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Chapter 3

1. 4 2 Parameter Copy Mode Chapter 4 e Details AD Kes e Pressing the Up and Down Keys enables menu selection Alt tS Alt t x A t t x E Key e Pressing the DATA Key switches to the execution screen of the selected flashing menu item 4 3 Parameter Copy Mode Chapter 4 4 2 Parameter Reading DRIVER to PR The parameter read operation reads the user parameters saved in the Servo Driver s EEPROM and stores them in one of the seven blocks of user parameters stored in the Parameter Unit s memory m Display Example m Parameter Reading Procedure Operation Display example Explanation keys Menu Selection Use the MODE SET and Up and Down Keys to display the Parameter Copy Mode Main Menu and select DRIVER gt PR The menu flashing is the menu that is currently selected Menu Execution Press the DATA Key to switch to the Parameter Block Selection Screen Parameter Block Selection Using the Up and Down Keys select to which parame ter block 00 to 06 in the Parameter Unit the parame ters read from the Servo Driver are to be stored Switching to the Parameter Reading Execution Screen Press the MODE SET Key to switch to the parameter reading execution screen 4 4 Parameter Copy Mode Chapter 4 Operation Display example Explanation keys Parameter Reading Execution Press the READ DRIVER PR Key to start parame ter reading from
2. If the alarm is successfully reset the screen prior to the alarm occurring will return If the alarm occurred during jog operations the servo will turn OFF and BB will be displayed in the status display area If the alarm cannot be reset the alarm history display will stay MODE SET oa MODE SET Alarm Display Mode Chapter 5 5 2 Alarms m Alarms Code Error detection function Cause of error RESET Key effective A04 Parameter setting error Incorrect parameter setting Nooo A10 Overcurrent Overcurrent detected No A No A No A Regeneration error Regeneration circuit damaged due to large amount Yes of regenerative energy A Regeneration overload Regenerative energy exceeded the regeneration Yes resistance A 4 Overvoltage undervoltage Main circuit DC voltage above the allowable range Yes or Main circuit DC voltage below the allowable range A Overspeed Servomotor rotation speed exceeded the maximum Yes speed Output torque exceeded 120 of rated torque A Dynamic brake overload Regenerative energy exceeded the dynamic brake Yes resistance during dynamic brake operation A Inrush resistance overload Inrush current exceeded the inrush resistance dur Yes ing power supply inrush A Overheat Abnormal temperature rise detected in radiation Yes shield ABF Systemeror A control circuit system error was detected A C1 Runaway detected The Servomotor rotated in the opposite direction Yes from the
3. OMRON OPERATION MANUAL SMARTSTEP A senes MODELS R7M AL Servomotors R7D AP_ Ser vo Drivers Servomotors Servo Drivers Thank you for choosing this SMARTSTEP A series product Proper use and handling of the product will ensure proper product performance will length product life and may prevent pos sible accidents Please read this manual thoroughly and handle and operate the product with care Please keep this manual handy for reference after reading it 1 To ensure safe and proper use of the OMRON Inverters please read this OPERATION MANUAL Cat No 1534 E1 to gain sufficient knowledge of the devices safety information and precautions before actual use 2 The products are illustrated without covers and shieldings for closer look in this OPERATION MANUAL For ac tual use of the products make sure to use the covers and shieldings as specified 3 This OPERATION MANUAL and other related user s manuals are to be delivered to the actual end users of the products 4 Please keep this manual close at hand for future reference 5 If the product has been left unused for a long time please inquire at our sales representative NOTICE 1 This manual describes operation procedures of the SMARTSTEP A series Parameter Unit R7A PRO2A For information about installation wiring switch setting and troubleshooting of the SMARTSTEP A Series refer to the SMARTSTEP A Series User s Manual 1533 2 Be sure that this
4. o o o ee ooo ceo cee ooo ooo ooo ooo ooo ooo eco ooo 28 eee eer seed ae Dee ieee ur eee Tu eee ae eee ER eee Sur heed Sur Seed Bar beet ooo o o o o o eo 00000 0 oo o o o o o o o o o o o o oo 2 o See Seve o Sos ooo ooo Ses See Ses Ses See e e 8 8 00 00000 o o oo o oo o ooo oo o 00 o so o oo ee 8 o o ry e o o o o o o o o o o o o o o o ooo 0 ooo so eee eee eee eee e eve Feedback pulse counter 2 4 Parameter Monitor Mode Chapter 2 e Pressing the Left and Right Keys moves the cursor as follows Pn 3 j e ry r A i 23 B ee ee done Dub Fed Fed cone A AE EE Be ut Bus creer baat eee es St Hee Sie ee roe 4 _ i 23 a TERE RE ii ee a LLP PERLE ELE E ee Note Generally speaking only the rightmost digit of the monitor number changes so these keys are not often used for monitor number operations They are used for displaying and setting param eters Parameter Monitor Mode Chapter 2 e Pressing the SCROLL Key moves the cursor as follows SCROLL A SCROLL A SCROLL A SCROLL A Note 1 Pressing the SCROLL Key moves the cursor to the line above If the SCROLL Key is pressed when the cursor is on the top line the cursor moves to the bottom line Note 2 The SCROLL Key is also used to select the display position of the Monitor Items and Param eters for default display and other set
5. adjust the phase V offset Press the SCROLL Key to move the cursor to the phase V line 3 25 Function Mode Chapter 3 Operation Display example Explanation keys Adjust the phase U offset by pressing the Up and Down Keys to change the offset volume Adjust 10 in the best direction for torque ripple reduction ZADJIV Zero ADJust phase V current Repeat the above operation phase U adjustment to phase V adjustment until the torque ripple improves no further even by changing the offset in both the and directions Next finely adjust phase U and phase V in the same way Once the offset adjustments have been completed press the DATA Key to write the adjustment results to EEPROM During writing done will be displayed in the status dis play area Once writing has been completed the sta tus display will return to BB Press the MODE SET Key to return to the Function Mode Main Menu 3 3 12 Password Setting Fn010 Fn010 prevents the user parameter settings Function Mode settings Function Mode adjustments and other settings from being overwritten unintentionally From the next time the power supply is turned ON after the write protect password is set it will be impossible to change parameter settings in Function Mode It still remains possible however to refer to the user parameters and perform some functions in Function Mode The functions that can be per formed in System Check Mode while write protect is ena
6. grounded wire Measure the insulation resis tance at the Servomotor and if there is a short circuit replace the Servomotor Correct the wiring Measure the winding resis tance and if the winding is burned out replace the Servo motor Operating above rated out Lighten the load put Replace the Servo Driver Replace the External Regener ation Resistor Correctly connect the external circuit resistor between B1 and B2 Set Pn600 correctly Calculate the regenerative energy and connect an exter nal Regeneration Resistor with the required regeneration absorption capacity Set Pn600 correctly Change the main circuit power supply voltage to within toler ance range Alarm Display Mode Chapter 5 Display Status when Cause of error error occurs Main circuit power supply voltage is outside toler ance range Load inertia is too great Main circuit power supply voltage exceeds tolerance range Gravitational torque is too large Occurs when the control circuit power supply only is turned ON Occurs when the main circuit power supply is turned N Low voltage Control panel error Main circuit power supply voltage is outside toler ance range Countermeasures Change the main circuit power supply voltage to within toler ance range Main circuit power supply is Replace the Servo Driver damaged Deceleration time is too long Calculate the re
7. 5 Operations in Parameter Copy Mode Parameter Reading DRIVER to PR Parameter Writing PR to DRIVER Parameter Verification Verify Parameter Block Delete LIST Parameter Copy Mode Chapter 4 4 1 Operations in Parameter Copy Mode The R7A PRO2A Parameter Unit forthe SMARTSTEP A Series contains an EEPROM capable of storing seven blocks of user parameters Parameter Copy Mode manipulates these user parameter blocks Pressing the MODE SET Key in Function Mode will display the Parameter Copy Mode menu screen Selectthe menu to be executed using the Up and Down Keys and then press the DATA Key to switch to the selected menu s execution screen m Parameter Copy Mode Menu Screen Selected menu flashes m Parameter Copy Mode Functions In Parameter Copy Mode the following four functions can be executed Display Fond n SOSO 1 DRIVER PR Parameter reading from the Servo Driver to the Parameter Unit 2 PR DRIVER Parameter writing from the Parameter Unit to the Servo Driver 3 Verify Parameter comparison between the Servo Driver and the Parameter Unit 4 LIST Deleting a parameter block m Operation Key Functions e Overview Resets the alarm If the cause of the alarm has not been removed the alarm cannot be reset Switches to Parameter Monitor Mode Switches to the execution screen of the selected menu Not used Not used Selects the menu item READ Not used Not used
8. Function Mode Main Menu and then press the Up and Down Keys to select Fn010 Press the DATA Key The screen will switch to the Fn010 password setting execution screen Press the Up Key to set the password setting to 0001 3 27 Function Mode Chapter 3 Operation Display example Explanation keys Press the DATA Key to write the password setting to EEPROM During writing done will be displayed in the status dis play area Once writing has been completed the sta tus display will return to BB Note The password that has been set in this case write protect will be enabled from the next time the power supply is turned ON Press the MODE SET Key to return to the Function Mode Main Menu 3 3 13 Version Check Fn012 Fn012 displays the Servo Driver model the Servo Driver system software version and the Servomo tor model connected m Display Example DRIVER Servo Driver model SOFT Servo Driver system software version MOTOR Servomotor model connected Note Ifa Servomotor is not connected Not connect will be displayed on the MOTOR line If a Servomotor with an incorrect capacity is connected it will not normally be displayed m Operation Key Functions e Overview Applicable Keys Only Resets the alarm If the cause of the alarm has not been removed the alarm cannot be reset oe Returns to the Function Mode Main Menu 3 28 Chapter 4 Parameter Copy Mode 4 1 4 2 4 3 4 4 4
9. HE 2 ed coeso a q PEE aq PUP ERLE RLE RLE ee eg OP ENE RNE nE eee e When the cursor is on the right side the setting data side pressing the Left and Right Keys moves the cursor as follows Keys e When the cursor is at Un or Pn on the left side the number side pressing the Up and Down Keys switches between monitor number and parameter number A 5 epn o om qa 2 13 Parameter Monitor Mode Chapter 2 e When the cursor is at a digit on the left side the number side pressing the Up and Down Keys changes the parameter number and the accompanying setting data Basic switch 1 ceo ooo ooo Peery oo oe Oey oo ES Peery oo eeo See 0 00 o o o o ry ry ee ee o Basic switch 2 e se 8 00 o eo 8 00 o o eco ooo ooo ocooo vit lz Speed loop gain ge ty Speed loop integral time tae PoP e Pp of SG constant I t Az I t yz Regeneration resistor Capacity e When the cursor is on the right side the setting data side pressing the Up and Down Keys incre ments or decrements the numeric value of the digit at the cursor e Pressing the DATA Key switches the cursor between the parameter number and the setting data DATA caeso gy DATA e By pressing the DATA Key once more after changing the setting data the setting data will be written to the EEPROM inside the Servo Driver 2 14 Par
10. ON again Internal element is Replace the Parameter Unit faulty OPERATOR ERR Send oper Occurs during Internal element mal Turn OFF the power supply DATA SEND ERR ation error Parameter Unit use function then ON again Internal element is Replace the Parameter Unit faulty 5 11 IN LIT m MI Chapter 6 Appendix 6 1 Parameter Setting Tables Appendix Chapter 6 6 1 Parameter No Pn000 Pn001 See note 1 Parameter Setting Tables Parameter name Basic switches 1 Basic switches 2 Description for Reverse rotation mode Control mode selection Stop selection if an alarm occurs when servo is OFF 4 2 3 parameters set with 5 digits Setting Restart Parameter Be range setting Description for parameters with individually set digits CCW direction is taken for 0010 Yes 001 positive command 1 CW direction is taken for pos itive command 1 Position control by pulse train command Servomotor stopped by 1002 dynamic brake Servomotor stopped by dynamic brake Dynamic brake released after Servomotor stops 2 Servomotor stopped with free run Yes 100 3 Notus fi Pn100 Speed loop gain Speed loop response adjustment Bo Hz 1 to 2000 1000001 Pni01 Speed loop inte Speed loop integral time constant 2000 x0 01ms_ 15 to gral time con 51200 stant Pn102 Position loop Adjusts position loop responsiveness 1 to 2000 u gain Pn103 Ine
11. and tion is too violent deceleration time Use position command filter Pn207 0 Pn204 and Pn208 Load is too large Lighten the load Reselect the Servomotor Pn505 deviation counter Reset the parameter correctly overflow level setting is too large Resolution setting switch Reset the switches correctly switches 4 and 5 setting is too low Pn202 and Pn203 elec Reset the parameters correctly tronic gear ratio setting is too large Occurs when Faulty Connector contact Plug the Connector in securely power supply iS internal element malfunc Turn OFF the power supply turned ON tion then ON again Internal element is faulty Replace the Servo Driver Replace the Parameter Unit Occurs when Faulty Connector contact Plug the Connector in securely Parameter Unit is Internal element malfunc Turn OFF the power supply m tion then ON again Internal element is faulty Replace the Servo Driver Replace the Parameter Unit Alarm Display Mode Chapter 5 m Parameter Unit Alarms Display Status when error Cause of error Countermeasures occurs OPERATOR ERR ROM error Occurs when power Internal element mal Turn OFF the power supply ROM CHECK ERR Supply is turned function then ON again ON Internal element is Replace the Parameter Unit faulty OPERATOR ERR RAM error Occurs during Internal element mal Turn OFF the power supply RAM CHECK ERR Parameter Unit use function then
12. applications for which particular attention must be given This is not intended to be an exhaustive list of all possible uses of the products nor is it intended to imply that the uses listed may be suitable for the products e Outdoor use uses involving potential chemical contamination or electrical interference or conditions or uses not described in this manual e Nuclear energy control systems combustion systems railroad systems aviation systems medical equipment amusement machines vehicles safety equipment and installations subject to separate industry or government regulations e Systems machines and equipment that could present a risk to life or property Please know and observe all prohibitions of use applicable to the products NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM PROGRAMMABLE PRODUCTS OMRON shall not be responsible for the user s programming of a programmable product or any consequence thereof Disclaimers CHANGE IN SPECIFICATIONS Product specifications and accessories may be changed at any time based on improvements and other reasons It is our practice to change model numbers when published ratings or features are changed or when significant construction ch
13. deceleration Enabled when Pn207 0 1 Rotation speed during jog operation The constant when filtering the internal torque command 0 to 65535 Pp Restart Parameter setting Setting range 4 a FP Bu BEE ME Da el A u i PF OP m u Eu 00 fmn ooo 6 3 Appendix Chapter 6 Pe Parameter Description for parameters set with 5 digits Setting Restart Parameter name range setting Description for parameters with individually set digits me Forward Benz Forward rotation output torque limit rated torque ratio fea Ga 0 to 800 De Pn403 Reverse rotation output torque limit rated torque ratio EEE 0 to 800 limit Pn500 Positioning com The range of positioning ee ees 7 output INP Command 0 to 250 pleted range units Pn505 Deviation en detection level for a deviation counter overflow alarm 1024 x256 com 1 to 32767 counter over mand units flow level Pn600 Regeneration Setting for regeneration resistance load ratio monitoring calcula resistor capacity tions Note If using an External Regeneration Resistor set the regenera tion capacity for when the temperature rises above 120 C If not using an External Regeneration Resistor set Pn600 to 0 Note 1 Pn001 0 and Pn110 0 are enabled when function switch 6 on the Servo Driver s front panel is turned ON to enable parameter setting When function switch 6 is OFF function switch 2 dynamic brake setting and funct
14. numera tance 2 tor 0 01 lt G1 G2 lt 100 Pn203 Electronic gear 1 1 to 65535 Yes See note ratio G2 denomi 2 nator Pn204 Position com Soft start setting for command pulses Soft start characteristics are for x0 01 ms O to 6400 mand filter time the primary filter constant 1 pri mary filter Pn207 Position control Selects position lon 77 Primary filter Pn204 0000 Yes setting 2 command filter 1 Linear acceleration and decel eration Pn208 tes nau QOS Pn208 Position com Soft start setting for command pulses Soft start characteristics are for x0 01 ms O to 6400 Yes mand filter time the linear acceleration and deceleration constant 2 Linear accelera tion and deceler ation Pn304 Jog speed Rotation speed during jog operation 0 to 10000 00 Pn401 Torque com The constant when filtering the internal torque command 40 x0 01 ms 0 to 65535 mand filter time constant Pn402 Forward torque Forward rotation output torque limit rated torque ratio 350 0 to 800 a limit imit io 50 3 Pn200 See note 2 Pn403 Reverse rotation output torque limit rated torque ratio 3 0 to 800 limit Pn500 Positioning com The range of positioning completed output INP Command 0 to 250 pleted range units Pn505 Deviation counter The detection level for a deviation counter overflow alarm 1024 x256 com 1 to 32767 overflow level mand units Pn600 Regeneration Setting for regeneration resistance load
15. or dam age to property DANGER Indicates an imminently hazardous situation which if not avoided will result in death or serious injury Additionally there may be severe property damage N WARNING Indicates a potentially hazardous situation which if not avoided could result in death or serious injury Additionally there may be severe property damage N Caution Indicates a potentially hazardous situation which if not avoided may result in minor or moderate injury or property damage OMRON Product References All OMRON products are capitalized in this manual The word Unit is also capitalized when it refers to an OMRON product regardless of whether or not it appears in the proper name of the product The abbreviation Ch which appears in some displays and on some OMRON products often means word and is abbreviated Wd in documentation in this sense The abbreviation PC means Programmable Controller and is not used as an abbreviation for any thing else Visual Aids The following headings appear in the left column of the manual to help you locate different types of information Note Indicates information of particular interest for efficient and convenient operation of the product OMRON 2001 All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or othe
16. ratio large s Wotwsed iOS Pn110 2 2 10 Parameter Monitor Mode Chapter 2 Parameter Parameter name No Description for parameters set with 5 digits Setting Restart RT range Description for parameters with individually set digits Position control Command pulse Feed pulse forward and reverse 1011 Yes setting 1 mode signal positive logic 1 Forward pulse and reverse pulse positive logic 2 90 phase difference phase A B signal x1 positive logic 3 90 phase difference phase A B signal x2 positive logic 4 90 phase difference phase A B signal x4 positive logic 5 Feed pulse forward and reverse signal negative logic Forward pulse and reverse pulse negative logic 7 90 phase difference phase A B signal x1 negative logic 90 phase difference phase A B signal x2 negative logic 90 phase difference phase A B signal x4 negative logic 1 Deviation counter oo Signal high level ee Rising edge low to high Signal low level Falling signal high to low 2 Deviation counter Deviation counter reset when reset for alarms an alarm occurs and when Ser and when servo is vomotor is OFF Umea ORE 1 Deviation counter not reset when an alarm occurs nor when Servomotor is OFF 2 Deviation counter reset only when an alarm occurs s musa o S Pn202 Electronic gear The pulse rate for the command pulses and Servo Servomotor travel dis 4 1 to 65535 Yes See note ratio G1
17. ratio monitoring calculations x10 W From 0 resistor capacity Note If using an External Regeneration Resistor set the regeneration Varies by capacity for when the temperature rises above 120 C If not using an Unit External Regeneration Resistor set Pn600 to 0 2 1 pd Parameter Monitor Mode Chapter 2 Note 1 Pn001 0 and Pn110 0 are enabled when function switch 6 on the Servo Driver s front panel is turned ON to enable parameter setting When function switch 6 is OFF function switch 2 dynamic brake setting and function switch 1 online autotuning are enabled Note 2 Pn200 0 Pn202 and Pn203 are enabled when function switch 6 on the Servo Driver s front panel is turned ON to enable parameter setting When function switch 6 is OFF function switch is OFF function switch 3 command pulse input setting and function switches 4 and 5 resolution setting are enabled 2 2 2 Parameter Display and Setting m Display Example e In Parameter Monitor Mode pressing the Left or Right Key will move the cursor to Un and pressing the Up or Down Key will switch Un to Pn and display the parameter ceo cee ooo ooo eee ore Peeee mer eee ar bees ae eee ER eee er beet Se heed ee bee e eocce 8 00 0 oo gt o o o 0 o o o gt o gt oo See See ooo ooo ooo See See See eoccee Se 0 0 ce o 00 0 se 0 se o 00 0 oe 00 o o o o o o o o o o o o eve ove ove ove ove ove ecco cece
18. recent alarm and 9 is the least re cent Note 2 Alarms CPFOO and CPFO1 are Parameter Unit alarms and are not stored in the alarm history Note 3 Warnings are not stored in the alarm history Note 4 Even if the same alarm occurs repeatedly it is en Ay tered in the alarm history only as a single alarm cece cece rc 0 o sooo cooo ee o Seco cooo so eree eo te e o gt o ge 00000 ooooo esoo ceceo ee Secos 00000 ooooo ee Secos 00000 ooooo Alt tS so cooo 00 o sooo sooo e oe eeo ooo te ee So 00000 ooooo ee Secos 00000 0000 ee Secos 00000 ooooo ee Secs coocoo 0000 Alt ys 3 3 2 Rigidity Selection Fn001 This function manipulates the same settings as the gain adjustment rotary switch Note 1 Fn001 cannot be executed if the gain adjustment rotary switch is set to other than 0 Note 2 Fn001 cannot be executed if the password in Fn010 has been set to write protect the system m Display Example 3 6 Function Mode Chapter 3 m Operation Key Functions e Overview Applicable Keys Only Resets the alarm If the cause of the alarm has not been removed the alarm cannot be reset Returns to the Function Mode Main Menu If settings have been changed using the Up and Down Keys pressing MODE SET Key once will have the same effect as the DATA Key i e writing the data to EEPROM Pressing it a second time will return to
19. the main menu Writes the selected rigidity to EEPROM During writing done will be displayed in the upper right corner of the display screen sta tus display area Selects the rigidity from a range of 01 to 10 as shown in the following table The rigidity will be enabled as soon as it is changed However writing to EEPROM occurs when the DATA Key or MODE SET Key is pressed e Details er e Pressing the Up and Down Keys selects the rigidity from the following 10 levels Level Set value Position loop Speed loop Speed loop Torque Typical applications gain s gain integral time command mechanical systems constant filter time Pn102 Hz Pn1 00 x 0 01 ms constant Pn101 x 0 01 ms Pn401 Low ooo En TB 4000 250 Articulated robots harmonic o 120 o 3500 drives chain drives belt drives rack and pinion drives etc oo o o o sie Medium 04 2000 100 XY tables orthogonal robots general purpose mechanical systems etc High 60 60 1500 70 Ball screws direct couplings 85 1000 50 te etc a a am 08 160 160 1600 120 09 200 200 1500 mo jaso 260 o o Note 1 The servo system loop gain will increase in response to a higher switch set value shortening posi tioning time If the setting is too large however the machinery may vibrate Reduce the setting if vi bration is a problem Note 2 When the rigidity is set the user parameters given in the above table will change automatic
20. the phase Z position keep pressing the key until the motor stops When the servo is OFF during baseblock Moves the cursor position to the left or right in the same way as in Parameter Monitor Mode When the servo is ON during RUN No operation Saves the display screen m Operation Example The following example shows how to set the Servomotor to rotate counterclockwise and stop it on phase Z Operation Display example Explanation keys Press the MODE SET Key to display the Function Mode Main Menu and then press the Up and Down Keys to select Fn003 Press the DATA Key The screen will switch to the Fn003 jog operation execution Screen Note If after pressing the DATA Key the screen does not switch and NO_OP is displayed in the status display area either the RUN input RUN com mand is ON or the password in Fn010 has been set to write protect the system Check and reset Press the JOG RUN Key The status display will change to RUN and the Servo motor status will change to servo ON 3 13 Function Mode Chapter 3 Operation Display example Explanation keys Press the Up Key to rotate the Servomotor counter clockwise and stop it on phase Z Note 1 Press and hold the Key until the Servomotor stops Note 2 Ifthe origin search is completed successful ly Complete will be displayed in the upper left corner of the screen and the number of pulses from phase Z Un003 will change to 0 P
21. 0000 Se 0 oo o oo o 00 0 00 o cooo o e e o o o o o o o o o o e o o eee eee eee ooo eee oco oo c e oe o ooo Press the SCROLL Key once to move the cursor up one line SCROLL A 2 8 Parameter Monitor Mode Chapter 2 Operation Display example Explanation keys Press the Up and Down Keys until Un005 input signal monitor is displayed The desired screen is now displayed _ EEE EEE EEE Ee Press the WRITE Key The key s indicator will flash while the screen is being saved fad PERE RIE RL un Er En ZZ Zee EATI Note Do not turn OFF the Servo Driver control power Sun ii ry ii i E a ivi ivi ivi i ivi supply during the saving Process E EE 8 FF FF FF oF 2 9 Parameter Monitor Mode Chapter 2 2 2 Setting Parameters in Parameter Monitor Mode This section describes parameter display and setting methods in Parameter Monitor Mode Note For parameter details refer to the User s Manual Cat No 1533 2 2 1 Parameter Items e The parameters for which each digit number must be set separately are given with the digit number added to the parameter number For example Pn001 0 i e digit O of parameter Pn001 es default setting for parameters set using 5 digits are given in the table without leading zeros If the default setting is 00080 80 is given in the table pa ere aan name Description for parameters set with 5 digits Setting Restart rang
22. DATA Key is pressed Writes the set values both phase U and phase V to EEPROM During writing done will be displayed in the status display area 3 24 Function Mode Chapter 3 m Flowchart for Manual Servomotor Current Detection Offset Adjustment Rotate Servomotor at approx 100 r min with no load Adjust phase U offset 10 in the best direction for torque ripple Adjust phase V offset 10 in the best direction for torque ripple Note 1 Adjust the offset while monitoring the current monitor s waveform Y Note 2 Perform rough adjustments in units of 10 and fine adjustments in units Adjust phase U offset 1 in the best direction for torque ripple of 1 You can also perform interme diate adjustments in units of 5 Adjust phase V offset 1 in the best direction for torque ripple Note 3 Donot greatly adjust either U phase or V phase alone haracteristics OK End m Operation Example Operation Display example Explanation keys Press the MODE SET Key to display the Function Mode Main Menu and then press the Up and Down Keys to select FnOOF Press the DATA Key The screen will switch to the FnOOF manual Servomo tor current detection offset adjustment execution screen First of all adjust the phase U offset by pressing the Up and Down Keys to change the offset unit Adjust 10 in the best direction for torque ripple reduction ZADJIU Zero ADJust phase U current Next
23. Display Status when Cause of error Countermeasures error occurs Overload Occurs during operation Running at over 120 of rated torque effective torque Repair the Servomotor shaft if it is locked If the Servomotor power line is wired incorrectly rewire it cor rectly Lighten the load Lengthen the acceleration and deceleration times Adjust the gain Power supply voltage has Check the power supply volt fallen age and lower to within toler ance range Servomotor winding is Check the winding resistance burned out Replace the Servomotor if the winding is burned out Servo Driver is burned out Replace the Servo Driver Occurs when the Energy required for stop Lower the rotation speed servo is turned ping exceeds the dynamic Reduce the load inertia OFF after operat brake resistor tolerance ing A 73 Dynamic brake over load Reduce the frequency of dynamic brake use Occurs when the Control panel error Replace the Servo Driver power supply is turned ON A 74 Inrush resis Occurs when the The frequency by which Reduce the frequency by which tance overload main circuit power main circuit power supply is the main circuit power supply is supply is turned turned ON and OFF turned ON and OFF ON exceeds 5 times min Occurs when the Control panel error Replace the Servo Driver control circuit power supply only is turned ON Occurs when the Co
24. EAT A bF SYSTEMERR A C1 RUNAWAY _ DRIVER gt PR PR DRIVER CHARGE MONITOR Connect the Parameter Unit securely to the Servo Drivers communications connector I0OYLNO3 LNO 4yJa0O9N3 ZNO 1 3 Introduction Chapter 1 1 3 Nomenclature and Functions lt Indicators red LEDs x 5 TGON REF POWER Display area LCD display 17 characters x 5 lines Operation keys SMARTSTEP Indicators omron R7A PRO2A PARAMETER UNIT Indicator name B B Lit during baseblock status no current supplied to the Servomotor Not lit wnen baseblock is released INP VCMP _ Lit when positioning has been completed Not lit when positioning has not been com pleted TGON Lit during Servomotor rotation Not lit when the Servomotor is stopped Lit when command pulses have been input Not lit when no command pulse has been input POWER Lit when the main circuit power supply is ON Not lit when the main circuit power supply is OFF m Operation Keys Appearance Name Main Function RESET Key Resets the alarm If the cause of the alarm has not been removed the alarm cannot be reset MODE SET Key Changes the Parameter Unit Display Mode DATA Key Changes the cursor position during parameter setting between the parameter number and setting moves to the selected function s execution screen in Function Mode and moves to the selected menu s execution s
25. Explanation keys Once CH1 scaling has been completed adjust the CH2 speed monitor scale Press the SCROLL Key to move the cursor to the CH2 line Adjust the CH2 scale in the same way as for CH1 Pressing the Up and Down Keys change the scale Note The scale unit is x 0 4 Once the CH1 and CH2 scale settings have been completed press the DATA Key to write the setting results to EEPROM During writing done will be displayed in the status dis play area Once writing has been completed the sta tus display will return to BB Press the MODE SET Key to return to the Function Mode Main Menu 3 3 10 Automatic Servomotor Current Detection Offset Adjustment Fn00E Servomotor current detection offset adjustment has already been completed at the factory Conse quently there is normally no need to perform this adjustment If the torque ripple caused by current detection offset is considered abnormally large perform auto matic Servomotor current detection offset adjustment FnOOE After performing automatic adjustment perform manual adjustment FnOOF if further lowering of the torque ripple is required If manual adjustment is performed badly however there is a risk of worsen ing the characteristics Note 1 Automatic Servomotor current detection offset adjustment can be performed only when the power supply to the main circuit is turned ON and the power supply to the servo is OFF Note 2 Do not execute during com
26. FF RUN operation command input Undefined RESET alarm cancel input Undefined ID N Parameter Monitor Mode Chapter 2 Note 2 The output signal monitor Un006 display is shown below The upper level indicates OFF status and the lower level indicates ON status All undefined digits are displayed on the upper level OFF I pei pe E E E E E f INP positioning completed output BKIR brake interlock output Undefined 2 1 2 Monitor Item Display Operations m Display Example Shows that the Un000 speed feedback is O r min e Four items consisting of monitor items and parameters can be displayed on the Parameter Moni tor Mode display e The four items in the display example above are the default display items To change the default display items select the items for default display and press the WRITE Key to save the currently displayed screen as the default This will enable default display of the selected items the next time the power supply is turned ON Note In this manual the underlines in the display examples e g under the last digit of UnOOO above indicate flashing digits or letters There are no underlines on the real screen The flash ing position is called the cursor position Parameter Monitor Mode Chapter 2 m Operation Key Functions e Overview Resets the alarm If the cause of the alarm has not been removed the alarm cannot be reset Changes to the Function Mode No
27. Fni UIL The following functions can be executed Displaying the alarm history clearing alarm history data jogging Servomotor origin searches analog monitor output adjustment and adjustment of the Ser vomotor current detection offset m Displaying Resetting Alarms lf an alarm occurs an alarm history containing up to the 10 most recent alarms will be displayed The alarm can be reset by pressing the RESET Key there are also alarms which can only be reset by turning OFF and ON the power supply m Saving the Current Screen The Parameter Monitor Mode jog operation or origin search screen can be saved by pressing the WRITE Key while the desired screen is being displayed The screen will be displayed the next time the power supply is turned ON Introduction Chapter 1 1 2 Connecting the Parameter Unit m Connecting the Parameter Unit Make sure the power supply is turned OFF and then connect the Parameter Unit to the CN3 commu nications connector on the Servo Driver Do not connect or disconnect the Parameter Unit while the power supply is ON R7A PRO2A Parameter Unit J J B B INP TGON REF POWER VCMP R7D API SMARTSTEP Servo Driver omron R7A PRO2A PARAMETER UNIT RESET ALARM CODE A 04 PRMTR SET ERR _ UNIT No ig RS 422 485 9 A 32 REGENOL _ A AO OVER VOLTAGE A 51 OVER SPEED A 70 OVERLOAD A 73 DB OVER LOAD A 74 INRUSHOL A 7A OVERH
28. INED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL INDIRECT OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED ON CONTRACT WARRANTY NEGLIGENCE OR STRICT LIABILITY In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted INNO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY REPAIR OR OTHER CLAIMS REGARDING THE PRODUCTS UNLESS OMRON S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED STORED INSTALLED AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION ABUSE MISUSE OR INAPPROPRIATE MODIFICATION OR REPAIR Application Considerations SUITABILITY FOR USE OMRON shall not be responsible for conformity with any standards codes or regulations that apply to the combination of products in the customer s application or use of the products At the customer s request OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products This information by itself is not sufficient for a complete determination of the suitability of the products in combination with the end product machine system or other application or use The following are some examples of
29. RITE PR DRIVER Key to start param eter writing to the Servo Driver Note If write execution is not desired press the DATA Key to return to the Parameter Block Selection Screen Parameter Writing Completion When parameter reading from the designated block inside the Parameter Unit and storage to the Servo Driver are complete Complete will be displayed Switching to the Parameter Block Selection Screen When parameter writing has been completes after Complete has been displayed the screen will switch to the Parameter Block Selection Screen Switching to the Menu Screen Press the DATA Key to return to the Parameter Copy Mode menu screen m Supplementary Information on Writing Parameters e While writing parameters do not disconnect the Parameter Unit from the Servo Driver If the Parameter Unit is disconnected during parameter writing the Servo Driver and Parameter Unit data may be damaged If the Servo Drivers EEPROM data is damaged an A BF system error alarm will occur at the next startup and the user parameters will need to be initialized FnO05 e f parameter writing is attempted to a parameter block with a Servo Driver with different voltage or capacity or to an empty parameter block Parameter File Unmatched will be displayed and writing will not occur e During parameter writing the following sequence operation information will be displayed in the dis play area of the Parameter Unit The writin
30. T Key to display Parameter Moni tor Mode MODE SET os Press the Left or Right Key until the cursor is at Un Press either the Up or Down Key to change Un to Pn Press the Right Key once to move the cursor to Pn on the right side Press the Up Key three times to display Pn304 Note In this example Pn304 can be displayed by pressing the Up Key three times In general however the Left and Right Keys are used to specify the operation line and the Up and Down Keys are used to set the digit value Press the DATA Key The cursor will move from the parameter number to the setting data to the 1st digit of Pn304 2 18 Parameter Monitor Mode Chapter 2 Operation Display example Explanation keys Press the Left Key twice to move the cursor to the hundreds column of Pn304 Press the Up Key five times to change the setting data to 1000 Press the DATA Key to write the parameter set value to the EEPROM inside the Servo Driver and move the cursor to the parameter number Note Of the parameters set to 5 digits Pn202 electronic gear ratio G1 Pn203 electronic gear ratio G2 and Pn208 Position command filter time constant 2 are enabled only after the power supply is cycled Their settings will be enabled the next time the power supply is turned ON m Timing of Parameter Enabling Except for user parameters requiring the power supply to be cycled parameters are enabled as soon as the settings are change
31. age of the Protected analog monitor output FnOOE Automatic Servomotor current Adjusts the Servomotor current detection off Protected detection offset adjustment set automatically FnOOF Manual Servomotor current Adjusts the Servomotor current detection off Protected detection offset adjustment set manually Fn010 Password setting Enables or disables changes to user parame ters Fn012 Displays the Servo Driver version Note 1 Functions indicates as Protected in the Remarks column cannot be executed if the password in Fn010 has been set to write protect the system NO_OP will be displayed if attempting to switch from the Function Mode Main Menu to a function screen Note 2 Functions indicates as Disabled during RUN in the Remarks column cannot be executed if the RUN input RUN command is ON NO_OP will be displayed if an attempt is made to switch from the Func tion Mode Main Menu to one of these function screens while the RUN input is ON Function Mode Chapter 3 3 2 Function Mode Operations Pressing the MODE SET Key in Parameter Monitor Mode will display the Function Mode Main Menu Select the function to be executed using the Up and Down Keys then press the DATA Key to switch to the function screen m Function Mode Main Menu Screen Selected function flashes m Operation Key Functions e Overview Resets the alarm If the cause of the alarm has not been removed the alarm canno
32. ally Note 3 If autotuning is enabled without setting the rigidity tuning is performed using the user parameter set tings Pn102 Pn100 Pn101 and Pn401 as the target values Function Mode Chapter 3 Key e Pressing the DATA Key writes the selected rigidity to EEPROM y DATA Note During writing done will be displayed in the status display area ce oco ooo ooo eres o o bo o 8 ew e 7s 8 8 0 000 o o coes oso coo oso ore o e eo o o ooo s e o 8 o o e ecos j After approx 1 s Function Mode Chapter 3 3 3 3 Jog Operation Fn002 The Servomotor can be operated in forward or reverse by using the keys on the Parameter Unit For safety reasons only use the jog operation when the Servomotor is not loaded i e when the shaft is not connected to the mechanical system Also to prevent the Servomotor from turning side ways fasten the Servomotor mounting surface firmly to the machinery Use the job operation only when the host controllers power supply is OFF or when the host controller is not connected Note 1 Fn002 cannot be executed if the password in Fn010 has been set to write protect the system Note 2 Switching to the jog operation execution screen will not be possible if the RUN input RUN command is ON m Display Example Four user parameters and monitor items can be displayed on the jog operation screen the same as in Parameter Monitor Mode These user parame
33. ameter Monitor Mode Chapter 2 Ei e Pressing the SCROLL Key moves the cursor as follows SCROLL A SCROLL A SCROLL A SCROLL A Note 1 Pressing the SCROLL Key moves the cursor up one line If the SCROLL Key is pressed when the cursor is on the top line the cursor moves to the bottom line Note 2 The SCROLL Key is used to select the display position of the Monitor Items and Parameters for default display and other settings 2 15 Parameter Monitor Mode Chapter 2 e Pressing the WRITE Key enables saving the current screen e The saved screen will be displayed the next time the power supply is turned ON Note Do not turn OFF the Servo Driver control power supply during the saving process Doing so will prevent the screen from being saved If the screen has not been saved successfully the previ ous default setting will be used but no alarm will occur m Operation Example 1 Setting a Parameter Requiring Individual Digit Settings Basic switches 1 and 2 Pn000 and Pn001 online autotuning settings Pn110 and position control settings 1 and 2 Pn200 and Pn207 require individual digits to be set The following example describes how to set the deviation counter reset Pn200 1 in position control settings 1 Pn200 to 0 resetting on signal high level Operation Display example Explanation keys Press the MODE SET Key to display Parameter Moni tor Mode Press the Left or Right Key until the
34. anges are made However some specifications of the products may be changed without any notice When in doubt special model numbers may be assigned to fix or establish key specifications for your application on your request Please consult with your OMRON representative at any time to confirm actual specifications of purchased products DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufacturing purposes even when tolerances are shown PERFORMANCE DATA Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty It may represent the result of OMRON s test conditions and the users must correlate it to actual application requirements Actual performance is subject to the OMRON Warranty and Limitations of Liability ERRORS AND OMISSIONS The information in this manual has been carefully checked and is believed to be accurate however no responsibility is assumed for clerical typographical or proofreading errors or omissions Table of Contents Chapter 1 Introduction 2022 l 1 1 1 Parameter Unit Functions 00 0000 ccc cece ee eee eens 1 2 IEZ Connectine the Parameter Unit 22 un ne rs See 1 3 1 3 Nomenclature and Functions 222 cc co oen nennen cc eee eee teens 1 4 1 4 Modes and Switching Methods 0 0 0 eee e eee ees 1 5 Chapter 2 Parameter Monitor Mode cceeeeeeeee
35. arameter number Press the JOG RUN Key to change the status display to RUN and to change the Servomotor to servo ON status Press the Up Key to rotate the Servomotor counter clockwise at a speed of 1 000 r min Press the Down Key to rotate the Servomotor clock wise at a speed of 1 000 r min 3 11 Function Mode Chapter 3 Operation Display example Explanation keys Press the JOG RUN Key after Servomotor operation confirmation has finished to change the status display to BB and change the Servomotor to servo OFF sta tus Press the MODE SET Key to return to the Function Mode Main Menu 3 3 4 Servomotor Origin Search Fn003 Parameter Unit keys can be used to rotate the Servomotor detect phase Z and then stop the Servo motor on phase Z Use this function to adjust the origin position of the Servomotor shaft and mechanical system Note 1 Fn003 cannot be executed if the password in Fn010 has been set to write protect the system Note 2 Fn003 cannot be executed if the RUN input RUN command is ON Turn OFF the RUN command Note 3 Execute the Servomotor origin search before connecting the Servomotor shaft and mechanical sys tem m Display Example Four user parameters and monitor items can be displayed on the Servomotor origin search screen the same as in Parameter Monitor Mode The user parameters can be changed if the servo is OFF By setting the parameter or monitor numbers to be displayed and then pres
36. bled are as follows Alarm history display Fn000 password setting Fn010 and version check Fn012 If attempts are made to perform any functions other than these NO_OP will be displayed for approx imately 1 second and then the display will return to the Function Mode Main Menu If the write enable password is set the write protect status will be canceled i e writing to the user parameters etc will be enabled when the power is next turned ON Note Even when the write protect password is set Pn103 inertia ratio will still be changed to the load inertia ratio determined by autotuning if the online autotuning switch function setting switch 1 is turned OFF 3 26 Function Mode Chapter 3 m Display Example m Operation Key Functions e Overview Applicable Keys Only Resets the alarm If the cause of the alarm has not been removed the alarm cannot be reset eS Returns to the Function Mode Main Menu Writes the input set values to EEPROM During writing done will be displayed in the sta tus display area If an invalid password has been set NO_OP is displayed Moves the cursor position to the left and right Increments Up Key or decrements Down Key the set value Note Valid set values are the following 0000 User parameter write enabled 0001 User parameter write protected m Write Prohibit Operation Example Operation Display example Explanation keys Press the MODE SET Key to display the
37. command A Phase error detected The Servomotor s electrical angle was incorrectly No detected A Encoder disconnection The encoder s phase A B or S is disconnected or No detected short circuited A Deviation counter overflow Deviation counter s residual pulses exceeded the Yes deviation counter overflow level set in Pn505 PFOO Parameter Unit transmis Data could not be transmitted after the power sup sion error 1 ply was turned ON CPFO1 Parameter Unit transmis Transmission timeout error sion error 2 Note 1 Yes in the RESET Key effective column indicates that the alarm can be reset and No indicates that the alarm cannot be reset i e the power supply must be cycled The CPFOO and CPFO1 alarms cannot be reset using the RESET Key but if transmission is successful these alarms will be reset automatically Note 2 Alarms CPFOO and CPFO1 are not stored in the alarm history 04 10 30 32 0 91 10 13 74 TA BF C2 C3 DO C 5 4 Alarm Display Mode Chapter 5 m Warnings Code Em Cause of error Overload warning A warning occurs before the overload alarm A 70 is reached An alarm may be generated if the Servomotor con tinues to operate Regeneration overload A warning occurs before the regeneration overload alarm warning A 32 is reached An alarm may be generated if the Servo motor continues to operate Note Warnings are not stored in the alarm history 5 5 A
38. creen in Parameter Copy Mode SCROLL Key Moves the cursor up in Parameter Monitor Mode JOG RUN Key _ Turns the servo ON and OFF during jog operation Left and Right Moves the cursor left or right during Parameter Monitor Mode Cursor Keys Up and Down Increments or decrements the parameter number setting data monitor number and All Cursor Keys function number puts the Servomotor in forward run or reverse run during jog opera tion and is used for selecting from menus during Copy Mode READ Key or In Parameter Copy Mode reads parameters if parameter reading from the Servo Driver DRIVER PR has been selected or releases the lock if parameter lock releasing has been selected Key WRITE Key or In Parameter Copy Mode writes parameters if parameter writing to the Servo Driver PR DRIVER has been selected or compares parameters if parameter verifying has been selected READ WRITE DRIVER PR PR gt DRIVER Key In Parameter Monitor Mode saves the display screen when a jog operation screen or origin search screen is displayed 1 4 Introduction Chapter 1 1 4 Modes and Switching Methods m Modes The Parameter Unit has the following four display modes Mode Display example unten Parameter ee aa ee Displays monitor items Un and dis Monitor Mode an late ee plays and sets user parameters PnLILI Function Mode mz at ee Executes functions FnlJLl_J Functio
39. cursor is at Un Press either the Up or Down Key to switch Un to Pn Press the Right Key once to move the cursor to the right side of Pn 2 16 Parameter Monitor Mode Chapter 2 Operation Display example Explanation keys Press the Up Key twice to display Pn200 Press the DATA Key The cursor will move from the parameter number side to the setting data side to Pn200 0 Press the Left Key once to move the cursor to Pn200 1 Press the Down Key once to change the set value of Pn200 1 to 0 Press the DATA Key to write the parameter set value to the EEPROM inside the Servo Driver and move the cursor to the parameter number side Note All parameters requiring individual digit settings are enabled the next time the power supply is turned ON Even though the new setting data is written to the EEPROM inside the Servo Driver by pressing the DATA Key after the setting data is changed the set values will be enabled only after the power supply is turned OFF then ON again For Pn110 2 adhesive friction compensation selection in online autotuning settings however the power supply does not need to be cycled The setting will be enabled as soon as the setting data is changed 2 17 Parameter Monitor Mode Chapter 2 m Operation Example 2 Setting a Parameter to 5 Digit Places The following example describes how to set the jog speed Pn304 to 1000 r min Operation Display example Explanation keys Press the MODE SE
40. d For example even while changing the gain using the Up and Down Keys the results of this change are reflected during the setting operation in real time Changes are not however written to the EEPROM inside the Servo Driver until the DATA Key is pressed after changing the settings Data will not be written to EEPROM if the DATA Key is not pressed before performing other operations For example data will not be written to EEPROM if the DATA Key is not pressed before pressing the MODE SET Key to move to another screen e g Function Mode before pressing the SCROLL Key to move the cursor to the setting data or before performing other operations 2 19 Parameter Monitor Mode Chapter 2 m Gain related Parameters If the gain adjustment rotary switch on the Servo Driver s front panel is set to other than 0 the gain set by the rotary switch s position refer to the following table will be used in the Parameter Unit Gain adjustment Position loop gain Speed loop gain Speed loop Torque command rotary switch s H2 integral time filter time constant position constant x 0 01 ms Pn102 Pn100 x 0 01 ms Pn401 Pn101 The values set in the parameter area are used fe fs E 3500 3500 20 800 8000 150 A200 0 EHE CZ BB 000 208008 e wo o o fro 20 0080S ao o po oo o oo If the position of the gain adjustment rotary switch is changed the values in the above table will be used in the Parameter Unit Thes
41. d an A BF system error alarm will occur at the next startup and the user parameters will need to be initialized FnO005 e Pressing the DATA Key during parameter comparison will interrupt comparison and the display will return to the Parameter Block Selection Screen e During parameter comparison the following sequence operation information will be displayed in the display area of the Parameter Unit The comparison operation will end within 15 seconds During parameter reading from the Parameter Unit During parameter reading from the Servo Driver y During parameter verifying t When the operation has ended t 4 12 Parameter Copy Mode Chapter 4 4 5 Parameter Block Delete LIST The parameter block delete operation deletes one of the seven blocks of user parameters stored in the Parameter Unit s EEPROM m Display Example m Parameter Block Delete Procedure Operation Display example Explanation keys Menu Selection Use the MODE SET and Up and Down Keys to display the Parameter Copy Mode Main Menu and select LIST The flashing menu is the menu that is currently selected Menu Execution Press the DATA Key to switch to the Parameter Block Selection Screen Parameter Block Selection Using the Up and Down Keys select the parameter block from 00 to 06 in the Parameter Unit to be deleted Switching to the Parameter Block Delete Execu tion Screen Press the MODE SET Ke
42. e Description for parameters with individually set digits switches 1 Reverse rotation CCW direction is taken for posi 0010 tive command CW direction is taken for posi tive command Position control Toy pulse train oo mode a stopped by 1002 Yes dynamic brake Servomotor stopped by dynamic brake Dynamic brake released after Servomotor stops Servomotor stopped with free run ee Control mode selection Pn100 Speed loop gain loop response aan Bo Re 1 to 2000 Fu Pn101 Speed loop inte Speed loop integral time constant 2000 x0 01 ms 15 to 51200 gral time constant Pn102 Position loop gain Adjusts position loop responsiveness a0 tis 1 to 2000 00 Stop selection if an alarm occurs when servo is OFF Pn103 The ratio between the machine system inertia and the Servomotor rotor ial a O to 10000 _ inertia Pn109 Feed forward Position control feed forward compensation 0 to 100 amount Pn10A Feed forward The position control feed forward command filter x0 01 ms 0 to 6400 command filter Pni10 Online autotuning Online autotun Autotunes initial operations only 0012 Yes See note setting ing selection after power is turned ON The Always autotunes supply ial No autotuning does not dt o pesa h eooo C Pn001 Basic switches 2 See note Adhesive friction N Friction compensation OFF az compensation Fricti Ser selection riction compensation Rate torque ratio small 2 Friction compensation Rated torque
43. e Chapter 3 m Operation Key Functions e Overview Applicable Keys Only Resets the alarm If the cause of the alarm has not been removed the alarm cannot be reset Returns to the Function Mode Main Menu Increments Up Key or decrements Down Key the set value of the channel being adjusted Note The setting will be enabled as soon as it is changed The setting will not be written to EEPROM however unless the DATA Key is pressed Writes the set values both CH1 and CH2 to EEPROM During writing done will be dis played in the status display area Note 1 The digit being manipulated cannot be changed using the Left and Right Keys The rightmost digit is always manipulated Note 2 CH1 is the current monitor and CH2 is the speed monitor m Operation Example Operation Display example Explanation keys Press the MODE SET Key to display the Function Mode Main Menu and then press the Up and Down Keys to select FnOOD Press the DATA Key The screen will switch to the FnOOD analog monitor output scaling execution screen Note If after pressing the DATA Key the screen does not switch and NO_OP is displayed in the status display area the password in Fn010 has been set to write protect the system Check and reset First of all scale CH1 current monitor by pressing the Up and Down Keys to change the scale Note The scale unit is x 0 4 3 21 Function Mode Chapter 3 Operation Display example
44. e of the alarm is unknown the alarm cannot be reset Returns to the Function Mode Main Menu Increments Up Key or decrements Down Key by 1 the set value of the channel being adjusted Note The setting will be enabled as soon as it is changed The setting will not be written to EEPROM however unless the DATA Key is pressed Writes the settings both CH1 and CH2 to EEPROM During writing done will be dis played in the status display area Note 1 The digit being manipulated cannot be changed using the Left and Right Keys The rightmost digit is always manipulated Note 2 CH1 is the current monitor and CH2 is the speed monitor Note 3 If the set value is incremented or decremented by 1 the voltage will change by approximately 17 mV The setting range is from 128 to 127 m Operation Example Operation Display example Explanation keys Press the MODE SET Key to display the Function Mode Main Menu and then press the Up and Down Keys to select Fn00C Press the DATA Key The screen will switch to the Fn00C manual analog monitor output offset adjustment execution Screen Note If after pressing the DATA Key the screen does not switch and NO_OP is displayed in the status display area the password in Fn010 has been set to write protect the system Check and reset First of all adjust the CH1 current monitor offset by pressing the Up and Down Keys Adjust so that the measured value of the measure ment d
45. e the front cover terminal covers cables or optional items while the power is being supplied Doing so may result in electric shock Installation operation maintenance or inspection must be performed by autho rized personnel Not doing so may result in electric shock or injury Wiring or inspection must not be performed for at least five minutes after turning OFF the power supply Doing so may result in electric shock Do not damage pull on apply excessive stress to or place heavy objects on the cables Doing so may result in electric shock product failure or burning Do not touch the rotating parts of the Servomotor in operation Doing so may result in injury Do not modify the product Doing so may result in injury or damage to the product Provide a stopping mechanism on the machine to ensure safety The holding brake is not designed as a stopping mechanism for safety purposes Provide an external emergency stopping mechanism that can stop operation and shutting off the power supply immediately Not doing so may result in injury Do not come close to the machine immediately after resetting momentary power interruption to avoid an unexpected restart Take appropriate measures to secure safety against an unexpected restart Doing so may result in injury Use the Servomotors and Servo Drivers in a specified combination Using them incorrectly may result in fire or damage to the products N Caution N Caution Do not
46. e values cannot be changed from the Parameter Unit To set these values from the Parameter Unit set the gain adjustment rotary switch to O and then set the values in the parameter area 2 20 I i IM Chapter 3 Function Mode 3 1 Functions 3 2 Function Mode Operations 3 3 Function Details and Operation Function Mode Chapter 3 3 1 Functions Function Mode is used to execute various functions FnULILI m Functions FnOOO Alarm history display Displays an alarm history of up to the 10 most recent alarms Rigidity selection Sets the machine rigidity Protected Note Only enabled if the gain adjustment rotary switch is set to 0 Fn002 Jog operation Rotates the Servomotor using the Parameter Protected Unit keys Disabled during RUN Fn003 Servomotor origin search Rotates the Servomotor using the Parameter Protected Unit keys detects phase Z and stops the Ser Disabled vomotor on phase Z during RUN Fn005 User parameter initialization Initializes the user parameters to their default Protected values Fn006 Alarm history data clear Clears alarm history data Protected Fn007 Online autotuning results save Writes the load inertia ratio determined by Protected autotuning to Pn103 inertia ratio Fn00C Manual analog monitor output Adjusts each analog monitor output offset Protected offset adjustment manually FnOOD Analog monitor output scaling Scales i e adjusts the output volt
47. evice is O V 3 19 Function Mode Chapter 3 Operation Display example Explanation keys Once the CH1 offset adjustment has been completed adjust the CH2 speed monitor offset Press the SCROLL Key to move the cursor to the CH2 line Adjust the CH2 offset in the same way as for CH1 Pressing the Up and Down Keys adjust so that the measured value of the measurement device is O V Once the CH1 and CH2 offset adjustments have been completed press the DATA Key to write the adjust ment results to EEPROM During writing done will be displayed in the status dis play area Once writing has been completed the sta tus display will return to BB Press the MODE SET Key to return to the Function Mode Main Menu 3 3 9 Analog Monitor Output Scaling Fn00D FnOOD executes analog monitor output current monitor and speed monitor scaling The two monitor outputs can be set separately The analog monitor output scale setting range is 128 to 127 x 0 4 Set the scale that is centered on 100 For example if you set 125 100 125 x 0 4 50 so the monitor output voltage 1 2 Alternatively if you set 125 100 125 x 0 4 150 so the monitor output voltage x 1 5 Note 1 FnOOD cannot be executed if the password in Fn010 has been set to write protect the system Note 2 Even if user parameter initialization Fn005 is executed the setting will not be initialized m Display Example 3 20 Function Mod
48. example Explanation keys Parameter Verifying Execution Press the WRITE PR DRIVER Key to start param eter verifying Note If verify execution is not desired press the DATA Key to return to the Parameter Block Selection Screen Parameter Verifying Completion When parameter reading from the designated block inside the Parameter Unit parameter reading from the Servo Driver and comparison have been completed Complete will be displayed Data Matches Displaying Parameter Verification Results After parameter comparison has ended after Com plete has been displayed the comparison results will be displayed If the comparison shows data that does not match a list of non matching parameter numbers will be dis played If 5 or more parameters do not match use the Up and Down Keys to scroll through and check the Data Does Not Match parameter numbers Switching to the Parameter Block Selection Screen Press the DATA Key to switch to the Parameter Block Selection Screen Switching to the Menu Screen Press the DATA Key to return to the Parameter Copy Mode menu screen 4 11 Parameter Copy Mode Chapter 4 m Supplementary Information on Comparing Parameters e While comparing parameters do not disconnect the Parameter Unit from the Servo Driver If the Parameter Unit is disconnected during parameter comparison the Servo Driver and Parameter Unit data may be damaged If the Servo Drivers EEPROM data is damage
49. fe 11 Do not set values for any parameters not described in this manual Operating errors may result Consult your OMRON representative if you have questions 12 Before using the product under conditions which are not described in the manual or applying the product to nuclear control systems railroad systems aviation systems vehicles combustion systems medical equip ment amusement machines safety equipment and other systems machines and equipment that may have a serious influence on lives and property if used improperly consult your OMRON representative Items to Check Before Unpacking 1 Check the following items before removing the product from the package e Has the correct product been delivered i e the correct model number and specifications e Has the product been damaged in shipping 2 Check that the following accessories have been delivered e Safety Precautions No connectors or mounting screws are provided Obtain these separately OMRON OPERATION MANUAL SMARTSTEP A senes MODELS R7M AL Servomotors R7D AP_ Ser vo Drivers Servomotors Servo Drivers Notice OMRON products are manufactured for use according to proper procedures by a qualified operator and only for the purposes described in this manual The following conventions are used to indicate and classify precautions in this manual Always heed the information provided with them Failure to heed precautions can result in injury to people
50. formation will be displayed in the dis play area of the Parameter Unit The reading operation will end within 10 seconds 4 5 Parameter Copy Mode Chapter 4 4 6 During parameter reading from the Servo During Servo Driver model information writing to the Parameter Unit Driver During parameter writing to the t When the operation has ended Parameter Unit E E E E E E E T Parameter Copy Mode Chapter 4 4 3 Parameter Writing PR to DRIVER The parameter write operation writes one of the seven blocks of user parameters stored in the Parameter Units EEPROM to the Servo Drivers EEPROM m Display Example m Parameter Writing Procedure Operation Display example Explanation keys Menu selection Use the MODE SET and Up and Down Keys to display the Parameter Copy Mode Main Menu and select PR DRIVER The menu flashing is the menu that is currently selected Menu execution Press the DATA Key to switch to the Parameter Block Selection Screen Parameter block selection Using the Up and Down Keys select the parameter block from 00 to 06 in the Parameter Unit that con tains the parameters to be written to the Servo Driver Switching to the parameter writing execution screen Press the MODE SET Key to switch to the parameter writing execution screen 4 7 Parameter Copy Mode Chapter 4 Operation Display example Explanation keys Parameter Writing Execution Press the W
51. g operation will end within 10 seconds 4 8 Parameter Copy Mode Chapter 4 During parameter reading from the Parameter Unit Note Pressing the DATA Key while these screens are displayed will interrupt writing and the display will return to the Parameter Block Selection Screen During parameter writing to the Servo Driver i When the operation has ended i 4 9 Parameter Copy Mode Chapter 4 4 4 Parameter Verification Verify The parameter verification operation compares one of the seven blocks of user parameters stored in the Parameter Units EEPROM and the user parameters stored in the Servo Drivers EEPROM and displays the results m Display Example m Parameter Verifying Procedure Operation Display example Explanation keys Menu Selection Use the MODE SET and Up and Down Keys to display the Parameter Copy Mode Main Menu and select Ver ify The menu flashing is the menu that is currently selected Menu Execution Press the DATA Key to switch to the Parameter Block Selection Screen Parameter Block Selection Using the Up and Down Keys select the parameter block from 00 to 06 in the Parameter Unit that con tains the parameters to be compared with the Servo Driver parameters Switching to the Parameter Verifying Execution Screen Press the MODE SET Key to switch to the parameter verifying execution screen 4 10 Parameter Copy Mode Chapter 4 Operation Display
52. generative energy and connect an exter nal Regeneration Resistor with the required regeneration absorption capacity Reduce main circuit power supply voltage to within toler ance range Add a counterbalance to the machinery to lower gravita tional torque Slow the descent speed Calculate the regenerative energy and connect and exter nal Regeneration Resistor with the required regeneration absorption capacity Replace the Servo Driver Change the main circuit power supply voltage to within toler ance range A 51 Overspeed Occurs when the servo is ON Occurs along with high speed rota tion when a com mand is input A 40 Overvoltage Occurs when power supply is turned ON Occurs when Ser vomotor is decel erating Occurs during descent vertical axis Main circuit power supply is Replace the Servo Driver damaged Encoder signal between Rewire correctly controllers is wired incor rectly Servomotor power line is Rewire correctly wired incorrectly Position command input Input command values cor exceeds 4 500 r min rectly Pn202 and Pn203 elec Set the parameters correctly tronic gear ratio o S too large Resolution setting switch switches 4 and 5 setting is too low Rotation limit has been exceeded due to over shooting Reset the switches correctly Adjust the gain Lower the maximum specified speed 5 7 Alarm Display Mode Chapter 5
53. gle Displays the electrical angle of the Servomotor Un005 Input signal monitor Displays the input status of the control input signal CN1 See note 1 Un006 Output signal monitor Displays the output status of the control output sig nal CN1 See note 2 Un007 Command pulse speed r min Calculates and displays command pulse frequency display in r min Un008 Position deviation Command Displays number of residual pulses in deviation units counter in command units input pulse standard Note Displayed in pulse units on the Parameter Unit Un009 Cumulative load ratio Displays effective torque rated torque 100 10 s cycle Displays regeneration absorption current due to regeneration resistance calculates internal resis tance capacity or Pn600 setting as 100 in 10 s Un00A Regeneration load ratio cycles UnOOB Dynamic brake resistance Displays current consumption during dynamic load ratio brake operation calculates tolerance current con sumption as 100 in 10 s cycles Un00C Input pulse counter Command Counts and displays input pulses hexadecimal 8 units digit display Un00D Feedback pulse counter Pulses Counts and displays feedback pulse 4x calcula tion hexadecimal 8 digit display Note 1 The input signal monitor Un005 display is shown below The upper level indicates OFF sta tus and the lower level indicates ON status All undefined digits are displayed on the upper level O
54. he DATA Key The screen will switch to the Fn007 online autotuning results storage execution screen Note If after pressing the DATA Key the screen does not switch and NO_OP is displayed in the status display area the password in Fn010 has been set to write protect the system Check and reset Press the DATA Key to write the identified inertia ratio to EEPROM During writing done will be displayed in the status dis play area Once writing has been completed the sta tus display will return to BB Note If inertia ratio writing is not desired press the MODE SET Key to return to the Function Mode Main Menu 3 3 8 Manual Analog Monitor Output Offset Adjustment Fn00C FnOOC adjusts the offsets of the analog monitor outputs current monitor and speed monitor manu ally Note 1 FnOOC cannot be executed if the password in Fn010 has been set to write protect the system Note 2 Even if user parameter initialization Fn005 is executed the adjustment values will not be initialized Note 3 Before adjusting the analog monitor output offsets confirm that the output voltage is O e g if output ting the Servomotor rotation speed confirm that the status is servo OFF and the Servomotor shaft is not moving and connect the measurement instrument that will actually be used m Display Example 3 18 Function Mode Chapter 3 m Operation Key Functions e Overview Applicable Keys Only Cancels the alarm if the caus
55. he product in the correct direction Not doing so may result in malfunction Provide the specified clearances between the Servo Driver and the control panel or with other devices Not doing so may result in fire or malfunction Do not apply any strong impact Doing so may result in malfunction Be sure to wire correctly and securely Not doing so may result in motor runaway injury or malfunction N Caution N Caution N Caution Caution Caution N Caution Be sure that all the mounting screws terminal screws and cable connector screws are tightened to the torque specified in the relevant manuals Incorrect tightening torque may result in malfunction Use crimp terminals for wiring Do not connect bare stranded wires directly to ter minals Connection of bare stranded wires may result in burning Always use the power supply voltage specified in the User s Manual An incorrect voltage may result in malfunction or burning Take appropriate measures to ensure that the specified power with the rated volt age and frequency is supplied Be particularly careful in places where the power supply is unstable An incorrect power supply may result in malfunction Install external breakers and take other safety measures against short circuiting in external wiring Insufficient safety measures against short circuiting may result in burning Take appropriate and sufficient countermeasures when installing systems in the follo
56. in securely movement upon _ Faulty Connector contact startup Occurs when the Encoder is burned out Replace the Servomotor power supply is Servo Driver is burned out Replace the Servo Driver turned ON Encoder dis Occurs when Encoder wiring is discon Correct the disconnected or connection there is a slight nected or shorted shorted part detected movement upon Faulty Connector contact Plug the Connector in securely rtup ay en i Starup Encoder is wired incor Rewire correctly rectly Encoder is burned out Replace the Servomotor Servo Driver is burned out Replace the Servo Driver Locked mechanically Repair the Servomotor shaft if it is locked 5 9 Alarm Display Mode Chapter 5 Display Status when Cause of error Countermeasures error occurs Deviation counter over flow CPFOO Parameter Unit transmis sion error 1 CPFO1 Parameter Unit transmis sion error 2 5 10 Servomotor will not rotate even when command Servomotor power or Rewire correctly encoder line is wired incor rectly pulses are input ocked mechanically Repair if the Servomotor shaft is locked Control panel error Replace the Servo Driver Occurs when Servomotor power or Rewire correctly rotating at high encoder line is miswired speed Occurs when long Gain adjustment is insuffi Adjust the gain command pulses cient are sent Acceleration and decelera Lengthen acceleration
57. ion Chapter 1 1 1 Parameter Unit Functions The SMARTSTEP A series R7A PRO2A Parameter Unit displays and sets the user parameters stored inside the Servo Driver The Parameter Unit and Servo Driver are connected through the CN3 communications connector m Display Area The Parameter Unit has a 17 character x 5 line LCD display area There are also 5 indicators show ing the base block status positioning completion status and other information m Editing User Parameters The user parameters Pn__ _ inside the Servo Driver can be displayed and set m Copying Parameters between Servo Drivers The Parameter Unit enables the following operations Reading parameters from the Servo Driver to the Parameter Unit writing parameters from the Parameter Unit to the Servo Driver comparing parameters between the Servo Driver and the Parameter Unit and deleting blocks of parameters from the Parameter Unit Up to 7 blocks of user parameters can be saved to the EEPROM inside the Parameter Unit With these functions parameters can be copied between Servo Drivers m Monitoring Un LI The following items can be monitored Speed feedback torque commands number of pulses from phase Z electrical angle I O signal status command pulse speed position deviation deviation counter cumulative load rate regenerative load rate dynamic braking resistance load rate input pulse counter and feedback pulse counter m Function Execution
58. ion switch 1 online autotuning are enabled Note 2 Pn200 0 Pn202 and Pn203 are enabled when function switch 6 on the Servo Driver s front panel is turned ON to enable parameter setting When function switch 6 is OFF function switch 3 command pulse input setting and function switches 4 and 5 resolution setting are enabled 6 4 Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual Cat No 1534 E1 02 Revision code The following table outlines the changes made to the manual during each revision Page numbers refer to the previous version Revision code Date Revised conten eo November 2001 Original production July 2005 Following changes made to front matter General precautionary notes added to the first page Items to Check Before Unpacking Moved to the first page Notice Information on general precautions notation added Read and Understand this Manual Information on liability and war ranty added OMRON Corporation Control Devices Division H Q Shiokoji Horikawa Shimogyo ku Kyoto 600 8530 Japan Tel 81 75 344 7109 Fax 81 75 344 7149 Regional Headquarters OMRON EUROPE B V Wegalaan 67 69 NL 2132 JD Hoofddorp The Netherlands Tel 31 2356 81 300 Fax 31 2356 81 388 OMRON ELECTRONICS LLC 1 East Commerce Drive Schaumburg IL 60173 U S A Tel 1 847 843 7900 Fax 1 847 843 8568 OMRON ASIA PACIFIC PTE LTD 83 Cleme
59. j When the operation has ended v 4 15 I III i Mil Chapter 5 Alarm Display Mode 5 1 Operations in Alarm Display Mode 5 2 Alarms 5 3 Error Diagnosis Using Alarm Display Alarm Display Mode Chapter 5 9 1 Operations in Alarm Display Mode When an alarm occurs in the Servo Driver the Parameter Unit automatically changes to Alarm Display Mode The Alarm Display Mode Screen here is the same as the Function Mode Alarm History Display Screen Fn000 If the RESET Key is pressed in Alarm Display Mode and the alarm reset the screen prior to canceling the alarm will be displayed If switching to another screen is desired while an alarm is being registered press the MODE SET Key The screen will switch back to the screen before the alarm occurred Note Ifan alarm is reset while RUN is turned ON the Servo Driver will start as soon as the alarm is reset which is dangerous Be sure to turn OFF the RUN command before resetting the alarm m Screen Switching when an Alarm Occurs The procedure for switching screens while an alarm has occurred is shown in the following diagram an example of an alarm occurring during jog operation Fn002 Alarm Display Mode Chapter 5 Note Note 1 2 Alarm occurs See note 1 RESET MODE SET oa See note 2 Switch the screen by following the same key operations as for when there is no alarm MODE SET MODE SET
60. larm Display Mode Chapter 5 5 3 Error Diagnosis Using Alarm Display Display Status when Cause of error Countermeasures error Occurs Reset the parameters within the setting range Parameter setting error Overcurrent Occurs when power supply is turned ON Occurs when servo is turned ON Regeneration Occurs during operation error A 32 Regeneration overload Occurs during operation 5 6 Occurs when con A value outside of the set trol circuit power ting range was previously Supply is turned ON set in the parameters Control panel error Replace the Servo Driver Control panel error Main circuit transistor mod ule error Current feedback circuit error Main circuit transistor mod ule error Servomotor power line is short circuited or grounded between phases Miswiring between U phase V phase W phase and ground Servomotor winding is burned out Error in the regenerative circuit parts External Regeneration Resistor is disconnected There is a short circuit missing between B2 and B3 but the external circuit resistor is not connected Setting error in Pn600 regeneration resistor Capacity Regenerative energy exceeds tolerance Setting error in Pn600 regeneration resistor Capacity Main circuit power supply voltage is outside toler ance range Replace the Servo Driver Replace the Servo Driver Repair the short circuited or
61. ll be re verse Note 2 If the shaft is rotating while the Up or Down Key is being pressed and then the Key is released the shaft will stop When the servo is OFF during baseblock Moves the cursor position to the left or right in the same way as in Parameter Monitor Mode When the servo is ON during RUN No operation Saves the display screen m Operation Example The following example shows how to set the Servomotor to rotate at a jog speed of 1 000 r min The default setting 500 r min Press the MODE SET Key to display the Function Mode Main Menu Press the Down Key twice to select Fn002 3 10 Function Mode Chapter 3 Operation aE example Explanation keys Een SE M the DATA Key to switch the screen to the Fn002 as ee jog operation execution screen i B00e GAGA e min Note If after pressing the DATA Key the screen does oar fim Gade Gad ES ghee not switch and NO _OP IS displayed In the sta SEE ee et tus display area either the RUN input RUN e igi Sasa toas tents gt Futaaes tase SO SEE MAR BE FIRE SR gt SR E comman d i S ON or th e p asswor d in Fn01 0 h as been set to write protect the system Check and reset Bong Press the DATA Key to move the cursor to the setting ng at fet td data for Pn304 jog speed Using the Left Right Up and Down Keys set the jog speed to 1 000 r min Press the DATA Key to fix the set value and to move the cursor to the p
62. mand pulse input Note 3 FnOOE cannot be executed if the password in Fn010 has been set to write protect the system Note 4 Even if user parameter initialization Fn005 is executed the setting will not be initialized 3 22 Function Mode Chapter 3 m Display Example m Operation Key Functions e Overview Applicable Keys Only Resets the alarm If the cause of the alarm has not been removed the alarm cannot be reset eS Returns to the Function Mode Main Menu Executes automatic adjustment During adjusting operations done will be displayed in the status display area m Operation Example Operation Display example Explanation keys Press the MODE SET Key to display the Function Mode Main Menu and then press the Up and Down Keys to select FnOOE a Press the DATA Key Pp E S E T The screen will switch to the FnOOE automatic Servo in eae ee motor current detection offset adjustment execution sr ohare LOr ierre screen Press the DATA Key to execute automatic Servomotor fad ESCHER current detection offset adjustment During adjusting Magi GP Pa peep LI done will be displayed in the status display area Once eid Beh mm T rimimmmt adjusting has been completed the status display will ae return to BB POS Tie kaki Note If automatic adjustment is not desired press the MODE SET Key to return to the Function Mode Main Menu 3 23 Function Mode Chapter 3 3 3 11 Manual Servomotor Current Detectio
63. manual accompanies the product to its final user 3 Although care has been given in documenting the product please contact your OMRON representative if you have any suggestions on improving this manual 4 Assume that anything not specifically described in this manual is not possible 5 Do not allow the Servomotor or Servo Driver to be wired set or operated from a Parameter Unit by anyone that is not a profession electrical engineer or the equivalent 6 We recommend that you add the following precautions to any instruction manuals you prepare for the system into which the product is being installed e Precautions on the dangers of high voltage equipment e Precautions on touching the terminals of the product even after power has been turned OFF These ter minals are live even with the power turned OFF 7 Specifications and functions may be changed without notice in order to improve product performance 8 Positive and negative rotation of AC Servomotors described in this manual are defined as looking at the end of the output shaft of the motor as follows Counterclockwise rotation is positive and clockwise rotation is neg ative 9 Do not perform withstand voltage or other megameter tests on the product Doing so may damage internal components 10 Servomotors and Servo Drivers have a finite service life Be sure to keep replacement products on hand and to consider the operating environment and other conditions affecting the service li
64. n Offset Adjustment FnOOF FnOOF manually adjusts the Servomotor current detection offset Adjust the phase U and phase V offsets alternately while balancing each separately When performing adjustments rotate the Servomotor at 100 r min without connecting the mechani cal system to the Servomotor shaft i e make sure there is no load and perform the adjustments while monitoring the waveform of the analog monitor output s current monitor The Servomotor current detection offset setting range is 512 to 511 Note 1 If adjusting the Servomotor current detection offset first try performing the automatic adjustment FnOOE Only attempt manual adjustment if the torque ripple is still too large after performing auto matic adjustment Note 2 FnOOF cannot be executed if the password in Fn010 has been set to write protect the system Note 3 Even if user parameter initialization Fn005 is executed the setting will not be initialized m Display Example m Operation Key Functions e Overview Applicable Keys Only Resets the alarm If the cause of the alarm has not been removed the alarm cannot be reset oe Returns to the Function Mode Main Menu Switches the phase for offset adjustment phase U or phase V Increments Up Key or decrements Down Key the set value of the phase being adjusted Note The setting will be enabled as soon as it is changed The setting will not be written to EEPROM however unless the
65. nceau Avenue 11 01 UE Square Singapore 239920 Tel 65 6835 301 1 Fax 65 6835 271 1 OMRON CHINA CO LTD Room 2211 Bank of China Tower 200 Yin Cheng Zhong Road PuDong New Area Shanghai 200120 China Tel 86 21 5037 2222 Fax 86 21 5037 2200 Authorized Distributor Cat No 1534 E1 02 Note Specifications subject to change without notice Printed in Japan This manual is printed on 100 recycled paper
66. ns are mo Eo CE RAPEL p i RiP T as follows Alarm history display rigidity selection jog operation Servomotor origin search user parameter initialization alarm history clear online autotune storage manual monitor output offset adjustment analog mon itor output scaling automatic Servomotor cur rent detection offset adjustment password setting and version check Parameter Copy mz EE Reads parameters Servo Driver gt Parame Mode s The u TOF ter Unit writes parameters Parameter Unit Pos Py ils PoP EE Eps os Ets Eps Servo Driver compares parameters Parameter Unit lt Servo Driver and releases parameter lock Alarm Display Mode Displays an alarm history up to the 10 most recent alarms Note Abbreviations for each mode are displayed in the upper right corner of the display screen The Servo Driver status is also displayed in the upper left corner lt Y Mode PRM MON Parameter Monitor Mode FUNCTION Function Mode COPY Parameter Copy Mode ALARM Alarm Display Mode Status BB Baseblock status RUN Current supplied to the Servomotor Ae Alarm has occurred is the alarm code NO_OP Operating error 1 5 Introduction Chapter 1 m Changing the Mode When the Parameter Unit is connected to the Servo Driver and the Servo Drivers power supply is turned ON the initializing screen and then the Parameter Monitor Mode will be displayed The mode can be switched by p
67. nt 2 Note Linear acceler ation and decel eration Torque com mand filter time constant Description for parameters set with 5 digits Description for parameters with individually set digits Feed pulse forward and reverse signal positive logic Forward pulse and reverse pulse positive logic 90 phase difference phase A B signal x1 positive logic 90 phase difference phase A B signal x2 positive logic 90 phase difference phase A B signal x4 positive logic Feed u forward and reverse u negative logic Forward ee and reverse pulse negative ee 90 phase difference phase A B signal x1 negative logic 90 phase difference phase A B signal x2 negative logic 90 phase difference phase A B signal x4 negative logic Signal high level Rising edge low to high Signal low level Falling signal high to low Deviation counter reset when an alarm occurs and when Servomotor is OFF Deviation counter not reset when an alarm occurs nor when Servomotor is OFF Deviation counter reset Be Fr Y an alarm occurs mand pulses and Servo Servomotor Soft start setting for command pulses Soft start characteristics are Enabled when Pn207 0 0 O Primaryfilter Pn204 Primary Primary filter Pn204 Pn204 Linear acceleration and i deceleration es Soft start senha for command pulses Soft start characteristics are for the linear acceleration and
68. ntents of the data required for operation Not doing so may result in an unexpected operation Warning Labels Warning labels are pasted on the product as shown in the following illustration instructions given there OMRON R7D APOIL 00V 7 100w Hay rsa m rem m Lee IST Ce fay Warning label SS N O18 1218 18 IN TOYINOI LNI Ti AREA ae I NS SINN a mil Su 4 3009NI ZNI Example from R7D APO1L fe BR AUS VRR 78 SAETTA EROTA WARNING Disconnect all power and wait 5 min before servicing May cause electric shock E ARPES eI ORNS Do not touch heatsink when power is ON CAUTION May cause burn BET TREUE Use proper grounding techniques Example from R7D APO1L Be sure to follow the Read and Understand this Manual Please read and understand this manual before using the product Please consult your OMRON representative if you have any questions or comments Warranty and Limitations of Liability WARRANTY OMRON s exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year or other period if specified from date of sale by OMRON OMRON MAKES NO WARRANTY OR REPRESENTATION EXPRESS OR IMPLIED REGARDING NON INFRINGEMENT MERCHANTABILITY OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERM
69. ntrol panel error Replace the Servo Driver control circuit power supply only A 7A Overheat is turned ON Occurs during Ambient Servo Driver tem Lower the Servo Drivers ambi operation perature exceeds 55 C ent temperature to 55 C or less Radiation shield sink air Mount according to mounting convection is poor conditions The fan has stopped Replace the Servo Driver Operating above rated out Lighten the load put 5 8 Alarm Display Mode Chapter 5 Display Status when Cause of error Countermeasures error occurs System error Occurs during Control panel error Replace the Servo Driver Power supply was turned Initialize user parameters OFF during parameter Fn005 to reset the parame operations or the Parame ters ter Unit was disconnected operation Automatic Servomotor cur Turn OFF the power supply rent detection offset was then ON again adjusted FnOOE during pulse input Internal memory error Replace the Servo Driver Encoder is wired incor Correct the wiring rectly Servomotor power line is wired incorrectly Servo turned ON when the Adjust servo ON timing Servomotor was rotated from the outside Runaway Occurs when detected there is a slight movement upon startup Servo Driver is burned out Replace the Servo Driver Phase error Occurs when Encoder is wired incor Rewire correctly detected there is a slight rectly Plug the Connector
70. o o e e ose o o ete 888 Se oo sees oe eo o ee o o oeo eo 0000 0 se gt y al orls lt This shows that the parameter number PnO00 Basic switches 1 is set to 0010 e Four items made up of monitor items and parameters can be displayed on the Parameter Monitor Mode display e The four items in the display example above are the default display items To change the default display items select the items for default display and press the WRITE Key to save the current screen to enable default display of the selected items the next time the power supply is turned ON 2 12 Parameter Monitor Mode Chapter 2 m Operation Key Functions e Overview Resets the alarm If the cause of the alarm has not been removed the alarm cannot be reset Changes to the Function Mode Changes the cursor between the parameter number and the setting data Writes the set ting data to the EEPROM inside the Servo Driver Moves the cursor up If the cursor is at the setting data it will move on the setting data side E Not used e aa Moves the cursor left or right Switches between Un and Pn N NG Increments or decrements the parameter number or the setting data Em Saves the current display screen PR DRIVER e Details ars Keys e When the cursor is on the left side the number side pressing the Left and Right Keys moves the cursor as follows OEMs pe poeg poeg poeg nn Praa FR TE TE assis 2
71. ress the JOG RUN Key after the Servomotor origin search has been completed The status display will change to BB and the Servomo tor status will change to servo OFF Press the MODE SET Key to return to the Function Mode Main Menu 3 3 5 User Parameter Initialization Fn005 The user parameters can be initialized to the default settings Note Fn005 cannot be executed if the password in Fn010 has been set to write protect the system or if the Servomotor is ON m Display Example 3 14 Function Mode Chapter 3 m Operation Key Functions Overview Applicable Keys Only Resets the alarm if the cause of the alarm has not been removed the alarm cannot be reset Pen Returns to the Function Mode Main Menu Initializes user parameters During initialization Parameter Init will flash and once initial ization has been completed done will be displayed in the status display area m Operation Example Operation Display example Explanation keys Press the MODE SET Key to display the Function Mode Main Menu and then press the Up and Down Keys to select Fn005 Press the DATA Key The screen will switch to the Fn005 user parameter initialization execution screen Note If after pressing the DATA Key the screen does not switch and NO_OP is displayed in the status display area the password in Fn010 has been set to write protect the system Check and reset Press the DATA Key to initialize user parameter
72. ressing the MODE SET Key If an alarm occurs the mode will automatically change to the Alarm Display Mode Power supply ON Initializing Screen Displayed for approx 2 seconds Parameter Monitor Mode Function Mode Parameter Copy Mode MODE SET Alarm Display Mode If an alarm occurs the mode will automatically change to the Alarm Display Mode 1 6 Introduction Chapter 1 Other Alarm Displays The following communications errors will be displayed if an error occurs in communications between the Servo Driver and the Parameter Unit If one of these is displayed turn the power supply OFF and ON If communications still do not return to normal replace the Parameter Unit or the Servo Driver 1 7 I J IM INH Chapter 2 Parameter Monitor Mode 2 1 Monitoring Items in Parameter Monitor Mode 2 2 Setting Parameters in Parameter Monitor Mode Parameter Monitor Mode Chapter 2 2 1 Monitoring Items in Parameter Monitor Mode This section lists monitor items and describes monitor item display operations in Parameter Monitor Mode 2 1 1 Monitor Items Monitor No Monitor tem Unit Explanation Un000 Speed feedback Displays actual rotation speed of Servomotor Un002 Torque command Displays command values to current loop rated torque 100 Un003 Number of pulses from Pulses Displays rotation position from phase Z 4x calcula phase Z tion Un004 Electrical an
73. rtia ratio The ratio between the machine system inertia and the Servomotor 300 0 to 10000 rotor inertia Pn109 Feed forward Position control feed forward compensation O to 100 amount Pn10A Feed forward The position control feed forward command filter x0 01 ms O to 6400 command filter 2 Notused fo Pn110 See note 1 6 2 Online autotun ing setting Online autotun Autotunes initial operations 0012 ing selection only after power is turned ON Always autotunes No autotuning 2 Adhesive friction io Friction compensation OFF ter an 1 Friction compensation Rated torque ratio small 2 Friction compensation Rated torque ratio large o Yes oU The power supply does not need to be restarted for Pn110 2 Appendix Chapter 6 Parameter No Pn200 See note 2 Pn202 See note 2 Pn203 See note 2 Pn204 Pn207 Pn208 Pn304 Jog speed Pn401 Parameter Position control setting 1 Command pulse Deviation counter reset Deviation counter reset for alarms and when servo is turned OFF Electronic gear The pulse rate for the com ratio G1 numer travel distance ator 0 01 lt G1 G2 lt 100 Electronic gear ratio G2 denominator Position com mand filter time constant 1 pri mary filter for the primary filter Note Position control setting 2 Selects position command filter Position com mand filter time consta
74. rwise without the prior written permission of OMRON No patent liability is assumed with respect to the use of the information contained herein Moreover because OMRON is con stantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless OMRON assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publication General Warnings Observe the following warnings when using the SMARTSTEP Servomotor and Servo Driver and all connected or peripheral devices This manual may include illustrations of the product with protective covers removed in order to describe the components of the product in detail Make sure that these protective covers are on the product before use Consult your OMRON representative when using the product after a long period of storage N WARNING N WARNING N WARNING N WARNING N WARNING N WARNING N WARNING N WARNING N WARNING N WARNING N WARNING N Caution Always connect the frame ground terminals of the Servo Driver and the Servomo tor to a class 3 ground to 100 Q or less Not connecting to a class 3 ground may result in electric shock Do not touch the inside of the Servo Driver Doing so may result in electric shock Do not remov
75. s Dur ing initialization Parameter Init will flash Once initial ization has been completed the flashing will stop and the status display changes from BB to done and then back to BB again Note If initialization is not desired press the MODE SET Key to return to the Function Mode Main Menu Note User parameter settings will be initialized Some user parameters however require the power supply to be turned OFF then turned ON again to enable their settings 3 15 Function Mode Chapter 3 3 3 6 Alarm History Data Clearing Fn006 FnO06 clears the alarm history data Note Fn006 cannot be executed if the password in Fn010 has been set to write protect the system m Display Example m Operation Key Functions e Overview Applicable Keys Only Resets the alarm If the cause of the alarm has not been removed the alarm cannot be reset Se l to the Function Mode Main Menu A inhale alarm history data During clearing done will be displayed in the status display area m Operation Example Operation Display example Explanation keys Press the MODE SET Key to display the Function Mode Main Menu and then press the Up and Down Keys to select Fn006 Press the DATA Key The screen will switch to the Fn006 alarm history data clearing execution screen Note If after pressing the DATA Key the screen does not switch and NO_OP is displayed in the status display area the password in Fn010 has been set to
76. s 2 1 2 1 Monitoring Items in Parameter Monitor Mode 0c ee eee eens 2 2 2 2 Setting Parameters in Parameter Monitor Mode 0 0 cece eee eee eee eee 2 10 Chapter 3 Function Mode ccc cece cess cess csseee Bel 31 PUNCH ONs ete toed awe Ce eae yee yaaa late tet nee 3 2 3 2 Function Mode Operauons 3 s 4 i3 43 4b thereebbes cieees 2eeeod 3 3 3 3 Function Details and Operation ici xx dc0 casa sn ne reinen 3 5 Chapter 4 Parameter Copy Mode cccceccccssees 4 1 4 1 Operations in Parameter Copy Mode 0 cece ee eee eens 4 2 4 2 Parameter Reading DRIVER to PR s 5 0520i0 5 2 2 u 4 4 4 3 Parameter Writing PR to DRIVER 0 ccc ens 4 7 AoA Parameter Vercalion Veit hw Oe ee eh ee ate aed 4 10 4 5 Parameter Block Delete WIS 1 use est ARR 4 13 Chapter 5 Alarm Display Mode cccceccceccceese Onl 5 1 Operations in Alarm Display Mode 0 0 0 0 eee eee ees 5 2 2 DON ee ee ee Oe ee ee nee 5 4 5 3 Error Diagnosis Using Alarm Display 0 0 0 ccc ee eee ees 5 6 Chapter 6 Appendix cccccccscccccvcccscccessscecssess 6 1 6 1 Parameter Sctune Tables aaa schadet aes oe 6 2 REVISION Histol y 4 5 600556 Seee eee Kl Chapter 1 Introduction 1 1 1 2 1 3 1 4 Parameter Unit Functions Connecting the Parameter Unit Nomenclature and Functions Modes and Switching Methods Introduct
77. sing the WRITE Key the current screen can be saved m Operation Key Functions Overview Applicable Keys Only Resets the alarm If the cause of the alarm has not been removed the alarm cannot be reset Returns to the Function Mode Main Menu When the servo has been turned ON by pressing the JOG RUN Key pressing the MODE SET Key will turn OFF the servo and return to the Function Mode Main Menu 3 12 Function Mode Chapter 3 When the servo is OFF during baseblock Switches the editing line in the same way as in Parameter Monitor Mode When the servo is ON during RUN No operation Switches between servo OFF and servo ON status BB is displayed in the status area when the servo is OFF RUN is displayed when the servo is ON When the servo is OFF during baseblock Edits the user parameters in the same way as in Parameter Monitor Mode When the servo is ON during RUN No operation When the servo is OFF during baseblock Changes the parameter number the monitor number or the parameter set value in the same way as in Parameter Monitor Mode When the servo is ON during RUN Rotates the Servomotor at 60 r min either counter clockwise Up Key or clockwise Down Key and positions it on phase Z Note 1 If Pn000 0 reverse rotation mode is set to 1 the rotation direction will be re versed Note 2 Rotates while the key is pressed and stops when the key is released To stop at
78. store or install the product in the following places Doing so may result in fire electric shock or damage to the product e Locations subject to direct sunlight e Locations subject to temperatures or humidity outside the range specified in the specifications e Locations subject to condensation as the result of severe changes in tempera ture e Locations subject to corrosive or flammable gases e Locations subject to dust especially iron dust or salts e Locations subject to shock or vibration e Locations subject to exposure to water oil or chemicals Do not touch the Servo Driver radiator Servo Driver regeneration resistor or Ser vomotor while the power is being supplied or soon after the power is turned OFF Doing so may result in a skin burn due to the hot surface Storage and Transportation Precautions N Caution N Caution Do not hold the product by the cables or motor shaft while transporting it Doing so may result in injury or malfunction Do not place any load exceeding the figure indicated on the product Doing so may result in injury or malfunction Installation and Wiring Precautions Caution Caution Caution Caution N Caution N Caution Do not step on or place a heavy object on the product Doing so may result in injury Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product Doing so may result in fire Be sure to install t
79. t be reset Switches to Parameter Copy Mode Switches to the execution screen of the selected function a ee Not used Selects the function Function Mode Chapter 3 e Details Keys e Pressing the Up and Down Keys enables function number selection Alt S 00 o sooo cooo 00000000 ooo tete so 00 ooo ooo ooo Alt yy 00 o so cooo Alt ys e Pressing the DATA Key switches to the execution screen of the selected flashing function Note The previous screen will be displayed if an attempt is made to execute Fn002 jog operation when pass word has been set in Fn010 to write protect the system 3 4 Function Mode Chapter 3 3 3 Function Details and Operation This section describes the operating methods for the execution screens of each function selected from the Function Mode Main Menu 3 3 1 Alarm History Display Fn000 The Servo Driver records up to the 10 most recent alarms Their details can be checked using the alarm history display m Display Example m Operation Key Functions Overview Applicable Keys Only Resets the alarm If the cause of the alarm has not been removed the alarm cannot be reset TE Returns to the Function Mode Main Menu Displays past alarm details 3 5 Function Mode Chapter 3 e Details Key e Pressing the Up and Down Keys displays past alarm details Note 1 O is the most
80. t used during monitor displays This key is used to change parameter set tings m Moves the cursor up Moves the cursor left or right Increments or decrements the monitor number Not used e Details Keys e Pressing the Up and Down Keys changes the monitor number the accompanying data values Speed feedback ee 28 e ooo gt o 2 8 See 8 e 3 8 8 8 ee es o o e o ee 28 e ooo gt o 2 8 See 8 ooo eee ieee o o eco ooo ooo ceo oo e 8 8 oe ee ee 88 o e oo o o gt o o Soe See See See oo 000 00 8 00 8 00 8 o o o 00 00 o o oo e esoo eve e e eee e oe ooo ooo ooo ooo ooo Peer Bar Tat ur Sat Sur San ER beet 9 o o o o o o o o os ccoo o ry eco Ses See ses Ses See ore gt o ry D reer so o eco cocos ee ce s 080 cooo eee Torque command ooo cee ee oe Number of pulses from phase Z e e 8 8 00 eo 00 0 00 0 00 0 00 o ooo o 8 o o ee e o o o o o o o o o eon gt o e o eee eee e e ee eco ooo ooo ooo ooo ooo Peery e ooo o os o e o es o oo 8 2 oe e se o 00 O se e o o o ocos See so so os eee oe e Electrical angle ei hepak SE pep pep hep aei pep ged gm dn oo ooo cee ge oe e 8s 8 8 8 ee o oo eon 8 ee ooo gt 2 8 See 8 Input signal monitor e e o 8 00 o ee 8 o o o eon
81. ters can be changed if the servo is OFF By setting the parameter or monitor numbers to be displayed and then pressing the WRITE Key the current screen can be saved as the default screen 3 9 Function Mode Chapter 3 m Operation Key Functions e Overview Applicable Keys Only Resets the alarm If the cause of the alarm has not been removed the alarm cannot be reset Returns to the Function Mode Main Menu Pressing the MODE SET Key when the servo has been turned ON by pressing the JOG RUN Key will turn OFF the servo and return to the Function Mode Main Menu When the servo is OFF during baseblock Switches the editing line in the same way as in Parameter Monitor Mode When the servo is ON during RUN No operation Switches between servo OFF and servo ON status BB is displayed in the status area when the servo is OFF RUN is displayed when the servo is ON When the servo is OFF during baseblock Edits the user parameters in the same way as in Parameter Monitor Mode When the servo is ON during RUN No operation When the servo is OFF during baseblock Changes the parameter number the monitor number or the parameter set value in the same way as in Parameter Monitor Mode When the servo is ON during RUN Rotates the Servomotor at jog speed Pn304 either counterclockwise Up Key or clockwise Down Key Note 1 If Pn000 0 reverse rotation mode is set to 1 the rotation direction wi
82. the Servo Driver Note Ifread execution is not desired press the DATA Key to return to the Parameter Block Selection Screen Parameter Reading Completion When parameter reading from the Servo Driver and storing to the designated block inside the Parameter Unit are complete Complete will be displayed Switching to the Parameter Block Selection Screen When parameter reading has been completed after Complete has been displayed the screen will switch to the Parameter Block Selection Screen The Servo Driver model in this example R7D APASL will be displayed in the designated block Switching to the Menu Screen Press the DATA Key to return to the Parameter Copy Mode menu screen m Supplementary Information on Reading Parameters e While reading parameters do not disconnect the Parameter Unit from the Servo Driver If the Parameter Unit is disconnected during parameter reading the Servo Driver and Parameter Unit data may be damaged If the Servo Drivers EEPROM data is damaged an A BF system error alarm will occur at the next startup and the user parameters will need to be initialized Fn005 e f parameter reading is performed for a parameter block that has already had parameters written to it the parameter block will be overwritten e Pressing the DATA Key during parameter reading will interrupt reading and the parameter block will be deleted e During parameter reading the following sequence operation in
83. tings 2 6 Parameter Monitor Mode Chapter 2 e Pressing the WRITE Key enables saving the current screen e The saved screen will be displayed the next time the power supply is turned ON 00 o o o o o o o oo eco 0000 eve eee c o eee c o oe e oo cooo 0000 0000 DRIVER During saving the Key s red indicator will flash 00 o o o o o o o oo eee c o eee e eee oe H Seco ooooo Note Do not turn OFF the Servo Driver control power supply during the saving process Doing so will prevent the screen from being saved If the screen has not been saved successfully the previ ous default setting will be used but no alarm will occur 2 7 Parameter Monitor Mode Chapter 2 m Operating Example The following example describes how to first display and then save a screen with the first line Un000 speed feedback the second line Un002 torque command the third line Un005 input signal monitor and the fourth line Un006 output signal monitor Speed feedback mot RERNE ERLE ARLE ERLE Cu To rque command a M 5 5 u 5 5 Input signal monitor Fe EEE BE Output signal monitor a Operation Display example Explanation keys Press the MODE SET Key to display Parameter Moni tor Mode MODE SET Press the SCROLL Key once to move the cursor to the bottom line SCROLL N Press the Up and Down Keys until Un006 output sig nal monitor is displayed
84. wing locations Failure to do so may result in damage to the product e Locations subject to static electricity or other forms of noise e Locations subject to strong electromagnetic fields and magnetic fields e Locations subject to possible exposure to radioactivity e Locations close to power supplies Operation and Adjustment Precautions N Caution N Caution N Caution N Caution N Caution N Caution Confirm that no adverse effects will occur in the system before performing the test operation Not doing so may result in equipment damage Check the newly set parameters and software switches for proper execution before actually running them Not doing so may result in equipment damage Do not make any extreme adjustments or setting changes Doing so may result in unstable operation and injury Separate the Servomotor from the machine check for proper operation and then connect to the machine Not doing so may cause injury When an alarm occurs remove the cause reset the alarm after confirming safety and then resume operation Not doing so may result in injury Do not use the built in brake of the Servomotor for ordinary braking Doing so may result in malfunction Maintenance and Inspection Precautions N WARNING Do not attempt to disassemble repair or modify any Units Any attempt to do so may result in electric shock or injury N Caution Resume operation only after transferring to the new Unit the co
85. write protect the system Check and reset Press the DATA Key to clear the alarm history data During clearing done will be displayed in the status display area Once clearing has been completed the status display will return to BB Note If alarm history data clearing is not desired press the MODE SET Key to return to the Func tion Mode Main Menu 3 16 Function Mode Chapter 3 3 3 7 Online Autotuning Results Save Fn007 Fn007 writes to EEPROM the load inertia ratio determined with autotuning to Pn103 inertia ratio Note 1 Fn007 cannot be executed if the password in Fn010 has been set to write protect the system Note 2 The load inertia will be used as the inertia ratio calculation default value once the power supply has been turned OFF then ON again m Display Example m Operation Key Functions Overview Applicable Keys Only Resets the alarm If the cause of the alarm has not been removed the alarm cannot be reset ae Returns to the Function Mode Main Menu Writes the inertia ratio displayed on the screen in the example above this is 300 to EEPROM During writing done will be displayed in the status display area m Operation Example Operation Display example Explanation keys Press the MODE SET Key to display the Function Mode Main Menu and then press the Up and Down Keys to select Fn007 3 17 Function Mode Chapter 3 Operation Display example Explanation keys Press t
86. y to switch to the parameter block delete execution screen 4 13 Parameter Copy Mode Chapter 4 Operation Display example Explanation keys 4 14 Parameter Block Delete Execution Press the READ DRIVER gt PR Key to start parame ter block delete Note If delete execution is not desired press the DATA Key to return to the Parameter Block Selection Screen Parameter Block Delete Completion When deleting the designated block inside the Param eter Unit has been completed Complete will be dis played Switching to the Parameter Block Selection Screen After parameter deletion has ended after Complete has been displayed the display switches to the Parameter Block Selection Screen The designated block will change to a deleted block display Switching to the Menu Screen Press the DATA Key to return to the Parameter Copy Mode Main Menu Screen Parameter Copy Mode Chapter 4 Supplementary Information on Deleting Parameters e While deleting parameters do not disconnect the Parameter Unit from the Servo Driver If the Parameter Unit is disconnected during parameter deletion the Servo Driver and Parameter Unit data may be damaged e During parameter block deletion the following sequence operation information will be displayed in the display area of the Parameter Unit The deletion operation will end within 5 seconds During parameter block deleting During Servo Driver model deleting

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