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2.2  Command Header Section of Main Command Area

2.2.1  Command Code (CMD/RCMD)

2-5

2

Command Format

2.2

Command Header Section of Main Command Area

This section describes the command header section of the main command area.

2.2.1

Command Code (CMD/RCMD)

This is the command code that defines the meaning of the messaging. Byte 0 of the command 
format is defined as the CMD/RCMD field. The data set in this field of the response data is a 
copy of that of the command data.

The following table shows the command codes.

*1.

This column shows whether the commands can be used with the 

Σ

-7 Series.

: Can be used, 

Δ

: Can be used with restrictions (Refer to the section for each command for actual restric-

tions.), 

×

: Cannot be used.

Profile

Command 

Code

Command

Operation

Applicability

*1

Communica-

tion Phases

*3

1

2

3

Common 
Com-
mands

00h

NOP

No operation

–

01h

PRM_RD

Read parameter

×

*2

–

×

×

02h

PRM_WR

Write parameter

×

*2

–

×

×

03h

ID_RD

Read ID

–

04h

CONFIG

Device setup request

Δ

–

05h

ALM_RD

Read alarm/warning

Δ

–

06h

ALM_CLR

Clear alarm/warning state

–

0Dh

SYNC_SET

Request for establishing syn-
chronization

–

Δ

0Eh

CONNECT

Request for establishing con-
nection

Δ

Δ

0Fh

DISCONNECT

Request for releasing connec-
tion

1Bh

PPRM_RD

Read stored parameter

×

*2

–

×

×

1Ch

PPRM_WR

Write stored parameter

×

*2

–

×

×

1Dh

MEM_RD

Read memory

Δ

–

1Eh

MEM_WR

Write memory

Δ

–

Servo 
Com-
mands

20h

POS_SET

Set coordinates

–

21h

BRK_ON

Request for applying brake

–

22h

BRK_OFF

Release brake

–

23h

SENS_ON

Request for turning sensor ON

–

24h

SENS_OFF

Request for turning sensor 
OFF

–

30h

SMON

Monitor servo status

–

31h

SV_ON

Servo ON

–

32h

SV_OFF

Servo OFF

–

34h

INTERPOLATE

Interpolation

–

×

35h

POSING

Positioning

–

36h

FEED

Constant speed feed

–

37h

EX_FEED

Positioning at constant speed 
by external input

–

39h

EX_POSING

Positioning by external input

–

3Ah

ZRET

Zero point return

–

3Ch

VELCTRL

Velocity control

–

3Dh

TRQCTRL

Torque control

–

40h

SVPRM_RD

Read servo parameter

Δ

–

41h

SVPRM_WR

Write servo parameter

–

Содержание S-7 Series

Страница 1: ...nual MANUAL NO SIEP S800001 31C 1 2 3 4 5 6 7 8 9 Command Format Main Commands Subcommands Operation Sequence Function Command Related Parameters Common Parameters Virtual Memory Space MECHATROLINK II...

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

Страница 3: ...contents of the chapters of this manual are described in the following table Refer to these chapters as required Chapter Chapter Title Contents 1 MECHATROLINK III Communication Settings Provides deta...

Страница 4: ...Documents 7 Series Servomotor Product Manuals SERVOPACKs with Built in Controllers 7C Enclosed Documents Built in Function Manuals 7 Series 7C SERVOPACK Product Manual 7 Series 7C SERVOPACK Troublesh...

Страница 5: ...iled information on the specifications system configu ration and communications con nection methods for the Ethernet communications that are used with MP3000 Series Machine Control lers and 7 Series 7...

Страница 6: ...ide DeviceNet Module TOBP C720829 07 Provides detailed procedures for installing the DeviceNet Module in a SERVOPACK AC Servo Drive Rotary Servomotor Safety Precautions TOBP C230260 00 Provides detail...

Страница 7: ...K Command Option Attachable Type with INDEXER Module Product Manual SIEP S800001 64 7 Series AC Servo Drive 7S SERVOPACK Command Option Attachable Type with DeviceNet Module Product Manual SIEP S80000...

Страница 8: ...o Drive 7S SERVOPACK with FT EX Specification for Cutting Application Feed Shaft Motor Product Manual SIEP S800002 10 Option Module User s Manual V Series V Series for Large Capacity Models 7 Series U...

Страница 9: ...ies Motion Programming Manual SIEP C880725 14 Provides detailed information on the motion programming and sequence programming specifica tions and instructions for MP3000 Series Machine Controllers an...

Страница 10: ...eceived asynchro nously to the communication cycle Subsequent commands can be sent after confirming the completion of processing of the slave station that received the command The WDT Watchdog Timer i...

Страница 11: ...he third digit from the right is set to 2 Position Torque The control methods for which the parameters apply are given Speed Speed control Position control Torque control This is the parameter setting...

Страница 12: ...g aids are used to indicate certain types of information for easier reference Indicates precautions or restrictions that must be observed Also indicates alarm displays and other precautions that will...

Страница 13: ...ation marked as shown below is important for safety Always read this information and heed the precau tions that are provided DANGER Indicates precautions that if not heeded are likely to result in los...

Страница 14: ...y the product There is a risk of fire or failure The warranty is void for the product if you disassemble repair or modify it CAUTION The SERVOPACK heat sinks regenerative resistors External Dynamic Br...

Страница 15: ...y of the following locations Locations that are subject to direct sunlight Locations that are subject to ambient temperatures that exceed product specifications Locations that are subject to relative...

Страница 16: ...amaged by the gases or fumes resulting from the fumigation process In particular disinfectants containing halogen which includes chlorine fluorine bromine or iodine can contribute to the erosion of th...

Страница 17: ...RVOPACK in a control panel Do not allow any foreign matter to enter a SERVOPACK or a Servomotor with a Cooling Fan and do not cover the outlet from the Servomotor s cooling fan There is a risk of fail...

Страница 18: ...supply to the SERVOPACK only after all wiring including the main circuit termi nals has been completed If a connector is used for the main circuit terminals remove the main circuit connector from the...

Страница 19: ...ch as broken signal lines occur For example the P OT and N OT signals are set in the default settings to operate on the safe side if a signal line breaks Do not change the polarity of this type of sig...

Страница 20: ...sible after a faulty SERVOPACK is replaced possibly resulting in machine or equipment damage DANGER Do not change any wiring while power is being supplied There is a risk of electric shock or injury W...

Страница 21: ...and short circuiting or install a molded case circuit breaker combined with a ground fault detector There is a risk of SERVOPACK failure or fire if a ground fault occurs The holding brake on a Servom...

Страница 22: ...red product in a manner in which it was not originally intended Causes that were not foreseeable with the scientific and technological understanding at the time of shipment from Yaskawa Events for whi...

Страница 23: ...property Systems that require a high degree of reliability such as systems that supply gas water or elec tricity or systems that operate continuously 24 hours a day Other systems that require a simila...

Страница 24: ...5 4 Combinations of Main Commands and Subcommands 1 9 Command Format 2 2 1 Common Command Format 2 3 2 2 Command Header Section of Main Command Area 2 5 2 2 1 Command Code CMD RCMD 2 5 2 2 2 Watchdog...

Страница 25: ...dinates Command POS_SET 20h 3 24 3 2 2 Apply Brake Command BRK_ON 21h 3 26 3 2 3 Release Brake Command BRK_OFF 22h 3 27 3 2 4 Turn Sensor ON Command SENS_ON 23h 3 30 3 2 5 Turn Sensor OFF Command SENS...

Страница 26: ...for Managing Parameters Using a SERVOPACK 5 7 5 3 Setting the Zero Point before Starting Operation 5 8 5 4 Operation Sequence when Turning the Servo ON 5 9 5 5 Operation Sequence when OT Overtravel Li...

Страница 27: ...ns or Commands 7 7 1 Communication Related Alarms 7 2 7 2 Warnings Related to Communication and Commands 7 5 7 2 1 Communication Errors COMM_ALM 7 5 7 2 2 Command Errors CMD_ALM 7 5 7 2 3 Monitoring C...

Страница 28: ...a Execution Timing 1 5 1 4 2 Monitored Data Input Timing 1 5 1 4 3 Transmission Cycle and Communications Cycle Support for 125 s 1 6 1 5 List of Commands 1 7 1 5 1 Command Types 1 7 1 5 2 Main Command...

Страница 29: ...Interconnection reference model This manual describes standard servo profile commands for the application layer OSI MECHATROLINK III Protocol Layer 7 Application layer MECHATROLINK III application lay...

Страница 30: ...s also possible to use a main command alone The application layer interfaces with only the information field Classification Byte Command Response Information Field 0 to 31 Used by main commands 32 to...

Страница 31: ...State Transition Slave Station State Transition Start P1 Waits for connection establishment P2 Asynchronous communications state P3 Synchronous communications state Sends CONNECT Asynchronous communic...

Страница 32: ...tion commands such as POSING and INTERPOLATE and the servo command control and servo command I O signals SVCMD_CTRL and SVCMD_IO are executed 125 s after their reception 1 4 2 Monitored Data Input Tim...

Страница 33: ...t for 125 s 1 6 1 4 3 Transmission Cycle and Communications Cycle Sup port for 125 s By adopting a shorter transmission cycle the command throughput of the host controller is improved by eliminating t...

Страница 34: ...03h ID_RD Read ID command Reads the device ID 3 1 2 04h CONFIG Device setup request command Enables the current parameter settings 3 1 3 05h ALM_RD Read alarm warning command Reads the current alarm o...

Страница 35: ...et speed TSPD 3 2 10 36h FEED Constant speed feed command Starts constant speed feeding at the target speed TSPD 3 2 11 37h EX_FEED Positioning at con stant speed by external input command Starts cons...

Страница 36: ...tatus and the alarm history 4 3 06h ALM_CLR Clear alarm warning state com mand Clears the current alarm or warning status and the alarm history 4 4 1Dh MEM_RD Read memory com mand Reads data from virt...

Страница 37: ...SVPRM_RD 40h SVPRM_WR 41h Continued from previous page Main Command Subcommands NOP 00h ALM_RD 05h ALM_ CLR 06h MEM_ RD 1Dh MEM_ WR 1Eh SMON 30h SVPRM _RD 40h SVPRM _WR 41h Even for a valid combinatio...

Страница 38: ...ommand Control SUB_CTRL 2 11 2 3 3 Subcommand Status SUB_STAT 2 12 2 4 Servo Command Format 2 13 2 5 Command Header Section 2 14 2 5 1 Servo Command Control SVCMD_CTRL 2 14 2 5 2 Servo Command Status...

Страница 39: ...2 7 Command Data 2 27 2 7 1 Data Order 2 27 2 7 2 Specifying Units 2 27 2 7 3 Specifying Monitor Data 2 28 2 7 4 Position Data 2 29...

Страница 40: ...he command header section and the command data section Fields in the command header section of the main command area Fields in the command header section of the subcommand area Command CMD WDT CMD_CTR...

Страница 41: ...o the following section 2 3 2 Subcommand Control SUB_CTRL on page 2 11 SUB_STAT Refer to the following section 2 3 3 Subcommand Status SUB_STAT on page 2 12 SUB_CMD_DATA SUB_RSP_DATA Specified for ind...

Страница 42: ...d parameter 2 02h PRM_WR Write parameter 2 03h ID_RD Read ID 04h CONFIG Device setup request 05h ALM_RD Read alarm warning 06h ALM_CLR Clear alarm warning state 0Dh SYNC_SET Request for establishing s...

Страница 43: ...format are specified as the CMD_CTRL field The designation in the CMD_CTRL field is valid even when an alarm specified by CMD_ALM has occurred The CMD_CTRL field is specified as shown below by the com...

Страница 44: ...e 3 of the response format are specified as the CMD_STAT field The CMD_STAT field is specified as shown below by the communication specification D_ALM Definition This bit indicates the device alarm st...

Страница 45: ...ans that command processing is in progress While CMDRDY 0 the slave station continues to process the current command but the slave station will discard new commands received while CMDRDY 0 Only the DI...

Страница 46: ...normal command is received after the occurrence of a command error CMD_ALM is automatically cleared The phase doesn t change even if the status of CMD_ALM is not 0 The servo ON OFF state doesn t chan...

Страница 47: ...mmand data has not been received 3 Synchronous frame not received The SERVOPACK detects that the synchronous frame has not been received 2 Command data not received 3 Synchronous frame not received 4...

Страница 48: ...each command for the details of the restric tions 2 Can be executed Ignored Command error Indefinite response data 2 3 2 Subcommand Control SUB_CTRL The following describes the subcommand control dat...

Страница 49: ...15 Selects the monitor information with the setting value 20 to 23 SEL_MON6 Monitor selection 6 0 to 15 Selects the monitor information with the setting value bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1...

Страница 50: ...te Command Response Description 0 CMD RCMD CMD_CTRL Refer to the following section 2 2 3 Command Control CMD_CTRL on page 2 6 CMD_STAT Refer to the following section 2 2 4 Command Status CMD_STAT on p...

Страница 51: ...ls of Control Bits The following table shows the details of the control bits bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 Reserved 0 ACCFIL STOP_MODE CMD_ CANCEL CMD_ PAUSE bit 15 bit 14 bit 13 bit...

Страница 52: ...m LT_SEL2 Important The 7F Integrated Servomotor Model SGF7 2 supports C phase only This setting is disabled when the control bits are set to external input signal 1 2 or 3 12 13 LT_SEL2 Latch Signal...

Страница 53: ...sing of move command com pleted The status used to judge the completion of pausing of the POSING FEED EX_FEED EX_POS ING ZRET and VELCTRL commands 1 CMD_CANCEL_ CMP Completion of Cancellation of Move...

Страница 54: ...judge if the motor is energized or not 16 to 19 SEL_MON1 Monitor Selection 1 Returns what data is being monitored 0 to 15 Monitor selection The status used to judge the data currently being monitored...

Страница 55: ...ith STOP_MODE When deceleration to a stop is specified the slave station decelerates its motion at the deceleration specified in DECR of the command 3 1 is set for CMD_PAUSE_CMP at the slave station w...

Страница 56: ...on specified in DECR of the command 3 1 is set for CMD_CANCEL_CMP at the slave station in the following circumstances In the position control mode When CMD_CANCEL and DEN become 1 In the speed control...

Страница 57: ...CMD_CANCEL 2 20 Example of Canceling the POSING Command Example of Canceling the VELCTRL Command Communication cycle CMD POSING OFF ON CMD_CANCEL OFF ON CMD_CANCEL_CMP OFF ON DEN OFF ON PSET CMD VELC...

Страница 58: ...1 LT_REQ 1 Command without a latch function LT_SEL 1 LT_REQ 1 Continues the latch request before switching Command without a latch function LT_SEL 1 LT_REQ 1 Command without a latch function LT_SEL 2...

Страница 59: ...bit 17 bit 16 Reserved SO3 SO2 SO1 BANK_SEL bit 31 bit 30 bit 29 bit 28 bit 27 bit 26 bit 25 bit 24 Reserved 0 bit Name Description Value Setting Enabled Timing 4 V_PPI Speed Loop P PI Control 0 PI c...

Страница 60: ...20 to 22 SO1 to SO3 I O Signal Output Com mand 0 Signal OFF Level 1 Signal ON Turns ON OFF the signal output for I O signal outputs SO1 to SO3 Important The OUT_SIGNAL operation is disabled when othe...

Страница 61: ...ed 5 EXT2 External Latch 2 Input 0 OFF 1 ON The status used to judge the state of the external latch 2 input signal Important The 7F Integrated Servomotor Model SGF7 2 does not support monitoring beca...

Страница 62: ...n is within the range of the Positioning Com pleted Width common parameter 66 This bit is valid only in the position control mode Refer to the following section for details 5 9 Notes when the Position...

Страница 63: ...gnal ON The status used to indicate the I O signal state of CN1 Allocate the input signals using parameters Pn860 to Pn866 Pn868 and Pn869 Important The 7F Integrated Servomotor Model SGF7 2 does not...

Страница 64: ...r details Chapter 8 Common Parameters Speed The following units can be selected Settings are made with common parameters 41 and 42 Position The following units can be selected Settings are made with c...

Страница 65: ...r 48 Selection Code Monitor Name Description Remark 0 APOS Feedback Position 1 CPOS Command Position 2 PERR Position Error Valid only when performing position control 3 LPOS1 Latched Position 1 4 LPOS...

Страница 66: ...4 byte data as position data For infinite length operation position data beyond this limit are expressed as shown in the diagram below Position data in MECHATROLINK III communication Reference unit 7...

Страница 67: ...19 3 1 9 Read Memory Command MEM_RD 1Dh 3 20 3 1 10 Write Memory Command MEM_WR 1Eh 3 21 3 2 Servo Commands 3 24 3 2 1 Set Coordinates Command POS_SET 20h 3 24 3 2 2 Apply Brake Command BRK_ON 21h 3 2...

Страница 68: ...Return Command ZRET 3Ah 3 45 3 2 15 Velocity Control Command VELCTRL 3Ch 3 48 3 2 16 Torque Control Command TRQCTRL 3Dh 3 49 3 2 17 Read Servo Parameter Command SVPRM_RD 40h 3 50 3 2 18 Write Servo P...

Страница 69: ...on command Asynchronous command Processing Time Within communication cycle Subcommand Can be used Byte NOP Description Command Response 0 00h 00h You cannot use the NOP command during network control...

Страница 70: ...3h and CMD_STAT CMDRDY 1 and also checking the setting for ID_CODE OFFSET and SIZE In the following cases an alarm will occur Do not read ID in the response in those cases because the ID value will be...

Страница 71: ...DI associated with function addi tions and function changes such as addition of profiles Minor version When there are changes to the MDI associated with minor function addi tions or function changes R...

Страница 72: ...Cycle 4 bytes Binary Data 12500 0 01 s unit 0 125 ms The minimum communication cycle that the device supports 1Ah Maximum Value of Communica tion Cycle 4 bytes Binary Data 3200000 0 01 s unit 32 ms T...

Страница 73: ...it4 bit3 bit2 bit1 bit0 Reserved 0 ALM_ CLR ALM_ RD CONFIG ID_RD PRM_ WR PRM_RD NOP 0 1 1 1 1 0 0 1 bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 DISCON NECT CON NECT SYNC_ SET Reserved 0 Reserved 0 R...

Страница 74: ...d from previous page ID_CODE Description Data Size Data Type Compliance bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 Reserved 0 ALM_ CLR ALM_ RD Reserved 0 Reserved 0 PRM_ WR PRM_RD NOP 0 1 1 0 0 0 0 1 bit...

Страница 75: ...ved 0 Reserved 0 Reserved 0 Reserved 0 Reserved 0 29 28 0 0 0 0 0 0 1 1 bit71 bit70 bit69 bit68 bit67 bit66 bit65 bit64 47 46 45 44 43 42 41 Reserved 0 1 1 1 1 1 1 1 0 bit79 bit78 bit77 bit76 bit75 bi...

Страница 76: ...00 Not supported NULL The name of sub device 3 ASCII code B8h Sub Device 3 Version 4 bytes Binary Data Not supported 0000000h The version number of sub device 3 BCh to BFh Reserved C0h Sub Device 4 Na...

Страница 77: ...n by checking that RCMD CONFIG 04h and CMD_STAT CMDRDY 1 and also checking the setting for CONFIG_MOD CMD_STAT Indefinite until the completion of the command In the following cases an alarm will occur...

Страница 78: ...tus and Output Signal Before CONFIG Pro cessing During CONFIG Pro cessing After CONFIG Pro cessing ALM Current state Current state Current state CMDRDY 1 0 1 M_RDY Current state Indefinite Current sta...

Страница 79: ...Byte ALM_RD Description Command Response 0 05h 05h The ALM_RD command reads the alarm or warning state The current alarm or warning state is read to ALM_ DATA Confirm the completion of the command exe...

Страница 80: ...wing con figuration ALM_RD_MOD Description Processing Time 0 Current alarm warning state Max 10 items byte 8 to 27 00h is set for the remaining bytes byte 28 to 31 Within communication cycle 1 Alarm o...

Страница 81: ...error reception error or syn chronous communication error watchdog data error occurs during synchronous communication synchro nous communication must be recovered by using the SYNC_SET command after t...

Страница 82: ...or Synchronous communication is established by taking the transition of the watchdog data WDT during the execution of this command as the reference Maintains this command at the master station until p...

Страница 83: ...Confirm the completion of the command execution by checking that RCMD CONNECT 0Eh and CMD_STAT CMDRDY 1 and also that the settings of VER COM_MODE COM_TIME and PROFILE_TYPE of the response agree with...

Страница 84: ...secutive transmission 10 Reserved 11 Reserved SUBCMD Subcommand setting 0 Subcommand disabled 1 Subcommand enabled COM_TIM Communication cycle setting Sets the number by which to multiply the transmis...

Страница 85: ...establish the connection It then waits for the connect establishment request from the master station The DISCONNECT command can be sent regardless of the state of the CMD_STAT CMDRDY bit If the DIS CO...

Страница 86: ...ata size for reading Confirm the completion of the command execution by checking that RCMD MEM_RD 1Dh and CMD_STAT CMDRDY 1 and also checking the setting for ADDRESS SIZE and MODE DATA_TYPE In the fol...

Страница 87: ...cution by checking that RCMD MEM_WR 1Eh and CMD_STAT CMDRDY 1 and also checking the setting for ADDRESS SIZE MODE DATA_TYPE and DATA In the following cases an alarm will occur and the com mand will no...

Страница 88: ..._WR ADDRESS 80004002h MODE DATA_TYPE 12h SIZE 0001h DATA 0002h To confirm the completion of the execution check that CMDRDY 1 If an error occurs carry out the operation in step 4 to abort execution bi...

Страница 89: ...Set the number of data of the data type specified by DATA_TYPE The details of CMD_ALM of the MEM_RD MEM_WR command are described below Area Name Details DATA_TYPE SIZE Accessible inaccessible Vendor...

Страница 90: ...rovides a function to set the refer ence point Specifying this command after setting REFE 1 sets the machine zero point according to the coor dinate setting values and enables the stroke check softwar...

Страница 91: ...S_DATA REFE Enable Disable setting of reference point 0 Disables setting of a reference point 1 Enables setting of a reference point The coordinate reference point setting is confirmed and the ZPOINT...

Страница 92: ...utputs a brake operation sig nal Confirm the completion of the command execution by checking that RCMD BRK_ON 21h and CMD_STAT CMDRDY 1 Valid only in the servo OFF state To use this command set Pn50F...

Страница 93: ...be used Byte BRK_OFF Description Command Response 0 22h 22h The BRK_OFF command releases the brake Confirm the completion of the command execution by checking that RCMD BRK_OFF 22h and CMD_STAT CMDRD...

Страница 94: ...always valid as command as long as no warning occurs Always make sure of the status of brake control command when using BRK_ON or BRK_OFF command Sending BRK_OFF command while the servomotor is being...

Страница 95: ...Other Than a MECHATROLINK Communications Error Related Alarm Command Alarm status Servo status Brake signal BK NOP BRK_OFF SV_ON ON OFF OFF ON OFF Normal status Alarm status Command Communications er...

Страница 96: ...MON2 Monitor data can be selected by changing the common parameter setting Refer to the following chapter for details Chapter 8 Common Parameters When an absolute encoder is used the initial position...

Страница 97: ...SEL_MON2 Monitor data can be selected by changing the common parameter setting Refer to the following chapter for details Chapter 8 Common Parameters When an absolute encoder is used the position data...

Страница 98: ...ormation position speed output torque etc specified in monitor setting and the state of the I O signals of the servo drive Confirm the completion of the command execution by checking that RCMD SMON 30...

Страница 99: ...on Parameters To establish the servo ON state after a warning has occurred send a command other than SV_ON such as the SV_OFF command and then send the SV_ON com mand Upon completion of execution of t...

Страница 100: ...g Time for SVOFF at Decel eration to Stop is set to a value other than 0 the servo will be turned OFF after the servomotor deceler ates to a stop according to the deceleration constant for stopping se...

Страница 101: ...Parameter No Description Pn829 SVOFF Waiting Time for SVOFF at Decelera tion to Stop Pn827 Pn840 Linear Deceleration Constant 1 for Stopping Linear Deceleration Constant 2 for Stopping SV_OFF command...

Страница 102: ...VFF velocity feedforward Set the speed feedforward value with a signed value Use it as a speed feedforward function TFF torque feedforward Set the torque feedforward value with a signed value Use it...

Страница 103: ...meters Notes on using the command TPOS target position Set the target position with a signed value TSPD target speed Set the target speed with an unsigned value ACCR acceleration Set the acceleration...

Страница 104: ...eration deceleration will be used Linear acceleration deceleration will be used when the rate of acceleration deceleration meets the following condition for the target speed TSPD Acceleration decelera...

Страница 105: ...command TSPD target speed Set the target speed with a signed value ACCR acceleration Set the acceleration with an unsigned value DECR deceleration Set the deceleration with an unsigned value When both...

Страница 106: ...3 2 Servo Commands 3 2 11 Feed Command FEED 36h 3 40 Speed Time Feed speed SVCMD_CTRL CANCEL 1...

Страница 107: ...y changing the common param eter setting Refer to the following chapter for details Chapter 8 Common Parameters Notes on using the command To send this command select the latch signal with LT_SEL1 of...

Страница 108: ...ce to target position P3 the slave station sets the motion reference output completed flag DEN to 1 to notify the master station of the completion of motion reference output to move the device to targ...

Страница 109: ...rs Notes on using the command To send this command select the latch signal with LT_ SEL1 of SVCMD_CTRL and output the latch request by setting LT_REQ1 1 TPOS target position Set the target position wi...

Страница 110: ...al input positioning target P3 5 After the completion of motion reference output to move the device to target position P3 the slave station sets the motion reference output completed flag DEN to 1 to...

Страница 111: ...to the following chapter for details Chapter 8 Common Parameters Notes on using the command To send this command select the latch signal with LT_SEL1 of SVCMD_CTRL and output the latch request by set...

Страница 112: ...The master station sends the ZRET command It selects the latch signal with LT_SEL1 of SVCMD_CTRL and outputs the latch request by setting LT_REQ1 1 2 The slave station starts feeding in the direction...

Страница 113: ...ined by the sign of the value set for the Final Travel Distance for Homing If the Final Travel Distance for Homing is a positive value After latching during motion in the positive direction the motor...

Страница 114: ...the common parameter setting Refer to the following chapter for details Chapter 8 Common Parameters Notes on using the command VREF Velocity reference Set the speed reference with a signed value TFF t...

Страница 115: ...for details Chapter 8 Common Parameters Notes on using the command TQREF torque reference Set the torque reference with a signed value VLIM Velocity limit Set the speed limit with an unsigned value R...

Страница 116: ...arameter in the read mode to read the corresponding servo parameter Confirm the completion of the command execution by checking that RCMD SVPRM_RD 40h and CMD_STAT CMDRDY 1 and also checking the setti...

Страница 117: ...re written However the following parameters are not enabled even if the CONFIG command is sent You must turn the power supply OFF and ON again after you change either of these parameters Pn002 n X Ext...

Страница 118: ...1h A 97B Operates with the speed clamped at the maximum output speed TQREF TFF Torque reference Torque feedforward value Set signed 4 byte data Maximum torque to Maximum torque 0h Normal Operates acco...

Страница 119: ...ation deceleration and the alarm CMD_ALM does not occur Both ACCR and DECR are set at 0 0h Normal Acceleration deceleration is performed according to the parameter settings ACCR DECR Accelera tion Dec...

Страница 120: ...during Position Control If you use a positioning command i e POSING FEED EX_FEED EX_POSING or ZRET for a 7 Series Rotary Servomotor the following restrictions apply to the deceleration time Electric...

Страница 121: ...Using Servo Commands 3 Main Commands 3 55 The following figure shows the relationship between the reference speed and deceleration time Motor Speed Time 6000 min 1 If you reduce the reference speed t...

Страница 122: ...4 4 Clear Alarm or Warning Subcommand ALM_CLR 06h 4 5 4 5 Read Memory Subcommand MEM_RD 1Dh 4 6 4 6 Write Memory Subcommand MEM_WR 1Eh 4 7 4 7 Servo Status Monitor Subcommand SMON 30h 4 8 4 8 Read Se...

Страница 123: ...subsection describing each command for the details of the restric tions 2 Can be executed Ignored Command error Indefinite response data Profile Command Code Command Operation Communication Phases 2...

Страница 124: ...tion Common command Asynchronous command Processing Time Within communication cycle Byte NOP Description Command Response 32 00h 00h The NOP subcommand is used for network control Confirm the completi...

Страница 125: ...M_RD subcommand reads the current alarm or warning state as an alarm or warning code Confirm the completion of the subcommand execution by checking that RSUBCMD ALM_RD 05h and SUB_STAT SBCMDRDY 1 ALM_...

Страница 126: ...es not eliminate the cause of the alarm or warning ALM_ CLR should be used to clear the state after the cause of the alarm or warning has been eliminated Confirm the completion of the subcommand execu...

Страница 127: ...the initial address and the data size for reading Confirm the completion of the subcommand execution by checking that RSUBCMD MEM_RD 1Dh and SUB_STAT SUBCMDRDY 1 and also checking the setting for ADDR...

Страница 128: ...and provides an adjustment function equivalent to that of the ADJ command of the MECHA TROLINK II compatible profile For the operation proce dure refer to the MEM_WR main command Confirm the completio...

Страница 129: ...e Subcommand Byte SMON Description Command Response 32 30h 30h The SMON subcommand reads the alarms status and monitor information position speed output torque etc specified in monitor setting and the...

Страница 130: ...mber data size and the read mode Confirm the completion of the subcommand execution by checking that RSUBCMD SVPRM_RD 40h and SUB_STAT SUBCMDRDY 1 and also checking the setting for NO SIZE and MODE In...

Страница 131: ...rites the servo param eters on specification of the servo parameter number data size and write mode Confirm the completion of the subcommand execution by checking that RSUBCMD SVPRM_WR 41h and SUB_STA...

Страница 132: ...2 Operation Sequence for Managing Parameters Using a SERVOPACK 5 7 5 3 Setting the Zero Point before Starting Operation 5 8 5 4 Operation Sequence when Turning the Servo ON 5 9 5 5 Operation Sequence...

Страница 133: ...Station Address Set the station address using the rotary switches S1 and S2 S3 Function Setting Factory setting 1 2 Number of transmission bytes Pins 1 and 2 Sets the number of transmission bytes OFF...

Страница 134: ...rvomotor OFF and ON again to enable the new setting Setting the Number of Transmission Bytes Set the number of transmission bytes in Pn881 Number of Transmission Bytes Setting Important After you chan...

Страница 135: ...it In the CONNECT command uncompleted state D1 POWER LED Lit while the control power is being supplied normally 7 segment LED In normal state Indicates the status In alarm warning state Indicates the...

Страница 136: ...k status Not lit No MECHATROLINK III link no MECHATROLINK III communications cable con nection Lit MECHATROLINK III link electrical connection to device Status Indicator Lighting Pattern Not lit Alway...

Страница 137: ...the steps to enable starting of communications regardless of the status at that point Procedure Operation Command to Send 1 Turn ON the control and main circuit power supplies 2 Confirm the completio...

Страница 138: ...us communications status DISCONNECT 3 Establish communications connection and starts WDT count CONNECT 4 Check information such as device ID ID_RD 5 Get device setting data such as parameters SVPRM_RD...

Страница 139: ...0 POS_SET_ MODE REFE 1 and POS_DATA reference position ZPOINT and software limits are enabled after the reference coordinate system has been set When Using an Absolute Encoder When an absolute encoder...

Страница 140: ...a so that the reference coordinate system CPOS MPOS and the feedback coordi nate system APOS are equal For correct execution of motion commands therefore it is nec essary to use the SMON status monito...

Страница 141: ...r is completely stopped Keep the command used in procedure 1 active until both of the above flags are set to 1 3 Read out the current reference position CPOS and use it as the start position for retra...

Страница 142: ...ergency stop no specific process is required For circuits that turn OFF only the main circuit power supply follow the procedure below After confirming that the SV_ON or PON bit in the STATUS field of...

Страница 143: ...VCMD_IO servo command input signal field If a forced stop status is detected send a command such as SV_OFF to stop the motor BB status baseblocked RUN status HWBB status hard wire baseblocked HWBB1 HW...

Страница 144: ...Complete the preparation for operation after establishing the servo ON state 6 Start operation Note 1 If the SERVOPACK enters the HWBB status while sending an SV_ON command reset the HWBB1 or HWBB2 si...

Страница 145: ...Error Alarms When a communication error alarm COMM_ALM 8 occurs the communication phase shifts to phase 2 To restore communication phase 3 send a SYNC_SET command after resetting the alarm For Warnin...

Страница 146: ...ply was turned OFF PON of SVCMD_STAT set to 0 The motor has stopped due to overtravel P OT or N OT of SVCMD_IO set to 1 or a soft ware limit P_SOT or N_SOT of SVCMD_IO set to 1 The servo OFF state SV_...

Страница 147: ...6 3 2 Setting Parameters 6 8 6 4 Speed Feedforward Function 6 9 6 4 1 Relationship between the Host Controller and SERVOPACK 6 9 6 4 2 Setting Parameters 6 10 6 5 Software Limit Function 6 11 6 6 Lat...

Страница 148: ...alues are specified using the INTERPOLATE command the values will be cleared when another command is executed 6 1 2 Positioning Command There are the following two kinds of acceleration deceleration m...

Страница 149: ...Factory set ting Use Pn80A to Pn80F and Pn827 The settings of Pn834 to Pn840 are ignored 2 0000h to 0001h n 1 Use Pn834 to Pn840 The settings of Pn80A to Pn80F and Pn827 are ignored Parameter Name Da...

Страница 150: ...tant 2 4 1 to 20971520 10000 reference units s2 100 Pn838 Acceleration Constant Switching Speed 2 4 0 to 2097152000 Reference units s 0 Pn83A First Stage Linear Deceleration Constant 2 4 1 to 20971520...

Страница 151: ...sing P_CL N_CL Bits of SVCMD_IO Field This method uses the P_CL and N_CL bits of the SVCMD_IO field to limit the output torque to the values set for the following parameters Settings can be made using...

Страница 152: ...limit specified by the TLIM field remains valid During execution of the SV_OFF or TRQC TRL command the torque limit specified by the TLIM field becomes invalid and the maximum torque will be used as...

Страница 153: ...or position control When SERVOPACK Performs Speed Control When SERVOPACK Performs Position Control Servomotor Speed feedback Current feedback SERVOPACK when VELCTRL command is used Host controller Enc...

Страница 154: ...r is slow the torque feedforward reference may be applied stepwise as shown on the left in the following figure You can set Pn426 Torque Feedforward Average Movement Time to a suitable value to create...

Страница 155: ...between the Host Controller and SERVO PACK The following figure illustrates specifying speed feedforward in a command from the host con troller when the SERVOPACK is performing speed control B A Servo...

Страница 156: ...n the left in the following figure You can set Pn30C Speed Feedforward Average Movement Time to a suitable value to create a smooth speed feedforward reference as shown on the right in the above figur...

Страница 157: ...he function remains disabled Zero point return operation by the ZRET command is completed The coordinate setting is completed after reference point setting REFE 1 by executing the POS_SET command When...

Страница 158: ...e positioning will be performed by using the software limit value as the tar get position Parameter Meaning Data Size Byte Setting Range Unit Pn801 n 0 Enable both forward and reverse soft ware limits...

Страница 159: ...f the following cases latching will not be performed since the latching conditions are not satisfied Outside the latching allowable area set by parameters Inside the latching disabled area in the oper...

Страница 160: ...tart of the next latch and enables sequential latch operations at high speed How to Start and Stop Continuous Latch Operation Set the following parameters and then set LT_REQ2 to 1 to start continuous...

Страница 161: ...latching can be obtained by using the follow ing monitor The previously latched position data can be obtained by using the following optional monitors Operation Example An example of a continuous latc...

Страница 162: ...ch Sequence 5 to 8 Settings 2 0000h to 3333h 0000H 1 Latch Sequence 5 Signal Selection 0 Phase C 0 to 3 0 1 EXT1 signal 2 EXT2 signal 3 EXT3 signal 2 Latch Sequence 6 Signal Selection As above 3 Latch...

Страница 163: ...s of the SVCMD_CTRL field is set to 1 requesting latch ing For the MECHATROLINK II compatible profile the conditions are different The above conditions for enabling latch signal input are valid for th...

Страница 164: ...eters can be registered as parameter bank members by parameters Pn902 to Pn910 For 4 byte parameters one parameter must be registered as two consecutive members See Setting Example 2 Name Description...

Страница 165: ...e bank function enabled and start the operation without setting parameters Pn920 to Pn95F the operation will be carried out under the condition that all bank data is set to 0 zero or the minimum setti...

Страница 166: ...Pn901 64 If a parameter that is not allowed to be a bank member is registered the bank data of the parameter registered member will become invalid Bank data that exceeds the setting range of the regis...

Страница 167: ...applicable manual for design and maintenance of the SERVOPACK 7 1 Communication Related Alarms 7 2 7 2 Warnings Related to Communication and Commands 7 5 7 2 1 Communication Errors COMM_ALM 7 5 7 2 2...

Страница 168: ...er of transmission bytes S3 Review the communica tion setting of the con troller Zero speed stop ping A E41 Possi ble 0 Station address set ting error The station address setting is invalid or a stati...

Страница 169: ...e Commu nication Synchro nization Error C Synchroniza tion error The controller is not refreshing the WDT data in each commu nication cycle after completing communication synchroniza tion in communica...

Страница 170: ...meter settings Refer to 6 7 Acceleration Deceleration Parameter High speed Switching Function for details Cause 2 The settings of the reserved parame ters have been changed as follows Pn200 n X is not...

Страница 171: ...ws the warnings related to the validity of commands When an error of this kind is detected the warning code is displayed on the SERVOPACK as well Category Alarm in Response SERVOPACK Side COM M_ALM Me...

Страница 172: ...exadecimal Com mand Warning A The command sequence is incor rect Review the command sending sequence of the controller Refer to the conditions of each command A 95A Cleared auto matically 8 An unsuppo...

Страница 173: ...8 1 Overview 8 2 8 2 List of Common Parameters 8 3 8 3 Common Parameters and Corresponding Device Parameters 8 11 Common Parameters 8...

Страница 174: ...to Pn8 specific to this SERVOPACK As shown in the follow ing example setting either the common parameter or the device parameter will change the value of the corresponding parameter Refer to the follo...

Страница 175: ...ed Selection read only 0 to 1 All 04 PnA08 4 Rated Motor Speed read only 0 to FFFFFFFF 1 min 1 All 05 PnA0A 4 Maximum Output Speed read only 0 to FFFFFFFF 1 min 1 All 06 PnA0C 4 Speed Multiplier read...

Страница 176: ...823 1 reference unit 1073741 823 All Immedi ately 29 PnA52 4 Reserved parameter Do not use 0 All Immedi ately 41 PnA82 4 Speed Unit Selection 2 0 to 4 0 All After restart Unit settings 42 PnA84 4 Spee...

Страница 177: ...1011F h All Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Resolution Default Setting Applicable Motors When Enabled Classi fication 0000h Refere...

Страница 178: ...ately 6 83 PnB06 4 External Positioning Final Travel Distance 1 073 741 823 to 1 073 741 823 1 reference unit 100 All Immedi ately 84 PnB08 4 Origin Approach Speed 0h to 3FFFFFFFh 10 3 min 1 5 000 ref...

Страница 179: ...1 02h Phase 2 03h Phase 3 Byte 2 Current control mode 00h Position control mode 01h Speed control mode 02h Torque control mode Byte 3 Reserved Byte 4 Expansion signal monitor 0007h Reserved 0008h INIT...

Страница 180: ...Control Field Enable Disable Selections read only 0FFF3F3F h All Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Resolution Default Setting Appli...

Страница 181: ...d Bits 4 and 5 ACCFIL 1 Enabled Bits 6 and 7 Reserved 0 Disabled Bit 8 L_CMP1 1 Enabled Bit 9 L_CMP2 1 Enabled Bit 10 POS_RDY 1 Enabled Bit 11 PON 1 Enabled Bit 12 M_RDY 1 Enabled Bit 13 SV_ON 1 Enabl...

Страница 182: ...he setting during operation the reference output will be affected 93 PnB26 4 Input Bit Enable Dis able Selections read only FF0FFEFE h All Command related parameters Continued from previous page Param...

Страница 183: ...ear Ratio Numerator Pn20E 22 Electronic Gear Ratio Denominator Pn210 23 Absolute Encoder Origin Offset Pn808 24 Multiturn Limit Setting Pn205 25 Limit Setting Pn50A Pn50B Pn801 26 Forward Software Lim...

Страница 184: ...Command Related Parameters 81 Exponential Acceleration Deceleration Time Constant Pn811 82 Movement Average Time Pn812 83 External Positioning Final Travel Distance Pn814 EX_POS ING EX_ FEED 84 1 Orig...

Страница 185: ...9 1 Virtual Memory Space 9 2 9 2 Information Allocated to Virtual Memory 9 3 9 2 1 ID Information Area 9 3 9 2 2 Common Parameter Area 9 4 9 2 3 Adjustment Operation Area 9 5 Virtual Memory Space 9...

Страница 186: ...at common addresses h FFFF FFFF Vendor specific area 8000 4002 Adjustment operation area 8000 4000 8000 0000 7FFF FFFF Reserved 1000 0000 0FFF FFFF Device information area 0001 02FF Common parameter...

Страница 187: ...lue 1Dh 0000 0070 Number of Transmission Bytes Current Value 1Ch 0000 0360 Sub Device 5 Version D8h 0000 006C Number of Transmission Bytes 1Bh 0000 0240 0000 035F Sub Device 5 Name D0h 0000 0068 Maxim...

Страница 188: ...for SEL_MON2 8Ah 0001 009C Reserved 00000000h 0001 0224 Monitor Select for SEL_MON1 89h 0001 0098 Forward Software Limit 26h 0001 0220 Monitor Selection 2 88h 0001 0094 Limit Setting 25h 0001 021C Mon...

Страница 189: ...ection for the command communications procedure for adjustment operations 3 1 10 Write Memory Command MEM_WR 1Eh on page 3 21 Address Description Data Size Byte Data Type 8000 4000h Name Command code...

Страница 190: ...over Revision Format Preface Partly revised 2 5 1 2 6 3 1 2 5 1 Addition Information on the 7F Integrated Servomotor Model SGF7 2 2 7 3 Revision Monitor data list 3 2 18 Revision Description of data f...

Страница 191: ...http www yaskawa co th YASKAWA ELECTRIC CHINA CO LTD 22F One Corporate Avenue No 222 Hubin Road Shanghai 200021 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 http www yaskawa com cn YASKAWA ELECTRIC...

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