P730 user manual
Contents
1. This parameter is used to switch polarities of torque data These are switched externally not internally on the input and output of the closed loop system The motor shaft turns clockwise when there is a positive torque command difference and no inversion is programmed Bit Description 0 Torque command value 1 Reserved Additive torque command value 2 Torque feedback value 3 15 Reserved Where 0 not inverted 1 inverted IDN S 0 0086 Torque force Data Scaling Type Data Length 2 bytes Data Type Binary Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default 0 This IDN defines the scaling options for all torque data Only the percentage scaling is supported Bit Description 2 0 Scaling Method 000 percentage scaling 001 linear scaling force 010 rotational scaling torque 3 0 preferred scaling 1 parameter scaling 4 Units for force scaling 0 metres 1 inches 4 Units for rotation scaling 0 Newton N 1 pound force Ibf 5 Reserved 6 Data reference 0 at the motor shaft 1 at the load 7 15 Reserved IDN S 0 0087 Transmit to Transmit Recovery Time tartar Data Length 2 bytes Data Type Unsigned integer Minimum Value Maximum Value Scaling Unit Usec Read CP2 4 Write N A Defa2. This parameter defines the time required by the drive from the end of the MDT to the point at which the command data is used The master reads this value from all the slaves in the ring during CP2 in order to correctly calculate the command value valid time IDN 8 to be used by the ring during CP3 and CP4 IDN S 0 0091 Bipolar velocity limit value Data Length 4 bytes Data Type Unsigned Integer Minimum Value 0 Maximum Value 231 4 Scaling Unit Read CP2 4 Write CP2 4 Default 231 1 This parameter defines the maximum allowable velocity in both directions If this limit is exceeded the drive sets the status Noommand gt Nimit in C3D See IDN 13 Scaling Type IDN 44 Scaling Factor IDN 45 Scaling Exponent IDN 46 Only the no scaling option is supported IDN S 0 0092 Bipolar torque limit value Data Length 2 bytes Data Type Unsiged Integer Minimum Value 0 Maximum Value 2 1 Scaling Unit Read CP2 4 Write CP2 4 Default 22 1 This parameter defines the maximum allowable torque in both directions If this limit is exceeded the drive sets the status T gt Tjimit in C3D See IDN 13 Scaling Type IDN 86 Scaling Factor IDN 93 Scaling Exponent IDN 94 Only the no scaling option is supported IDN S 0 0095 Diagnostic Message Data Length
3. This parameter defines the value of the IDN assigned to the real time status bit of the drive status The drive shall maintain this bit during CP4 Bit Description 0 0 bit reset 1 bit set 1 15 Reserved IDN S 0 0307 Real Time Status RTS Bit 2 Allocation Data Length 2 bytes Data Type Integer Minimum Value 0 Maximum Value 65535 Scaling Unit Read CP2 4 Write CP2 4 Default O the RTS Bit 1 is undefined This parameter defines the IDN assigned to the real time status bit 2 of the drive status AT status word bit 7 Only certain status IDN s of type binary can be assigned to this parameter The master will stop evaluating the drive s RTS bit after it has written a new IDN to this parameter The previously assigned RTS bit will remain valid until the drive s service channel busy bit has been set and the master will not start evaluating the new RTS bit until the busy bit has been reset low by the drive IDN S 0 0390 Diagnostic Number Data Length Data Type 1 byte variable length array Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default This parameter Contains the last recorded drive SGDH alarm code The error is latched in this parameter and only cleared when the reset class 1 diagnostic IDN 99 is executed via the service channel after the manu
4. in C1D see IDN 11 Scaling Type IDN 76 Scaling Factor IDN 77 Scaling Exponent IDN 78 Rotational Position Resolution IDN 79 Only no scaling is supported IDN S 0 0160 Acceleration Data Scaling Type Data Length 2 bytes Data Type Binary Minimum Value Maximum Value Scaling Unit Read CP2 4 Write CP2 4 Default 0 This parameter defines the acceleration data scaling 2 0 Scaling Method 000 no scaling 001 linear scaling 010 rotational scaling 3 0 preferred scaling 1 parameter scaling 4 Units for linear scaling 0 metres 1 inches Units for rotational scaling 0 radian 1 reserved 5 Time Units 0 seconds 1 reserved 6 Data Reference 0 at the motor shaft 1 at the load 15 7 Reserved Currently only no scaling is supported IDN S 0 0169 Probe Control Parameter Data Length 2 bytes Data Type Binary Minimum Value Maximum Value Scaling Unit Read CP2 4 Write CP2 4 Default 0 This parameter defines the probe and signal edge that will trigger a position capture whilst the probing cycle procedure command IDN 00170 is activated it Description Probe 1 capture on positive edge Probe 1 capture on negative edge Reserved Probe 2 capture on negative edge Bi 0 1 2 Reser
5. 1 byte elements variable length array Data Type Text Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default This parameter holds a diagnostic message describing the current drive operating status IDN S 0 0096 Slave Arrangement Data Length 2 bytes Data Type Unsigned integer Minimum Value 1 if O is used the drive acts only as a repeater on the network and does not participate in any master slave communications Maximum Value 254 Scaling Unit Read CP2 4 Write N A Default The drives SERCOS network address is contained in both the upper and lower bytes of this parameter If a slave can control more than one drive then this parameter is used by the master during initialisation to recognize which physical slaves are their associated drives are present in the network in order to optimize the automatic timeslot computation IDN S 0 0097 Mask for Class 2 Diagnostics Data Length 2 Bytes Data Type Binary Minimum Value 0 Maximum Value OXffff Scaling Unit Read CP2 4 Write CP2 4 Default OxFFFF This mask is used to prevent the change in state of class 2 diagnostic flags see IDN 12 from effecting the C2D change bit in the drive status The structure is as per the C2D and the mask bit is cleared to 0 to prevent the C2D flag from affecting the
6. Trio Motion Technology Sigma II SERCOS Interface Users Manual Trio Product Code P730 Date Description Version 23 Jan 2006 Description of the support for drive controlled homing 1 5 added in firmware version 0 0 14 8 Sept 2003 Absolute encoder support added software version 1 4 0 0 9 6 Aug 2003 Registration Support added 1 3 14 Feb 2003 Brief SERCOS Interface Specification description added 1 2 10 Feb 2003 Support for Probe IDNs added 1 1 14 Nov 2002 Initial Issue 1 0 References 1 Specification SERCOS Interface version 2 2 November 2001 2 Sigma II Series Users Manual Design and Maintenance Manual Number SIE S800 32 2D Definitions and Abbreviations AT Amplifier slave drive Telegram CP0 1 2 3 4 SERCOS Communication Phase 0 1 2 3 4 FO Fibre Optic MDT Master Data Telegram MST Master Synchronisation Telegram RTC MDT Real Time Control Bit RTS AT Real Time Status Bit SERCOS SErial Real time COmmunication System Interface Telegram communication message Introduction This document describes the specification of the Sigma II SERCOS Interface its compliance with the SERCOS specification and the procedures for commissioning the module The SERCOS interface uses optical data transmission between control units and drives The Sigma II SERCOS Interface provides a SERCOS network interface for the Yaskawa Sigma drives Please see reference 1
7. Halted NYS 14 Reserved 15 Manufacturer specific warning see IDN 182 Where 0 condition does not exist 1 condition exists IDN S 0 0014 Interface Status Data Length 2 Bytes Data Type Binary Minimum Value 0 Maximum Value OXxFFFF Scaling Unit Read CP2 4 Write N A Default 0 If a communication interface error occurs the appropriate error bit will be latched in the interface status along with the communication phase CP in which the error occurred The communication error flag is also set in C1D see IDN 11 If there are no communication errors present the actual network communication phase CP is identified by Bits 2 0 The drive cancels a communication error and resets to 0 only if the error at the interface has been eliminated and on executing the procedure command reset class 1 diagnostics Description CP CP CP MST failure MDT failure Invalid phase CP gt 4 Error during phase advance Error during phase regression Phase switch without proper acknowledgement OINI KR WINsR O m Switching to an un initialized operation mode Duplicate drive address 11 Reserved 12 Reserved 13 Reserved 14 Reserved 15 Reserved Where 0 no error 1 error exists for bits 15 3 IDN S 0 0015 Telegram Type Data Length 2
8. Value 0 Maximum Value Scaling Unit Read CP2 4 Write CP2 Default This parameter defines the drive s operation mode when the AT status word bits 8 and 9 are both zero The master requests a particular operation mode by setting the MDT control words bits 8 amp 9 Bit Value Description 0 2 000 No mode of operation 001 Reserved Torque control 010 Velocity Control 011 Position control 100 Reserved 101 Reserved 3 0 Position Control with following error IDN159 1 Position Control without following error 4 Reserved 5 Reserved 6 Reserved 7 Reserved 8 Reserved 9 Reserved 10 Reserved 11 Reserved 12 Reserved 13 Reserved 14 0 Command values are issued as cyclic data 1 Reserved command values are issued through the service channel 15 0 Bits 0 14 are as defined above 1 Reserved Bits 0 14 are defined by the manufacturer Note that when the velocity control with torque feed forward mode is required this parameter must be set to the velocity control mode IDN S 0 0036 Velocity Command Value Data Length 4 bytes Data Type Integer Minimum Value 21 Maximum Value 231 1 Scaling Unit Read CP2 4 Write CP2 4 Default The master writes the command velocity to this IDN either cyclically in the MDT if the appropriate telegram type has been defined see IDN 15 or via the service channel The units
9. X ON SERCOS Loop Error LED The RED LED is ON if there is a distortion problem or if the fibre optic loop is open SERCOS Interface Specification The SERCOS Specification defines a real time optical serial communication standard between a single master and one or more slave drives on a network ring transmitting periodic and non periodic control and status information During initialisation the operation of the network is defined by the master according to the performance capabilities of itself and that of the slaves on the network Following power on the network passes through several states communication phases CP before reaching the normal operating state phase 4 Default timing parameters are used in the first 3 states during which the master transmits configuration information to each slave drive The communication phases are CPO The master starts to transmit the periodic synchronization clock telegram MST which is repeated by each drive in the ring after it has successfully completed its power on initialisation The master is able to determine the network ring has been closed when it simultaneously receives its transmitted MST message The master moves the ring to phase 1 after ensuring the ring has been successfully closed Each SERCOS communication cycle starts with the MST which is received by all slave drives concurrently This message is used to synchronize the telegram transmission t
10. all the parameters in the above table are not configured during CP2 the Sigma II Interface will not pass the CP3 transition check IDN 127 Drive Configuration The drive will operate in position velocity or velocity with torque feed forward control modes using the standard or appropriately defined application telegrams To use the velocity V REF with torque feed forward T REF control mode the drive s operation mode and telegram configuration SERCOS parameters should be configured as given in the table below IDN IDN Description Value Notes 00015 Telegram type 7 Application Telegram 00024 MDT Configuration List 36 80 Velocity amp torque command values 00032 Primary Mode of 2 Velocity control mode Operation The drive parameters Pn000 1 should be set to 9 speed control method Pn002 0 should be set to 2 T REF used for torque feed forward and Pn400 torque feed forward gain should be a non zero value SERCOS Interface Specification Conformance The Sigma II Interface module satisfies SERCOS Interface Specification compliance class B in velocity or position control mode and can run at SERCOS cycle times of 500usec and above It does not currently support the class B drive controlled homing procedure IDNs SERCOS data transmissions occur in regular cycles The cycle timing is controlled by the SERCOS master which transmits a Master Synchronization Telegram MST at the start of ea
11. bytes Data Type Binary Minimum Value 0 Maximum Value 7 Scaling Unit Read CP2 4 Write CP2 Default This parameter identifies the MDT AT telegram types and hence the contents of their cyclic data fields used during CP3 amp CP4 IDN Telegram Type MDT master AT drive Available 15 command value feedback value 0 Standard Telegram 0 None None Yes 1 Standard Telegram 1 Torque IDN80 None Yes 2 Standard Telegram 2 Velocity IDN36 Velocity IDN40 No 3 Standard Telegram 3 Velocity IDN36 Position IDN51 Yes 4 Standard Telegram 4 Position IDN47 Position IDN51 Yes 5 Standard Telegram 5 Pos Vel Pos Vel No 6 Standard Telegram 6 Velocity IDN36 None Yes 7 Application Custom Defined by Defined by Yes Telegrams IDN24 IDN16 IDN S 0 0016 AT Configuration List Data Length 2 byte elements variable length array Data Type IDN List Minimum Value Maximum Value Scaling Unit Read CP2 4 Write CP2 Default This parameter list contains the IDNs whose operation data will be transmitted cyclically in the AT in an application telegram see IDN 15 Only operation data present in the IDN list of configuration data in the AT IDN 187 are allowed as cyclic data IDN S 0 0017 IDN List of all Operation Data Data Length 2 byte elements variable length array Data Type
12. parameters are mapped from this base number hence drive parameter 0 is SERCOS parameter 32768 and drive parameter 0x50A is SERCOS parameter 34058 for example Sigmall Interface parameters are mapped from address 49152 IDN S 0 0001 Control Unit NC Cycle Time tNcyc Data Length 2 Bytes Data Type Unsigned integer Minimum Value 500 Maximum Value 2000 Scaling Unit usec Read CP2 4 Write CP2 Default 1000 The period at which the master control unit updates commands to the drive The drive automatically overrides this value with that of the Communication Cycle Time IDN 2 in CP3 IDN S 0 0002 SERCOS Communication Cycle Time tScyc Data Length 2 Bytes Data Type Unsigned integer Minimum Value 500 Maximum Value 32000 Scaling Unit usec Read CP2 4 Write CP2 Default 1000 The SERCOS system interface communication cycle time defines the period at which the MST AT amp MDT telegrams are transmitted Allowable cycle times are 500usec and from 1000usec to 32000 usec in 1000usec increments IDN S 0 0003 Shortest AT Transmission Start Time timin Read only Data Length 2 Bytes Data Type Unsigned integer Minimum Value Maximum Value Scaling Unit usec Read CP2 4 Write N A Default 10 The minimum time the drive requires after receipt of the MST before it can s
13. switch from CP2 to CP3 and must be executed before the transition can occur When this procedure command is executed the drive will check whether the master has transferred all necessary parameters for transition into CP3 If the drive believes any parameters are invalid or have not been configured it will return a failure result and store the list of invalid parameter IDNs in the CP2 IDN list of invalid operation data IDN 21 After the procedure command has been executed the master must cancel the procedure IDN S 0 0128 CP4 Transition Check Data Length 2 bytes Data Type Binary Procedure Command Minimum Value Maximum Value Scaling Unit Read Write CP3 Default 0 This procedure command identifies whether the drive is ready to switch from CP3 to CP4 and must be executed before the transition can occur When this procedure command is executed the drive will check whether the master has transferred all necessary parameters for transition into CP4 If the drive believes any parameters are invalid or have not been configured it will return a failure result and store the list of invalid parameter IDNs in the CP3 IDN list of invalid operation data IDN 22 After the procedure command has been executed the master must cancel the procedure IDN S 0 0129 Manufacturer Class 1 Diagnostics Data Length 2 Bytes Data Type Binary Minimum Value 0 Max
14. units depend upon the Control Unit Cycle Time IDN 2 Scaling Type IDN 76 Scaling Factor IDN 77 Scaling Exponent IDN 78 Rotational Position Resolution IDN 79 Only the no scaling option is supported IDN S 0 0052 Reference Distance 1 Data Length 4 bytes Data Type Integer Minimum Value 271 Maximum Value 271 1 Scaling Unit Read CP2 4 Write CP2 4 Default This parameter describes the distance between the machine zero point and the home position referenced through the motor feedback Scaling Type IDN 76 Scaling Factor IDN 77 Scaling Exponent IDN 78 Rotational Position Resolution IDN 79 Only the no scaling option is supported IDN S 0 0055 Position Polarity Parameter Data Length 2 bytes Data Type Binary Minimum Value Maximum Value Scaling Unit Read CP2 4 Write CP2 4 Default 0 This parameter is used to switch polarities of position data These are switched externally not internally on the input and output of the closed loop system The motor shaft turns clockwise when there is a positive position command difference and no inversion is programmed Bit Description 0 Position command value 1 Reserved Additive position command value 2 Position feedback value 1 3 Reserved Position feedback value 2 4 Reserved Position limit val
15. will depend upon the control unit cycle time IDN 1 Scaling Type IDN 44 Scaling Factor IDN 45 Scaling Exponent IDN 46 Only the no scaling option is supported IDN S 0 0040 Velocity Feedback Value 1 Data Length 4 bytes Data Type Integer Minimum Value 231 Maximum Value 231 1 Scaling Unit Read CP2 4 Write N A Default This parameter is used to retrieve the velocity feedback from the drive either cyclically in the AT if the appropriate telegram type has been defined see IDN 15 or via the service channel The velocity units depend upon the Control Unit Cycle Time IDN 2 Scaling Type IDN 44 Scaling Factor IDN 45 Scaling Exponent IDN 46 Only the no scaling option is supported IDN S 0 0043 Velocity Polarity Parameter Data Length 2 bytes Data Type Binary Minimum Value Maximum Value Scaling Unit Read CP2 4 Write CP2 4 Default 0 This parameter is used to switch polarities of velocity data These are switched externally not internally on the input and output of the closed loop system The motor shaft turns clockwise when there is a positive velocity command difference and no inversion is programmed it Description Velocity command value Reserved Additive velocity command value Reserved Velocity feedback value 2 Bi
16. 0 1 2 Velocity feedback value 1 3 4 15 Reserved Where 0 not inverted 1 inverted IDN S 0 0044 Velocity Data Scaling Type Data Length 2 bytes Data Type Binary Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default 0 This IDN defines the scaling options for all velocity data Only the no scaling is supported IDN S 0 0047 Position Command Value Data Length 4 bytes Data Type Integer Minimum Value 231 Maximum Value 271 1 Scaling Unit Read CP2 4 Write CP2 4 Default The master writes the position command to this IDN either cyclically in the MDT if the appropriate telegram type has been defined see IDN 15 or via the service channel The units will depend upon the control unit cycle time IDN 2 Scaling Type IDN 76 Scaling Factor IDN 77 Scaling Exponent IDN 78 Rotational Position Resolution IDN 79 Only the no scaling option is supported IDN S 0 0051 Position Feedback Value 1 Data Length 4 bytes Data Type Integer Minimum Value 271 Maximum Value 271 41 Scaling Unit Read CP2 4 Write N A Default This parameter is used to retrieve the position feedback from the drive either cyclically in the AT if the appropriate telegram type has been defined see IDN 15 or via the service channel The position
17. 0 Parameters IDN Value Description 49252 0 or 3 Configures the latch input either the z mark 0 or external input 3 Example TrioBASIC program files The following file can be run to configure the drive parameters Note that power must be cycled to the drive after setting these parameters IF trig_mode z_mark THEN SERCOS 5 nslot ndrive 32768 511 2 8888 SERCOS 5 nslot ndrive 32768 50A 2 8100 SERCOS 5 nslot ndrive 32768 50B 2 6548 ELSEIF trig _mode external_ input THEN IF trig_edge high THEN Active high rising edge SERCOS 5 nslot ndrive 32768 511 2 S5F888 ELSE Active low falling edge SERCOS 5 nslot ndrive 32768 511 2 6888 ENDIF SERCOS 5 nslot ndrive 32768 50A 2 8881 SERCOS 5 nslot ndrive 32768 50B 2 8888 ELSE Error ENDIF At each power up the following file must then be run to configure the SERCOS parameters This file must agree with the drive settings above as regards rising falling edge Subsequently the TrioBASIC REGIST 1 command can be used to set and enable the latch MARK used to identify when the latch has triggered and REG_POS to read the latched value These commands use the SERCOS cyclic data RTC1 to update IDN 405 Probe 1 enable disable SERCOS 5 nslot ndrive 301 2 405 IDN 305 RTS Bit 1 to trigger on probe 1 latch either high or low status IDN 169 Probe Control Parameter Set active edge which de
18. 5 Reserved Positioning velocity exceeds limit 6 Reserved 7 Reserved 8 Reserved 9 Reserved Under voltage warning bus voltage 10 Reserved 11 Reserved Excessive velocity deviation 12 Reserved 13 Reserved Target Position outside of travel range 14 Reserved 15 Manufacturer specific warning see IDN 181 Where 0 no shutdown warning 1 shutdown warning IDN S 0 0013 Class 3 Diagnostics Data Length 2 Bytes Data Type Binary Minimum Value 0 Maximum Value OxFFFF Scaling Unit Read CP2 4 Write N A Default 0 This parameter contains the drive operation status flags When a condition changes in the drive the corresponding bit changes in the C3D and provided the flag is not masked see IDN 98 the C3D change bit in the drive status is set to 1 When the C3D is read via the service channel the C3D change bit is reset to 0 These flags are not latched and will be reset to O when the condition no longer exists Description Nfeedback ncommand Nfeedback 0 Nfeedback lt nx T gt Tx NYS T gt Tlimit Ncommand gt nlimit In position P gt Px NYS Reserved WON D O AR WINE ow Nfeedback lt minimum spindle speed NYS 10 Nfeedback gt maximum spindle speed NYS 11 In coarse position NYS 12 Target Position Attained NYS 13 Interpolator
19. ER axis parameter The following program illustrates how the absolute position can be obtained and loaded axis _num 6 ser _add 1 ser_slot 0 BASE axis_num UNITS 1 REP_DIST 1000000000 Check absolute encoder set to absolute mode IF SERCOS 4 ser_slot ser_add 8002 lt gt 0 THEN PRINT Not absolute encoder Type 273 is 17 bit absolute 272 is 16 bit absolute PRINT Encoder Type SERCOS 4 ser_slot ser_add d516 turns SERCOS 4 ser_slot ser_add D603 IF turns gt 32767 THEN turns turns 65536 PRINT Absolute Turns turns 0 PRINT Position within turn ENCODER AND 1FFFF 0 This example is for absolute 17 bit encoder DEFPOS turns 131072 ENCODER AND 1FFFF This sequence must be executed before the motor runs as the number of turns is not updated by the drive whilst the ENCODER value will change after the motor moves Consideration should be given to the size of numbers involved If the number of turns is high the calculation for the DEFPOS statement can start to lose accuracy Trio BASIC sequence to clear absolute backup alarm SERCOS 5 0 1 a002 2 0 toggle display SERCOS 5 0 1 a000 2 2001 Clear Alarm Command SERCOS 5 0 1 a001 2 2 start process SERCOS 5 0 1 a001 2 1 execute reset Appendix A SERCOS IDN Specification IDNs 0 32767 are the standard SERCOS Interface Specification parameters IDNs 32768 and above are the Product specific manufacturer parameters Yaskawa drive
20. IDN List Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default This parameter contains a list of the IDNs of all operation data supported by the drive IDN S 0 0018 IDN List of Operation Data for CP2 Data Length 2 byte elements variable length array Data Type IDN List Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default This parameter contains a list of the IDNs of all data that must be written by the master during CP2 The drive s CP2 to CP3 transition procedure IDN 127 will fail if this data is not supplied by the master IDN S 0 0019 IDN List of Operation Data for CP3 Data Length 2 byte elements variable length array Data Type IDN List Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default This parameter contains a list of the IDNs of all data that must be written by the master during CP3 The drive s CP3 to CP4 transition procedure IDN 128 will fail if this data is not supplied by the master IDN S 0 0021 IDN List of Invalid Operation Data for CP2 Data Length 2 byte elements variable length array Data Type IDN List Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default This parameter cont
21. Telegram Type A RW 00016 AT Configuration List C RW 00017 IDN list of all operation A R data 00018 IDN list of operation data A R for CP2 00019 IDN list of operation data A R for CP3 00021 IDN list of invalid A R operation data CP2 00022 IDN list of invalid A R operation data CP3 00024 MDT Configuration List C RW 00025 IDN list of all procedure A R commands 00028 MST error counter A R 00029 MDT error counter A R 00030 Manufacturer Version C R 00032 Primary operation mode A RW 00033 Secondary operation B RW mode 1 00036 Velocity command value B velocity RW 00040 Velocity feedback value B velocity R 00043 Velocity polarity B velocity RW parameter 00044 Velocity data scaling type B velocity RW 00047 Position command value B position RW 00051 Position feedback value B position R 00052 _ Reference distance 1 B position RW 00055 Position Polarity B position RW parameter 00057 Position window B position RW 00076 Position data scaling type B position RW 00080 Torque command value B torque RW 00084 Torque feedback value B torque R 00085 Torque polarity parameter B torque RW 00086 Torque force data scaling B torque RW type 00087 Transmit to transmit SLKN A 1 R recovery time 00088 Receive to receive twtsy A R reco
22. Value 271 1 Scaling Unit Read CP2 4 Write N A Default 0 The Probing Cycle Procedure IDN 00170 is used to capture the motor position when an external input changes This Probe 1 Positive Edge Value parameter holds that captured position value when the probe procedure is configured through the probe control parameter IDN 00169 to capture the position on a rising edge Scaling Type IDN 76 Scaling Factor IDN 77 Scaling Exponent IDN 78 Rotational Position Resolution IDN 79 Only the no scaling option is supported IDN S 0 0131 Probe 1 Negative Edge Value Data Length 4 bytes Data Type Integer Minimum Value 231 Maximum Value 271 1 Scaling Unit Read CP2 4 Write N A Default 0 The Probing Cycle Procedure IDN 00170 is used to capture the motor position when an external input changes This Probe 1 Negative Edge Value parameter holds that captured position value when the probe procedure is configured through the probe control parameter IDN 00169 to capture the position on a falling edge Scaling Type IDN 76 Scaling Factor IDN 77 Scaling Exponent IDN 78 Rotational Position Resolution IDN 79 Only the no scaling option is supported IDN S 0 0138 Bipolar Acceleration limit value Data Length 4 bytes Data Type Unsigned Integer Minimum Value 0 Maximum Valu
23. ains a list of the IDNs of parameters which are in the IDN list of operation data for CP2 IDN 18 but considered to be invalid by the drive ie the master has not written to these parameters or the values written by the master were not accepted IDN S 0 0022 IDN List of Invalid Operation Data for CP3 Data Length 2 byte elements variable length array Data Type IDN List Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default This parameter contains a list of the IDNs of parameters which are in the IDN list of operation data for CP3 IDN 19 but which are considered to be invalid by the drive ie the master has not written to these parameters or the values written by the master were not accepted IDN S 0 0024 MDT Configuration List Data Length 2 byte elements variable length array Data Type IDN List Minimum Value Maximum Value Scaling Unit Read CP2 4 Write CP2 Default This list parameter contains the IDNs whose operation data will be transmitted cyclically in the MDT in an application telegram see IDN 15 Only operation data present in the IDN list of configuration data in the MDT IDN 188 are allowed as cyclic data IDN S 0 0025 IDN List of all Procedure Commands Data Length 2 byte elements variable length array Data Type IDN List Minimum Valu
24. and above map to SERCOS parameter numbers 32768 0x8000 and above in two blocks Drive parameter Sercos IDN 0 0x4FFF 0x8000 0xCFFF 0x8000 0x8FFF 0xD000 0xDFFF Please refer to your Yaskawa drive User s Manual Ref 2 for further information about these parameters From Trio BASIC the parameters can be read using the SERCOS command once the SERCOS ring has been initialised to phase 2 SERCOS 4 slot drive address parameter Read a drive parameter SERCOS 5 slot drive address format parameter Write a drive parameter Registration Probe Support Requires firmware 0 0 8 and Motion Coordinator V1 6223 or later The drive has the ability to latch a position either on the motor z mark or a rising or falling edge received via an external input The SERCOS and drive parameters must be configured as shown in the tables below to enable this functionality on the drive SERCOS IDNs are used to set reset the latch and read the latched position These IDNs are reflected in the MDT Real Time Control Bit AT Real Time Status Bit and the second parameter in the AT data record hence the latch functionality can be controlled via cyclic SERCOS data To enable the cycle data response the AT telegram must be configured as an application telegram with two parameters the second being the probe latched position IDN either 130 for a rising edge or 131 for a falling edge On a Motion Coordinator the axis type must be
25. ch cycle When the ring is up and running the drives will each transmit an Amplifier Telegram AT to the master and finally the Master will transmit its Data Telegram MDT which contains information for each drive MST AT is t1 IDN6 MST MDT is t2 IDN89 MST MST is tscyc IDN2 After MDT to MST is tmtsy IDN88 A summary of the SERCOS IDNs supported by the Sigma II Interface is shown in the table below and a more complete discussion of these IDNs appears in Appendix A The compliance column indicates which SERCOS interface specification compliance class the parameter belongs and the control mode position velocity or torque where appropriate The comments indicate whether the network master has read only R or read write RW access IDN Description Abbreviation Compliance Comment 00001 Control Unit Cycle Time tneye B position 00002 Communication Cycle tscyc A RW Time 00003 Shortest AT transmission timin A R starting time 00004 Transmit receive tatmt A R transition time 00005 Minimum feedback ts B R processing time 00006 AT transmission starting ti A RW time 00007 Feedback acquisition ty B RW capture point 00008 Command value valid ts B RW time 00009 Position of data record in A RW MDT 00010 Length of MDT A RW 00011 Class 1 Diagnostic CiD A R 00012 Class 2 Diagnostic C2D B 00013 Class 3 Diagnostic C3D B 00014 Interface Status A R 00015
26. change bit The mask does not affect the operation data of the C2D IDN S 0 0098 Mask for Class 3 Diagnostics Data Length 2 Bytes Data Type Binary Minimum Value 0 Maximum Value OXxFFFF Scaling Unit Read CP2 4 Write CP2 4 Default OxFFFF This mask is used to prevent the change in state of class 3 diagnostic flags see IDN 13 from effecting the C3D change bit in the drive status The structure is as per the C3D and the mask bit is cleared to 0 to prevent the C3D flag from affecting the change bit The mask does not affect the operation data of the C3D IDN S 0 0099 Reset Class 1 Diagnostics Data Length 2 bytes Data Type Binary Procedure Command Minimum Value Maximum Value Scaling Unit Read Write CP2 4 Default 0 When this procedure command is received by the drive via the service channel any latched faults which have now been removed in C1D IDN 11 the interface status IDN 14 and the manufacturer s C1D IDN 129 will be cleared If all faults have been cleared the drive shut down error flag drive status bit 13 and the drive shut down mechanism in the drive will be reset IDN S 0 0104 Position Loop K factor Data Length 2 bytes Data Type Unsigned integer Minimum Value 0 Maximum Value 655 35 Scaling Unit 0 01 m min mm Read CP2 4 Write CP2 Default This
27. e Maximum Value Scaling Unit Read CP2 4 Write N A Default This parameter contains a list of the IDNs of all procedure commands supported by the drive IDN S 0 0028 MST Error Counter Data Length 2 bytes Data Type Unsigned integer Minimum Value 0 Maximum Value 65535 Scaling Unit Read CP2 4 Write N A Default This parameter records the count of all invalid MST s in CP3 and CP4 In cases where more than 2 consecutive MSTs are invalid any further consecutive invalid MSTs are not counted The counter increments to 2 1 IDN S 0 0029 MDT Error Counter Data Length 2 bytes Data Type Unsigned integer Minimum Value 0 Maximum Value 65535 Scaling Unit Read CP2 4 Write N A Default This parameter records the count of all invalid MDT s in CP4 In cases where more than 2 consecutive MDTs are invalid any further consecutive invalid MDTs are not counted The counter increments to 2 1 IDN S 0 0030 Manufacturer Version Data Length 1 byte elements variable length array Data Type Text Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default This parameter holds a text string of the firmware version IDN S 0 0032 Primary Operation Mode Data Length 2 bytes Data Type Binary Minimum
28. e 271 1 Scaling Unit Read CP2 4 Write CP2 4 Default 0 This parameter defines the maximum acceleration of the drive Scaling Type IDN 160 Scaling Factor IDN 161 Scaling Exponent IDN 162 Only the no scaling option is supported IDN S 0 0140 Controller Type Data Length Data Type 1 byte variable length array Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default This parameter contains the company name of the manufacturer and the controller type IDN S 0 0141 Motor Type Data Length Data Type 1 byte variable length array Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default This parameter contains the motor type IDN S 0 0142 Application Type Data Length Data Type 1 byte variable length array Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default This parameter contains the type of the drive application IDN S 0 0143 SERCOS Interface Version Data Length Data Type 1 byte variable length array Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default This parameter contains the version of the SERCOS interface specification supported IDN S 0 0150 Reference of
29. e value must be greater than or equal to the shortest AT transmission starting time IDN 3 IDN S 0 0007 Feedback Acquisition Capture Point t4 Data Length 2 Bytes Data Type Unsigned integer Minimum Value 0 Maximum Value IDN 2 Scaling Unit usec Read CP2 4 Write CP2 Default See notes This value determined by the master is the time at which the drive feedback must be acquired In this way the master declares a default acquisition capture point enabling synchronization of the feedback for all drives that work in coordination with each other The drive enables this point during CP3 This value is automatically set to IDN 8 IDN S 0 0008 Command Value Valid Time t3 Data Length 2 Bytes Data Type Unsigned integer Minimum Value Maximum Value Scaling Unit usec Read CP2 4 Write CP2 Default See notes The time the drive accesses the new command values after the completion of an MST In this way the master provides the command value valid time to enable synchronization of command values among all coordinated drives The drive enables this time during CP3 This value is automatically set to Tscyc 150 usec in CP3 IDN S 0 0009 Position of Data Record in MDT Data Length 2 Bytes Data Type Unsigned integer Minimum Value 1 one drive Maximum Value 65 531 Scaling Unit Bytes Read CP2 4 W
30. end its AT IDN S 0 0004 Transmit Receive transition time Tatmt Read only Data Length 2 Bytes Data Type Unsigned integer Minimum Value Maximum Value Scaling Unit usec Read CP2 4 Write N A Default 10 The time the drive requires after completion of the AT transmission before receiving the MDT The master reads this parameter for all drives on the ring during CP2 in order to calculate an appropriate MDT transmission starting time IDN 89 IDN S 0 0005 Minimum Feedback Processing Time t5 Read only Data Length 2 Bytes Data Type Unsigned integer Minimum Value Maximum Value Scaling Unit usec Read CP2 4 Write N A Default 150 The time required by the drive between the start of the feedback acquisition and the end of the next MST required for acquiring and processing cyclic feedback The master reads this value during CP2 in order to synchronize the measurement times of the feedback acquisition capture point t4 IDN 7 appropriately for all drives IDN S 0 0006 AT Transmission Starting Time t1 Data Length 2 Bytes Data Type Unsigned integer Minimum Value IDN 3 Maximum Value IDN 2 Scaling Unit usec Read CP2 4 Write CP2 Default 50 This value determines when the drive sends its AT during CP3 amp CP4 the time interval after the MST Th
31. er IDN 00169 configured to trigger the probe on a falling edge and the probe has been armed by setting the probe 1 enable IDN 00405 The next falling edge seen after arming the probe will trigger the probe causing the motor position to be stored in IDN 00131 and this negative edge latched status parameter to be set Any successive falling edges seen on the probe input are ignored until the master re arms the probe by clearing and setting the probe 1 enable IDN 00405 This parameter is reset when the probing cycle procedure command is cancelled or the probe is disabled IDN 00405 This parameter duplicates information found in the probe status IDN 00179 bit 1 but is useful for assigning the probe 1 negative edge latched status to a Real Time Status RTS bit IDN P 1 6484 49252 Probe 1 Trigger Input Data Length 2 bytes Data Type Binary Minimum Value Maximum Value Scaling Unit Read CP2 4 Write CP2 4 Default 0 This parameter determines which trigger input is used to latch probe 1 Bit Description 0 1 See Probe1 trigger input table below 2 15 Reserved Probe 1 Trigger Input Table Value Description 0 Origin Z mark 1 EXT1 connection CN1 44 2 EXT2 connection CN1 45 3 EXT3 Reserved
32. facturer C1D has been eliminated IDN S 0 0401 Probe 1 Data Length 2 bytes Data Type Binary Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default 0 This parameter contains the status of the Probe 1 input It enables probe 1 to be assigned to the Real Time Status bit IDN 00305 This parameter is checked and updated by the drive only if the probing cycle procedure command IDN 00170 is active and the probe 1 enable signal IDN 00405 is set Bit Description 0 0 inactive probe 1 active probe 1 15 Reserved IDN S 0 0405 Probe 1 Enable Data Length 2 bytes Data Type Binary Minimum Value Maximum Value Scaling Unit Read CP2 4 Write CP2 4 Default 0 This parameter arms the position capture whilst the probing cycle procedure command IDN 00170 is activated The next required rising or falling edge on the probe input will trigger the probe and store the motor position in the appropriate parameter IDN 00130 or 00131 depending upon the required edge IDN S 0 0409 Probe 1 Positive Edge Latched Status Data Length 2 bytes Data Type Binary Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default 0 This parameter indicates whether captured position data has been latched within IDN 00130 after the risin
33. for further information concerning the SERCOS Interface Specification and 2 for further information about the Sigma drives Front Panel Specification The front panel contains the SERCOS communication phase and error status LEDs the network baud rate and intensity switches the drive address rotary switches the SERCOS network loop error LED and the SERCOS FO connectors It is necessary to cycle power to the drive after changing any switch positions before the new values will be used Phase and drive status LEDs Drive baudrate and optical output adjust e a a Drive address rotary switches Loop error LED Fibre optic transmitter Fibre optic receiver Drive SERCOS Baud Rate DIP switches 1 and 2 are used to select the SERCOS baud rate and should be set according to the following table Switch 1 Switch 2 Baud rate OFF OFF 2 Mbps default ON OFF 4 Mbps OFF ON 8 Mbps ON ON 16 Mbps Drive SERCOS optical output adjust DIP switches 3 4 and 5 are used to select the fibre optic light intensity level and should be set according to the following table Switch 3 Switch 4 Switch 5 Intensity level OFF OFF OFF 0 HZ TX output ON OFF OFF 1 low OFF ON OFF 2 ON ON OFF 3 default OFF OFF ON 4 ON OFF ON 5 OFF ON ON 6 high ON ON ON 7 not used Test Mode DIP switch 6 is used to select a test mode If this switch is set to on when the d
34. fset 1 Data Length 4 bytes Data Type Minimum Value Signed Integer 231 Maximum Value 231 4 Scaling Unit Read CP2 4 Write CP2 4 Default 0 This parameter is used during the homing to determine the motor s position feedback relative to the machine zero point It is the distance between the home marker to the home position Scaling Type IDN 76 Scaling Factor IDN 77 Scaling Exponent IDN 78 Rotational Position Resolution IDN 79 Only no scaling is supported IDN S 0 0157 Velocity Window Data Length 4 bytes Data Type Unsigned Integer Minimum Value 0 Maximum Value 271 1 Scaling Unit Read CP2 4 Write CP2 4 Default 271 1 If the current velocity feedback value is within the velocity window the drive sets the C3D status Nfeedback Ncommand See IDN 11 Scaling Type IDN 44 Scaling Factor IDN 45 Scaling Exponent IDN 46 IDN S 0 0159 Monitoring Window Data Length 4 bytes Data Type Unsigned Integer Minimum Value 0 Maximum Value 271 1 Scaling Unit Read CP2 4 Write CP2 4 Default 277 1 This parameter defines the maximum position error When the absolute distance between the position command and the active position feedback value exceeds this value the drive sets an error for excessive position deviation
35. g edge of the probe 1 input signal IDN 00401 The position data is only stored after the probing cycle procedure command IDN 00170 has been activated the probe control parameter IDN 00169 configured to trigger the probe on a rising edge and the probe has been armed by setting the probe 1 enable IDN 00405 The next rising edge seen after arming the probe will trigger the probe causing the motor position to be stored in IDN 00130 and this positive edge latched status parameter to be set Any successive rising edges seen on the probe input are ignored until the master re arms the probe by clearing and setting the probe 1 enable IDN 00405 This parameter is reset when the probing cycle procedure command is cancelled or the probe is disabled IDN 00405 This parameter duplicates information found in the probe status IDN 00179 bit 0 but is useful for assigning the probe 1 positive edge latched status to a Real Time Status RTS bit IDN S 0 0410 Probe 1 Negative Edge Latched Status Data Length 2 bytes Data Type Binary Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default 0 This parameter indicates whether captured position data has been latched within IDN 00131 after the falling edge of the probe 1 input signal IDN 00401 The position data is only stored after the probing cycle procedure command IDN 00170 has been activated the probe control paramet
36. imes within the cycle and the slave drives internal processing and control loops The MST also identifies the required ring phase CP1 During CP1 and CP2 the master addresses each drive individually via a telegram MDT message containing a single data record with control information for the slave being addressed The slave will transmit a telegram AT message containing status information in reply only when it is ready to move to phase 2 Hence the master addresses each drive in the ring until it has a valid response and is able to determine the ring is ready to move to phase 2 CP2 In this phase the master transmits communication telegram transmission times and timeslots and the cyclic transmission configuration parameters used in phases 3 and 4 The drive configuration parameters may be transmitted during this or phase 3 Having configured all the drive communication parameters the master sends the procedure command CP3 transition check to each drive The drives run internal checks to ensure they have received all the information required to operate in phase 3 After each drive has responded with the procedure command correctly executed the master moves the ring into phase 3 CP3 In phase 3 the master and all the slaves in the ring transmit their respective telegram messages every cycle time using the timeslot information received in the previous phase The master telegram MDT now contains a data record for each sla
37. imum Value Scaling Unit Read CP2 4 Write N A Default 0 This parameter identifies when a position has been captured whilst the probing cycle command is activated If the required edge arrives on the input the position is captured and stored in IDN 00130 or 00131 depending upon the edge and the assigned bit in the probe status is set The probe status is cleared to zero when the master resets the probe enable IDN 00405 or cancels the probing cycle procedure command IDN 00170 it Description Probe 1 positive edge latched see IDN 00409 Probe 1 negative edge latched see IDN 00410 Reserved Probe 2 negative edge latched see IDN 00412 Bi 0 1 2 Reserved Probe 2 positive edge latched see IDN 00411 3 4 15 Reserved Where 0 not latched 1 latched IDN S 0 0181 Manufacturer Class 2 Diagnostics Data Length 2 bytes Data Type Binary Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default The Manufacturer C2D identifies warnings of an impending drive shutdown error When a warning is activated in the Manufacturer C2D this sets to 1 and latches the Manufacturer specific warning bit in C2D IDN 12 and the change bit in the drive status When the Manufacturer C2D is read via the service channel the Manufacturer specific warning bit is reset to 0 in the C2D The warn
38. imum Value OXxFFFF Scaling Unit Read CP2 4 Write N A Default None This parameter is used to identify additional to the C1D IDN 11 drive shutdown faults If an error is set in this parameter the manufacturer specific error bit is set in the C1D as well The error is latched in this parameter and only cleared when the reset class 1 diagnostic IDN 99 is executed via the service channel after the manufacturer C1D has been eliminated Bit Description 0 Parameter Breakdown SDGH Alarm Code 0x002 Main Circuit Error SDGH Alarm Code 0x003 1 2 Parameter Setting Error SDGH Alarm Code 0x004 3 Servomotor amplifier mismatch SDGH Alarm Code 0x005 Regeneration Error SDGH Alarm Code 0x030 Regeneration Overload SDGH Alarm Code 0x032 Overspeed SDGH Alarm Code 0x051 Surge Current Resistor overload SDGH Alarm Code 0x074 4 5 6 7 Dynamic Brake Overload SDGH Alarm Code 0x073 8 9 Motor Runaway SDGH Alarm Code 0x0C1 10 Watchdog Error SDGH Alarm Code Ox0E2 11 Operation mode setting error GDGH Alarm Code 0x0E5 12 Reserved 13 Reserved 14 Reserved 15 Reserved Where 0 no fault 1 fault Refer to the Sigma II Series Users Manual for alarm causes and remedies IDN S 0 0130 Probe 1 Positive Edge Value Data Length 4 bytes Data Type Integer Minimum Value 231 Maximum
39. ing bits in the Manufacturer C2D are not latched and hence are automatically reset when the warning condition is no longer valid Description Regenerative Overload warning Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved WJOIN D O A WINE ow Reserved 10 Reserved 11 Reserved 12 Reserved 13 Reserved 14 Reserved 15 Reserved Where 0 no shutdown warning 1 shutdown warning IDN S 0 0187 IDN List of Configurable Data in the AT Data Length 2 byte elements variable length array Data Type IDN List Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default This parameter contains a list of the IDNs of operation data which can be processed by the drive cyclically as feedback values The selected values are written to the AT Configuration List IDN 16 by the master during CP2 and are only valid when the custom telegram type is selected IDN 15 IDN S 0 0188 IDN List of Configurable Data in the MDT Data Length 2 byte elements variable length array Data Type IDN List Minimum Value Maximum Value Scaling Unit Read CP2 4 Write CP2 Default This parameter contains a list of the IDNs of operation data which can be processed by the drive cyclically as c
40. o a stop and releases torque Description Overload fault Amplifier over temperature fault Motor over temperature fault Cooling error Control voltage fault Feedback loss fault Commutation fault Over current fault CIN D O AWIN O wW Over voltage fault 9 Under voltage fault 10 Power supply phase fault 11 Excessive velocity deviation 12 Communication interface fault 13 Software limit switch fault 14 Reserved 15 Manufacturer specific warning see IDN 129 Where 0 no fault 1 fault IDN S 0 0012 Class 2 Diagnostics Data Length 2 Bytes Data Type Binary Minimum Value 0 Maximum Value OXxFFFF Scaling Unit Read CP2 4 Write N A Default 0 The C2D identifies warnings of an impending drive shutdown error When an unmasked see IDN 97 warning is activated or cancelled in the C2D this sets to 1 the C2D change bit in the drive status When the C2D is read via the service channel the C2D change bit is reset to 0 The warning bits in the C2D are not latched and hence are automatically reset when the warning condition is no longer valid Bit Description 0 Overload warning 1 Reserved Amplifier over temperature warning 2 Reserved Motor over temperature warning 3 Reserved Cooling error warning 4 Reserved
41. ommand values The selected values are written to the MDT Configuration List IDN 24 by the master during CP2 and are only valid when the custom telegram type is selected IDN 15 IDN S 0 0189 Following Distance Data Length 4 bytes Data Type Minimum Value Signed Integer 231 Maximum Value 271 1 Scaling Unit Read CP2 4 Write N A Default The drive writes the difference between the position command value and the position feedback value to this parameter Scaling Type IDN 76 Scaling Factor IDN 77 Scaling Exponent IDN 78 Rotational Position Resolution IDN 79 Only no scaling is supported IDN S 0 0206 Drive on delay time Data Length 2 bytes Data Type unsigned Integer Minimum Value 0 Maximum Value 2t6 1 Scaling Unit 0 1 msec Read CP2 4 Write CP2 Default When the drive on and drive enable bits of the master control word are set torque is activated at once but the drive follows the command values after this waiting time has elapsed IDN S 0 0207 Drive off delay time Data Length 2 bytes Data Type unsigned Integer Minimum Value 0 Maximum Value 216 4 Scaling Unit 0 1 msec Read CP2 4 Write CP2 Default The torque remains activated in the drive until this drive off delay time has elapsed after the drive off bi
42. parameter defines the proportional gain of the position loop controller IDN S 0 0124 Standstill Window Data Length 4 bytes Data Type Unsigned integer Minimum Value 0 Maximum Value 271 1 Scaling Unit Read CP2 4 Write CP2 4 Default 0 This parameter defines a velocity threshold below which the motor is not considered to be moving If the velocity feedback value is within this window the drive sets the C3D status bit Nteedback 0 see IDN 13 Scaling Type IDN 44 Scaling Factor IDN 45 Scaling Exponent IDN 46 Only the no scaling option is supported IDN S 0 0125 Velocity Threshold n Data Length 4 bytes Data Type Unsigned integer Minimum Value 0 Maximum Value 231 1 Scaling Unit Read CP2 4 Write CP2 4 Default 0 If the velocity feedback falls below this parameter value the drive sets the C3D status bit Nteedback lt Nx see IDN 13 Scaling Type IDN 44 Scaling Factor IDN 45 Scaling Exponent IDN 46 Only the no scaling option is supported IDN S 0 0127 CP3 Transition Check Data Length 2 bytes Data Type Binary Procedure Command Minimum Value Maximum Value Scaling Unit Read Write CP2 Default 0 This procedure command identifies whether the drive is ready to
43. rence 0 at the motor shaft 1 at the load 7 Processing Format 0 absolute format 1 modulo format 8 15 Reserved IDN S 0 0080 Torque Command Value Data Length 2 bytes Data Type Integer Minimum Value 21 gt Maximum Value 215 4 Scaling Unit 0 1 of motor Ic Read CP2 4 Write CP2 4 Default The master writes the torque command to this IDN either cyclically in the MDT if the appropriate telegram type has been defined see IDN 15 or via the service channel Scaling Type IDN 86 Scaling Factor IDN 93 Scaling Exponent IDN 94 Only the percentage scaling type is supported IDN S 0 0084 Torque Feedback Value Data Length 2 bytes Data Type Integer Minimum Value 21 gt Maximum Value 2 1 Scaling Unit 0 1 of motor Ic Read CP2 4 Write N A Default This parameter is used to retrieve the torque feedback from the drive either cyclically in the AT if the appropriate telegram type has been defined see IDN 15 or via the service channel Scaling Type IDN 86 Scaling Factor IDN 93 Scaling Exponent IDN 94 Only the percentage scaling type is supported IDN S 0 0085 Torque Polarity Parameter Data Length 2 bytes Data Type Binary Minimum Value Maximum Value Scaling Unit Read CP2 4 Write CP2 4 Default 0
44. rite CP2 Default None This parameter holds the offset in bytes of the drive s data record within the MDT It starts with 1 for the initial data byte after the address field within the MDT The master informs each drive in the ring this value during CP2 and it becomes active during CP3 IDN S 0 0010 Length of MDT Data Length 2 Bytes Data Type Unsigned integer Minimum Value 4 one drive Maximum Value 65 534 number of bytes of 254 drives Scaling Unit Bytes Read CP2 4 Write CP2 Default None This parameter holds the offset in bytes of the drive s data record within the MDT It starts with 1 for the initial data byte after the address field within the MDT The master informs each drive of this value during CP2 and it becomes active during CP3 IDN S 0 0011 Class 1 Diagnostics Data Length 2 Bytes Data Type Binary Minimum Value 0 Maximum Value OXxFFFF Scaling Unit Read CP2 4 Write N A Default None The C1D identifies the current shutdown fault status of the drive These errors are latched into the C1D and the C1D status bit bit 13 is set in the drive status word These error flags are only cleared after the error has been eliminated and the Reset Class 1 Diagnostics procedure command IDN 99 has been executed via the service channel When a fault occurs the drive decelerates t
45. rive is powered on the SERCOS Interface module will enter the zero bit stream test mode Whilst the module is in this test mode the red fault LED will flash To return to normal operating mode switch 6 must be set to the off position and the drive power cycled Drive Address Rotary Switches The two hexadecimal rotary switches are used to set the drive SERCOS network address 0 to 254 The most significant hex digit is set by the 16x switch and the least significant by the 1x switch Each drive on the SERCOS network must have a unique address MS Switch LS Switch SERCOS address 0 0 o 0 1 1 0 2 2 F D 253 F E 254 F F 255 Reserved for repeater use only Not allowed for SERCOS drive address Phase and Drive Status LEDs The communication phase and error status LEDs indicate in which phase the drive is operating and whether it has identified an error The drive phase shall be the same as the network phase unless the drive has identified an error and reset to CPO All three green LEDs shall be illuminated when in CP4 and shall remain on permanently if the drive is enabled or flash if the drive is not enabled Indicator CPO CP1 CP2 CP3 CP4 Enable ERROR Top right green LED ON OFF ON OFF ON blink ON X Top left green LED OFF ON ON OFF ON blink ON X Bottom right green LED OFF OFF OFF ON ON blink ON X Bottom left red LED X X X X X
46. set to 22 to enable velocity control with latch functionality When the latch has triggered the AT RTS1 and IDN401 are set and the latched value will be stored in IDN 130 or 131 depending upon the trigger edge The z mark does not have a trigger edge but is configured as per the external rising edge The external trigger uses the drives EXT3 input via connector CN1 pin 46 SERCOS Parameters IDN Value Description 301 405 Master Telegram s Real Time Control Bit 1 to be reflected into IDN405 the Probe 1 Enable Disable control IDN 305 409 or 410 The Drive Telegram s Real Time Status Bit 1 to reflect the status of either the Probe 1 rising edge or falling edge latch status IDN 169 1or2 The probe control parameter is set to trigger the probe on either a rising 1 or falling 2 edge This will determine in which IDN the latched value is stored either IDN 130 for a rising edge or 131 for a falling edge Drive Parameters Z mark trigger Pn Value Description 511 0x8888 Drive Parameters External Input Pn Value Description 511 OxF888 or To trigger on a rising OxF888 or falling 0x6888 0x6888 edge 50A OxXXX1 Enables free allocation input signals The X is a don t care Note that drive parameter Pn511 is accessed by using SERCOS IDN 32768 0x511 since it is classed as a product or manufacturer specific IDN P73
47. t of the master control word has been reset IDN S 0 0304 Real Time Status RTS Bit 1 Data Length 2 bytes Data Type Binary Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default 0 This parameter defines the value of the IDN assigned to the real time status bit of the drive status The drive shall maintain this bit during CP4 Bit Description 0 0 bit reset 1 bit set 1 15 Reserved IDN S 0 0305 Real Time Status RTS Bit 1 Allocation Data Length 2 bytes Data Type Integer Minimum Value 0 Maximum Value 65535 Scaling Unit Read CP2 4 Write CP2 4 Default O the RTS Bit 1 is undefined This parameter defines the IDN assigned to the real time status bit of the drive status AT status word bit 6 Only certain status IDN s of type binary can be assigned to this parameter The master will stop evaluating the drive s RTS bit after it has written a new IDN to this parameter The previously assigned RTS bit will remain valid until the drive s service channel busy bit has been set and the master will not start evaluating the new RTS bit until the busy bit has been reset low by the drive IDN S 0 0306 Real Time Status RTS Bit 2 Data Length 2 bytes Data Type Binary Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default 0
48. termines which idn the recorded probe value will be stored in either 130 high or 131 low IF trig_edge high THEN SERCOS 5 nslot ndrive 305 2 409 SERCOS 5 nslot ndrive 169 2 1 ensure idn 130 is second parameter in AT telegram ELSE SERCOS 5 nslot ndrive 305 2 410 SERCOS 5 nslot ndrive 169 2 2 ensure idn 131 is second parameter in AT telegram ENDIF Set probe trigger input on drive SERCOS 5 nslot ndrive 49252 2 trig_mode The TrioBASIC registration functions can be used in the usual way except that the mode cannot be changed from the one initialised I e if external input falling edge was selected and set up in the drive this will always be the registration mode for the axis The actual value of n placed in the REGIST n command therefore does not matter it is not used by the function Here is a typical TrioBASIC registration sequence Arm the registration function REGIST 1 wait for active registration event WAIT UNTIL MARK obtain the captured probe position captured_posn REG POS Absolute Encoder Support Requires firmware 0 0 9 and Motion Coordinator V1 6226 or later The number of absolute turns may be read on power up from absolute encoders as drive parameter 0x8603 This is mapped to IDN 0xD603 see Reading and Writing Drive Parameters The absolute position within a turn can be obtained from the motor position telegram When using Trio BASIC this is best obtained using the ENCOD
49. ues 5 Reserved Underflow overflow threshold 6 15 Reserved Where 0 not inverted 1 inverted for bits 0 3 0 disabled 1 enabled for bits 4 amp 5 IDN S 0 0057 Position Window Data Length 4 bytes Data Type Integer Minimum Value 0 Maximum Value 271 1 Scaling Unit Read CP2 4 Write CP2 4 Default 100 This parameter holds a threshold value which is used to determine when the drive is considered to be in position When the difference between the accumulated position command value and the position feedback value is within the range of the position window then the drive sets the C3D status in position Scaling Type IDN 76 Scaling Factor IDN 77 Scaling Exponent IDN 78 Rotational Position Resolution IDN 79 Only the no scaling option is supported IDN S 0 0076 Position Data Scaling Type Data Length 2 bytes Data Type Binary Minimum Value Maximum Value Scaling Unit Read CP2 4 Write N A Default 0 This IDN defines the scaling options for all position data Only the no scaling is supported Bit Description 2 0 000 no scaling 001 linear scaling 010 rotational scaling 3 0 preferred scaling 1 parameter scaling 4 Units for linear scaling 0 metres 1 inches 4 Units for rotation scaling 0 degrees 1 reserved 5 Reserved 6 Data refe
50. ult 0 This parameter defines the time required between two ATs when sent by the same slave This time is read by the master during CP2 in order to calculate correctly the AT transmission starting time IDN 6 This parameter is only required for slaves capable of controlling several drives and hence is not supported IDN S 0 0088 Receive to Receive Recovery Time tmrsy read only Data Length 2 bytes Data Type Unsigned integer Minimum Value Maximum Value Scaling Unit usec Read CP2 4 Write N A Default 150 This parameter defines the time the slave drive requires between the MDT and the next MST The master reads this parameter during CP2 in order to calculate the MDT transmission time IDN S 0 0089 MDT Transmission Starting Time t2 Data Length 2 bytes Data Type Unsigned integer Minimum Value 0 Maximum Value IDN 2 Scaling Unit usec Read CP2 4 Write CP2 Default 500 This parameter defines when the master shall send its MDT during CP3 and CP4 the time interval after the MST The master writes this value to all the slaves in the ring during CP2 IDN S 0 0090 Command Value Proceeding processing Time tmtse Data Length 2 bytes Data Type Unsigned integer Minimum Value 0 Maximum Value IDN 2 Scaling Unit usec Read CP2 4 Write N A Default 10
51. ve in the ring enabling the master to exchange information with each drive simultaneously Hence it is possible to configure all the drives in the ring in a more time efficient manner Before moving the phase 4 the master sends the procedure command CP4 transition check to each drive which runs internal checks to ensure it has received all the information it requires to operate in phase 4 After every drive has responded with the procedure command correctly executed the master moves the ring into phase 4 CP4 Phase 4 is the normal operating state of the ring Every cycle time the master transmits control information to each drive in the ring which responds with its status including motion feedback information The master is now free to enable the drives and send positioning information See ref 1 for further information about the SERCOS Interface Specification Installation and Commissioning Set the required SERCOS network drive address baud rate and intensity using the front panel switches refer to Front Panel Specification section During CP2 the SERCOS network master must write the timing parameter IDNs for the cyclic phases CP3 amp CP4 to the drive SERCOS IDN Description 00002 SERCOS interface cycle time 00006 AT transmission starting time 00089 MDT transmission starting time 00009 Position of data record in MDT 00010 Length of MDT 00015 Telegram Type Parameter If
52. ved Probe 2 capture on positive edge 3 4 15 Reserved Where 0 inactive 1 active IDN S 0 0170 Probing Cycle Procedure Command Data Length 2 bytes Data Type Binary Procedure Command Minimum Value Maximum Value Scaling Unit Read Write CP4 Default 0 When this procedure command is received by the drive via the service channel it will start to monitor the probe input and record the motor external position when a change occurs on this input The drive will continue to monitor the probe input until either this procedure command is cancelled or an error occurs One probe input is available which will trigger a position capture when either a rising or falling edge is seen on the input After the master has armed the probe by setting the Probe 1 Enable Signal IDN 00405 the next rising or falling edge as defined by the Probe Control Parameter IDN 00169 will trigger the probe 1 input IDN 00401 and set a bit in the Probe Status Parameter IDN 00179 The master is then able to read the latched motor position from either the Probe 1 positive edge value IDN 00130 or Probe 1 negative edge value IDN 00131 Any further changes on the probe input will be ignored until the master has re armed the probe trigger by clearing and setting the probe enable signal IDN S 0 0179 Probe Status Data Length 2 bytes Data Type Binary Minimum Value Max
53. very time 00089 MDT transmission starting t2 A RW time 00090 Command value tutse B R proceeding time 00091 Bipolar velocity limit value B velocity RW 00092 Bipolar torque limit value B torque RW 00095 Diagnostic Message A R 00096 Slave Arrangement A R 00097 Mask Class 2 diagnostic B RW 00098 Mask Class 3 diagnostic B RW 00099 Reset class 1 diagnostic A RW 00104 Position loop Kv factor B position RW 00124 Standstill window B velocity RW 00125 _ Velocity threshold Nx B velocity RW 00127 CP3 transition check A RW 00128 CP4 transition check A RW 00138 Bipolar accel limit value B RW 00140 Controller type N A R 00141 Motor type N A R 00142 Application type A R 00143 SERCOS Interface version A R 00150 Reference offset 1 B position RW 00157 Velocity window B velocity RW 00159 Monitoring window B position RW 00160 Acceleration data scaling B RW type 00181 Manufacturer Class 1 N A R Diagnostics 00187 IDN List of Configurable C R Data in the AT 00188 IDN List of Configurable C R Data in the MDT 00189 Following Distance B position R 00206 Drive on delay time B RW 00207 Drive off delay time B RW 00390 Diagnostic Number N A R Notes 1 Only for slaves with several drive addresses Reading and Writing Yaskawa Drive Parameters The Yaskawa drive parameters are accessible via the SERCOS network drive parameter numbers 0
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