YASKAWA SGD7S-R70A20A023F40B Product Manual Download Page 258

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6.2 FT40 Specification

6.2.3 Parameter Recording Table

6-57

Parameter Lists

Pn11F

Position Integral Time Con-
stant

Immediately

Pn121

100

Friction Compensation Gain Immediately

Pn122

100

Second Friction Compen-
sation Gain

Immediately

Pn123

Friction Compensation
Coefficient

Immediately

Pn124

Friction Compensation Fre-
quency Correction

Immediately

Pn125

100

Friction Compensation Gain
Correction

Immediately

Pn131

Gain Switching Time 1

Immediately

Pn132

Gain Switching Time 2

Immediately

Pn135

Gain Switching Waiting
Time 1

Immediately

Pn136

Gain Switching Waiting
Time 2

Immediately

Pn139

0000h

Automatic Gain Switching
Selections 1

Immediately

Pn13D

2000

Current Gain Level

Immediately

Pn140

0100h

Model Following Control-
Related Selections

Immediately

Pn141

500

Model Following Control
Gain

Immediately

Pn142

1000

Model Following Control
Gain Correction

Immediately

Pn143

1000

Model Following Control
Bias in the Forward Direc-
tion

Immediately

Pn144

1000

Model Following Control
Bias in the Reverse Direc-
tion

Immediately

Pn145

500

Vibration Suppression 1
Frequency A

Immediately

Pn146

700

Vibration Suppression 1
Frequency B

Immediately

Pn147

1000

Model Following Control
Speed Feedforward Com-
pensation

Immediately

Pn148

500

Second Model Following
Control Gain

Immediately

Pn149

1000

Second Model Following
Control Gain Correction

Immediately

Pn14A

800

Vibration Suppression 2
Frequency

Immediately

Pn14B

100

Vibration Suppression 2
Correction

Immediately

Pn14F

0021h

Control-Related Selections

After restart

Pn160

0010h

Anti-Resonance Control-
Related Selections

Immediately

Pn161

1000

Anti-Resonance Frequency

Immediately

Pn162

100

Anti-Resonance Gain Cor-
rection

Immediately

Pn163

Anti-Resonance Damping
Gain

Immediately

Continued on next page.

Continued from previous page.

Parameter

No.

Default Setting

Name

When

Enabled

Summary of Contents for SGD7S-R70A20A023F40B

Page 1: ...1 94C 7S SERVOPACK with FT EX Specification for Press and Injection Molding Application Pressure Feedback Control Maintenance Parameter Lists Basic Information on SERVOPACKs SERVOPACK Ratings and Spec...

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: ...preting the Nameplates 1 2 Part Names 1 3 Model Designations 1 2 Combinations of SERVOPACKs and Servo motors 1 5 Functions 1 4 Restrictions 1 5 SigmaWin 1 6 Combining the SERVOPACKs with MP Series Mac...

Page 4: ...st of Alarms 5 1 2 5 2 2 Troubleshooting Alarms 5 1 3 5 2 3 Resetting Alarms 12 2 3 Display Alarm History 12 2 4 Clearing the Alarm History 12 2 5 Resetting Alarms Detected in Option Modules 12 2 6 Re...

Page 5: ...llers 7C Servomotors Other Documents Built in Function Manuals 7 Series 7S 7W SERVOPACK Product Manuals 7 Series 7S 7W SERVOPACK Hardware Option Product Manuals Option Module User s Manuals 7 Series 7...

Page 6: ...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 7: ...d procedures 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 ins...

Page 8: ...mand 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 70...

Page 9: ...nual SIEP 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 SERV...

Page 10: ...ual SIEP C880725 13 Provides detailed information on the ladder programming specifica tions and instructions for MP3000 Series Machine Controllers and 7 Series 7C SERVOPACKs Machine Controller MP3000...

Page 11: ...and SERVOPACK Servo System A servo control system that includes the combination of a Servo Drive with a host controller and peripheral devices servo ON Supplying power to the motor servo OFF Not suppl...

Page 12: ...d Speed control Position control Torque control This is the parameter setting before shipment This is when any change made to the parameter will become effective This is the parameter classification T...

Page 13: ...ual Aids The following aids are used to indicate certain types of information for easier reference Indicates precautions or restrictions that must be observed Also indicates alarm displays and other p...

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

Page 16: ...y of the following locations Locations that are subject to direct sunlight Locations that are subject to ambient temperatures that exceed product specifications Locations that are subject to relative...

Page 17: ...amaged by the gases or fumes resulting from the fumigation process In particular disinfectants containing halogen which includes chlorine fluorine bromine or iodine can contribute to the erosion of th...

Page 18: ...ERVOPACK in a control panel Do not allow any foreign matter to enter a SERVOPACK or a Servomotor with a Cooling Fan and do not cover the outlet from the Servomotor s cooling fan There is a risk of fai...

Page 19: ...ly to the SERVOPACK only after all wiring including the main circuit termi nals has been completed If a connector is used for the main circuit terminals remove the main circuit connector from the SER...

Page 20: ...s such as broken signal lines occur For example the P OT and N OT signals are set in the default settings to operate on the safe side if a signal line breaks Do not change the polarity of this type of...

Page 21: ...possible after a faulty SERVOPACK is replaced possibly resulting in machine or equipment damage DANGER Do not change any wiring while power is being supplied There is a risk of electric shock or injur...

Page 22: ...ways insert a magnetic contactor in the line between the main circuit power supply and the main circuit power supply terminals on the SERVOPACK so that the power supply can be shut OFF at the main cir...

Page 23: ...of this document because it has been lost or damaged contact your nearest Yaskawa representative or one of the offices listed on the back of this document This document is subject to change without no...

Page 24: ...red product in a manner in which it was not originally intended Causes that were not foreseeable with the scientific and technological understanding at the time of shipment from Yaskawa Events for whi...

Page 25: ...roperty 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 similar...

Page 26: ...e standards North American Safety Standards UL 1 Certification is pending 2 SGM7F B C and D Certified SGM7F A Certification is pending Product Model North American Safety Standards UL File No SERVOPAC...

Page 27: ...178 EN 61800 5 1 Rotary Servomotors SGMMV EMC Directive 2004 104 EC EN 55011 group 1 class A EN 61000 6 2 EN 61800 3 Low Voltage Directive 2006 95 EC EN 60034 1 EN 60034 5 SGM7J SGM7A SGM7P SGM7G EMC...

Page 28: ...H 4 04 10 9 1 h 4 04 of SIL3 Performance Level EN ISO 13849 1 PLe Category 3 Mean Time to Dangerous Failure of Each Channel EN ISO 13849 1 MTTFd High Average Diagnostic Coverage EN ISO 13849 1 DCavg M...

Page 29: ...2 3 Interpreting Servomotor Model Numbers 1 4 1 3 Combinations of SERVOPACKs and Servomotors 1 5 1 4 Functions 1 6 1 5 Restrictions 1 9 1 5 1 Function Application Restrictions 1 9 1 5 2 Restrictions o...

Page 30: ...23 Speed Torque Pressure Table Operation 4 4 1 Introduction 4 2 4 2 Operation Patterns for Speed Torque Pressure Table Operation 4 3 4 3 Table Parameter Settings for Speed Torque Pressure Table Operat...

Page 31: ...r 5 105 Parameter Lists 6 6 1 List of Servo Parameters 6 2 6 1 1 Interpreting the Parameter Lists 6 2 6 1 2 List of MECHATROLINK III Common Parameters 6 3 6 2 FT40 Specification 6 4 6 2 1 List of Serv...

Page 32: ...preting SERVOPACK Model Numbers with the FT41 Specification 1 4 1 2 3 Interpreting Servomotor Model Numbers 1 4 1 3 Combinations of SERVOPACKs and Servomotors 1 5 1 4 Functions 1 6 1 5 Restrictions 1...

Page 33: ...from a pressure sensor is used to perform fully closed loop control of a torque reference For the values input from a pressure sensor you can select either of the following two types FT40 11th to 13t...

Page 34: ...on Code FT EX Specification None B None BTO specification Specification Code BTO Specification 3 MECHATROLINK III communications references 20 A 200 VAC SGD7S R70 A 20 A 023 A Maximum Applicable Motor...

Page 35: ...Manual Manual No SIEP S800001 37 7 Series Direct Drive Servomotor Product Manual Manual No SIEP S800001 38 F41 Press and injection molding option 000 Specification Code FT EX Specification None B Non...

Page 36: ...and Servomotors Refer to the following manuals for information on combinations with 7 Series Servomotors 7 Series Rotary Servomotor Product Manual Manual No SIEP S800001 36 7 Series Linear Servomotor...

Page 37: ...Connected Motor Motor Direction Setting Linear Encoder Pitch Setting Writing Linear Servomotor Parameters Selecting the Phase Sequence for a Linear Servomotor Polarity Sensor Setting Polarity Detectio...

Page 38: ...Encoder Divided Pulse Output Selecting Torque Limits Vibration Detection Level Initialization Alarm Reset Replacing the Battery Setting the Position Deviation Overflow Alarm Level Function Tuning Les...

Page 39: ...pection and Maintenance Function Write Prohibition Setting for Parameters Initializing Parameter Settings Automatic Detection of Connected Motor Monitoring Product Information Monitoring Product Life...

Page 40: ...ns apply when the SERVOPACKs described in this manual are used Function Name Restriction Tuning Less Function You cannot use this function when pressure feedback control is enabled Pn440 n 1 Tuning Le...

Page 41: ...1 6 SigmaWin 1 10 1 6 SigmaWin The model information file must be added for the FT40 and FT41 Add the FT40 or FT41 model information file to SigmaWin version 7...

Page 42: ...RVOPACKs with MP Series Machine Controllers and the MPE720 Engineering Tool If you combine the SERVOPACK with an MP Series Machine Controller or the MPE720 Engi neering Tool it will be recognized as a...

Page 43: ...ter provides information required to select SERVOPACKs such as specifications 2 1 Ratings 2 2 2 2 SERVOPACK Overload Protection Characteristics 2 5 2 3 Specifications 2 6 SERVOPACK Ratings and Specifi...

Page 44: ...Power Loss W 12 12 12 12 14 14 14 15 16 16 19 Built in Regenerative Resistor Power Loss W 8 8 8 10 16 16 36 Total Power Loss W 17 0 19 0 23 9 34 5 50 5 60 9 71 2 97 6 136 2 146 2 281 6 Regen erative R...

Page 45: ...r Power Loss W 8 Total Power Loss W 17 0 19 1 24 1 35 7 61 2 Regenera tive Resistor Built In Regener ative Resistor Resistance 40 Capacity W 40 Minimum Allowable External Resistance 40 40 40 40 40 Ove...

Page 46: ...Power Loss W 82 7 83 5 146 2 211 6 255 3 243 6 343 4 Control Circuit Power Loss W 16 16 19 21 21 28 28 Total Power Loss W 98 7 99 5 165 2 232 6 276 3 271 6 371 4 Overvoltage Category III Model SGD7S...

Page 47: ...ation with an output of 100 or higher For a Yaskawa specified combination of SERVOPACK and Servomotor maintain the effective torque within the continuous duty zone of the torque motor speed characteri...

Page 48: ...be no corrosive or flammable gases Must be no exposure to water oil or chemicals Must be no dust salts or iron dust Altitude 1 1 000 m max With derating usage is possible between 1 000 m and 2 000 m...

Page 49: ...s used Output Signals COIN Positioning Completion signal V CMP Speed Coincidence Detection signal TGON Rotation Detection signal S RDY Servo Ready signal CLT Torque Limit Detection signal VLT Speed Li...

Page 50: ...ge 10 VDC effective linearity range 8 V Resolution 16 bits Accuracy 20 mV Typ Maximum output current 10 mA Settling time 1 1 2 ms Typ Dynamic Brake DB Activated when a servo alarm or overtravel OT occ...

Page 51: ...Block Diagrams 3 7 3 5 1 Pressure Feedback Control 2 Pn458 n 1 3 7 3 5 2 Pressure Feedback Control 1 Pn458 n 0 3 8 3 6 Setup Procedure 3 10 3 6 1 Flowchart 3 10 3 6 2 Disabling Tuning Less Function 3...

Page 52: ...3 7 Monitoring 3 23...

Page 53: ...speed high precision pressure control Pressure feedback control is performed in Torque Control Mode It cannot be used in Speed Control Mode or Position Control Mode In pressure feedback control you c...

Page 54: ...n distance Attach a ferrite core Recommended Pressure Sensor Amplifier Specifications Output voltage 12 V Response frequency 500 Hz min Note Response may deteriorate below 500 Hz 3 2 2 FT41 Connect th...

Page 55: ...imit Pn480 for force control and keep the speed constant If the torque limit is released when operating with the pressure feedback detection value at or below the pressure feedback reference value due...

Page 56: ...ontrol to pressure feedback control is performed according to Pn44C Pressure Feedback Enable Level Note The area shaded in gray in the above diagram is the area in which pressure feedback control is e...

Page 57: ...erflow Level Pn447 Pressure Feedback Enable Disable Switch Pn440 n X Pressure Feedback Detection Monitor Pressure Feedback Output Torque Monitor Pressure Feedback Loop Deviation Monitor Torque Referen...

Page 58: ...Loop Feedforward Pn444 Pressure Feedback Loop Integral Time Pn442 Pressure Feedback Loop Proportional Gain 2 Pn452 Pressure feedback control loop Pressure Feedback Enable Disable Switch Pn440 n X Torq...

Page 59: ...stment Fn009 Pn440 n X SERVOPACK Pressure sensor amplifier Pressure Addition Adjustment Pn469 Pressure Feedback CH3 Pn9B7 to Pn9B9 Pressure Addition Adjustment Pn46A Pressure Feedback CH4 Pn9BA to Pn9...

Page 60: ...Note For MECHATROLINK III distributed I O device set the PROFILE_TYPE to 30h 3 Next send a Data Read Write_A command DATA_RWA 20h from the host controller to the MECHATROLINK III distributed I O devi...

Page 61: ...ameter Meaning When Enabled Classification Pn9B3 n XX Address offset After restart Setup n X Data size unit bytes n X Reserved parameter Do not change The setting of Pn9B3 n XX depends on the data for...

Page 62: ...etup Pn9B9 Other Station Monitor 3 Monitor Information Setting Setting Range Setting Unit Default Setting When Enabled Classification 0000 to 14FF 1000 After restart Setup Pn9BA Other Station Monitor...

Page 63: ...for the SERVOPACK 6 Send the SMON command from the host controller and set the Option Monitor 1 or 2 data selection code 0xE or 0xF in the MONITOR1 or MONITOR2 area 7 Make sure that you can observe th...

Page 64: ...e conditions are as follows Servomotor SGM7G 20 Motor rated torque 11 5 N m Ball screw lead 20 mm Sensor amplifier output For 0 to 980 N 0 to 100 0 is output The pressure for the rated torque is 11 5...

Page 65: ...signal The parameters must not be write prohibited The servo must be OFF Applicable Tools The following table lists the tools that you can use to automatically adjust the offset and the applicable too...

Page 66: ...erflow Detection Level Setting Range Setting Unit Default Setting When Enabled Classification 0 to 800 1 300 Immediately Setup Pressure feedback control will be enabled at or above Pn44C and below Pn4...

Page 67: ...led Classification 1 to 10 000 1 mm s 100 Immediately Setup Parameter Meaning When Enabled Classification Pn458 n 0 Set pressure feedback control 1 After restart Setup n 1 default setting Set pressure...

Page 68: ...edback control is enabled Pn440 n 1 Pn4A0 Pressure Feedback One Parameter Gain Level Setting Range Setting Unit Default Setting When Enabled Classification 1 to 65 535 1 000 Immediately Setup Pn4A7 Pr...

Page 69: ...nse waveform End of Adjustment Check the response waveform Check the response waveform Increase Pn4A7 and decrease Pn4A8 Adjust Pn45E to a suitable value Torque saturation occurs Enter the value of Pn...

Page 70: ...back Control 1 Pressure Feedback Loop Feedforward Setting Range Setting Unit Default Setting When Enabled Classification 0 to 1 000 1 100 Immediately Setup Pn450 Pressure Feedback Control 1 Pressure F...

Page 71: ...back Loop Proportional Gain 2 set to 0 No Yes Increase Pn442 Pressure Feedback Loop Integral Time Check the response waveform Vibration or overshooting No vibration Check the response waveform No vibr...

Page 72: ...on No No Yes Set Pn451 Pressure Feedback Loop Differential Filter Multiplier to the optimum value Adjustment of Pn450 differential time Adjustment of Pn451 differential filter rate No Increase Pn450 P...

Page 73: ...t 0050h Pressure Feedback Detection Monitor 10 000 100 rated torque 0052h Control Method Change Monitor 0 Position or speed control 1 Torque control 3 Pressure feedback 0100h Speed Torque Pres sure Ta...

Page 74: ...e Table Operation 4 4 4 3 1 Setting the Number of Speed Table References and the Number of Torque Pressure References 4 4 4 3 2 Settings for Speed Table Operation 4 5 4 3 3 Setting Condition for Chang...

Page 75: ...vance To use speed torque pressure table operation pressure feedback control must be operating normally Refer to the following chapter for details on pressure feedback control Chapter 3 Pressure Feedb...

Page 76: ...ference Torque reference Speed Table Switching Position 4 Pn6C6 Speed Table Switching Position 2 Pn6C2 Torque pressure table operation Speed Table Reference 4 Pn6B2 Speed Table Reference 2 Pn6AE Speed...

Page 77: ...tely Setup n 1 Use speed table reference 1 Pn6AC for speed table operation n 2 Use speed table reference 1 Pn6AC and speed table reference 2 Pn6AE for speed table operation n 3 Use speed table referen...

Page 78: ...Setting When Enabled Classification 0 to 2 147 483 647 1 reference unit s 0 Immediately Setup Pn6B0 Speed Table Reference 3 Setting Range Setting Unit Default Setting When Enabled Classification 0 to...

Page 79: ...led Classification 0 to 2 147 483 647 1 reference unit s 0 Immediately Setup Pn6C6 Speed Table Switching Position 4 Setting Range Setting Unit Default Setting When Enabled Classification 0 to 2 147 48...

Page 80: ...for Pn44C Pressure Feedback Enable Level or less torque references are restricted to the set ting of Pn6A5 Torque Pressure Reference during Speed Table Operation or less The pres sure reference in Pn6...

Page 81: ...exceeds Pn6A8 n 0 Default Setting Disable Pn6A5 and enable Pn6A4 n X n 1 Disable Pn6A4 n X and enable Pn6A5 Pn6A5 Torque Pressure Reference during Speed Table Operation Setting Range Setting Unit Defa...

Page 82: ...to torque pressure table operation when the pressure feed back detection value exceeds Pn6A7 Pn6D2 or the motor position exceeds Pn6A8 In the following example speed table operation is changed to tor...

Page 83: ...detection value falls to the setting for Pn44C Pressure Feedback Enable Level or less torque references are restricted to the setting of Pn6A5 Torque Pressure Reference during Speed Table Operation or...

Page 84: ...assification 1 073 741 824 to 1 073 741 824 1 0 Immediately Setup Pn6D8 Torque Pressure Reference 4 Setting Range Setting Unit Default Setting When Enabled Classification 1 073 741 824 to 1 073 741 82...

Page 85: ...or the torque pressure references and torque pressure reference times and set the parameters in ascending order of parameter numbers Torque Pressure Reference 5 Pn6DA Torque Pressure Reference 4 Pn6D8...

Page 86: ...12 Bit 11 Bit 10 Bit 9 Bit 8 Reserved 0 G SEL Bit 23 Bit 22 Bit 21 Bit 20 Bit 19 Bit 18 Bit 17 Bit 16 Reserved SO3 SO2 SO1 BANK_SEL Bit 31 Bit 30 Bit 29 Bit 28 Bit 27 Bit 26 Bit 25 Bit 24 Reserved 0 S...

Page 87: ...edback Loop Deviation Monitor 1 V 100 rated torque Pn824 Pn825 Signal Name Unit 0050h Pressure Feedback Detection Monitor 10 000 100 rated torque 0052h Control Method Change Monitor 0 Position or spee...

Page 88: ...is turned ON The status will change to 1 when preparations for speed torque pressure table operation have been completed 2 Pressure Feedback Status 0 Torque force control 1 Pressure feedback control...

Page 89: ...List of Warnings 5 39 5 1 6 Troubleshooting Warnings 5 42 5 1 7 Troubleshooting Based on the Operation and Conditions of the Servomotor 5 49 5 2 FT41 Specification 5 58 5 2 1 Alarm Displays 5 58 5 2...

Page 90: ...Alarms Status Indications Not lit Not lit Not lit Not lit Not lit Alarm Number Alarm Name Alarm Meaning Servo motor Stop ping Method Alarm Reset Possi ble A 020 Parameter Checksum Error There is an er...

Page 91: ...C power supply input setting or DC power supply input setting is not correct The power supply wiring is not correct Gr 1 Yes A 400 Overvoltage The main circuit DC voltage is too high Gr 1 Yes A 410 Un...

Page 92: ...Gr 1 No A 8A0 External Encoder Error An error occurred in the external encoder Gr 1 Yes A 8A1 External Encoder Module Error An error occurred in the Serial Converter Unit Gr 1 Yes A 8A2 External Incre...

Page 93: ...mmunications Error Communications between the encoder and SER VOPACK is not possible Gr 1 No A C91 Encoder Communications Position Data Acceleration Rate Error An error occurred in calculating the pos...

Page 94: ...rror The setting of the MECHATROLINK station address is not correct Gr 2 No A E50 MECHATROLINK Syn chronization Error A synchronization error occurred during MECHA TROLINK communications Gr 2 Yes A E5...

Page 95: ...or T when the main power supply was ON Gr 2 Yes A F50 Servomotor Main Circuit Cable Disconnection The Servomotor did not operate or power was not supplied to the Servomotor even though the SV_ON Servo...

Page 96: ...e SERVOPACK and caused failure of the internal components Check the installation conditions The SERVOPACK may be faulty Replace the SER VOPACK A failure occurred in the SERVOPACK Turn the power supply...

Page 97: ...t using a Serial Converter Unit Check to see if the motor parameter file was written to the lin ear encoder Write the motor parame ter file to the linear encoder 1 A failure occurred in the SERVOPACK...

Page 98: ...bank members there are two consecutive members with nothing registered Change the number of bytes for bank members to an appropriate value The total amount of bank data exceeds 64 Pn900 Pn901 64 Redu...

Page 99: ...for a Rotary Servomotor and reset the motor type alarm Then turn the power supply to the SER VOPACK OFF and ON again 1 A 080 Linear Encoder Pitch Setting Error The setting of Pn282 Linear Encoder Scal...

Page 100: ...1 The regenerative resistor is not wired correctly or there is faulty contact Check the wiring Correct the wiring 1 The dynamic brake DB emergency stop executed from the SERVOPACK was frequently acti...

Page 101: ...een the ground and cable phases U V and W The cable may be short circuited Replace the cable 1 There is a short circuit or ground fault inside the Servomotor Check for short circuits across Servomotor...

Page 102: ...0 Connect an External Regenerative Resistor and set Pn600 to an appropri ate value or connect a Regenerative Resistor Unit and set Pn600 to 0 1 The jumper between the regenerative resis tor terminals...

Page 103: ...Servomotor during operation Reconsider the system including the servo machine and operating conditions The setting of Pn600 Regenerative Resis tor Capacity is smaller than the capacity of the Exter na...

Page 104: ...er supply setting to match the actual power supply 1 AC power was sup plied when a DC power supply input was specified in the settings Check the power sup ply to see if it is an AC power supply Correc...

Page 105: ...atio or mass ratio exceeded the allow able value Check to see if the moment of inertia ratio or mass ratio is within the allowable range Increase the deceleration time or reduce the load A failure occ...

Page 106: ...ing of Pn100 Speed Loop Gain 1 The setting of Pn103 Moment of Inertia Ratio is greater than the actual moment of inertia or was greatly changed Check the moment of inertia ratio or mass ratio Set Pn10...

Page 107: ...1 Dynamic Brake Overload An excessive power consump tion by the dynamic brake was detected The Servomotor was rotated by an external force Check the operation status Implement measures to ensure that...

Page 108: ...ture Error 2 Power Board Temperature Error The surrounding tem perature is too high Check the surrounding temperature using a thermostat Or check the operating status with the SERVOPACK installation e...

Page 109: ...ed in the absolute encoder If the alarm still occurs after setting up the encoder again replace the Servomotor A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK A...

Page 110: ...led Replace the polarity sen sor A 850 Encoder Over speed Detected at the encoder when the control power supply is turned ON Rotary Servomotor The Servomotor speed was 200 min 1 or higher when the con...

Page 111: ...e of the Servomotor to 40 or less The motor load is greater than the rated load Check the load with the accumulated load ratio on the Motion Monitor Tab Page on the Sig maWin Operate the Servo Drive s...

Page 112: ...aulty Replace the SERVOPACK A b6A MECHATROLINK Communications ASIC Error 1 There is a fault in the SERVOPACK MECHATROLINK communications sec tion Turn the power supply to the SERVOPACK OFF and ON agai...

Page 113: ...A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A bF6 System Alarm 6 A failure oc...

Page 114: ...forward direction of the Mov ing Coil in the motor Check the setting of Pn080 n X Motor Phase Sequence Selection Check the installation orientation for the linear encoder and Moving Coil Change the s...

Page 115: ...er Cable An external force was applied to the Moving Coil of the motor The polarity cannot be properly detected if the detection reference is 0 and the speed feedback is not 0 because of an external f...

Page 116: ...Pn48E Polarity Detection Range Or increase the setting of Pn481 Polarity Detection Speed Loop Gain A C54 Polarity Detec tion Failure 2 An external force was applied to the Servo motor Increase the set...

Page 117: ...coder by separating the Encoder Cable from the Servomotor Main Cir cuit Cable or by ground ing the encoder 1 A failure occurred in the SERVOPACK Connect the Servomotor to another SERVOPACK and turn ON...

Page 118: ...ty Replace the Servo motor or linear encoder A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace th...

Page 119: ...achine vibra tion Correctly install the Ser vomotor or linear encoder A failure occurred in the encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Servomotor...

Page 120: ...rter Unit A failure occurred in the SERVOPACK Replace the SERVO PACK A d00 Position Devia tion Overflow The setting of Pn520 Position Deviation Over flow Alarm Level was exceeded by the position devi...

Page 121: ...Level Adjust the values of Pn442 Pressure Feed back Loop Integral Time and other pres sure feedback control parameters 3 20 A d10 Motor Load Posi tion Deviation Overflow The motor direction and extern...

Page 122: ...troller and reset rotary switches S1 and S2 to change the address to an appropriate value between 03 and EF 1 A E50 4 MECHATROLINK Synchronization Error The WDT data in the host controller was not upd...

Page 123: ...Check the setting of the MECHATROLINK trans mission cycle Remove the cause of transmission cycle fluctu ation at the host control ler A failure occurred in the SERVOPACK Turn the power supply to the...

Page 124: ...the Feedback Option Module A failure occurred in the SERVOPACK Replace the SERVO PACK A E74 Unsupported Safety Option Module A failure occurred in the Safety Option Module Replace the Safety Option Mo...

Page 125: ...unbalanced Measure the voltage for each phase of the three phase power sup ply Balance the power sup ply by changing phases A single phase power supply was input with out specifying a sig nal phase A...

Page 126: ...connector contact Disconnect the connec tor and insert it again Or replace the cable A malfunction was caused by noise Keep the Digital Operator or the cable away from sources of noise CPF01 Digital...

Page 127: ...his warning occurs before an overload alarm A 710 or A 720 occurs If the warning is ignored and operation is continued an alarm may occur Required A 911 Vibration Abnormal vibration was detected durin...

Page 128: ...Automatically reset A 95b Command Warning 2 Unsupported Com mand An unsupported command was sent Automatically reset A 95d Command Warning 4 Command Interfer ence There was command interference partic...

Page 129: ...Pn008 n X Function Selection for Undervoltage Not affected by the setting of Pn008 n X A 9A0 Pn00D n X Overtravel Warning Detection Selection Not affected by the setting of Pn008 n X A 9b0 Pn00F n X P...

Page 130: ...ce the reference acceleration and try operating the SERVO PACK Reduce the acceleration of the position reference using a MECHATROLINK com mand Or smooth the posi tion reference acceleration by selecti...

Page 131: ...le Check that the over load warning level Pn52B is suitable Set a suitable overload warning level Pn52B A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 911 Vi...

Page 132: ...the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 913 Internal Tempera ture Warning 2 Power Board Tem perature Error The surrounding temperature is too high Check the surrounding tem...

Page 133: ...easures to ensure that the motor will not be rotated by an exter nal force When the Servo motor was stopped with the dynamic brake the rotational or linear kinetic energy exceeded the capacity of the...

Page 134: ...eter number A 94b Data Setting Warn ing 2 Out of Range The set com mand data was clamped to the minimum or maxi mum value of the setting range Check the command that caused the warn ing Set the parame...

Page 135: ...k the MECHA TROLINK Communica tions Cable and FG wiring and implement counter measures to prevent noise from entering Attach a ferrite core to the MECHATROLINK Com munications Cable A failure occurred...

Page 136: ...ravel Over travel status was detected Overtravel was detected while the servo was ON Check the status of the overtravel signals on the input signal moni tor Even if an overtravel signal is not shown b...

Page 137: ...status Reduce the load or replace the Servomo tor with a Servomotor with a larger capacity The type of encoder that is being used does not agree with the setting of Pn002 n X Encoder Usage Check the t...

Page 138: ...e motor Check the directions Change the setting of Pn080 n X Motor Phase Sequence Selection Match the linear encoder direction and motor direction Polarity detection was not performed correctly Check...

Page 139: ...re any loose mounting screws Tighten the mounting screws The machine mounting is not secure Check to see if there is misalignment in the cou pling Align the coupling Check to see if the cou pling is b...

Page 140: ...There is variation in the FG potential because of the influence of machines on the Servomotor side such as a welder Check to see if the machines are correctly grounded Properly ground the machines to...

Page 141: ...on Starting and Stop ping The servo gains are not bal anced Check to see if the servo gains have been cor rectly tuned Perform autotuning without a host refer ence The setting of Pn100 Speed Loop Gai...

Page 142: ...ble was sub ject to excessive noise inter ference Check to see if the Encoder Cable is bundled with a high current line or installed near a high cur rent line Correct the cable lay out so that no surg...

Page 143: ...rohibit signal was input Check the external power supply 24 V voltage for the input signals Correct the external power supply 24 V voltage for the input signals Check the operating con dition of the o...

Page 144: ...shielded twisted pair wire cable or a screened twisted pair cable with conductors of at least 0 12 mm2 Use cables that satisfy the specifications Noise interference occurred because the Encoder Cable...

Page 145: ...wisted pair wire cable or a screened twisted pair cable with conductors of at least 0 12 mm2 Use cables that satisfy the specifications Noise interference occurred because an I O signal cable is too l...

Page 146: ...Alarms Status Indications Not lit Not lit Not lit Not lit Not lit Alarm Number Alarm Name Alarm Meaning Servo motor Stop ping Method Alarm Reset Possi ble A 020 Parameter Checksum Error There is an er...

Page 147: ...AC power supply input setting or DC power supply input setting is not correct The power supply wiring is not correct Gr 1 Yes A 400 Overvoltage The main circuit DC voltage is too high Gr 1 Yes A 410 U...

Page 148: ...Gr 1 No A 8A0 External Encoder Error An error occurred in the external encoder Gr 1 Yes A 8A1 External Encoder Module Error An error occurred in the Serial Converter Unit Gr 1 Yes A 8A2 External Incre...

Page 149: ...mmunications Error Communications between the encoder and SER VOPACK is not possible Gr 1 No A C91 Encoder Communications Position Data Acceleration Rate Error An error occurred in calculating the pos...

Page 150: ...rror The setting of the MECHATROLINK station address is not correct Gr 2 No A E50 MECHATROLINK Syn chronization Error A synchronization error occurred during MECHA TROLINK communications Gr 2 Yes A E5...

Page 151: ...or T when the main power supply was ON Gr 2 Yes A F50 Servomotor Main Circuit Cable Disconnection The Servomotor did not operate or power was not supplied to the Servomotor even though the SV_ON Servo...

Page 152: ...he SERVOPACK and caused failure of the internal components Check the installation conditions The SERVOPACK may be faulty Replace the SER VOPACK A failure occurred in the SERVOPACK Turn the power suppl...

Page 153: ...ot using a Serial Converter Unit Check to see if the motor parameter file was written to the lin ear encoder Write the motor parame ter file to the linear encoder 1 A failure occurred in the SERVOPACK...

Page 154: ...bank members there are two consecutive members with nothing registered Change the number of bytes for bank members to an appropriate value The total amount of bank data exceeds 64 Pn900 Pn901 64 Redu...

Page 155: ...for a Rotary Servomotor and reset the motor type alarm Then turn the power supply to the SER VOPACK OFF and ON again 1 A 080 Linear Encoder Pitch Setting Error The setting of Pn282 Linear Encoder Scal...

Page 156: ...1 The regenerative resistor is not wired correctly or there is faulty contact Check the wiring Correct the wiring 1 The dynamic brake DB emergency stop executed from the SERVOPACK was frequently acti...

Page 157: ...een the ground and cable phases U V and W The cable may be short circuited Replace the cable 1 There is a short circuit or ground fault inside the Servomotor Check for short circuits across Servomotor...

Page 158: ...0 Connect an External Regenerative Resistor and set Pn600 to an appropri ate value or connect a Regenerative Resistor Unit and set Pn600 to 0 1 The jumper between the regenerative resis tor terminals...

Page 159: ...Servomotor during operation Reconsider the system including the servo machine and operating conditions The setting of Pn600 Regenerative Resis tor Capacity is smaller than the capacity of the Exter na...

Page 160: ...er supply setting to match the actual power supply 1 AC power was sup plied when a DC power supply input was specified in the settings Check the power sup ply to see if it is an AC power supply Correc...

Page 161: ...atio or mass ratio exceeded the allow able value Check to see if the moment of inertia ratio or mass ratio is within the allowable range Increase the deceleration time or reduce the load A failure occ...

Page 162: ...ing of Pn100 Speed Loop Gain 1 The setting of Pn103 Moment of Inertia Ratio is greater than the actual moment of inertia or was greatly changed Check the moment of inertia ratio or mass ratio Set Pn10...

Page 163: ...1 Dynamic Brake Overload An excessive power consump tion by the dynamic brake was detected The Servomotor was rotated by an external force Check the operation status Implement measures to ensure that...

Page 164: ...ture Error 2 Power Board Temperature Error The surrounding tem perature is too high Check the surrounding temperature using a thermostat Or check the operating status with the SERVOPACK installation e...

Page 165: ...ed in the absolute encoder If the alarm still occurs after setting up the encoder again replace the Servomotor A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK A...

Page 166: ...led Replace the polarity sen sor A 850 Encoder Over speed Detected at the encoder when the control power supply is turned ON Rotary Servomotor The Servomotor speed was 200 min 1 or higher when the con...

Page 167: ...e of the Servomotor to 40 or less The motor load is greater than the rated load Check the load with the accumulated load ratio on the Motion Monitor Tab Page on the Sig maWin Operate the Servo Drive s...

Page 168: ...aulty Replace the SERVOPACK A b6A MECHATROLINK Communications ASIC Error 1 There is a fault in the SERVOPACK MECHATROLINK communications sec tion Turn the power supply to the SERVOPACK OFF and ON agai...

Page 169: ...A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A bF6 System Alarm 6 A failure oc...

Page 170: ...forward direction of the Mov ing Coil in the motor Check the setting of Pn080 n X Motor Phase Sequence Selection Check the installation orientation for the linear encoder and Moving Coil Change the s...

Page 171: ...er Cable An external force was applied to the Moving Coil of the motor The polarity cannot be properly detected if the detection reference is 0 and the speed feedback is not 0 because of an external f...

Page 172: ...Pn48E Polarity Detection Range Or increase the setting of Pn481 Polarity Detection Speed Loop Gain A C54 Polarity Detec tion Failure 2 An external force was applied to the Servo motor Increase the set...

Page 173: ...coder by separating the Encoder Cable from the Servomotor Main Cir cuit Cable or by ground ing the encoder 1 A failure occurred in the SERVOPACK Connect the Servomotor to another SERVOPACK and turn ON...

Page 174: ...ty Replace the Servo motor or linear encoder A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace th...

Page 175: ...achine vibra tion Correctly install the Ser vomotor or linear encoder A failure occurred in the encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Servomotor...

Page 176: ...rter Unit A failure occurred in the SERVOPACK Replace the SERVO PACK A d00 Position Devia tion Overflow The setting of Pn520 Position Deviation Over flow Alarm Level was exceeded by the position devi...

Page 177: ...ction monitor or pressure feedback loop devia tion monitor Change the value of Pn447 Pressure Feed back Loop Deviation Overflow Level Adjust the values of Pn442 Pressure Feed back Loop Integral Time a...

Page 178: ...cle to an appropriate value A E41 MECHATROLINK Communications Data Size Setting Error The number of trans mission bytes set on DIP switch S3 is not correct Check the MECHA TROLINK communica tions data...

Page 179: ...A MECHATROLINK data reception error occurred due to noise Implement countermea sures against noise Check the MECHA TROLINK Communica tions Cable and FG wiring and implement measures such as attach in...

Page 180: ...rror from the Digital Operator or SigmaWin and then turn the power supply to the SERVO PACK OFF and ON again 1 A failure occurred in the Safety Option Module Replace the Safety Option Module A failure...

Page 181: ...ommand only when the motor is not operating For fully closed loop control check the status of the external encoder when the command is exe cuted For other types of control check the status of the line...

Page 182: ...occurs the SERVOPACK may be faulty Replace the SERVOPACK FL 2 5 System Alarm FL 3 5 System Alarm FL 4 5 System Alarm FL 5 5 System Alarm FL 6 5 System Alarm CPF00 Digital Operator Communications Erro...

Page 183: ...n20E Pn210 Maximum motor speed min 1 Encoder resolution Approx 3 66 1012 Rated motor speed mm s 1 3 Linear encoder pitch m Resolution of Serial Converter Unit 10 Pn20E Pn210 Pn385 100 mm s Linear enco...

Page 184: ...ata Setting Warning 4 Parameter Size The data sizes do not match Automatically reset A 94E Data Setting Warning 5 Latch Mode Error A latch mode error was detected Required A 95A Command Warning 1 Unsa...

Page 185: ...of the consumable parts has reached the end of its service life Required Warning Parameters That Must Be Set to Select Warning Detection A 911 Pn310 n X Vibration Detection Selection A 923 Not affect...

Page 186: ...ce the reference acceleration and try operating the SERVO PACK Reduce the acceleration of the position reference using a MECHATROLINK com mand Or smooth the posi tion reference acceleration by selecti...

Page 187: ...le Check that the over load warning level Pn52B is suitable Set a suitable overload warning level Pn52B A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 911 Vi...

Page 188: ...the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 913 Internal Tempera ture Warning 2 Power Board Tem perature Error The surrounding temperature is too high Check the surrounding te...

Page 189: ...easures to ensure that the motor will not be rotated by an exter nal force When the Servo motor was stopped with the dynamic brake the rotational or linear kinetic energy exceeded the capacity of the...

Page 190: ...meter number A 94b Data Setting Warn ing 2 Out of Range The set com mand data was clamped to the minimum or maxi mum value of the setting range Check the command that caused the warn ing Set the param...

Page 191: ...the installation conditions Implement the following countermeasures against noise Check the MECHA TROLINK Communica tions Cable and FG wiring and implement counter measures to prevent noise from ente...

Page 192: ...SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 97A Command Warning 7 Phase Error A command that cannot be exe cuted in the cur rent phase was sent Send the command after the command...

Page 193: ...status Reduce the load or replace the Servomo tor with a Servomotor with a larger capacity The type of encoder that is being used does not agree with the setting of Pn002 n X Encoder Usage Check the...

Page 194: ...e motor Check the directions Change the setting of Pn080 n X Motor Phase Sequence Selection Match the linear encoder direction and motor direction Polarity detection was not performed correctly Check...

Page 195: ...re any loose mounting screws Tighten the mounting screws The machine mounting is not secure Check to see if there is misalignment in the cou pling Align the coupling Check to see if the cou pling is b...

Page 196: ...There is variation in the FG potential because of the influence of machines on the Servomotor side such as a welder Check to see if the machines are correctly grounded Properly ground the machines to...

Page 197: ...t on Starting and Stop ping The servo gains are not bal anced Check to see if the servo gains have been cor rectly tuned Perform autotuning without a host refer ence The setting of Pn100 Speed Loop Ga...

Page 198: ...Cable and correct the cable instal lation environment Check to see if the Encoder Cable is bundled with a high current line or installed near a high cur rent line Correct the cable lay out so that no...

Page 199: ...rohibit signal was input Check the external power supply 24 V voltage for the input signals Correct the external power supply 24 V voltage for the input signals Check the operating con dition of the o...

Page 200: ...shielded twisted pair wire cable or a screened twisted pair cable with conductors of at least 0 12 mm2 Use cables that satisfy the specifications Noise interference occurred because the Encoder Cable...

Page 201: ...twisted pair wire cable or a screened twisted pair cable with conductors of at least 0 12 mm2 Use cables that satisfy the specifications Noise interference occurred because an I O signal cable is too...

Page 202: ...III Common Parameters 6 3 6 2 FT40 Specification 6 4 6 2 1 List of Servo Parameters 6 4 6 2 2 List of MECHATROLINK III Common Parameters 6 48 6 2 3 Parameter Recording Table 6 56 6 3 FT41 Specificati...

Page 203: ...tation Direction Selection Reference Movement Direction Selection 0 Use CCW as the forward direction Use the direction in which the linear encoder counts up as the for ward direction 1 Use CW as the f...

Page 204: ...ors to which the parameter applies Rotary Servomotor terms are used for parameters that are applicable to all Servomotors If you are using a Linear Servomotor you need to interpret the terms according...

Page 205: ...elec tions 0 0000h to 10B1h 0000h All After restart Setup 1 Continued on next page n X Rotation Direction Selection Movement Direction Selection 0 Use CCW as the forward direction Use the direction in...

Page 206: ...e motor to a stop use the stopping method set in Pn001 n X 1 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque and then servo lock the motor 2 Decelerate the motor to...

Page 207: ...Reserved setting Do not use n X Torque Control Option Applicable Motors Reference 0 Reserved setting Do not use All 2 1 Use the speed limit for torque control VLIM as the speed limit n X Encoder Usage...

Page 208: ...tion reference speed 1 V 1 000 mm s 06 Reserved setting Do not use 07 Load motor position deviation 0 01 V reference unit 08 Positioning completion positioning completed 5 V positioning not completed...

Page 209: ...rence speed 1 V 1 000 mm s 06 Reserved setting Do not use 07 Load motor position deviation 0 01 V reference unit 08 Positioning completion positioning completed 5 V positioning not completed 0 V 09 Sp...

Page 210: ...nction Selection for Undervoltage 0 Do not detect undervoltage 1 Detect undervoltage warning and limit torque at host controller 2 Detect undervoltage warning and limit torque with Pn424 and Pn425 i e...

Page 211: ...oast n X Stopping Method for Forced Stops 0 Apply the dynamic brake or coast the motor to a stop use the stopping method set in Pn001 n X 1 Decelerate the motor to a stop using the torque set in Pn406...

Page 212: ...for Test without a Motor Applicable 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...

Page 213: ...ize Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Reserved parameter Do not change n X Encoder Resolution Compatibility Selection Applic...

Page 214: ...0 1 Hz 0 All Immedi ately Tuning 1 Pn125 2 Friction Compensation Gain Correction 1 to 1 000 1 100 All Immedi ately Tuning 1 Pn131 2 Gain Switching Time 1 0 to 65 535 1 ms 0 All Immedi ately Tuning 1...

Page 215: ...tomatically from the second 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 Co...

Page 216: ...2 Anti Resonance Fre quency 10 to 20 000 0 1 Hz 1000 All Immedi ately Tuning 1 Pn162 2 Anti Resonance Gain Correction 1 to 1 000 1 100 All Immedi ately Tuning 1 Pn163 2 Anti Resonance Damp ing Gain 0...

Page 217: ...ontinued 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 When Enabled 0 Disable...

Page 218: ...1 min 1 500 Rotary Immedi ately Setup 1 Pn305 2 Soft Start Acceleration Time 0 to 10 000 1 ms 0 All Immedi ately Setup 2 Pn306 2 Soft Start Deceleration Time 0 to 10 000 1 ms 0 All Immedi ately Setup...

Page 219: ...Constant 0 to 65 535 0 01 ms 100 All Immedi ately Tuning 1 Pn402 2 Forward Torque Limit 0 to 800 1 3 800 Rotary Immedi ately Setup 1 Pn403 2 Reverse Torque Limit 0 to 800 1 3 800 Rotary Immedi ately...

Page 220: ...412 2 First Stage Second Torque Reference Filter Time Constant 0 to 65 535 0 01 ms 100 All Immedi ately Tuning 1 Continued on next page Continued from previous page Parameter No Size Name Setting Rang...

Page 221: ...111h 0000h Rotary Setup 1 Pn424 2 Torque Limit at Main Cir cuit Voltage Drop 0 to 100 1 2 50 All Immedi ately Setup 1 Pn425 2 Release Time for Torque Limit at Main Circuit Voltage Drop 0 to 1 000 1 ms...

Page 222: ...ed force 0 All Immedi ately Setup 3 13 Pn44A 2 Pressure Feedback Fil ter 0 to 65 535 0 01 ms 0 All Immedi ately Setup 3 16 Pn44C 2 Pressure Feedback Enable Level 0 to 10 000 0 01 1000 All Immedi ately...

Page 223: ...e Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Pressure Feedback Control Mode Selection Switch 0 Set mode 1 1 Set mode 2 n X Pressure Feedba...

Page 224: ...ing Pn490 2 Polarity Detection Load Level 0 to 20 000 1 100 Linear Immedi ately Tuning Pn495 2 Polarity Detection Con firmation Force Refer ence 0 to 200 1 100 Linear Immedi ately Tuning Pn498 2 Polar...

Page 225: ...pplicable Motors When Enabled Classi fication Refer ence n X Reserved parameter Do not change n X Reserved parameter Do not change n X Reserved parameter Do not change n X P OT Forward Drive Prohibit...

Page 226: ...when CN1 8 input signal is OFF open C Enable reverse drive when CN1 9 input signal is OFF open D Enable reverse drive when CN1 10 input signal is OFF open E Enable reverse drive when CN1 11 input sign...

Page 227: ...g Completion signal allocations n X TGON Rotation Detection Output Signal Allocation 0 to 6 The allocations are the same as the COIN Positioning Completion signal allocations n X S RDY Servo Ready Sig...

Page 228: ...e when CN1 9 input signal is ON closed 4 Active when CN1 10 input signal is ON closed 5 Active when CN1 11 input signal is ON closed 6 Active when CN1 12 input signal is ON closed 7 The signal is alwa...

Page 229: ...inverted n X Output Signal Inversion for CN1 23 and CN1 24 Terminals 0 The signal is not inverted 1 The signal is inverted n X Output Signal Inversion for CN1 25 and CN1 26 Terminals 0 The signal is n...

Page 230: ...o 100 1 20 Rotary Immedi ately Tuning 1 Pn52B 2 Overload Warning Level 1 to 100 1 20 All Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range S...

Page 231: ...y Setup Pn560 2 Residual Vibration Detection Width 1 to 3 000 0 1 400 All Immedi ately Setup 1 Pn561 2 Overshoot Detection Level 0 to 100 1 100 All Immedi ately Setup 1 Pn581 2 Zero Speed Level 1 to 1...

Page 232: ...All Immedi ately Setup 1 Pn601 2 Dynamic Brake Resis tor Allowable Energy Consumption 0 to 65 535 10 J 0 All After restart Setup 7 Pn603 2 Regenerative Resis tance 0 to 65 535 10 m 0 All Immedi ately...

Page 233: ...speed table reference 1 Pn6AC through speed table reference 3 Pn6B0 for speed table operation 4 Use speed table reference 1 Pn6AC through speed table reference 4 Pn6B2 for speed table operation 5 Use...

Page 234: ...sition 2 0 to 2 147 483 647 1 refer ence unit s 0 All Immedi ately Setup 4 6 Pn6C4 4 Speed Table Switching Position 3 0 to 2 147 483 647 1 refer ence unit s 0 All Immedi ately Setup 4 6 Pn6C6 4 Speed...

Page 235: ...eck Mask for Debugging 0 Do not mask 1 Ignore MECHATROLINK communications errors A E60 2 Ignore WDT errors A E50 3 Ignore both MECHATROLINK communications errors A E60 and WDT errors A E50 n X Warning...

Page 236: ...ely 10 Setup 2 Pn80E 2 Second Stage Linear Deceleration Constant 1 to 65 535 10 000 refer ence units s2 100 All Immedi ately 10 Setup 2 Pn80F 2 Deceleration Constant Switching Speed 0 to 65 535 100 re...

Page 237: ...ame Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence M2 13 n X Origin Return Direction 0 Return in forward direction 1 Return in reverse direction n...

Page 238: ...48 to 2 147 483 647 1 refer ence unit 0 All Immedi ately Setup 2 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors...

Page 239: ...04 Rotational Angle 2 deg Electrical angle from polarity origin All Un004 Electrical Angle 2 deg Electrical angle from polarity origin 0015h Un005 Input Signal Monitor All 0016h Un006 Output Signal Mo...

Page 240: ...encoder pulses All 0084h Continuous Latch Status EX STATUS All All Areas Other values Reserved settings Do not use All 0000h to 0084h The settings are the same as those for the Option Monitor 1 Selec...

Page 241: ...PI 9 Allocate bit 9 to V_PPI A Allocate bit 10 to V_PPI B Allocate bit 11 to V_PPI C Allocate bit 12 to V_PPI D Allocate bit 13 to V_PPI E Allocate bit 14 to V_PPI F Allocate bit 15 to V_PPI n X V_PPI...

Page 242: ...llocate bits 3 to 6 to BANK_SEL1 4 Allocate bits 4 to 7 to BANK_SEL1 5 Allocate bits 5 to 8 to BANK_SEL1 6 Allocate bits 6 to 9 to BANK_SEL1 7 Allocate bits 7 to 10 to BANK_SEL1 8 Allocate bits 8 to 1...

Page 243: ...er ence M2 13 n X Reserved parameter Do not change n X Reserved parameter Do not change n X OUT_SIGNAL Allocation Option 0 Allocate bits 0 to 2 to OUT_SIGNAL 1 Allocate bits 1 to 3 to OUT_SIGNAL 2 All...

Page 244: ...eleration Rate 0 to 50 1 0 All Immedi ately 10 Setup Pn850 2 Number of Latch Sequences 0 to 8 0 All Immedi ately Setup 2 Pn851 2 Continuous Latch Sequence Count 0 to 255 0 All Immedi ately Setup 2 Pn8...

Page 245: ...e the same as those for the Latch Sequence 5 Signal Selec tion M3 8 n X Input Signal Monitor Allocation for CN1 13 SVCMD_IO 0 Allocate bit 24 IO_STS1 to CN1 13 input signal monitor 1 Allocate bit 25 I...

Page 246: ...e same as the CN1 13 allocations n X CN1 9 Input Signal Monitor Enable Disable Selection 0 Disable allocation for CN1 9 input signal monitor 1 Enable allocation for CN1 9 input signal monitor M3 6 n X...

Page 247: ...CN1 1 CN1 2 output signal monitor 3 Allocate bit 27 IO_STS4 to CN1 1 CN1 2 output signal monitor 4 Allocate bit 28 IO_STS5 to CN1 1 CN1 2 output signal monitor 5 Allocate bit 29 IO_STS6 to CN1 1 CN1...

Page 248: ...ped i e only if DEN is set to 1 12 Refer to the following manual for details 7 Series MECHATROLINK II Communications Command Manual Manual No SIEP S800001 30 13 This parameter is valid only when the M...

Page 249: ...d Type read only 0h or 1h All 04 PnA08 4 Rated Speed read only 0h to FFFFFFFFh 1 min 1 All 05 PnA0A 4 Maximum Output Speed read only 0h to FFFFFFFFh 1 min 1 All 06 PnA0C 4 Speed Multiplier read only 1...

Page 250: ...e Software Limit 1 073 741 823 to 1 073 741 823 1 reference unit 1073741 823 All Immedi ately 29 PnA52 4 Reserved parameter Do not change 0 All Immedi ately 41 PnA82 4 Speed Unit 2 0h to 4h 0h All Aft...

Page 251: ...age Continued from previous page Parameter No Size Name Setting Range Setting Unit Resolution Default Setting Applicable Motors When Enabled Classi fication 0000h Reference units s2 0001h Percentage o...

Page 252: ...000 1 s 0 1 ms 0 All Immedi ately 6 83 PnB06 4 Final Travel for Exter nal Input Positioning 1 073 741 823 to 1 073 741 823 1 reference unit 100 All Immedi ately 84 PnB08 4 Zero Point Return Approach S...

Page 253: ...h Phase 0 01h Phase 1 02h Phase 2 03h Phase 3 Byte 2 Current control mode 00h Position control mode 01h Speed control mode 02h Torque control mode Byte 3 Reserved Byte 4 Expansion signal monitor 0007h...

Page 254: ...l Immedi ately 90 PnB20 4 SVCMD_ CTRL bit Enabled Disabled read only 0FFF3F3F h All Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Resolution Def...

Page 255: ...abled Bits 4 and 5 ACCFIL 1 Enabled Bits 6 and 7 Reserved 0 Disabled Bit 8 L_CMP1 1 Enabled Bit 9 L_CMP2 1 Enabled Bit 10 POS_RDY 1 Enabled Bit 11 PON 1 Enabled Bit 12 M_RDY 1 Enabled Bit 13 SV_ON 1 E...

Page 256: ...hile DEN is set to 1 If you change the setting during operation the reference output will be affected 93 PnB26 4 I O Bit Enabled Dis abled Input read only FF0FFEFE h All Command related parameters Con...

Page 257: ...fter restart Pn00F 0000h Application Function Selec tions F After restart Pn021 0000h Reserved parameter Pn022 0000h Reserved parameter Pn040 0000h V Compatible Function Switch After restart Pn080 000...

Page 258: ...n142 1000 Model Following Control Gain Correction Immediately Pn143 1000 Model Following Control Bias in the Forward Direc tion Immediately Pn144 1000 Model Following Control Bias in the Reverse Direc...

Page 259: ...on Function Selections After restart Pn231 0 Backlash Compensation Immediately Pn233 0 Backlash Compensation Time Constant Immediately Pn281 20 Encoder Output Resolution After restart Pn282 0 Linear E...

Page 260: ...Value Immediately Pn40E 0 Second Stage Notch Filter Depth Immediately Pn40F 5000 Second Stage Second Torque Reference Filter Fre quency Immediately Pn410 50 Second Stage Second Torque Reference Filte...

Page 261: ...mediately Pn449 0 Pressure Feedback Sensor Gain Immediately Pn44A 0 Pressure Feedback Filter Immediately Pn44C 1000 Pressure Feedback Enable Level Immediately Pn44D 300 Pressure Feedback Over flow Det...

Page 262: ...e Immediately Pn48E 10 Polarity Detection Range Immediately Pn490 100 Polarity Detection Load Level Immediately Pn495 100 Polarity Detection Confir mation Force Reference Immediately Pn498 10 Polarity...

Page 263: ...ion Deviation Over flow Alarm Level Immediately Pn522 7 Positioning Completed Width Immediately Pn524 1073741824 Near Signal Width Immediately Pn526 5242880 Position Deviation Over flow Alarm Level at...

Page 264: ...gy Con sumption After restart Pn603 0 Regenerative Resistance Immediately Pn604 0 Dynamic Brake Resistance After restart Pn61A 0000h Reserved parameter Pn61B 250 Reserved parameter Pn61C 100 Reserved...

Page 265: ...ence 4 Immediately Pn6DA 0 Torque Pressure Refer ence 5 Immediately Pn6DC 0 Torque Pressure Refer ence Time 1 Immediately Pn6DE 0 Torque Pressure Refer ence Time 2 Immediately Pn6E0 0 Torque Pressure...

Page 266: ...1 Selection Immediately Pn825 0000h Option Monitor 2 Selection Immediately Pn827 100 Linear Deceleration Con stant 1 for Stopping Immedi ately 3 Pn829 0 SVOFF Waiting Time for SVOFF at Deceleration to...

Page 267: ...itor Allocations 1 Immediately Pn869 0000h SVCMD_IO Output Signal Monitor Allocations 2 Immediately Pn880 Station Address Monitor for maintenance read only Pn881 Set Transmission Byte Count Monitor by...

Page 268: ...le Pitch read only 21 PnA42 16 Electronic Gear Ratio Numerator After restart 22 PnA44 1 Electronic Gear Ratio Denominator After restart 23 PnA46 0 Absolute Encoder Origin Offset Immedi ately 2 24 PnA4...

Page 269: ...n Deceleration Time Constant Immedi ately 3 82 PnB04 0 Movement Average Time Immedi ately 3 83 PnB06 100 External Positioning Final Travel Distance Immediately 84 PnB08 5 000h reference units s conver...

Page 270: ...etting 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 affected 8F PnB1E 10000 Speed Coincidence Signal Detection Width...

Page 271: ...Selec tions 0 0000h to 10B1h 0000h All After restart Setup 1 Continued on next page n X Rotation Direction Selection Movement Direction Selection 0 Use CCW as the forward direction Use the direction i...

Page 272: ...he motor to a stop use the stopping method set in Pn001 n X 1 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque and then servo lock the motor 2 Decelerate the motor to...

Page 273: ...Reserved setting Do not use n X Torque Control Option Applicable Motors Reference 0 Reserved setting Do not use All 2 1 Use the speed limit for torque control VLIM as the speed limit n X Encoder Usage...

Page 274: ...ition reference speed 1 V 1 000 mm s 06 Reserved setting Do not use 07 Load motor position deviation 0 01 V reference unit 08 Positioning completion positioning completed 5 V positioning not completed...

Page 275: ...erence speed 1 V 1 000 mm s 06 Reserved setting Do not use 07 Load motor position deviation 0 01 V reference unit 08 Positioning completion positioning completed 5 V positioning not completed 0 V 09 S...

Page 276: ...unction Selection for Undervoltage 0 Do not detect undervoltage 1 Detect undervoltage warning and limit torque at host controller 2 Detect undervoltage warning and limit torque with Pn424 and Pn425 i...

Page 277: ...oast n X Stopping Method for Forced Stops 0 Apply the dynamic brake or coast the motor to a stop use the stopping method set in Pn001 n X 1 Decelerate the motor to a stop using the torque set in Pn406...

Page 278: ...for Test without a Motor Applicable 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...

Page 279: ...ize Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Reserved parameter Do not change n X Encoder Resolution Compatibility Selection Applic...

Page 280: ...0 1 Hz 0 All Immedi ately Tuning 1 Pn125 2 Friction Compensation Gain Correction 1 to 1 000 1 100 All Immedi ately Tuning 1 Pn131 2 Gain Switching Time 1 0 to 65 535 1 ms 0 All Immedi ately Tuning 1...

Page 281: ...tomatically from the second 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 Co...

Page 282: ...2 Anti Resonance Fre quency 10 to 20 000 0 1 Hz 1000 All Immedi ately Tuning 1 Pn162 2 Anti Resonance Gain Correction 1 to 1 000 1 100 All Immedi ately Tuning 1 Pn163 2 Anti Resonance Damp ing Gain 0...

Page 283: ...ontinued 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 When Enabled 0 Disable...

Page 284: ...1 min 1 500 Rotary Immedi ately Setup 1 Pn305 2 Soft Start Acceleration Time 0 to 10 000 1 ms 0 All Immedi ately Setup 2 Pn306 2 Soft Start Deceleration Time 0 to 10 000 1 ms 0 All Immedi ately Setup...

Page 285: ...Constant 0 to 65 535 0 01 ms 100 All Immedi ately Tuning 1 Pn402 2 Forward Torque Limit 0 to 800 1 3 800 Rotary Immedi ately Setup 1 Pn403 2 Reverse Torque Limit 0 to 800 1 3 800 Rotary Immedi ately...

Page 286: ...412 2 First Stage Second Torque Reference Filter Time Constant 0 to 65 535 0 01 ms 100 All Immedi ately Tuning 1 Continued on next page Continued from previous page Parameter No Size Name Setting Rang...

Page 287: ...111h 0000h Rotary Setup 1 Pn424 2 Torque Limit at Main Cir cuit Voltage Drop 0 to 100 1 2 50 All Immedi ately Setup 1 Pn425 2 Release Time for Torque Limit at Main Circuit Voltage Drop 0 to 1 000 1 ms...

Page 288: ...mmedi ately Setup 3 16 Pn44C 2 Pressure Feedback Enable Level 0 to 10 000 0 01 1000 All Immedi ately Setup 3 6 Pn44D 2 Pressure Feedback Overflow Detection Level 0 to 800 1 300 All Immedi ately Setup...

Page 289: ...2 Pressure Feedback Sensor Gain 5 0 to 10 000 1 0 Rotary Immedi ately Setup 3 13 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting...

Page 290: ...ing Pn490 2 Polarity Detection Load Level 0 to 20 000 1 100 Linear Immedi ately Tuning Pn495 2 Polarity Detection Con firmation Force Refer ence 0 to 200 1 100 Linear Immedi ately Tuning Pn498 2 Polar...

Page 291: ...pplicable Motors When Enabled Classi fication Refer ence n X Reserved parameter Do not change n X Reserved parameter Do not change n X Reserved parameter Do not change n X P OT Forward Drive Prohibit...

Page 292: ...when CN1 8 input signal is OFF open C Enable reverse drive when CN1 9 input signal is OFF open D Enable reverse drive when CN1 10 input signal is OFF open E Enable reverse drive when CN1 11 input sign...

Page 293: ...g Completion signal allocations n X TGON Rotation Detection Output Signal Allocation 0 to 6 The allocations are the same as the COIN Positioning Completion signal allocations n X S RDY Servo Ready Sig...

Page 294: ...e when CN1 9 input signal is ON closed 4 Active when CN1 10 input signal is ON closed 5 Active when CN1 11 input signal is ON closed 6 Active when CN1 12 input signal is ON closed 7 The signal is alwa...

Page 295: ...inverted n X Output Signal Inversion for CN1 23 and CN1 24 Terminals 0 The signal is not inverted 1 The signal is inverted n X Output Signal Inversion for CN1 25 and CN1 26 Terminals 0 The signal is n...

Page 296: ...erload Warning Level 1 to 100 1 20 All Immedi ately Setup 1 Pn52C 2 Base Current Derating at Motor Overload Detection 10 to 100 1 100 All After restart Setup 1 Continued on next page Continued from pr...

Page 297: ...2 Overshoot Detection Level 0 to 100 1 100 All Immedi ately Setup 1 Pn581 2 Zero Speed Level 1 to 10 000 1 mm s 20 Linear Immedi ately Setup 1 Pn582 2 Speed Coincidence Detection Signal Output Width 0...

Page 298: ...ed parameter Do not change 0000h Linear Pn61B 2 Reserved parameter Do not change 250 All Pn61C 2 Reserved parameter Do not change 100 All Pn61D 2 Reserved parameter Do not change 0 All Pn621 to Pn628...

Page 299: ...speed table reference 3 Pn6B0 for speed table operation 4 Use speed table reference 1 Pn6AC through speed table reference 4 Pn6B2 for speed table operation 5 Use speed table reference 1 Pn6AC through...

Page 300: ...g Position 1 0 to 2 147 483 647 1 refer ence unit s 0 All Immedi ately Setup 4 6 Pn6C2 4 Speed Table Switching Position 2 0 to 2 147 483 647 1 refer ence unit s 0 All Immedi ately Setup 4 6 Pn6C4 4 Sp...

Page 301: ...tion Refer ence n X MECHATROLINK Communications Check Mask for Debugging 0 Do not mask 1 Ignore MECHATROLINK communications errors A E60 2 Ignore WDT errors A E50 3 Ignore both MECHATROLINK communicat...

Page 302: ...ely 10 Setup 2 Pn80E 2 Second Stage Linear Deceleration Constant 1 to 65 535 10 000 refer ence units s2 100 All Immedi ately 10 Setup 2 Pn80F 2 Deceleration Constant Switching Speed 0 to 65 535 100 re...

Page 303: ...ame Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence M2 13 n X Origin Return Direction 0 Return in forward direction 1 Return in reverse direction n...

Page 304: ...648 to 2 147 483 647 1 refer ence unit 0 All Immedi ately Setup 2 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motor...

Page 305: ...e 2 deg Electrical angle from polarity origin All Un004 Electrical Angle 2 deg Electrical angle from polarity origin 0015h Un005 Input Signal Monitor All 0016h Un006 Output Signal Monitor All 0017h Un...

Page 306: ...encoder pulses All 0084h Continuous Latch Status EX STATUS All All Areas Other values Reserved settings Do not use All 0000h to 0084h The settings are the same as those for the Option Monitor 1 Selec...

Page 307: ...PI 9 Allocate bit 9 to V_PPI A Allocate bit 10 to V_PPI B Allocate bit 11 to V_PPI C Allocate bit 12 to V_PPI D Allocate bit 13 to V_PPI E Allocate bit 14 to V_PPI F Allocate bit 15 to V_PPI n X V_PPI...

Page 308: ...llocate bits 3 to 6 to BANK_SEL1 4 Allocate bits 4 to 7 to BANK_SEL1 5 Allocate bits 5 to 8 to BANK_SEL1 6 Allocate bits 6 to 9 to BANK_SEL1 7 Allocate bits 7 to 10 to BANK_SEL1 8 Allocate bits 8 to 1...

Page 309: ...fer ence M2 13 n X Reserved parameter Do not change n X Reserved parameter Do not change n X OUT_SIGNAL Allocation Option 0 Allocate bits 0 to 2 to OUT_SIGNAL 1 Allocate bits 1 to 3 to OUT_SIGNAL 2 Al...

Page 310: ...eleration Rate 0 to 50 1 0 All Immedi ately 10 Setup Pn850 2 Number of Latch Sequences 0 to 8 0 All Immedi ately Setup 2 Pn851 2 Continuous Latch Sequence Count 0 to 255 0 All Immedi ately Setup 2 Pn8...

Page 311: ...e the same as those for the Latch Sequence 5 Signal Selec tion M3 8 n X Input Signal Monitor Allocation for CN1 13 SVCMD_IO 0 Allocate bit 24 IO_STS1 to CN1 13 input signal monitor 1 Allocate bit 25 I...

Page 312: ...e same as the CN1 13 allocations n X CN1 9 Input Signal Monitor Enable Disable Selection 0 Disable allocation for CN1 9 input signal monitor 1 Enable allocation for CN1 9 input signal monitor M3 6 n X...

Page 313: ...CN1 1 CN1 2 output signal monitor 3 Allocate bit 27 IO_STS4 to CN1 1 CN1 2 output signal monitor 4 Allocate bit 28 IO_STS5 to CN1 1 CN1 2 output signal monitor 5 Allocate bit 29 IO_STS6 to CN1 1 CN1...

Page 314: ...o FFFFh 0000h All Immedi ately Setup 2 Pn9B1 2 Other Station Monitor 1 Station Address 0002h to FEEFh 0002h All After restart Setup 3 11 Pn9B2 2 Other Station Monitor 1 Number of Transmis sion Bytes 0...

Page 315: ...4 3 All After restart Setup 3 12 Pn9BC 2 Other Station Monitor 4 Monitor Information Set ting 0000h to 14FFh 1000h All After restart Setup 3 12 Pn9BD 2 Other Station Monitor 5 Station Address 0002h t...

Page 316: ...meter setting is enabled after SENS_ON command execution is completed 10 Change the setting when the reference is stopped i e while DEN is set to 1 If you change the setting during operation the refer...

Page 317: ...d Type read only 0h or 1h All 04 PnA08 4 Rated Speed read only 0h to FFFFFFFFh 1 min 1 All 05 PnA0A 4 Maximum Output Speed read only 0h to FFFFFFFFh 1 min 1 All 06 PnA0C 4 Speed Multiplier read only 1...

Page 318: ...se Software Limit 1 073 741 823 to 1 073 741 823 1 reference unit 1073741 823 All Immedi ately 29 PnA52 4 Reserved parameter Do not change 0 All Immedi ately 41 PnA82 4 Speed Unit 2 0h to 4h 0h All Af...

Page 319: ...page Continued from previous page Parameter No Size Name Setting Range Setting Unit Resolution Default Setting Applicable Motors When Enabled Classi fication 0000h Reference units s2 0001h Percentage...

Page 320: ...000 1 s 0 1 ms 0 All Immedi ately 6 83 PnB06 4 Final Travel for Exter nal Input Positioning 1 073 741 823 to 1 073 741 823 1 reference unit 100 All Immedi ately 84 PnB08 4 Zero Point Return Approach...

Page 321: ...h Phase 0 01h Phase 1 02h Phase 2 03h Phase 3 Byte 2 Current control mode 00h Position control mode 01h Speed control mode 02h Torque control mode Byte 3 Reserved Byte 4 Expansion signal monitor 0007h...

Page 322: ...ll Immedi ately 90 PnB20 4 SVCMD_ CTRL bit Enabled Disabled read only 0FFF3F3F h All Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Resolution De...

Page 323: ...bled Bits 4 and 5 ACCFIL 1 Enabled Bits 6 and 7 Reserved 0 Disabled Bit 8 L_CMP1 1 Enabled Bit 9 L_CMP2 1 Enabled Bit 10 POS_RDY 1 Enabled Bit 11 PON 1 Enabled Bit 12 M_RDY 1 Enabled Bit 13 SV_ON 1 En...

Page 324: ...hile DEN is set to 1 If you change the setting during operation the reference output will be affected 93 PnB26 4 I O Bit Enabled Dis abled Input read only FF0FFEFE h All Command related parameters Con...

Page 325: ...fter restart Pn00F 0000h Application Function Selec tions F After restart Pn021 0000h Reserved parameter Pn022 0000h Reserved parameter Pn040 0000h V Compatible Function Switch After restart Pn080 000...

Page 326: ...Pn142 1000 Model Following Control Gain Correction Immediately Pn143 1000 Model Following Control Bias in the Forward Direc tion Immediately Pn144 1000 Model Following Control Bias in the Reverse Dire...

Page 327: ...on Function Selections After restart Pn231 0 Backlash Compensation Immediately Pn233 0 Backlash Compensation Time Constant Immediately Pn281 20 Encoder Output Resolution After restart Pn282 0 Linear E...

Page 328: ...Q Value Immediately Pn40E 0 Second Stage Notch Filter Depth Immediately Pn40F 5000 Second Stage Second Torque Reference Filter Fre quency Immediately Pn410 50 Second Stage Second Torque Reference Filt...

Page 329: ...mediately Pn449 0 Pressure Feedback Sensor Gain Immediately Pn44A 0 Pressure Feedback Filter Immediately Pn44C 1000 Pressure Feedback Enable Level Immediately Pn44D 300 Pressure Feedback Over flow Det...

Page 330: ...n484 30 Reverse Force Limit Immediately Pn485 20 Polarity Detection Refer ence Speed Immediately Pn486 25 Polarity Detection Refer ence Acceleration Deceler ation Time Immediately Pn487 0 Polarity Det...

Page 331: ...l Inverse Set tings After restart Pn514 0000h Output Signal Selections 4 After restart Pn516 8888h Input Signal Selections 7 After restart Pn51B 1000 Motor Load Position Devia tion Overflow Detection...

Page 332: ...4 10000 Speed Limit Level at Servo ON Immediately Pn585 50 Program Jogging Move ment Speed Immediately Pn586 0 Motor Running Cooling Ratio Immediately Pn587 0000h Polarity Detection Execu tion Selecti...

Page 333: ...Speed Table Switching Position 7 Immediately Pn6CE 0 Speed Table Switching Position 8 Immediately Pn6D0 0 Speed Table Switching Position 9 Immediately Pn6D2 0 Torque Pressure Refer ence 1 Immediately...

Page 334: ...ravel Distance for Origin Return Immedi ately 3 Pn81E 0000h Input Signal Monitor Selec tions Immediately Pn81F 0010h Command Data Allocations After restart Pn820 0 Forward Latching Area Immediately Pn...

Page 335: ...ocations 1 Immediately Pn861 0000h SVCMD_IO Input Signal Monitor Allocations 2 Immediately Pn862 0000h SVCMD_IO Input Signal Monitor Allocations 3 Immediately Pn863 0000h SVCMD_IO Input Signal Monitor...

Page 336: ...formation Setting After restart Pn9B7 0002h Other Station Monitor 3 Station Address After restart Pn9B8 3 Other Station Monitor 3 Number of Transmission Bytes After restart Pn9B9 1000h Other Station M...

Page 337: ...PnA4C 1073741823 Forward Software Limit Immediately 27 PnA4E 0 Reserved parameter Do not change Immediately 28 PnA50 1073741823 Reverse Software Limit Immediately 29 PnA52 0 Reserved parameter Do not...

Page 338: ...0 3 min 1 Origin Approach Speed Immediately 85 PnB0A 500h reference units s converted to 10 3 min 1 Origin Return Creep Speed Immediately 86 PnB0C 100 Final Travel Distance for Origin Return Immediate...

Page 339: ...Table 6 138 2 The parameter setting is enabled after SENS_ON command execution is completed 3 Change the setting when the reference is stopped i e while DEN is set to 1 If you change the setting durin...

Page 340: ...4 3 P parameters notation numeric settings xii notation selecting functions xii pressure command 3 3 pressure feedback control 3 3 gain adjustment 3 18 monitoring 3 23 setup procedure 3 10 pressure s...

Page 341: ...back cover Date of Publication Rev No Web Rev No Section Revised Contents February 2017 2 0 All chapters Partly revised November 2016 1 0 All chapters Addition FT41 Specification May 2016 First editio...

Page 342: ...799 http www yaskawa co th YASKAWA ELECTRIC CHINA CO LTD 22F One Corporate Avenue No 222 Hubin Road Shanghai 200021 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 http www yaskawa com cn YASKAWA ELEC...

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