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4.1 Lists of Commands

4 MECHATROLINK-

Commands

4.1

Lists of Commands

4.1.1 Main Commands List

The MECHATROLINK-

main commands are classified into three types: Common commands, com-

mon motion commands, and servo standard commands

Classifica-

tions

Com-

mand

Code

Command

Name

Functions

Process-

ing Classi-

fications

Synchroni-

zation Clas-

sifications

Subcom-

mand

Remarks

Common
Commands

00H

NOP

No Operation

Asynchro-
nous

Can be
used

01H

PRM_RD

Read Parameter

Asynchro-
nous

Cannot
be used

02H

PRM_WR

Write Parameter

Asynchro-
nous

Cannot
be used

03H

ID_RD

Read ID

Asynchro-
nous

Cannot
be used

04H

CONFIG

Setup Device

Asynchro-
nous

Cannot
be used

05H

ALM_RD

Read Alarm or
Warning

Asynchro-
nous

Cannot
be used

06H

ALM_CLR

Clear alarm or
warning

Asynchro-
nous

Cannot
be used

0DH

SYNC_SET

Start Synchro-
nous Communi-
cation

Asynchro-
nous

Cannot
be used

0EH

CONNECT

Establish Con-
nection

Asynchro-
nous

Cannot
be used

0FH

DISCON-
NECT

Release Discon-
nection

Asynchro-
nous

Cannot
be used

1CH

PPRM_WR

Write Stored
Parameter

Asynchro-
nous

Cannot
be used

Common
Motion
Commands

20H

POS_SET

Set Coordinates

Asynchro-
nous

Cannot
be used

21H

BRK_ON

Apply Brake

Asynchro-
nous

Cannot
be used

22H

BRK_OFF

Release Brake

Asynchro-
nous

Cannot
be used

23H

SENS_ON

Turn Sensor ON

Asynchro-
nous

Cannot
be used

24H

SENS_OFF

Turn Sensor OFF

Asynchro-
nous

Cannot
be used

25H

HOLD

Stop Motion

Asynchro-
nous

Can be
used

TOEP_C710806_03A_1_0.book Seite 55 Montag, 2. Juli 2007 3:55 15

Содержание Junma ML-II SJDE-02ANA-OY

Страница 1: ...OMRONYASKAWAMotionControlB V JUNMA SERIES SERVO DRIVE Mechatrolink II communications type Manual No TOEP C71080603 01 OY Model SJDE ANA OY USER S MANUAL...

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

Страница 3: ...bers Association Manual Name Manual Number JUNMA series AC SERVOMOTOR INSTRUCTIONS TOMPC23026100 or TOEPC23026101 Indicates precautions that if not heeded could possibly result in loss of life or seri...

Страница 4: ...on cannot be read again if the power supply is turned OFF Never touch any rotating motor parts while the motor is running Failure to observe this warning may result in injury Before starting operation...

Страница 5: ...e specified combinations Failure to observe this caution may result in fire or malfunction Do not store or install the product in the following places Failure to observe this caution may result in dam...

Страница 6: ...fragment or combustibles from entering the product Failure to observe this caution may cause internal elements to deteriorate resulting in mal function or fire Be sure to install the product in the c...

Страница 7: ...t in injury or damage to the equipment Be sure to com pletely stop the motor by turning OFF the servo using the emergency stop When executing the JOG operation and the home position search operation u...

Страница 8: ...pply regenerative unit Remove the connector for power supply regenerative unit from the SERVOPACK prior to wiring Insert only one wire per terminal on the connector for power supply regenerative unit...

Страница 9: ...e the cause turn OFF the power and ON again after confirm ing safety and then resume operation Failure to observe this caution may result in injury Do not use the holding brake of the servomotor for o...

Страница 10: ...ed This manual is subject to change due to product improvement specification modification and man ual improvement When this manual is revised the manual code is updated and the new manual is published...

Страница 11: ...2 Standard Connection 20 3 3 Precautions on Wiring 21 3 3 1 Protection for Power Supply Line 21 3 3 2 Caution for Grounding 21 3 3 3 Caution for Cable 22 3 3 4 Power Loss 22 3 3 5 SERVOPACKs and Appl...

Страница 12: ...ommands List 57 4 2 Main Commands 58 4 2 1 Communication Phases 58 4 2 2 No Operation NOP 00H 60 4 2 3 Read Parameter PRM_RD 01H 61 4 2 4 Write Parameter PRM_WR 02H 62 4 2 5 Read ID ID_RD 03H 63 4 2 6...

Страница 13: ...ions STATUS 96 4 5 4 Monitor Selection and Monitor Information Field Specifications SEL_MON1 2 3 4 MONITOR1 2 3 4 101 4 5 5 IO Monitor Field Specifications IO_MON 103 4 5 6 Substatus Field Specificati...

Страница 14: ...of Parameters 129 8 Troubleshooting 134 8 1 Alarm Displays 136 8 2 Warning Displays 138 8 3 Alarm Warning Display and Troubleshooting 139 8 3 1 Alarm Display and Troubleshooting 139 8 3 2 Warning Disp...

Страница 15: ...ties such as incorrect SERVOPACK model damages and missing parts or items contact your Omron Yaskawa representative or the dealer from whom you purchased the prod ucts 1 2 Warning Label A warning labe...

Страница 16: ...W SJME 02AM 41 OY SJME 02AM 4C OY SJDE 02ANA OY 400 W SJME 04AM 41 OY SJME 04AM 4C OY SJDE 04ANA OY 750 W SJME 08AM 41 OY SJME 08AM 4C OY SJDE 08ANA OY SJDE 02 A N A OY JUNMA series SJDE SERVOPACK Pow...

Страница 17: ...main circuit cable CNB Refer to 3 4 3 Wiring Connector for the Ser vomotor Main Circuit Cable CNB Connector for power supply regenerative unit CNA Refer to 3 4 2 Wiring Connector for the Power Supply...

Страница 18: ...and servomotors are built in type reconfirmation is required after being installed in the final product Model UL 1 Standards UL File No CSA 2 Standards Certification SERVOPACK SJDE UL508C E147823 CSA...

Страница 19: ...llation Site Installation in a control panel Design the control panel size unit layout and cooling method so that the temperature around the SERVOPACK does not exceed 55 C Note To extend product life...

Страница 20: ...anel This allows the units to cool Do not cover the inlet or outlet parts of the SERVOPACK and prevent any foreign objects such as metallic fragment or combustibles from entering the product Failure t...

Страница 21: ...nnect a molded case circuit breaker Magnetic contactor Used to turn OFF the servo power supply when using a regenerative unit or an emergency stop MECHATROLINK II connection SJDE SERVOPACKs SJME Servo...

Страница 22: ...3 3k 5 3 3k 3 3k 1 2 3 4 6 12 13 7 MC1 CNA CNB CN6A CN2 CN1 1 2 3 4 1 2 3 1 2 3 4 5 6 7 8 9 10 A2 A3 B2 B3 130 Varistor Servomotor Brake CN6B 130 Terminator CN9 1 2 3 4 TXD RXD GND S S 24VIN EXT1 DEC...

Страница 23: ...be lost if the power supply is turned OFF If this information is required for the operation of the host controller make sure that the system has an emergency stop signal E STP that will stop operation...

Страница 24: ...main circuit cable and connector for the servomotor The power supply is turned ON during a ground fault To configure a safer system install an ground fault detector for protection against overloads Po...

Страница 25: ...on the frame of the servomotor to the grounding ter minal on the SERVOPACK Be sure to ground the grounding terminal of the SERVOPACK If the wires of the servomotor s main circuit are laid in a metal...

Страница 26: ...ral SERVOPACK models Filter dimensions for model R7A FIZN105 BE Application of Noise Filters Power Supply Voltage SERVOPACK Model Recommended Noise Filters Model Specifications Manufacturer Single pha...

Страница 27: ...3 3 Precautions on Wiring 25 Filter dimensions for model R7A FIZN109 BE...

Страница 28: ...le as a connection around the ferrite core with two turns then attach them by the SERVOPACK Refer to the diagram in the previous page Note Recommended Ferrite core Model ESD SR 25 Tokin Corp Symbol Ca...

Страница 29: ...in accordance with the National Electrical Code NEC Use 75 C heat resistant copper wires or an equivalent 3 4 1 SERVOPACK Main Circuit Cables Cable Types Wire sizes are selected for three cables per b...

Страница 30: ...for all wiring Ground Terminal AWG Size Nominal Cross Section Diameter mm2 Configuration Number of wires mm2 Conductive Resistance mm2 Allowable Current at Ambient Temperature A 30 C 40 C 50 C 20 0 5...

Страница 31: ...ard UL CSA listed Shielded cable Bending radius dynamic 10x diameter Cycles 10 million JZSP CHM030 01 5E 1 5 m JZSP CHM030 03 E 3 m JZSP CHM030 05 E 5 m JZSP CHM030 10 E 10 m JZSP CHM030 15 E 15 m JZS...

Страница 32: ...15 E 15 m JZSP CHP800 20 E 20 m Non flexible cables R7A CRZ003C 3 m R7A CRZ005C 5 m R7A CRZ0010C 10 m Connector Kit for Encoder Cable 1 Motor end crimp type JZSP CHP9 1 2 SERVOPACK end CN2 soldered ty...

Страница 33: ...5 m 1 64 ft min 7 Specify the cable length in when ordering as shown in the table below MECATRO LINK II Communica tion Cable Cable with con nectors at both ends 6 Without ferrite core JEPMC W6002 7 O...

Страница 34: ...Use a standard flat blade screwdriver blade width of 2 5 to 3 0 mm 0 09 to 0 12 in Put the blade into the slot as shown in Fig B and press down firmly to open the wire terminal Either the procedure s...

Страница 35: ...nals 4 YASKAWA COM ALM RDY FIL L1 PWR L2 U V W CNB CNA CN2 CN1 CN6 A B 4 3 2 1 0 F EDCB A 9 8 7 6 5 200V SJDE SERVOPACK 04ANA A 4 3 2 1 N Power supply Regenerative Unit connector JZSP CHG9 1 Is suppli...

Страница 36: ...nector for the Power Supply Regenerative Unit CNA for details and the procedure The distance between the servomotor main circuit and the encoder cable as well as the I O cable and MECHATROLINK II cabl...

Страница 37: ...Connector for servomotor main circuit cable JZSP CHG9 1 Is supplied with the servopack 1 2 3 4 1 2 3 4 SERVOPACK end M4 crimped terminal L Connector crimp type Receptacle 5557 06R 210 Terminal 5556T C...

Страница 38: ...rake ON and OFF so that the movable section will not be pulled down by gravity when the power supply of the SERVOPACK is turned OFF 5 Turn the holding brake on the secondary side ON and OFF as shown i...

Страница 39: ...erminal Connector crimp type Receptacle F32FSS 04V KY Receptacle contact SF3F 01GF P2 0 or SF3F 41GF P2 0 J S T Mfg Co Ltd 1 4 SERVOPACK End Connector Viewed from cable insertion side 1 2 3 4 5 6 Serv...

Страница 40: ...otor End Connector Viewed from cable insertion side Shield wire 6 5 4 3 2 1 12 11 10 8 7 9 9 7 5 3 1 2 4 6 8 10 SERVOPACK end Applicable wires For encoder power supply AWG22 0 33 mm2 For other signal...

Страница 41: ...stomer refer to the diagram below and wire the cable correctly Pin No I O Code Signal Name Lead Color Dot Mark Number Color 1 Input EXT1 External_Latch Orange 1 Black 2 Input DEC Homing Decelaration R...

Страница 42: ...mpany Cable Models Connection Configuration and Dimensions Wiring Connector plug 10114 3000VE Sumitomo 3M Connector case 10314 52A0 008 Sumitomo 3M Wires with the same wire color and the same number o...

Страница 43: ...gth The total cable length must be 50 m max The cable length between stations must be 0 5 m min Terminator Install a terminator on the SERVOPACK connected at the end of communication cable Type Model...

Страница 44: ...such as power sup ply line and servomotor main circuit cable and MECHATROLINK II cable Ln L1 L2 L1 L2 Ln O 50 m Cable length between stations 0 5 m min Max number of slaves 30 with repeaters connected...

Страница 45: ...n Cable Form Connector Specifications Type Model Length Personal Computer Cable JZSP CPS00 02 2 m Conductor Size Configuration of exposed wire Sheath Outer Diameter AWG24 0 16 mm 0 9 to 1 45 mm AWG26...

Страница 46: ...pply is not built into the SERVOPACK Specifications of the external power supply for sequence input signals 24 VDC 1 V 50 mA min The same power supply as that of the output circuit should be used Twis...

Страница 47: ...ction Example of Output Signal Set the load so that the output current will fall within 50 mA or less Photocoupler output Per output signal Max voltage 30 VDC Max current 50 m ADC SERVOPACK 24 VDC Pow...

Страница 48: ...al is used for the homing ZRET command and the external signal input positioning EX_POSING functions of MECHATROLINK II communications specifications Signal Name Signal Function Homing Deceleration Si...

Страница 49: ...plied to the servomotor Use the emergency stop signal input E STP to forcibly turn OFF the servo from an external sequence such as host controller at occurrence of servo alarm or system emergency stop...

Страница 50: ...voltage rotates the servomotor for a few seconds after the power supply has been turned OFF and may result in injury or damage to the equipment Position information is not stored in the SERVOPACK so...

Страница 51: ...circuits as required Related Parameters When executing JOG operation and the home position search operation using CX Drive the P OT and N OT signals will be ignored Alternative measures must be taken...

Страница 52: ...3 7 6 Brake Interlock Output The usual connection for brake interlock signal BK is shown below These signal turns ON when the servo turns ON and OFF when the servo turns OFF They are used to control t...

Страница 53: ...s Brake BK Servo ON Servo OFF Brake ON Brake OFF Approx 100 min 1 Brake BK Servo OFF SV_OFF command Approx 500 ms Motor speed min 1 Servo ON Servo OFF Brake ON Brake OFF BK Signal Output Conditions Wh...

Страница 54: ...reflection Connect repeaters for a network with a total distance exceeding 30 m regardless of whether the number of slaves is 17 or more or 16 or less 3 8 2 Wiring Specifications Terminators Install...

Страница 55: ...et ON ON Fixed Bit 2 Transmission bytes OFF 17 bytes ON ON 32 bytes Bit 3 Station address OFF Station address 40H SW1 OFF ON Station address 50H SW1 Bit 4 Selection of filter setting method OFF Sets b...

Страница 56: ...Machine Controller Refer to the relevant Machine Controller s manual 3 8 5 MECHATROLINK II Communications Status Indicator COM LED The LED indicator COM green on the front of SERVOPACK lights up when...

Страница 57: ...etup Device C Asynchro nous Cannot be used 05H ALM_RD Read Alarm or Warning D Asynchro nous Cannot be used 06H ALM_CLR Clear alarm or warning C Asynchro nous Cannot be used 0DH SYNC_SET Start Synchro...

Страница 58: ...synchro nous Can be used 34H INTERPO LATE Interpolation Feed M Synchro nous Can be used 35H POSING Positioning M Asynchro nous Can be used 36H FEED Constant Speed Feed M Asynchro nous Can be used 38H...

Страница 59: ...mmand Name Functions Remarks 00H NOP No Operation 01H PRM_RD Read Parameter 02H PRM_WR Write Parameter 05H ALM_RD Read Alarm or Warning 1CH PPRM_WR Write Stored Parameter 28H LTMOD_ON Request Latch Mo...

Страница 60: ...ion phases described here indi cate the communication state of the C1 master station in relation to the slave stations but do not indi cate the state of the C1 master station device Relationship betwe...

Страница 61: ...y the commands sent from the C1 master station If there are any errors in communication synchronization the slave station automatically switches to phase 2 Synchronous communication is started again b...

Страница 62: ...ycle Subcommand Can be used 3 STATUS Returns the status of the ALM WARNG and CMDRDY in STATUS bytes only All other bits are not used The response will be NOP when the power is turned ON until initiali...

Страница 63: ...ng parameters The latest set value however is read for offline parameters The set value is enabled with the Setup Device command CONFIG A warning will occur and the command will be ignored in the foll...

Страница 64: ...ed with the Setup Device command CON FIG transmission after setting Can be used during phases 2 and 3 A warning will occur and the command will be ignored in the following cases If a parameter is chan...

Страница 65: ...H 03H Processing clas sifications Data communi cations com mand group Synchronization classifications Asynchronous 2 ALARM Processing time Within commu nication cycle Subcommand Cannot be used 3 STATU...

Страница 66: ...RVOPACK will change to Servo OFF if this command is received when the SERVOPACK is Servo ON A warning will occur and the command will be ignored in the following cases If parameters are changed mid op...

Страница 67: ...Accord ingly the data in byte 6 is for the latest alarm or warning codes A warning will occur and the command will be ignored in the following cases If ALM_RD_MOD is not within range Data setting war...

Страница 68: ...trol com mand group Synchronization classifications Asynchronous 2 ALARM Processing time Refer to Details of ALM_CLR_MO D Subcommand Cannot be used 3 STATUS Clears the following alarm or warning statu...

Страница 69: ...response is detected During phase 3 the command will be ignored without a warning During Servo ON in phase 2 the SERVOPACK will change to Servo OFF if this command is received At the occurrence of the...

Страница 70: ...D is not within range Data setting warning 2 A 94B If COM_TIM is not within range Data setting warning 2 A 94B If the transmission bytes is 17 and SUBCMD is 1 Data setting warn ing 2 A 94B If VER is n...

Страница 71: ...R Description Command Response 1 1CH 1CH Processing clas sifications Data communi cations com mand group Synchronization classifications Asynchronous 2 ALARM Processing time Within 200 ms Subcommand C...

Страница 72: ...Data communi cations com mand group Synchronization classifications Asynchronous 2 ALARM Processing time Within commu nication cycle Subcommand Cannot be used 3 STATUS Sets coordinates REFE can also...

Страница 73: ...F the brake signal and locks the brake This command is enabled only while the servo is OFF Can be used during phases 2 and 3 Brake signal output timing 4 5 MONITOR 1 6 7 8 9 MONITOR 2 10 11 12 13 SEL_...

Страница 74: ...situation When using a BRK_ON or BRK_OFF command always keep in mind the status of the com mand Byte BRK_OFF Description Command Response 1 22H 22H Processing clas sifications Control com mand group...

Страница 75: ...9 MONITOR 2 10 11 12 13 SEL_MON 1 2 SEL_MON 1 2 14 IO_MON 15 16 WDT RWDT Byte SENS_OFF Description Command Response 1 24H 24H Processing clas sifications Control com mand group Synchronization classi...

Страница 76: ...according to the deceleration parameter 1 Stop immediately output stop Can be used during phases 2 and 3 OPTION field cannot be used Set all bits to 0 Use DEN output complete to confirm position data...

Страница 77: ...nded to the command response LPOS is forcefully returned to MONITOR2 When there is no monitor data such as PRM_RD or ALM_RD appended to the command response confirm that L_CMP is 1 in STA TUS then use...

Страница 78: ...be used during phases 2 and 3 Check that CMDRDY is 1 to confirm that the Release Latch Mode com mand has been received Interference with another latch mode command During the execution of a command su...

Страница 79: ...ynchronization classifications Asynchronous 2 ALARM Processing time Within commu nications cycle Subcommand Can be used 3 STATUS Reads the current status of the SERVOPACK Can be used during phases 2 a...

Страница 80: ...warning 1 A 95A If the main power supply turns OFF when PON of STATUS is 0 Com mand warning 1 A 95A If the emergency stop switch input turns ON when E STP of IO_MON is 1 Command warning 1 A 95A OPTIO...

Страница 81: ...up Synchronization classifications Asynchronous 2 ALARM Processing time Within 50 ms Subcommand Can be used 3 STATUS Turns OFF the power to the motor Can be used during phases 2 and 3 4 5 MONITOR1 6 7...

Страница 82: ...he SERVOPACK is Servo OFF Command warning 1 A 95A If the output speed Target position TPOS Current position IPOS exceeds the maximum speed Data setting warning 2 A 94B OPTION field cannot be used Set...

Страница 83: ...setting warning 2 A 94B OPTION field cannot be used Set all bits to 0 The target position TPOS is a signed 4 bytes It is sent by using an absolute position in the reference coordinate system The targ...

Страница 84: ...RVOPACK is Servo OFF Command warning 1 A 95A If the target speed TSPD exceeds the maximum speed Data setting warning 2 A 94B OPTION field cannot be used Set all bits to 0 The target speed TSPD is a si...

Страница 85: ...ning will occur and the command will be ignored in the following cases During phase 2 Command warning 1 A 95A If the SERVOPACK is Servo OFF Command warning 1 A 95A If the output speed the target posit...

Страница 86: ...occur and the command will be ignored in the following cases If the SERVOPACK is Servo OFF Command warning 1 A 95A If the target speed TSPD exceeds the maximum speed Data setting warning 2 A 94B OPTI...

Страница 87: ...Command Response 1 3AH 3AH Processing clas sifications Motion com mand group Synchronization classifications Asynchronous 2 LT_SGN ALARM Processing time Within commu nications cycle Subcommand Can be...

Страница 88: ...on reached is 0 Can be used during phases 2 and 3 A command warning will occur and the command will be ignored in the following cases If the SERVOPACK is Servo OFF Command warning 1 A 95A If the targe...

Страница 89: ...nal Travel Distance for Homing Pn820 Latching Area Upper Limit Pn822 Latching Area Lower Limit Byte ADJ Description Command Response 1 3EH 3EH Processing clas sifications Data communi cations com mand...

Страница 90: ...ed in the following cases If parameters are changed mid operation with CX Drive Command warning 1 A 95A If CADDRESS is out of the range Parameter setting warning A 94A If CSIZE does not match Paramete...

Страница 91: ...r occurred 2 Execute the parameter initialization Set the command fields to the following settings SUBCODE 01H fixed CCMD 0004H data setting fixed CADDRESS 2001H operation mode address 2001H fixed CSI...

Страница 92: ...ration NOP 00H 4 3 2 Read Parameter PRM_RD 01H Byte NOP Description Command Response 17 00H 00H Processing classifications Network com mand group Processing time Within commu nications cycle 18 SUBSTA...

Страница 93: ...a parameter This command has the same function as the main command PRM_WR 19 NO NO 20 21 SIZE SIZE 22 PARAME TER PARAME TER 23 24 25 26 27 28 29 Byte ALM_RD Description Command Response 17 05H 05H Pro...

Страница 94: ...ter This command has the same function as the main command PPRM_WR 19 NO NO 20 21 SIZE SIZE 22 PARAME TER PARAME TER 23 24 25 26 27 28 29 Byte LTMOD_ON Description Command Response 17 28H 28H Processi...

Страница 95: ...and has the same function as the main command LTMOD_OFF 19 SEL_MON 3 4 SEL_MON 3 4 20 MONITOR3 21 22 23 24 MONITOR4 25 26 27 28 29 Byte SMON Description Command Response 17 30H 30H Processing classifi...

Страница 96: ...ith a subcommand that cannot be combined is received during operation Code Main Command Subcommand NOP PRM_ RD PRM_ WR ALM_ RD PPRM_ WR LTMOD _ON LTMOD _OFF SMON 00 NOP 9 9 9 9 9 9 9 9 01 PRM_RD 9 9 0...

Страница 97: ...ond byte of the above main commands or the eighteenth byte reserved area of the subcommands Refer to the following table for details on bit allocation Latch Signal Field Set 0 for unused bits 4 5 2 Op...

Страница 98: ...Indicates whether the command can be received or not No command can be received if the SERVOPACK is in busy status The SERVOPACK will continue exe cuting the previously received command Servo ON SVON...

Страница 99: ...INT signal should be detected If not the opera tion was not successfully completed 1 Homing ZRET operation 2 Coordinates setting by having set the reference point REFE 1 by using POS_SET coordi nates...

Страница 100: ...RVOPACK D7 Status 0 Other than the status 1 1 Output completion DEN 1 and the feedback position APOS are within the positioning complete range Parameter No Name Data Size Min Set Value Max Set Value U...

Страница 101: ...ON the setting of D10 changes to 0 If a LATCH or EX_POSING command is changed to another command latching is cancelled and the setting of D10 is changed to 1 D8 Status 0 While outputting position ref...

Страница 102: ...s setting D11 Status 0 The feedback position APOS is outside the positioning proximity range 1 The feedback position APOS is within the positioning proximity range Parameter No Name Data Size Min Set...

Страница 103: ...3 4 Field MONITOR1 2 3 4 Monitor Codes For the items to be monitored for the SEL_MON commands 1 to 4 assign their monitor codes to the parame ter D7 D6 D5 D4 D3 D2 D1 D0 SEL_MON2 SEL_MON1 D7 D6 D5 D4...

Страница 104: ...tary switch or Pn00A Electronic gear Electronic gear Position control Electronic gear Electronic gear TRQ POSING related commands INTERPOLATE PERR TPOS IPOS POS CSPD MPOS APOS LPOS TSPD Accel decel cu...

Страница 105: ...ation limit switch input signal DEC Indicates the deceleration limit switch input signal status External latch input signal EXT1 Indicates the first external latch input signal status This signal is u...

Страница 106: ...ved area of the subcommands Substatus Field D10 Status 0 Emergency stop switch input OFF 1 Emergency stop switch input ON D7 D6 D5 D4 D3 D2 D1 D0 SBCM DRDY SBWARNG SBALM Bit Name Description Set Value...

Страница 107: ...nsupported Product Alarm SERVOPACK is faulty 0bH Servo ON Reference Invalid Alarm After the servo ON signal was sent through the CX Drive the SV_ON command of the MECHATROLINK II was sent 10H Overcurr...

Страница 108: ...EAH MECHATROLINK II Internal Synchronization Error 2 Synchronization error during MECHATROLINK II communications with the SERVOPACK EDH MECHATROLINK II Internal Command Error 0 Command error inside th...

Страница 109: ...I Com mand Warning 1 A command was sent though the command sending conditions were not satisfied MECHATROLINK II Com mand Warning 2 An unsupported command was sent MECHATROLINK II Com mand Warning 4 A...

Страница 110: ...Timing Motion commands POSING INTERPOLATE and the OPTION command data field are executed 625 s after they are received 4 6 2 Monitor Data Input Timing The monitor I O and status data is the data 625...

Страница 111: ...the DISCONNECT command is sent for two or more communications cycles prior to connection then the CONNECT command is sent Proce dure Item Command Description Phase 1 Turn ON control and main circuit...

Страница 112: ...ircuit power supplies NOP DISCON NECT 1 1 3 Establish connection CONNECT Establish communications Start the WDT count 2 or 3 4 Check information such as device ID ID_RD Read information such as device...

Страница 113: ...The interpolation command keeps the interpolation position then stops As an alternative send a HOLD or SMON command Move command POSING etc other than interpolation commands Send a HOLD command 2 Use...

Страница 114: ...ms elapses after the servo turns OFF E STP STATUS D3 SVON BK 500 ms 100 min 1 Motor speed Servo ON Brake OFF Servo OFF Alarm occurred Brake ON System recovery E STP Signal OFF ALM_CLR command SV_OFF...

Страница 115: ...eration and the home position search operation using CX Drive the forward run prohibited P OT reverse run prohibited N OT and emergency stop E STP signals will be ignored Alternative measures must be...

Страница 116: ...cifications When using the factory setting check the setting as well 4 Turn ON the SERVOPACK power supply Turn ON the SERVOPACK power supply 5 Start CX Drive Start CX Drive Select File New and select...

Страница 117: ...rive Type Settings menu enter your Junma Servo Drive details and confirm with OK Now select the suitable connection type and click on Connection Type settings to specify the details cont d Procedure D...

Страница 118: ...e position Used when alignment with the machine is required Click on connect button to go online with the Junma Select Test Run from the tuning category in the Tree view pane A warning message will be...

Страница 119: ...he servo 2 Run for n cycles where you can set up to 10 differ ent steps for a complex run operation When you select Run for n cycles the second tab Run Cycles is selected You will find a grid where yo...

Страница 120: ...reference that has no acceleration or deceleration time When setting reference filter using Pn00A Write a value in parameter Pn00A Filter Setting by using the PRM_WR or PPRM_WR command SW2 Bit4 Descri...

Страница 121: ...from the SER VOPACK such as feedback position or feedback speed is not changed Reverse Rotation Mode Setting Method Use the parameter Pn000 0 Use the following settings to select the direction of ser...

Страница 122: ...s related to the electronic gear Deceleration ratio Ball screw pitch Pulley diameter etc 2 Check the number of encoder pulses for the servomotor Servomotor Model Number of Encoder Pulses pulses rev SJ...

Страница 123: ...the electronic gear ratio satisfies the following equation 0 01 Electronic gear ratio 100 The SERVOPACK will not operate properly if the electronic gear ratio is outside of this range Modify the load...

Страница 124: ...escribed below B 8192 Servomotor shaft rotation speed A Reference units Load travel distance per load shaft one revolution Load shaft rotation speed Parameter No Name Data Size byte Min Set Value Max...

Страница 125: ...is 4 bytes During infinite length operation where the position data length exceeds 4 bytes the data becomes as shown below The position data is 0 when the power supply is turned ON 7FFFFFFFH 80000000...

Страница 126: ...ing to the target position TPOS at the target speed TSPD with acceleration deceleration set in parameters Use the parameters listed below to set asymmetric acceleration deceleration The set value will...

Страница 127: ...coordinate setting 6 6 2 Parameters Related Software Limit Function The set value will be immediately written to the SERVOPACK Parame ter No Name Data Size Min Set Value Max Set Value Units Factory Se...

Страница 128: ...NTERPOLATE commands is within the software limit zone positioning will be performed with the target position as the software limit 6 6 3 Monitoring Software Limit Confirm the software limit status in...

Страница 129: ...rea upper limit including the set value 2 When Pn820 Pn822 The latching area is the latching area lower limit or above or the latching area upper limit or below Parameter No Name Data Size Min Set Val...

Страница 130: ...be accessed from the Tree editor in the left pane project tree To edit a certain parameter select the desired parameter in the grid and enter the new parameter value Once you have entered the new valu...

Страница 131: ...tion Refer ence Page Pn000 Function Selection Basic Switch 0 2 0010 C 119 Pn00A Filter Setting 2 0000H 000FH 0000H A 118 Pn20E Electronic Gear Ratio Numerator 4 1 1073741824 1 C 122 Pn210 Electronic G...

Страница 132: ...it 3rd digit 2nd digit 1st digit Reserved 8 Do not change Reserved 8 Do not change Reserved 2 8 Forward run enabled when CN1 4 input signal is ON L level Always sets the signal to ON to enable forward...

Страница 133: ...t 2nd digit 1st digit 8 Do not change Reserved 8 Do not change Reserved 8 Do not change Reserved 4 8 Emergency stop when C1 6 input signal is OFF H level Always sets the signal to ON to disable emerge...

Страница 134: ...10000 refer ence units s2 100 B 124 Pn814 Final Travel Distance for External Input Positioning 4 1073741823 1073741823 1 reference unit 100 B 85 cont d Param eter No Name Data Size Min Set Value Max...

Страница 135: ...3 1073741823 1 reference unit 100 B 87 Pn820 Latching Area Upper Limit 4 2147483648 2147483647 1 reference unit 0 A 87 Pn822 Latching Area Lower Limit 4 2147483648 2147483647 1 reference unit 0 A 87 c...

Страница 136: ...f an alarm or warning is indicated by the status indicator LEDs on the SERVOPACK s front panel Check the alarm or warning as displays described in the following table and take the corrective action St...

Страница 137: ...135 Alarms The currently occurring alarm can be monitored usingCX Drive Connect a personal computer with CX Drive installed to the SERVOPACK and select Alarm Display from the project tree pane...

Страница 138: ...e Invalid Alarm After the servo ON signal was sent through the CX Drive the SV_ON command of the MECHATROLINK II was sent DB stop Available A 100 Overcurrent An overcurrent flowed through the IGBT or...

Страница 139: ...nchronization Error 1 Synchronization error during MECHA TROLINK II communications with the SERVOPACK Zero speed stop N A A EA2 MECHATROLINK II Internal Synchronization Error 2 Synchronization error d...

Страница 140: ...ATROLINK II Data Setting Warning 2 The command data is out of range A 94d MECHATROLINK II Data Setting Warning 4 Unmatched data size was detected A 95A MECHATROLINK II Command Warn ing 1 A command was...

Страница 141: ...ive A 021 Parameter Error 1 Occurred when the power supply was turned ON The SERVOPACK is faulty Replace the SERVOPACK Contact your Omron Yaskawa representative A 022 Parameter Error 2 Occurred when t...

Страница 142: ...firm that there is no short circuit or ground fault before turning ON the power supply again The wiring of the regenera tive unit is incorrect Check and then correct the wiring A short circuit between...

Страница 143: ...er supply volt age is 290 V or more Keep the AC power supply voltage to the specified range The SERVOPACK is faulty Replace the SERVOPACK Contact your Omron Yaskawa representative Occurred during oper...

Страница 144: ...sures against noise for the encoder line The input position refer ence was too large Reduce the reference value The SERVOPACK is faulty Replace the SERVOPACK Contact your Omron Yaskawa representative...

Страница 145: ...oder wiring The starting torque exceeds the maximum torque Reconsider the load and oper ation conditions The SERVOPACK is faulty Replace the SERVOPACK Contact your Omron Yaskawa representative Occurre...

Страница 146: ...n or the dis tance of the SERVOPACK to other devices is incorrect Heat radiation of the panel or heat around the SERVO PACK occurred Correct the installation condi tions so that the ambient tem peratu...

Страница 147: ...representative The SERVOPACK is faulty Replace the SERVOPACK Contact your Omron Yaskawa representative A C20 A C50 A C90 Incorrect Phase Detection Incorrect Polarity Detection Encoder Signal Error Occ...

Страница 148: ...al Synchroni zation Error Occurred when MECHATROLINK II communications started or during MECHATROLINK II communications Communications with the host controller disconnected while the MECHATROLINK II c...

Страница 149: ...started WDT data of the host con troller for MECHATROLINK II communications is not updated correctly Update the WDT data in the host controller correctly A E60 MECHA TROLINK II Communi cations Error O...

Страница 150: ...ISCONNECT command to release communications and set up the communications again The MECHATROLINK II wiring is incorrect Correct the MECHA TROLINK II communica tions cable wiring Connect terminators co...

Страница 151: ...he SERVOPACK is faulty Replace the SERVOPACK Contact your Omron Yaskawa representative Occurred while the servomotor was running The effective torque largely exceeds the rated torque Reconsider the lo...

Страница 152: ...ecution are satisfied Refer to descriptions on each command for the execution conditions of the command A 95E MECHA TROLINK II Command Warning 5 Occurred when a command was sent The conditions for com...

Страница 153: ...g Servomotor does not rotate Incorrect wiring or discon nection of I O signal Check if the connector is properly installed and wir ing is correct Correct the wiring of the con nector The servomotor an...

Страница 154: ...ture is high Check if the ambient tem perature around the servo motor is 40 C max Keep the ambient tempera ture around the servomotor to 40 C max Use fan or air conditioner Insufficient ventilation Ch...

Страница 155: ...tative Vibration source in the cou pled machine Check if there is no foreign matter damage deforma tion or looseness in the machine movable section Consult the machine manu facturer and repair Noise i...

Страница 156: ...l power supply for input signal Stabilize the 24 V power supply voltage Check if the overtravel limit switch SW operates cor rectly Adjust the overtravel limit switch SW so that it oper ates correctly...

Страница 157: ...t influ enced by noise Take measures against noise for the encoder wiring Excessive vibration and shock to the encoder Check if the vibration from the machine occurred or if the servomotor installatio...

Страница 158: ...ed or not When the part has expired before the expected time further inspection will be required Note 1 The life expectancy listed in the table is a reference period that may be affected by the enviro...

Страница 159: ...burns because the heat sink is hot Mount the cooling fan in the correct way Improper mounting may result in the breakdown of the SERVOPACK 1 Open the front cover of the SER VOPACK Press the tip of a...

Страница 160: ...an 158 3 Lift up to remove the case 4 Disconnect the cooling fan cable from the fan connector on the SERVOPACK 5 Unscrew the cooling fan and remove it Case Cover Lift the cable up and then pull it out...

Страница 161: ...he cooling fan face the direction as shown in the diagram 7 Secure the new cooling fan to the SERVOPACK with mounting screws 8 Connect the cooling fan cable to the fan connector on the SERVO PACK 9 Re...

Страница 162: ...dislodge the hooks Insert the tip of a flathead screwdriver into the notches on the SERVOPACK one at a time and pry the front cover off 2 Open the case of the SERVO PACK Insert the tip of a flathead...

Страница 163: ...Remove the six mounting screws 5 Disconnect the cooling fan cable from the fan connector on the SERVOPACK 6 Remove two mounting screws on the cooling fan Mounting screws Lift the cable up and then pul...

Страница 164: ...the heat sink and the arrows on the cooling fan face the direction as shown in Diagram B 8 Secure the cooling fan on the SERVOPACK with the mounting screws 9 Reattach the case and front cover to the...

Страница 165: ...ly Common for main cir cuit and control cir cuit Voltage Single phase 200 to 230 VAC 10 to 15 Frequency 50 60 Hz 5 Capacity at rated output kVA 0 40 0 75 1 2 2 2 SERVOPACK Power Loss At rated output W...

Страница 166: ...TROLINK II is not busy COM_LED is lit when the MECHATROLINK II is busy Feedback Incremental encoder 8192 pulses rev Reference Resolution Setting Electronic Gear 0 01 B A 100 Protection Overcurrent ove...

Страница 167: ...lues are for standard servomotors without brakes Servomotor Multiplication of Rotor Moment of Inertia Allowable Load Moment of Inertia Model Rated Output SJME 01 100 W 9 5 0 6 10 4 kgm2 SJME 02 200 W...

Страница 168: ...n with the correct servomotor model The overload characteristics shown below are the values used when the servomotor is installed on an aluminum heat sink 250 250 6 mm at the ambient temperature of 40...

Страница 169: ...te of Printing Rev No Section Revised Content June 2006 First edition July 2006 Preface Addition Trademarks of the MECHATROLINK Members Association January 2007 01 All Revision 01 for OYMC MANUAL NO T...

Страница 170: ...88 www omron industrial com Austria Tel 43 0 1 80 19 00 www omron at Belgium Tel 32 0 2 466 24 80 www omron be Czech Republic Tel 420 234 602 602 www omron cz Denmark Tel 45 43 44 00 11 www omron dk F...

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