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4-1

4

4

MECHATROLINK-

II

 Communications

This chapter describes MECHATROLINK-II communications specifications, 
commands, and power ON sequence.

4.1  Specifications and Configuration   - - - - - - - - - - - - - - - - - - - - 4-3

4.1.1  Specifications  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
4.1.2  System Configuration   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3

4.2  Switches for MECHATROLINK-

II

 Communications Settings - 4-4

4.2.1  Communications Settings   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
4.2.2  Setting the Transmission Cycle   - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
4.2.3  Setting the Station Address  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6

4.3  Main Commands   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7

4.3.1  No Operation (NOP: 00H)  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8
4.3.2  Read Parameter (PRM_RD: 01H)   - - - - - - - - - - - - - - - - - - - - - - - - - 4-9
4.3.3  Write Parameter (PRM_WR: 02H)   - - - - - - - - - - - - - - - - - - - - - - - -  4-10
4.3.4  Read ID (ID_RD: 03H)   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  4-11
4.3.5  Set Up Device (CONFIG: 04H) - - - - - - - - - - - - - - - - - - - - - - - - - - -  4-12
4.3.6  Read Alarm or Warning (ALM_RD: 05H)  - - - - - - - - - - - - - - - - - - - -  4-13
4.3.7  Clear Alarm/Warning (ALM_CLR: 06H) - - - - - - - - - - - - - - - - - - - - -  4-14
4.3.8  Start Synchronous Communications (SYNC_SET: 0DH) - - - - - - - - -  4-15
4.3.9  MECHATROLINK-

II

 Connection (CONNECT: 0EH)  - - - - - - - - - - - -  4-16

4.3.10  Disconnection (DISCONNECT: 0FH)   - - - - - - - - - - - - - - - - - - - - -  4-17
4.3.11  Read Non-volatile Parameter (PPRM_RD: 1BH)   - - - - - - - - - - - - -  4-18
4.3.12  Write Non-volatile Parameter (PPRM_WR: 1CH)  - - - - - - - - - - - - -  4-19
4.3.13  Set Coordinates (POS_SET: 20H)   - - - - - - - - - - - - - - - - - - - - - - -  4-20
4.3.14  Apply Brake (BRK_ON: 21H)  - - - - - - - - - - - - - - - - - - - - - - - - - - -  4-21
4.3.15  Release Brake (BRK_OFF: 22H)   - - - - - - - - - - - - - - - - - - - - - - - -  4-22
4.3.16  Turn Sensor ON (SENS_ON: 23H):   - - - - - - - - - - - - - - - - - - - - - -  4-23
4.3.17  Turn Sensor OFF (SENS_OFF: 24H)  - - - - - - - - - - - - - - - - - - - - -  4-24
4.3.18  Stop Motion (HOLD: 25H)   - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  4-25
4.3.19  Request Latch Mode (LTMOD_ON: 28H)   - - - - - - - - - - - - - - - - - -  4-26
4.3.20  Release Latch Mode (LTMOD_OFF: 29H) - - - - - - - - - - - - - - - - - -  4-27
4.3.21  Status Monitoring (SMON: 30H)  - - - - - - - - - - - - - - - - - - - - - - - - -  4-28

Содержание MECHATROLINK Sigma 2 Series

Страница 1: ...YASKAWA MANUAL NO SIEP C710800 01C YASKAWA MECHATROLINK APPLICATION MODULE USER S MANUAL Series SGDH MODEL JUSP NS115...

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

Страница 3: ...LINK II Those designing II Series servodrive systems Those installing or wiring II Series servodrives Those performing trial operation or adjustments of II Series servodrives Those maintaining or insp...

Страница 4: ...he following aids are used to indicate certain types of information for easier reference Indicates application examples Indicates supplemental information Indicates important information that should b...

Страница 5: ...tors and capacities and detailed information on installation wiring trial operation using functions maintenance and inspection Series SGM H SGDM Digital Operator Operation Manual TOE S800 34 Provides...

Страница 6: ...damage to the product or faulty operation Even items described in may result in a vital accident in some situ ations In either case follow these important notes Indicates actions that must never be ta...

Страница 7: ...products in an environment subject to water corrosive gases inflammable gases or combustibles Doing so may result in electric shock or fire Connect the ground terminal to electrical codes ground resis...

Страница 8: ...Before starting operation with a machine connected make sure that an emergency stop can be applied at any time Not doing so may result in injury Do not touch the heat sinks during operation Doing so m...

Страница 9: ...subject to change due to product improvement specification modification and manual improvement When this manual is revised the manual code is updated and the new manual is published as a next edition...

Страница 10: ...3 3 I O Signals 3 6 3 3 1 Connection Example of I O Signal Connector CN1 3 6 3 3 2 I O Signals Connector CN1 3 7 3 3 3 I O Signal Names and Functions 3 8 3 3 4 Interface Circuits 3 9 3 4 Fully Closed...

Страница 11: ...D 1BH 4 18 4 3 12 Write Non volatile Parameter PPRM_WR 1CH 4 19 4 3 13 Set Coordinates POS_SET 20H 4 20 4 3 14 Apply Brake BRK_ON 21H 4 21 4 3 15 Release Brake BRK_OFF 22H 4 22 4 3 16 Turn Sensor ON S...

Страница 12: ...g 4 62 4 6 1 Command Data Execution Timing 4 62 4 6 2 Monitor Data Input Timing 4 62 4 7 Operation Sequence 4 63 4 7 1 Operation Sequence for Managing Parameters Using a Controller 4 63 4 7 2 Operatio...

Страница 13: ...7 6 4 Setting Up the SERVOPACK 6 29 6 4 1 Parameters 6 29 6 4 2 Input Circuit Signal Allocation 6 29 6 4 3 Output Circuit Signal Allocation 6 34 6 4 4 Monitoring 6 36 6 5 Setting Stop Functions 6 38 6...

Страница 14: ...ommand List A 2 A 2 MECHATROLINK II Command Format List A 5 Appendix B List of Parameters B 1 Parameters B 2 B 2 Function Switches B 9 Appendix C Using the Adjusting Command ADJ 3EH C 1 Autotuning C 2...

Страница 15: ...ames This chapter describes the procedure for checking Series products and the NS115 upon delivery It also describes the names of product parts 1 1 Checking Products on Delivery 1 2 1 2 Product Part N...

Страница 16: ...s on the following page Is there any damage Check the overall appearance and check for damage or scratches that may have occurred during shipping Can the NS115 be installed on the SERVOPACK used Check...

Страница 17: ...1 1 Checking Products on Delivery 1 3 1 Model Numbers NS115 JUSP NS11 5 Type of device NS11 MECHATROLINK II interface Design Revision Order SERVOPACK peripheral device...

Страница 18: ...it when MECHATROLINK II communications are in progress DIP Switch SW2 Used to set MECHATROLINK II communications Nameplate Indicates the model and serial numbers MECHATROLINK II Communications CN6A an...

Страница 19: ...Remove the connector cover from the CN10 connector on the SERVOPACK Mounting Type SERVOPACK Models Screw Remarks Base Mounted SGDH A3 to 02BE SGDH A3 to 10AE M3 10 round head screw spring or flat wash...

Страница 20: ...oint marked G on the SERVOPACK SGDH SERVOPACK YASKAWA SERVOPACK connector CN10 Connector Connect to SERVOPACK NS115 S W 1 A R S W 2 C N 6 A C N 6 B C N 4 MODE SET DATA CHARGE POWER SGDH SERVOPACK YASK...

Страница 21: ...3 Mounting the NS115 1 7 1 When the NS115 has been mounted correctly the SERVOPACK will appear as shown in the following diagram YASKAWA SERVOPACK 200V SGDH A R NS115 S W 1 S W 2 C N 6 A C N 6 B C N...

Страница 22: ...t installation The SGDH SERVOPACKs are base mounted servo controller Incorrect instal lation will cause problems Always observe the installation precautions shown in this chapter 2 1 Storage Condition...

Страница 23: ...t exceed 55 C Installation Near a Heating Unit Minimize heat radiated from the heating unit as well as any temperature rise caused by natural convection so that the temperature around the SERVOPACK do...

Страница 24: ...he wall as shown in the figure The SERVOPACK must be oriented this way because it is designed to be cooled by natural convection or cooling fan Secure the SERVOPACK using 2 to 4 mounting holes The num...

Страница 25: ...stallation When installing SERVOPACKs side by side as shown in the figure above provide at least 10 mm 0 39 in between and at least 50 mm 1 97 in above and below each SERVOPACK Install cooling fans ab...

Страница 26: ...3 6 3 3 2 I O Signals Connector CN1 3 7 3 3 3 I O Signal Names and Functions 3 8 3 3 4 Interface Circuits 3 9 3 4 Fully Closed Encoder Signals Connector CN4 3 11 3 4 1 Fully Closed Encoder Connection...

Страница 27: ...Wiring 3 2 3 1 Connecting to Peripheral Devices This section provides examples of standard Series product connections to peripheral devices It also briefly explains how to connect each peripheral devi...

Страница 28: ...ler Controller for MECHATROLINK II Power Supply for Brake Used for a servomotor with a brake Digital Operator see note JUSP OP02A 2 Allows the user to set parameters or opera tion references and to di...

Страница 29: ...ative Resistor Encoder Cable Encoder Connector Magnetic Contactor HI Series Turns the servo ON and OFF Install a surge suppressor on the magnetic contac tor JUSP OP02A 2 Allows theuser to set paramete...

Страница 30: ...00 to 230 V 50 60Hz 10 15 Noise filter Voltage Sensor Voltage Sensor Relay drive Gate drive Gate drive over current protector Interface Current Sensor Digital Operator personal computer Other station...

Страница 31: ...ro point return decel eration LS 3 LS enabled when ON Forward run prohibited Prohibited when OFF Reverse run prohibited Prohibited when OFF External latch 1 3 Latched when ON External latch 2 3 Latche...

Страница 32: ...ut 5 30 S RDY Servo ready output 6 SG GND 31 ALM Servo alarm output 7 32 ALM Servo alarm output 8 33 9 34 10 SG GND 35 11 36 12 37 ALO1 Alarm code output open collec tor output 13 38 ALO2 Alarm code o...

Страница 33: ...beyond the allowable range of motion EXT1 EXT2 EXT3 44 45 46 External latch signals 1 2 and 3 External signals for latching the current FB pulse counter 24VIN 47 Control power supply input for sequen...

Страница 34: ...he host controller that matches one of two types Connecting to an Open collector Output Circuit Alarm code signals are output from open collector transistor output circuits Connect an open collector o...

Страница 35: ...ce output signal circuits Connect a photocoupler output circuit through a relay or line receiver circuit Note The maximum allowable voltage and current capacities for photocoupler output circuits are...

Страница 36: ...nal Layout The following diagram shows the CN4 connector terminal layout and connector specifica tions CN4 Connector Terminal Layout Note 1 The connector shell is connected to the FG frame ground 2 Do...

Страница 37: ...onnector Terminal Layout 3 12 CN4 Specifications Specifications for SERVOPACK Connectors Applicable Receptacles Soldered Case Manufacturer 10220 52A2JL 20 pin Right Angle Plug 10120 3000VE 10320 52A0...

Страница 38: ...ing diagram shows an example of connections between a host controller and a SERVOPACK using MECHATROLINK II communications cables CN6A CN6B Note 1 The length of the cable between stations L1 L2 Ln mus...

Страница 39: ...trans mission bytes When the transmission cycle is 0 5 ms set the communications cycle in multiples of 1 0 ms Note 1 When the number of stations actually connected is less than the number of connectab...

Страница 40: ...munications Cables and Terminator Cable Length The total cable length must be 50 m or less Cable Length for Stations The length of the cable between stations must be 0 5 m or more Terminal Processing...

Страница 41: ...coupler Outputs Maximum operating voltage 30 VDC Maximum operating current 50 mA DC output 3 ON when brake is released SGDH E SERVOPACK NS115 To next MECHATROLINK II slave Connect to ground Connector...

Страница 42: ...en using an absolute encoder connect a backup battery only when there is no battery con nected to the CN8 3 Make signal allocations using parameters Refer to 6 1 2 Standard Settings for CN1 I O Sig na...

Страница 43: ...LO1 ALO2 ALO3 SG 37 38 39 1 FG 3 3k CN1 U V W CN2 CN4 CN6A CN6B L1 L2 L3 L1C L2C 1 2 1MC B1 B2 B3 1MC A 1 B 2 C 3 D 4 S S 2 SH SH S 3 4 S 3 4 2 COIN COIN 25 26 BK BK 27 28 ALM ALM 31 32 S RDY S RDY 29...

Страница 44: ...n there is no battery con nected to the CN8 3 Connect an external regenerative resistor between terminals B1 and B2 for SERVOPACKs with a capacity of 6 0 kW or higher 4 Make signal allocations using p...

Страница 45: ...ID ID_RD 03H 4 11 4 3 5 Set Up Device CONFIG 04H 4 12 4 3 6 Read Alarm or Warning ALM_RD 05H 4 13 4 3 7 Clear Alarm Warning ALM_CLR 06H 4 14 4 3 8 Start Synchronous Communications SYNC_SET 0DH 4 15 4...

Страница 46: ...4 5 Write Non volatile Parameter PPRM_WR 1CH 4 52 4 4 6 Request Latch Mode LTMOD_ON 28H 4 53 4 4 7 Release Latch Mode LTMOD_OFF 29H 4 53 4 4 8 Status Monitoring SMON 30H 4 54 4 5 Command Data Field 4...

Страница 47: ...r to the following manuals MECHATROLINK System User s Manual SIE S800 26 1 MECHATROLINK Servo Command User s Manual SIE S800 26 2 4 1 2 System Configuration The following illustration shows system con...

Страница 48: ...been changed are enabled when the power is turned OFF and ON 1 When connecting to a MECHATROLINK network set bits 1 and 2 to OFF 2 Baud rate 4 Mbps transmission bytes 30 bit 1 OFF bit 2 ON cannot be u...

Страница 49: ...ctable stations the remaining channels up to 7 can be used as communications retry channels Number of communications retry channels Number of connnectable stations Number of actual stations connected...

Страница 50: ...ON The factory setting for the station address is 41H SW2 bit 3 OFF SW1 1 Table 4 2 Station Address Settings Bit 3 of SW2 SW1 Station Address Bit 3 of SW2 SW1 Station Address OFF 0 Disabled ON 0 50H...

Страница 51: ...mmand specific items that are unique to the NS115 The MECHATROLINK II main commands are upwardly compatible with the MECHATROLINK commands They use the first to the sixteenth bytes of the command and...

Страница 52: ...command 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 initialization h...

Страница 53: ...command will be ignored in the following cases If a warning occurs PARAMETER will not be dependable If a digital operator is connected MECHATROLINK II command warning A 95 If SigmaWin and so on are co...

Страница 54: ...ng cases During phases other than phases 2 and 3 MECHATROLINK II command warning A 95 If a digital operator is connected MECHATROLINK II command warning A 95 If SigmaWin and so on are connected MECHAT...

Страница 55: ...The corresponding DEVICE_COD is shown in the table on the following page Can be used during phases 2 and 3 A warning will occur and the command will be ignored in the following cases If a digital oper...

Страница 56: ...ll be ignored in the following cases During phase 1 MECHATROLINK II command warning A 95 If a digital operator is connected MECHATROLINK II command warning A 95 If SigmaWin and so on are connected MEC...

Страница 57: ...lowing table The latest error and warning information is contained from byte 6 onwards of the ALM_DATA When there are no errors or warnings the remaining bytes are normal 99H A warning will occur and...

Страница 58: ...ning status Alarm status history warning history is not preserved Can be used during any phase The ALM_CLR_MOD specifications are shown in the following table A warning will occur and the command will...

Страница 59: ...nging edge However if WDT errors are being masked by parameter Pn800 0 processing is completed when this command is received During phase 1 a MECHATROLINK II command warning A 95 will occur and the co...

Страница 60: ...COM_TIM 32 ms Set the multiple number of 1 ms A warning will occur and the command will be ignored in the following cases If COM_MOD is not within range Parameter setting warning A 94 If COM_TIM is n...

Страница 61: ...time Communications cycle or more Subcommand Cannot be used 3 STATUS Releases the MECHATROLINK II connection The SERVOPACK changes communication to phase 1 Can be used during any phase When this comma...

Страница 62: ...rocessing classifications Data communica tions command group Synchronization classifications Asynchronous 2 ALARM Processing time Within communi cations cycle Subcommand Cannot be used 3 STATUS This c...

Страница 63: ...ill occur and the command will be ignored in the following cases During phase 1 MECHATROLINK II command warning A 95 If a digital operator is connected MECHATROLINK II command warning A 95 If SigmaWin...

Страница 64: ...ifications Data communica tions command group Synchronization classifications Asynchronous 2 ALARM Processing time Within 200 ms Subcommand Cannot be used 3 STATUS Sets coordinates REFE can also enabl...

Страница 65: ...time Within communi cations cycle Subcommand Cannot be used 3 STATUS Applies brake This command is enabled when Pn005 0 is set to 1 Can be used during phases 2 and 3 A warning will occur and the comm...

Страница 66: ...hronous 2 ALARM Processing time Within communi cations cycle Subcommand Cannot be used 3 STATUS Applies brake This command is enabled when Pn005 0 is set to 1 Can be used during phases 2 and 3 A warni...

Страница 67: ...when an absolute encoder is used Position data is received from the encoder and the current position is created The reference point zero point ZPOINT and software limits will be enabled when an absol...

Страница 68: ...ng time Within 500 ms Subcommand Cannot be used 3 STATUS Turns sensor OFF The position data is not specified The reference point zero point ZPOINT and software limits will be enabled Can be used durin...

Страница 69: ...complete to confirm the completion of motion processing Latch processing which is dependent on LATCH EX_POSING and SVC TRL will be cancelled ZRET latch processing and ZRET zero point alignment will b...

Страница 70: ...CMDRDY 1 to confirm that the Request Latch Mode command has been received It takes 4 ms max for the Request Latch Mode command to start Confirm that L_CMP is 1 in STATUS at the completion of latching...

Страница 71: ...e com mand will be ignored in the following cases During phase 1 If LTMOD_OFF and LATCH ZRET EX_POSING or SVCTRL are executed simultaneously or if LTMOD_OFF is received during LATCH ZRET EX_POSING or...

Страница 72: ...ssing time Within communi cations cycle Subcommand Can be used 3 STATUS Reads the current status of the Servo Can be used during phases 2 and 3 During phase 1 a MECHATROLINK II command warning A 95 wi...

Страница 73: ...ence when ALM of STATUS is 1 If SENS_ON has not been completed when the absolute encoder is used OPTION can be selected Refer to 4 5 2 Option Field Specifications OPTION for details For linear motors...

Страница 74: ...ime Follow settings from Pn506 to Pn508 Subcommand Can be used 3 STATUS The SERVOPACK changes to Servo OFF Can be used during phases 2 and 3 During phase 1 a MECHATROLINK II command warning A 95 will...

Страница 75: ...ases other than phase 3 MECHATROLINK II command warning A 95 If the SERVOPACK is Servo OFF MECHATROLINK II command warning A 95 If the output speed difference from the previous target position TPOS ex...

Страница 76: ...It is set using an absolute posi tion in the reference coordinate system The target speed TSPD is an unsigned 4 bytes It is set using units s Changes can be made to the target position and target spee...

Страница 77: ...nored in the fol lowing cases During phase 1 MECHATROLINK II command warning A 95 If the SERVOPACK is Servo OFF MECHATROLINK II command warning A 95 If the target speed TSPD exceeds the limit Paramete...

Страница 78: ...No Description Pn80A First step Linear Acceleration Parameter Pn80B Second step Linear Acceleration Parameter Pn80C Acceleration Parameter Switching Speed Pn80D First step Linear Deceleration Paramet...

Страница 79: ...I command warning A 95 If the SERVOPACK is Servo OFF MECHATROLINK II command warning A 95 If the output speed difference from the previous target position TPOS exceeds the limit Parameter setting warn...

Страница 80: ...Communications 4 3 27 Interpolation Feeding with Position Detection LATCH 38H 4 36 Related Parameters Pn No Description Pn511 Input Signal Selections 5 Pn820 Latching Area Upper Limit Pn822 Latching...

Страница 81: ...ltaneously MECHATROLINK II command warning A 95 the LTMOD_ON OFF commands will be ignored OPTION can be selected Refer to 4 5 2 Option Field Specifications OPTION for details The target position TPOS...

Страница 82: ...ameter Pn80C Acceleration Parameter Switching Speed Pn80D First step Linear Deceleration Parameter Pn80E Second step Linear Deceleration Parameter Pn80F Deceleration Parameter Switching Speed Pn814 Fi...

Страница 83: ...ing phases 2 and 3 A command warning will occur and the command will be ignored in the fol lowing cases During phase 1 MECHATROLINK II command warning A 95 If the SERVOPACK is Servo OFF MECHATROLINK I...

Страница 84: ...rameter Pn80C Acceleration Parameter Switching Speed Pn80D First step Linear Deceleration Parameter Pn80E Second step Linear Deceleration Parameter Pn80F Deceleration Parameter Switching Speed Pn816 Z...

Страница 85: ...000H The direction is specified by the sign When the designation for VREF is larger than the maximum motor speed it is clamped at the OS detection speed The OS detection speed varies depending on the...

Страница 86: ...n is not effective Set P_TLIM TFF N_TLIM to 0 1 P_TLIM operates as the torque limit value Set N_TLIM to 0 2 TFF operates as the torque feed forward Set N_TLIM to 0 3 When P_CL and N_CL of OPTION field...

Страница 87: ...details TOREF torque reference The unit for torque reference is maximum motor torque 40000000H The direction is specified by the sign When the designation for TOREF is larger than the maximum motor t...

Страница 88: ...Torque Control TRQCTRL 3DH 4 44 Speed Reference Option Operation Pn No and Digit Place Set Value Speed Reference Option Operation Pn002 1 0 The speed reference option is not effective Set VLIM to 0 1...

Страница 89: ...ot be used 3 STATUS This command is for maintenance Refer to Appendix C Using the Adjusting Command ADJ 3EH A command warning will occur and the command will be ignored in the fol lowing cases During...

Страница 90: ...otions listed in the following table can be executed Refer to each motion item for operating specifications Sequence Signals Any of the sequence signals listed in the following table can be executed R...

Страница 91: ...1 1 EXT3 D6 D5 D4 Motion During phase 1 a parameter setting warning A 94 will occur for POSING and FEED and the commands will be ignored For INTERPOLATE in all other phases except phase 3 a parameter...

Страница 92: ...ms COM_TIM 32 ms A command warning will occur and the command will be ignored in the fol lowing cases If COM_MOD is not within range Parameter setting warning A 94 If COM_TIM is not within range Param...

Страница 93: ...OK OK 04 CONFIG OK NO NO NO NO NO NO OK 05 ALM_RD OK NO NO NO NO NO NO OK 06 ALM_CLR OK NO NO NO NO NO NO OK 0D SYNC_SET OK NO NO NO NO NO NO NO 0E CONNECT OK NO NO NO NO NO NO NO 0F DISCONNECT OK NO...

Страница 94: ...3F SVCTRL OK OK OK OK OK OK OK OK Byte NOP Description Command Response Processing classifications Network command group Processing time Within communica tions cycle 17 00H 00H Not operation command...

Страница 95: ...ters This command has the same function as the main command PRM_RD 18 Substatus 19 NO NO 20 21 SIZE SIZE 22 PARAMETER 23 24 25 26 27 28 29 Byte PRM_WR Description Command Response Processing classific...

Страница 96: ...s 17 05H 05H Reads the alarm or warning This command has the same function as the main com mand ALM_RD 18 Substatus 19 ALM_RD_MOD ALM_RD_MOD 20 ALM_DATA 21 22 23 24 25 26 27 28 29 Byte PPRM_WR Descri...

Страница 97: ...mmand has the same function as the main com mand LTMOD_ON 18 LT_SGN Substatus 19 SEL_MON3 4 SEL_MON3 4 20 MONITOR3 21 22 23 24 MONITOR4 25 26 27 28 29 Byte LTMOD_OFF Description Command Response Proce...

Страница 98: ...d Response Processing classifications Data communica tions command group Processing time Within communi cations cycle 17 30H 30H Reads the monitoring information specified in SEL_MON3 4 This command h...

Страница 99: ...he second 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 Latch Signal Selection E...

Страница 100: ...D4 D3 D2 D1 D0 0 0 0 ACCFIL 0 0 0 D15 D14 D13 D12 D11 D10 D9 D8 N CL P CL 0 PPI 0 0 0 G SEL Bit Name Description Set Value Details D0 0 D1 0 D2 0 D3 ACCFIL Position reference filter Note Never change...

Страница 101: ...0 Command cannot be received busy 1 Command can be received ready D3 SVON Servo ON 0 Servo OFF 1 Servo ON D4 PON Main power supply ON 0 Main power supply OFF 1 Main power supply ON D5 MLOCK Machine lo...

Страница 102: ...nitor it with the thirteenth byte of the above main commands or the nineteenth byte reserved area of the subcommands SEL_MON1 2 3 4 Fields D9 T_LIM Torque limit 0 Not during torque limit 1 During torq...

Страница 103: ...eference units 2 PERR Position error Reference units 3 APOS Feedback position in the mechanical coordinate system Reference units 4 LPOS Feedback latch position in the mechanical coordi nate system Re...

Страница 104: ...input 0 OFF 1 ON D3 PA Encoder phase A input 0 OFF 1 ON D4 PB Encoder phase B input 0 OFF 1 ON D5 PC Encoder phase C input 0 OFF 1 ON D6 EXT1 First external latch signal input 0 OFF 1 ON D7 EXT2 Seco...

Страница 105: ...enth byte reserved area of the subcommands SUBSTATUS D7 D6 D5 D4 D3 D2 D1 D0 SBCMDRDY SBWARNG SBALM Bit Name Description Set Value Details D0 SBALM Subcommand alarm occurrence 0 None 1 Alarm occurs D1...

Страница 106: ...4 6 1 Command Data Execution Timing Motion commands POSING INTERPOLATE and the OPTION command are executed 625 s after they are received 4 6 2 Monitor Data Input Timing The monitor I O and status data...

Страница 107: ...r to connection then the CONNECT command is sent Table 4 4 Operation Sequence for Managing Parameters Using a Controller Proce dure Item Command Description Phase 1 Turn ON control and main circuit po...

Страница 108: ...ormally the DISCONNECT command is sent for two or more communica tions cycles prior to connection then the CONNECT command is sent 2 Do not use PRM_WR Table 4 5 Step 1 Saving Parameters During Set up...

Страница 109: ...s it is necessary to use the SMON command after the SERVOPACK changes to Servo ON to read the Servo refer ence coordinate POS and send an appropriate reference position Table 4 6 Step 2 Ordinary Opera...

Страница 110: ...p commands Interpolation command INTERPOLATE LATCH The interpolation command updates the interpolation position then stops As an alternative send the HOLD command or SMON command Movement reference co...

Страница 111: ...Servomotors 5 2 5 1 2 SERVOPACKs 5 2 5 2 Trial Operation for MECHATROLINK II Communications 5 3 5 2 1 Preparations for Trial Operation 5 3 5 2 2 Operating the Servomotor 5 4 5 3 Trial Operation Inspec...

Страница 112: ...tored for a long period of time Connection to machines or devices wiring and grounding are correct Are bolts and nuts securely tightened Is the oil seal undamaged and oiled Take appropriate actions im...

Страница 113: ...he switches on the NS115 SW1 and SW2 are set correctly and then turn the power OFF then ON again For information on switch settings refer to 4 2 Switches for MECHATROLINK II Com munications Settings 3...

Страница 114: ...ission Example POSING rapid traverse positioning command Option 0 Positioning setting 10000 current position 10000 with absolute encoders Rapid traverse speed 400 Make sure the servomotor is operating...

Страница 115: ...owing items during the trial operation Unusual vibration Abnormal noise Excessive temperature rise Take actions according to Chapter 9 Troubleshooting if an alarm occurs Also note that the servomotor...

Страница 116: ...otation Direction Use the following parameter to reverse the direction of rotation Input Signals Refer to the relevant page for details on each input signal Input signal selection settings through par...

Страница 117: ...holding brake operate normally with the servomotor disconnected from the machine When both of them oper ate normally connect the servomotor to the machine to start trial operation The following figure...

Страница 118: ...4 Fully Closed Control 6 12 6 2 5 Fully Closed System Specifications 6 12 6 2 6 Parameter Settings 6 13 6 3 Settings According to Host Controller 6 16 6 3 1 Sequence I O Signals 6 16 6 3 2 Electronic...

Страница 119: ...ting and Functions 6 2 6 6 Absolute Encoders 6 43 6 6 1 Selecting an Absolute Encoder 6 43 6 6 2 Absolute Encoder Setup 6 44 6 6 3 Multiturn Limit Setting 6 45 6 6 4 Absolute Encoder Zero Point Positi...

Страница 120: ...04 to Pn808 Set position parameters such as the reference pulse input form and electric gear ratio Speed Parameters Pn300 to Pn308 Set speed parameters such as speed reference input gain and soft star...

Страница 121: ...re set automatically the first time the power to the SERVOPACK is turned ON after the NS115 has been mounted Startup will take approximately 6 seconds when these parameters are being set Table 6 1 Lis...

Страница 122: ...ttings and Standard Settings for CN1 I O Signals Pn No Description Factory Setting Standard Setting Pn50A Input signal selections 1 2881 2881 Pn50B Input signal selections 2 6583 8883 Pn511 Input sign...

Страница 123: ...of servomotor rotation can be reversed with out changing other items The direction of shaft motion is reversed Setting Reverse Rotation Mode Use parameter Pn000 0 Use the following settings to select...

Страница 124: ...the SERVOPACK CN1 connector Connect limit switches as shown below to prevent damage to the machines during linear motion Drive status with an input signal ON or OFF is shown in the following table Inp...

Страница 125: ...ignal Mapping Reverse Run Prohibited Input Signal Factory Setting 3 Position Control Pn No Setting Description Pn50A 3 2 Factory setting Uses the P OT input signal for prohibiting forward rotation For...

Страница 126: ...otor in Zero Clamp Mode Torque setting Pn406 emergency stop torque 2 Decelerates the servomotor to a stop at the preset torque value or less and puts the servomotor in coast status Torque setting Pn40...

Страница 127: ...nction The software limits can be enabled or disabled The software limit function parameter is used to enable the software limit function The software limits can be enabled under the following conditi...

Страница 128: ...software limits in the positive and negative directions The negative limit must be less than the positive limit Pn801 0 Software Limit Function Factory Setting 0 Position Control Pn801 0 Setting Meani...

Страница 129: ...details 6 2 5 Fully Closed System Specifications This section describes the fully closed system specifications of the SGDH SERVOPACK when an NS115 is mounted Fully Closed Encoder Pulse Output Form 5...

Страница 130: ...made to this parameter turn OFF the power once The set value will become effective when the power is turned ON again Number of Fully Closed Encoder Pulses Set the number of fully closed encoder pulses...

Страница 131: ...is not being used 2 This setting is for when Reverse Rotation Mode is being used Elec tronic gear Deviation counter Speed current loop Position reference Encoder posi tion output Machine Fully closed...

Страница 132: ...5 6 Pn000 0 can be used to change the rotational direction for forward rotation during normal operation If the motor runs out of control change Pn002 3 Fully Closed PG Input Fully Closed PG Input Phas...

Страница 133: ...ternal power supply specifications for sequence input signal 24 1 VDC 50 mA min Yaskawa recommends using the same external power supply as that used for output circuits The allowable voltage range for...

Страница 134: ...xternal power supply as that used for input cir cuits Input 24VIN CN1 47 External I O Power Supply Input Position Control 24 V IN CN1 47 Connect an external I O power supply I O power supply 24 V SERV...

Страница 135: ...eters Pn202 and 203 1 Check machine specifications Items related to the electronic gear Deceleration ratio Ball screw pitch Pulley diameter When the Electronic Gear Function is Not Used When the Elect...

Страница 136: ...all screw pitch is 5 mm 0 20 in and the reference unit is 0 001 mm 0 00004 in Servomotor Model and Encoder Specifications Encoder Type Number of Encoder Pulses Per Revolution P R A Incremental encoder...

Страница 137: ...haft revolution load shaft revolu tion speed Reduce the electronic gear ratio to the lower terms so that both A and B are integers smaller than 65535 then set A and B in the respective parameters That...

Страница 138: ...Travel distance per load shaft revolution 6 mm 0 001 mm 6000 Electronic gear ratio B A 2048 4 1 6000 1 Pn202 Pn203 13 bit incremental encoder Load shaft Travel distance per load shaft revolut ion 360...

Страница 139: ...d loop Current loop M Pn203 Pn202 Pn203 Pn102 Pn203 Pn202 Pn10A Pn107 Pn109 Servomotor PG Position data inter polation SERVOPACK position control Encoder Bias addition range Pn108 B A B A Position dat...

Страница 140: ...ep acceleration is used When 2 step acceleration is not used set the acceleration switching speed Pn80C to 0 Pn80A First step Linear Acceleration Parameter Unit 10 000 reference units s2 Setting Range...

Страница 141: ...fil ter Exponential Position Reference Filter Time Constant Set the time constant when using exponential position reference filter as position reference filter Pn80D First step Linear Deceleration Pa...

Страница 142: ...I PSET width in STATUS The COIN output signal width will also be changed Positioning Proximity Width Set the width for positioning proximity NEAR in STATUS Regardless of whether or not output has been...

Страница 143: ...set to 1 to return in the reverse direction The setting details are as show below Zero point Return Approach Speed 1 Set the speed for searching for the zero point after the deceleration limit switch...

Страница 144: ...lution is 1 pulse The direction of the backlash compensation is determined by the backlash compensation direction Pn81D 0 setting The backlash compensation is performed according to the motion data Th...

Страница 145: ...ation is performed for the compensation amount the value set to Pn81B in the forward direction When Pn81D 0 is set to 1 The compensation is performed for the compensation amount the value set to Pn81B...

Страница 146: ...ings in the following table Parameter Function Pn000 to Pn819 Specify SERVOPACK functions set servo gains etc Fn000 to Fn013 Execute auxiliary functions such as JOG Mode operations and zero point sear...

Страница 147: ...ignal Pn50A 0 Input Signal Allocation Mode Factory Setting 1 Position Control Pn50A 0 Setting Meaning 0 Reserved 1 Enables any sequence input signal settings Pn50A Input Signal Selections 1 Factory Se...

Страница 148: ...stem configuration Pn50A 3 Setting Description Remarks 0 Inputs the P OT signal from the SI0 CN1 40 input terminal Signal Polarity Reverse function Not active Example Forward run prohibited signal P O...

Страница 149: ...SI2 CN1 42 3 Inputs the signal on the left from SI3 CN1 43 4 Inputs the signal on the left from SI4 CN1 44 5 Inputs the signal on the left from SI5 CN1 45 6 Inputs the signal on the left from SI6 CN1...

Страница 150: ...s enabled 8 Sets the signal on the left to always disabled D Inputs the reverse of the signal on the left from SI4 CN1 44 E Inputs the reverse of the signal on the left from SI5 CN1 45 F Inputs the re...

Страница 151: ...at will output the signals CN1 Connector Terminal Numbers Output Terminal Name Factory Setting Standard Setting Symbol Name Symbol Name 25 SO1 COIN Positioning com pleted COIN Positioning com pleted 2...

Страница 152: ...gnal on the left 1 Outputs the signal on the left from the SO1 CN1 25 and 26 output terminal 2 Outputs the signal on the left from the SO2 CN1 27 and 28 output terminal 3 Outputs the signal on the lef...

Страница 153: ...ngs are as shown in the following table Output Terminals Parameter Description Number Setting SO1 CN1 25 26 Pn512 0 0 Output signal not reversed 1 Output signal reversed SO2 CN1 27 28 Pn512 1 0 Output...

Страница 154: ...nalog monitor Pn003 0 Analog Monitor 1 Factory Setting 2 Position Control Pn003 1 Analog Monitor 2 Factory Setting 0 Position Control Settings in Pn003 0 and Pn003 1 Monitor Signal Analog Monitor Gain...

Страница 155: ...have sufficient braking power 2 A dynamic brake is used when the control power are turned OFF 1 Dynamic brake DB The dynamic brake is a common way of suddenly stopping a servomotor Built into the SER...

Страница 156: ...used for braking Use the holding brake only to hold a stopped motor Brake torque is at least 120 of the rated motor torque Wiring Example Use the SERVOPACK sequence output signal BK and the brake powe...

Страница 157: ...hat allocated to the BK signal in order to output the BK signal alone Refer to 6 4 3 Output Circuit Signal Allocation Output BK Brake Interlock Output Position Control ON Closed or low level Releases...

Страница 158: ...utput The machine may move slightly due to gravity depending on machine configuration and brake characteristics If this happens use this parameter to delay Servo OFF timing This setting sets the brake...

Страница 159: ...put Conditions During Servomotor Operation The circuit is open under either of the following conditions The actual setting will be the maximum speed even if Pn507 is set higher than the maximum speed...

Страница 160: ...lute encoder 6 6 1 Selecting an Absolute Encoder Select the absolute encoder usage with the following parameter 0 in the following table must be set to enable the absolute encoder Note This parameter...

Страница 161: ...up operation Fn008 when a Digital Operator is used Refer to Appendix C 2 Absolute Encoder Setup Initialization for details on the setup operation when the Adjusting command ADJ 3EH is used The absolut...

Страница 162: ...ection from the value set in Pn205 the multiturn data will change to 0 Set Pn205 to m 1 Changing the multiturn limit may change the absolute position data Be sure to set the multiturn limit following...

Страница 163: ...turn limit in the encoder must be changed This operation is performed in one of the following ways Refer to the Series SGM H SGDH User s Manual Design and Maintenance SIE S800 32 2 for details on chan...

Страница 164: ...POS can be set Settings are as shown in the following figure To set encoder position X as the machine zero point 0 set Pn808 to X Pn808 Absolute Encoder Zero Point Position Offset Unit Refer ence unit...

Страница 165: ...hen using a SERVOPACK with an NS115 mounted and Digital Operator connected It also describes Panel Operator indi cator operation 7 1 Connecting the Digital Operator 7 2 7 2 Limitations in Using a Hand...

Страница 166: ...Digital Operator is also called a Panel Operator The other one is a Hand held Digital Operator i e the JUSP OP02A 2 Digital Operator which can be connected to the SERVOPACK through connector CN3 of th...

Страница 167: ...Win and so on too Normal Operation When a Hand held Digital Operator is connected or communications with SigmaWin and so on started during normal operation the following commands are prohibited Furthe...

Страница 168: ...is turned ON The indicator will not be lit when the Hand held Digital Operator is connected It will be lit when the Hand held Digital Operator is disconnected The indicator will not be lit for approx...

Страница 169: ...ications and Dimensional Drawings This chapter provides the ratings specifications and dimensional drawings of the NS115 8 1 Ratings and Specifications 8 2 8 2 Dimensional Drawings 8 3 8 2 1 NS115 8 3...

Страница 170: ...asymmetric Position Reference Filter Exponential movement average Fully Closed Control Position control with fully closed feedback is possible Fully Closed System Specifications Fully Closed Encoder P...

Страница 171: ...nal Drawings Dimensional drawings of the NS115 and SERVOPACKs are shown below 8 2 1 NS115 Dimensions of the NS115 are shown below Unit mm in Approx mass 0 2kg 0 44lb 24 0 94 NS115 S W 1 20 0 79 128 5...

Страница 172: ...ated SERVOPACKs refer also to Series SGM H SGDH User s Manual SIEPS80000005 Base Mounted Models SGDH A3AE to 02AE Single phase 200 V 30 to 200 W SGDH A3AE to 01BE Single phase 100 V 30 to 100 W SGDH 0...

Страница 173: ...5AE Three phase 200 V 1 5 kW Unit mm in MADE IN JAPAN NS115 S W 1 A R S W 2 C N 6 A C N 6 B C N 4 Ver 180 7 09 75 2 95 160 6 30 110 4 33 Approx mass 1 9 kg 4 19 lb 75 2 95 180 7 09 MADE IN JAPAN 160 6...

Страница 174: ...V 2 0 kW 3 0 kW SGDH 50AE Three phase 200 V 5 0 kW Unit mm in 75 2 95 180 7 09 MADE IN JAP AN 250 9 84 130 5 12 Ver NS115 C N 4 C N 6 B C N 6 A S W 2 S W 1 A R Approx mass 4 0 kg 8 82 lb 250 9 84 155...

Страница 175: ...onal Drawings 8 7 8 SGDH 60AE 75AE Three phase 200 V 6 0 kW 7 5 kW Unit mm in 235 9 25 L1 L2 Ver POWER BATTERY CN3 CN8 350 13 78 250 9 84 NS115 C N 4 C N 6 B C N 6 A S W 2 S W 1 A R Approx mass 15 0 k...

Страница 176: ...ting procedures for problems which cause an alarm indication and for problems which result in no alarm indication 9 1 Alarm Displays and Troubleshooting 9 2 9 2 Troubleshooting with No Alarm Display 9...

Страница 177: ...cannot be solved by the described proce dures A 02 A 02 Parameter Breakdown Display and Outputs Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm Alarm Outputs Alarm Code Outp...

Страница 178: ...tus and Remedy for Alarm Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Cause Remedy A An out of range parameter was previously set or loaded Reset all parameters in range...

Страница 179: ...utput ALO1 ALO2 ALO3 OFF OFF OFF OFF Cause Remedy A The following power supplies to the absolute encoder all failed 5 V supply supplied from the SEROVPACK Battery power Follow absolute encoder set up...

Страница 180: ...medy for Alarm Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Cause Remedy A Error occurred during encoder memory check Follow absolute encoder set up proce dure Replace th...

Страница 181: ...Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Cause Remedy A Battery is not connected Battery connection is defective Check and correct battery connection B Battery voltage is below specifie...

Страница 182: ...tput ALO1 ALO2 ALO3 OFF OFF OFF OFF Cause Remedy A Encoder is defective Replace the servomotor if the error occurs frequently B Operational error in encoder caused by exter nal noise Check and correct...

Страница 183: ...a speed exceeding 200 min 1 Turn ON power supply again with the servomotor stopped B Circuit board 1PWB is defective Replace the SERVOPACK Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OF...

Страница 184: ...and Remedy for Alarm Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 ON ON OFF ON Cause Remedy A A value outside the MECHATROLINK II communications setting range was set Reset correctly Ala...

Страница 185: ...transistor is OFF alarm state Status and Remedy for Alarm Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 ON OFF OFF ON Cause Remedy A Contact between the cable and the connector is faulty...

Страница 186: ...s ALM Output ALO1 ALO2 ALO3 ON OFF ON OFF Cause Remedy A Circuit board 1PWB is defective Replace the SERVOPACK B Encoder wiring error or faulty contact Check the wiring and check that the con nector i...

Страница 187: ...ALO1 ALO2 ALO3 ON OFF ON OFF Cause Remedy A Circuit board 1PWB is defective Replace the SERVOPACK B Encoder wiring error or faulty contact Check the wiring and check that the con nector is fully inser...

Страница 188: ...M Output ALO1 ALO2 ALO3 ON OFF ON OFF Cause Remedy A The setting of the Multiturn Limit Setting Pn205 parameter in the SERVOPACK is incorrect Change parameter Pn205 B The multiturn limit has not been...

Страница 189: ...ng and connectors at servomo tor B SERVOPACK was not correctly adjusted Increase speed loop gain Pn100 and position loop gain Pn102 C Motor load was excessive Reduce load torque or moment of inertia I...

Страница 190: ...5 Time Out Alarm Display and Outputs Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF...

Страница 191: ...s and Remedy for Alarm Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF ON ON OFF Cause Remedy A NS115 is defective Replace the NS115 B MECHATROLINK II communications inter rupted Turn t...

Страница 192: ...sistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF ON ON OFF Cause Remedy A WDT data does not match Update...

Страница 193: ...larm state ON Output transistor is ON Status and Remedy for Alarm Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF ON ON OFF Cause Remedy A SERVOPACK is defective Replace the SERVOPACK B...

Страница 194: ...FF alarm state ON Output transistor is ON Status and Remedy for Alarm Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF ON ON OFF Cause Remedy A SERVOPACK is defective Replace the SERVOPA...

Страница 195: ...for Alarm Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF ON ON OFF Cause Remedy A Command was interrupted Do not connect a Hand held Digital Operator or start communications with a per...

Страница 196: ...the encoder type being used P OT and N OT inputs are turned OFF Refer to section 6 2 2 Turn P OT and N OT input signals ON Software limits P SOT and N SOT are 1 Refer to section 6 2 3 Operate the ser...

Страница 197: ...Noise Mechanical mounting is incorrect Check servomotor mounting screws Tighten mounting screws Check couplings not centered Center coupling Check coupling balance Balance coupling Bearing is defectiv...

Страница 198: ...ation Error Regenerative circuit is faulty Regenerative resistor is faulty A 32 4 Regenerative Overload Regenerative energy exceeds regenerative resistor capacity A 40 4 OFF OFF ON OFF Overvoltage 3 M...

Страница 199: ...red in the SERVOPACK A C1 ON OFF ON OFF Servo Overrun Detected The servomotor ran out of control A C6 Fully Closed Encoder Phase A B Disconnection Alarm The phase A B of the fully closed encoder was d...

Страница 200: ...e board in the NS115 A E4 MECHATROLINK II Transmission Cycle Setting Error The setting of MECHATROLINK II transmis sion cycle is out of range A E5 MECHATROLINK II Synchronization Error MECHATROLINK II...

Страница 201: ...his warning occurs before the overload alarm A 71 or A 72 occurs If the warning is ignored and operation continues an over load alarm may occur A 92 ON OFF ON ON Regenera tive Over load This warning o...

Страница 202: ...This chapter describes the peripheral devices for MECHATROLINK MECHATROLINK II and the fully closed encoder 10 1 Fully Closed Encoder Connector Kit 10 2 10 2 MECHATROLINK MECHATROLINK II Communicatio...

Страница 203: ...2 10 1 Fully Closed Encoder Connector Kit Name Connector Kit Model Number Manufacturer Model Number Encoder Connector CN4 Plug JZSP VEP02 Manufacturer Sumitomo 3M ltd Plug connector 10120 3000VE Shel...

Страница 204: ...ables and terminator can be used both for MECHATROLINK MECHATROLINK II communications Communications Cables with Connectors on Both Ends Terminator Name Model Number Cable Length MECHATROLINK MECHATRO...

Страница 205: ...A List of MECHATROLINK II Commands and Command Formats This appendix provides a list of MECHATROLINK II commands and com mand formats A 1 MECHATROLINK II Command List A 2 A 2 MECHATROLINK II Command F...

Страница 206: ...A Disabled 0D SYNC_SET Start Synchronous Commu nications command N A Disabled 0E CONNECT MECHATROLINK II Con nection command N A Disabled 0F DISCON NECT Disconnection command N A Disabled 1B PPRM_RD R...

Страница 207: ...POSING Positioning command M A Enabled 36 FEED Constant Speed Feed com mand M A Enabled 38 LATCH Interpolation Feeding with Position Detection com mand M S Enabled 39 EX_POSING External Input Position...

Страница 208: ...Read Parameter command 02 PRM_WR Write Parameter command 05 ALM_RD Read Alarm or Warning command 1B PPRM_RD Read Non volatile Parameter command Not supported 1C PPRM_WR Write Non volatile Parameter c...

Страница 209: ...e Command Response Command Response Command Response Command Response 1 00H 00H 01H 01H 02H 02H 03H 03H 04H 04H 05H 05H 2 ALARM ALARM ALARM ALARM ALARM ALARM 3 STATUS STATUS STATUS STATUS STATUS STATU...

Страница 210: ...ponse 1 06H 06H 0DH 0DH 0EH 0EH 0FH 0FH 1BH 1BH 1CH 1CH 2 ALARM ALARM ALARM ALARM ALARM 3 STATUS STATUS STATUS STATUS STATUS 4 5 ALM_CLR _MOD ALM_CLR _MOD VER VER NO NO NO NO 6 COM_MOD COM_MOD 7 COM_T...

Страница 211: ...SENS_ON Command Response Command Response Command Response Command Response 1 20H 20H 21H 21H 22H 22H 23H 23H 2 ALARM ALARM ALARM ALARM 3 STATUS STATUS STATUS STATUS 4 5 PS_SUBCMD PS_SUBCMD 6 POS_DAT...

Страница 212: ...ALARM ALARM 3 STATUS OPTION STATUS STATUS STATUS 4 5 MONITOR1 MONITOR1 MONITOR1 6 7 8 9 MONITOR2 MONITOR2 MONITOR2 10 11 12 13 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 14 I O...

Страница 213: ...MONITOR2 10 11 12 13 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 14 I O I O I O I O 15 16 WDT RWDT WDT RWDT WDT RWDT WDT RWDT 17 For subcommands use Refer...

Страница 214: ...ONITOR2 VFF MONITOR2 10 11 12 13 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 14 I O I O I O 15 16 WDT RWDT WDT RWDT WDT RWDT 17 For subcommands use Refer to 4 4 Subcom mands For...

Страница 215: ...NITOR2 VREF MONITOR2 10 11 12 13 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 14 I O I O I O 15 16 WDT RWDT WDT RWDT WDT RWDT 17 For subcommands use Refer to 4 4 Subcom mands For...

Страница 216: ...ATA 9 TQREF MONITOR2 TSPD OR VFF MONITOR2 10 11 12 13 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 14 I O SQ_CMD I O 15 16 WDT RWDT WDT RWDT WDT RWDT 17 For subcommands use Refer to 4 4 Subcom mands Fo...

Страница 217: ...ponse Command Response Command Response Command Response Command Response 17 00H 00H 01H 01H 02H 02H 05H 05H 1BH 1BH 18 SUBSTATUS SUBSTATUS SUBSTATUS SUBSTATUS SUBSTATUS 19 NO NO NO NO ALM_RD_ MOD ALM...

Страница 218: ...Command Response Command Response Command Response Command Response 17 1CH 1CH 28H 28H 29H 29H 30H 30H 18 SUBSTATUS LT_SGN SUBSTATUS SUBSTATUS SUBSTATUS 19 NO NO SEL_MON3 4 SEL_MON3 4 SEL_MON3 4 SEL_M...

Страница 219: ...x B List of Parameters This appendix lists the parameters memory switches input signal selections and output signal selections for SGDH SERVOPACKs with an NS115 mounted B 1 Parameters B 2 B 2 Function...

Страница 220: ...3 Function Selection Application Switches 3 2 0000H to 00FFH 0002H Pn004 Reserved by system 2 0000H to 1100H 0100H Pn005 Function Selection Application Switches 5 2 0000H to 0001H 0000H For Linear Mot...

Страница 221: ...Reserved by system 2 0 Pn121 2 50 Pn122 2 0 Pn123 2 0 For Linear Motor Only Pn180 Bias 2 mm s 0 to 450 0 For Linear Motor Only Pn181 Mode Switch Speed Reference 2 mm s 0 to 5000 0 For Linear Motor Onl...

Страница 222: ...me Constant 2 0 01ms 0 to 65535 40 Pn308 Speed F B Filter Time Constant 2 0 01ms 0 to 65535 0 For Linear Motor Only Pn380 Speed 1 2 mm s 0 to 5000 10 For Linear Motor Only Pn381 Speed 2 2 mm s 0 to 50...

Страница 223: ...ce related Parameters Pn500 Positioning Completed Width 2 referenceunit pulse for COIN output 0 to 250 7 For Rotary Motor Only Pn501 Zero Clamp Level 2 min 1 0 to 10000 10 For Rotary Motor Only Pn502...

Страница 224: ...000H to FFFFH 6583H Pn50C Reserved by system 2 8888H Pn50D Reserved by system 2 8888H Pn50E Output Signal Selections 1 2 0000H to 3333H 3211H Pn50F Output Signal Selections 2 2 0000H to 3333H 0000H Pn...

Страница 225: ...Acceleration Deceleration Pn80A First step Linear Acceleration Parameter 2 10000 reference unit s2 1 to 65535 100 Pn80B Second step Linear Acceleration Parameter 2 10000 reference unit s2 1 to 65535 1...

Страница 226: ...o Point Return Mode Setting 2 0000H to 0001H 0000H Pn817 Zero Point Return Approach Speed 1 2 100 reference unit s 0 to 65535 50 Pn818 Zero Point Return Approach Speed 2 2 100 reference unit s 0 to 65...

Страница 227: ...Stops the motor by applying dynamic brake DB and then releases DB 2 Makes the motor coast to a stop state without using the dynamic brake DB 1 Overtravel Stop Mode 0 Same setting as Pn001 0 Stops the...

Страница 228: ...ue When P_CL 1 and N_CL 0 or P_CL and N_CL 1 P_TLIM operates as the torque limit value 1 Speed Reference Option in Torque Control Mode 0 The speed reference option is not effective Set VLIM to 0 0 1 V...

Страница 229: ...ar 1 V 100 mm s 7 Motor speed Rotary 1 V 125 min 1 Linear 1 V 10 mm s 8 Do not set 9 Do not set A Do not set B Do not set C Do not set D Do not set E Do not set F Do not set 1 Analog Monitor 2 0 to F...

Страница 230: ...2 Uses acceleration as the condition Level setting Pn10E 3 Uses error pulse as the condition Level setting Pn10F 4 No mode switch function available 1 Speed Loop Control Method 0 PI control 0 1 IP co...

Страница 231: ...tches Pn207 0 Reserved by system Set to 0 0 1 Position Control Option 1 Uses V REF as a speed feed forward input Automatically sets to 1 when the NS115 is connected 1 2 Reserved by system Set to 0 0 3...

Страница 232: ...terminal 4 Inputs from the SI4 CN1 44 input terminal 5 Inputs from the SI5 CN1 45 input terminal 6 Inputs from the SI6 CN1 46 input terminal 7 Sets signal ON 8 Sets signal OFF 9 Inputs the reverse sig...

Страница 233: ...N1 41 input terminal B Inputs the reverse signal from the SI2 CN1 42 input terminal C Inputs the reverse signal from the SI3 CN1 43 input terminal D Inputs the reverse signal from the SI4 CN1 44 input...

Страница 234: ...output terminal 3 Outputs from the SO3 CN1 29 30 output terminal 1 V CMP Signal Mapping 0 to 3 Same settings as Pn50E 0 1 2 TGON Signal Mapping 0 to 3 Same settings as Pn50E 0 2 3 S RDY Signal Mapping...

Страница 235: ...1 43 input terminal D Inputs the reverse signal from the SI4 CN1 44 input terminal E Inputs the reverse signal from the SI5 CN1 45 input terminal F Inputs the reverse signal from the SI6 CN1 46 input...

Страница 236: ...turned OFF then ON again Sends a Set Up Device command at power ON when changing a parameter Called an offline parameter Do not access Sequence related Switches Pn512 0 Signal Reversal for SO1 CN1 25...

Страница 237: ...gnores parameter setting warning A 94 2 Ignores MECHATROLINK II command warning A 95 3 Ignores both parameter setting warning A 94 and MECHATROLINK II command warning A 95 4 Ignores communications err...

Страница 238: ...et to 0 0 Monitor Pn813 0 Option Monitor 1 0 As for Analog Monitor 1 Pn003 0 0 1 As for Analog Monitor 2 Pn003 1 2 Monitors initial multi rotation data IMTDATA 3 Monitors the encoder count value PGCNT...

Страница 239: ...Reserved by system Set to 0 0 3 Reserved by system Set to 0 0 Pn81D 0 Backlash Compensa tion Direction 0 Forward direction 0 1 Reverse direction 1 Reserved by system Set to 0 0 2 Reserved by system S...

Страница 240: ...tuning C 3 C 1 2 Machine Rigidity Settings for Online Autotuning C 5 C 1 3 Saving Results of Online Autotuning C 7 C 1 4 Parameters Related to Online Autotuning C 9 C 2 Absolute Encoder Setup Initiali...

Страница 241: ...f the machine automatically and makes the necessary servo gain adjustments The function is easy to use and makes it possible for even beginners to perform servo gain tuning and set all servo gains as...

Страница 242: ...the load changes rapidly When the application has slow acceleration or deceleration using the soft start function and the speed error of the servomotor being driven is small When adjusting the servo g...

Страница 243: ...r s Manual SIEPS80000005 Start Operate with factory settings of parameters Set to always perform tuning Set Pn110 0 to1 Adjust the machinerigidity setting Clear theonline autotuning Set Pn110 0 to 2 Y...

Страница 244: ...h however it may cause the machine to vibrate In that case decrease the set value The rigidity value setting automatically changes the parameters in the above table If parameters Pn102 Pn100 Pn101 and...

Страница 245: ...max after sending for the setting to be completed 4 Use the following data reference command to check when settings have been com pleted Set 00H Data reference in the CCMD field Set 2003H in the CADDR...

Страница 246: ...o calculate the load moment of inertia at the time of online autotuning The moment of inertia ratio is factory set to 0 Before making servo gain adjustments manually be sure to set the inertia ratio i...

Страница 247: ...Confirm that the response is correct and that CMDRDY of STATUS is set to 1 The Online Autotuning Results Write Mode will be entered 4 Continue by using the following data setting command Set 01H Data...

Страница 248: ...Pn110 0 to 2 if autotuning is not available or if the online autotuning function is not used because the load moment of inertia is already known and the SERVOPACK is manu ally adjusted by setting the...

Страница 249: ...friction compensation accord ing to the extent of friction in order to ensure highly precise load moment of inertia calcula tion 1 Do not set friction compensation for loads with low friction 10 rate...

Страница 250: ...he Setup Mode 4 Continue by using the following data setting command Set 01H Data setting in the CCMD field Set 2001H in the CADDRESS field Set 02H Save in the CDATA field 5 After setting the data sen...

Страница 251: ...g Mode will be entered 4 Continue by using the following data setting commands Set 01H Data setting in the CCMD field Set 2001H in the CADDRESS field Set 02H Save in the CDATA field 5 After setting th...

Страница 252: ...nd field can be set 2 Send the following data setting commands in each command field Set 01H Data setting in the CCMD field Set 2000H in the CADDRESS field Set 100EH in the CDATA field 3 After setting...

Страница 253: ...H and byte 2 to 00H the following command field can be set 2 Send the following data setting commands to each command field Set 01H Data setting in the CCMD field Set 2002H in the CADDRESS field Set D...

Страница 254: ...olding brake 6 39 brake ON timing 6 41 brake operation 6 41 setting 6 42 wiring example 6 39 host controller 3 3 I I O signals connection example of I O signal connector CN1 3 6 I O signal names and f...

Страница 255: ...ode selection 6 10 Servomotor Stop Mode 6 8 servomotors with brakes 5 7 SERVOPACKs cooling 2 4 dimensional drawings 8 3 environmental conditions in the control panel 2 4 installation 2 4 installation...

Страница 256: ...inator B 1 Addition Pn280 and Pn281 B 2 Revision Description of Pn002 0 and Pn002 1 April 2004 Back cover Revision Address March 2005 3 5 3 4 2 2 Revision Description of connectable slave stations 4 3...

Страница 257: ...o 49 Wu Kong 6 Rd Wu Ku Industrial Park Taipei Taiwan Phone 886 2 2298 3676 Fax 886 2 2298 3677 YASKAWA ELECTRIC HK COMPANY LIMITED Rm 2909 10 Hong Kong Plaza 186 191 Connaught Road West Hong Kong Pho...

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