YASKAWA Sigma-7 SGD7S-20A F84 Series Product Manual Download Page 157

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6.2 List of Servo Parameters

6-27

Parameter Li

Pn804

Forward Software Limit

-1,073,741,823

1,073,741,823

1 refer-

ence

unit

107374

1823

Rotary

Immedi-

ately

Setup

Pn806

Reverse Software Limit

-1,073,741,823

1,073,741,823

1 refer-

ence

unit

-10737

41823

Rotary

Immedi-

ately

Setup

Pn808

Absolute Encoder Origin
Offset

-1,073,741,823

1,073,741,823

1 refer-

ence

unit

Rotary

Immedi-

ately

Setup

Pn80A

First Stage Linear Accel-
eration Constant

1 to 65,535

10,000

refer-

ence

units/s

100

Rotary

Immedi-

ately

Setup

Pn80B

Second Stage Linear
Acceleration Constant

1 to 65,535

10,000

refer-

ence

units/s

100

Rotary

Immedi-

ately

Setup

Pn80C

Acceleration Constant
Switching Speed

0 to 65,535

100 ref-

erence
units/s

Rotary

Immedi-

ately

Setup

Pn80D

First Stage Linear
Deceleration Constant

1 to 65,535

10,000

refer-

ence

units/s

100

Rotary

Immedi-

ately

Setup

Pn80E

Second Stage Linear
Deceleration Constant

1 to 65,535

10,000

refer-

ence

units/s

100

Rotary

Immedi-

ately

Setup

Pn80F

Deceleration Constant
Switching Speed

0 to 65,535

100 ref-

erence
units/s

Rotary

Immedi-

ately

Setup

Pn810

Exponential Accelera-
tion/Deceleration Bias

0 to 65,535

100 ref-

erence
units/s

Rotary

Immedi-

ately

*10

Setup

Pn811

Exponential Accelera-
tion/Deceleration Time
Constant

0 to 5,100

0.1 ms

Rotary

Immedi-

ately

*10

Setup

Pn812

Movement Average
Time

0 to 5,100

0.1 ms

Rotary

Immedi-

ately

*10

Setup

Pn814

External Positioning
Final Travel Distance

-1,073,741,823

1,073,741,823

1 refer-

ence

unit

100

Rotary

Immedi-

ately

Setup

Pn816

Origin Return Mode Set-
tings

0000h to

0001h

–

0000h

Rotary

Immedi-

ately

Setup

*12

Pn817

*14

Origin Approach Speed
1

0 to 65,535

100 ref-

erence
units/s

Rotary

Immedi-

ately

*10

Setup

Pn818

*15

Origin Approach Speed
2

0 to 65,535

100 ref-

erence
units/s

Rotary

Immedi-

ately

*10

Setup

Pn819

Final Travel Distance for
Origin Return

-1,073,741,823

1,073,741,823

1 refer-

ence

unit

100

Rotary

Immedi-

ately

Setup

Continued 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

*13



Origin Return Direction

Return in forward direction.

Return in reverse direction.





Reserved parameter (Do not change.)





Reserved parameter (Do not change.)

n.X



Reserved parameter (Do not change.)

Summary of Contents for Sigma-7 SGD7S-20A F84 Series

Page 1: ...nd Alignment Application with Special Motor SGM7D Motor 7 Series AC Servo Drive Product Manual MANUAL NO SIEP S800002 28C Basic Information on SERVOPACKs SERVOPACK Ratings and Specifications Triggers at Preset Positions Rotational Coordinate System Maintenance Parameter Lists 1 2 3 4 5 6 ...

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 manual is sub ject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless Yaskawa assumes no responsibility for errors or omissions Neither is any li...

Page 3: ...with MECHATROLIN K III Communi cations References Manual No SIEP S800001 28 SERVOPACKs with MECHATROLIN K III Communi cations References and RJ 45 Connec tors Manual No SIEP S800001 62 Basic Informa tion on SERVO PACKs The Σ 7 Series 1 1 Product Introduction 1 1 Interpreting the Nameplate 1 2 Part Names 1 3 Model Designations 1 4 Combinations of SERVOPACKs and Servomo tors 1 5 Functions 1 4 SigmaW...

Page 4: ...Replacement 12 1 Alarm Displays 5 1 List of Alarms 5 2 Troubleshooting Alarms 5 3 Warning Displays 5 4 List of Warnings 5 5 Troubleshooting Warnings 5 6 Troubleshooting Based on the Operation and Conditions of the Servomotor 5 7 Parameter Lists Interpreting the Parameter Lists 6 1 List of Servo Parameters 6 2 List of MECHATROLINK III Common Parame ters 6 3 Appendices Chapter 14 Continued from prev...

Page 5: ...motors Other Documents Built in Function Manuals Σ 7 Series Σ 7S Σ 7W SERVOPACK Product Manuals Option Module User s Manuals Σ 7 Series Σ 7S Σ 7W SERVOPACK FT EX Product Manuals this manual Option Module User s Manuals Σ 7 Series Servomotor Product Manuals Σ 7 Series Σ 7C SERVOPACK Product Manual Σ 7 Series Σ 7C SERVOPACK Troubleshooting Manual Enclosed Documents Enclosed Documents Built in Functi...

Page 6: ...detailed 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 Σ 7 Series Σ 7C SERVO PACKs Option Module User s Manuals Machine Controller MP2000 Series Communication Module User s Manual SIEP C880700 04 Provide detailed information on the specifications and communica ...

Page 7: ... procedures for installing the Safety Module in a SERVOPACK Σ V Series Σ V Series for Large Capacity Models Σ 7 Series Installation Guide INDEXER Module TOBP C720829 02 Provides detailed procedures for installing the INDEXER Module in a SERVOPACK Σ V Series Σ V Series for Large Capacity Models Σ 7 Series Installation Guide DeviceNet Module TOBP C720829 07 Provides detailed procedures for installin...

Page 8: ...ROLINK III Communications References Product Manual SIEP S800001 29 Σ 7 Series Σ 7S Σ 7W Σ 7C SERVOPACK with Hardware Option Specifications Product Manuals Σ 7 Series AC Servo Drive Σ 7S Σ 7W SERVOPACK with Hardware Option Specifica tions Dynamic Brake Product Manual SIEP S800001 73 Provides detailed information on Hardware Options for Σ 7 Series SERVOPACKs Σ 7 Series AC Servo Drive Σ 7W Σ 7C SERV...

Page 9: ...ERVOPACK with FT EX Specification for Three Point Latching for Conveyance Application Product Manual SIEP S800002 17 Σ 7 Series AC Servo Drive Σ 7S SERVOPACK with FT EX Specification for Semi Fully Closed Loop Control Online Switching for Conveyance Application Product Manual SIEP S800002 27 Σ 7 Series AC Servo Drive Σ 7S SERVOPACK with FT EX Specification for Transfer and Alignment Application wi...

Page 10: ...ications Command Manuals Σ 7 Series AC Servo Drive MECHATROLINK II Communications Command Manual SIEP S800001 30 Provides detailed information on the MECHATROLINK II communi cations commands that are used for a Σ 7 Series Servo System Σ 7 Series AC Servo Drive MECHATROLINK III Communications Standard Servo Profile Command Manual SIEP S800001 31 Provides detailed information on the MECHATROLINK III...

Page 11: ...Series 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 Σ 7 Series Servo System Distributed I O Module User s Manuals MECHATROLINK III Compatible I O Module User s Manual SIEP C880781 04 Describes the functions specifica tions operating methods and MECHATROLINK III communica tions...

Page 12: ...vices servo ON Supplying power to the motor servo OFF Not supplying power to the motor base block BB Shutting OFF the power supply to the motor by shutting OFF the base current to the power transistor in the SERVOPACK servo lock A state in which the motor is stopped and is in a position loop with a position reference of 0 Main Circuit Cable One of the cables that connect to the main circuit termin...

Page 13: ...ed 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 This is the minimum unit setting increment that you can set for the parameter Position Speed Parameter Meaning When Enabled Classification Pn002 n 0 After restart Setup n 1 n 2 Parameter number The no...

Page 14: ...sual 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 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 operating or setting examples Indi...

Page 15: ...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 loss of life serious injury or fire WARNING Indicates precautions that if not heeded could result in loss of life serious injury or fire CAUTION Indicates precautions that if not heeded could result in r...

Page 16: ...dify 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 Brake Resistors Servo motors and other components can be very hot while power is ON or soon after the power is turned OFF Implement safety measures such as installing covers so that hands and parts s...

Page 17: ...any 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 humidities that exceed product specifications Locations that are subject to condensation as the result of extreme changes in temperature Locations that are subject to corrosive or flammable gases Lo...

Page 18: ... damaged 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 the capacitors Do not overtighten the eyebolts on a SERVOPACK or Servomotor If you use a tool to overtighten the eyebolts the tapped holes may be damaged CAUTION Install the Servomotor or SERVOPACK in...

Page 19: ...RVOPACK in a control panel Do not allow any foreign matter to enter a SERVOPACK or a Servomotor with a Cooling Fan and do not cover the outlet from the Servomotor s cooling fan There is a risk of failure DANGER Do not change any wiring while power is being supplied There is a risk of electric shock or injury WARNING Wiring and inspections must be performed only by qualified engineers There is a ri...

Page 20: ...OPACK s main circuit terminals Turn ON the power supply to the SERVOPACK only after all wiring including the main circuit termi nals has been completed If a connector is used for the main circuit terminals remove the main circuit connector from the SER VOPACK before you wire it Insert only one wire per insertion hole in the main circuit terminals When you insert a wire make sure that the conductor...

Page 21: ...ch as broken signal lines occur For example the P OT and N OT signals are set in the default settings to operate on the safe side if a signal line breaks Do not change the polarity of this type of signal When overtravel occurs the power supply to the motor is turned OFF and the brake is released If you use the Servomotor to drive a vertical load set the Servomotor to enter a zero clamped state aft...

Page 22: ...y not be 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 injury WARNING Wiring and inspections must be performed only by qualified engineers There is a risk of electric shock or product failure CAUTION Wait for at least six minutes after turning OFF the...

Page 23: ...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 circuit power supply If a magnetic contactor is not connected when the SERVOPACK fails a large current may flow possibly resulting in fire If an alarm occurs shut OFF the main circuit power supply There is a ...

Page 24: ... 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 notice for product improvements specifications changes and improvements to the manual itself We will update the document number of the document and issue revisions when changes are made Any and all qua...

Page 25: ...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 which Yaskawa is not responsible such as natural or human made disasters Limitations of Liability Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that aris...

Page 26: ... 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 similar high degree of safety Never use the product for an application involving serious risk to life or property without first ensuring that the system is designed to secure the required level of safety wi...

Page 27: ...Safety Standards UL File No SERVOPACKs SGD7S UL 61800 5 1 E147823 CSA C22 2 No 274 Product Model European Directive Harmonized Standards SERVOPACKs SGD7S Machinery Directive 2006 42 EC EN ISO13849 1 2015 EMC Directive 2014 30 EU EN 55011 group 1 class A EN 61000 6 2 EN 61000 6 4 EN 61800 3 Category C2 Second environment Low Voltage Directive 2014 35 EU EN 50178 EN 61800 5 1 RoHS Directive 2011 65 ...

Page 28: ...IEC 61508 IEC 62061 PFH 4 04 10 9 1 h 4 04 of SIL3 PFH 4 05 10 9 1 h 4 05 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 Medium Stop Category IEC 60204 1 Stop category 0 Safety Function IEC 61800 5 2 STO Hardware Fault Tolerance IEC 61508 HFT 1 Subsystem IEC 61508 B ...

Page 29: ...s of SERVOPACKs and Servomotors 1 5 1 4 Functions 1 6 1 4 1 SERVOPACK Functions 1 6 1 4 2 Function Application Restrictions 1 8 1 5 SigmaWin 1 9 1 6 Combining the SERVOPACKs with MP Series Machine Controllers and the MPE720 Engineering Tool 1 10 SERVOPACK Ratings and Specifications 2 2 1 Ratings 2 2 2 1 1 Three Phase 200 VAC 2 2 2 1 2 Single Phase 200 VAC 2 2 2 1 3 Single Phase 100 VAC 2 3 2 2 SER...

Page 30: ... 3 Forced Stop Setting for Triggers at Preset Positions 3 16 Rotational Coordinate System 4 4 1 Outline 4 2 4 2 Setup Procedure 4 3 4 2 1 Setting the Rotational Coordinate System 4 3 4 2 2 Setting the Multiturn Limit 4 4 4 2 3 Absolute Encoder Origin Offset 4 4 4 2 4 Setting the Moving Method of the Rotational Coordinate System 4 5 4 2 5 Servo Commands to Use 4 7 4 2 6 Monitoring 4 12 Maintenance ...

Page 31: ...e Parameter Lists 6 2 6 1 1 Interpreting the Servo Parameter List 6 2 6 1 2 Interpreting the MECHATROLINK III Common Parameter List 6 2 6 2 List of Servo Parameters 6 3 6 3 List of MECHATROLINK III Common Parameters 6 40 Index Revision History ...

Page 32: ...ignations 1 3 1 2 1 Interpreting SERVOPACK Model Numbers 1 3 1 2 2 Interpreting Direct Drive Servomotor Model Numbers 1 4 1 3 Combinations of SERVOPACKs and Servomotors 1 5 1 4 Functions 1 6 1 4 1 SERVOPACK Functions 1 6 1 4 2 Function Application Restrictions 1 8 1 5 SigmaWin 1 9 1 6 CombiningtheSERVOPACKswithMP SeriesMachineControllersandtheMPE720EngineeringTool 1 10 Basic Information on SERVOPA...

Page 33: ...will make the most of machine performance in the short est time possible thus contributing to improving productivity Function Description Triggers at Preset Positions Triggers at preset positions are signals that are output when a moving part of a machine passes a preset reference position Rotational Coordi nate System You can set the range of the rotational coordinate system for position data com...

Page 34: ...ication Specification Code BTO Specification 5 022 SGD7S 120A 030 Single phase 200 VAC power supply input MECHATROLINK III communications references 20 MECHATROLINK III communications references and RJ 45 connectors 30 A 200 VAC SGD7S 2R8 A 20 A 022 Maximum Applicable Motor Capacity Voltage Interface Code Code Specification Specification Hardware Options Specification 1st 2nd 3rd digits 4th digit ...

Page 35: ...on side With cable on bottom 1 Standard mechanical precision Applicable models Specification 2 High mechanical precision L Non load side Direct Drive Servomotors SGM7D 4th digit 6th digit 3rd digit 7th digit Options 5th digit Design Revision Order Servomotor Outer Diameter Serial Encoder Flange 1st 2nd digits 1st 2nd digits Rated Torque 3rd digit 4th digit 5th digit 6th digit 7th digit Code SGM7D ...

Page 36: ...691 W SGM7D 01G 16 W 2R8A and 2R8F SGM7D 05G 63 W SGM7D 08G 101 W 120A SGM7D 18G 226 W SGM7D 24G 302 W SGM7D 34G 320 W SGM7D 45G 565 W SGM7D 03H 38 W 2R8A and 2R8F SGM7D 28I 264 W 120A SGM7D 70I 440 W SGM7D 1ZI 628 W SGM7D 1CI 817 W SGM7D 2BI 691 W SGM7D 2DI 754 W SGM7D 06J 75 W SGM7D 09J 113 W SGM7D 18J 226 W SGM7D 20J 251 W SGM7D 38J 358 W SGM7D 02K 52 W 2R8A and 2R8F SGM7D 06K 151 W SGM7D 08K 2...

Page 37: ... the Main Circuit and Control Circuit Automatic Detection of Connected Motor Motor Direction Setting Setting the Linear Encoder Pitch Writing Linear Servomotor Parameters Selecting the Phase Sequence for a Linear Servomotor Polarity Sensor Setting Polarity Detection Overtravel Function and Settings Holding Brake Motor Stopping Method for Servo OFF and Alarms Resetting the Absolute Encoder Setting ...

Page 38: ...n Signal Encoder Divided Pulse Outputs Selecting Torque Limits Initializing the Vibration Detection Level Resetting Alarms Replacing the Battery Setting the Position Deviation Overflow Alarm Level Functions Tuning less Function Autotuning without Host Reference Autotuning with a Host Reference Custom Tuning Anti resonance Control Adjustment Vibration Suppression Gain Selection Friction Compensatio...

Page 39: ...ation Monitoring Product Life Displaying the Alarm History Alarm Tracing Function Restriction Setting the Linear Encoder Pitch Cannot be used Writing Linear Servomotor Param eters Cannot be used Selecting the Phase Sequence for a Linear Servomotor Cannot be used Polarity Sensor Setting Cannot be used Polarity Detection Cannot be used Speed Ripple Compensation Cannot be used Do not change the follo...

Page 40: ...sic Information on SERVOPACKs 1 5 SigmaWin To use the SigmaWin a model information file for the SERVOPACK must be added to Sig maWin version 7 22 or higher Add the FT84 model information file to SigmaWin to use the SigmaWin ...

Page 41: ... 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 SERVOPACK with standard specifications To use the parameters that have been added or changed for the SERVOPACKs described in this manual use the SigmaWin ...

Page 42: ...2 1 2 Single Phase 200 VAC 2 2 2 1 3 Single Phase 100 VAC 2 3 2 2 SERVOPACK Overload Protection Characteristics 2 4 2 3 Specifications 2 5 2 3 1 SERVOPACK with MECHATROLINK III Communications References 2 5 2 3 2 SERVOPACK with MECHATROLINK III Communications References and RJ 45 Connectors 2 8 SERVOPACK Ratings and Specifications 2 ...

Page 43: ...nerative Resistor Power Loss W 12 Total Power Loss W 34 5 97 6 Regenerative Resistor Built In Regenerative Resistor Resistance Ω 20 Capacity W 60 Minimum Allowable External Resistance Ω 40 20 Overvoltage Category III Model SGD7S 2R8A 120A Maximum Applicable Motor Capacity kW 0 4 1 5 Continuous Output Current Arms 2 8 11 6 Instantaneous Maximum Output Current Arms 9 3 28 Main Circuit Power Supply 2...

Page 44: ... 2 8 Instantaneous Maximum Output Current Arms 9 3 Main Circuit Power Supply 100 VAC to 120 VAC 15 to 10 50 Hz 60 Hz Input Current Arms 10 Control Power Supply 100 VAC to 120 VAC 15 to 10 50 Hz 60 Hz Input Current Arms 0 38 Power Supply Capacity kVA 1 4 Power Loss Main Circuit Power Loss W 26 2 Control Circuit Power Loss W 12 Total Power Loss W 38 2 Regenerative Resistor Minimum Allowable Resistan...

Page 45: ...h 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 characteristic of the Servomotor SGD7S 120A Note The above overload protection characteristics do not mean that you can perform continuous duty operation with an output of 100 or higher For a Yaskawa specified combinati...

Page 46: ...r iron dust Altitude 1 1 000 m max With derating usage is possible between 1 000 m and 2 000 m Refer to the following manual for derating specifications Σ 7 Series Σ 7S SERVOPACK with MECHATROLINK III Communica tions References Product Manual Manual No SIEP S800001 28 Others Do not use the SERVOPACK in the following locations Locations sub ject to static electricity noise strong electromagnetic ma...

Page 47: ...s That Can Be Allo cated Allowable voltage range 5 VDC to 30 VDC Number of output points 3 A photocoupler output isolated is 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 Limit Detection signal BK Brake signal WARN Warning signal NEAR Near signal Nor...

Page 48: ...ECHATROLINK III standard servo profile MECHATROLINK III Communica tions Setting Switches Rotary switch S1 and S2 positions 16 Number of DIP switch S3 pins 4 Analog Monitor CN5 Number of points 2 Output voltage range 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 over...

Page 49: ...st Altitude 1 1 000 m max With derating usage is possible between 1 000 m and 2 000 m Refer to the following manual for derating specifications Σ 7 Series Σ 7S SERVOPACK with MECHATROLINK III Communica tions References and RJ 45 Connectors Product Manual Manual No SIEP S800001 62 Others Do not use the SERVOPACK in the following locations Locations sub ject to static electricity noise strong electr...

Page 50: ...put Signals That Can Be Allo cated Allowable voltage range 5 VDC to 30 VDC Number of output points 3 A photocoupler output isolated is 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 Limit Detection signal BK Brake signal WARN Warning signal NEAR Near ...

Page 51: ...andard servo profile MECHATROLINK III Communica tions Setting Switches Rotary switch S1 and S2 positions 16 Number of DIP switch S3 pins 4 Analog Monitor CN5 Number of points 2 Output voltage range 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 occurs o...

Page 52: ...onnector CN1 Pin Arrangement 3 4 3 2 Settings for Triggers at Preset Positions 3 5 3 2 1 Setting Table Details 3 5 3 2 2 Setting Triggers at Preset Positions 3 7 3 2 3 Setting Trigger Outputs at Preset Positions with the SigmaWin 3 9 3 2 4 Making Settings with the MEM_WR Command 3 11 3 3 Forced Stop Setting for Triggers at Preset Positions 3 16 Triggers at Preset Positions 3 ...

Page 53: ...ne of the following steps Absolute Encoder Send the Turn Sensor ON command SENS_ON 23h from the host controller Incremental Encoder Send the Zero Point Return command ZRET 3Ah from the host controller Use the Set Coordinates command POS_SET 20h from the host controller to set a reference point REFE 1 If you use triggers at preset positions when the rotational coordinate system is enabled i e Pn87A...

Page 54: ...d HSO2 on CN1 Output Time Setting Range 0 to 32 767 000 μs Output Distance Setting Range 0 to 4 294 967 295 reference units Output Position Compensation Range 2 147 483 648 to 2 147 483 647 reference units Signal Output Delay Time ON to OFF 1 μs or less OFF to ON 1 μs or less Signal Output Variation At constant speed of 50 min 1 or greater 5 μs max Item Specification Number of Output Position Sett...

Page 55: ...uence Output 1 15 BAT Battery for Absolute Encoder 3 ALM Servo Alarm Output 16 SG Signal Ground 4 ALM Servo Alarm Output 17 HSO1 High Speed Preset Position Output 1 5 TH Linear Servomotor Overheat Protection Input 18 HSO1 High Speed Preset Position Output 1 6 24VIN Sequence Input Signal Power Supply Input 19 7 SI1 P OT General Purpose Sequence Input 1 20 8 SI2 N OT General Purpose Sequence Input 2...

Page 56: ...ignal for the trigger at the preset position Output Function Select the axis number output terminals signal logic and passing direction to use for the trigger at the preset position Name Output Position Output Function Output Time Output Distance Output Position Compensation Output Setting 1 Output Setting 2 Output Setting 3 Output Setting 32 Size Setting Range Setting Unit Default Setting When En...

Page 57: ...s not output 1 Output the signal from the CN1 1 and CN1 2 output terminals 2 Output the signal from the CN1 23 and CN1 24 output terminals 3 Output the signal from the CN1 25 and CN1 26 output terminals 4 Disable The signal is not output 5 Disable The signal is not output 6 Output the reverse signal from the CN1 1 and CN1 2 output ter minals 7 Output the reverse signal from the CN1 23 and CN1 24 o...

Page 58: ...in reference units for the output function make sure the output distance is within the following distances If you use triggers at preset positions in combination with a rotational coordinate system set the output distance to between Pn87C and Pn87A If you use triggers at preset positions but do not use a rotational coordinate system set the output distance to between 2 147 483 648 and 2 147 483 64...

Page 59: ...llocation and passing direction with the output function selec tion 4 If Pn660 is set to n 0 set the signal output width as a time in ms If Pn660 is set to n 1 set the signal output width as a distance in reference units 5 If Pn660 is set to n 0 set the output time in ms If Pn660 is set to n 1 set the output distance as a distance in reference units 6 Set the output position compensation as a dist...

Page 60: ... at preset positions through writing data to the SERVOPACK is described Refer to the following manual for details on editing tables on the SigmaWin AC Servo Drive Engineering Tool SigmaWin Operation Manual Manual No SIET S800001 34 1 Click the Servo Drive Button in the workspace of the Main Window of the Sig maWin 2 Select Set Triggers at Preset Positions in Table Program The Set Triggers at Prese...

Page 61: ...ers Button The edited data will be written to the volatile memory in the SERVOPACK 6 Click the Save to Flash Memory Button The edited data will be written to the non volatile memory in the SERVOPACK Note When you write edited data to the SERVOPACK you must save it to flash memory If the data is not saved to flash memory the edited data will be erased from memory when the power supply to the SER VO...

Page 62: ... Setting 14 0xF00501A0 0xF00501A4 0xF00501A8 0xF00501AC 0xF00501B0 0xF00501B4 0xF00501B8 0xF00501BC Output Setting 15 0xF00501C0 0xF00501C4 0xF00501C8 0xF00501CC 0xF00501D0 0xF00501D4 0xF00501D8 0xF00501DC Output Setting 16 0xF00501E0 0xF00501E4 0xF00501E8 0xF00501EC 0xF00501F0 0xF00501F4 0xF00501F8 0xF00501FC Output Setting 17 0xF0050200 0xF0050204 0xF0050208 0xF005020C 0xF0050210 0xF0050214 0xF0...

Page 63: ...A8 0xF00505AC 0xF00505B0 0xF00505B4 0xF00505B8 0xF00505BC Output Setting 15 0xF00505C0 0xF00505C4 0xF00505C8 0xF00505CC 0xF00505D0 0xF00505D4 0xF00505D8 0xF00505DC Output Setting 16 0xF00505E0 0xF00505E4 0xF00505E8 0xF00505EC 0xF00505F0 0xF00505F4 0xF00505F8 0xF00505FC Output Setting 17 0xF0050600 0xF0050604 0xF0050608 0xF005060C 0xF0050610 0xF0050614 0xF0050618 0xF005061C Output Setting 18 0xF005...

Page 64: ...he completion of the command execution by checking that RCMD MEM_WR 1Eh and CMD_STAT CMDRDY 1 and also checking the setting for ADDRESS SIZE MODE DATA_TYPE and DATA In the following cases an alarm will occur and the com mand will not be executed When the ADDRESS data is invalid CMD_ALM 9h A 94A When the MODE DATA_TYPE data is invalid CMD_ALM 9h A 94B When the SIZE data is invalid CMD_ALM 9h A 94D ...

Page 65: ...following procedure to save the settings in RAM to non volatile memory Send the commands in the following order bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 MODE DATA_TYPE CMD_ALM Displayed Code Error Details 9h A 94A When an initial address outside the defined areas is specified When an address within the reserved ranges of common parameter or ven dor specific areas is specified When a value other tha...

Page 66: ...0x12 SIZE 0x0001 DATA 0x0001 6 End the write to non volatile memory ADDRESS 0x80004000 MODE DATA_TYPE 0x12 SIZE 0x0001 DATA 0x0000 Step Description Setting Example 1 Set the request code for initializing non volatile memory ADDRESS 0x80004000 MODE DATA_TYPE 0x12 SIZE 0x0001 DATA 0x2025 2 Execute preparation process 1 for initializ ing non volatile memory ADDRESS 0x800041E0 MODE DATA_TYPE 0x12 SIZE...

Page 67: ... 1 Bit 0 N_CL P_CL P_PPI V_PPI Reserved 0 Bit 15 Bit 14 Bit 13 Bit 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 0 SO3 SO2 SO1 BANK_SEL Bit 31 Bit 30 Bit 29 Bit 28 Bit 27 Bit 26 Bit 25 Bit 24 Reserved 0 FOUT_STOP Reserved 0 Reserved 0 Reserved 0 Bit Name Description Value Setting When Enabled 30 FOUT_STOP Request to stop outputting t...

Page 68: ...tional Coordinate System 4 3 4 2 2 Setting the Multiturn Limit 4 4 4 2 3 Absolute Encoder Origin Offset 4 4 4 2 4 Setting the Moving Method of the Rotational Coordinate System 4 5 4 2 5 Servo Commands to Use 4 7 4 2 6 Monitoring 4 12 Rotational Coordinate System 4 ...

Page 69: ...t controller Incremental Encoder Send the Zero Point Return command ZRET 3Ah from the host controller Use the Set Coordinates command POS_SET 20h from the host controller to set a refer ence point REFE 1 2 If the rotational coordinate system is enabled i e Pn87A or Pn87C is not set to 0 software limits and software limit checking are disabled in Pn801 Application Function Selections 6 Lower limit ...

Page 70: ...p is necessary only for an absolute encoder 5 Set the movement method for the rotational coordinates Pn87E n X 6 Perform the following operation for your encoder Absolute Encoder Send the Turn Sensor ON command SENS_ON 23h from the host controller Incremental Encoder Send the Zero Point Return command ZRET 3Ah from the host controller Use the Set Coordinates command POS_SET 20h from the host contr...

Page 71: ... the machine coordinate system 0 the following relationship must exist in the parameter settings Pn87C Pn808 Pn87A Pn808 is set as follows If the offset is smaller than the setting of Pn87C First Rotational Coordinate Pn808 Offset Pn87A Pn87C 1 Pn205 Multiturn Limit Setting Range Setting Unit Default Setting When Enabled Classification 0 to 65 535 1 rev 65535 After restart Setup 24 PnA48 Multiturn...

Page 72: ...ethod for Rotational Coordinates to specify movement in the rotational coordinate system Note This parameter is enabled when Pn87A or Pn87C is not set to 0 Pn808 Absolute Encoder Origin Offset Setting Range Setting Unit Default Setting When Enabled Classification 1 073 741 823 to 1 073 741 823 1 reference unit 0 Immediately Setup 23 PnA46 Absolute Encoder Origin Offset Setting Range Setting Unit D...

Page 73: ...is forward from the current position to the target position The following figure gives an example of a positioning operation in which the axis is moved for ward from the current position to target position 1 and then to target position 2 Example of Near Course Positioning Operation Positioning is performed by moving the axis in the direction in which the distance from the cur rent position to the ...

Page 74: ...ioning is performed within the range of the rotational coordinate system Set the target position TPOS so that Pn87C TPOS Pn87A If you set a value that exceeds this range an A 94B alarm Data Setting Warn ing 2 will occur and the command will not be executed The movement direction is determined by the setting of Pn87E n X Movement Method for Rotational Coordinates FEED 36h Constant speed feed Consta...

Page 75: ... in the Command Changing to Position Control in a Different Direction Pn87E n 0 from the Direction of Speed Control Command Reference Direction Note If the Movement Method for Rotational Coordinates Pn87E n X is set to Absolute Positioning Pn87E n 0 or to Positioning by Near Course Pn87E n 3 the movement direction will depend on the timing of changing to position control Speed control Movement dir...

Page 76: ...nal input constant speed feed ing EX_FEED or external input positioning EX_POSING positioning is performed within the range of the rotational coordinate system to external input positioning position P3 after latching is performed for the external input positioning signal Speed P3 SVCMD_CTRL CANCEL 1 Feed speed P2 Latched position data Time External input positioning signal External positioning fin...

Page 77: ...ng signal P2 1 000 External positioning final travel distance common parameter 83 3 000 External input positioning position P3 1 000 3 000 3 600 Pn87A Pn87C 1 400 Note The movement direction after latching the position is determined by the sign of the value set for the External Positioning Final Travel Distance Common Parameter 83 Calculation Example 3 for the External Input Positioning Position P...

Page 78: ...ational coordinate system to the ori gin after latching the position The final travel distance after latching the position is set in PnB0C External Positioning Final Travel Distance The calculation method to the origin is the same as for external input constant speed feeding EX_FEED and external input positioning EX_POSING The movement direction after latching the position is determined by the sig...

Page 79: ...03h Fixed Monitor 2 PnB10 0003h LPOS2 SEL_MON1 to SEL_MON6 Selected code 4 Latched position 2 1 refer ence unit Fixed Monitor 1 PnB0E 0004h Fixed Monitor 2 PnB10 0004h MPOS SEL_MON1 to SEL_MON6 Selected code 9 Command position Input refer ence position for the position loop MPOS APOS position deviation 1 refer ence unit Fixed Monitor 1 PnB0E 0009h Fixed Monitor 2 PnB10 0009h TPOS Common Monitor 1 ...

Page 80: ...itor data which is output within the range of the rotational coordinate system Pn87A to Pn87C are listed below Refer to the following manual for information on monitor data that is not listed above Σ 7 Series Digital Operator Operating Manual Manual No SIEP S800001 33 Un No Sign Unit Name Description Un045 Yes 1 reference unit CPOS Reference position Un046 Yes 1 reference unit APOS Feedback positi...

Page 81: ...or alarms and warnings 5 1 Alarm Displays 5 2 5 2 List of Alarms 5 3 5 3 Troubleshooting Alarms 5 8 5 4 Warning Displays 5 33 5 5 List of Warnings 5 34 5 6 Troubleshooting Warnings 5 36 5 7 Troubleshooting Based on the Operation and Conditions of the Servomotor 5 43 Maintenance 5 ...

Page 82: ... be displayed on the panel display However if no alarm number appears on the panel display this indicates a SERVOPACK sys tem error Replace the SERVOPACK If there is an alarm the display will change in the following order Example Alarm A E60 Status Indications Not lit Not lit Not lit Not lit Not lit ...

Page 83: ...e SERVOPACK Gr 1 No A 024 System Alarm An internal program error occurred in the SER VOPACK Gr 1 No A 025 System Alarm An internal program error occurred in the SER VOPACK Gr 1 No A 030 Main Circuit Detector Error There is an error in the detection data for the main circuit Gr 1 Yes A 040 Parameter Setting Error A parameter setting is outside of the setting range Gr 1 No A 041 Encoder Output Pulse...

Page 84: ...ly under a torque that exceeded the rating Gr 1 Yes A 730 Dynamic Brake Overload When the dynamic brake was applied the rota tional or linear kinetic energy exceeded the capacity of the dynamic brake resistor Gr 1 Yes A 731 A 740 Inrush Current Limiting Resistor Overload The main circuit power supply was frequently turned ON and OFF Gr 1 Yes A 7A1 Internal Temperature Error 1 Control Board Tempera...

Page 85: ... 2 Internal program error 2 occurred in the SERVO PACK Gr 1 No A bF3 System Alarm 3 Internal program error 3 occurred in the SERVO PACK Gr 1 No A bF4 System Alarm 4 Internal program error 4 occurred in the SERVO PACK Gr 1 No A bF5 System Alarm 5 Internal program error 5 occurred in the SERVO PACK Gr 1 No A bF6 System Alarm 6 Internal program error 6 occurred in the SERVO PACK Gr 1 No A bF7 System ...

Page 86: ... Yes A d30 Position Data Overflow The position feedback data exceeded 1 879 048 192 Gr 1 No A E02 MECHATROLINK Internal Synchronization Error 1 A synchronization error occurred during MECHATROLINK communications with the SER VOPACK Gr 1 Yes A E40 MECHATROLINK Trans mission Cycle Setting Error The setting of the MECHATROLINK communica tions transmission cycle is not correct Gr 2 Yes A E41 MECHATROL...

Page 87: ...put timing of the safety function signal Gr 1 No A EC8 Gate Drive Error 1 An error occurred in the gate drive circuit Gr 1 No A EC9 Gate Drive Error 2 An error occurred in the gate drive circuit Gr 1 No A Ed1 Command Execution Tim eout A timeout error occurred for a MECHATROLINK command Gr 2 Yes A F10 Power Supply Line Open Phase The voltage was low for more than one second for phase R S or T when...

Page 88: ...nd 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 to the SERVOPACK OFF and ON again If the alarm still occurs the SERVOPACK may have failed The SERVOPACK may be faulty Replace the SER VOPACK A 021 Parameter For mat Error There is an error in the parameter data f...

Page 89: ...io The ratio must be within the fol lowing range 0 001 Pn20E Pn210 64 000 Set the electronic gear ratio in the following range 0 001 Pn20E Pn210 64 000 1 A 041 Encoder Output Pulse Setting Error The setting of Pn212 Encoder Output Pulses or Pn281 Encoder Output Res olution is outside of the setting range or does not satisfy the setting conditions Check the setting of Pn212 or Pn281 Set Pn212 or Pn...

Page 90: ...nfirm that the follow ing condition is met 1 4 Servomotor capacity SERVOPACK capacity 4 Select a proper combina tion of the SERVOPACK and Servomotor capaci ties 1 A failure occurred in the encoder Replace the encoder and check to see if the alarm still occurs Replace the Servomotor or encoder A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK A 051 Unsupported D...

Page 91: ... 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 activated or a DB overload alarm occurred Check the power con sumed by the DB resis tor to see how frequently the DB is being used Or check the alarm display to see if a DB overload alarm A 730 or A 731 has occ...

Page 92: ...and cable phases U V and W The cable may be short circuited Replace the cable There is a short circuit or ground fault inside the Servomotor Check for short circuits across Servomotor phases U V and W or between the ground and Servomotor phases U V or W The Servomotor may be faulty Replace the Servo motor There is a short circuit or ground fault inside the SERVOPACK Check for short circuits across...

Page 93: ...als B2 and B3 was removed from one of the fol lowing SERVO PACKs SGD7S 120A Check to see if the jumper is connected between power supply terminals B2 and B3 Correctly connect a jumper 1 The External Regener ative Resistor is not wired correctly or was removed or discon nected Check the wiring of the External Regenerative Resistor Correct the wiring of the External Regenerative Resistor A failure o...

Page 94: ...tion 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 nal Regenerative Resistor Check to see if a Regenerative Resistor is connected and check the setting of Pn600 Correct the setting of Pn600 1 The setting of Pn603 Regenerative Resis tor Capacity is smaller than the capacity of...

Page 95: ...e SER VOPACK A 400 Overvoltage Detected in the main circuit power supply section of the SERVOPACK The power supply voltage exceeded the specified range Measure the power supply voltage Set the AC DC power supply voltage within the specified range The power supply is not stable or was influenced by a light ning surge Measure the power supply voltage Improve the power sup ply conditions install a su...

Page 96: ...rm of the motor speed Reduce the speed refer ence input gain and adjust the servo gain Or reconsider the operating conditions A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK A 511 Encoder Output Pulse Overspeed The encoder output pulse frequency exceeded the limit Check the encoder out put pulse setting Decrease the setting of Pn212 Encoder Output Pulses or P...

Page 97: ... the motor capacity An excessive load was applied during operation because the Servomotor was not driven due to mechanical problems Check the operation reference and motor speed Correct the mechanical problem A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK A 730 and A 731 Dynamic Brake Overload An excessive power consump tion by the dynamic brake was detected...

Page 98: ... 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 environment monitor Decrease the surround ing temperature by improving the SERVO PACK installation condi tions 1 An overload alarm was reset by turning OFF the power sup ply too many times Check the alarm display ...

Page 99: ...A failure occurred 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 820 Encoder Check sum Alarm Detected at the encoder A failure occurred in the encoder When Using an Abso lute Encoder Set up the encoder again If the alarm still occurs the Servomotor ...

Page 100: ...faulty Replace the Servomotor 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 860 Encoder Over heated Detected at the encoder The surrounding air temperature around the Servomotor is too high Measure the surround ing air temperature around the Servomotor Reduce the surrounding a...

Page 101: ...he overheat pro tection input information on the Motion Monitor Tab Page on the Sig maWin Repair the line for the overheat protection input signal An overload alarm was reset by turning OFF the power sup ply too many times Check the alarm display to see if there is an overload alarm Change the method for resetting the alarm Operation was per formed under an excessive load Use the accumulated load ...

Page 102: ... If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A b6b MECHATROLINK Communications ASIC Error 2 A malfunction occurred in the MECHATROLINK communications sec tion due to noise Implement the following countermeasures against noise Check the MECHATROLINK Com munications Cable and FG wiring Attach a ferrite core to the MECHATROLINK Communications Cable There is a fault in t...

Page 103: ...red 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 bF8 System Alarm 8 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 C10 Servomotor Out of Control Detected when the servo is t...

Page 104: ...ent Improve the operating environmental and replace the cable If the alarm still occurs replace the SERVOPACK 1 A malfunction was caused by noise Correct the wiring around the encoder 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 the control power sup...

Page 105: ...e faulty Replace the Servomotor 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 CA0 Encoder Parame ter Error A failure occurred in the encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Servomotor may be faulty Replace the Servomotor A f...

Page 106: ...Ser vomotor A failure occurred in the encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Servomotor may be faulty Replace the Servomotor 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 CC0 Multiturn Limit Disagreement When using a Direct...

Page 107: ...it A failure occurred in the SERVOPACK Replace the SERVO PACK A d00 Position Devia tion Overflow The setting of Pn520 Exces sive Position Deviation Alarm Level was exceeded by the position devia tion while the servo was ON The Servomotor U V and W wiring is not correct Check the wiring of the Servomotor s Main Cir cuit Cables Make sure that there are no faulty contacts in the wiring for the Servom...

Page 108: ...External Encoder Usage to reverse the direction 1 There is an error in the connection between the load e g stage and external encoder coupling Check the coupling of the external encoder Check the mechanical coupling A d30 Position Data Overflow The position data exceeded 1 879 048 192 Check the input refer ence pulse counter Reconsider the operating specifications A E02 MECHATROLINK Internal Synch...

Page 109: ...s the SERVOPACK may be faulty Replace the SERVOPACK A E51 MECHATROLINK Synchronization Failed The WDT data at the host controller was not updated correctly at the start of syn chronous communi cations so synchronous commu nications could not be started Check to see if the WDT data is being updated in the host controller Correctly update the WDT data at the host controller A failure occurred in the...

Page 110: ...71 Safety Option Module Detec tion Failure There is a faulty con nection between the SERVOPACK and the Safety Option Module Check the connection between the SERVO PACK and the Safety Option Module Correctly connect the Safety Option Module The Safety Option Module was discon nected Execute Fn014 Reset Option Module Configura tion Error from the Digital Operator or SigmaWin and then turn the power ...

Page 111: ...te drive circuit A Ed1 Command Exe cution Timeout A timeout error occurred for a MECHATROLINK command Check the motor status when the command is executed Execute the SV_ON or SENS_ON command only when the motor is not operating For fully closed loop control check the sta tus of the external encoder when the com mand is executed Execute the SENS_ON command only when an external encoder is con necte...

Page 112: ...larm FL 4 5 System Alarm FL 5 5 System Alarm FL 6 5 System Alarm CPF00 Digital Operator Communications Error 1 There is a faulty con tact between the Digi tal Operator and the SERVOPACK Check the 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 Opera...

Page 113: ...arning Displays 5 33 5 Maintenance 5 4 Warning Displays If a warning occurs in the SERVOPACK a warning number will be displayed on the panel dis play Warnings are displayed to warn you before an alarm occurs ...

Page 114: ... alarm may occur Required A 921 Dynamic Brake Over load This warning occurs before an A 731 alarm Dynamic Brake Overload occurs If the warning is ignored and operation is continued an alarm may occur Required A 923 SERVOPACK Built in Fan Stopped The fan inside the SERVOPACK stopped Required A 930 Absolute Encoder Bat tery Error This warning occurs when the voltage of absolute encoder s battery is ...

Page 115: ...Undervoltage This warning occurs before an A 410 alarm Undervolt age occurs If the warning is ignored and operation is continued an alarm may occur Required A 97A Command Warning 7 Phase Error A command that cannot be executed in the current phase was sent Automatically reset A 97b Data Clamp Out of Range The set command data was clamped to the minimum or maximum value of the allowable setting ran...

Page 116: ...rence 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 selecting the position reference filter ACCFIL using a MECHATROLINK command The excessive position deviation alarm level Pn520 Pn51E 100 is too low for the operating condi tions Check excessive posi tion deviation alar...

Page 117: ...at 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 Vibration Abnormal vibra tion was detected during motor operation Check for abnormal motor noise and check the speed and torque waveforms during operation Reduce the motor speed Or reduce the servo gain with custo...

Page 118: ...ACK 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 temperature using a thermostat Or check the operating status with the SERVOPACK installation environ ment monitor Decrease the surrounding temperature by improving the SERVOPACK installa tion conditions An overload...

Page 119: ... 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 dynamic brake resistor Check the power con sumed by the DB resis tor to see how frequently the DB is being used Reconsider the following Reduce the Servomotor command speed Decrease the moment of inertia or mass Reduce the frequency of stopping...

Page 120: ... pensation Informa tion Disagreement The speed ripple compensation information stored in the encoder does not agree with the speed ripple compensa tion information stored in the SER VOPACK Reset the speed ripple compensation value on the SigmaWin Set Pn423 to n 1 Do not detect A 942 alarms However changing the set ting may increase the speed ripple Set Pn423 to n 0 Disable torque ripple com pensat...

Page 121: ... conditions are satisfied A 95E Command Warning 5 Subcommand Not Possible The command sending condi tions for subcom mands was not satisfied Check the command that caused the warn ing Send the command after the conditions are satisfied A 95F Command Warning 6 Undefined Com mand An undefined command was sent Check the command that caused the warn ing Do not send undefined commands A 960 MECHATROLIN...

Page 122: ... SERVOPACK and connect a reactor A failure occurred in the 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 conditions are satisfied A 97b Data Clamp Out of Range The set com mand data was clamped to the minimum or maxi mum value of the setting range...

Page 123: ...tem Wire the cable correctly There is an overload on the Servomotor Operate the Servomotor with no load and check the load status Turn OFF the power supply to the servo system Reduce the load or replace the Servomotor with a Ser vomotor with a larger capacity The type of encoder that is being used does not agree with the set ting of Pn002 n X Encoder Usage Check the type of the encoder that is bei...

Page 124: ...ctions for the power line U V and W phases and the encoder or Serial Converter Unit may be unstable Check the wir ing Tighten any loose termi nals or connectors and correct the wiring Servomotor Moves with out a Refer ence Input A failure occurred in the SERVOPACK Turn OFF the power supply to the servo system Replace the SERVOPACK Dynamic Brake Does Not Operate The setting of Pn001 n X Servo OFF o...

Page 125: ...tem Check for any foreign mat ter damage or deformation in the machine s moving parts Consult with the machine manufacturer Noise interference occurred because of incorrect I O signal cable specifications Turn OFF the power supply to the servo system Check the I O signal cables to see if they satisfy specifi cations Use shielded twisted pair wire cables or screened twisted pair cables with conduct...

Page 126: ...inst noise for the encoder wiring The encoder was sub jected to excessive vibration or shock Turn OFF the power supply to the servo system Check to see if vibration from the machine occurred Check the Servomotor installation mounting sur face precision securing state and alignment Reduce machine vibra tion Improve the mounting conditions of the Servomo tor A failure occurred in the encoder Turn OF...

Page 127: ...em Check the Encoder Cable to see if it satisfies specifica tions Use a 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 is too long Turn OFF the power supply to the servo system Check the length of the Encoder Cable The Encoder Cable length must be...

Page 128: ...SERVOPACK and the host controller Implement countermea sures against noise and then perform parity checks again for the multiturn data or absolute encoder posi tion data Overtravel Occurred The P OT N OT For ward Drive Prohibit or Reverse Drive Prohibit 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 s...

Page 129: ...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 is too long Turn OFF the power supply to the servo system Check the length of the Encoder Cable The Encoder Cable length must be 50 m max Noise interference occurred because the Encoder Cable is dam a...

Page 130: ...ications Noise interference occurred because an I O signal cable is too long Turn OFF the power supply to the servo system Check the lengths of the I O signal cables The I O signal cables must be no longer than 3 m An encoder fault occurred The pulse count does not change Turn OFF the power supply to the servo system Replace the Servomotor A failure occurred in the SERVOPACK Turn OFF the power sup...

Page 131: ...1 Interpreting the Parameter Lists 6 2 6 1 1 Interpreting the Servo Parameter List 6 2 6 1 2 Interpreting the MECHATROLINK III Common Parameter List 6 2 6 2 List of Servo Parameters 6 3 6 3 List of MECHATROLINK III Common Parameters 6 40 Parameter Lists 6 ...

Page 132: ... Lin ear Servomotor Tuning Setup There are the following two classifications Refer to the following manual for details Σ 7 Series Σ 7S SERVOPACK with MECHATROLINK III Communications References Product Manual Manual No SIEP S800001 28 Σ 7 Series Σ 7S SERVOPACK with MECHATROLINK III Communications References and RJ 45 Connectors Product Manual Manual No SIEP S800001 62 M2 M3 Parameters that are vali...

Page 133: ...en an encoder is not connected start as SERVOPACK for Linear Servomo tor n X Motor Stopping Method for Servo OFF and Group 1 Alarms 0 Stop the motor by applying the dynamic brake 1 Stop the motor by the applying dynamic brake and then release the dynamic brake 2 Coast the motor to a stop without the dynamic brake n X Overtravel Stopping Method 0 Apply the dynamic brake or coast the motor to a stop...

Page 134: ... 1 The external encoder moves in the forward direction for CCW motor rotation 2 Reserved setting Do not use 3 The external encoder moves in the reverse direction for CCW motor rotation 4 Reserved setting Do not use n XX Analog Monitor 1 Signal Selection 00 Motor speed 1 V 1 000 min 1 01 Speed reference 1 V 1 000 min 1 02 Torque reference 1 V 100 rated torque 03 Position deviation 0 05 V reference ...

Page 135: ...pletion positioning completed 5 V positioning not com pleted 0 V 09 Speed feedforward 1 V 1 000 min 1 0A Torque feedforward 1 V 100 rated torque 0B Active gain 1st gain 1 V 2nd gain 2 V 0C Completion of position reference distribution completed 5 V not com pleted 0 V 0D External encoder speed 1 V 1 000 min 1 value at the motor shaft 0E Reserved setting Do not use 0F Reserved setting Do not use 10 ...

Page 136: ...torque set in Pn406 as the maximum torque Use the setting of Pn001 n X for the status after stopping 2 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque and then let the motor coast 3 Decelerate the motor to a stop using the deceleration time set in Pn30A Use the setting of Pn001 n X for the status after stopping 4 Decelerate the motor to a stop using the decelerat...

Page 137: ...e dynamic brake or coast the motor to a stop use the stopping method set in Pn001 n X 2 Set the stopping method with Pn00A n X n X Power Input Selection for Three phase SERVOPACK 0 Use a three phase power supply input 1 Use a three phase power supply input as a single phase power supply input n X Reserved parameter Do not change n X Function Selection for Test without a Motor 0 Disable tests witho...

Page 138: ...5 to 51 200 0 01 ms 2000 Rotary Immedi ately Tuning 1 Pn106 2 Second Position Loop Gain 10 to 20 000 0 1 s 400 Rotary Immedi ately Tuning 1 Pn109 2 Feedforward 0 to 100 1 0 Rotary Immedi ately Tuning 1 Pn10A 2 Feedforward Filter Time Constant 0 to 6 400 0 01 ms 0 Rotary Immedi ately Tuning 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Defau...

Page 139: ...edi ately Tuning 1 Pn125 2 Friction Compensation Gain Correction 1 to 1 000 1 100 Rotary Immedi ately Tuning 1 Pn131 2 Gain Switching Time 1 0 to 65 535 1 ms 0 Rotary Immedi ately Tuning 1 Pn132 2 Gain Switching Time 2 0 to 65 535 1 ms 0 Rotary Immedi ately Tuning 1 Pn135 2 Gain Switching Waiting Time 1 0 to 65 535 1 ms 0 Rotary Immedi ately Tuning 1 Pn136 2 Gain Switching Waiting Time 2 0 to 65 5...

Page 140: ...automatically 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 Completion Output signal turns OFF 2 NEAR Near Output signal turns ON 3 NEAR Near Output signal turns OFF 4 Position reference filter output is 0 and position reference input is OFF 5 Position referen...

Page 141: ...i Resonance Con trol Related Selections 0000h to 0011h 0010h Rotary Immedi ately Tuning 1 Pn161 2 Anti Resonance Fre quency 10 to 20 000 0 1 Hz 1000 Rotary Immedi ately Tuning 1 Pn162 2 Anti Resonance Gain Correction 1 to 1 000 1 100 Rotary Immedi ately Tuning 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors W...

Page 142: ...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 tuning less function After restart 1 Enable tuning less function n X Speed Control Method When Enabled 0 Use for speed control After restart 1 Use for speed control and use host controller for position control n X...

Page 143: ...10 000 1 ms 0 Rotary Immedi ately Setup 1 Pn308 2 Speed Feedback Filter Time Constant 0 to 65 535 0 01 ms 0 Rotary Immedi ately Setup 1 Pn30A 2 Deceleration Time for Servo OFF and Forced Stops 0 to 10 000 1 ms 0 Rotary Immedi ately Setup 1 Pn30C 2 Speed Feedforward Average Movement Time 0 to 5 100 0 1 ms 0 Rotary Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No...

Page 144: ...tup 1 Pn403 2 Reverse Torque Limit 0 to 800 1 2 800 Rotary Immedi ately Setup 1 Pn404 2 Forward External Torque Limit 0 to 800 1 2 100 Rotary Immedi ately Setup 1 Pn405 2 Reverse External Torque Limit 0 to 800 1 2 100 Rotary Immedi ately Setup 1 Pn406 2 Emergency Stop Torque 0 to 800 1 2 800 Rotary Immedi ately Setup 1 Pn407 2 Speed Limit during Torque Control 0 to 10 000 1 min 1 10000 Rotary Imme...

Page 145: ...cond Stage Second Notch Filter Q Value 50 to 100 0 01 50 Rotary Immedi ately Tuning 1 Pn412 2 First Stage Second Torque Reference Filter Time Constant 0 to 65 535 0 01 ms 100 Rotary Immedi ately Tuning 1 Continued 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 Notch Filter Sel...

Page 146: ...111h 0000h Rotary Setup 1 Pn424 2 Torque Limit at Main Cir cuit Voltage Drop 0 to 100 1 2 50 Rotary Immedi ately Setup 1 Pn425 2 Release Time for Torque Limit at Main Circuit Voltage Drop 0 to 1 000 1 ms 100 Rotary 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 fication...

Page 147: ...n Hold Time 20 to 50 000 1 ms 20 Rotary 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 fication Refer ence n X Notch Filter Adjustment Selection 1 0 Do not adjust the first stage notch filter automatically during execution of auto tuning without a host reference autotun...

Page 148: ...ve when CN1 8 input signal is ON closed 3 Enable forward drive when CN1 9 input signal is ON closed 4 Enable forward drive when CN1 10 input signal is ON closed 5 Enable forward drive when CN1 11 input signal is ON closed 6 Enable forward drive when CN1 12 input signal is ON closed 7 Set the signal to always prohibit forward drive 8 Set the signal to always enable forward drive 9 Enable forward dr...

Page 149: ... 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 signal is OFF open F Enable reverse drive when CN1 12 input signal is OFF open n X Reserved parameter Do not change n X P CL Forward External Torque Limit Input Signal Allocation 0 Active when CN1 13 input signal i...

Page 150: ...tion 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 Signal Allocation 0 to 6 The allocations are the same as the COIN Positioning Completion signal allocations n X CLT Torque Limit Detection Output Signal Allocation 0 Disabled the above signal output is not used ...

Page 151: ...le Motors When Enabled Classi fication Refer ence n X NEAR Near Output Signal Allocation 0 Disabled the above signal output is not used 1 Output the signal from the CN1 1 or CN1 2 output terminal 2 Output the signal from the CN1 23 or CN1 24 output terminal 3 Output the signal from the CN1 25 or CN1 26 output terminal 4 to 6 Reserved setting Do not use n X Reserved parameter Do not change n X Rese...

Page 152: ... OFF open D Active when CN1 10 input signal is OFF open E Active when CN1 11 input signal is OFF open F Active when CN1 12 input signal is OFF open n X EXT1 External Latch Input 1 Signal Allocation 0 to 3 The signal is always inactive 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 D Active when CN1 10 inp...

Page 153: ... 2 Output the signal from the CN1 23 or CN1 24 output terminal 3 Output the signal from the CN1 25 or CN1 26 output terminal 4 to 6 Reserved setting Do not use n X Reserved parameter Do not change n X FSTP Forced Stop Input Signal Allocation 0 Enable drive when CN1 13 input signal is ON closed 1 Enable drive when CN1 7 input signal is ON closed 2 Enable drive when CN1 8 input signal is ON closed 3...

Page 154: ... Accel eration Deceleration Time 2 to 10 000 1 ms 100 Rotary Immedi ately Setup 1 Pn535 2 Program Jogging Wait ing Time 0 to 10 000 1 ms 100 Rotary Immedi ately Setup 1 Pn536 2 Program Jogging Num ber of Movements 0 to 1 000 1 time 1 Rotary Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors Wh...

Page 155: ...ry Immedi ately Setup 1 Pn601 2 Dynamic Brake Resis tor Allowable Energy Consumption 0 to 65 535 10 J 0 Rotary After restart Setup 7 Pn603 2 Regenerative Resis tance 0 to 65 535 10 mΩ 0 Rotary Immedi ately Setup 1 Pn604 2 Dynamic Brake Resis tance 0 to 65 535 10 mΩ 0 Rotary After restart Setup 7 Pn621 to Pn628 4 Safety Module Related Parameters Rotary Pn660 2 Preset Position Output Function Switch...

Page 156: ...rnings A 96 5 Ignore both A 94 and A 96 warnings 6 Ignore both A 95 and A 96 warnings 7 Ignore A 94 A 95 and A 96 warnings 8 Ignore data setting warnings A 97A and A 97b 9 Ignore A 94 A 97A and A 97b warnings A Ignore A 95 A 97A and A 97b warnings B Ignore A 94 A 95 A 97A and A 97b warnings C Ignore A 96 A 97A and A 97b warnings D Ignore A 94 A 96 A 97A and A 97b warnings E Ignore A 95 A 96 A 97A ...

Page 157: ... units s 0 Rotary Immedi ately 9 Setup 2 Pn810 2 Exponential Accelera tion Deceleration Bias 0 to 65 535 100 ref erence units s 0 Rotary Immedi ately 10 Setup 2 Pn811 2 Exponential Accelera tion Deceleration Time Constant 0 to 5 100 0 1 ms 0 Rotary Immedi ately 10 Setup 2 Pn812 2 Movement Average Time 0 to 5 100 0 1 ms 0 Rotary Immedi ately 10 Setup 2 Pn814 4 External Positioning Final Travel Dist...

Page 158: ...Refer ence M2 13 n X IO12 Signal Mapping 0 Do not map 1 Monitor CN1 13 input terminal 2 Monitor CN1 7 input terminal 3 Monitor CN1 8 input terminal 4 Monitor CN1 9 input terminal 5 Monitor CN1 10 input terminal 6 Monitor CN1 11 input terminal 7 Monitor CN1 12 input terminal n X IO13 Signal Mapping 0 to 7 The mappings are the same as the IO12 signal mappings n X IO14 Signal Mapping 0 to 7 The mappi...

Page 159: ...Angle 2 deg Electrical angle from polarity origin 0015h Un005 Input Signal Monitor 0016h Un006 Output Signal Monitor 0017h Un007 Input Reference Speed min 1 0018h Un008 Position Deviation reference units 0019h Un009 Accumulated Load Ratio 001Ah Un00A Regenerative Load Ratio 001Bh Un00B Dynamic Brake Resistor Power Consumption 001Ch Un00C Input Reference Pulse Counter reference units 001Dh Un00D Fe...

Page 160: ... Option Monitor 1 Selection M2 13 n X ACCFIL Allocation Option 0 Allocate bits 0 and 1 to ACCFIL 1 Allocate bits 1 and 2 to ACCFIL 2 Allocate bits 2 and 3 to ACCFIL 3 Allocate bits 3 and 4 to ACCFIL 4 Allocate bits 4 and 5 to ACCFIL 5 Allocate bits 5 and 6 to ACCFIL 6 Allocate bits 6 and 7 to ACCFIL 7 Allocate bits 7 and 8 to ACCFIL 8 Allocate bits 8 and 9 to ACCFIL 9 Allocate bits 9 and 10 to ACC...

Page 161: ...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 Allocation Enable Disable Selection 0 Disable V_PPI allocation 1 Enable V_PPI allocation n X P_PI_CLR Allocation Option 0 to F The settings are the same as for the V_PPI allocations n X P_PI_CLR Allo...

Page 162: ... 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 11 to BANK_SEL1 9 Allocate bits 9 to 12 to BANK_SEL1 A Allocate bits 10 to 13 to BANK_SEL1 B Allocate bits 11 to 14 to BANK_SEL1 C Allocate bits 12 to 15 to BANK_SEL1 n X BANK_SEL1 Allocation Enable Disable Selection 0 D...

Page 163: ...n Refer 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 Allocate bits 2 to 4 to OUT_SIGNAL 3 Allocate bits 3 to 5 to OUT_SIGNAL 4 Allocate bits 4 to 6 to OUT_SIGNAL 5 Allocate bits 5 to 7 to OUT_SIGNAL 6 Allocate bits 6 to 8 to OUT_SIGNAL 7 Allocate bits...

Page 164: ... 50 1 0 Rotary Immedi ately 10 Setup Pn850 2 Number of Latch Sequences 0 to 8 0 Rotary Immedi ately Setup 2 Pn851 2 Continuous Latch Sequence Count 0 to 255 0 Rotary Immedi ately Setup 2 Pn852 2 Latch Sequence 1 to 4 Settings 0000h to 3333h 0000h Rotary Immedi ately Setup 2 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applica...

Page 165: ...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 IO_STS2 to CN1 13 input signal monitor 2 Allocate bit 26 IO_STS3 to CN1 13 input signal monitor 3 Allocate bit 27 IO_STS4 to CN1 13 input signal monitor 4 Allocate bit 28 IO_STS5 to CN1 13 input signal...

Page 166: ...1 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 8 n X Input Signal Monitor Allocation for CN1 10 SVCMD_IO 0 to 7 The settings are the same as the CN1 13 allocations n X CN1 10 Input Signal Monitor Enable Disable Selection 0 Disable allocation for CN1 10 input signal mo...

Page 167: ...gnal 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 2 output signal monitor 6 Allocate bit 30 IO_STS7 to CN1 1 CN1 2 output signal monitor 7 Allocate bit 31 IO_STS8 to CN1 1 CN1 2 output signal monitor n X CN1 1 CN1 2 Output Signal Monitor Enable Disable Selection 0 Disable allocation for CN1 1 CN1 2 output signal monitor 1 Enable allo...

Page 168: ...Data Monitor during Alarm Warning for maintenance read only 0h to FFFFFFFFh 0 Rotary Setup 2 Pn900 2 Number of Parameter Banks 0 to 16 0 Rotary After restart Setup 2 Pn901 2 Number of Parameter Bank Members 0 to 15 0 Rotary After restart Setup 2 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Class...

Page 169: ...RVOPACK with Dynamic Brake Hardware Option Specifications Prod uct Manual Manual No SIEP S800001 73 8 This parameter is valid only when the MECHATROLINK III standard servo profile is used 9 The parameter 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 referen...

Page 170: ...lection read only 0h to 1h Rotary 03 PnA06 4 Semi closed Fully closed Type read only 0h to 1h Rotary 04 PnA08 4 Rated Motor Speed read only 0h to FFFFFFFFh 1 min 1 Rotary 05 PnA0A 4 Maximum Output Speed read only 0h to FFFFFFFFh 1 min 1 Rotary 06 PnA0C 4 Speed Multiplier read only 1 073 741 823 to 1 073 741 823 Rotary Device information 07 PnA0E 4 Rated Torque read only 0h to FFFFFFFFh 1 N m Rotar...

Page 171: ... Immedi ately 27 PnA4E 4 Reserved parameter Do not change 0 Rotary Immedi ately 28 PnA50 4 Reverse Software Limit 1 073 741 823 to 1 073 741 823 1 reference unit 1073741 823 Rotary Immedi ately 29 PnA52 4 Reserved parameter Do not change 0 Rotary Immedi ately 41 PnA82 4 Speed Unit 2 0h to 4h 0h Rotary After restart Unit settings Continued on next page Continued from previous page Parameter No Size...

Page 172: ...After restart 46 PnA8C 4 Acceleration Base Unit Selection Set the value of n from the following formula Acceleration unit selection 45 PnA8A 10n 4 to 6 4 Rotary After restart 47 PnA8E 4 Torque Unit Selection 1h to 2h 1h Rotary After restart 48 PnA90 4 Torque Base Unit Selection 5 Set the value of n from the following formula Torque unit selection 47 PnA8E 10n 5 to 0 0 Rotary After restart Continue...

Page 173: ...Movement Average Time 0 to 510 000 1 μs 0 1 ms 0 Rotary Immedi ately 6 83 PnB06 4 External Positioning Final Travel Distance 1 073 741 823 to 1 073 741 823 1 reference unit 100 Rotary Immedi ately 84 PnB08 4 Origin Approach Speed 0h to 3FFFFFFFh 10 3 min 1 5 000h ref erence units s converted to 10 3 min 1 Rotary Immedi ately Continued on next page Continued from previous page Parameter No Size Nam...

Page 174: ...ec tion 2 0h to Fh 0h Rotary Immedi ately Command related parameters Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Resolution Default Setting Applicable Motors When Enabled Classi fication 0000h APOS 0001h CPOS 0002h PERR 0003h LPOS1 0004h LPOS2 0005h FSPD 0006h CSPD 0007h TRQ 0008h ALARM 0009h MPOS 000Ah Reserved undefined value 000Bh Reserv...

Page 175: ... mode 00h Position control mode 01h Speed control mode 02h Torque control mode Byte 3 Reserved Byte 4 Expansion signal monitor 0007h Reserved 0008h INIT_PGPOS Low Lower 32 bits of initial encoder position con verted to 64 bit position reference data 0009h INIT_PGPOS High Upper 32 bits of initial encoder position con verted to 64 bit position reference data Bit Name Description Value Setting Bit 0 ...

Page 176: ...B20 4 Servo Command Control Field Enable Disable Selections read only 0FFF3F3F h Rotary Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Resolution Default Setting Applicable Motors When Enabled Classi fication 0000h to 0009h The settings are the same as those for SEL_MON Monitor Selection 1 Bit 0 CMD_PAUSE 1 Enabled Bit 1 CMD_CANCEL 1 Enabled B...

Page 177: ...d 0 Disabled 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 Enabled Bits 14 and 15 Reserved 0 Disabled Bits 16 to 19 SEL_MON1 1 Enabled Bits 20 to 23 SEL_MON2 1 Enabled Bits 24 to 27 SEL_MON3 1 Enabled Bits 28 to 31 Reserved 0 Disabled Bits 0 to 3 Reserv...

Page 178: ...you change the setting during operation the reference output will be affected 93 PnB26 4 Input Bit Enable Dis able Selections read only FF0FFEFEh Rotary Command related parameters Continued from previous page Parameter No Size Name Setting Range Setting Unit Resolution Default Setting Applicable Motors When Enabled Classi fication Bit 0 Reserved 0 Disabled Bit 1 DEC 1 Enabled Bit 2 P OT 1 Enabled ...

Page 179: ...te 4 3 list of alarms 5 3 list of MECHATROLINK III common parameters 6 40 list of servo parameters 6 3 list of warnings 5 34 M Main Circuit Cable xii multiturn limit 4 4 O output distance setting 3 6 output function selection 3 5 output position compensation setting 3 7 output position setting 3 5 output time setting 3 6 P parameters notation numeric settings xiii notation selecting functions xiii...

Page 180: ...unications references and RJ 45 connectors 2 8 surrounding air temperature SERVOPACK with MECHATROLINK III communications references 2 5 SERVOPACK with MECHATROLINK III communications references and RJ 45 connectors 2 8 T transmission cycle SERVOPACK with MECHATROLINK III communications references 2 7 SERVOPACK with MECHATROLINK III communications references and RJ 45 connectors 2 10 triggers at p...

Page 181: ... cover Refer to the following example Date of Publication Rev No Section Revised Content October 2019 2 Preface Chapters 5 6 Partly revised Back cover Revision Address October 2018 1 All chapters Partly revised Back cover Revision Address July 2017 First edition MANUAL NO SIEP S800002 28A 0 Published in Japan July 2017 Date of publication Revision number ...

Page 182: ...CTRIC CHINA CO LTD 22F Link Square 1 No 222 Hubin Road Shanghai 200021 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 http www yaskawa com cn YASKAWA ELECTRIC CHINA CO LTD BEIJING OFFICE Room 1011 Tower W3 Oriental Plaza No 1 East Chang An Ave Dong Cheng District Beijing 100738 China Phone 86 10 8518 4086 Fax 86 10 8518 4082 YASKAWA ELECTRIC TAIWAN CORPORATION 12F No 207 Sec 3 Beishin Rd Shindian...

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