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Accurax G5 User`s Manual

1. o s Power suene s Description me Uus eret pese o ON er ag eee ert Goal an cle at a a ert Ji ale Select the data to be displayed on the 7 segment LED initially when the control power supply is turned ON 0 Position command error Command units 1 Motor speed r min 2 Position command speed r min 3 Speed Control Command r min 4 Torque command 5 Total encoder pulses Pulses 6 Total command pulses Pulses 8 Total External Encoder Feedback Pulses Pulses 9 Control mode 10 I O signal status e 11 Analog input value V 12 Alarm factor history 13 Warning number 14 Regeneration resistance load ratio 528 Default Display 15 Overload load ratio 1 01035 Yes 16 Inertia Ratio 17 Reason for no rotation 18 Display of the number of I O signal changes times 20 Absolute encoder data F 21 Absolute external encoder position 22 Monitor for the number of encoder communications errors times 23 Display of axis numbers for communication 24 Position error encoder unit 25 External encoder error external encoder unit 26 Hybrid error Command units 27 P N voltage V 28 Soft version 29 Drive serial number 30 Motor serial number 31 Accumulative operation time h 32 Automatic Motor Recognition Function A 17 Accurax G5 series AC SERV
2. Drive Drive Programming command Programmi Command name ng data Command Argument Argument Argument Argument Argument Argument code 1 2 3 4 5 6 4 bit 4 bit 2 bit 2 bit 2 bit 2 bit 32 bit Comparison Conditional Comparison Block jump value Branching 3 Ch target Blocknumber destination when Mes conditions threshold value Command argument Setting range Content Value Comparison target Unit Note 0 Command position pulse command positionialter filtering 1 Current position pulse Current pee Oe motor Position error 2 Position error pulse command position 1 Comparison target 0 to 15 current position 3 Command velocity r min commana velocity te he motor 4 Motor velocity r min Current velocity of the motor 5 Command torque 0 1 Command torqu t the motor 6 Timer counter Counter value 7 to 15 Reserved Do not use 2 a gt _ Bled number 0 to 31 Set the destination block number when the specified conditions are met when Yes 4 Set the block jump conditions after this command is executed LSB 0 When Yes is indicated after starting the operation moves to the specified block When No is indicated operation moves to Block jump the next block 5 eoriditionis 0 to 3 1 The current drive programming is executed until Yes is indicated When Yes is indicated the operation moves to the specified block MSB 0 End
3. 3 o Power E Parameter Description Default i Setting supply zZ name w setting range OFFto amp o ON Electronic Gear Set the electronic gear ratio 009 Ratio If Pn009 0 the encoder resolution is set as 0 0to 299 Numerator 1 the numerator Set this to 1 1 Electronic Gear 010 Ratio Electronic gear ratio numerator 1 Pn009 10000 1 to 299 Denigminiator Electronic gear ratio denominator Pn010 Encoder Dividing Set the number of phase A and phase B 1to 9u Numerator output pulses respectively per motor rotation 2900 EU 262 144 ve Select the phase B logic for pulse regeneration output and the output source Phase B logic Not reversed 9 Output source Encoder Encoder Output Direction Phase B logic Reversed Of Switching 1 Output source Encoder 0 ons s lecti Selection 2 Phase B logic Not reversed Output source External encoder 3 Phase B logic Reversed Output source External encoder 013 No 1 Torque Limit Set the No 1 limit value for the output torque of the motor 500 96 0to500 x Error Counter Set the range of the error counter overflow Comm nd 014 level Detection of error counter overflow 100000 0to2 UO Overflow Level a units c level error is disabled if the set value is 0 2 Select the absolute encoder usage method Operation O Used as an absolute encoder 015 SWitch when f4 Used as an incremental encoder 1 2 0102 Yes Using Absolute Enco
4. E s Power E Parameter Description Default Unit Setting supply zZ name F setting range OFFto a o ON Set the judgment conditions for positioning completion output Positioning completion output turns ON O when the position error is within the Positioning Completion Range 1 Pn431 Positioning completion output turns ON when the 1 position error is within the Positioning Completion Positioning Range 1 Pn431 and there is no position command 432 Pa Positioning completion output turns ON when the O 0to 3 zero speed detection signal is ON the position Selection 2 M ET error is within the Positioning Completion Range 1 Pn431 and there is no position command Positioning completion output turns ON when the position error is within the Positioning 3 Completion Range 1 Pn431 and there is no position command The ON status will then be held until the next position command is received Positioning Completion ES 0 to 433 Hold Time Set the positioning completion hold time 0 1 ms 30 000 Zero Speed Set the detection threshold for zero speed 10 to 434 Detection ZSP r min 20 000 437 Brake Timing Set the operation time for the mechanical 0 qs 0 to when Stopped brake at stop 10 000 438 Brake Timing Set the operation time for the mechanical 0 dg 0 to B during Operation brake during operation 10 000 439 Brake Release Set the speed threshold for mechanical 30 timih 30 to Speed Setting
5. Be sure to set the bit used by the manufacturer to 0 The function of the 4 byte comparison value data is separated by 2 bytes e Most significant 2 bytes HH HL Specify whether or not to perform comparison for each bit 0 Without comparison 1 With comparison e Least significant 2 bytes LH LL Set the value for comparison logical level signal status for each bit 0 OFF logical level 1 ON logical level Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 3 22 J9joujeJed o41uo5 Buruurejb6o4d 3AA Drive Programming Control Parameter 3 3 Command Details fl Conditional Branching 2 gt OBh This is used when jump to the specified block number destination when Yes when the specified conditions are met Drive Programming control parameter 48 bit Drive Drive Programming command Programmi Command name ng data Command Argument Argument Argument Argument Argument Argument code 1 2 3 4 5 6 4 bit 4 bit 2 bit 2 bit 2 bit 2 bit 32 bit Comparison Conditional Comparison A D Block jump value Branching 2 gt B target Block number destination when Nes conditions threshold value Command argument Setting range Content Value Comparison target Unit Note 0 Command position pulse Command position atter filtering 1 Current position pulse Current position ofthe moto
6. Drive Drive Programming command Programmi Command name ng data Command Argument Argument Argument Argument Argument Argument code 1 2 3 4 5 6 4 bit 4 bit 2 bit 2 bit 2 bit 2 bit 32 bit Relative Relative Movement ih Velocity Acceleration Deceleration _ Block jump movement number number number conditions distance pulse Target Absolute Movement 2h Velocity Acceleration Deceleration _ Block jump absolute number number number conditions position pulse Velocity Acceleration Deceleration JOG Block jump JOG 3h AES s number number number direction conditions p Origin Detection Acceleration Deceleration Block jump Origin Search 4h search i method number number me conditions direction Stop Block jump Deceleration Stop 5h method i eonditions 1 Velocity JOG Block jump velocity paate en number i B direction conditions Timer Timer 7h 7 i 7 Block jump counter conditions setting value 1ms Drive Programming Block jum Output Signal 8h B CTRL1 B CTRL2 B CTRL3 pr dis conditions Control vu Block jump Jump 9h Block number destination conditions Comparison Conditional Comparison ooh Block jump value Branching1 A target Block Number destination wien Yes conditions threshold value Comparison Conditional Comparison RC Block jump value Branching1 gt En target Block Number destination wien Yes conditions threshold value Comparison Condition
7. 3 o Power E Parameter Description Default Unit Setting supply Z name U setting range OFFto o ON Position 222 CommandFilter Set the time constant of the first order lag 0 0 1 ms 0 to filter for the position command 10 000 Time Constant Smoothing Set the time constant of the FIR filter for the 0 to 223 Filter Time M 0 0 1 ms position command 10 000 Constant A 9 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL A 2 Parameter List i Fully Closed Control Parameters E mE Power E Parameter Description Default Unit Setting supply Z name w setting range OFFto a o ON Select the external feedback pulse type O Phase AB output External 323 FeedbackPulse 4 Incremental encoder with serial 0 2 0102 Yes Type Selection communications 2 Absolute encoder with serial communications External Feedback m 324 Pulse Dividing Set the external feedback pulse dividing 0 B 01022 Yes numerator Numerator External Feedback Tu 325 Pulse Dividing Set the external feedback pulse dividing 10000 110220 Yes denominator Denominator Reverse the external feedback pulse count External direction by changing the settin 326 Feedback Pulse y ging 9 0 B T Ys Direction O Count direction not reversed itchi TEM Switching 1 Count direction reversed Set disconnection detection in the Phase Z unconnected state when a phase A
8. Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 5 6 solpowey pue sisoubeig 10413 les iagnosis and Remedi Error D 5 3 Alarm List 5 7 Alarm ACE 5 Attribute Error detection function SiecHon er da pronspie Main Sub History Can be m cleared stop 0 Overspeed The motor rotation speed exceeded the value i 4 4 T set on the Overspeed Level set Pn513 1 Overspeed 2 The motor rotation speed exceeded the value 4 4 7 set on the Overspeed Level set 2 Pn615 Command pulse Acommand pulse frequency error was 0 E frequency error detected Absolute value cleared The multi rotation counter for the 1 absolute encoder was cleared by the V 27 LABS CX Drive Command pulse multiplier The command pulse divider or 2 M Y Y Y error multiplier is not suitable Command error The position command variation is 4 P Y higher than the specified value Pulse regeneration error The pulse regeneration output 28 Jo XE Y Y Y frequency exceeded the limit Error counter overflow Error counter value based on the 0 encoder pulse reference exceeded y Y 2 9 536 870 912 29 Error counter overflow 2 The position error in pulses exceeded 2 the specified value Alternatively the x T 7 position error in command units exceeded the specified value 30 0 Safety input error Safety input signal turned OFF 7 4 B st 0 Inter
9. exceeded the limit Set Pn533 to O to disable the function 5 15 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 5 4 Troubleshooting Alarm m Status when error Error conditions Cause Measures number occurs Check that the motor rotates according to the position command Check on the torque Theerror counter value monitor that the output for the encoder pulse torque is not saturated reference exceeded hae he dain 229 536 870 912 J gain Increase the setting for Pn013 or Pn524 to the maximum Wire the encoder correctly Check to see if the Servomotor rotates 29 Error counter overflow Occurs during operation according to the position command The position error in Check on the torque pulses exceeded 279 monitor to see if the 536 870 912 output torque is saturated Alternatively the Adjust the gain position error in Maximize the set values command units on the Positive torque exceeded 230 limit value and the 1 073 741 824 Negative torque limit value Wire the encoder as m shown in the wiring diagram o Safety input signal Check the statuses of w 30 Safety input error Occurs during operation turned OFF safety inputs 1 and 2 7 ae There is a duplicate gt setting in the I O signal o f o function allocation Setthe function allocation o Specify the undefined correctly
10. Electronic Gear Ratio Denominator Electronic Gear Ratio Numerator 1 Error Diagnosis Using the Alarm Displays F Finishing the Drive Programming Input Signal Selection 0 00005 J JOG OSH teens edes eror extend Jurmpz oonteecus re ue ba Oe eH Jump 09h unnm xac ERAS O Origin Search 04h 000 c eee eee Origin Search Disable Selection Output Signal Selection 0 P Parameter List llle R Related Manuals llle eere Relative Movement O1h 202000 S Special Function Selection 2 1 T Timer 07h 5 t oS e el oe 3 18 V Velocity Update 06h 2 0000 3 16 W Warning List cs tbs llle 5 4 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL OMRON AUTOMATION amp SAFETY OMRON INDUSTRIAL AUTOMATION THE AMERICAS HEADQUARTERS Schaumburg IL USA e 847 843 7900 e 800 556 6766 www omron247 com OMRON CANADA INC HEAD OFFICE OMRON ARGENTINA SALES OFFICE Toronto ON Canada 416 286 6465 866 986 6766 www omron247 com Cono Sur e 54 11 4783 5300 OMRON ELECTRONICS DE MEXICO HEAD OFFICE OMRON CHILE SALES OFFICE M xico DF e 52 55 59 01 43 00 001 800 556 6766 mela omron com Santiago e 56 9 9917 3920 OMRON ELECTRONICS DE MEXICO SALES OFFICE OTHER OMRON LATIN AMERICA SA
11. 3 11 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 3 3 Command Details i Origin Search 04h This is used when performing origin search Origin search must be performed when an incremental encoder is used Even when an incremental encoder is used origin search can still be omitted by setting Origin search disable selection Pn722 to 1 In this case the position at which the power supply is turned ON will be set as the origin If origin search is executed when an absolute encoder is used the origin search error alarm 94 2 will occur Drive Programming control parameter 48 bit Drive Drive Programming command Programmi Command name ng data Command Argument Argument Argument Argument Argument Argument code 1 2 3 4 5 6 4 bit 4 bit 2 bit 2 bit 2 bit 2 bit 32 bit Detection Acceleration Deceleration Origin Block jum Origin Search 4h search SANRA method number number Mor conditions direction Command argument Setting range Content Set the detection method of origin position 1 Detection method 0 1 0 Origin proximity input HOME posterior end base phase Z 1 Latch input 1 EXT1 forward end base 2 TRA i 0 to 3 Set selection number y for Drive Programming Acceleration y 3 SITAM 0 to 3 Set selection number z for Drive Programming Deceleration z 4 Origin search 0 1 0 Forward direction direction i 1 Reverse d
12. A 2 Parameter List A 27 E z Power Parameter TEA Default Setting supply name Description setting cin range OFFto E o ON Drive 00000000h 847 Programming o NUR 6 for Drive Programming data 00000000h to B Data 23 i FFFFFFFFh Drive 848 Programming Set command code and arguments 1 to 5 0000h eal Command 24 Drive 00000000h 849 Programming vr a 6 for Drive Programming data 00000000h to Data 24 i FFFFFFFFh Drive 850 Programming Set command code and arguments 1 to 5 0000h Mind Command 25 Drive j 00000000h 851 Programming oo 6 for Drive Programming data 00000000h to i Data 25 i FFFFFFFFh Drive 852 Programming Set command code and arguments 1 to 5 0000h E Command 26 Drive 00000000h 853 Programming et 6 for Drive Programming data 00000000h to 7 Data 26 i FFFFFFFFh Drive 854 Programming Set command code and arguments 1 to 5 0000h sah Command 27 Drive B 00000000h 855 Programming vL 6 for Drive Programming data 00000000h to 3 Data 27 FFFFFFFFh Drive 856 Programming Set command code and arguments 1 to 5 0000h E Command 28 Drive 00000000h 857 Programming via 6 for Drive Programming data 00000000h to 3 Data 28 i FFFFFFFFh Drive 858 Programming Set command code and arguments 1 to 5 0000h eee Command 29 Drive f 00000000h 859 Programming Se 6 for Drive Programming data 00000000h to E
13. Argument 5 1 Command code Argument 1 Drive Programming Data Configuration Movement distance timer counter set value and so forth are set in the drive programming data For details refer to command details bit 7 6 5 4 3 2 1 0 byte 0 LL 1 LH Argument 6 2 HL 3 HH Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL List of Drive Programming Control Parameters The following is a list of drive programming control parameters 3 1 Parameter Configuration Parameter number Parameter name Explanation Setting range Pn800 Drive Programming Command 0 Set command code and arguments 1 to 5 0000h to FFFFh Pn801 Drive Programming Data 0 Set argument 6 for Drive Programming data 0 00000000h to FFFFFFFFh Pn802 Drive Programming Command 1 Set command code and arguments 1 to 5 0000h to FFFFh Pn803 Drive Programming Data 1 Set argument 6 for Drive Programming data 1 00000000h to FFFFFFFFh Pn804 Drive Programming Command 2 Set command code and arguments 1 to 5 0000h to FFFFh Pn805 Drive Programming Data 2 Set argument 6 for Drive Programming data 2 00000000h to FFFFFFFFh Pn806 Drive Programming Command 3 Set command code and arguments 1 to 5 0000h to FFFFh Pn807 Drive Programming Data 3 Set argument 6 for Drive Programm
14. Check the wiring of the Servomotor power cable s phases U V and W and check the encoder cable s wiring Wire correctly The coupling system between the motor shaft and the mechanical system has eccentricity or loose screws or the load torque is fluctuating due to engagement between pulleys or gears Check the mechanical system s coupling section Try rotating the motor without a load Disconnect it from the mechanical system Review and adjust the machine The load s moment of inertia exceeds the Servo Drive s allowable value Try rotating the motor without a load Disconnect it from the mechanical system Reduce the load Replace the Servomotor and Servo Drive with higher capacity models The gain is wrong Perform manual tuning The Servomotor is overheating The ambient temperature is too high Check that the ambient temperature around the motor is 40 C or less Lower the ambient temperature around the Servomotor to 40 C or less Use a fan or air conditioner Ventilation is obstructed Check to see whether anything is blocking ventilation Improve ventilation The Servomotor is overloaded The Servomotor vibrates during rotation Try rotating the motor without a load Disconnect it from the mechanical system Reduce the load Replace the Servomotor and Servo Drive with higher capacity models The Servomotor holding brake is ineffecti
15. 0 Overcurrent Overcurrent flowed to the IGBT 14 1 IPM error Motor power line ground fault or short circuit V Servo Drive overheat The temperature of the Servo Drive 15 0 i h V N radiator exceeded the specified value Overload Operation was performed with torque 16 0 significantly exceeding the rating for several V V seconds to several tens of seconds Regeneration overload The regenerative energy exceeds the 0 processing capacity of the Y Y 18 Regeneration Resistor 1 Regeneration Tr error An error was detected in a Servo Drive 4 i B regeneration drive Tr 0 Encoder communications The encoder wiring is disconnected 4 7 disconnection error 21 1 Encoder communications An encoder communications error il 7 B error was detected Encoder communications Communications cannot be performed 23 0 data error between the encoder and the Servo V Drive Error counter overflow The error counter accumulated pulse 0 exceeds the set value for the Error Y Y Y Counter Overflow Level Pn014 24 Excessive speed error The difference between the internal position command speed and the 1 actual speed i e the speed error Y Y y exceeded the Excessive Speed Error Setting Pn602 Excessive hybrid error During fully closed control difference between position of load from external encoder and position of motor due to 25 0 V N encoder was larger than the pulse number set by Excessive Hybrid Error Setting Pn332
16. 0000h to FFFFh Pn821 Drive Programming Data 10 Set argument 6 for Drive Programming data 10 00000000h to FFFFFFFFh Pn822 Drive Programming Command 11 Set command code and arguments 1 to 5 0000h to FFFFh Pn823 Drive Programming Data 11 Set argument 6 for Drive Programming data 11 00000000h to FFFFFFFFh Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 3 2 JojoujeJed o41u05 Hulmmwesboig 3AA Drive Programming Control Parameter 3 1 Parameter Configuration Parameter number Parameter name Explanation Setting range Pn824 Drive Programming Command 12 Set command code and arguments 1 to 5 0000h to FFFFh Pn825 Drive Programming Data 12 Set argument 6 for Drive Programming data 12 00000000h to FFFFFFFFh Pn826 Drive Programming Command 13 Set command code and arguments 1 to 5 0000h to FFFFh Pn827 Drive Programming Data 13 Set argument 6 for Drive Programming data 13 00000000h to FFFFFFFFh Pn828 Drive Programming Command 14 Set command code and arguments 1 to 5 0000h to FFFFh Pn829 Drive Programming Data 14 Set argument 6 for Drive Programming data 14 00000000h to FFFFFFFFh Pn830 Drive Programming Command 15 Set command code and arguments 1 to 5 0000h to FFFFh Pn831 Drive Programming Data 15
17. Electronic gear switching input 1 DIV1 OCh 8Ch Electronic gear switching input 2 DIV2 ODh 8Dh Internally set velocity selection 1 VSEL1 OEh 8Eh SH0 Internally set velocity selection 2 VSEL2 OFh 8Fh SI7 Internally set velocity selection 3 7 VSEL3 10h 90h SI5 Zero velocity designation input i VZERO 11h 91h SI3 Velocity command sign input VSIGN 12h 92h Torque command sign input TSIGN 13h 93h 1 This needs to be changed as it is allocated in the default setting Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 2 4 Dumes seyowese d 2 1 Initial Setting i Output Signal Selection 1 to 4 Pn410 to Pn413 When the drive programming function is enabled the following functions can be allocated to output signals Allocate the necessary functions to Pn410 to Pn413 Refer to I O signal allocation method P 2 6 for details on setting method Function Number Table Parameter Setting The set values and functions to be used for allocations are as follows Set Signal name Symbol value Function Disabled 00h This is not used as an output signal Servo ready completed READY 02h This turns ON when the power can be supplied output to the driver Brake interlock output BKIR 03h This is an external brake timing signal output Positioning completion INP 04h This turns ON when the position error is at or output below the set value Pn
18. Items Requiring Acknowledgment 1 Terms of Warranty 1 Warranty period The warranty period of this product is 1 year after its purchase or delivery to the specified location 2 Scope of warranty If the product fails during the above warranty period due to design material or workmanship we will provide a replacement unit or repair the faulty product free of charge at the location where you purchased the product Take note however that the following failures are excluded from the scope of warranty a Failure due to use or handling of the product in any condition or environment not specified in the catalog operation manual etc Failure not caused by this product Failure caused by any modification or repair not carried out by OMRON Failure caused by any use not intended for this product Failure that could not be predicted with the level of science and technology available when the product was shipped from OMRON f Failure caused by a natural disaster or any other reason for which OMRON is not held responsible Take note that this warranty applies to the product itself and losses induced by a failure of the product are excluded from the scope of warranty a0 c e 2 Limited Liability 1 OMRON shall not assume any responsibility whatsoever for any special damage indirect damage or passive damage arising from this product 2 OMRON shall not assume any responsibility for programming done by ind
19. Momentary power Check the power supply interruption occurred capacity Ocdurewhan dieere Power supply capacity Change the power supply is insufficient Turn ON the power is turned ON The power supply voltage supply is reduced because the Extend the Momentary main power supply is OFF Hold Time Pn509 13 Main circuit power Themain power supply supply undervoltage is not input Correctly connect the phases of the power supply voltage Phase loss Occurs when the power ee mening supply is turned ON gePp i The main circuit power supply is damaged Replace the Servo Drive Control PCB damage Control PCB error Replace the Servo Drive Repair the short circuited or The motor powerline is ground faulted power line short circuited or Measure the insulation ground faulted resistance at the motor and between phases if there is a short circuit replace the motor Phase U phase V phase W and the ground are Wire correctly wired incorrectly Measure the winding Motor winding is resistance and if the burned out winding is burned out replace the motor Do not frequently input the operation command Occurs when the servo The relay for the 14 Overcurrent RUN input is turned ON dynamic brake has Do not operate the been deposited system by turning the servo ON and OFF Use a Servomotor that is Motor non conformity appropriate for use with the Servo Drive Wait at
20. conditional branching command or the command was set comparison target Acommand that i ata A Oe iM Check to make sure that defined as a command there is no problem with code for the drive i the drive programming The error occurred programming control control parameters during an operation or parameters was set Parameter setting 93 when a drive error programming was started There is an error with another drive programming setting parameter or drive programming control parameter setting Check to make sure that there is no problem with the drive programming setting parameters or drive programming control parameters External encoder ratio exceeded the allowable range Check the object settings The external encoder ratio must be set between 1 40 and 160 Check the values on the External Feedback Pulse Dividing Numerator Pn324 and the External Feedback Pulse Dividing enominator Pn325 are set correctly 5 19 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 5 4 Troubleshooting solpowey pue sisoubeig 10413 Alarm Error conditions Slats vihen einar Cause Measures number occurs A new operation command was executed while an Check to make sure that operation command there is no problem with relative or absolute the drive programming movement JOG or sequence origin search i
21. for appropriate alarm measures Reset the alarm using one of the following methods Remove the cause of the alarm first Input the alarm reset input RESET signal Turn OFF the power supply then turn it ON again Execute the alarm reset on CX Drive However some alarms can only be reset by turning the power supply OFF then ON again Refer to the next item Alarm List If you reset an alarm while the operation command RUN is turned ON the Servo Drive will start operation as soon as the alarm is released which is dangerous Be sure to turn OFF the RUN before clearing the alarm If the RUN is always ON first check safety sufficiently before clearing the alarm 5 5 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL i Alarm List 5 3 Alarm List Ann Attribute number Detection details and probable Error detection function case E an be Immediate Main Sub History cleared sip Control power supply The DC voltage of the main circuit fell 11 Jo Y undervoltage below the specified value Overvoltage The DC voltage in the main circuit is 12 JO Y Y abnormally high Main power supply undervoltage The DC voltage of the main circuit is 0 Insufficient voltage between P low N and N 13 Main power supply A location was detected where the 1 undervoltage main circuit AC power supply is cut off Y AC cut off detection
22. i Programming Velocity x 3000 Time Acceleration Stop Deceleration Stop Command argument Setting range Content 1 Velocity number 0to7 Set selection number x for drive programming velocity x Acceleration 2 number 0 to 3 Set selection number y for drive programming acceleration y 3 Deceleration 0 to 3 Set selection number z for drive programming deceleration z number 4 JOG direction 0 1 9 Forward direction 1 Reverse direction Set the block jump conditions after this command is executed 5 Block jump itus LSB 0 1 Jump to the next block after the operation is started conditions MSB 0 End the drive programming at the current block 1 Continue the drive programming 6 Set 0 1 Fordetails on the block jump conditions refer to 3 4 Block Jump Conditions and Finishing P 3 25 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 3 10 JojoujeJed o41uo5 Buruuiej6o04d 3AA Drive Programming Control Parameter 3 3 Command Details Parameter Setting range Unit Content Drive Programming 0 to maximum t min Set the velocity Velocity x motor velocity Drive Programming Set the acceleration Acceleration y 91010090 TS Set the acceleration time between 0 and 3 000 r min Drive Programming 0 to 10000 lg Set the deceleration Deceleration z Set the deceleration time between 3 000 and 0 r min
23. in the bottom left hand corner of the front or back cover Example Man No 1575 E2 01 E Revision code Revision code Revision date Revised content 01 January 2011 Original production 12 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL Related Manuals Related Manuals The related manuals that are available are listed in the table below Refer to the related manuals for information on installation wiring method peripheral devices and parameter settings other than drive programming Before using the product be sure to fully understand the conditions such as the product specifications and use restrictions Man No Name of manuals Contents HESM IOTHSBDSTX AS _ The Accurax G5 Series models and functions are 1571 Servomotors Servo Drives User s Manual explained Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 13 Table of Contents Mini igojels e a p Pat ru actos ieee EE 1 Items Requiring Acknowledgment seeeeeesusssss 2 Safety Precautions s osea e t tat ane E E een 4 Revision MIISIODV ioa Ceo o sat oet e EO eaaet etos 12 Related Manuals seccina a a 13 Chapter1 Outline of Operation deb TROAUURSS ses cactus nd ex Seadakdense a e a r aaaea aaa 1 1 1 2 95S Gallo iSc Meats est tin epe toe Ono Dt hr deste e eroe 1 2 Chapter2 Parameter Setting 2 1 Initial Setting att acer ce reet
24. number with the I O signal function allocation Q 33 Interface I O allocation Occurs when the power There is a mistake in the Allac te ie Siz a error supply is turned ON counter function allocation O 10 91 3 There is a mistake in the a command pulse prohibition Allocate to S110 o input function allocation o The latch input 1 allocation Allocate to S14 with is incorrect contact NO The Overrun Limit Adjust Ine gain Setting Pn514 was Increase the set value of 34 Overrun limit error Occurs during operation exceeded d rin Pn514 9 Set Pn514 to 0 to disable operation the function There are data errors inthe Reset all parameters 36 Premier and Occurs when the power parameters that were read supply is turned ON The drive is faulty Replace the Servo Drive 37 Parameters Occurs when the power The parameters that Replace the Servo Drive destruction supply is turned ON were read are corrupt Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 5 16 les iagnosis and Remedi Error D 5 4 Troubleshooting Alarm De Status when error Error conditions Cause Measures number occurs Wire correctly The forward drive Replace the limit sensor Occurs when the servo prohibition POT input Check whether the power 38 Drive prohibition input jis turned ON and reverse drive supply fo
25. 1 Hz 0 to 7 Frequency 1 enabled if the set value is 10 1 Hz or greater i 2 000 Finely adjust damping control function 1 If 215 Damping Filter torque saturation occurs lower this setting 0 0 1 Hz 0 to 1 Setting to increase responsiveness raise this 1 000 setting 216 Damping Set the damping frequency 2 The function is 0 1 Hz 0 to J Frequency 2 enabled if the set value is 10 1 Hz or greater 2 000 Finely adjust damping control function 2 If Damping Filter torque saturation occurs lower this setting 0 to 217 i 0 0 1 Hz 2 Setting to increase responsiveness raise this 1 000 setting A Set the damping frequency 3 The function is 218 Damping enabled if the set value is 10 1 Hz or 0 0 1 Hz Jo Frequency 3 2 000 greater Finely adjust damping control function 3 If Damping Filter torque saturation occurs lower this setting 0 to 219 0 0 1 Hz 3 Setting to increase responsiveness raise this 1 000 setting Setthe damping frequency 4 The function is 220 Damping enabled if the set value is 10 1 Hz or 0 0 1 Hz due Frequency 4 2 000 greater Finely adjust damping control function 4 If Damping Filter torque saturation occurs lower this setting 0 to 221 3 0 0 1 Hz 4 Setting to increase responsiveness raise this 1 000 setting Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL A 8 xipueddy Appendix A 2 Parameter List
26. AC SERVODRIVERS Drive Programming Function USER S MANUAL 1 3 3 Command Details Comparison target Input signal 7h Jump to the specified block number destination when Yes when the conditions of each signal are all met Comparison value 4 byte bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 Function Byte LL SI8 SI7 SI6 SI5 Sl4 SI3 SI2 SI1 Signal status LH E i S110 SI9 With or without HL SI8 SI7 SI6 SI5 S14 SI3 SI2 SH comparison HH SI10 SI9 2 Be sure to set the bit used by the manufacturer to 0 The function of the 4 byte comparison value data is separated by 2 bytes e Most significant 2 bytes HH HL Specify whether or not to perform comparison for each bit 0 Without comparison 1 With comparison e Least significant 2 bytes LH LL Specify the value for comparison physical level signal status for each bit 0 Input photocoupler OFF physical level 1 Input photocoupler ON physical level Comparison target Output signal 8h Jump to the specified block number destination when Yes when the conditions of each signal are all met Comparison value 4 byte bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 Function Byte LL VCMP TLC ZSP BKIR INP ALM READY Signal status LH INP2 WARN2 WARN1 TGON With or without HL VCMP TLC ZSP BKIR INP ALM READY comparison HH INP2 WARN2 WARN1 TGON
27. Check the value set in Pn103 Return the set to 0 default set or increase the set value Noise is entering into the control I O signal cable because the cable does not meet specifications Check to see if the cable is a twisted pair cable or shielded twisted pair cable with core wires that are at least 0 08 mm dia Use a control I O signal cable that meets specifications Noise is entering into the control I O signal cable because the cable is longer than the specified length Check the length of the control I O signal cable Shorten the control I O signal cable to 3 m or less Noise is entering into the cable because the encoder cable does not meet specifications Check to see if it is a shielded twisted pair cable with core wires that are at least 0 12 mm dia Use an encoder cable that meets specifications Noise is entering into the encoder cable because the cable is longer than the specified length Check the length of the encoder cable Shorten the encoder cable to less than 50 m Noise is entering into the signal lines because the encoder cable is stuck or the sheath is damaged Check the encoder cable for damage Correct the encoder cable s pathway Excessive noise on encoder cable Check to see if the encoder cable is bound together with or too close to high current lines Install the encoder cable where it won t be subjected to surges The FG s potential is f
28. Data 29 FFFFFFFFh Drive 860 Programming Set command code and arguments 1 to 5 0000h d Command 30 Drive 00000000h 861 Programming RUM 6 for Drive Programming data 00000000h to Data 30 i FFFFFFFFh Drive 862 Programming Set command code and arguments 1 to 5 0000h eal Command 31 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL A 2 Parameter List 3 o Power E Parameter T Default Setting supply name Descupuon setting uot range OFFto amp o ON Drive 00000000h 863 Programming ERA 6 for Drive Programming data 00000000h to E Data 31 i FFFFFFFFh xipueddy Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL A 28 Index Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL Index Index A Absolute Movement 02h 200005 Alartm Elster ad sees ls reto gy ds e dea ae Block Jump Conditions C Command List 000 eee eee Conditional Branching 1 2 OAh Conditional Branching 2 gt OBh Conditional Branching 3 sees CONTROL Mode Selection D Deceleration Stop 05h lusus Drive Programming Output Signal Control 08h Drive Programming Setting Parameter E Electronic Gear Integer Setting
29. Programming data 27 00000000h to FFFFFFFFh Pn856 Drive Programming Command 28 Set command code and arguments 1 to 5 0000h to FFFFh Pn857 Drive Programming Data 28 Set argument 6 for Drive Programming data 28 00000000h to FFFFFFFFh Pn858 Drive Programming Command 29 Set command code and arguments 1 to 5 0000h to FFFFh Pn859 Drive Programming Data 29 Set argument 6 for Drive Programming data 29 00000000h to FFFFFFFFh Pn860 Drive Programming Command 30 Set command code and arguments 1 to 5 0000h to FFFFh Pn861 Drive Programming Data 30 Set argument 6 for Drive Programming data 30 00000000h to FFFFFFFFh Pn862 Drive Programming Command 31 Set command code and arguments 1 to 5 0000h to FFFFh Pn863 Drive Programming Data 31 Set argument 6 for Drive Programming data 31 00000000h to FFFFFFFFh l Precautions for Correct Use Do not change any related parameters as a drive programming cannot be guaranteed once it is started Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 3 4 JojoujeJed o41u05 Buruurej6o04d 3AA Drive Programming Control Parameter 3 2 Command List 3 2 Command List The following is a list of commands that can be used in a drive programming Drive Programming control parameter 48 bit
30. Set argument 6 for Drive Programming data 15 00000000h to FFFFFFFFh Pn832 Drive Programming Command 16 Set command code and arguments 1 to 5 0000h to FFFFh Pn833 Drive Programming Data 16 Set argument 6 for Drive Programming data 16 00000000h to FFFFFFFFh Pn834 Drive Programming Command 17 Set command code and arguments 1 to 5 0000h to FFFFh Pn835 Drive Programming Data 17 Set argument 6 for Drive Programming data 17 00000000h to FFFFFFFFh Pn836 Drive Programming Command 18 Set command code and arguments 1 to 5 0000h to FFFFh Pn837 Drive Programming Data 18 Set argument 6 for Drive Programming data 18 00000000h to FFFFFFFFh Pn838 Drive Programming Command 19 Set command code and arguments 1 to 5 0000h to FFFFh Pn839 Drive Programming Data 19 Set argument 6 for Drive Programming data 19 00000000h to FFFFFFFFh Pn840 Drive Programming Command 20 Set command code and arguments 1 to 5 0000h to FFFFh Pn841 Drive Programming Data 20 Set argument 6 for Drive Programming data 20 00000000h to FFFFFFFFh Pn842 Drive Programming Command 21 Set command code and arguments 1 to 5 0000h to FFFFh Pn843 Drive Programming Data 21 Set argument 6 for Drive Programming data 21 00000000h to FFFFFFFFh Pn844 Drive Programming Comm
31. V Servo Drives of 400 W 200 V Servo Drives of 750 W or higher and 400 V Servo Drives Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL A 4 xipueddy Appendix A 2 Parameter List i Gain Parameters A 5 3 Oo Power E Parameter Description Default Unit Setting supply zZ name u setting range OFFto amp o ON 100 Position Loop Gain Set the position loop gain 1 ed 1 0 1 s 0 to 30 000 See 101 Speed Loop Gain Set the speed loop gain 1 Note 2 0 1 Hz 1 to 32 767 Speed Loop Integral See 1 to 102 Time Constant Set the speed loop integral time constant 1 Note 3 0 1 ms 10 000 Speed Feedback The speed feedback filter 1 can be set to one 103 Jews 0 0to5 Filter Time Constant of 6 values Torque Command f See 0 01 0 to 104 Filter Time Constant Set the time constant for the torque filter 1 Note4 Ims 2 500 105 Position Loop Gain 2 Set the position loop gain 2 nd 5 0 1 s 01030 000 See 106 Speed Loop Gain 2 Set the speed loop gain 2 Note 6 0 1 Hz 1 to 32 767 Speed Loop 1 to 107 Integral Time Set the speed loop integral time constant 2 10000 0 1 ms 10 000 Constant 2 Speed Feedback Filter The speed feedback filter 2 can be set to one 108 0 0to5 l Time Constant of 6 values 2 Torque Command Filter See 0 01 0 to 109 Time Constant Set the time constant for the torque filter 2 Note 7 ms
32. a R i encoder phase Z connection 87 0 Forced alarm input error The forced alarm input signal was 4 i input Encoder data restoration Initialization of internal position data Error was not processed correctly in semi 0 V closed control mode and absolute value mode 92 External encoder data Initialization of internal position data restoration error was not processed correctly in fully 1 V x closed control mode and absolute value mode Drive Programming data A setting error was detected in the 1 setting error drive programming setting data and Y V 93 drive programming control data 2 Parameter setting error 2 External encoder ratio exceeded the N i 7 allowable range Drive Programming error A drive programming was started 0 during a drive programming or while V V z the servo was OFF Wrap around error The position command value or the 1 current position exceeds the V C0000001h and 3FFFFFFFh range Origin search error Drive prohibition input turned ON 94 during an origin search operation and a reverse direction drive prohibition input turned ON during 2 a reverse operation J 4 B Origin search was executed when an absolute encoder is used Relative or absolute travel was executed when origin search has not been completed Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 5 3 Alarm List Alarm number Main Sub Error detection function Dete
33. amp o ON Set the operation of the adaptive filter O Disabled 1 One enabled Frequency limited after adaptation ooo Adaptive Filter gt Two enabled Frequency limited after 0 0104 l Selection adaptation 3 One enabled Adaptation performed at all times 4 Two enabled Adaptation performed with 1 filter at all times Notch 1 201 Frequency Set the notch frequency of resonance 5000 Hz 50 to suppression notch filter 1 5 000 Setting 202 Notch 1 Width Set the notch width of the resonance 2 le 010020 l Setting suppression notch filter 1 203 Notch 1Depth Set the notch depth of resonance 0 3 01099 Setting suppression notch filter 1 Notch 2 204 Frequency Set the notch frequency of resonance 5000 Hz 50 to suppression notch filter 2 5 000 Setting 205 Notch 2 Width Set the notch width of the resonance 2 01020 l Setting suppression notch filter 2 206 Notch 2 Depth Set the notch depth of resonance 0 01099 Setting suppression notch filter 2 Set the notch frequency of resonance Notch 3 207 Freauenc suppression notch filter 3 5000 Hz 50 to 3 y This is set automatically when an adaptive 5 000 Setting notch is enabled Set the notch width of the resonance Notch 3 Width suppression notch filter 3 208 Setting This is set automatically when an adaptive 2 DM notch is enabled Set the notch depth of resonance Notch 3 Depth suppression notch filter 3 209 Setting This is set automatically when an a
34. area Origin search direction forward Forward direction Latch input 1 ON limit sensor ON D L SPD Es o D s T n v a T Oo D p Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 3 3 Command Details H Precautions for Correct Use Sequence input signals SI1 to SI10 must be allocated in advance to origin proximity input HOME or latch input 1 EXT1 and the origin sensor needs to be connected Set the sensor signal width to 4 ms min To avoid erroneous detections when the detection method is set to 0 set the time between the detection of the posterior end base of the origin proximity input HOME and phase Z to 10 ms min If there is any problem with the setup of the origin proximity input latch input 1 EXT1 or drive prohibition input POT NOT the origin search error alarm 94 2 will occur If the drive prohibition input in the origin search direction turns ON during an origin search operation a reverse operation will be performed with the servo ON regardless of the value set in Stop Selection for Drive Prohibition Input Pn5 05 If the drive prohibition input in the origin search direction turns ON and a drive prohibition input in the direction opposite of the origin search direction turns ON during a reverse operation the origin search error alarm 94 2 will occur If the position information with its base at
35. before the velocity update MSB 0 End the drive programming at the current block 1 Continue the drive programming Set 0 3 17 1 Fordetails on the block jump conditions refer to 3 4 Block Jump Conditions and Finishing P 3 25 2 After completion of the operation refers to the point where the internal position command generation process is finished This is not based on when the motor actually stops Furthermore note that the movement command will still be output even after the internal position command generation process is finished if the position command filter FIR smoothing is used Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 3 3 Command Details i Timer 07h This is used to start the timer The timer is initialized with the set value and decremented by 1ms until the value of 0 is reached Refer to the conditional branching commands Ah Bh Ch for using the timer counter value Drive Programming control parameter 48 bit Drive Drive Programming command Programmi Command name ng data Command Argument Argument Argument Argument Argument Argument code 1 2 3 4 5 6 4 bit 4 bit 2 bit 2 bit 2 bit 2 bit 32 bit Timer Timer 7h E a E 2 Block jump counter conditions setting value 1ms Timer counter value ms i ims Timer counter setting value Time Timer Start Command argument Setting range Co
36. brake output judgment during operation 3 000 Select the warning type to be output by Warning Output 1 O An OR output of all alarm status 1 Overload warning 2 Excessive regeneration warning 3 Battery warning i 4 Fan warning A SEE E 0 jototo election 5 Encoder communications warning 6 Encoder overheating warning 7 Vibration detection warning 8 Service life detection warning 9 External encoder error warning 10 External encoder communications error warning Select the warning type to be output by 441 Warning Output Warning Output 2 0t010 Selection 2 The relationships among the set values for this parameter are the same as for Warning Output Selection 1 Pn440 442 Positioning Set the allowable number of pulses for the 10 Command 0 to Completion Range 2 second positioning completion range units 262 144 A 13 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL A 2 Parameter List i Expansion Parameters E e Power Parameter c A Default f Setting supply z name Desenpguon setting unit range OFFto amp o ON 503 Encoder Dividing Set the denominator when the number of pulses per n 0 to Yes Denominator motor rotation in pulse regeneration is not an integer 262 144 Set the operation to be performed upon forward reverse direction drive prohibition input i 0 Forward or reverse direction drive Drive
37. move 47 Absolute encoder Occurs when the power when the power supply when the power supply is status error ABS supply is turned ON was turned ON turned ON A phase Z pulse from 48 Encoder phase Z error Occurs during operation the encoder was not Replace the Servomotor detected regularly A logic error was 49 iod P Occurs during operation detected in the PS Replace the Servomotor signal from the encoder The disconnection detection function was activated i E Wire correctly because communications Fixthe locations that are between the external i f disconnected External encoder encoder and drive were 50 Sommunications error Occurs during operation interrupted There was a Provide the required external communications error encoder power supply voltage in data from external Wire correctly encoder Connect the shield to FG Check the external encoder specifications An external encoder External encoder From the front panel clear 51 Occurs during operation alarm code was status error detected the external encoder alarm then turn the power supply OFF then ON again 5 17 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 5 4 Troubleshooting Alarm Error conditions pictus vihen emor Cause Measures number occurs A disconnection or other error was Ph A i 55 ASRS B and Occurs during operation detected
38. origin This is used when performing an origin search Origin proximity input HOME 22h A2h using the sensor and phase Z This is used when stopping at the maximum deceleration during an operation The drive programming is ended after the unit is stopped with this input Immediate stop input H STOP 23h A3h This is used when stopping at the designation deceleration during an operation The drive programming is ended after the unit is stopped with this input Deceleration stop input S STOP 24h A4h This is used as a signal to start a drive Strobe input 3 STB 25h ASh programming The operation begins with the block number specified when this input is starting Block select input 1 B SEL1 26h A6h Specify the block number when starting a drive Block select input 2 B SEL2 27h A7h programming For example to start with block number 25 19h set as follows Block select input 4 B SEL4 28h A8h B SEL1 1 ON Block select input 8 B SEL8 29h A9h B SEL2 0 OFF B SEL4 0 OFF B SEL8 1 ON Block select input 16 B SEL16 2Ah AAh B SEL16 1 ON Note that unallocated drive programming input signals are always set to 0 OFF 1 You must always allocate the operation command RUN Servo on cannot be actived if it is not allocated 2 Allocate this to Input Signal Selection 4 Pn403 An alarm will occur if it is allocated to any other p
39. result Do not perform wiring or any operation with wet hands Electric shock injury or fire may result PEPE EE gt Do not touch the key grooves with bare hands if a motor with shaft end key grooves is being used Injury may result N Caution Use the Servomotor and Servo Drive in a specified combination Fire or equipment damage may result Do not store or install the Servo Drive in the following locations Location subject to direct sunlight Location where the ambient temperature exceeds the specified level Location where the relative humidity exceeds the specified level Location subject to condensation due to rapid temperature changes Location subject to corrosive or flammable gases Location subject to higher levels of dust salt content or iron dust Location subject to splashes of water oil chemicals etc Location where the Servo Drive may receive vibration or impact directly Installing or storing the Servo Drive in these locations may result in fire electric shock or equipment damage The Servo Drive radiator Regeneration Resistor Servomotor etc may become hot while the power is supplied or remain hot for a while even after the power supply is cut off Never touch these components A burn injury may result Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL Safety Precautions Storage and Transportation Caution When transporting the Servo Drive do not h
40. wired incorrectly Check the wiring Wire correctly The control I O connector CN1 is wired incorrectly Check the command pulse s wiring Wire correctly Check the command pulse type Set the Servo Drive s pulse type to match the controller s command pulse type Check the command pulse s voltage Connect a resistor that matches the voltage Power is not supplied Check whether the power supply is ON and check the PWR LED indicator Turn ON the power supply Check the voltage across the power supply terminals Wire the power ON circuit correctly The Servo Drive has broken down Replace the Servo Drive The Servomotor operates momentarily but then it does not operate after that The Servomotor power cable is wired incorrectly Check the wiring of the Servomotor power cable s phases U V and W Wire correctly The encoder cable is wired incorrectly Check the encoder cable s wiring Wire correctly The Servomotor rotates without a command The Servo Drive has broken down Replace the Servo Drive Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 5 22 solpawey pue sisoubeig 10413 les iagnosis and Remedi Error D 5 4 Troubleshooting Symptom Probable cause Items to check Measures Motor rotation is unstable The Servomotor power cable or encoder cable is wired incorrectly
41. 0 acceleration 3 Drive S Set the deceleration time between 3 000 0 to 712 Programming 0 ms r min and 0 r min 10000 deceleration 0 Drive EM f Set the deceleration time between 3 000 0 to 713 Programming 2 0 ms r min and 0 r min 10000 deceleration 1 Drive PIC 714 Proarammin Set the deceleration time between 3 000 0 ms 0 to M g 9 r min and 0 r min 10000 deceleration 2 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL A 22 Appendix A 2 Parameter List A 23 E z Power Parameter ier Default a Setting supply name Description setting cin range OFFto E o ON Drive EE Set the deceleration time between 3 000 0 to 715 Programming 0 ms r min and 0 r min 10000 deceleration 3 716 to Not used Do not change the settings 719 720 Origin search Set the high velocity operation speed for 0 imin 0 to approach speed 1 Jorigin search 20000 721 Origin search Set the low velocity operation speed for 0 jihin 0 to approach speed 2 origin search 20000 Select whether or not to omit the origin search operation when an incremental 722 kid disable encoder is used 0 0 1 Yes O Origin search required 1 Origin search not required 723 Not used Do not change the settings 724 Not used Do not change the settings Accurax G5 series AC SERVODRIVERS Drive
42. 017h Pn809 00007530h 30000 Drive Programming command data Value Content Command Code 4bit Bh Conditional Branching 2 gt Argument 1 4bit Comparison target 0 Ser ommend poelignonthe comparison target Argument 2 2bit Argument 3 2bit Argument 4 2bit Block number Move to block number 5 when destination when Yes conditions are met Start the current block until conditions are met After conditions are met Argument 2bit Block jump condiions s operation moves to the specified block and drive programming continues Argument 6 32bit Comparison value 30000 serie 30 000tM pulse or the comparison value i Block Number 5 Pn810 6203h Pn811 00000000h Drive Programming command data Value Content Command Code 4bit 6h Velocity Update Use Drive Programming Velocity 2 Argument 1 4bit Velocity number 2 Pn702 Argument 2 2bit 0 Argument 3 2bit 0 Argument 4 2bit JOG direction 0 This cannot be used in velocity updates during absolute movement Argument 5 2bit Block jump conditions 3 Operation Moyes alter starting and drive programming continues Argument 6 32bit 0 i Block Number 6 Pn812 80COh Pn813 00000000h Drive Programming command data Value Content Command Code 4bit 8h e E Output Signal Argument 1 4bit B CTRL1 0 Current value maintai
43. 2 500 2 Speed Feed 3 0 to 110 tonward Amotitt Set the speed feed forward amount 300 0 1 1 000 edil pede Set the speed feed forward filter time 0 01 0 to 111 forward 50 constant ms 6 400 Command Filter Torque Feed d 0 to 112 forward Amount Set the torque feed forward amount 0 0 1 1 000 Torque Feed 0 01 0 to 113 forward Set the torque feed forward filter 0 r ms 6 400 Command Filter Execute optimum tuning using the gain Gain Switching switching function 114 Input Operating 1 0 or 1 Mode Selection Gain 1 PI P switching enabled 1 Gain 1 and gain 2 switching available Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL A 2 Parameter List 3 o Power E Parameter Description Default Unit Setting supply zZ name 5 setting range OFFto o ON a Select the gain switching condition for position control It is necessary that Pn114 be set to 1 O Always gain 1 1 Always gain 2 2 Switching using gain switching input GSEL Switching Mode 3 Torque command change amount 115 in Position 4 Always gain 1 0 0to10 Control 5 Command speed 6 Amount of position error 7 Command pulses received 8 Positioning completion signal INP OFF 9 Actual motor speed 10 Combination of command pulse input and speed Gain Switching f DE 116 Delay Time in Set the delay time for swi
44. 3 r min i Pn706 Drive Programming Velocity 6 instead of the parameter number 0 to 20000 9 r min Pn707 Drive Programming Velocity 7 0 to 20000 2 3 r min Pn708 Drive Programming Acceleration 0 Up to four accelerations for drive 0to10000 ms 1 programming can be set EZ Pn709 Drive Programming Acceleration 1 Set the acceleration times between 0 r min 0 to 10000 E ms Pn710 Drive Programming Acceleration 2 to 3 000 r min O to 10000 24 ms For argument of each command set the 4 Drive Programming Acceleration number 3 4 Pn711 Drive Programming Acceleration 3 value in instead of the parameter 0 to 10000 ms number Pn712 Drive Programming Deceleration 0 Up to four decelerations for drive O to 10000 ms z programming can be set 374 Pn713 Drive Programming Deceleration 1 Set the deceleration times between 3 000 r 0 to 10000 D ms Pn714 Drive Programming Deceleration 2 min and 0 r min O to 10000 ms For argument of each command set the 4 i Drive Programming Deceleration number 3 4 Pn715 Drive Programming Deceleration 3 value in instead of the parameter 0 to 10000 ms number Origin Search Approach Velocity 1 Set the high velocity operation velocity for 2 9 ius H SPD origin search 0 to 20000 nin Origin Search Approach Velocity 2 Set the low velocity operation velocity for 2 9 pner L SPD origin search 0 to 20000
45. 3 step gain 0 to 7 605 Time switching 0 1 m 49 000 Gain 3 Ratio 6 50 to 606 Setting Set gain 3 as a multiple of gain 1 100 o 1 000 Torque Command 100to 607 Value Offset Set offset torque to add to torque command O o 100 608 Forward Direction Set the value to add to a torque command 0 9 100to Torque Offset for forward direction operation 100 Reverse Direction Set the value to add to a torque command 100 to 609 ee 0 Torque Offset for reverse direction operation 100 Function Set the function expansion The setting 610 0to63 Expansion Setting contents vary depending on the function Electric Current Make fine adjustment to electric current o B 2n Response Setting response The default setting is 100 os B 9O to 199 ELS 0 to 613 Inertia Ratio 2 Set the inertia ratio switching 250 10 000 Alarm Detection Set the allowable time until stopping when 0 to 614 Allowable Time an emergency stop is actuated upon alarm 200 ms 1 000 Setting detection Overspeed Detection During an emergency stop upon alarm Oto 615 Level Setting at detection if the motor speed exceeds this O r min n 20 000 Immediate Stop set value this is an overspeed 2 error Absolute Select the absolute encoder data transfer Big Deae 0 Disabled 1 Oor1 Yes Function Selection 1 Enabled Select the EEPROM write specifications when a parameter is changed Front Panel e 617 Paramet
46. 431 Motor rotation velocity TGON 05h This turns ON when the motor velocity exceeds detection output the set value Pn436 Torque limiting signal TLC 06h This turns ON during torque limit status Zero velocity detection ZSP 07h This turns ON when the motor rotation velocity output is at or below the set value Pn434 This turns ON when the difference between the Velocity conformity output VCMP 08h command velocity and the motor rotation velocity is at or below the set value Pn435 This turns ON when a warning occurs according Warning output 1 WARN1 09h to the settings in Warning Output Selection 1 Pn440 This turns ON when a warning occurs according Warning output 2 WARN2 OAh to the settings in Warning Output Selection 2 Pn441 Position command status P CMD OBh This turns ON when a positioning command is output input TED This turns ON when the position error is at or Positioning completed 2 INP2 OCh below the set value Pn442 Alarm attribute output ALM ATB OEh This turns ON when an alarm that can be cleared occurs Drive Programming B CTRL1 24h output This is used when operating the block general Drive Programming output purpose output signals with the block general 2 B CTRL2 25h purpose output signal operation command i i 08h p Programming output B CTRL3 26h F The drive programming status is output This Output during a diive B BUSY 28h turns ON during a drive programming and OFF programming V when the drive progra
47. 47 D error I higher than the specified value y a Encoder phase Z error A serial incremental encoder phase Z 48 jo Y pulse irregularity was detected 49 0 Encoder CS signal error A logic error was detected in the CS 4 B Hu signal for serial incremental encoder 0 External encoder An error was detected in external 4 B connection error encoder connection 50 1 External encoder An error was detected in external 7 uH communications data error encoder communications data Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 5 8 solpowey pue sisoubeig 10413 les iagnosis and Remedi Error D 5 3 Alarm List 5 9 Alarm Attribute number Detection details and probable Error detection function ence Main Sub History Can be sia cleared stop 0 External encoder status An external encoder alarm code was 4 B 7 error 0 detected 1 External encoder status 4 7 7 error 1 External encoder status 2 EI error 2 51 External encoder status 3 Y error 3 External encoder status 4 V error 4 External encoder status 5 Y error 5 0 Phase A connection error An error was detected in the external v 7 encoder phase A connection 55 1 Phase B connection error An error was detected in the external 4 7 m encoder phase B connection 2 Phase Z connection error An error was detected in the external
48. 53 V 50 60 Hz R88D KTLIF 600 to 15 kW 3 phase 380 to 480 VAC 323 to 528 V 50 60 Hz Control Circuit Power Supply Input Terminals L1C L2C R88D KTLIL 50 to 400 W Single phase 100 to 120 VAC 85 to 132 V 50 60 Hz R88D KTLIH 100 W to 1 5 kW Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz 2 to 15 kW Single phase 200 to 230 VAC 170 to 253 V 50 60 Hz R88D KTLIF 600 to 15 kW 24 VDC 21 6 to 26 4 V If the voltage is out of range there is a risk of operation failure Be sure that the power supply is within the specified range Check the voltage of the sequence input power supply 24 VIN terminal CN1 pin 7 It must be between 11 and 25 VDC If the voltage is out of range there is a risk of operation failure Be sure that the power supply is within the specified range i Checking Whether an Alarm Has Occurred Make an analysis using the 7 segment LED display area in the front of the Servo Drive and using the Operation keys When an alarm has occurred Check the alarm display that is displayed LIL and make an analysis based on the alarm that is indicated When an alarm has not occurred Make an analysis according to the error conditions In either case refer to 5 4 Troubleshooting P 5 11 for details 5 1 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 5 1 Error Processing Precautions When a Problem Occurs When checking and verifying I O af
49. B output External type external feedback pulse is used 327 Feedback Pulse 0 0 or 1 Yes Phase Z Setting O Enabled 1 Disabled Internal External 328 Feedback Pulse Set the threshold for feedback pulse 16000 Command 110277 lYes Error Counter deviation errors units Overflow Level merma extemal Clear to O the feedback pulse error value for 329 Feedback Pulse p 0 Rotations O to 100 Yes Error Counter Reset each set rotation speed Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL A 10 gt x o D 5 2 x Appendix A 2 Parameter List i Interface Monitor Setting Parameters 3 Oo Power E Parameter Description Default Unit Setting supply zZ name u setting range OFFto d o ON Input Signal gt 855309 Oto 400 Selection 1 Set the input signal 1 function and logic 0 O0FFFFFFh Yes Input Signal 848729 0to 401 Selection 2 Set the input signal 2 function and logic 7 00FFFFFFh Yes Input Signal 953985 0to 402 Selection 3 Set the input signal 3 function and logic 0 O0FFFFFFh Yes Input Signal 2 0to 403 Selection 4 Set the input signal 4 function and logic 394758 00FFFFFFh Yes 404 Input Signal Set the input signal 5 function and logic 4108 oto Yes Selection 5 p g gic O0FFFFFFh Input Signal 0to 405 Selection 6 Set the input signal 6 function and logic 197379 OOFFFFFFh Yes In
50. Cat No 1575 E2 01 Accurax G5 Drive Programming with Analogue Pulse control Model R88D KT Servo drives R88M K Servo motors USER S MANUAL Fah Y Introduction Introduction Thank you for purchasing the Accurax G5 Series This User s Manual describes setting methods of the parameters required to use the drive programming function of the Accurax G5 Series and troubleshooting measures Refer to the related manuals below for information on installation wiring method peripheral devices and parameter settings other than drive programming R88M Kx R88D KTx AC Servomotors Servo Drives User s Manual 1571 Intended Readers This manual is intended for the following individuals Those having electrical knowledge certified electricians or individuals having equivalent knowledge and also being qualified for one of the following Introducing FA equipment Designing FA systems Managing FA sites Notice This manual contains information you need to know to correctly use Accurax G5 series Servo Drive and peripheral equipment Before using the Servo Drive read this manual and gain a full understanding of the information provided herein After you finished reading the manual keep it in a convenient place so that it can be referenced at any time Make sure this manual is delivered to the end user Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 1 Items Requiring Acknowledgment
51. Fun Select whether or not to omit the origin Pn722 Origin Search Disable Selection search operation when an incremental 0 1 B encoder is used 2 7 1 Parameter changes are reflected immediately but not guaranteed during a drive programming Be sure to specify the settings before starting a drive programming To change a value first stop the drive programming 2 Up to 20 000 block related velocitys can be set as parameter settings but the internal data is limited based on the maximum motor velocity The maximum motor velocity is calculated as a value 5 6th times the value read from the motor rather than the protection level set in the Overspeed Level Setting Pn513 Pn615 3 If the velocity specified to perform a drive programming acceleration and deceleration are set to 0 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 2 2 Drive Programming Setting Parameter the drive programming data setting error alarm 93 1 will occur 4 Ifthe acceleration deceleration are set to a value between 1 and 29 the control is at the same acceleration deceleration as 30 H Precautions for Correct Use Do not change the drive programming setting parameters as a drive programming cannot be guaranteed once it is started Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 2 8 Dunes seyowese d Drive Programming Control Parameter ees EB This section explai
52. Gain disturbance torque j 100 Disturbance Observer Set the filter time constant for disturbance 0 01 10 to 624 f 53 Filter Setting torque compensation ms 2 500 Select the warning latch time Warning Latch O Latch time infinite 627 Hold Time 1 5 S 0to10 Yes palction to Latch time of 1 to 10 s 10 Select the command method Special 0 Analog pulse command input enabled 628 Function 0 2 Yes 2 Drive Programming function enabled Setthe load characteristics estimated speed when realtime autotuning is enabled 0 Finalize estimated results when load Realtime estimation becomes stable Autotuning 631 Estimated 1 Estimates every minute from the load 1 E 0103 characteristic changes Speed Selection 2 Estimates every second from the load characteristic changes 3 Estimates the optinum speed from the load characteristic changes Realtime 632 Autotuning Set the Customization Mode detail for 0 E 32 768 Customization realtime autotuning to 32 767 Mode Setting Absolute Encoder 633 Initial Pulse Set the pulse regeneration speed when the 1000 Pian 1 000 to Regeneration initial pulse is output 3 000 Speed 634 Hybrid Vibration Set the hybrid vibration suppression gain 0 0 1 s 0 to Suppression Gain during fully closed control 30 000 635 Hybrid Vibration Set the hybrid vibration suppression filter 10 0 01 0 to b Suppression Filter time constant during fully closed control ms 6 400 Accurax G5 series AC SERVODRIVE
53. L Mode Selection Select the CONTROL mode P 2 2 Pn008 Electronic Gear Integer Setting Set the number of command pulses corresponding to P222 1 motor rotation Pn009 CLE Gear Ratio Numerator Set the numerator of the electronic gear ratio P 2 2 Pn010 Electronic Gear Pratio Set the denominator of the electronic gear ratio P 2 2 Denominator Pn400 to z Pn409 Input Signal Selection 1 to 10 Set the input signal function allocation and logic P 2 2 Pn410 to gt Pn413 Output Signal Selection 1 to 4 Set the output signal function allocation P 2 5 i Special Function Selection Pn628 Select enable drive programming function set value 2 Note that in this case analog pulse command input signals will be disabled Parameter Parameter Setting 3 Explanation Unit number name range Special Select the command method Pn628 Function 0 Analog pulse command input enabled 0 2 Selection 2 Drive Programming function enabled Origin Search Disable Selection Pn722 Select origin search not required set value 1 when using an incremental encoder to omit origin search and perform relative or absolute travel In this case the position at which the power supply is turned ON will be set as the origin Origin search is not required regardless of this set value when an absolute encoder is used Note that origin search is also not required when performing a JOG operation 2 1 Parame
54. LES Apodaca N L e 52 81 11 56 99 20 001 800 556 6766 mela omron com 54 11 4783 5300 OMRON ELETR NICA DO BRASIL LTDA HEAD OFFICE S o Paulo SP Brasil e 55 11 2101 6300 www omron com br OMRON EUROPE B V Wegalaan 67 69 NL 2132 JD Hoofddorp The Netherlands Tel 31 0 23 568 13 00 Fax 31 0 23 568 13 88 www industrial omron eu Cat No 1575 E2 01 06 12 Note Specifications are subject to change 2012 Omron Electronics LLC Printed in U S A
55. ODRIVERS Drive Programming Function USER S MANUAL A 2 Parameter List E 2 Power Parameter Description Default Unit Setting supply zZ name 5 setting range OFFto fT o ON 33 Temperature Information C 528 Default Display 1 0to35 Yes 35 Safety status monitor 531 Axis Number Set the axis number for communication 1 Oto 127 Yes Pulse Set the detection of pulse regeneration limit error 533 Regeneration O Disabled 0 0 or 1 Yes Limit Output Setting 1 Enabled Front Key Set the operation limit for the front panel 535 Protection O Operation not blocked 0 Oori Yes Setting Operation blocked 1 When Pn510 0 to 3 the position error is cleared after an alarm is generated Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL When Pn510 4 to 7 the position error is retained immediately after an alarm is generated and is cleared after the unit is stopped A 18 xipueddy Appendix A 2 Parameter List i Special Setting Parameters A 19 E 5 Power E Parameter Description Default Unit Setting supply zZ name v setting range OFFto e ON Excessive Set the detection level between the internal 0 to 602 Speed Error position command speed and the actual 0 r min i 20000 Setting speed i e the speed error Gain 3 Effective Set effective time of gain 3 of
56. Programming Function USER S MANUAL A 2 Parameter List i Drive Programming Control Parameters E Power Parameter Feat Default Setting supply zZ name Desonphon setting Unit range OFFto a o ON Drive 800 Programming Set command code and arguments 1 to 5 0000h aud Command 0 Drive F 00000000h 801 Programming e argument 6 for Drive Programming data 00000000h to ie Data 0 FFFFFFFFh Drive 802 Programming Set command code and arguments 1 to 5 0000h ddl Command 1 Drive f 00000000h 803 Programming um argument 6 for Drive Programming data 00000000h to h Data 1 FFFFFFFFh Drive 804 Programming Set command code and arguments 1 to 5 0000h eae Command 2 Drive F f 00000000h 805 Programming EL argument 6 for Drive Programming data 00000000h to E Data 2 FFFFFFFFh Drive 806 Programming Set command code and arguments 1 to 5 0000h id Command 3 Drive P F 00000000h 807 Programming i argument 6 for Drive Programming data 00000000h to Data 3 FFFFFFFFh Drive 808 Programming Set command code and arguments 1 to 5 0000h paa Command 4 Drive 00000000h 809 Programming a argument 6 for Drive Programming data 00000000h to Me Data 4 i FFFFFFFFh Drive 810 Programming Set command code and arguments 1 to 5 0000h Mode Command 5 Drive 00000000h 811 Programming E argume
57. RS Drive Programming Function USER S MANUAL A 20 gt o o o 2 2 x Appendix A 2 Parameter List A 21 3 o Power Parameter VAI Default Setting supply name Description setting cin range OFFto as o ON TEE Set the vibration detection threshold Vibration em A f If torque vibration that exceeds this setting is 0 to 637 Detection KOEN f O 0 196 detected the vibration detection warning will 1 000 Threshold occur Set a mask for warning detection If you set 638 Warning Mask the corresponding bit to 1 the 0 E 32 768 Yes Setting corresponding warning detection will be to 32 767 disabled 1 When the absolute encoder is being used and the current position cannot be acquired with the host controller set the Absolute Interface Function Selection Pn616 to 0 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL A 2 Parameter List i Drive Programming Setting Parameters 3 D Power Parameter HNE Default Setting supply 2 name 2 Desonphon setting Unit range OFFto E o ON Drive Set the velocitys to be used for Relative or oto 700 Programming Absolute Movement JOG and Velocity 0 r min 20000 velocity 0 Update command Drive Set the velocitys to be used for Relative or 0 to 701 Programming Absolute Movement JOG and Velocity 0 r min 20000 velocity 1 Update comma
58. RVODRIVERS Drive Programming Function USER S MANUAL Outline of Operation 1 1 Features 1 1 Features quI With the use of the drive programming function positioning operations of up to 32 points can be achieved without using a position controller Semi closed control and full closing control position control operations are supported Furthermore the drive programming function delivers the equal positioning performance as with the analog pulse input command 1 1 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 1 2 Specifications The drive programming specifications are as follows 1 2 Specifications Item Specifications Block processing cycle 0 5 ms Number of blocks Maximum 32 Number of velocity setting Maximum 8 parameters Number of acceleration setting Maximum 4 parameters Number of deceleration setting Maximum 4 parameters Input signals Maximum 10 Output signals Maximum 4 2 Conditional branching Measured CONTROL mode Position control including full closing control Measured Velocity control Torque control Not measured Origin search Measured Velocity update Measured Target position update Not measured Block designation update Not measured 4 Wrap around Not measured 1 This is used with general purpose input signals allocated 2 This is us
59. a was 0 to 36 2 corrupted when the power supply was turned ON and data was read from the EEPROM to Parameters destruction The checksum for the data read from 37 2 the EEPROM when the power supply was turned ON does not match 38 0 Drive prohibition input The forward drive prohibition and reverse 7 4 a error drive prohibition inputs are both turned OFF Excessive analog input 1 A current exceeding the Speed 0 VN y Command Torque Command Input Overflow Level Setting Pn424 Pn427 t2 39 1 F xcessive analog THp or Pn430 was applied to the analog V Y V command input pin 14 2 Excessive analog input 3 J 4 N Absolute encoder system The voltage supplied to the absolute 40 O down error ABS encoder is lower than the specified value Y Y B Absolute encoder counter The multi rotation counter of the absolute 41 0 overflow error ABS encoder exceeds the specified value y a Absolute encoder The motor rotation speed exceeds the 42 0 overspeed error ABS specified value when only the battery power V V supply of the absolute encoder is used Encoder initialization error An encoder initialization error was 43 jo Y detected Absolute encoder 1 A 1 turn counter error was detected 44 0 rotation counter error 4 _ _ Absolute encoder multi A multi rotation counter error or 45 0 rotation counter error phase AB signal error was detected Absolute encoder status The rotation of the absolute encoder is
60. al Comparison CMT Block jump value Branching1 lt eR target Block number destination When V s conditions threshold value Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 3 3 Command Details 3 3 Command Details i Relative Movement 01h This is used when performing a relative movement If Origin Search Disable Selection Pn722 is set to 0 perform an origin search before starting the operation Drive Programming control parameter 48 bit Drive Drive Programming command Programmi Command name ng data Command Argument Argument Argument Argument Argument Argument code 1 2 3 4 5 6 4 bit 4 bit 2 bit 2 bit 2 bit 2 bit 32 bit Relative i Velocity Acceleration Deceleration Block jump movement Relative Movement th M number number number conditions distance pulse Velocity Drive Programming Drive Programming r min Acceleration y Deceleration z Drive i Programming 7 77777777 ean aa Velocity x i 3000 r LIE Relative travel distance i i Time t Start position x Stop position x relative movement distance Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 3 6 JojoujeJed o41u05 Buruurej6o4d 3AA Drive Programming Control Parameter 3 3 Command Details Command argument Setting range Content 1 Velocity num
61. alarm 509 Momentary Hold Time Set the main power supply alarm detection time 70 1ms 70 to 2 000 Yes Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL A 14 A 2 Parameter List Appendix E 5 Power E Parameter Description Default Unit Setting supply Z name U setting range OFFto amp o ON Set the alarm sequence 0 During deceleration Dynamic brake After stopping Dynamic brake 1 During deceleration Free run After stopping Dynamic brake 2 During deceleration Dynamic brake After stopping Servo free 3 During deceleration Free run After stopping Servo free During Emergency stop alarm deceleration Emergency stop 510 A UM During deceleration Dynamic brake R for Alarm After stopping D ic brak 0 0 to 7 Detection 1 er stopping Dynamic brake During Emergency stop alarm deceleration Emergency stop 5 ion During deceleration Free run After stopping Dynamic brake During Emergency stop alarm 6 deceleration Emergency stop During deceleration Dynamic brake After stopping Servo free During Emergency stop alarm deceleration Emergency stop 7 During deceleration Free run After stopping Servo free 511 Immediate Stop Torque Set the torque limit for immediate stops 0 96 0to 500 512 Overioag Detection Set the overload detection level 0 Oto 500 Level Setting Overspeed D
62. amming even after the current block processing is finished 1 When this is set to finish the drive programming MSB 0 the least significant bit LSB setting will be disabled and the drive programming will be finished after the applicable block processing is completed 2 The least significant bit LSB function varies depending on the command The above illustrates the basic functions With the jump command 9h for example the operation moves to the block specified after it was started regardless of the set value For details refer to the description of each command Finishing the Drive Programming 3 25 A drive programming finishes when the block processing for which the block jump condition MSB is set to 0 is finished As soon as the drive programming is finished the drive programming status output is set to O However if an operation command Relative or Absolute Movement JOG or Origin Search is executed prior to the applicable block and that operation has not been completed the drive programming will not be finished until the operation is completed 1 and the drive programming status output B BUSY will remain at 1 Note in particular that a JOG operation will continue until the deceleration stop command 5h is executed 1 Operation is completed refers to the point where the internal position command generation process is finished This is not based on when the motor actually stops Furthermore note that the movem
63. and 22 Set command code and arguments 1 to 5 0000h to FFFFh Pn845 Drive Programming Data 22 Set argument 6 for Drive Programming data 22 00000000h to FFFFFFFFh Pn846 Drive Programming Command 23 Set command code and arguments 1 to 5 0000h to FFFFh Pn847 Drive Programming Data 23 Set argument 6 for Drive Programming data 23 00000000h to FFFFFFFFh Pn848 Drive Programming Command 24 Set command code and arguments 1 to 5 0000h to FFFFh Pn849 Drive Programming Data 24 Set argument 6 for Drive Programming data 24 00000000h to FFFFFFFFh 3 3 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 3 1 Parameter Configuration Parameter number Parameter name Explanation Setting range Pn850 Drive Programming Command 25 Set command code and arguments 1 to 5 0000h to FFFFh Pn851 Drive Programming Data 25 Set argument 6 for Drive Programming data 25 00000000h to FFFFFFFFh Pn852 Drive Programming Command 26 Set command code and arguments 1 to 5 0000h to FFFFh Pn853 Drive Programming Data 26 Set argument 6 for Drive Programming data 26 00000000h to FFFFFFFFh Pn854 Drive Programming Command 27 Set command code and arguments 1 to 5 0000h to FFFFh Pn855 Drive Programming Data 27 Set argument 6 for Drive
64. appropriate 500 Kpps or lower speed rotation The speed exceeds the Adjust the gain maximum rotation Reduce the maximum speed due to 26 Overspeed command speed overshooting The encoder is wired Wire correctly incorrectly When the torque limit 4 The set value for the switching function is used set Occurs when torque limit ae mie Overspeed Detection the motor operating speed switching function is Level Setting Pn513 range correctly in the Error used is exceeded Counter Overflow Level Pn014 Occurs when control The command pulse ones ine commend SA F pulse input signal is input or input frequency AEn ae Increase the set value of command is input exceeded the limit Pn532 Checkto see if the multi The multi rotation rotation counter for the Occurs when the multi counter for the absolute encoder was cleared 27 Command pulse error rotation counter for the absolute encoder was during USB communications absolute encoder was cleared during USB by the CX Drive cleared by the CX Drive communications by the Note This operation is CX Drive performed for safety and is not an error The position command Check to see if the Occurs during operation variation is higher than position command the specified value variation is large THasulse fedsnerdtion Check the set value of Pulse regeneration P 9 Pn011 and Pn503 28 Occurs during operation output frequency error
65. arameter 8 You must always allocate the strobe input STB The drive programming function cannot be started if it is not allocated 2 3 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 2 1 Initial Setting l Precautions for Correct Use Do not use any values other than the settings listed If you allocate the same function to multiple input signals interface input duplicate allocation error 1 Alarm 33 0 or interface input duplicate allocation error 2 Alarm 33 1 will occur Latch input 1 EXT1 can only be allocated to Input Signal Selection 4 Pn403 A latch input 1 allocation error Alarm 33 8 will occur if it is allocated to any other parameter You must always allocate the operation command RUN Servo cannot be turned ON if it is not allocated You must always allocate the strobe input STB The drive programming function cannot be started if it is not allocated When the drive programming function is enabled the following functions are disabled If these functions are allocated the interface input allocation error alarm 33 x will occur Change the input signal selections that are already allocated in the default setting Set value Signal name Symbol Default setting NO NC CONTROL mode switching input TVSEL 05h 85h SI9 4 ECRST 07h Setting not SI7 Error counter reset input available Pulse prohibition input 1 IPG 08h 88h SHO
66. atio a Overload load ratio a N Forward direction torque limit ak Co Reverse direction torque limit A Speed limit value a o Inertia Ratio er O Analog input 1 N Analog input 2 e Analog input 3 e Ko Encoder temperature N o Drive temperature 21 Encoder 1 rotation data O to 21 xipueddy 417 Analog Monitor 1 Scale Setting Set the output gain for analog monitor 1 Oto 214 748 364 418 Analog Monitor 2 Selection Select the type for analog monitor 2 The set values for this parameter are the same as Analog Monitor 1 Type Pn416 4 Oto 21 419 Analog Monitor 2 Scale Setting Select the output gain for analog monitor 2 Oto 214 748 364 421 Analog Monitor Output Setting Select the analog monitor output voltage method Output range 10 to 10 V Data output Positive negative Output range 0 to 10 V Data output Positive negative Output range 0 to 10 V Data output Positive negative 0 to 2 431 Positioning Completion Range 1 Set the allowed number of pulses for the positioning completion range Command units 0 to 262 144 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL A 12 Appendix A 2 Parameter List
67. ber 0t07 Set selection number x for drive programming velocity x 2 nun m 0 to 3 Set selection number y for drive programming acceleration y 3 Em 0to 3 Set selection number z for drive programming deceleration z 4 Set 0 Set the block jump conditions after this command is executed Block jump LSB 0 Jump to the next block after the operation is started 5 diti 4 0 to 3 1 Jump to the next block upon movement completion E conditions MSB 0 End the drive programming at the current block 1 Continue the drive programming 6 Relativemovement 80000001h to Set the relative movement distance per pulse distance pulse 7FFFFFFFh PTPU SS 1 For details on the block jump conditions refer to 3 4 Block Jump Conditions and Finishing P 3 25 2 Upon movement completion refers to the point when the internal position command generation process is finished This is not based on when the motor actually stops Furthermore note that the movement command will still be output even after the internal position command generation process is finished if the position command filter FIR smoothing is used 3 If the target position the relative movement distance added to the current command position is outside of the range between C0000001h to 3FFFFFFFh Drive Programming data setting error alarm 93 1 will occur Parameter Setting range Unit Content Drive Programming 0 to maximum jin Set the velocity Veloci
68. ce the motor 2 Perform origin adjustment for position control When the motor is replaced the motor s origin position phase Z may deviate so origin adjustment must be performed Refer to Command Details P 3 6 for details on performing origin adjustment 3 Set up the absolute encoder If a motor with an absolute encoder is used the absolute value data in the absolute encoder is cleared when the motor is replaced so setup is again required The multi rotation data will be different from before it was replaced so initialize the Motion Control Unit settings For details refer to R88M Kx R88D KTx AC Servomotors Servo Drives User s Manual I571 i Replacing the Servo Drive 1 Copy the parameters Use the Operation keys on the Servo Drive to write down all the contents of parameter settings 2 Replace the Servo Drive 3 Set the parameters Use the Operation keys on the Servo Drive to set all the parameters 4 Set up the absolute encoder If a motor with an absolute encoder is used the absolute value data in the absolute encoder is cleared when the Servo Drive is replaced so setup is again required The multi rotation data will be different from before it was replaced so initialize the Motion Control Unit settings For details refer to R88M Kx R88D KTx AC Servomotors Servo Drives User s Manual I571 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 5 2 Warning List 5 2 Warning Li
69. command code and arguments 1 to 5 0000h sah Command 11 Drive B 00000000h 823 Programming PR 6 for Drive Programming data 00000000h to 3 Data 11 i FFFFFFFFh Drive 824 Programming Set command code and arguments 1 to 5 0000h a Command 12 Drive 00000000h 825 Programming T 6 for Drive Programming data 00000000h to 3 Data 12 FFFFFFFFh Drive 826 Programming Set command code and arguments 1 to 5 0000h eee Command 13 Drive f 00000000h 827 Programming ao 6 for Drive Programming data 00000000h to E Data 13 i FFFFFFFFh Drive 828 Programming Set command code and arguments 1 to 5 0000h d Command 14 Drive 00000000h 829 Programming aoe 6 for Drive Programming data 00000000h to Data 14 i FFFFFFFFh Drive 830 Programming Set command code and arguments 1 to 5 0000h eal Command 15 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL A 2 Parameter List E Power E Parameter T Default Setting supply zZ name Dosenpuen setting pot range OFFto amp o ON Drive F 00000000h 831 Programming slg 6 for Drive Programming data 00000000h to E Data 15 FFFFFFFFh Drive 832 Programming Set command code and arguments 1 to 5 0000h e Command 16 Drive P 00000000h 833 Programming o 6 for Drive Programming data 00000000h to 9 Data 16 FFFFFFFFh Drive 834 Prog
70. ct the signal read cycle for the command pulse prohibition input Command O 0 166 ms Pulse 1 0 333 ms 519 Prohibition 0 Oto 4 Yes Input Read 2 1ms Setting 83 1 666 ms 4 0 166 ms Select the positioning completion range and E error counter overflow level setting unit 520 Position Setting 0 7 Oori Yes Unit Selection 0 Command unit 1 Encoder unit Set the forward or reverse direction torque limit selection method 0 1 Pn013 is the limit value for both forward 4 and reverse directions 5 521 Torque Limit 2 Forward operation Set by Pn013 1 7 0106 7 Selection Reverse operation Set by Pn522 3 When TL SEL input is open Use Pn013 When TL SEL input is shorted Use Pn522 When TL SEL input is open Forward direction g use Pn013 Reverse direction use Pn522 When TL SEL input is shorted Forward direction use Pn525 Reverse direction use Pn526 522 No 2 Torque Limit Set the No 2 limit value for the motor output torque 500 Oto 500 523 Torque Limit Set the change rate fluctuate for when the 0 ms 0 to Switching Setting 1 torque limit is switched from No 1 to No 2 100 4 000 524 Torque Limit Set the change rate fluctuate for when the 0 ms 0 to Switching Setting 2 torque limit is switched from No 2 to No 1 10096 4 000 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL A 16 xipueddy Appendix A 2 Parameter List
71. ction details and probable cause Attribute History Can be cleared Immediate stop 1 95 0 to Motor non conformity The combination of the Servomotor and Servo Drive is not appropriate The encoder was not connected when the power supply was turned ON Other numbers Other errors 1 An immediate stop means an alarm causing an immediate stop when the Pn510 Stop Selection for Alarm Detection is set to 4 to 7 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 5 10 solpowey pue sisoubeig 10413 Error Diagnosis and Remedies 5 4 Troubleshooting 5 4 Troubleshooting If an error occurs in the machine determine the error conditions from the alarm displays and operation status identify the cause of the error and take appropriate measures Error Diagnosis Using the Alarm Displays Alarm number Error conditions Status when error occurs Cause Measures 11 Power supply Occurs when the power The power supply voltage is low Momentary power interruption occurred Power supply capacity is insufficient The power supply voltage is reduced because the main power supply is OFF Themain power supply is not input Increase the power supply capacity Change the power supply Turn ON the power supply undervoltage is turned ON Power supply capacity Increase the po
72. d deceleration is too rapid deceleration times pulses is given Reduce the load Th e load is 190 large Select a suitable motor The set value for the Increase the set value of Error Counter Overflow Pn014 Level Pn014 is Reduce the rotation speed Oeeurs durna oberai n exceeded Reduce the load 9 op The value set for the Extend the acceleration Excessive Speed Error deceleration times Setting Pn602 was Set Pn602 to 0 disabled exceeded or increase the setting There is deviation Checkthe motor and load between the load connection Excessive hybrid Occurs for fully closed position according to Check the external encoder 25 the external encoder and drive connection deviation error control and the motor position according to the encoder Check the external encoder load position and encoder motor position settings Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 5 14 solpowey pue sisoubeig 10413 les iagnosis and Remedi Error D 5 4 Troubleshooting Alarm T Status when error Error conditions Cause Measures number Occurs The speed command Setthe command pulse input is too large frequency to 500 Kpps max The setting for the Electronic Set the electronic gear ratio Gear Ratio Numerator numerator so that the Pn009 Pn500 to Pn502 is command pulse frequency is Occurs during high not
73. daptive dos notch is enabled Set the notch frequency of resonance Notch 4 210 Frequane suppression notch filter 4 5000 Hz 50 to s q y This is set automatically when an adaptive 5 000 Setting notch is enabled Set the notch width of the resonance 211 Notch 4 Width suppression notch filter 4 2 01020 l Setting This is set automatically when an adaptive notch is enabled Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL A 2 Parameter List E Power Parameter Du Default h Setting supply name 5 Description setting Unnt range OFFto fT o ON Set the notch depth of resonance 212 Notch 4 Depth suppression notch filter 4 A 01099 Setting This is set automatically when an adaptive notch is enabled Select the damping filter switching method 0 Enabled When DF SEL1 input open 1 Damping filter 1 and 3 enabled When DF SEL1 input shorted Damping filter 2 and 4 enabled When DF SEL1 open and DF SEL2 open Damping filter 1 enabled When DF SEL1 shorted and DF SEL2 open 213 Pisis her Damping filter 2 enabled 0 0to3 2 When DF SEL1 open and DF SEL2 shorted Damping filter 3 enabled When DF SEL1 shorted and DF SEL2 shorted Damping filter 4 enabled Forward direction Damping filter 1 and 3 enabled 3 Sua Reverse direction Damping filter 2 and 4 enabled 214 Damping Set the damping frequency 1 The function is 0
74. der Used as an absolute encoder 2 Multi rotation counter overflows are ignored Select the Regeneration Resistor used Use the Built in Resistor Triggering of regeneration overload O protection Alarm No 18 depends on the Built in Resistor with approx 196 duty Use an External Resistor The regeneration processing circuit Regeneration operates and regeneration overload See 016 Resistor 1 Ne 0to 3 Yes protection Alarm No 18 is triggered Note 2 Selection when the operating rate of the Regeneration Resistor exceeds 10 Use an External Resistor 2 Regeneration overload protection Alarm No 18 does not operate No Regeneration Resistor 3 All regeneration power is processed with built in capacitors A 3 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL A 2 Parameter List E 2 Power Parameter Description Default Unit Setting supply zZ name 5 setting range OFFto fT o ON Select the type of load ratio calculation for the External Regeneration Resistor Regeneration load ratio is 10096 when O operating rate of the External External Regeneration Resistor is 1096 017 Regeneration 0 Oto 4 Yes Resistor Setting Reserved 2 Reserved 3 Reserved 4 Reserved Note 1 The default setting is 11 for 200 V Servo Drives of 1 KW or higher and 400 V Servo Drives Note 2 The default setting is O for 100
75. e any request regarding service consult your OMRON sales representative 6 Scope of Application The above paragraphs are based on the assumption that this product is traded and used in Japan If you wish to trade or use this product outside Japan consult your OMRON sales representative Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 3 Safety Precautions Safety Precautions BTo ensure that the Accurax G5 series Servomotor and Servo Drive as well as peripheral equipment are used safely and correctly be sure to read this Safety Precautions section and the main text before using the product in order to learn items you should know regarding the equipment as well as required safety information and precautions Make an arrangement so that this manual also gets to the end user of this product After reading this manual keep it in a convenient place so that it can be referenced at any time Explanation of Display WThe precautions explained in this section describe important information regarding safety and must be followed without fail The display of precautions in this manual and their meanings are explained below A N DANGER Indicates an imminently hazardous situation which if not avoided will result in death or serious injury Additionally there may be severe property damage Indicates a potentially hazardous situation which if not VAN Caution avoided may result in minor or moderate injur
76. e ri n erano taceuemunrenatavetensan uateupareme 2 1 2 2 Drive Programming Setting Parameter ssseeeeeeceeeeeeeeeeeeeees 2 7 Chapter3 Drive Programming Control Parameter 3 1 Parameter Configuration cccccceeeeeeeseeeeeeeeeeeeeeeaeeeeeeeeeensneeeeeeeeae 3 1 3 2 Command IST sessi a ida ter at ltl eate 3 5 3 3 Command DEIANS dant scons Era EE dr Mh PEEL 3 6 3 4 Block Jump Conditions and Finishing eeesesessesssss 3 25 Chapter4 Drive Programming Example 4 1 Installation Conditions ect acon teeta ne ateendie eae 4 1 Chapter5 Error Diagnosis and Remedies 5 1 Error PIOCSSSING irse cit tcrtia ei Fo oro p Lia LP REMO IR M HE erai 5 1 B2 Marilb BIS nate Corte cenam ete nete pi conext 5 4 ba Alarm EISE sit e uc ter iR tana ea vain taxat tees oa afa adde rug 5 5 5 4 oubleshoofllng codo tt EHE eda cire mica acetate M Un ge ea 5 11 ChapterA Appendix PN TRESWICU OS Siidiodieidcocadehte het bo ec ira de AAEE da cdd edes ud A 1 A 2 Parameter ISt arinn I IE EOD OUR OUR A Ce ELA LI RR URL RE FRE EE uda A 2 14 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL Outline of Operation Pee This section explains the features and specifications of the drive programming function T I JFeatres siii cioe aston ceo euro beset inne a aa da ideiak 1 1 1 2 SpecifiCallols eire seou inea re nir innixa da Y Raw usiana 1 2 Accurax G5 series AC SE
77. ed movement was there is no problem with executed when origin the drive programming search has not been parameter settings etc completed when an Upon completion of origin incremental encoder is search execute a relative being used or absolute movement The motor and drive Use a correct combination is incorrect combination 95 Motor non conformity Occurs whenthe power supply is turned ON The encoder wiring is disconnected Wire the encoder wiring Fixthe locations that are disconnected Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 5 20 les iagnosis and Remedi Error D 5 4 Troubleshooting Alarm Bh Status when error Error conditions Cause Measures number occurs Turn OFF the power once and turn it ON again The control circuit If the error is displayed malfunctioned due to even after the power is excess noise or some turned ON again the other problem The self system may be faulty Other A Humble Other errors diagnosis function of the Stop using the system Servo Drive was activated and an error occurred in the Servo Drive and replace the Servomotor and or the Servo Drive Return the Servo Drive to the dealer that is was purchased from and ask for investigation and repair 5 21 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL Troubleshooting Using the Operation Status 5 4 Troub
78. ed wires are connected directly to the protective ground terminal fire may result Only use the power supply voltage specified in this manual Burn damage may result In locations where the power supply infrastructure is poor make sure the rated voltage can be supplied Equipment damage may result Provide safety measures such as a breaker to protect against short circuiting of external wiring Fire may result If the Servo Drive is used in the following locations provide sufficient shielding measures Location subject to noise generates due to static electricity etc Location subject to a strong electric or magnetic field Location where exposure to radioactivity may occur Location near power supply lines Using the Servo Drive in these locations may result in equipment damage Connect an immediate stop relay in series with the brake control relay Injury or failure may result gt gt PPPPPPPPPPPbD When connecting the battery make sure the polarity is correct Battery damage or explosion may result Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL Safety Precautions Operation and Adjustment N Caution Conduct a test operation after confirming that the equipment is not affected Equipment damage may result Before operating the Servo Drive in an actual environment check if it operates correctly based on the parameters you have set Equipment damage may resul
79. ed with general purpose output signals allocated SO3 is fixed to ALM output 8 Ifthe target position is updated if a new operation command is executed when an operation is already in progress the drive programming error alarm 94 0 will occur 4 The unit cannot be started by specifying a new block number when a drive programming is already in progress 5 If the command position or the current position exceeds the C0000001h or 3FFFFFFFh range the wrap around error alarm 94 1 will occur Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 1 2 uoneJedo jo euipino a Parameter Setting ENERECEEZU ES This section explains the parameters required to use the drive programming function 2 1 Initial Setting M 2 1 Parameters Requiring Settings 2 1 2 2 Drive Programming Setting Parameter 2 7 Drive Programming Setting Parameter sseesessss 2 7 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL Parameter Setting 2 1 Initial Setting 2 1 Initial Setting Parameters Requiring Settings Parameter Parameter name Explanation Reference number Pn628 Special Function Selection Select the command method P 2 1 Pn722 Origin Search Disable Selection Select whether oF not to omit the origin Search P 2 1 operation when an incremental encoder is used Pn001 CONTRO
80. ent command will still be output even after the internal position command generation process is finished if the position command filter FIR smoothing is used Note that as exceptions the drive programming will be automatically finished in the following situations When an external stop input immediate or deceleration stop is entered When the servo turns OFF including when the servo turns OFF as a result of an alarm or drive prohibition input Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL Drive Programming Example ELIT This chapter provides a drive programming setting example in the following operation sequence 4 1 Installation Conditions esee 4 1 Operation Sequence ssssssssessesseeeeeneeeenenenn nnns 4 1 Parameter Settings ssssssssssssseeeeeeneeen nennen 4 1 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL Drive Programming Example 4 1 Installation Conditions 4 1 Installation Conditions Operation Sequence 1 Set the drive programming output 1 B CTRL1 to OFF 2 Latch input 1 EXT1 is used as the origin signal and origin search is started in the forward direction Acceleration number 1 and deceleration number 1 are used 1 3 After the origin search is completed block general purpose output 1 B CTRL1 is turned ON and drive programming output 2 B CTRL2 is tur
81. er o_ Wrting notto be performed when a fy pori ves Write Selection P gea 1 Writing to be performed when a parameter is changed 618 Power Supply ON Set initialization time after power supply ON 0 01s Oto100 Yes Initialization Time to the standard 1 5 s plus some Encoder Phase Finely adjust the encoder phase Z width when 0 to 619 the number of output pulses per motor rotation O Pulses Yes Z Setting une 32 767 after the division of pulse output is not an integer External Encoder 620 Phase Z Set the external encoder phase Z output 0 lis 010400 Yes Expansion Setting width Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL A 2 Parameter List E Power E Parameter ange Default Setting supply zZ name Doscnpunn setting uon range OFFto amp o ON Serial Absolute External Set the phase Z regeneration position when 28 621 Encoder Phase the serial absolute external encoder is used dr s vee Z Setting Phase AB Select the regeneration method of pulse Regeneration outputs OA and OB when an external Method Selection encoder of phase AB output type is used 622 for External f 0 0 or 1 Yes Encoder of O Without signal regeneration Phase AB Output 4 With signal regeneration Type 623 Disturbance Torque Set the compensation gain for the 0 o 100to Compensation
82. er explains the error diagnosis and remedies 5 1 Error PrOCBSSITIQ ictu oiii lick des Sul x a aere 5 1 Preliminary Checks When a Problem Occurs sses 5 1 Precautions When a Problem Occurs eseseee 5 2 Replacing the Servomotor or Servo Drive sesers 5 3 5 2 Warning List ricis kae cir aad RE UR RN Fuuu bere g anu ud 5 4 5 3 Alarm LISE iiic cce av aca ona dnd Re sg none e OR VE 5 5 5 4 Troubleshooting corni dno ini oa ris pius pcue cene 5 11 Error Diagnosis Using the Alarm Displays 5 11 Troubleshooting Using the Operation Status 5 22 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL Error Diagnosis and Remedies 5 1 Error Processing 5 1 Error Processing Preliminary Checks When a Problem Occurs This section explains the preliminary checks and analytical software required to determine the cause of a problem if one occurs i Checking the Power Supply Voltage Check the voltage at the power supply input terminals Main Circuit Power Supply Input Terminals L1 L2 L3 R88D KTLIL 50 to 400 W Single phase 100 to 120 VAC 85 to 132 V 50 60 Hz R88D KTLIH 100 W to 1 5 kW Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz 750 W to 1 5 kW 3 phase 200 to 240 VAC 170 to 264 V 50 60 Hz 2 to 15 kW 8 phase 200 to 230 VAC 170 to 2
83. eration y 91010090 TS Set the acceleration time between 0 and 3 000 r min Drive Programming 0 to 10000 lg Set the deceleration Deceleration z Set the deceleration time between 3 000 and 0 r min 3 9 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 3 3 Command Details i JOG 03h This is used when performing a JOG operation Stop a JOG operation with the deceleration stop command 5h or an immediate stop input or deceleration stop input which are external input signals Each of these stop input signals must be allocated in advance to general purpose inputs signals Note that if the operation is stopped by an external input signal the drive programming itself is also finished The operation moves to the next block after the JOG operation is started Be sure to avoid endless looping with no means of stopping it by combining conditional branching commands Ah Bh Ch and the deceleration stop command 5h Drive Programming control parameter 48 bit Drive Drive Programming command Programmi Command name ng data Command Argument Argument Argument Argument Argument Argument code 1 2 3 4 5 6 4 bit 4 bit 2 bit 2 bit 2 bit 2 bit 32 bit Velocity Acceleration Deceleration JOG Block jump JOG 3h M n number number number direction conditions Velocity Drive Programmin Drive Programmin r min i ACGolamDR y Mi Deceleration zl Drive
84. ervo Drive is not going to be used for a prolonged period of time Injury may result gt OF Location of Warning Label The Servo Drive bears a warning label at the following location to provide handling warnings When handling the Servo Drive be sure to observe the instructions provided on this label Warning label display location R88D KTA5L 10 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL Safety Precautions Instructions on Warning Label 53 DF ROERSTEACIRC ECE SERAOLORAC ORTERMTOCE AN f amp id RR RL BAKTIR CPM ATE eS Read fa manual and follow the salety instructions belore use DANGER Never tail to connect Protective EarthiPE terminal EROJN EIE BRE SSF Mat E RET 155 SIRPJZ SERRE AN MERE KFE AUTE TEAMS Hazardous Do nottouch terminals within 15 minutes after Voltage disconnect the power Risk of electric shock _ Eum PIE ORNS E h772 MS B BST ERE Al Bim SIE SECHS High Do not touch healsink when power is ON Temperature Risk of burn Disposal When disposing of the battery insulate it using tape and dispose of it by following the applicable ordinance of your local government Dispose of the Servo Drive as an industrial waste Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 11 Revision History Revision History The manual revision symbol is an alphabet appended at the end of the manual number found
85. etection 0 to 513 Level Setting Set the overspeed error detection level 0 r min 20 000 514 Overrun Limit Set the motor over travel distance for 10 0 1 0 to Setting position commands Rotations 1 000 Select from one of 4 values for the IF read cycle Control Input 9 160 ms 515 Signal Read 1 0 333 ms 0 0 to 3 Yes Setting or lane 3 1 666 ms Wlan Reset Set the alarm clear input detection method 516 Condition O 120 ms 0 Oor1 Yes Sering 1 Follow the Control Input Signal Read Setting Pn515 A 15 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL A 2 Parameter List E Power Parameter us Default A Setting supply name 5 Dssenpud setting Unit range OFFto ix o ON Set the clear condition for the error counter reset input signal O Disabled 1 Clears the error counter with the level Error Counter Shorted for 500 us or longer 517 Reset Condition Clears the error counter with the level 0 E 0004 j Selection Shorted for 1 ms or longer 3 Clears the error counter with the edge Change from open to shorted for 100 us or longer 4 Clears the error counter with the edge Change from open to shorted 1 ms or longer C d Enable or disable the command pulse men prohibition input signals INH Big Lule 1 5 oori l Prohibition 0 Enabled Input Setting 1 Disabled Sele
86. face input duplicate A duplicate setting for the interface 4 7 allocation error 1 input signals was detected Interface input duplicate 1 Y allocation error 2 2 Interface input function An undefined number was detected in 4 B number error 1 the interface input signal allocations Interface input function 3 V number error 2 4 Interface output function An undefined number was detected in X B 7 33 number error 1 the interface output signal allocations Interface output function 5 Y number error 2 Counter reset allocation The counter reset function was allocated 6 Y error to something other than input signal SI7 Command pulse The command pulse prohibition input 7 prohibition input allocation function was allocated to something Y error other than input signal S110 Latch input 1 allocation Latch input 1 was allocated to a signal 8 error other than input signal S14 or with Y contact NC Overrun limit error The motor exceeded the allowable 34 0 operating range set in the Overrun x B Limit Setting Pn514 with respect to the position command input Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 5 3 Alarm List lam Attribute number Detection details and probable Error detection function Arey lie cause Histo Can be Immediate cleared stop 1 Parameter error Data in the Parameter Save are
87. for Drive Programming Velocity x 2 ire 0 to 3 Set selection number y for Drive Programming Acceleration y 3 or 0 to 3 Set selection number z for Drive Programming Deceleration z 4 Set 0 Set the block jump conditions after this command is executed LSB 0 Jump to the next block after the operation is started Block jump do 5 a D 0 to 3 1 Jump to the next block upon movement completion conditions MSB 0 End the drive programming at the current block 1 Continue the drive programming Target absolute C0000001h to e 6 position pulse 3FFFFFFFh Set the target absolute position with sign per pulse 1 Fordetails on the block jump conditions refer to 3 4 Block Jump Conditions and Finishing P 3 25 2 Upon movement completion refers to the point when the internal position command generation process is finished This is not based on when the motor actually stops Furthermore note that the movement command will still be output even after the internal position command generation process is finished if the position command filter FIR smoothing is used Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 3 8 JojoujeJed o41u05 Hurlmmwesboig 3AA Drive Programming Control Parameter 3 3 Command Details Parameter Setting range Unit Content Drive Programming 0 to maximum t min Set the velocity Velocity x motor velocity Drive Programming Set the acceleration Accel
88. gain correctly faulty gain adjustment The Servo Driv h s Replace the Servo Drive broken down Calculate the regenerative energy and connect an External Load inertia is too Regeneration Resistor with the large required regeneration absorption capacity Extend the deceleration time Reduce the motor rotation speed Occurs when the motor ES Extend the deceleration time The deceleration time is decelerating f Calculate the regenerative is too short The motor rotation energy and connec a speed is too high External Regeneration Resistor with the required regeneration absorption capacity 18 Bb Ed The operating limit of the External Regeneration Set Pn016 to 2 Resistor is limited to 10 duty Add a counterbalance to the machine to lower gravitational torque Reduce the descent speed Gravitational torque is Calculate the regenerative too large energy and connect an Occurs during descent External Regeneration vertical axis Resistor with the required regeneration absorption capacity The operating limit of the External Regeneration Set Pn016 to 2 Resistor is limited to 10 duty 5 13 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 5 4 Troubleshooting Alarm m Status when error number Error conditions UE Cause Measures v The encoder is Fix the locations that are disconnec
89. hooting Symptom Probable cause Items to check Measures The position is misaligned Position misalignment occurs without an alarm being output There is an error in the coupling of the mechanical system and the Servomotor Check to see if the coupling of the mechanical system and the Servomotor is misaligned Correct the coupling between the mechanical system and the Servomotor The gain is wrong Perform manual tuning The load inertia is large Inspect the following Is the load too large Is the motor rotation speed too high Adjust the gain Review the load conditions and replace the Servomotor and Servo Drive with appropriate models 5 25 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL Appendix A 1 Restrictions 0 cecceceeeceeceeceeceeceeceseeecnsceseeeenseeseneeneeess A 1 A 2 Parameter LiSt cecceceeeceeceececceecnecesceecnseneeneceeeess A 2 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL Appendix A 1 Restrictions A 1 Restrictions A 1 The following restrictions apply when the drive programming function is enabled When using the following functions enable the analog pulse commands For information on how to switch between a drive programming and the analog pulse command refer to 2 1Initial Setting P 2 1 The drive programming function is supported by soft
90. ing data 3 00000000h to FFFFFFFFh Pn808 Drive Programming Command 4 Set command code and arguments 1 to 5 0000h to FFFFh Pn809 Drive Programming Data 4 Set argument 6 for Drive Programming data 4 00000000h to FFFFFFFFh Pn810 Drive Programming Command 5 Set command code and arguments 1 to 5 0000h to FFFFh Pn811 Drive Programming Data 5 Set argument 6 for Drive Programming data 5 00000000h to FFFFFFFFh Pn812 Drive Programming Command 6 Set command code and arguments 1 to 5 0000h to FFFFh Pn813 Drive Programming Data 6 Set argument 6 for Drive Programming data 6 00000000h to FFFFFFFFh Pn814 Drive Programming Command 7 Set command code and arguments 1 to 5 0000h to FFFFh Pn815 Drive Programming Data 7 Set argument 6 for Drive Programming data 7 00000000h to FFFFFFFFh Pn816 Drive Programming Command 8 Set command code and arguments 1 to 5 0000h to FFFFh Pn817 Drive Programming Data 8 Set argument 6 for Drive Programming data 8 00000000h to FFFFFFFFh Pn818 Drive Programming Command 9 Set command code and arguments 1 to 5 0000h to FFFFh Pn819 Drive Programming Data 9 Set argument 6 for Drive Programming data 9 00000000h to FFFFFFFFh Pn820 Drive Programming Command 10 Set command code and arguments 1 to 5
91. irection Set the block jump conditions after this command is executed 5 Block jump Swa LSB 0 1 Jump to the next block upon origin search completion conditions MSB 0 End the drive programming at the current block 1 Continue the drive programming 6 Set 0 1 Fordetails on the block jump conditions refer to 3 4 Block Jump Conditions and Finishing P 3 25 Parameter Setting range Unit Content E CHER TT ale eae r min Set the high velocity operation velocity for origin search PA A r min Set the low velocity operation velocity for origin search Acceleration y 0 010000 ms Sef the sccelocaior ns eder an Ro ir ss ee 91019000 mS i s de E ING between 3 000 and 0 r min Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 3 12 JojyaweJed o41uo5 Buruurej6o04d 3AA Drive Programming Control Parameter 3 3 Command Details 3 13 Example 1 Detection method 0 Origin proximity input HOME posterior end base phase Z Example Origin search direction forward Reverse direction limit sensor ON Starting area Origin search direction forward Origin proximity Forward direction input ON limit sensor ON Phase Z H M Example 2 Detection method 1 Latch input 1 EXT1 forward end base Example Origin search direction forward Reverse direction limit sensor ON Starting
92. it 2 bit 2 bit 32 bit Velocity JOG Block jump MEIOCIY Mele en number i i direction conditions Example Velocity change during an absolute movement operation velocity 1 to velocity 2 Drive Programming Velocity 1 Drive Programming Velocity 2 Velocity r min 3000 Drive Programming Acceleration 2 Drive Programming Deceleration 2 ose asm eee 1 A v Time Absolute Movement Velocity Update Stop position target absolute position Update only the velocity and stop at the original target position Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 3 16 JojyaweJed o41uo5 Buruuiej6o04d 3AA Drive Programming Control Parameter 3 3 Command Details Command argument Setting range Content Velocity number 0to7 Select the velocity for the update Set the selection number x for drive programming velocity x Set 0 Set 0 JOG direction 0 1 Set the operation direction only for a JOG operation This setting is disabled for relative or absolute movement operation 0 Forward direction 1 Reverse direction Block jump conditions 0to3 Set the block jump conditions after this command is executed LSB 0 Jump to the next block after the operation is started 1 The operation moves to the next block after completion of the operation that was started
93. ividuals not belonging to OMRON if the product is programmable or outcomes of such programming 3 Conditions for Intended Application 1 If this product is combined with other product the customer must check the standards 2 and regulations applicable to such combination The customer must also check the compatibility of this product with any system machinery or device used by the customer If the above actions are not taken OMRON shall not assume any responsibility regarding the compatibility of this product If the product is used in the following applications consult your OMRON sales representative to check the necessary items according to the specification sheet etc Also make sure the product is used within the specified ratings and performance ranges with an ample margin and implement safety measures such as designing a safety circuit to minimize danger should the product fail a Used in any outdoor application application subject to potential chemical contamination or electrical interference or in any condition or environment not specified in the catalog operation manual etc b Nuclear power control equipment incineration equipment railway aircraft and vehicle equipment medical machinery entertainment machinery safety system or any other device controlled by an administrative agency or industry regulation c System machinery or device that may threaten human life or property d Gas water or electricity su
94. least 100 ms before The pulse input timing inputting pulses after turning is too early ON the operation command RUN Reduce the ambient The resistor in the temperature of the Servo MES Drive to 55 C or lower Servo Drive is 1 If the relay does not click abnormally overhestin when the power supply is 9 turned ON replace the Servo Drive Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 5 12 solpowey pue sisoubeig 10413 les iagnosis and Remedi Error D 5 4 Troubleshooting Alarm m Status when error Error conditions Cause Measures number Occurs Lower the ambient temperature The ambient Increase the capacity of the 15 Servo Drive overheat Occurs during operation temperature 18 109 Sie erent high Reduce the load The load is too large Extend the acceleration deceleration times Mele Rd in ie Wire the Servomotor motor wiring the wiring or power cable correctly the connections are faulty Occurs when the servo The electromagnetic is turned ON Turn OFF the brake brake is ON eng Servo Dresd Replace the Servo Drive broken down 16 Overload The effective torque Review the load conditions exceeds the rated torque and operating conditions Theinitialtorque exceeds Review the motor the maximum torque capacity Occurs during operation Unusual noise or vibration is caused by Adjust the
95. leshooting Symptom Probable cause Items to check Measures The PWR LED indicator does not light when the power supply is turned ON The power supply cable is wired incorrectly Check to see if the power supply input is within the allowed power supply voltage range Supply the correct power supply voltage Check to see if the power supply input is wired correctly Wire correctly The motor does not rotate even after a drive programming is started The operation command RUN is OFF In Monitor Mode check whether the RUN signal is ON or OFF Turn ON the operation command RUN Wire correctly The strobe input STB is OFF Check if the STB signal is ON or OFF using the MONITOR mode Enter strobe input STB Wire correctly The Forward or Reverse Drive Prohibition Input POT or NOT is OFF In Monitor Mode check whether the POT signal and NOT signal are ON or OFF Turn ON the POT and NOT signals Disable them in the settings when the POT and NOT signals are not used The control mode does not conform to the command Check the control mode Selection Pn001 Setthe control mode according to the command The No 1 Torque Limit PnO13 or No 2 Torque Limit Pn522 is set to 0 Check the set value of Pn013 and Pn522 Return the set value to the default setting The Servomotor power cable is wired incorrectly The encoder cable is
96. luctuating due to devices near the Servomotor such as welding machines Check for ground problems loss of ground or incomplete ground at equipment such as welding machines near the Servomotor Ground the equipment properly and prevent current from flowing to the encoder FG Errors are being caused by excessive vibration or shock on the encoder There are problems with mechanical vibration or Servomotor installation such as the precision of the mounting surface attachment or axial offset Reduce the mechanical vibration or correct the Servomotor s installation The machine and the motor are resonating Check to see if the machine is resonating Readjust the torque command filter time constant If there is resonance set the Notch Filter 1 Frequency Pn201 Notch Filter 1 Width Pn202 and Notch Filter 1 Depth Pn203 Vibration is occurring at the same frequency as the power supply Inductive noise is occurring Check to see if the drive control signal lines are too long Shorten the control signal lines Check to see if the control signal lines and power supply lines are not bound together Separate control signal lines from power supply lines Use a low impedance power supply for control signals Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 5 24 solpowey pue sisoubeig 10413 les iagnosis and Remedi Error D 5 4 Troubles
97. mi Command name ng data Command Argument Argument Argument Argument Argument Argument code 1 2 3 4 5 6 4 bit 4 bit 2 bit 2 bit 2 bit 2 bit 32 bit Drive Programming Block ium Output Signal 8h B CTRL1 B CTRL2 B CTRL3 p ME conditions Control OU s LSB 0 OFF Output photocoupler OFF 1 ON Output photocoupler ON MSB 0 No operation Current value maintained 1 Operation Command argument Setting range Content B CTRL1 0 to 3 The following operation can be performed when the general purpose 2 B CTRL2 0to 3 terminal SOn is set to drive programming output B CTRLn 0 1 No operation Current value maintained 3 B CTRL3 0103 2 OFF Output photocoupler OFF 3 ON Output photocoupler ON 4 Set 0 Set the block jump conditions after this command is executed 5 Block jump pioa LSB 0 1 Jump to the next block after the operation is started conditions MSB 0 End the drive programming at the current block 1 Continue the drive programming 6 Set 0 1 Fordetails on the block jump conditions refer to 3 4 Block Jump Conditions and Finishing P 3 25 3 19 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 3 3 Command Details i Jump 09h This is used when jump to the specified block number Drive Programming control parameter 48 bit Drive Drive Programming command Programmi Command name ng data Command Arg
98. mming is stopped The origin search completion status is output ES This is always ON when an absolute encoder is Origin search complete used This is turned OFF if an incremental RA n HOME CMP 29h encoder is used when the power supply is turned ON This turns OFF when the origin search command is executed and turns ON when the origin search is completed 1 For details on the command refer to Chapter 3 2 Origin search completion output turns ON OFF based on the conditions regardless of the set value in Origin Search Disable Selection Pn722 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 2 1 Initial Setting H Precautions for Correct Use Do not use any values other than the settings listed You can allocate the same function to more than one output signal You cannot change the output signal logic When the function is disabled OFF signal input is open with COM and when the function is enabled ON signal input is shorted with COM I O signal allocation method Signals can be allocated to any parameters between Pn400 and Pn413 Output Signal Selection 3 Pn412 is fixed to alarm output signal Set the parameters based on the hex display standard Specify the set value of the function in below Refer to the function number table provided above for the set value of each function The logic setting is included in the function numbers 000000 h Position con
99. n external Check the connection connection error encoder phase A phase B or phase Z connection Forced alarm input The forced alarm input Turn OFF the EMG STOP 87 Occurs during operation error signal was input signal Apply the correct power voltage for the long Insemi closing control encoder wire initialization of internal Install the motor power position data is not line separately from the processed correctly encoder wire Connect the shield cable Encoder data to FG 92 restorati n Occurs when the power arr is turned ON Apply the correct power In FULL CLOSING CONTROL mode itialization of internal position data is not processed correctly voltage for the long connection cable for the external encoder Install the motor power line separately from the encoder wire Connect the shield cable to FG Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 5 18 solpowey pue sisoubeig 10413 les iagnosis and Remedi Error D 5 4 Troubleshooting Alam Error conditions pictus when rn Cause Measures number Occurs The velocity acceleration and Setthe specified velocity deceleration were set to acceleration and 0 and a drive deceleration to a value programming was other than 0 started A target that is not Check to make sure that applicable to there is no problem with comparison by the the conditional branching
100. nd Drive Set the velocitys to be used for Relative or 0 to 702 Programming Absolute Movement JOG and Velocity 0 r min 20000 velocity 2 Update command Drive Set the velocitys to be used for Relative or 0 to 703 Programming Absolute Movement JOG and Velocity 0 r min i 20000 velocity 3 Update command Drive Set the velocitys to be used for Relative or 0 to 704 Programming Absolute Movement JOG and Velocity 0 r min 20000 velocity 4 Update command Drive Set the velocitys to be used for Relative or 0 to 705 Programming Absolute Movement JOG and Velocity 0 r min i 20000 velocity 5 Update command Drive Set the velocitys to be used for Relative or 0 to 706 Programming Absolute Movement JOG and Velocity 0 r min 20000 velocity 6 Update command Drive Set the velocitys to be used for Relative or 0 to 707 Programming Absolute Movement JOG and Velocity 0 r min 20000 velocity 7 Update command Drive Pee 708 Proarammin Set the acceleration time between O r min 0 ig 0 to T gramming land 3 000 r min 10000 acceleration 0 Drive Sad s 709 Programming Set the acceleration time between O r min 0 i 0 to NOE and 3 000 r min 10000 acceleration 1 Drive NP 710 Programming Set the acceleration time between O r min 0 ing 0 to 7 d and 3 000 r min 10000 acceleration 2 Drive TM 711 Programming Set the acceleration time between O r min 0 ms 0 to K NS and 3 000 r min 1000
101. ned Argument 2 2bit B CTRL2 3 ON Argument 3 2bit B CTRL3 0 Current value maintained Argument 4 2bit 0 B Argument 5 2bit Block jump conditions 0 E programming at the Argument 6 32bit 0 4 3 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 4 1 Installation Conditions Velocity r min i Drive Programming Drive Programming Acceleration 2 Deceleration 2 Drive Programming Velocity 1 i Drive Programming i Deceleration 1 3000 be MR0M4gRe Drive Programming Of Velocity 2 Drive Programming Acceleration 1 Time t f Origin search Origin Absolute If command position Stop position start search movement gt 3 000 pulses target absolute position completion start update velocity 100000 pulse MIN 10 ms 4 1 gt lt 3 B SEL1 2 ON B SEL4 8 16 OFF i STB ON OFF IN OFF B BUSY ON OFF i ON T n i i B CTRL1 i OFF Jo ON 5 i B CTRL2 i OFF ON 11 Block processing cycle o T T Not Hi Dsmssn Not Hp executed 1 executed i i Number of t r l i the block d H H to be executed hi 1 i E 4 i 5 internal data 0 2 3 1 Leave atleast 10 ms between a B SELn input and an STB input jdwexg BuruueJ604d eAuq Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 4 4 Error Diagnosis and Remedies ee This chapt
102. ned OFF and the drive programming is finished 2 1 Absolute movement is performed to the 100000th pulse Velocity number 1 acceleration number 2 and deceleration number 2 are used 2 2 After moving to the 30000th pulse the velocity is updated to velocity number 2 2 3 After moving to the 100000th pulse drive programming output 2 B CTRL2 is turned ON and the drive programming is finished Parameter Settings i Block Number 0 Pn800 8202h Pn801 00000000h Drive Programming command data Value Content Command Code 4bit 8h P MUT Output Signal Argument 1 4bit B CTRL1 2 OFF Argument 2 2bit B CTRL2 0 Current value maintained Argument 3 2bit B CTRL3 0 Current value maintained Argument 4 2bit 0 Argument 5 2bit Block jump conditions 2 ATE e a ciat ang Argument 6 32bit 0 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 4 1 Installation Conditions i Block Number 1 Pn802 4153h Pn803 00000000h Drive Programming command data Value Content Command Code 4bit 4h Origin Search Argument 1 4bit Detection method 1 Latch input 1 EXT1 forward end base Use Drive Programming Acceleration Argument 2 2bit Acceleration number 1 1 Pn709 Use Drive Programming Deceleration Argument 3 2bit Deceleration number 1 1 Pn713 Argument 4 2bit Origin search direction 0 Forward direction A
103. ns the drive programming control parameter 3 1 Parameter Configuration eese 3 1 Drive Programming Command Configuration 3 1 Drive Programming Data Configuration sseeeessss 3 1 List of Drive Programming Control Parameters 3 2 3 2 Command LISL iiioisioii censi era Paca sake ima a ise n n Igea da kuA 3 5 3 3 Command Details iir cusan aa cx cerita 3 6 3 4 Block Jump Conditions and Finishing 3 25 Block Jump Conditions sse 3 25 Finishing the Drive Programming eene 3 25 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL Drive Programming Control Parameter 3 1 Parameter Configuration 3 1 Parameter Configuration Drive Programming control parameter consists of the 16 bit drive programming command and the 32 bit drive programming data These parameters must be set before starting the drive programming function Note that all of these parameters are initialized to O when initialization is executed Drive Programming Command Configuration Drive Programming command consists of arguments such as a command code operation velocity and acceleration deceleration For the contents of the arguments refer to command details bit 7 6 5 4 3 2 1 0 byte 0 Argument2 Argument 3 Argument 4
104. nt 6 for Drive Programming data 00000000h to K Data 5 FFFFFFFFh Drive 812 Programming Set command code and arguments 1 to 5 0000h rc Command 6 Drive 00000000h 813 Programming argument 6 for Drive Programming data 00000000h to Data 6 j FFFFFFFFh Drive 814 Programming Set command code and arguments 1 to 5 0000h Pd Command 7 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL A 24 gt o o o 2 2 x Appendix A 2 Parameter List A 25 E z Power Parameter TEA Default Setting supply name Description setting cin range OFFto as o ON Drive 00000000h 815 Programming v argument 6 for Drive Programming data 00000000h to B Data 7 FFFFFFFFh Drive 816 Programming Set command code and arguments 1 to 5 0000h eal Command 8 Drive 00000000h 817 Programming n argument 6 for Drive Programming data 00000000h to Data 8 FFFFFFFFh Drive 818 Programming Set command code and arguments 1 to 5 0000h Mind Command 9 Drive j 00000000h 819 Programming a argument 6 for Drive Programming data 00000000h to i Data 9 i FFFFFFFFh Drive 820 Programming Set command code and arguments 1 to 5 0000h E Command 10 Drive 00000000h 821 Programming ha 6 for Drive Programming data 00000000h to 7 Data 10 i FFFFFFFFh Drive 822 Programming Set
105. ntent 1 Set 0 2 Set 0 3 Set 0 4 Set 0 Set the block jump conditions after this command is executed LSB 0 Jump to the next block after the operation is started 1 The operation moves to the next block after the counter starts Block jump 5 conditions i 0 to 3 and then stops counter is at 0 The counter can be used as the wait timer to indicate when the next block starts MSB 0 End the drive programming at the current block 1 Continue the drive programming Set the initial value of the decrement counter per 1 ms The counter decrements by 1 in cycles of 1 ms from the set value and stops at 0 The counter value after it is started is used by the conditional branching command e Timeregunter 0 to 1000000 setting value 1 For details on the block jump conditions refer to 3 4 Block Jump Conditions and Finishing P 3 25 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 3 18 JojoujeJed o41u05 Buruurej6o04d 3AA Drive Programming Control Parameter 3 3 Command Details Drive Programming Output Signal Control 08h This is used when operating the output signals The drive programming output signals B CTRL1 to B CTRL3 need to be allocated in advance to sequence output signals SO1 to S04 Drive Programming control parameter 48 bit Drive Drive Programming command Program
106. o start a drive programming allocate the drive programming designation input B SEL 1 2 4 8 16 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL Dunes sejowese Parameter Setting 2 1 Initial Setting Function Number Table The set values and functions to be used for allocations are as follows 1 Set value s Signal name Symbol Function NO NC Disabled 00h Setting not Input signals are ignored available put sig 9 i Forward drive Badin DR POT Oih 8th Forward drive prohibition input prohibition input Reverse clive NOT 02h 82h Reverse drive prohibition input prohibition input Operation command RUN 03h 83h This is used when turning servo ON OFF Settingnot This is used when externally resetting the Alarm reset input RESET 04h Available dservaralatmi Gain switching GSEL o6h 86h Mann when switching between gain 1 Torque limit switching TLSEL 09h 89h This is used when switching the torque limit Damping filter DFSEL1 0Ah 8Ah This is used when switching the damping filter switching 1 Damping filter DFSEL2 OBh 8Bh This is used when switching the damping filter switching 2 Forced alarm input E STOP 14h 94h Alarm stop input from the external ae ratio switching J SEL 15h 95h Inertia ratio switching input Setlinanot This is used when performing an origin search Latch input 1 2 EXT1 20h SUE with the forward end of the sensor set as the
107. o the next block upon deceleration stop completion conditions MSB 0 End the drive programming at the current block 1 Continue the drive programming 6 Set 0 1 For details on the block jump conditions refer to 3 4 Block Jump Conditions and Finishing P 3 25 2 Upon deceleration stop refers to the point where the internal position command generation process is finished This is not based on when the motor actually stops Furthermore note that the movement command will still be output even after the internal position command generation process is finished if the position command filter FIR smoothing is used 3 15 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL Furthermore the velocity cannot be updated once a deceleration operation starts 3 3 Command Details i Velocity Update 06h This is used when updating the velocity of the operation currently in progress While or after the velocity is updated the operation before this command was executed will be continued This is enabled only for a relative or absolute movement operation or a JOG operation and the velocity for an origin search operation cannot be updated while it is in progress Drive Programming control parameter 48 bit Drive Drive Programming command Programmi Command name ng data Command Argument Argument Argument Argument Argument Argument code 1 2 3 4 5 6 4 bit 4 bit 2 bit 2 b
108. old it by the cables or Servomotor shaft Injury or failure may result Do not overload the Servo Drive or Servomotor Follow the instruction on the product label Injury or failure may result Use the motor eye bolts only when transporting the Servomotor Do not use them to transport the machine Injury or failure may result When lifting a 15 kW or higher Servo Drive during moving or installation always have two people lift the product by grasping a metal part Do not grasp a plastic part Risk of injury or product damage gt e ee Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 7 Safety Precautions Installation and Wiring Caution Do not step on the Servo Drive or place heavy articles on it Injury may result Do not block the intake or exhaust openings Do not allow foreign objects to enter the product Fire may result Be sure to observe the mounting direction Failure may result Provide the specified clearance between the Servo Drive and the inner surface of the control panel or other equipment Fire or failure may result Do not apply strong impact on the Servomotor shaft or Servo Drive Failure may result Wire the cables correctly and securely Runaway motor injury or failure may result Securely tighten the mounting screws terminal block screws and cable screws Failure may result Use crimp terminals for wiring If simple twist
109. ons without covers and safety shields for the purpose of showing the details When using this product be sure to install the covers and shields as specified and use the product according to this manual Elif the product has been stored for an extended period of time contact your OMRON sales representative Always connect the frame ground terminals of a 100 V or 200 V type drive and motor to a type D or higher ground Always connect the ground terminals of a 400 V type to a type C or higher ground Improper grounding may result in electrical shock Never touch the parts inside the Servo Drive Electric shock may result While the power is supplied do not remove the front cover terminal covers cables and options Electric shock may result Installation operation and maintenance or inspection by unauthorized personnel is prohibited Electric shock or injury may result Before carrying out wiring or inspection turn OFF the power supply and wait for at least 15 minutes Electric shock may result Do not damage pull stress strongly or pinch the cables or place heavy articles on them Electric shock stopping of Servo Drive operation or burn damage may result Never touch the rotating part of the Servomotor during operation Injury may result Never modify the Servo Drive Injury or equipment damage may result Install a stopping device on the machine to ensure safety The holding brake is not a sto
110. pectancy of warnin Aways the capacitor or the fan A7 9 fixed with 6 Cap 8 bit 2 4 is shorter than the no time limit he specified value A8 External encoder Y The external encoder 9 bit 8 error warning detected a warning External encoder The external encoder has A9 communications 4 more communications emos io bit 10 warning in series than the specified value 1 The V fields can be set to 1 to 10 s in the Warning Latch Hold Time Selection Pn627 or to the no time limit setting However the battery warning is fixed with no time limit 2 Select the type of warning to be output in warning output 1 WARN1 and warning output 2 WARN2 in the Warning Output Selection 1 Pn440 and Warning Output Selection 2 Pn441 If you set this to 0 all warning types will be output Do not set it to a value other than above 8 Each warning detection can be masked using the Warning Mask Setting Pn638 The corresponding bits are shown in the table The warning detection is masked when the bit 1 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 5 4 solpawey pue sisoubeig 10413 Error Diagnosis and Remedies 5 3 Alarm List 5 3 Alarm List If the drive detects an error the alarm output ALM will turn ON the power drive circuit in the drive will turn OFF and the alarm code will be displayed M Precautions for Correct Use Refer to Error Diagnosis Using the Alarm Displays P 5 11
111. pping device to ensure safety Injury may result Install an immediate stop device externally to the machine so that the operation can be stopped and the power supply cut off immediately Injury may result When the power is restored after a momentary power interruption the machine may restart suddenly Never come close to the machine when restarting power Implement measures to ensure safety of people nearby even when the machine is restarted Injury may result After an earthquake be sure to conduct safety checks Electric shock injury or fire may result Never drive the Servomotor using an external drive source Fire may result pD5PPPPPPPPPPSG Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 5 Safety Precautions Do not place flammable materials near the Servomotor Servo Drive or Regeneration Resistor Fire may result Install the Servomotor Servo Drive and Regeneration Resistor on non flammable materials such as metals Fire may result When you perform a system configuration using the safety function be sure to fully understand the relevant safety standards and the information in the operation manual and apply them to the system design Injury or damage may result Do not use the cable when it is laying in oil or water Electric shock injury or fire may result Never connect a commercial power supply directly to the Servomotor Fire or failure may
112. pply system system operated continuously for 24 hours or any other equipment requiring high reliability e Any other application where a high level of safety corresponding to a to d above is required Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL Items Requiring Acknowledgment 3 If the customer wishes to use this product in any application that may threaten human life or property be sure to confirm beforehand that the entire system is designed in such a way to notify dangers or ensure the necessary level of safety via design redundancy and that the product is wired and installed appropriately in the system according to the intended application 4 Sample applications explained in the catalog etc are provided for reference purposes only When adopting any of these samples check the function and safety of each equipment or device 5 Understand all prohibited items and notes on use provided herein so that this product will be used correctly and that customers or third parties will not suffer unexpected losses 4 Specification Change The product specifications and accessories explained in the catalog operation manual etc are subject to change if necessary for the reasons of improvement etc Contact your OMRON sales representative to check the actual specifications of this product 5 Scope of Service The price of this product excludes costs of service such as dispatching engineers If you hav
113. prohibition input enabled 504 Prohibition 1 Oto 2 Yes Input Selection 4 Forward or reverse direction drive prohibition input disabled 2 Forward or reverse direction drive prohibition input enabled Make the setting upon drive prohibition input 505 MEE O The torque in the drive prohibit direction is Ra 2 disabled and the dynamic brake is activated O 0t02 Yes Prohibition Input 1 The torque in the drive prohibit direction is disabled and free run deceleration is performed A Set the stop operation when the servo is turned OFF During deceleration Dynamic brake 0 1 f 4 After stopping Dynamic brake Error counter Clear gt 1 During deceleration Free run xe 5 After stopping Dynamic brake S Error counter Clear Q 2 During deceleration Dynamic brake X 506 Stop Selection Jo iter lepine Sone tee TE with Servo OFF During deceleration Free run 3 After stopping Servo free 7 Error counter Clear During deceleration Emergency stop 8 After stopping Dynamic brake Error counter Clear During deceleration Emergency stop 9 After stopping Servo free Error counter Clear Stop Selection Setthe stop operation when the main power 507 with Main supply is turned OFF 0 A 0 to 9 o Power Supply The set values for this parameter are the same OFF as Stop Selection with Servo OFF Pn506 Undervoltage Select whether to trip the LV or turn OFF the 508 i Oori Alarm Selection servo if there is a main power supply
114. put Signal F F Oto 406 Selection 7 Set the input signal 7 function and logic 3847 o0FFFFFFh YCS Input Signal i Oto 407 Selection 8 Set the input signal 8 function and logic 263172 O0FFFFFFh Yes Input Signal 0to 408 Selection 9 Set the input signal 9 function and logic 328965 O0FFFFFFh Yes Input Signal 0to 409 Selection 10 Set the input signal 10 function and logic 3720 O0FFFFFFh Yes Output Signal 0 to 410 Selection 1 Set the output signal 1 function allocation 197379 O0FFFFFFh Yes Output Signal F 0 to 411 Selection 2 Set the output signal 2 function allocation 131586 OOFFFFEEh YES 412 Not used Do not change the set value Output Signal F 0 to 413 Selection 4 Set the output signal 4 function allocation 328964 OOFFFFEFh YES A 11 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL A 2 Parameter List Pn number Parameter name Description Setting Default setting Unit Setting range Power supply OFF to ON 416 Analog Monitor 1 Selection n elect the type for analog monitor 1 o Motor speed Position command speed Internal position command speed Speed Control Command Torque command Position command error Encoder Position Error Fully closed Error Hybrid Error o CO N oO aj A OJ N P N voltage eo Regeneration load r
115. r Position error 2 Position error pulse command position 1 Comparison target 0 to 15 current position 3 Command velocity r min Command verogtyte the motor 4 Motor velocity r min Current velocity of the motor 5 Command torque 0 1 Command torque tothe motor 6 Timer counter Counter value 7 to 15 Reserved Do not use 2 H mH age 3 Block n mb r 0 to 31 Set the destination block number when the specified conditions are met when Yes 4 Set the block jump conditions after this command is executed LSB 0 When Yes is indicated after starting the operation moves to the specified block When No is indicated operation moves to the next block Block jump 1 The current drive programming is executed until Yes is 5 Rs 0to 3 zur conditions indicated When Yes is indicated the operation moves to the specified block MSB 0 End the drive programming at the current block 1 Continue the drive programming Comparison value threshold value 80000000h to 7FFFFFFFh Set the comparison value threshold value The comparison value and unit vary depending on the comparison target 3 23 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 3 3 Command Details i Conditional Branching 3 lt OCh This is used when jump to the specified block number destination when Yes when the specified conditions are met Drive Programming control parameter 48 bit
116. r control is input error Or occurs during prohibition NOT input correctly operation were both OFF at the Check whether the setting for same time Drive Prohibition Input Selection Pn504 is correct Reduce the input voltage 39 oo analog input Occurs during operation M a PEDERI Change the value for Pn424 gn Pn427 and Pn430 Absolute encoder Occurs when the power The voltage supplied to Set up the absolute encoder 40 system down error supply is turned ON the absolute encoder is Connect the battery ABS Occurs during operation low power supply Absolute encoder The multi rotation counter of Properly set the Operation 41 counter overflow error Occurs during operation the absolute encoder Switch when Using Absolute ABS exceeds the specified value Encoder Pn015 The motor rotation speed Absolute encoder exceeds the specified Reduce the motor rotation Occurs when the power 42 overspeed error Supply is t rhed ON value when the battery speed and supply power ABS PP power supply is turned ON Check the wiring The wiring is incorrect Absolute encoder 1 Securs when the power 44 rotation counter error a p The encoder is faulty Replace the Servomotor ABS supply is turned ON Absolteeneodes Occurs when the power 45 multi rotation counter F p The encoder is faulty Replace the Servomotor supply is turned ON The motor was moving Do not let the motor
117. ramming Set command code and arguments 1 to 5 0000h endis Command 17 Drive 00000000h 835 Programming iE 6 for Drive Programming data 00000000h to p Data 17 i FFFFFFFFh Drive 836 Programming Set command code and arguments 1 to 5 0000h ee Command 18 Drive 00000000h 837 Programming vie UE 6 for Drive Programming data 00000000h to p Data 18 FFFFFFFFh Drive 838 Programming Set command code and arguments 1 to 5 0000h add Command 19 Drive 00000000h 839 Programming E 6 for Drive Programming data 00000000h to Data 19 i FFFFFFFFh Drive 840 Programming Set command code and arguments 1 to 5 0000h oe Command 20 Drive 00000000h 841 Programming vd DE 6 for Drive Programming data 00000000h to 7 Data 20 FFFFFFFFh Drive 842 Programming Set command code and arguments 1 to 5 0000h ee Command 21 Drive 00000000h 843 Programming oo 6 for Drive Programming data 00000000h to E Data 21 FFFFFFFFh Drive 844 Programming Set command code and arguments 1 to 5 0000h M Command 22 Drive 00000000h 845 Programming Eo RAM 6 for Drive Programming data 00000000h to i Data 22 FFFFFFFFh Drive 846 Programming Set command code and arguments 1 to 5 0000h add Command 23 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL A 26 gt o o o 2 2 x Appendix
118. rgument 5 2bit Block jump conditions 3 Operation eee alter starting and drive programming continues Argument 6 32bit 0 i Block Number 2 Pn804 8380h Pn805 00000000h Drive Programming command data Value Content Command Code 4bit 8h eee Output Signal Argument 1 4bit B CTRL1 3 ON Argument 2 2bit B CTRL2 2 OFF Argument 3 2bit B CTRLS 0 Current value maintained Argument 4 2bit 0 Argument 5 2bit Block jump conditions 0 F kts programming at the Argument 6 32bit 0 i Block Number 3 Pn806 21A2h Pn807 000186A0h 100000 Drive Programming command data Value Content Command Code 4bit 2h Absolute Movement Argument 1 Abit Velocity number 1 Use Drive Programming Velocity 1 Pn701 Use Drive Programming Acceleration Argument 2 2bit Acceleration number 2 2 Pn710 Use Drive Programming Deceleration Argument 3 2bit Deceleration number 2 2 Pn714 Argument 4 2bit 0 B Argument 5 2bit Block jump conditions 2 Operation seid aier staring and drive programming continues Argument 6 32bit Target absolute position 100000 Travel is performed to the 100 000th pulse pulse Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 4 2 jdwexg BuruueJ604d eAuq Drive Programming Example 4 1 Installation Conditions i Block Number 4 Pn808 B
119. s being executed Anew drive programming was Check to make sure that started while a drive there is no problem with The error occurred programming is already the host side sequence during an operation or in progress when a drive programming was Check to make sure that started A drive programming there is no problem with was started when the the host side sequence servo is OFF Start a drive programming when the servo is ON Check to make sure that The position command melee no problem with the coordinate series value or the current a Check to make sure that position exceeds the Drive Programming there is no problem with 94 C0000001h to error the block data settings SFFFFFFFh range such as the travel distance PIS prohibition input M Check to make sure that turned ON during an nae there is no problem with The error occurred origin search operation T relies the placement during an origin search and a reverse direction nE n relationship among the operation drive prohibition input CERE drive prohibition input turned ON during a dcn origin signal and phase Z reverse operation Check to make sure that Origin search was there is no problem with executed when an the drive programming absolute encoder is parameter settings and used the settings when an The error occurred when absolute encoder is used a E programming IS Relative or absolute Check to make sure that start
120. st This is a function to output a warning signal before the protective function operates to notify the overload and other statuses in advance Set the warning output type to Warning Output Selection 1 Pn440 and Waning Output Selection 2 Pn441 l Precautions for Correct Use Each warning automatically returns to the status before it occurred once the system recovers from the error However for the time set in the Warning Latch Hold Time Selection Pn627 the warning status will be held To clear the warning during the latch hold time do so by performing the same procedures as alarm clear E Warning List Warning 4 T Warning Output Selection Warning Mask number Warning name Latch Warning condition Pn440 Pn441 2 Setting Pn638 Ini fo AO Overload 4 The load ratio is 85 OF 4 bit 7 warning more of the protection level Excessive The regeneration load A1 regeneration Y ratio is 85 or more of 2 bit 5 warning the protection level Battery warning Always Battery voltage is 3 2 V A2 fixed with or less 3 bit O no time limit A3 Fan warning The fan stops for 1 4 bit 6 second Encoder Encoder communications AA communications 4 errors occurred in seres bit 4 warning more than the specified value Encoder The encoder A5 overheating y temperature exceeded 6 bit 3 warning the specified value Vibration Vibration is detected A6 detection Y 7 bit 9 warning Life expectancy The life ex
121. t Never adjust or set parameters to extreme values as it will make the operation unstable Injury may result Separate the motor from the mechanical system and check its operation before installing the motor to the machine Injury may result If an alarm generated remove the cause of the alarm and ensure safety and then reset the alarm and restart the operation Injury may result Do not use the built in brake of the motor for normal braking operation Failure may result Do not operate the Servomotor connected to an excessive load inertia Failure may result Install safety devices to prevent idle running or lock of the electromagnetic brake or the gear head or leakage of grease from the gear head Injury damage or taint damage may result If the Servo Drive fails cut off the power supply to the Servo Drive at the power supply Fire may result Do not turn ON and OFF the main Servo Drive power supply frequently Failure may result pDPPPPPPPPPE Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 9 Safety Precautions Maintenance and Inspection N Caution After replacing the Servo Drive transfer to the new Servo Drive all data needed to resume operation before restarting the operation Equipment damage may result Never repair the Servo Drive by disassembling it NJ Electric shock or injury may result Be sure to turn OFF the power supply when the S
122. tching from gain 2 50 03 ms 0 to E to gain 1 10 000 Position Control Gain Switching Level ON 0 to 117 in Position Control Set the gain switching level 50 20000 Gain Switching 0 to 118 Hysteresis in Set the hysteresis for gain switching 33 BK 20 000 Position Control Position Gain Set the position gain switching time for gain 0 to b 119 switching Time switching re 0 1 ms 9 000 Note 1 The default setting is 320 for 200 V Servo Drives of 1 kW or higher and 400 V Servo Drives Note 2 The default setting is 180 for 200 V Servo Drives of 1 kW or higher and 400 V Servo Drives Note 3 The default setting is 310 for 200 V Servo Drives of 1 kW or higher and 400 V Servo Drives Note 4 The default setting is 126 for 200 V Servo Drives of 1 kW or higher and 400 V Servo Drives Note 5 The default setting is 380 for 200 V Servo Drives of 1 kW or higher and 400 V Servo Drives Note 6 The default setting is 180 for 200 V Servo Drives of 1 kW or higher and 400 V Servo Drives Note 7 The default setting is 126 for 200 V Servo Drives of 1 kW or higher and 400 V Servo Drives Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL A 6 xipueddy Appendix A 2 Parameter List i Vibration Suppression Function Parameters A 7 E Power Parameter c Default Setting supply Z name z Description setting unit range OFFto
123. ted i disconnected Connector contacts Wire correctly are faulty The encoder is wired Wire correctly Encoder incorrectly 21 comm nicaiiens amor Occurs during operation The encoder is damaged Replace the motor he servo Drives Replace the Servo Drive faulty The motor is If the motor shaft is held mechanically held release it The encoder signal line Wire correctly is wired incorrectly Occurs when the power Noise on the encoder wiring Take measures against noise on Encoder 1 fy n supply is turned ON causes incorrect operation the encoder wiring 23 communications data amor Or occurs during TR F operation E OMEO i PONSI Provide the required supply voltage has dropped especially encoder power supply O when the cable is long voltage S5 VDO 57 The motor power line or the ERAN Wire correctly encoder wiring is incorrect Occurs when the motor If the motor shaft is held does not rotate even A The motor is release it when command pulses 2 mechanically held Release the are input electromagnetic brake Control PCB error Replace the Servo Drive Occurs during high s A Ne motor mais fing or the encoder wiringis Wire correctly speed rotation incorrect 7 Gain adjustm ntis Adjust the gain 24 Error counter overflow insufficient Occurs whens ong The acceleration Extend the acceleration string of command none f EB on
124. ter Parameter Setting Explanation Unit number name range Select whether or notto omit the origin search Origin Search operation when an incremental encoder is Pn722 Disable used 0 1 Selection 0 Origin search required 1 Origin search not required Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 2 1 Initial Setting i CONTROL Mode Selection Pn001 When the drive programming function is enabled the CONTROL Mode Selection will be controlled as follows Both with semi closed control and full closing control the CONTROL mode switching is not available and is fixed to position control Parameter Parameter Setting Explanation Unit number name range Select the CONTROL mode Pnoo1 CONTROL 0 to 5 Semi closed control 0 to 6 Mode Selection 6 Full closing control B Electronic Gear Function Pn008 to Pn010 When the drive programming function is used set the electronic gear ratio to 1 1 Operation cannot be guaranteed if this is set to any other ratio i Input Signal Selection 1 to 10 Pn400 to Pn409 When the drive programming function is enabled the following functions can be allocated to input signals Allocate the necessary functions to Pn400 to Pn409 Refer to I O signal allocation method P 2 6 for details on setting method Be sure to allocate operation command RUN and strobe input STB Furthermore when specifying a drive programming number t
125. ter a problem has occurred the Servo Drive may suddenly start to operate or suddenly stop so always take the following precautions You should assume that anything not described in this manual is not possible with this product i Precautions Disconnect the wiring before checking for cable breakage If you test conduction with the cable connected test results may not be accurate due to conduction via bypassing circuit If the encoder signal is lost the motor may run away or an alarm may occur Be sure to disconnect the motor from the mechanical system before checking the encoder signal When measuring the encoder output perform the measurement based on the SENGND CN1 pin 13 When an oscilloscope is used for measurement it will not be affected by noise if measurements are performed using the differential between CH1 and CH2 When performing tests first check that there are no persons in the vicinity of the equipment and that the equipment will not be damaged even if the motor runs away Before performing the tests verify that you can immediately stop the machine using an emergency stop even if it runs away Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 5 2 solpowey pue sisoubeig 10413 Error Diagnosis and Remedies 5 1 Error Processing Replacing the Servomotor or Servo Drive 5 3 Use the following procedure to replace the Servomotor or Servo Drive fi Replacing the Servomotor 1 Repla
126. the drive programming at the current block 1 Continue the drive programming Comparison value threshold value 80000000h to 7FFFFFFFh Set the comparison value threshold value The comparison value and unit vary depending on the comparison target Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 3 24 JojoujeJed o41uo5 Buruurej6o04d 3AA Drive Programming Control Parameter 3 4 Block Jump Conditions and Finishing 3 4 Block Jump Conditions and Finishing Block Jump Conditions Up to 32 blocks can be set and therefore the block setup block programming needs to be configured efficiently so that complex operations can be performed Block programming can be streamlined with an effective utilization of block jump conditions Block jump conditions are set based on argument 5 block jump condition of each command and the most significant bit MSB and least significant bit LSB functions can be categorized as follows L LSB Set a condition to jump to the block when set to continue drive programming MSB 21 0 Move to the specified block after the applicable block processing is started 1 Move to the specified block after the applicable block processing is completed MSB Specify whether to finish or continue the drive programming at the current block 0 Finish the drive programming when the current block processing is finished 1 Continue the drive progr
127. the position where the power supply was turned ON or where the origin search was last completed exceeds the range between C0000001h and 3FFFFFFFh even during an origin search operation the wrap around error alarm 94 1 will occur Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 3 14 JojoujeJed o41uo5 Buruurej6o4d 3AA Drive Programming Control Parameter 3 3 Command Details i Deceleration Stop 05h This is used when stopping a JOG operation or when forcibly stopping other operations Drive Programming control parameter 48 bit Drive Drive Programming command Programmi Command name ng data Command Argument Argument Argument Argument Argument Argument code 1 2 3 4 5 6 4 bit 4 bit 2 bit 2 bit 2 bit 2 bit 32 bit Stop Block jump Deceleration Stop 5h method conditions Velocity Drive P i Drive Programmin r min Acceleration MI Deceleration z i Drive Ee ole i Programming i a Velocity x 3000 E EE t Time JOG start Deceleration Stop Stop method 0 Command argument Setting range Content Set the deceleration stop method 0 Stop at the deceleration specified when the operation currently in 1 Stop method 9 1 progress was started 1 Stop immediately Set 0 Set 0 Set 0 Set the block jump conditions after this command is executed g 5 Block jump DIS LSB 0 1 Jump t
128. ting range Content Value Comparison target Unit Note 0 Command position pulse Command position aner filtering 1 Current position pulse Current position ofthe motor Position error 2 Position error pulse command position current position 1 Comparison target 0 to 15 3 Command velocity r min M a velodity io tha motor 4 Motor velocity r min Current velocity of the motor 5 Command torque 0 1 Command torque tothe motor 6 Timer counter Counter value 7 Input signals Input signals 8 Output signals Output signals 7 9 to 15 Reserved Do not use 2 H 3 Block number 0 to 31 Set the destination block number when the specified conditions are met when Yes 4 Set the block jump conditions after this command is executed LSB 0 When Yes is indicated after starting the operation moves to the specified block When No is indicated operation moves to Block jum the next block 5 ondine 0 to 3 1 The current drive programming is executed until Yes is indicated When Yes is indicated the operation moves to the specified block MSB 0 End the drive programming at the current block 1 Continue the drive programming 6 Comparison value B0000009h to a dae a e od on the comparison threshold value 7FFFFFFFh orget P ies tae P Note Erroneous judgment may result due to the error in the sampling timing etc In such a case use conditional branching gt or lt 3 21 Accurax G5 series
129. trol fully closed control Example Position control or fully closed control Strobe input 1 for contact NO 25h 00000025h Position control fully closed control This will be 37 since the front panel display is in decimal numbers Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 2 6 Dunes 1e1ourejeg 2 2 Drive Programming Setting Parameter 2 2 Drive Programming Setting Parameter Parameters related to drive programming are described These parameters must be set before Parameter Setting the drive programming function is started Note that all of these parameters are initialized to O when initialization is executed Drive Programming Setting Parameter Foramen Parameter name Attribute Setting range Unit number Pn700 Drive Programming Velocity 0 0to20000 3 r min Pn701 Drive Programming Velocity 1 Up to eight drive programming velocitys can 0 to 20000 2 3 r min be set 1 2 3 Pn702 Drive Programming Velocity 2 Set the velocity for Relative Movement 0 to 20000 r min Pn703 1 Drive Programming Velocity 3 Absolute Movement and JOG and Velocity 0 to 20000 2 3 r min Update commands Pn704 Drive Programming Velocity 4 For argument of each command set the 0 to 20000 2 3 r min Pn705 Drive Programming Velocity 5 E Programming Velocity number value 9 to 59999 2
130. ty x motor velocity Drive Programming Set the acceleration Acceleration y 9 1010900 me Set the acceleration time between 0 and 3 000 r min Drive Programming 0 to 10000 his Set the deceleration Deceleration z Set the deceleration time between 3 000 and 0 r min 3 7 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 3 3 Command Details i Absolute Movement 02h This is used when performing an absolute movement If Origin Search Disable Selection Pn722 is set to 0 perform an origin search before starting the operation Drive Programming control parameter 48 bit Drive Drive Programming command Programmi Command name ng data Command Argument Argument Argument Argument Argument Argument code 1 2 3 4 5 6 4 bit 4 bit 2 bit 2 bit 2 bit 2 bit 32 bit Target Absolute Movement 2h Velocity Acceleration Deceleration _ Block jump absolute number number number conditions position pulse Velocity Drive Programming Drive Programming r min Acceleration y Deceleration z Drive NEN MENS Programming 9 7 77777777 pense Velocity x f 3000 H pef Meereeeeel Movement distance i Target absolute position x i i Time t Start position x Stop position Target absolute position Command argument Setting range Content 1 Velocity number 0 to 7 Set selection number x
131. ument Argument Argument Argument Argument Argument code 1 2 3 4 5 6 4 bit 4 bit 2 bit 2 bit 2 bit 2 bit 32 bit Jump 9h Block number destination Eee Jump Nt conditions Command argument Setting range Content 1 Set 0 2 3 Block number 0 to 31 Set the destination block number 4 Block jump Set the block jump conditions after this command is executed 5 diti D 0to 3 The drive programming moves to the specified block and is continued goncitons regardless of this setting 6 Set 0 1 Fordetails on the block jump conditions refer to 3 4 Block Jump Conditions and Finishing P 3 25 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 3 20 JojoujeJed o41uo5 Buruuiejb6o4d 3AA Drive Programming Control Parameter 3 3 Command Details fl Conditional Branching 1 OAh This is used when jump to the specified block number destination when Yes when the specified conditions are met Drive Programming control parameter 48 bit Drive Drive Programming command Programmi Command name ng data Command Argument Argument Argument Argument Argument Argument code 1 2 3 4 5 6 4 bit 4 bit 2 bit 2 bit 2 bit 2 bit 32 bit Comparison Conditional Comparison M Block jump value Branching 1 i target Block number este ign when Nes conditions threshold value Command argument Set
132. unit range OFFto B o ON Set the relation between the command direction and the motor rotation direction Rotation HER 000 Direction 0 The command indicates the forward 1 S Oori Yes HE direction as viewed from the shaft end CW Switching 1 The command indicates the reverse direction as viewed from the shaft end CCW Select the Servo Drive control mode UO KJ 0 o 001 Control Mode e Semi closed control 0 0to 6 Yes Selection 5 Q i 6 Fully closed control Set the operation mode for realtime autotuning O Disabled 1 Emphasizes stability 2 Emphasizes positioning Realtime If there is an unbalanced load like in a 002 Autotuning 3 I ortealaxis 1 0006 J Mode Selection 4 Used when friction is large Used when there is an unbalanced load such as a vertical axis and friction is large 6 Used to customize the Realtime Autotuning Mode Realtime mm 7 003 Autotuning Machine Set the machine rigidity for executing See at 0to31 mam realtime autotuning Note 1 Rigidity Setting 004 Inertia Ratio Set the load inertia as a percentage of the 250 9L 0 to motor rotor inertia 10 000 Electronic Gear Set the number of command pulses per 20 Integer Setting motor rotation 10000 ulis pues ves 008 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL A 2 A 2 Parameter List
133. ve Power is supplied to the holding brake Check whether power is supplied to the holding brake Configure a circuit that cuts power supply to the holding brake when the motor stops and the load is held by the holding brake The motor does not stop or is hard to stop even if the operation command RUN is turned OFF while the motor is rotating The load inertia is too large Check the following Is the load too large Is the motor rotation speed too high Review the load conditions and replace the Servomotor and Servo Drive with appropriate models The stop circuit failed Replace the Servo Drive 5 23 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 5 4 Troubleshooting Symptom Probable cause Items to check Measures The motor is producing unusual noises or the machine is vibrating There are problems with the machine s installation Check to see if the Servomotor s mounting screws are loose Retighten the mounting screws Check whether the axes are misaligned in the coupling Align the coupling Check whether the coupling is unbalanced Adjust the coupling s balance There is a problem with the bearings Check for noise or vibration around the bearings Contact your OMRON dealer or sales office The gain is wrong Perform manual tuning The Speed Feedback Filter Time Constant Pn103 is wrong
134. ware version 1 10 or higher The software version can be confirmed on the front panel or the CX Drive Analog pulse input signals are disabled Analog Torque Feed forward is also disabled The trial operation function and the FFT function cannot be used with support tool CX Drive JOG operation is not available from the front panel Setthe electronic gear ratio to 1 1 Operation cannot be guaranteed if this is set to any other ratio When the absolute encoder is being used and the current position cannot be acquired with the host controller set the Absolute Interface Function Selection Pn616 to 0 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL A 2 Parameter List A 2 Parameter List A list of parameters when the drive programming function is enabled is provided as follows The contents of the parameter numbers marked with are different from those when the analog pulse commands are enabled Some parameters are enabled by turning the power supply OFF and then ON again Those parameters are indicated in the table After changing these parameters turn OFF the power supply confirm that the power supply indicator has gone OFF and then turn ON the power supply again Do not change the parameters marked Reserved Do not change the settings marked Reserved Basic Setting Parameters 8 a Power Parameter c T Default Setting supply z name Description setting
135. wer is insufficient supply capacity Connectthe phases L1 L2 L3 of the power supply Phase loss voltage correctly For single phase connect to L1 and L3 correctly The main circuit power supply is damaged Replace the Servo Drive Control PCB error Main circuit power Change the main circuit Occurs when the power P supply voltage is out of power supply voltage to supply is turned ON AA allowable range within allowable range Calculate the regenerative energy and connect an RP External Regeneration Load inertia is too l ta Resistor with the required Occurs when the motor ge regeneration absorption is decelerating capacity X Extend the deceleration time Main circuit power Change the main circuit 12 Overvoltage supply voltage is out of allowable range power supply voltage to within allowable range Occurs during descent vertical axis Gravitational torque is too large Add a counterbalance to the machine to lower gravitational torque Reduce the descent speed Calculate the regenerative energy and connect an External Regeneration Resistor with the required regeneration absorption capacity 5 11 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL 5 4 Troubleshooting Alarm ae Status when error number Error conditions UE Cause Measures The power supply voltage is low
136. y or property damage Even those items denoted by the caution symbol may lead to a serious outcome depending on the situation Accordingly be sure to observe all safety precautions Precautions for Safe Use Indicates precautions on what to do and what not to do to ensure using the product safely H Precautions for Correct Use Indicates precautions on what to do and what not to do to ensure proper operation and performance EN Reference Indicates an item that helps deepen your understanding of the product or other useful tip Explanation of Symbols Example of symbols A A This symbol indicates danger and caution The specific instruction is described using an illustration or text inside or near TAN The symbol shown to the left indicates beware of electric shock S This symbol indicates a prohibited item item you must not do The specific instruction is described using an illustration or text inside or near The symbol shown to the left indicates disassembly prohibited dp amp This symbol indicates a compulsory item item that must be done The specific instruction is described using an illustration or text inside or near o The symbol shown to the left indicates grounding required 4 Accurax G5 series AC SERVODRIVERS Drive Programming Function USER S MANUAL Safety Precautions For Safe Use of This Product B llustrations contained in this manual sometimes depict conditi

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