Page 2 Expand the tree structure in the Motion Pane Right c...

Page 355: ...Subprogram 7 46 5 Select Compile Compile from the menu bar to compile the program When the compilation is finished the motion subprogram will be saved automatically If an error occurs during compilati...

Page 356: ...ribes how to create sequence main programs and sequence subprograms 7 4 1 Creating a Sequence Main Program Use the following procedure to create a sequence main program 1 Display the Edit Motion Progr...

Page 357: ...equence program will be saved automatically 7 4 2 Creating a Sequence Subprogram Use the following procedure to create a sequence subprogram 1 Display the Edit Motion Program Tab Page 2 Expand the tre...

Page 358: ...the sequence program 5 Click the Save Icon on the toolbar of the MPE720 Window to compile the pro gram When the compilation is completed the sequence program is saved automati cally If an error was d...

Page 359: ...data Variables axis I O global constant and user defined structure variables Comments I O global and constant comments Registers M data D internal C constant S system I input O output and G G register...

Page 360: ...without Opening a Project File After you select the project file to transfer the data in that project file will be transferred to the SERVOPACK MPE720 SERVOPACK Flash Memory Reading from the SERVOPACK...

Page 361: ...write the data and then click the Save Button The Transfer Program Write into Project Dialog Box will be displayed 3 Click the Batch Button or the Individual Button If you click the Batch Button use...

Page 362: ...ile The data in the SERVOPACK will be transferred to the target project file after the file is selected When the Project File Is Open and the SERVOPACK Is Online Select Online Read from Controller fro...

Page 363: ...Program Register and or Comment You can then specify the individual data to transfer 7 5 5 Saving to Flash Memory You can save the SERVOPACK RAM data to the flash memory of the SERVOPACK Use the foll...

Page 364: ...5 7 Comparing Flash Memory and RAM Data The SERVOPACK RAM data and the flash memory data will be compared and the results will be displayed in the Transfer Pane You can save the data to flash memory o...

Page 365: ...p 1 Click one of the tabs for the Register List 1 2 or 3 Panes Select Monitor Register List from the Launcher The Register List 1 Pane will be displayed Note You can show or hide the Register List 1 2...

Page 366: ...op right to switch the displayed contents of the register map Number of registers displayed in one row Switching Buttons If you move the cursor over the register map a balloon will show the register a...

Page 367: ...show and hide the background colors of the register map Register Map Refresh Button Click this button to refresh the values in the register map Redundant Register Search Button This button searches f...

Page 368: ...ter or variable register to monitor Note 1 You can also drag or copy registers from the ladder program or from the Variables Pane 2 When monitoring D registers enter the program number as shown below...

Page 369: ...ill be displayed 2 Click the Variable Instruction or Comment Tab to set the search criteria Variable Tab Page Allows you to search for variables and registers You can also enter the variable by copyin...

Page 370: ...at Search 2 Check Box Select this check box to display the search results in the Search 2 Pane without changing the contents of the Search 1 Pane If you clear the selection of the check box the search...

Page 371: ...struction object that was found will be selected If you click the Replace Button the object will be replaced by the contents of the Replace Register or Replace Object Box If you click the Replace All...

Page 372: ...played and the search results will appear in the Search Pane Replacing in Project Files 1 Bring the program to search to the front of the Ladder Editor and then select Edit Replace in the project from...

Page 373: ...ll be displayed in the Output Pane Note If an error occurs during compilation of a program the replacements will not be completed After the replacement operation the variables and addresses of the reg...

Page 374: ...PE720 Window Not selected A search is made for local registers D registers in the specified drawing Check Box Search Method Selected A search is made for registers that are the same as the register th...

Page 375: ...ox Search Method Selected When you perform cross referencing from the Cross Reference Pane the results will be displayed in a separate pane Cross reference results can be displayed in up to 3 panes No...

Page 376: ...Ladder Editor 1 Select the coil to force ON or OFF 2 Select Debug Force ON or Debug Force OFF from the menu bar The selected coil will be forced ON or OFF When you use a project link connection the da...

Page 377: ...e Coil List Pane 3 Select the check boxes for the coils to force ON or OFF 1 If you right click in the Force Coil List Pane you can use the pop up menu to select Check All or Uncheck All to select or...

Page 378: ...orcing Button Click this button to cancel the forced status of the selected coils Force ON Button Click this button to force ON the selected coils Force OFF Button Click this button to force OFF the s...

Page 379: ...to ON OFF or canceled 7 6 9 Viewing a Called Program You can open a drawing that is called with a SEE Call Program instruction or a FUNC User Function instruction Select the SEE instruction object or...

Page 380: ...le step execution sin gle block execution and perform other operations to ensure proper operation of the program that you developed In Debug Operation Mode the program line that is being executed is d...

Page 381: ...tinuous execution of the program in Normal Operation Mode Move Start Point F6 Moves the start point for execution Breakpoint Set Remove F7 Sets or removes a breakpoint Displays the breakpoints in the...

Page 382: ...is mode executes the program one line at a time While in Debug Operation Mode you can check the operation status of the program in the Drive Control Panel Normal Operation Mode This mode executes the...

Page 383: ...ne that is being executed will be displayed in red 7 7 3 Register List Panes You can display a register list in the same way as you can when you debug a ladder program Refer to the following section f...

Page 384: ...t Files on page 7 62 7 7 7 Viewing a Motion Subprogram You can open and view a program that is called with an MSEE instruction 1 Select the MSEE instruction for the drawing with the program to view th...

Page 385: ...lays the program numbers Block number Displays the block numbers where the alarms occurred Axis number Displays the axis numbers where the alarms occurred Status alarm name Displays the names of the a...

Page 386: ...in the alarm code The motion program alarm codes can be checked using the Error Information Dialog Box or the S registers Error Information Dialog Box Click the Display Button next to Display in the...

Page 387: ...tered in the M EXECUTOR program execution definitions then this box will show the name of the program registered in the M EXECUTOR If the alarm occurred in a motion program that was called from a ladd...

Page 388: ...on programs Structure of Motion Program Alarms The following figure shows the structure of the alarm codes Motion Program Alarm Codes The following table lists the alarm codes for motion programs Bloc...

Page 389: ...etting of the cir cular or helical interpolation instruc tion 0018h Number of turns over limit The number of turns that was speci fied for a circular or helical interpola tion instruction exceeded the...

Page 390: ...vel dis tance exceeded LONG_MAX The axis travel distance setting exceeded the allowed range Correct the motion program 0084h Duplicated motion command More than one instruction was exe cuted for the s...

Page 391: ...an display the operating status of the axes and the data of other monitor parameters Starting the Axis Monitor Select Axis configuration Axis monitor in the System Pane of MPE720 And then double click...

Page 392: ...name 3 Axis operating status display Displays the operating status of the axis 4 Monitor parameter display Displays the names and current values of the monitor parame ters The following axes can be d...

Page 393: ...m or warning has occurred To see details on the alarm or warning click the status indicator to display the Alarm Warning Dialog Box When the alarm warning condition has been corrected the status will...

Page 394: ...rom the list or enter I O motion registers directly The following monitor parameters are displayed in the box list The monitor parameters that you set are saved as setting information so when you reop...

Page 395: ...he SERVOPACK This tab page dis plays the alarm and warning status of each axis Starting the Alarm Monitor Select Axis configuration Alarm monitor in the System Pane of MPE720 And then double click Ala...

Page 396: ...me of the Motion Control Function Module Click the Circuit Number Box to display or hide the monitor data for that circuits This allows you to display only the required axis data When a Circuit Is Dis...

Page 397: ...escribe what to do when an alarm or warning occurs 1 Click the status indicator in the Alarm Monitor Tab Page The Alarm Warning Dialog Box will be displayed Icon Name Function No Alarm No alarm or war...

Page 398: ...the selected alarm or warning will be displayed 3 Check details on the alarm and follow the instructions in the manual to correct it 4 Click the Alarm Clear Button If there are no other alarms or war...

Page 399: ...of MPE720 and then click the Real Time Trace Button in the Trace Type Dialog Box Alternatively select Monitor Trace in the Launcher and then click the Real Time Scope Button in the Trace Type Dialog...

Page 400: ...utton displays up to 64 points of trace data in realtime Trace Manager This button displays up to 64 points of trace data in a graph XY Trace This button displays the position data of two orthogonal a...

Page 401: ...con to display the graphs separately Click the Cursor A Icon to display cursor A and then move it on the graph to display the values Click the Cursor B Icon to display cursor B and then move it on the...

Page 402: ...D Icon to display cursor D and then move it on the graph to display the values Click the Cursor AB Link Icon to lock the horizontal distance between cursors A and B Click the Cursor CD Link Icon to l...

Page 403: ...ete the selected registers from the Trace Target List Trace List Displays the trace target registers You can select the registers from the Trace Target List or you can also enter the registers directl...

Page 404: ...the trace You can use up to 32 characters Sampling Setting Use these options to set the data sampling conditions The recommended maximum measurement time will be displayed Trigger Setting These settin...

Page 405: ...ptions to sample the data before and after a specified bit changes from OFF to ON or from ON to OFF Target register Bit type Use this box to enter the target register Drag this icon to set the trigger...

Page 406: ...rigger A trigger occurs when the register value is greater than the compari son value A trigger occurs when the register value is less than the comparison value A trigger occurs when the register valu...

Page 407: ...time If the Program Option was selected in the Sampling Trigger Setting Dialog Box the trace cannot be started manually You can use only the Read Again Button Real Time Display Select the Real Time D...

Page 408: ...n and out of the graph The scales have the following ranges Vertical scale x0 085 to x64 Horizontal scale x1 to x48 5 No Display Function These boxes display the values of the cursor positions This bo...

Page 409: ...plit Graph Displays You can group the trace data by data type and assign a separate graph for each group creat ing a split display The trace data consist of the group that is on the Trace Target List...

Page 410: ...ical axis will change according to the axis information unit and decimal digits and the waveforms will be displayed accordingly 1 The available units depend on the axis information 2 The axis unit can...

Page 411: ...e data that was included in the Trace Target List of the Trace Data Setting Dialog Box and the other group consists of other data Registers Displays the registers that were traced The register names a...

Page 412: ...e List Pane and select Sampling Trigger Setting Information from the pop up menu Editing the Trace Data You can enlarge or reduce the waveform of the trace data or move its position Changing the size...

Page 413: ...ce and the file Offset move buttons Use these buttons to move the waveforms of the specified trace data Scale adjustment slider Use this slider to increase decrease the amplitude of waveforms of the s...

Page 414: ...on the graph 2 Select Trace Data File History Data from the menu bar Alternatively right click Trace Data or File History Data in the Trace List Pane and select Edit Trace Data from the pop up menu 3...

Page 415: ...llowing figure Note If the trace data has already been loaded then select the check box at the trace definition 2 Select Trace Data Offset Scale Edit of Waveform from the menu bar Alternatively right...

Page 416: ...7 107 Reading Trace Data This section describes how to read saved trace data Trace definition files dat and CSV files csv can be read Select File Open External File from the menu bar The Open Dialog...

Page 417: ...data into a CSV file or a trace definition file Data can be analyzed if it is saved into a CSV or a trace definition file Select File Save in External File from the menu bar Select a CSV or a trace d...

Page 418: ...rograms 7 109 List View You can display the graph data in a list You can display the trace data and the history data in a list Select Trace Data List View from the menu bar When you select List View t...

Page 419: ...7 8 Monitoring Machine Operation 7 8 3 Realtime Tracing 7 110...

Page 420: ...g User Programs 7 111 Copying a Graph You can place a screen capture of the graph on the clipboard Select Graph Copy Graph from the menu bar Alternatively click the Copy Graph Icon on the Graph Toolba...

Page 421: ...cope 3 or Scope 4 in the System Pane of MPE720 version 7 and then click the XY Trace Button in the Trace Type Dialog Box Alternatively click the Scope 1 Scope 2 Scope 3 or Scope 4 Button in the My Too...

Page 422: ...play of the graph Click the Cursor A Icon to display cursor A and then move it on the graph to display the X and Y values Click the Cursor B Icon to display cursor B and then move it on the graph to d...

Page 423: ...arameters IL 10 Machine Coordinate System Calculated Position IL 10 IL 16 Machine Coordinate System Feedback Position IL 16 OK The OK Button sets the X Y axes and the trace targets and enables the Sam...

Page 424: ...he Position Deviation Overflow Alarm Level 8 8 8 3 4 Vibration Detection Level Setting 8 10 8 3 5 Setting the Position Deviation Overflow Alarm Level at Servo ON 8 10 8 4 Tuning less Function 8 12 8 4...

Page 425: ...ng 8 41 8 8 1 Outline 8 41 8 8 2 Preparations 8 41 8 8 3 Operating Procedure 8 42 8 8 4 Automatically Adjusted Function Setting 8 47 8 8 5 Tuning Example for Tuning Mode 2 or 3 8 47 8 8 6 Related Para...

Page 426: ...4 Current Control Mode Selection 8 71 8 12 5 Current Gain Level Setting 8 71 8 12 6 Speed Detection Method Selection 8 72 8 12 7 Speed Feedback Filter 8 72 8 13 Manual Tuning 8 73 8 13 1 Tuning the S...

Page 427: ...ments of your machine If possible perform autotuning with a host reference If a host controller is not available set an operation pattern that is as close as possible to the host reference and perform...

Page 428: ...usted with the position reference input from the SVD while the machine is in operation You can use this function for fine tuning after you perform auto tuning without a host reference Gains e g positi...

Page 429: ...ol Methods Reference Mechanical Analysis The machine is subjected to vibration to detect resonance frequencies The measurement results are displayed as waveforms or numeric data Speed control position...

Page 430: ...vo gains Check the adjustment results with the following response waveforms Position Control Speed Control Torque Control Item Unit Rotary Servomotor Linear Servomotor Torque reference Feedback speed...

Page 431: ...Level The position deviation overflow alarm is a protective function that is enabled when the SERVO PACK is used in position control If the alarm level is set to a suitable value the SERVOPACK will de...

Page 432: ...deceleration rate required for the position reference exceeds the tracking capacity of the Servomotor the tracking delay will increase and the position deviation will no longer satisfy the above formu...

Page 433: ...level at servo ON to restrict operation The related parameters and alarms are given in the following tables Related Parameters Rotary Servomotors Linear Servomotors Warning Num ber Warning Name Meani...

Page 434: ...d the setting of Pn526 Position Deviation Overflow Alarm Level at Servo ON while the servo was OFF A d02 Position Deviation Overflow Alarm for Speed Limit at Servo ON If position deviation remains in...

Page 435: ...oment of inertia If that occurs set the tuning less load level to 2 Pn170 n 2 or reduce the tuning less rigidity level Pn170 n X To ensure safety make sure that you can perform an emergency stop at an...

Page 436: ...e enabled Pn170 n 1 The test without a motor function must be disabled Pn00C n 0 Procedure Use the following procedure to set the tuning less levels In addition to the following procedure you can also...

Page 437: ...alarm occurs implement the following measures Resonant Sound Decrease the setting of Pn170 n X or the setting of Pn170 n X Excessive Vibration during Position Control Increase the setting of Pn170 n...

Page 438: ...the tuning less func tion Do not manually change the settings of these parameters after you have enabled the tuning less function Item Parameter Name Parameter Number Gain Related Parameters Speed Loo...

Page 439: ...ructures that are used these days With moment of inertia esti mation you can get an accurate load moment of inertia simply by operating the Servomotor in the actual system in forward and reverse a few...

Page 440: ...ust not be write prohibited The tuning less function must be disabled Pn170 n 0 8 5 3 Operating Procedure Use the following procedure to estimate the moment of inertia ratio 1 Click the Servo Drive Bu...

Page 441: ...8 5 Estimating the Moment of Inertia 8 5 3 Operating Procedure 8 18 3 Click the Execute Button 4 Click the Execute Button 5 Set the conditions as required...

Page 442: ...m acceleration rate maximum speed and maximum travel distance and speed loop related parameters Correct measurement of the moment of inertia ratio may not be possible depending on the settings Set sui...

Page 443: ...led while data is being transferred Next Button This button is enabled only when the data has been transferred correctly You cannot use it if an error occurs or if you cancel the transfer before it is...

Page 444: ...Forward Button will be displayed in color 12 Repeat steps 9 to 11 until the Next Button is enabled Measurements are performed from 2 to 7 times and then verified The number of measurements is display...

Page 445: ...ayed here After you click the Writing Results Button the value that was found with operation and measurements will be displayed as the new setting Back Button This button is disabled Cancel Button Thi...

Page 446: ...rence if the tuning less function is enabled Pn170 n 1 default setting Disable the tuning less function Pn170 n 0 before you execute autotuning without a host reference If you change the machine load...

Page 447: ...I control during moment of inertia estimation When mode switching is used Note If you specify moment of inertia estimation mode switching will be disabled and PI control will be used while the moment...

Page 448: ...st reference 1 Confirm that the moment of inertia ratio Pn103 is set correctly 2 Click the Servo Drive Button in the workspace of the Main Window of the Sig maWin 3 Select Tuning in the Menu Dialog Bo...

Page 449: ...cute Button 5 Select the No Reference Input Option in the Autotuning Area and then click the Auto tuning Button When the following dialog box is displayed click the OK Button and then confirm that the...

Page 450: ...settings Rotary Servomotors Approx 3 rotations Direct Drive Servomotors Approx 0 3 rotations Linear Servomotors Approx 90 mm Set the distance to the following values or higher To ensure tuning precis...

Page 451: ...oving parts and click the Yes Button The Servomotor will start operating and tuning will be executed Vibration that occurs during tuning will be detected automatically and suitable settings will be ma...

Page 452: ...rred Remove the cause of overtraveling The second gains were selected with the gain selec tion Disable automatic gain switching The setting of the travel distance is too small Set the travel distance...

Page 453: ...nction Positioning was not com pleted within approximately 10 seconds after position adjustment was completed The positioning com pletion width is too nar row or proportional control P control is bein...

Page 454: ...otuning with out a host reference autotuning with a host reference and custom tuning Immediately Tuning n 1 default setting Adjust the first stage notch filter automatically during execution of autotu...

Page 455: ...to the following manual for information on the torque feedforward input TFF and the speed feedforward input VFF 7 Series 7C SERVOPACK Motion Control User s Manual Manual No SIEP S800002 03 Mode Selec...

Page 456: ...ant Yes Pn408 Torque Related Function Selections Yes Pn409 First Stage Notch Filter Frequency Yes Pn40A First Stage Notch Filter Q Value Yes Pn40C Second Stage Notch Filter Frequency Yes Pn40D Second...

Page 457: ...r the reference from the SVD is equal to or lower than the setting of the positioning completion width Pn522 Rotary Servomotors When the travel speed for the reference from the SVD is less than or equ...

Page 458: ...ted if power is supplied to the motor i e when the servo is ON The gain selection switch must be set to manual gain selection Pn139 n 0 The first gains must be selected The test without a motor functi...

Page 459: ...e Button 5 Select the Position Reference Input Option in the Autotuning Area and then click the Autotuning Button When the following dialog box is displayed click the OK Button and then confirm that t...

Page 460: ...positioning applications In addition to gain adjustment model following control notch filters anti resonance control and vibration suppression are auto matically adjusted 3 For positioning especially...

Page 461: ...he Start tuning But ton 10 Confirm safety around moving parts and click the Yes Button The Servomotor will start operating and tuning will be executed Vibration that occurs during tuning will be detec...

Page 462: ...be performed without overshooting within the positioning completion width but the positioning completed width may be extended Possible Corrective Action Main circuit power supply is OFF Turn ON the ma...

Page 463: ...Pn121 Friction Compensation Gain Yes Pn123 Friction Compensation Coefficient Yes Pn124 Friction Compensation Frequency Correction No Pn125 Friction Compensation Gain Correction Yes Pn401 First Stage...

Page 464: ...i resonance control is provided if vibration is detected Manual anti resonance control adjustment is also possible during custom tuning Tuning Mode 2 Setting Servo Gains Giving Priority to Position Co...

Page 465: ...precautions Make sure that you can perform an emergency stop at any time When custom tuning is started several parameters will be overwritten with the recommended settings which may greatly affect th...

Page 466: ...g 8 43 5 Click the Advanced adjustment Button 6 Click the Custom tuning Button When the following dialog box is displayed click the OK Button and then confirm that the correct moment of inertia ratio...

Page 467: ...g may occur because pri ority is given to response In addition to gain adjustment notch filters and anti resonance control except during torque control are automatically adjusted 2 Set servo gains for...

Page 468: ...lters automatic anti resonance setting anti resonance control adjustment and autotuning with a host reference as required Refer to the following section for details Vibration Suppression Functions on...

Page 469: ...z and 1 000 Hz anti resonance control is effective Automatic Setting To set vibration suppression automatically use the parameters to enable notch filters and auto matic anti resonance control setting...

Page 470: ...sion on page 8 54 Autotuning with a Host Reference You can perform autotuning with a host reference Refer to the following section for details 8 7 Autotuning with a Host Reference on page 8 34 8 8 4 A...

Page 471: ...rameter Name Automatic Changes Pn100 Speed Loop Gain Yes Pn101 Speed Loop Integration Time Constant Yes Pn102 Position Loop Gain Yes Pn103 Moment of Inertia Ratio No Pn121 Friction Compensation Gain Y...

Page 472: ...he following before you adjust anti resonance control The tuning less function must be disabled Pn170 n 0 The test without a motor function must be disabled Pn00C n 0 The control method must not be se...

Page 473: ...will be set automatically when anti resonance control is adjusted This may greatly affect the response before and after execution Make sure that you can perform an emergency stop to turn OFF the power...

Page 474: ...level will return to the value from before when custom tuning was started 6 When the adjustment has been completed click the Finish Button The values that were changed will be saved in the SERVOPACK a...

Page 475: ...Anti Resonance Damping Gain Yes Pn164 Anti Resonance Filter Time Constant 1 Correction No Pn165 Anti Resonance Filter Time Constant 2 Correction No Guidelines for Vibration That Can Be Suppressed Ant...

Page 476: ...e gain adjustment and anti resonance control Refer to the following section for details 8 9 3 Operating Procedure on page 8 50 2 If there is vibration at a higher frequency than the vibration suppress...

Page 477: ...positioning completion width Pn522 Perform the detection of vibration frequencies again after adjusting the setting of Pn560 Note As a guideline change the setting 10 at a time If the setting of this...

Page 478: ...Button 3 Click the Import Button or click the Button and the Button to manually adjust the set frequency When you click the Import Button the residual vibration frequency in the Servomotor is read as...

Page 479: ...n has been eliminated click the Finish Button The updated value will be saved in the SERVOPACK This concludes the procedure to set up vibration suppression No settings related to vibration suppression...

Page 480: ...rameter Meaning When Enabled Classification Pn140 n 0 default setting Do not use model following control and speed torque feedforward together Immediately Tuning n 1 Use model following control and sp...

Page 481: ...curately Systems for which there is not a suitable range of motion Preparations Always check the following before you set up speed ripple compensation The main circuit power supply must be ON The serv...

Page 482: ...space of the Main Window of the Sig maWin 2 Select Ripple Compensation in the Menu Dialog Box The Ripple Compensation Dialog Box will be displayed 3 Click the OK Button 4 Click the Edit Button 1 Click...

Page 483: ...Servo ON Button 7 Click the Forward Button or the Reverse Button Measurement operation is started The Servomotor shaft will rotate at the preset jogging speed while you hold down the Forward or Rever...

Page 484: ...the preset jogging speed while you hold down the Forward or Reverse Button The waveform with speed ripple compensation applied to it will be displayed 11 If the verification results are OK click the...

Page 485: ...vomotors Linear Servomotors Parameter Meaning When Enabled Classification Pn423 n 0 default setting Disable speed ripple compensation Immediately Setup n 1 Enable speed ripple compensation Parameter M...

Page 486: ...enabled an A 942 warning Speed Ripple Compen sation Information Disagreement will occur to warn you You can use any of the following methods to clear A 942 Reset the speed ripple compensation value o...

Page 487: ...the following con ditions must be met If the conditions are not met these parameters will not be changed even if the other param eters in the above table are changed There must be no reference The mo...

Page 488: ...settings 2 to gain set tings 1 Gain Switching Waiting Time 1 Pn136 Gain Switching Time 2 Pn132 Parameter Position Control Gain Switching Condition A For Control Methods Other Than Position Control No...

Page 489: ...to the value in Pn106 Second Position Loop Gain When the COIN signal turns ON the switching operation begins after the waiting time Pn135 The switching operation changes the position loop gain linearl...

Page 490: ...000 1 100 Immediately Tuning Pn104 Second Speed Loop Gain Setting Range Setting Unit Default Setting When Enabled Classification 10 to 20 000 0 1 Hz 400 Immediately Tuning Pn105 Second Speed Loop Int...

Page 491: ...hen Enabled Classifica tion 0 to 65 535 1 ms 0 Immediately Tuning Pn136 Gain Switching Waiting Time 2 Setting Range Setting Unit Default Setting When Enabled Classifica tion 0 to 65 535 1 ms 0 Immedia...

Page 492: ...ction com pensation Note Usually set the friction compensation coefficient Pn123 to 95 or less If the effect is insufficient increase the friction compensation gain Pn121 by 10 increments until vibrat...

Page 493: ...use gravity compensation Parameter Description When Enabled Classification Pn475 n 0 default setting Disable gravity compensation After restart Setup n 1 Enable gravity compensation Pn476 Gravity Com...

Page 494: ...can set the current gain level to reduce noise by adjusting the parameter for current control inside the SERVOPACK according to the speed loop gain Pn100 The noise level can be reduced by decreasing...

Page 495: ...lag filter for the speed feedback in the speed loop This ensures smooth changes in the feedback speed to reduce vibration If a large value is set it will increase the delay and make response slower P...

Page 496: ...crease the response characteristic of the SERVOPACK For example you can reduce the positioning time for posi tion control Use manual tuning in the following cases When tuning with autotuning without a...

Page 497: ...reference filter time constant Pn401 so that vibration does not occur 2 Increase the speed loop gain Pn100 and reduce the speed loop integral time constant Pn101 as far as possible within the range th...

Page 498: ...servo system If the time constant is set too high over shooting will occur positioning settling time will increase and the response characteristic will suffer Pn102 Position Loop Gain Setting Range S...

Page 499: ...er Time Constant Setting Range Setting Unit Default Setting When Enabled Classification 0 to 65 535 0 01 ms 100 Immediately Tuning Pn40F Second Stage Second Torque Reference Filter Frequency Setting R...

Page 500: ...that are filtered is The notch filter frequency characteristics for different notch filter Q values are shown below Note The above notch filter frequency characteristics are based on calculated value...

Page 501: ...Setting Unit Default Setting When Enabled Classification 50 to 5 000 1 Hz 5 000 Immediately Tuning Pn40D Second Stage Notch Filter Q Value Setting Range Setting Unit Default Setting When Enabled Clas...

Page 502: ...al gain conditions If you use the torque reference filter second torque reference filter and notch filters together the interference between the filters and the speed loop gain will be superimposed Al...

Page 503: ...n104 Pn105 Pn106 and Pn412 For I P control the relationships between the speed loop integral time constant speed loop gain and position loop gain are different from the relationships for PI control Th...

Page 504: ...o Pn103 as accurately as possible 2 Refer to the guidelines for manually tuning the servo gains and set a stable gain for the position loop gain Pn102 Guidelines for Manually Tuning Servo Gains on pag...

Page 505: ...his parameter and not by Pn102 Position Loop Gain Parameter Function When Enabled Classification Pn140 n 0 default setting Do not use model following control Immediately Tuning n 1 Use model following...

Page 506: ...y to occur Model Following Control Type Selection When you enable model following control you can select the model following control type Nor mally set Pn14F to n 1 Use model following control type 2...

Page 507: ...use mode switching to automatically change between proportional control and PI con trol Overshooting caused by acceleration and deceleration can be suppressed and the settling time can be reduced by...

Page 508: ...Classification 0 to 10 000 1 min 1 0 Immediately Tuning Pn10E Mode Switching Level for Acceleration Setting Range Setting Unit Default Setting When Enabled Classification 0 to 30 000 1 min 1 s 0 Imme...

Page 509: ...Linear Servomotors When the speed reference equals or exceeds the speed set for the mode switching level for a speed reference Pn181 the speed loop is changed to proportional control Using the Accele...

Page 510: ...10F the speed loop is changed to proportional control This setting is enabled only for position control Position Integral The position integral is the integral function of the position loop It is used...

Page 511: ...servo tuning and as reference for considering changes to the machine The performance of the servo cannot be completely utilized depend ing on the rigidity of the machine You may need to consider makin...

Page 512: ...delay phase in the response for each frequency Also the machine resonance frequency can be determined from the maximum frequency of the valleys anti resonance and peaks resonance of the gain and the p...

Page 513: ...e SERVOPACK for compatibility with previous products Normally use autotuning without a host reference for tuning Preparations Always check the following before you execute Easy FFT The parameters must...

Page 514: ...Easy FFT 1 Click the Servo Drive Button in the workspace of the Main Window of the Sig maWin 2 Select Easy FFT in the Menu Dialog Box The EasyFFT Dialog Box will be displayed Click the Cancel Button...

Page 515: ...tion in the Measure ment condition Area and then click the Start Button The Servomotor shaft will rotate and measurements will start When measurements have been completed the measurement results will...

Page 516: ...Easy FFT Do not change the settings of these parameters during execution of Easy FFT Yes The parameter is automatically set No The parameter is not automatically set but the setting is read during ex...

Page 517: ...rvo Drive Status 9 3 9 2 2 Monitoring Status and Operations 9 3 9 2 3 I O Signal Monitor 9 5 9 3 Monitoring Machine Operation Status and Signal Waveforms 9 6 9 3 1 Items That You Can Monitor 9 6 9 3 2...

Page 518: ...x of the SigmaWin The Product Information Dialog Box will be displayed Monitor Items Information on SERVOPACKs SERVOPACK model SERVOPACK serial number SERVOPACK manufacturing date SERVOPACK software v...

Page 519: ...sistor Short Relay Regenerative Transistor Regenerative Error Detection AC Power ON Overcurrent Origin Not Passed Input Signal Status P OT Forward Drive Prohibit Input Signal N OT Reverse Drive Prohib...

Page 520: ...one encoder rotation Angle of Rotation 2 angle from origin within one encoder rotation Input Reference Pulse Speed Deviation Counter Position Deviation Cumulative Load Regenerative Load Power Consumpt...

Page 521: ...unction or a measuring instrument such as a memory recorder You can also use the above window to check wiring Checking Input Signal Wiring Change the signal status at the host controller If the input...

Page 522: ...ed loop Current loop Electronic gear 1 Electronic gear Position loop Torque Feedforward Deviation counter Deviation counter Deviation counter Load M Kp Position deviation Positioning completion Comple...

Page 523: ...he Servo Drive Button in the workspace of the Main Window of the Sig maWin 2 Select Trace in the Menu Dialog Box The Trace Dialog Box will be displayed Trace Objects You can trace the following items...

Page 524: ...2 External Latch Input 2 Signal EXT3 External Latch Input 3 Signal FSTP Forced Stop Input Signal SEN Absolute Data Request Input Signal Output Signals ALM Servo Alarm Output Signal COIN Positioning Co...

Page 525: ...lines for Part Replacement on page 10 2 Capacitor Service Life Prediction The unused status of the SERVOPACK is treated as the 100 value The value decreases based on the operating conditions such as t...

Page 526: ...ost controller when it is time to replace any of the main parts Preventative Maintenance Warning An A 9b0 warning Preventative Maintenance Warning is detected when any of the following service life pr...

Page 527: ...details 5 19 2 Output Signal Allocations on page 5 53 Type Signal Connector Pin No Signal Sta tus Meaning Output PM Must be allocated ON closed One of the following service life prediction values rea...

Page 528: ...tracing numeric data and I O signal ON OFF data Alarms that occur when the power supply is turned ON are not recorded Alarms that occur during the recording of alarm trace data are not recorded Alarm...

Page 529: ...pter describes inspections and part replacement 10 1 Inspections and Part Replacement 10 2 10 1 1 Inspections 10 2 10 1 2 Guidelines for Part Replacement 10 2 10 1 3 Replacing the Battery 10 3 Mainten...

Page 530: ...ill determine whether the part should be replaced Item Frequency Inspection Correction Exterior At least once a year Check for dust dirt and oil on the surfaces Clean with compressed air or a cloth Lo...

Page 531: ...Servo Alarm signal is output for up to five seconds when the control power supply is turned ON and then the battery voltage is monitored for four seconds No alarm will be displayed even if the battery...

Page 532: ...F the power supply to the SERVOPACK to clear the A 830 alarm Encoder Bat tery Alarm 6 Turn ON the power supply to the SERVOPACK 7 Make sure that the alarm has been cleared and that the SERVOPACK opera...

Page 533: ...rovides information on the parameters 11 1 List of Servo Parameters 11 2 11 1 1 Interpreting the Parameter Lists 11 2 11 1 2 List of Servo Parameters 11 3 11 2 Controller Section Parameters 11 42 Para...

Page 534: ...e All Axes n X Rotation Direction Selection Reference Movement Direction Selection 0 Use CCW as the forward direction page 5 16 Use the direction in which the linear encoder counts up as the for ward...

Page 535: ...nected Reference 0 When an encoder is not connected start as SERVOPACK for Rotary Servomotor page 5 15 1 When an encoder is not connected start as SERVOPACK for Lin ear Servomotor n X Motor Stopping M...

Page 536: ...2 Use the encoder as a single turn absolute encoder Rotary n X Reserved parameter Do not change n X Low Battery Voltage Alarm Warning Selection Reference 0 Output alarm A 830 for low battery voltage...

Page 537: ...od for Forced Stops Reference 0 Apply the dynamic brake or coast the motor to a stop use the stopping method set in Pn001 n X page 5 87 1 Decelerate the motor to a stop using the torque set in Pn406 a...

Page 538: ...pplicable Motors 0 Disable tests without a motor All 1 Enable tests without a motor n X Encoder Resolution for Tests without a Motor Applicable Motors 0 Use 13 bits Rotary 1 Use 20 bits 2 Use 22 bits...

Page 539: ...egral Time Constant 15 to 51 200 0 01 ms 2000 All Immedi ately Tuning page 8 64 Pn106 2 Second Position Loop Gain 10 to 20 000 0 1 s 400 All Immedi ately Tuning page 8 64 Pn109 2 Feedforward 0 to 100...

Page 540: ...rrection 1 to 1 000 1 100 All Immedi ately Tuning page 8 68 Pn131 2 Gain Switching Time 1 0 to 65 535 1 ms 0 All Immedi ately Tuning page 8 64 Pn132 2 Gain Switching Time 2 0 to 65 535 1 ms 0 All Imme...

Page 541: ...nd gain to the first gain when switching condition A is not satisfied n X Gain Switching Condition A 0 COIN Positioning Completion Output signal turns ON 1 COIN Positioning Completion Output signal tu...

Page 542: ...y 10 to 20 000 0 1 Hz 1000 All Immedi ately Tuning page 8 49 Pn162 2 Anti Resonance Gain Correction 1 to 1 000 1 100 All Immedi ately Tuning page 8 49 Pn163 2 Anti Resonance Damp ing Gain 0 to 300 1 0...

Page 543: ...tinued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Tuning less Selection W...

Page 544: ...restart Setup page 5 68 Pn324 2 Moment of Inertia Cal culation Starting Level 0 to 20 000 1 300 All Immedi ately Setup page 8 30 Pn383 2 Jogging Speed 0 to 10 000 1 mm s 50 Linear Immedi ately Setup...

Page 545: ...100 0 01 50 All Immedi ately Tuning page 8 76 Pn412 2 First Stage Second Torque Reference Filter Time Constant 0 to 65 535 0 01 ms 100 All Immedi ately Tuning page 8 64 Continued on next page Continu...

Page 546: ...pen sation Selections 0000h to 1111h 0000h Rotary Setup page 8 62 Pn424 2 Torque Limit at Main Cir cuit Voltage Drop 0 to 100 1 3 50 All Immedi ately Setup page 5 67 Pn425 2 Release Time for Torque Li...

Page 547: ...ly Tuning Pn48E 2 Polarity Detection Range 1 to 65 535 1 mm 10 Linear Immedi ately Tuning Pn490 2 Polarity Detection Load Level 0 to 20 000 1 100 Linear Immedi ately Tuning Pn495 2 Polarity Detection...

Page 548: ...ignal is ON closed Axis B Enable forward drive when CN1 10 input signal is ON closed 2 Axis A Enable forward drive when CN1 5 input signal is ON closed Axis B Enable forward drive when CN1 11 input si...

Page 549: ...al is ON closed Axis B Enable reverse drive when CN1 13 input signal is ON closed 5 Axis A Enable reverse drive when CN1 8 input signal is ON closed Axis B Enable reverse drive when CN1 14 input signa...

Page 550: ...is ON closed 5 Axis A Active when CN1 8 input signal is ON closed Axis B Active when CN1 14 input signal is ON closed 6 Reserved setting Do not use 7 The signal is always active 8 The signal is alway...

Page 551: ...n X TGON Rotation Detection Output Signal Allocation Reference 0 to 6 The allocations are the same as the COIN Positioning Comple tion signal allocations page 5 57 n X S RDY Servo Ready Output Signal...

Page 552: ...X NEAR Near Output Signal Allocation Reference 0 Disabled the above signal output is not used page 5 62 1 Axis A Output the signal from the CN1 23 or CN1 24 output ter minal Axis B Output the signal...

Page 553: ...put signal is OFF open B Axis A Active when CN1 5 input signal is OFF open Axis B Active when CN1 11 input signal is OFF open C Axis A Active when CN1 6 input signal is OFF open Axis B Active when CN1...

Page 554: ...n X Output Inversion for CN1 27 CN1 28 CN1 29 and CN1 30 Terminals Axis A CN1 27 and CN1 28 Axis B CN1 29 and CN1 30 0 The signal is not inverted 1 The signal is inverted n X Reserved parameter Do not...

Page 555: ...1 Axis A Enable drive when CN1 4 input signal is ON closed Axis B Enable drive when CN1 10 input signal is ON closed 2 Axis A Enable drive when CN1 5 input signal is ON closed Axis B Enable drive when...

Page 556: ...ut Width 0 to 100 1 mm s 10 Linear Immedi ately Setup page 5 58 Pn583 2 Brake Reference Out put Speed Level 0 to 10 000 1 mm s 10 Linear Immedi ately Setup page 5 32 Pn584 2 Speed Limit Level at Servo...

Page 557: ...si fication Refer ence n X Polarity Detection Selection for Absolute Linear Encoder Reference 0 Do not detect polarity page 5 25 1 Detect polarity n X Reserved parameter Do not change n X Reserved par...

Page 558: ...o CN1 9 010 Allocate the signal to CN1 10 011 Allocate the signal to CN1 11 012 Allocate the signal to CN1 12 013 Allocate the signal to CN1 13 014 Allocate the signal to CN1 14 n X Polarity Selection...

Page 559: ...to CN1 6 007 Allocate the signal to CN1 7 008 Allocate the signal to CN1 8 009 to 011 The signal is always inactive 012 Allocate the signal to CN1 12 013 Allocate the signal to CN1 13 014 Allocate the...

Page 560: ...2 013 Allocate the signal to CN1 13 014 Allocate the signal to CN1 14 n X Polarity Selection 0 The signal is always inactive 1 Active when input signal is ON closed 2 Active when input signal is OFF o...

Page 561: ...9 Allocate the signal to CN1 9 010 Allocate the signal to CN1 10 011 Allocate the signal to CN1 11 012 Allocate the signal to CN1 12 013 Allocate the signal to CN1 13 014 Allocate the signal to CN1 14...

Page 562: ...to CN1 25 027 Allocate the signal to CN1 27 029 Allocate the signal to CN1 29 031 Allocate the signal to CN1 31 n X Polarity Selection 0 Disabled the above signal output is not used 1 Output the above...

Page 563: ...25 027 Allocate the signal to CN1 27 029 Allocate the signal to CN1 29 031 Allocate the signal to CN1 31 n X Polarity Selection 0 Disabled the above signal output is not used 1 Output the above signal...

Page 564: ...the signal to CN1 27 029 Allocate the signal to CN1 29 031 Allocate the signal to CN1 31 n X Polarity Selection 0 Disabled the above signal output is not used 1 Output the above signal 2 Invert the ab...

Page 565: ...535 10 m 0 All Immedi ately Setup page 5 49 Pn604 2 Dynamic Brake Resis tance 0 to 65 535 10 m 0 All After restart Setup 5 Continued on next page Continued from previous page Parameter No Size Name S...

Page 566: ...ence unit 100 All Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fica...

Page 567: ...igin within one encoder rotation displayed in decimal All Un003 Rotational Angle 1 linear encoder pulses Linear encoder pulses from the polarity origin displayed in decimal 0014h Un004 Rotational Angl...

Page 568: ...ttings 0000h to 3333h 0000h All Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enable...

Page 569: ...or Allocation for CN1 3 0 Allocate bit 18 of IL 28 Servo Command Input Signal to CN1 3 input signal monitor 1 Allocate bit 19 of IL 28 Servo Command Input Signal to CN1 3 input signal monitor 2 Alloca...

Page 570: ...location for CN1 6 input signal monitor 1 Enable allocation for CN1 6 input signal monitor n X Input Signal Monitor Allocation for CN1 7 0 to 7 The settings are the same as the CN1 3 allocations n X C...

Page 571: ...r 1 Enable allocation for CN1 11 input signal monitor n X Input Signal Monitor Allocation for CN1 12 0 to 7 The settings are the same as the CN1 3 allocations n X CN1 12 Input Signal Monitor Enable Di...

Page 572: ...for CN1 23 CN1 24 output signal monitor 1 Enable allocation for CN1 23 CN1 24 output signal monitor n X Output Signal Monitor Allocation for CN1 25 and CN1 26 0 to 7 The settings are the same as the...

Page 573: ...enabled after the SVD completes servo ON execution 7 Change the setting when the reference is stopped i e while DEN is set to 1 If you change the setting during operation the reference output will be...

Page 574: ...the following types of parameters Fixed parameters Setting parameters Monitor parameters Collectively these three types of parameters are called motion parameters Refer to the following manual for det...

Page 575: ...4 12 2 USB Memory 12 17 12 2 1 Operating Procedure 12 17 12 2 2 Alarm History File 12 19 12 3 File Transfer 12 20 12 3 1 FTP Server 12 20 12 3 2 FTP Client 12 25 12 4 Calendar 12 30 12 5 Maintenance M...

Page 576: ...12 8 3 Setting Up the Counter Function Module 12 62 12 9 The M EXECUTOR Function Module 12 68 12 10 System Service Registers 12 78 12 11 Option Base Unit 12 82 12 11 1 Specifications 12 82 12 11 2 Opt...

Page 577: ...apter 4 Preparations 2 Select View System from the menu bar The System Pane will be displayed on the left side of the window 3 Click the Expand Button next to the Logging item to display the log files...

Page 578: ...12 1 Data Logging 12 1 1 Operating Procedure 12 4 The Logging 1 Dialog Box will be displayed 4 Click the Format Button The Format Dialog Box will be displayed 5 Set the format...

Page 579: ...server Writes the sampled data to the FTP server connected to Ethernet Selection Description CSV This file format can be opened in general purpose applications such as Excel and Notepad Binary This f...

Page 580: ...settings 9 Click the OK Button Selection Description Year YYYY Adds the year to the specified folder name Example 2011 Year Month YYYYMM Adds the year and month to the specified folder name Example 20...

Page 581: ...were selected by using the Shift or the Ctrl Keys Select All selects all registers shown on the tab page Add Button Adds the selected register to the list of registers to be logged Delete Button Remo...

Page 582: ...er settings Set the logging name Maximum name length 32 characters Refer to the following table for the data size for each data type Click the Cancel Button to return to the Logging 1 Dialog Box witho...

Page 583: ...12 12 12 12 No Item Description Specify the start timing If the check box is selected the timing of the start of logging is controlled by the register status If conditions are set in items and loggin...

Page 584: ...t Condition B will be ignored even if it is specified AND The compound condition is met when both condition A and condition B are met OR The compound condition is met when either condition A or condit...

Page 585: ...head is given below Set the scan setting to a value that is larger than this value Note These overhead values are for word data without an application Set the scan setting according to the appli catio...

Page 586: ...001 or cause the CPU to go down Set the scan time so that it is long enough to log the number of registered data items If Logging Is Asynchronous with the Scan The scan setting for logging asynchrono...

Page 587: ...atus You can monitor the execution status of data logging by checking the system registers Refer to the following manual for details 7 Series 7C SERVOPACK Troubleshooting Manual Manual No SIEP S800002...

Page 588: ...ze of the header that is appended to the file ScanType The type of scan where the data was obtained high speed scan or low speed scan is displayed Sampling period on the Format Dialog Box ScanTime Giv...

Page 589: ...e file ScanType The type of scan where the data was obtained high speed scan or low speed scan is displayed Sampling period on the Format Dialog Box ScanTime Gives the data sampling period Register Gi...

Page 590: ...w File Details to Output Data No and DATE TIME are selected Target Register to Log MW00000 Status Data No 000001 DATE TIME 2011 06 23 18 02 19 Value of MW00000 register 100 Displayed Value The data is...

Page 591: ...e mem ory Batch Loading from USB Memory Device on page 12 17 Batch save Saves all of the user application data that is saved in the CPU s RAM to the USB memory device Batch Saving to USB Memory on pag...

Page 592: ...ts The progress of processing will be shown on the display during the batch save operation as follows The batch save operation has been completed when the normal operation display appears on the displ...

Page 593: ...100 Alarm Code Refer to the following manual for details MP3000 Series MP3200 MP3300 Troubleshooting Manual Manual No SIEP C880725 01 Alarm Detail Format Operation error I O error Other error Time Whe...

Page 594: ...ister data CPU to remote device Uses the Export instruction from a ladder program MP3000 Series Ladder Programming Manual Manual No SIEP C880725 13 Remote device to CPU Uses the Import instruction fro...

Page 595: ...elow R Files can be read from the FTP client W Files can be written from the FTP client Setting Up FTP Accounts If you need to change the default settings or add a new FTP account use the MPE720 You c...

Page 596: ...Account Select the user name for the FTP account to be changed and click the Modified Button The User Registration Dialog Box will be displayed Deleting an Existing FTP Account Select the user name f...

Page 597: ...pplicable FTP Commands on page 12 23 A client cannot be set to writing only Item Command FTP Privileges Description R R W Connection Disconnection bye Disconnects and terminates the connection with th...

Page 598: ...to access the FTP server from a Windows PC 1 Enter the address in the address bar The address structure is as follows 2 Press the Enter Key The folder contents of the USB memory device of the FTP ser...

Page 599: ...the IP address subnet mask and gateway address to set the local station Data to Transfer Transfer Direction Reference Log data CPU to remote device Operating Procedure on page 12 3 1 You can connect t...

Page 600: ...n set up to 20 FTP servers 5 Double click the row for each ID The FTP Server Details Dialog Box will be displayed Refer to the following section for details on the settings Details on the FTP Server D...

Page 601: ...s set in the File name Area will be transferred It will be written to the FTP server using the same file name 2 If you select an FTP server as the destination the built in RAM disk that is specified f...

Page 602: ...also be logged out for FTP transfer errors or if the CPU stops regardless of the logout time setting FTP Server IP Enter the IP address of the FTP server The setting range is determined by the IP add...

Page 603: ...ccur If you frequently transfer large amounts of data provide sufficient idle time in scan processing Online Parameter Changes for FTP Client Settings If you change the FTP client settings when an FTP...

Page 604: ...endar is backed up by an EDLC electronic double layer capacitor This allows it to maintain the correct time even if the power to the SERVOPACK is turned OFF The calendar has an error of 1 minute a day...

Page 605: ...Maintenance Monitor Settings Button from the Start Tab Page in the MPE720 If you use maintenance monitoring at the same time as the SigmaWin both the SigmaWin and maintenance monitoring may become sl...

Page 606: ...1 Wh Accumulated power consumption The accumulated power consumption since operation was started is displayed SERVOPACK 2 1 Wh Accumulated power consumption after the decimal point The three digits be...

Page 607: ...uit lifetime The maintenance period of the inrush preven tion relay is displayed as a percentage When usage is first started 100 is displayed The percentage become smaller as the operating time increa...

Page 608: ...2 5 2 Setting Procedure 12 34 3 Click the Allocate Axis Button The Axis Selection Dialog Box will be displayed 4 Select the axis to assign Maximum number of assigned axes 16 group 5 Click the OK Butto...

Page 609: ...12 36 SW 5 Axis No If an error occurs the error code is stored here Error Codes on page 12 36 SL 6 Monitor Value SW 8 Axis 2 Circuit No Same as above SW 9 Axis No SW 10 Monitor Value SW 12 Axis 3 Cir...

Page 610: ...Manual No SIEP C880761 03 Data Logging Refer to the following section for operating details 12 1 Data Logging on page 12 3 SW 48 Axis 12 Circuit No Same as above SW 49 Axis No SL 50 Monitor Value SW 5...

Page 611: ...be displayed 2 Select the When the project is opened the password is input Check Box and then click the Modified project password Button The following dialog box will be displayed Enter each item and...

Page 612: ...view will be displayed Select the Select the default user Check Box to enable accessing the project file or the SER VOPACK with the default user account If the specified user name is not among the reg...

Page 613: ...e setting will provide access and writing privileges to the SERVOPACK Select Security User Registration from the tree structure in the Environment Setting Dialog Box The following view will be display...

Page 614: ...alphanumeric characters Password Enter from 1 to 16 alphanumeric characters User Privilege Select the reading and writing privilege levels for the user from 0 to 7 Higher numbers represent higher lev...

Page 615: ...Ladder Pane right click on the program for which you want to set a password Select Set the Password from the pop up menu The Program Password Dialog Box will be displayed 2 Enter 1 to 8 alphanumeric c...

Page 616: ...enabled when one or more characters are entered in the Password Confirm Box The password will be changed and the Program Password Dialog Box will be closed Deleting a Password 1 In the Ladder Pane rig...

Page 617: ...protected ladder program i e one with a pad lock icon next to its name the Program Password Dialog Box will be displayed 2 Enter the current password in the Program Password Box and then click the OK...

Page 618: ...lege level at least as high as the specified privilege to read the files Security Key and Security Key Confirmation Enter the password that will be required to set online security Enter 1 to 8 alphanu...

Page 619: ...ading Restriction Check Box and then select a restriction priv ilege level from the list of Restriction Privilege Box 3 Enter the password in the Security Key Box Enter the same password again in the...

Page 620: ...on Check Box and then change the value of the Restriction Privilege Box 3 Enter the current security key in the Security Key Box and then click the Set Button The following confirmation message will b...

Page 621: ...ow to change the security key of the online security Use the following procedure to change the security key 1 With the SERVOPACK online select Online Online Security Setting from the menu bar The Secu...

Page 622: ...ity that was set for the SERVO PACK 1 With the SERVOPACK online select Online Online Security Setting from the menu bar The Security Setting Dialog Box will be displayed 2 Enter the current security k...

Page 623: ...d outputs are performed in a fixed cycle for each high speed and low speed scan in the Controller Section 12 7 2 Setting Procedure for the IO16 Function Module Use the following procedure to make the...

Page 624: ...e in number of words of the register The number of words cannot be changed SCAN Select high speed low speed or NA not specified as the scan in which to process the inputs and outputs Current Value If...

Page 625: ...ions of the Controller Section 12 51 4 Click the Filter Setting Button 5 Set the time constants of the digital filters for the input terminals 6 Click the OK Button If you have changed the local I O d...

Page 626: ...rity Selection to select the counting methods as shown below Pulse Counting Method Polarity Increment Forward Decrement Reverse Signed with multiplier of 1 Positive logic Negative logic Continued on n...

Page 627: ...ulses A B with multiplier of 4 Positive logic Negative logic Continued from previous page Pulse Counting Method Polarity Increment Forward Decrement Reverse LOW Pulse B Pulse A HIGH Pulse B Pulse A LO...

Page 628: ...p1 Therefore the count is forced to the preset value p2 Maximum overflow When the count reaches the maximum value p3 it is automatically reset to the minimum value p4 Minimum overflow When the count r...

Page 629: ...etion timing of presetting the count is illustrated in the following figure Calculating Preset OW 00 Bit1 Current Count Value after Converts IL 0A Preset Count Completed IW 00 Bit2 m1 m2 m3 m4 m1 m2 m...

Page 630: ...WG I interrupt drawing starts are illustrated in the following figure Time from when the coincidence point is detected until execution of DWG I interrupt drawing starts approx 60 s to 440 s Note 1 DO_...

Page 631: ...l is detected and the PI latching data is stored are illustrated in the following figure 1 After the discrete input changes from ON to OFF it cannot be turned ON again for at least 500 ms 2 If you use...

Page 632: ...s set to a value other than pulses such as mm deg or inch Overview of the Electronic Gear The electronic gear allows you to set the workpiece travel distance per pulse input to the Counter Function Mo...

Page 633: ...tion to that travel dis tance Electronic Gear related Elements Gear ratio Ball screw pitch Pulley diameter etc If the reference unit is 1 m and 50 000 reference pulses are input the workpiece will mov...

Page 634: ...l distance per machine rotation 6 mm 0 001 mm reference unit 6 000 reference units No 11 Encoder Gear Ratio 7 rotations No 12 Machine Gear Ratio 5 rotations Example of Gear Parameter Settings for a Ro...

Page 635: ...Range Use the following conditional expression to make sure that IL 08 After Convert Increment Pulse does not exceed the double length integer range Set scan time Use the following formula to calcula...

Page 636: ...the MPE720 to make the settings for the Counter Function Module Displaying the Setting Dialog Box 1 Click the Module Configuration Button from the Start Tab Page in the MPE720 The Module Configuratio...

Page 637: ...rity of the phase A pulse signal and phase B pulse signal to positive logic or negative logic 1 word Positive logic 03 Pulse Counting Mode Selection 1 Select one of the following seven pulse counting...

Page 638: ...erence units 2 words 10 000 11 Encoder Gear Ratio 4 5 Set the value of m when the load shaft rotates n times in response to m encoder shaft rotations to a value from 1 to 65 535 1 word 1 12 Machine Ge...

Page 639: ...r Setting the Data Data Setting Error Bit 1 Fixed Parameter Error Bit 2 Count Preset Com pleted Bit 3 PI Latch Completed Bit 4 A B Pulse 0 Feed back pulses 1 Bit 5 Coincidence Detec tion Signal Bit 6...

Page 640: ...G Displays the value calculated by converting the PI latching data to reference units This value will be the same as the PI latching data when fixed parameter No 08 Reference Unit Selection specifies...

Page 641: ...when the external signal is input Bit 3 Coincidence Detection 3 ON 1 Execute OFF 0 Do not execute default setting If this bit is ON 1 the match detection signal is output when the count matches the m...

Page 642: ...n for an introduction to the M EXECUTOR Function Module 7 1 4 The M EXECUTOR Function Module on page 7 25 Procedure Set the detailed settings for the M EXECUTOR Function Module Register program execut...

Page 643: ...on Tab Page Click the Module Configuration Button from the Start Tab Page The information on the M EXECUTOR Function Module is displayed in the M EXECUTOR cell of the Function Module Slave Column The...

Page 644: ...the I O area Setting range 64 to 128 Four words each of input registers and output regis ters are required to register a single motion program or sequence program in the M EXECUTOR If you need to reg...

Page 645: ...ns in ascending order of their numbers D The check boxes are used to enable or disable the definitions Not selected Definition is enabled Selected Definition is disabled Execution Type Set the executi...

Page 646: ...mples MPM001 or SPM002 Indirect Possible Not possible The program is specified by specifying a register that contains the program number Example OW0C0C If 1 is stored in OW0C0C MPM001 will be called E...

Page 647: ...ssigned registers and the M EXECUTOR control registers will move in the direction that is given in You can assign any register numbers Note You can set word type I O or M registers except motion regis...

Page 648: ...al cell to display the Detail Dialog Box This dialog box is used to verify the status and the control signals Status Control Signals Creating Motion Programs Refer to the following manual for details...

Page 649: ...played 3 Check that the settings match the contents of the Allocation Control Register Tab Page and then click the Set Button The registered contents will be saved Refer to the following section for d...

Page 650: ...rocessing the ladder programs DWG A startup drawings DWG H high speed scan process drawings DWG L low speed scan process drawings The execution order follows the definitions in the M EXECUTOR Function...

Page 651: ...he order of regis tration in the M EXECUTOR program execution definitions Sequence Program Execution Example The following figure shows an example of the sequence programs registered in the M EXEC UTO...

Page 652: ...set to zero when the system is started All Drawings Register Address Name Remarks SW00000 SB000000 Reserved SB000001 High speed H Scan ON for only the first scan after high speed scan is started SB000...

Page 653: ...s Flicker Relay SB000014 0 5 s Sampling Relay SB000015 1 0 s Sampling Relay SB000016 2 0 s Sampling Relay SB000017 60 0 s Sampling Relay SW00001 SB000018 1 0 s after Start of Scan Processing SB000019...

Page 654: ...r Relay SB000034 0 5 s Sampling Relay SB000035 1 0 s Sampling Relay SB000036 2 0 s Sampling Relay SB000037 60 0 s Sampling Relay SB000038 1 0 s after Start of Scan Processing SB000039 2 0 s after Star...

Page 655: ...ms SW00012 Maximum Low Speed Scan Time Maximum low speed scan time 0 1 ms SW00013 Reserved SW00014 Current Scan Time Scan time of currently executing scan 0 1 ms Register Address Name Remarks Example...

Page 656: ...18IF 01 JAPMC CM2300 E RS 232C Ethernet communications 10Base T 218IF 02 JAPMC CM2302 E RS 232C Ethernet communications 100Base TX 10Base T 260IF 01 JAPMC CM2320 E RS 232C DeviceNet communications 261...

Page 657: ...LIO 06 JAPMC IO2305 E 8 digital inputs 8 digital sink outputs 1 analog input channel and 1 analog output channel 1 pulse train counter channel DO 01 JAPMC DO2300 E 64 sink outputs AI 01 JAPMC AN2300...

Page 658: ...both sides and securely insert the connector on it into the connector on the SERVOPACK 4 Secure the Option Base Unit with three screws Tightening torque 0 49 N m 12 11 5 Connection Method Use the fol...

Page 659: ...ight in 2 After the Option Module is completely inserted place your hand on the front of the Option Module and press the Option Module firmly until it mates with the Mounting Base connectors in the Un...

Page 660: ...l from the Option Base Unit 3 Insert the protruding part of the tool into the slot on top of the Option Module panel to unhook the tab Unhook the bottom tab in the same way LIO 0 LD1 LD2 LD3 LD4 MODE...

Page 661: ...to disconnect the Module from the Mounting Base connectors Then pull the Module forward 6 Hold the Option Module at the top and bottom and pull it straight out Hold the edges of the Module and avoid t...

Page 662: ...11 Option Base Unit 12 11 8 External Dimensions 12 88 12 11 8 External Dimensions The dimensions of the Option Base Unit are given in the following figure Approx mass 0 4 kg Unit mm 174 9 7 4 8 6 40 1...

Page 663: ...nce 8 34 autotuning without a host reference 8 23 B background 7 7 base block BB xi battery replacement 10 3 bit 7 32 brake operation delay time 5 32 brake release delay time 5 32 C calendar 12 30 CCW...

Page 664: ...rward 8 32 8 84 feedforward compensation 8 84 FG 3 9 3 35 file transfer 12 20 flow of wiring and connections 3 12 forcing coils ON and OFF 7 67 Forcing the Motor to Stop 5 87 forward 5 16 friction com...

Page 665: ...in setting 5 46 overload warnings 5 39 overtravel 5 28 warnings 5 31 P parameters classification 5 5 initializing settings 5 10 notation numeric settings xii 5 6 notation selecting functions xii 5 6 s...

Page 666: ...alarms 5 37 SERVOPACK xi inspection and part replacement 10 2 part names 1 5 ratings 1 11 specifications 1 14 setting the high speed and low speed scan times 7 7 setting the position deviation overflo...

Page 667: ...tection level setting 8 10 vibration suppression 8 54 viewing a called program 7 70 viewing a motion subprogram 7 75 W watch panes 7 59 7 74 writing writing into a project file 7 52 writing parameters...

Page 668: ...Magnescale Co Ltd 3 4 3 5 17 2 Addition Information on Renishaw PLC EVOLUTE linear scales 5 1 Deletion Information on SigmaWin Setup Wizard 5 17 2 Addition Information on RESOLUTE Linear Encoders from...

Page 669: ...99 Fax 66 2 017 0799 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 co...

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