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Sigma-II Series SGDH MECHATROLINK-II - Support

1. Connector shell VA IS 2 3 e SH 4 CN4 CA IS 2 wl s gt E es 3 Nm 12 4 KS cweB 1 BAT oN r 2 37 ALO1 f BATO za jw aloz lt FZAVIN in ne K4 so ALO3 24V F 40 y ym ST s i e DEC sat Ya Lu icr ZICOIN P OT 42 3 35 ICOIN 4 BK LBK N OT a i Y3t7 IBK gt gow Z S RDY JEXTA X IS RDY 31 LALM IEXT2 X ALME co _IEXT3 46 Be sure to prepare the end of shield properly x x Don OTN 200 to 230 VAC Ko 50 60Hz N 8 Power cu Alarm oise filter OFF m T ic Doe E CE OMS 1 X Be sure to attach a surge suppressor to the 1MC e SGDH OOOE SERVOPACK Speed and position detector Fully closed speed and position detector Fully closed PG power supply Alarm code output Maximum operating voltage 30 VDC Maximum operating current 20 mA DC Positioning completed ON when positioning has been completed Brake output ON when brake is released Servo ready output ON when ready Servo alarm output OFF for an alarm Photocoupler Outputs Maximum operating voltage 30 VDC Maximum operating current 50 mA DC FG Connect shield to connector shell 3 16 tol 2 3 4 3 6 Examples of Combined Connections for Fully Closed Enco
2. OOO OOOQ OOOOO o 9 eens gt Ue tLe G2 G9 Uz 3 For grounding connect a ground wire of the NS115 to the point marked G on the SERVOPACK Ground wire JHBBHB amp 9 9 MODE SET A vV DAD Qo rower For SERVOPACK 30 W to 5 0 kW Ground wire W YASKAWA servomacK 200v soon zi J For SERVOPACK 6 0 kW to 7 5 kW 1 3 Mounting the NS115 When the NS115 has been mounted correctly the SERVOPACK will appear as shown in the following diagram m O f 1 tel a tr 2 1 2 2 2 3 24 2 Installation This chapter describes precautions for X II Series product installation The SGDH SERVOPACKs are base mounted servo controller Incorrect instal lation will cause problems Always observe the installation precautions shown in this chapter Storage Conditions 2 2 Installation Site 2 2 Orientation 2 3 Installation
3. 6 7 overtravel stop mode 6 9 overview iii Index parameters 6 29 peripheral devices connecting to peripheral devices 3 2 single phase main circuit specifications 3 3 three phase main circuit specifications 3 4 photocoupler output circuit 3 9 position loop gain C 2 power supply single phase power supply specifications 3 16 three phase power supply specifications 3 18 power supply for brake 3 3 R reference unit 6 19 regenerative resistor 3 3 related manuals v reverse overtravel 6 7 reverse reference 6 6 Reverse Rotation Mode 6 6 reverse run prohibited 6 7 rotation direction selection 6 6 S safety information vi safety precautions vii sequence I O signals 6 16 sequence input circui
4. 5 5 5 4 Supplementary Information on Trial Operation 5 6 5 4 1 Minimum Parameters and Input Signals 5 6 5 4 2 Servomotors with Brakes 5 7 6 Parameter Setting and Functions 6 1 Parameter Limits and Standard Settings with NS115 6 4 6 1 1 Parameter Limits 6 4 6 1 2 Standard Settings for CN1 I O Signals 6 5 xii 6 2 Settings According to Machine Characteristics 6 6 6 2 1 Switching Servomotor Rotation Direction 6 6 6 2 2 Setting the Overtravel Limit Function 6 7 6 2 3 Software Limit Settings 6 10 6 2 4 Fully Closed Control 6 12 6 2 5 Fully Closed System Specifications 6 12 6 2 6 Parameter Settings 6 13 6 3 Settings According to Host Controller 6 16 6 3 1 Sequence I O Signals 6 16 6 3 2 Electronic Gear Function 6 18 6 3 3 Acceleration Deceleration Function 6 22 6 3 4 Positioning Function 6 25 6 3 5 Zero Point Return 6 26 6 3 6 Backlash Compensation Function 6 27 6 4 Setting
5. 6 18 ball screws 6 21 belts and pulleys 6 21 built in operator 7 2 C checking products and part names 1 1 circular tables 6 21 CNI CNI specifications 3 7 CNI terminal layout 3 7 CN4 specifications 3 12 D deceleration ratio 6 18 Digital Operator 3 3 connection 7 2 limitations 7 3 dynamic brake 6 38 E electronic gear electronic gear ratio 6 20 electronic gear ratio denominator 6 20 electronic gear ratio numerator 6 20 examples 6 21 setting 6 18 emergency stop torque 6 9 encoder cable 3 3 encoder connector 3 3 encoders multiturn limit setting 6 45 selection 6 43 setup
6. 6 13 6 3 Settings According to Host Controller 6 16 6 3 1 Sequence I O Signals 6 16 6 3 2 Electronic Gear Function 6 18 6 3 3 Acceleration Deceleration Function 6 22 6 3 4 Positioning Function 6 25 6 3 5 Zero Point Return 6 26 6 3 6 Backlash Compensation Function 6 27 6 4 Setting Up the SERVOPACK 6 29 6 4 1 Parameters 6 29 6 4 2 Input Circuit Signal Allocation 6 29 6 4 3 Output Circuit Signal Allocation 6 34 6 4 4 Monitoring 6 36 6 5 Setting Stop Functions 6 38 6 5 1 Using the Dynamic Brake 6 38 6 5 2 Using the Holding Brake 6 39 6 1 6 Parameter Setting and Functions 6 6 Absolute Encoders 6 43 6 6 1 Selecting an Absolute Encoder 6 43 6 6 2 Absolute Encoder Setup 6 44 6 6 3 Multiturn Limit Setting 6 45 6 6 4 Absolute Encoder Zero Point Position Offset 6 47 6 2 B Before Reading this Chapter This chapter describes the use of
7. Unit mm in 350 13 78 8 2 Dimensional Drawings SGDH 60AE 75AE Three phase 200 V 6 0 kW 7 5 kW GU 7e e Us F E 4 e 5 o pm d CE cna OT JA O y voee come n ll rHlellel W NS Ol Y Il i I SO COD ODO COCO d ee EEEIEE DEIENE EENEN gt Ts fog mS OU gl NE SH 250 9 84 235 9 25 9 84 gt 9 25 l Approx mass 15 0 kg 33 07 Ib Unit mm in 8 7 9 Troubleshooting This chapter describes troubleshooting procedures for problems which cause an alarm indication and for problems which result in no alarm indication 9 1 Alarm Displays and Troubleshooting 9 2 9 2 Troubleshooting with No Alarm Display 9 21 9 3 Alarm Display Table 9 23 9 4 Warning Displays 9 26 9 1 9 Troubleshooting 9 1 Alarm Displays and Troubleshootin
8. 4 31 4 3 25 Positioning POSING 35H 4 32 4 3 26 Constant Speed Feed FEED 36H 4 33 4 3 27 Interpolation Feeding with Position Detection LATCH 38H 4 35 4 3 28 External Input Positioning EX POSING 39H 4 37 4 3 29 Zero Point Return ZRET 3AH 4 39 4 3 30 Velocity Control VELCTRL 3CH 4 41 4 3 31 Torque Control TRQCTRL 3DH 4 43 4 3 32 Adjusting ADJ 3EH 4 45 4 3 33 General purpose Servo Control SVCTRL 3FH 4 46 4 3 34 MECHATROLINK Connection CONNECT OEH 4 48 xi 4 4 Subcommands 4 49 4 4 1 No Operation NOP 00H 4 50 4 4 2 Read Parameter PRM RD 01H 4 51 4 4 3 Write Parameter PRM WR 02H 4 51 4 4 4 Read Alarm or Warning ALM RD 05H 4 52 4 4 5 Write Non volatile Parameter PPRM WR 1CH 4 52 4 4 6 Request Latch Mode LTMOD ON 28H 4 53 4 4 7 Release Latch Mode LTMOD OFF 29H 4 53 4 4 8 Status Monitoring SMON 30H 4 54 4 5 Command Data Field 4 55 4 5 1 Latch Signal Field Specifications LT SGN 4 55 4 5 2 Option Field Specifi
9. 5 If the encoder cable is not connected the servomotor model and the encoder version are 00 4 MECHATROLINK II Communications 4 3 5 Set Up Device CONFIG 04H 1 2 3 4 5 7 10 11 12 13 14 15 16 4 3 5 Set Up Device CONFIG Command Response 04 WI D H T ALARM STATUS RWDT CONFIG 04H Processing Control com Synchronization Asynchronous classifications mand group classifications Recalculates all currently set parameters and initializes positions signals etc Can be used during phases 2 and 3 The SERVOPACK will change to Servo OFF if this command is received when the SERVOPACK is Servo ON A warning will occur and the command will be ignored in the following cases During phase 1 MECHATROLINK II command warning A 95 If a digital operator is connected MECHATROLINK II command warning A 95 If SigmaWin and so on are connected MECHATROLINK II command warning A 95 The following table shows status and output signal during CONFIG command execution If communications are in progress with a Digital Operator a command warn ing A ED may occur o refers to the amount of delay that is set by parameter for turning the Servo OFF during brak ing control B Status and Output Signal during CONFIG Command Execution Status and Before CONFIG During CONFIG After CONFIG Output Signal ALM status Current status Current status Current status CMDRDY s
10. Set device PPRM WR Set the necessary parameters such as 20r3 offline parameters to non volatile mem ory 7 Turn OFF control Turn OFF power supply 5 power supply 1 If communication disconnects normally the NOP command is sent If communication does not disconnect normally the DISCONNECT command is sent for two or more communica tions cycles prior to connection then the CONNECT command is sent 2 Do not use PRM WR 4 64 4 7 Operation Sequence Table 4 6 Step 2 Ordinary Operation Sequence Proce Item Command Description Phase dure Turn ON control and main cir NOP DISONNECT Turn ON power supplies 1 cuit power supplies Establish connection CONNECT Establish communications 2 or 3 Start the WDT count Check information such as ID_RD Read information such as device 2 or 3 device ID type Turn ON encoder SENS_ON Turn ON encoder and obtain the 2 or 3 position data i ES S Start operation E Start operation Turn OFF main circuit SV OFF Change to Servo OFF Turn OFF control and main Turn OFF power supplies 5 circuit power supplies f communication disconnects normally the NOP command is sent If communication does not disconnect normally the DISCONNECT command is sent for two or more communications cycles prior to connection then the CONNECT command is sent 4 7 3 Operation Sequence When Being Servo ON Motor control using a host controller is performed using motion comma
11. To E a a i a 2 wj w oO output 2 EXT2 External latch ignal 2 input BAT Battery VATI External latch ignal 3 input 22 BAT Battery 24VIN External Pear tr E power supply input 2 4 25 COIN Positioning complete output Make signal allocations using parameters Refer to 6 1 2 Standard Settings for CN1 I O Signals Note 1 Do not use unused terminals for relays 2 Connect the shield of the I O signal cable to the connector shell The shield is connected to the FG frame ground at the SERVOPACK end connector 7 9 1 3 9 1 3 5 7 9 4 6 8 0 2 4 B CN1 Specifications Specifications for Applicable Receptacles SERVOPACK Soldered Case Manufacturer Connectors 10250 52A2JL 50 p 10150 3000VE 10350 52A0 008 Manufactured by Right Angle Plug Sumitomo 3M Ltd 3 7 3 Wiring 3 3 3 I O Signal Names and Functions 3 3 3 I O Signal Names and Functions The following section describes SERVOPACK I O signal names and functions B input Signals Common DEC 41 Zero point return deceleration limit switch Deceleration LS used when the motor returns to the zero point 42 Forward run prohibited Overtravel prohibited Stops servomotor when movable part travels 43 Reverse run prohibited beyond the allowable range of motion External latch signals 1 2 and 3 External signals for latching the current FB pulse counter 46 24VIN 47 Control po
12. ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm At power ON During MECHATROLINK II A communications B SERVOPACK is defective Replace the SERVOPACK p MECHATROLINK I communications inter Turn the power ON again rupted 9 19 9 Troubleshooting B A ED A ED Command Execution Incomplete Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm During MECHATROLINK II communications Command was interrupted Do not connect a Hand held Digital Operator or start communications with a personal computer while any of the fol lowing commands are being executed PRM_RD PRM_WR PPRM_WR CONFIG ALM_RD ALM_CLR SENS_ON ADJ ID_RD 9 20 9 2 Troubleshooting with No Alarm Display 9 2 Troubleshooting with No Alarm Display Refer to the tables below to identify the cause of a problem which causes no alarm display and take the remedy described Turn OFF the servo system power supply before commencing the shaded procedures Contact your Yaskawa representative if the problem cannot be solved by the described proce dures Table 9 1 Troubleshooting Table with No Alarm Display Servomotor Does Not Start Power is not turned ON Check voltage between power Correct the power circuit
13. K l l 4 Y 4 1 1 1 I I 1 1 1 1 r lt s lt 1 1 i LU 625 us until the motor starts 4 6 2 Monitor Data Input Timing The monitor I O and status data is the data 625 s before the response is sent Command sent Responce received Transmission cycle Fe gt i i i v l r1 l I l I E l i i i i i Master sent nmm l E p co 1 L1 4 A E Slave sent i Y Received Sent I i i i i i i i i i f i i 7 i i i i i 1 i i i i i Position and signal data 625 us before 4 62 4 7 Operation Sequence 4 Operation Sequence This section describes outline of the operation sequence Refer to 4 3 Main Commands and 4 4 Subcommands for details of command functions and settings 4 7 1 Operation Sequence for Managing Parameters Using a Controller The following describes the operation sequence for managing parameters using a controller The controller manages the necessary parameters and transfers them when the power is turned ON With this operation sequence the settings can be managed by the controller even when the SERVOPACK is replaced Table 4 4 Operation Sequence for Managing Parameters Using a Controller Proce Item Command Description Phase dure 1 1 Turn ON control and NOP DISCONNECT Turn ON power supplies main circuit power sup plies 2 Establish connection CONNECT Establish communications 2 or 3 St
14. Set software limits in the positive and negative directions Forward Software Limit Unit Setting Factory Position Reference Range Setting Control Unit 1073741823 81911808 to 1073741823 Reverse Software Limit Unit Setting Factory Position Reference Range Setting Control Unit 1073741823 81911808 to 1073741823 The negative limit must be less than the positive limit 6 Parameter Setting and Functions 6 2 4 Fully Closed Control 6 2 4 Fully Closed Control A fully closed loop can be formed using the parameter settings on the SGDH SERVOPACK In previous SERVOPACKs a semi closed method was used to control the motor but with this function even more precise control is achieved because control involves the detection of the position and speed of actual machine operation Fully closed control Torque gt Mechanism in gt Speed and Servomotor cluding back position at the lash and friction Power machine end Load torque Speed Current Detection position current Controlled machine Parameters must be set when using fully closed control Refer to 6 2 6 Parameter Settings for details 6 2 5 Fully Closed System Specifications This section describes the fully closed system specifications of the SGDH SERVOPACK when an NS115 is mounted B Fully Closed Encoder Pulse Output Form 5 V Differential line driver output complies with EIA Standard RS 422A B Fully Closed Encoder Pulse Sign
15. Humidity 90 RH or less Vibration 4 9 m s Condensation and Freezing None Ambient Temperature for Long term Reliability 45 C max 2 4 3 Wiring This chapter describes the procedure used to connect X II Series products to peripheral devices when an NS115 is mounted and gives typical examples of I O signal connections 3 1 Connecting to Peripheral Devices 3 2 3 1 1 Single phase 100 V or 200 V Main Circuit Specifications 3 3 3 1 2 Three phase 200 V Main Circuit Specifications 3 4 3 2 SERVOPACK Internal Block Diagrams 3 5 3 3 I O Signals 3 6 3 3 1 Connection Example of I O Signal Connector CN1 3 6 3 3 2 I O Signals Connector CN1 3 7 3 3 3 I O Signal Names and Functions 3 8 3 3 4 Interface Circuits 3 9 3 4 Fully Closed Encoder Signals Connector CN4 3 11 3 4 1 Fully Closed Encoder Connection Example 3 11 3 4 2 CN4 Connector Terminal Layout 3 11 3 5 Connections for MECHATROLINK II Communications 3 13 3 5 1 MECHATROLINK II Communications Connection Example 3 13 3 5 2 MECHATROLINK II Communications Connectors CN6A CN6B 3 14 3 5 3 Precautions for Wiring MECHATROLINK II Cables 3 14 3 6 Examples of Combined Connections
16. for Fully Closed Encoders 3 16 3 6 1 Single phase Power Supply Specifications 3 16 3 6 2 Three phase Power Supply Specifications 3 18 3 1 3 Wiring 3 1 Connecting to Peripheral Devices This section provides examples of standard X II Series product connections to peripheral devices It also briefly explains how to connect each peripheral device 3 2 3 1 1 Molded casa Circuit E Breaker MCCB Protects the pow er line by shutting thecircuit OFF when overcurrent is detected Molded case Power supply Single phase 200 VAC RST 3 1 Connecting to Peripheral Devices Single phase 100 V or 200 V Main Circuit Specifications Controller for MECHATROLINK II Host Controller circuit breaker i H i VASRAWA NOPACK e Noise Filter SGDH Digital Operator see note Used to eliminate external noise A JUSP OP02A 2 from the power line 6 Allows the user to set on 2902 parameters or opera rons tion references and to Done sits display operation or
17. Called an online parameter A Can be changed at any time and enabled immediately after the power is turned OFF then ON again Sends a Set Up Device command at power ON when changing a parameter Called an offline parameter Do not access B 8 B 2 Function Switches B 2 Function Switches The following list shows the function switches and their settings Table B 3 Function Switches List Category Pn No Digit Name Setting Description SGDH Changing Place Factory Method Setting Function Pn000 Direction Sets CCW as forward direction Switches Selection 1 Ses CW as forward direction Control Method um to B poer c4 are invalid Do not set Selection Axis Address Sets p SERVOPACK axis Sets the SERVOPACK axis address 3 Rotary Linear eee up as rotary motor Startup AEN when encoder is not connected Servo OFF or Alarm Stop Mode Starts up as linear motor Stops the motor by applying dynamic brake DB Stops the motor by applying dynamic brake DB and then releases DB Makes the motor coast to a stop state without using the dynamic brake DB Same setting as Pn001 0 Stops the motor by applying DB or by coasting Overtravel Stop Mode Sets the torque of Pn406 to the maximum value decelerates the motor to a stop and then sets it to servolock state Sets the torque of Pn406 to the maximum value decelerates the motor to a stop and then sets it to coasting state
18. S 2 BAT 24V F power supply Alarm code output Maximum operating voltage 30 VDC Maximum operating current 20 mA DC Zero point return decel IDEC eration LS 4 LS enabled when ON Forward run prohibited P OT 5 42 Prohibited when OFF Reverse run prohibited 4 N OT 5 43 Prohibited when OFF External latch 1 4 4 EXT1 S 44 Latched when ON External latch 2 4 i EXT2 S 45 Latched when ON External latch 3 4 EXT3 Ss 46 Latched when ON 3 18 COIN Positioning completed ON when positioning has COIN been completed IBK Brake output 4 BK ON when brake is IS RDY released Servo ready output S RDY ON when ready Connector shell ALM Servo alarm output 32 ZALM OFF for an alarm Photocoupler Outputs Maximum operating voltage 30 VDC Maximum operating current 50 mA DC Connect shield to connector shell tol 2 3 4 ES 3 6 Examples of Combined Connections for Fully Closed Encoders represents twisted pair wires When using an absolute encoder connect a backup battery only when there is no battery con nected to the CN8 Connect an external regenerative resistor between terminals B1 and B2 for SERVOPACKs with a capacity of 6 0 kW or higher Make signal allocations
19. Sets signal OFF Inputs the reverse signal from the SIO CN1 40 input terminal Inputs the reverse signal from the SI1 CN1 41 input terminal Inputs the reverse signal from the SD CN1 42 input terminal Inputs the reverse signal from the SI3 CN1 43 input terminal Inputs the reverse signal from the SI4 CN1 44 input terminal Inputs the reverse signal from the SI5 CN1 45 input terminal Inputs the reverse signal from the SI6 CN1 46 input terminal Q EXTI Signal Mapping Inputs from the SIA CN1 44 input terminal Inputs from the SIS CN1 45 input terminal Inputs from the SI6 CN1 46 input terminal 4 5 7 Sets signal ON Sets signal OFF 1 Inputs the reverse signal from the SI4 CN1 44 input terminal E Inputs the reverse signal from the SI5 CN1 45 input terminal F Inputs the reverse signal from the SI6 CN1 46 input terminal 0to3 Sets signal OFF 9 toC EXT2 Signal OtoF Same settings as Pn511 1 Mapping 3 EXT3 Signal OtoF Same settings as Pn511 1 Mapping Sequence Pn511 related Switches Appendix B List of Parameters Table B 3 Function Switches List cont d Category Pn No Digit Name Setting Description SGDH Changing Place Factory Method Setting Sequence Signal Reversal o Signal i is not reversed related for SO1 CN1 S ignal is reversed Switches 25 26 Terminal Ei Signal Reversal 0 f Signal is not reversed Si
20. X I Series SGDH MECHATROLINK II APPLICATION MODULE USER S MANUAL MODEL JUSP NS115 7 YASKAWA MANUAL NO SIEP C710800 01C Copyright O 2002 YASKAWA ELECTRIC CORPORATION All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of Yaskawa No patent liability is assumed with respect to the use of the information contained herein Moreover because Yaskawa is con stantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless Yaskawa assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publication Overview B About this Manual This manual provides the following information for the X II Series SGMLIH SGDH LIE servodrives with a JUSP NS115 MECHATROLINK II application module hereinafter called the NS115 Procedures for installing and wiring the servomotor SERVOPACK and NS115 Procedures for trial operation of the servodrive Procedures for using functions and adjusting the servodrives Procedures for using the built in Panel Operator and the Hand held Digital Operator Ratings and sp
21. if autotuning is not available or if the online autotuning function is not used because the load moment of inertia 1s already known and the SERVOPACK is manu ally adjusted by setting the moment of inertia ratio data in Pn103 B Speed Feedback Compensation Selection Use the following parameter to enable or disable speed feedback compensation during autotuning Refer to 9 4 8 Speed Feedback Compensation of the X I Series SGMLIH SGDH User s Manual SIEPS80000005 This parameter can be left as it is if online autotuning is performed If this parameter is set manually however the setting is reflected to the operational setting made during online autotuning Speed Feedback Compensation Factory Setting Position Control Selection 1 C 9 Appendix C Using the Adjusting Command ADJ 3EH C 1 4 Parameters Related to Online Autotuning B Friction Compensation Selection Use the following parameter to enable or disable friction compensation to determine whether or not the friction of the servo system is to be taken into consideration for the calcu lation of load moment of inertia If this compensation function 1s enabled select small or large friction compensation accord ing to the extent of friction in order to ensure highly precise load moment of inertia calcula tion pug Friction Compensation Selection Factory Setting Position Control 0 Friction compensation Disabled Friction compensation Small Friction c
22. 6 44 usage 6 43 external I O power supply input 6 17 F forward overtravel 6 7 forward reference 6 6 forward run prohibited forward overtravel 6 7 friction compensation selection C 10 Index 1 Hand held Digital Operator 729 holding brake 6 39 brake ON timing 6 41 brake operation 6 41 setting 6 42 wiring example 6 39 host controller 3 3 l T O signals connection example of I O signal connector CN1 3 6 T O signal names and functions 3 8 inertia ratio 9 14 C 3 C 7 C 9 C 10 input signals 3 8 enabling disabling input signals 6 8 input circuit signal allocation 6 29 input signal allocation mode 6 30 interface circuits 3 9 load moment of inertia C 3 machine rigidity ch
23. AC DC Power Input Selection Not applicable to DC power input Input AC power supply through L1 L2 and L3 termi nals e l to DC power input Input DC power e l through 1 and terminals ALOI ALO2 and ALO3 output CNET alarm CNET Warning Code Output Selection ALOI ALO2 and ALO3 output both alarm codes and warning codes While warning codes are output ALM signal output remains ON normal state B 9 Appendix B List of Parameters Table B 3 Function Switches List cont d Category Pn No Digit Name Setting Description SGDH Changing Place Factory Method Setting Function Torque Refer The torque reference option is not effective Switches ence Option in Set P TLIM TFF N TLIM to 0 Speed Position Control Mode 1 P_TLIM operates as the torque limit value Set N_TLIM to 0 TFF operates as the torque feed forward Set N_TLIM to 0 When P_CL and N_CL of OPTION field 0 parameters Pn402 and Pn403 operate as torque limit values When P_CL 0 and N_CL 1 N_TLIM oper ates as the torque limit value When P_CL 1 and N_CL 0 or P_CL and N_CL 1 P_TLIM operates as the torque limit value Speed Reference The speed reference option is not effective Option in Torque Set VLIM to 0 Control Mode VLIM operates as the speed limit value Absolute Uses absolute encoder as an absolute encoder Encoder Usage 1 Uses absolute encoder as an incremental encoder C Uses in Reverse Rotation
24. ALARM Processing time Within transmis Subcommand Can be used sion cycle STATUS Returns the status of the ALM WARNG and CMDRDY in STATUS bytes only All other bits are not used The response will be NOP when the power is turned ON until initialization has been completed and during this time the following status will be returned CMDRDY 0 Can be used during any phase RWDT For subcommands use Refer to 4 4 Subcom mands 4 8 4 3 Main Commands 4 3 2 Read Parameter PRM RD 01H Byte PRM RD Description 01H 01H Processing Data communica Synchronization Asynchronous classifications tions command classifications group ALARM Processing time Refer to the fol Subcommand Cannot be used lowing description STATUS Reads current operating parameters The latest setting value however is read for offline parameters The setting value is enabled with the Set Up Device command CONFIG A warning will occur and the command will be ignored in the following cases If a warning occurs PARAMETER will not be dependable If a digital operator is connected MECHATROLINK II command warning A 95 PARAMETER If SigmaWin and so on are connected MECHATROLINK II command warning A 95 If NO is not within range Parameter setting warning A 94 If SIZE does not match Parameter setting warning A 94 If communications are in progress with a Digital Operator a command execu tion incomplete alarm A ED
25. According to Analog Monitor 2 Pn003 1 Monitors initial multiturn data Monitors the encoder count value 6 36 6 4 Setting Up the SERVOPACK B Analog Monitor Analog monitor and option monitor OMNI OMN2 can be changed with parameters Pn003 0 and Pn003 1 Pn003 0 Analog Monitor 1 Factory Position Control Setting 2 Analog Monitor 2 Factory Position Control Setting 0 The option monitor OMNI OMN2 and analog monitor CN5 signals that can be observed are shown in the following table along with the monitor signal unit and gain Settings in Monitor Signal Analog Monitor Gain Unit of Option Monitor Pn003 0 and CN5 OMN1 OMN2 Pn003 1 os pem pues mo converted to motor speed wem S INFO J Refer to 9 5 Analog Monitor of the X Il Series SGMOHA SGDH User s Manual SIEPS80000005 for information on the analog monitor 6 37 6 Parameter Setting and Functions 6 5 1 Using the Dynamic Brake 6 5 Setting Stop Functions This section describes the procedure used to stop the SERVOPACK stably 6 5 1 Using the Dynamic Brake To stop the servomotor by applying the dynamic brake DB when the SERVOPACK is Servo OFF set the desired mode in the following parameter The servomotor will stop due to machine friction 1f the dynamic brake is not applied Pn001 0 Servo OFF or Alarm Stop Mode Factory Position Control Setting 0 The SERVOPACK turns OFF u
26. Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm At power ON At SENS_ON command Pn002 2 0 A B C Pn002 2 1 C The following power supplies to the absolute Follow absolute encoder set up procedure encoder all failed e 5 V supply supplied from the SEROVPACK Battery power B Absolute encoder malfunctioned Replace the servomotor Circuit board 1PWB is defective Replace the SERVOPACK 9 4 9 1 Alarm Displays and Troubleshooting B A 82 4 82 Encoder Checksum Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm At power ON At SENS_ON command e ie i i During operation Error occurred during encoder memory check Follow absolute encoder set up proce dure Replace the servomotor if the error occurs frequently Circuit board 1PWB is defective Replace the SERVOPACK 9 5 9 Troubleshooting B A 83 A 83 Encoder Battery Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm At power ON At SENS_ON command A B C Pn002 2 1 C A Battery is not connected Check and correct battery connection Batter
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28. Name Size Unit Setting NS115 Changing Range Factory Method Setting Communications Pn800 Communications Control 0000H to 0400H Parameters 0F73H Sequence Pn801 Function Selection Application 0000H to 0000H related Software Limits 0113H Pn803 Zero Point Width 0 to 250 10 p Position related Pn804 Forward Software Limit 4 reference unit 23041 to 819191808 Parameters Pn805 2301 Pn806 Reverse Software Limit 4 reference unit 23041 to 819191808 Pn807 2330 1 Pn808 Absolute Encoder Zero Point 4 reference unit 23041 to Pn809 Position Offset 9301 Acceleration Pn80A First step Linear Acceleration 2 10000 reference 1 to 65535 Deceleration Parameter unit s Pn80C Acceleration Parameter Switching 100 reference 0 to 65535 Speed unit s Pn80D First step Linear Deceleration Parameter Pn80E Second step Linear Deceleration Parameter 100 2 Pn80B Second step Linear Acceleration 10000 reference 1 to 65535 100 Parameter unit s 10000 reference 1 to 65535 unit s 10000 reference 1 to 65535 100 unit s Pn80F Deceleration Parameter Switching 100 reference 0 to 65535 Speed unit s Position Pn810 Exponential Position Reference reference unit s 0 to 32767 Reference Filter Filter Bias Pn811 Exponential Position Reference 2 0 1ms 0 to 5100 Filter Time Constant Pn812 Movement Average Time of 2 0 1ms 0 to 5100 Movement Average Position Reference Filter Monitor Pn813 Option M
29. Specify the servomotor Stop Mode when either of the following signals is input during ser vomotor operation Forward run prohibited input P OT CN1 42 Reverse run prohibited input N OT CN1 43 6 8 6 2 Settings According to Machine Characteristics Overtravel Stop Mode Factory Position Control Setting 0 Stop Mode After stopping Pn001 1 setting Stopby dynamic brake Coast to a stop Decelerate to a stop Overtravel Pn001 0 0 1 Coast status Pn001 1 0 0 Zero clamp Pn001 1 10r2 Coast status Pn001 1 Stops the servomotor the same way as changing to Servo OFF according to Pn001 0 1 Decelerates the servomotor to a stop at the preset torque value or less and then locks the servomotor in Zero Clamp Mode Torque setting Pn406 emergency stop torque 2 Decelerates the servomotor to a stop at the preset torque value or less and puts the servomotor in coast status Torque setting Pn406 emergency stop torque Pn406 specifies the stop torque applied for overtravel when the input signal for prohibiting forward or reverse rotation is used The torque limit is specified as a percentage of rated torque Emergency Stop Setting Factory Valid when Torque Range Setting Pn001 1 is 1 or 2 0 to Max 800 Torque Stop Mode Stop by dynamic brake Coast to a stop Decelerate to a stop Max torque setting for an emerge
30. WDT errors fully closed encoder open circuit detection etc LED Indicators A Alarm R MECHATROLINK I II communications in progress 8 2 8 2 Dimensional Drawings 8 2 Dimensional Drawings Dimensional drawings of the NS115 and SERVOPACKs are shown below 8 2 1 NS115 Dimensions of the NS115 are shown below Unit mm in 24 0 94 142 5 59 0 79 128 5 04 Approx mass 0 2 kg 0 44 Ib D 8 3 8 Ratings Specifications and Dimensional Drawings 8 2 2 SERVOPACKs 8 2 2 SERVOPACKs Dimensional drawings of the Base mounted Standard SERVOPACKs with NS115 mounted are shown below For detailed dimensional drawings refer to X Series SGMUH SGDH User s Manual SIEPS80000005 For details of the Rack mounted and Duct ventilated SERVOPACKs refer also to 2 7 Series SGMUH SGDH User s Manual SIEPS80000005 B Base Mounted Models SGDH A3AE to 02AE Single phase 200 V 30 to 200 W SGDH A3AE to 01BE Single phase 100 V 30 to 100 W n d i i qum S XE TRUCO c cCQRTRR Se RT Lp JL IL B 1 Di 75 2 95 lq 75 2 95 bu 130 5 12 Approx mass 1 0 kg 2 21 Ib SGDH 04AE Single phase 200 V 400 W SGDH 02BE Single phase 100 V 200 W
31. 2 4 2 1 2 Installation 2 1 Storage Conditions Store the SERVOPACK within the following temperature range when it is stored with the power cable disconnected 20 to 85 C _ amm W YASKAWA SERVOPACK We SGDH 200V je p II Series SGDH SERVOPACK with NS115 mounted 2 2 Installation Site Take the following precautions at the installation site Installation Precaution Installation in a Design the control panel size unit layout and cooling method so that Control Panel the temperature around the SERVOPACK does not exceed 55 C Installation Near a Minimize heat radiated from the heating unit as well as any temperature Heating Unit rise caused by natural convection so that the temperature around the SERVOPACK does not exceed 55 C Installation Near a Install a vibration isolator beneath the SERVOPACK to avoid subject Source of Vibration ing it to vibration Installation at a Site Corrosive gas does not have an immediate effect on the SERVOPACK Exposed to Corrosive but will eventually cause electronic components and contactor related Gas devices to malfunction Take appropriate action to avoid corrosive gas Other Situations Do not install the SERVOPACK in hot or humid locations or locations subject to excessive dust or iron powder in the air 2 2 2 3 Orientation 2 3 Orientation Install the SERVOPACK perpendicular to the wall as shown in the fig
32. 31 Torque Control TRQCTRL 3DH 4 43 4 3 32 Adjusting ADJ 3EH 4 45 4 3 33 General purpose Servo Control SVCTRL 3FH 4 46 4 3 34 MECHATROLINK Connection CONNECT OEH 4 48 4 4 Subcommands 4 49 4 4 1 No Operation NOP 00H 4 50 4 4 2 Read Parameter PRM RD 01H 4 51 4 4 3 Write Parameter PRM WR 02H 4 51 4 4 4 Read Alarm or Warning ALM RD 05H 4 52 4 4 5 Write Non volatile Parameter PPRM WR 1CH 4 52 4 4 6 Request Latch Mode LTMOD ON 28H 4 53 4 4 7 Release Latch Mode LTMOD_OFF 29H 4 53 4 4 8 Status Monitoring SMON 30H 4 54 4 5 Command Data Field 4 55 4 5 1 Latch Signal Field Specifications LT SGN 4 55 4 5 2 Option Field Specifications OPTION 4 56 4 5 3 Status Field Specifications STATUS 4 57 4 5 4 Monitor Selection and Monitor Information Field Specifications SEL MON1 2 34 MONITOR1 2 3 4 4 58 4 5 5 IO Monitor Field Specifications IO MON 4 59 4 5 6 Substatus Field Specifications SUBSTATUS 4 61 4 6 Command and Response Timing 4 62 4 6 1 Command Data Execution T
33. 4 3 10 Disconnection DISCONNECT OFH Byte DISCONNECT Description Command ELM Processing Network com Synchronization Asynchronous classifications mand group classifications ALARM Processing time Communications Subcommand Cannot be used cycle or more o Releases the MECHATROLINK II connection The SERVOPACK changes communication to phase 1 Can be used during any phase When this command is received the following operations will be performed 6 The SERVOPACK changes communication to phase 1 The SERVOPACK changes to Servo OFF e The reference point setting will become invalid Ce o mer 4 17 4 MECHATROLINK II Communications 4 3 11 Read Non volatile Parameter PPRM RD 1BH 4 3 11 Read Non volatile Parameter PPRM RD 1BH PPRM RD Description 1BH 1BH Processing Data communica Synchronization Asynchronous classifications tions command classifications group ALARM Processing time Within communi Subcommand Cannot be used cations cycle STATUS This command is not supported When this command is received a MECHATROLINK II command warning A 95 will occur and the command will be ignored 4 18 4 3 Main Commands 4 3 12 Write Non volatile Parameter PPRM WR 1CH Byte PPRM WR Description 1 1CH 1CH Processing Data communica Synchronization Asynchronous classifications tions command classifications group ed Saves parameters in E PROM If parameters are onli
34. 5100 0 6 24 6 3 Settings According to Host Controller B Movement Average Time of Movement Average Position Reference Filter Set the movement average time when using movement average position reference filter as position reference filter Movement Average Setting Factory Position Time of Movement Aver Range Setting Control age Position Reference 0 to 5100 0 Filter 6 3 4 Positioning Function Motion settings are performed using the following parameters Set them according to the machine system B Positioning Completed Width Set the width for positioning completed PSET in STATUS When output has been com pleted DEN 1 and the position is within the positioning completed width of the target position TPOS PSET will be set to 1 Positioning Completed Unit Setting Factory Position Width Reference Range Setting Control unit 0 to 250 7 S INFOJ This parameter is usually used to set the COIN output signal width but can also be used as the MECHATROLINK II PSET width in STATUS The COIN output signal width will also be changed B Positioning Proximity Width Set the width for positioning proximity NEAR in STATUS Regardless of whether or not output has been completed DEN 1 when the position is within the positioning proximity width of the target position NEAR will be set to 1 Positioning Proximity Unit Setting Factory Position Width NEAR signal Reference Range Setting Con
35. 6 3 Multiturn Limit Setting A WARNING Changing the multiturn limit may change the absolute position data Be sure to set the multiturn limit following the controller s designation If the Multiturn Limit Disagreement alarm occurs check the setting of parameter Pn205 in the SERVOPACK to be sure that it is correct If Fn013 is executed when an incorrect value is set in Pn205 an incorrect value will be set in the encoder The alarm will disappear even if an incorrect value is set but incorrect positions will be detected resulting a dangerous situation where the machine will move to unexpected positions When implementing absolute detection systems for machines that turn m times in response to n turns in the load shaft such as circular tables it is convenient to reset the multiturn data from the encoder to 0 every m turns The Multitum Limit Setting allows the value m to be set for the encoder Select the absolute encoder usage with the following parameter Absolute Encoder Usage Factory Position Control Setting 0 0 in the following table must be set in order to enable the absolute encoder pom Use the absolute encoder as an absolute encoder Use the absolute encoder as an incremental encoder The multiturn limit is set in the SERVOPACK using the following parameter Multiturn Limit Setting it Setting Factory Position Control Range Setting 0 to 65535 65535 If the Multiturn Limit Setting is s
36. 7 Digital Operator 7 3 Panel Operator Indicators The Panel Operator indicator LED will not be lit in any of the following circumstances The indicator will not be lit for approximately 3 seconds when the power 1s turned ON The indicator will not be lit when the Hand held Digital Operator is connected It will be lit when the Hand held Digital Operator is disconnected The indicator will not be lit for approximately 1 second when the following commands are received PRM RD command PRM WR PPRM WR command CONFIG command SENS ON command ADJ command ALM RD ALM CLR command for the error history Reading ID RD command model 7 4 8 Ratings Specifications and Dimensional Drawings This chapter provides the ratings specifications and dimensional drawings of the NS115 8 1 Ratings and Specifications 8 2 8 2 Dimensional Drawings 8 3 824 ING Pion cee ascetur d eee E ee 8 3 8 2 2 SERVOPACKS 5 55 e55c 5552552 bteeosi scene Eten sees 8 4 8 1 8 Ratings Specifications and Dimensional Drawings 8 1 Ratings and Specifications The following table shows ratings and specifications for the NS115 Table 8 1 NS115 Ratings and Specifications Applicable SERVOPACK All SGDH LILILIE models Installation Method Mounted on the SGDH SERVOPACK Basic Specifications Power Consumption 2 IW External Dimensions 20 x 142 x 128 W x H x D mm Appro
37. A i jore e o rae cwm eO 3i j JB i H fale ug C Ne 95 3 74 75 2 95 130 5 12 3 74 75 2 95 5 12 Approx mass 1 3 kg 2 87 Ib Unit mm in 8 4 8 2 Dimensional Drawings SGDH 05AE to 10AE Three phase 200 V 0 5 to 1 0 kW A Br 160 6 30 de ge mma ELEC nogoaBsg 110 4 33 ae 2 95 a 180 7 09 Approx mass 1 9 kg 4 19 Ib SGDH 15AE Three phase 200 V 1 5 kW i etkt E ooe cHo oan e o EESE 09 E 1 J Iek ei Pm an EM I 130 5 12 t 2999 180 7 09 Ero je Approx mass 3 0 kg 6 61 Ib Unit mm in SGDH 20AE 30AE Three phase 200 V 2 0 kW 3 0 kW TT UST ut iso lI Three phase 200 V 5 0 kW SGDH 50AE af o ese cu ceca SS oe a CIL Cao Gan es Ca Gee 113 Se olele
38. Adjusting command ADJ 3EH provided that no Hand held Digital Operator is connected or no communications is taking place with personal computers Use the following setting procedure 1 By setting byte 1 ofthe MECHATROLINK II command field to ADJ 3EH and byte 2 to 00H the following command field can be set Some Response CCMD CANS CCMD Command CADDRESS CADDRESS CANS Answer CADDRESS Setting reference addresses CDATA Setting reference data 8 CDATA CDATA 2 Send the following data setting commands to each command field Set 01H Data setting in the CCMD field Set 2002H in the CADDRESS field Set Desired data in the CDATA field 3 After setting the data send the command Confirm that the response is correct and that CMDRDY of STATUS is set to 1 When the settings are completed the Panel Operator is enabled The Panel Operator enable setting is not normally required but can be used to maintain compat Ibility with the NS100 C 14 Index Index BKsignal 6 42 A alarm code outputs 9 2 9 23 alarm display table 9 23 alarm name 9 23 alarm outputs 9 2 analog monitor 6 37 autotuning C 2 B ball screw pitch
39. COM MOD Emi REOS mode Refer to the following table E LN NEM eat EE NM EIE EUN pe T COM TIM Communications cycle ms Set the multiple number of 2 ms in the range of 2 to 32 ms 2 ms S COM TIM XS 32 ms A command warning will occur and the command will be ignored in the fol lowing cases If COM_MOD is not within range Parameter setting warning A 94 If COM_TIM is not within range Parameter setting warning A 94 B Details of COM MOD DTMOD SYNCMOD EXMOD Warning 1 Extended connection SYNCMOD 3 Phase 1 0 Asynchronous communications The SERVOPACK changes communication EXMOD 1 to phase 2 y SYNCMOD 1 1 Start synchronous communications The SERVOPACK changes Phase 2 SYNCMOD 1 communication to phase 3 The SERVOPACK changes communication to phase 2 when EXMOD is set to 1 The SERVOPACK changes communication to phase 3 after SYNC SET setting DTMOD 00 11 Single transfer 01 Consecutive transfer 10 Multiple transfers not supported wm 7 EXMOD 0 Standard connection SYNC SET Phase 3 4 48 4 4 Subcommands 4 4 Subcommands This section describes the subcommands for the NS115 The MECHATROLINK II subcommands can be used by specifying them with the CONNECT command when the MECHATROLINK II communications is started They use the seventeenth to the twenty ninth bytes of the command and response data They cannot be used wi
40. Doll ye gt 2 alarm status Doll oA Communication is also moll Jo T M l possible with a person E molle flrs 7 74 al computer e Noise filter 7 g ie X Ne E BI T Oje Note Used for maintenance Be sure to f M tic Contact N acr coordinate operation from these devices agnetic Contactor non A with controls exerted by the host controller acp L HI Series eoe Turns the servo b ON and OFF s Install a surge M ES suppressor on the magnetic contac M tor Magnetic U FTR VW AA J contactor 0 Power m L N supply E d roun ncoder ower Supply for Brake i I pply line Cable Used for a servomotor with a Brake SS Encoder brake power Lic L2c aS ees Connector supply B1 B2 fer M oe st NER Connect an external regenerative resistor to terminals B1and B2 if the regenerative capacity is insufficient Regenerative resistor _ optional mE 3 Wiring 3 1 2 Three phase 200 V Main Circuit Specifications 3 1 2 Power supply Molded case Circuit Single phase 200 VAC Breaker MCCB RST Protects the pow er line by shutting thecircuit OFF when overcurrent is detected Molded case circuit breaker J N Noise Filter Used to eliminate external noise from the power line Noise filter Magneti
41. MONITORI A warning will occur and the command will be ignored in the following cases During phase 1 MECHATROLINK II command warning A 95 If the SERVOPACK is Servo OFF MECHATROLINK II command warning A 95 If the target speed TSPD exceeds the limit Parameter setting warning TSPD MONITOR2 A 94 OPTION can be selected Refer to 4 5 2 Option Field Specifications OPTION for details The target position TPOS is a signed 4 bytes It is set using an absolute posi tion in the reference coordinate system SEL_MON 1 2 SEL_MON 1 2 The target speed TSPD is an unsigned 4 bytes It is set using units s lO MON Changes can be made to the target position and target speed during movement Use DEN output complete to confirm the completion of position reference output The maximum positioning distance referenced by one POSING command is 2147483647 7FFFFFFFH Execute the POSING command so that the following equation is satisfied Target position TPOS current position POS The maximum positioning distance For subcommands subcommands use Refer to use Refer to 4 4 Subcom 4 4 Subcom mands B Related Parameters Pn80A First step Linear Acceleration Parameter Pn80B Second step Linear Acceleration Parameter Acceleration Parameter Switching Speed First step Linear Deceleration Parameter Second step Linear Deceleration Parameter Deceleration Parameter Switching Speed 4 32 4 3 Main Command
42. Mode with phase C B 2 Function Switches Table B 3 Function Switches List cont d Category Pn No Digit Name Setting Place Function Pn003 Switches Description Motor speed Rotary 1 V 1000 min Linear 1 V 1000 mm s Speed reference Rotary 1 V 1000 min Linear 1 V 1000 mm s Torque thrust reference 1 V 100 Position error 0 05 V 1 pulse Position error 0 05 V 100 pulses Reference pulse frequency converted to min Rotary 1 V 1000 min Linear 1 V 1000 mm s Motor speed Rotary 1 V 250 min Linear 1 V 100 mm s Motor speed Rotary 1 V 125 min Linear 1 V 10 mm s Do not set Do not set Do not set Do not set Do not set Do not set Do not set Do not set Same settings as Pn003 0 Analog Monitor OtoF 2 Reserved by system Reserved by system Brake Control Controls brakes with Servo Function 1 Controls brakes with controller Selection Set to 0 Set to 0 Pn005 Reserved by Set to 0 system Reserved by Set to 0 system Reserved by Set to 0 system Analog Monitor 1 F SGDH Changing Factory Method Setting Appendix B List of Parameters Table B 3 Function Switches List cont d Category Pn No Digit Name Setting Description SGDH Changing Place Factory Method Setting For Linear Pn080 T Pole Sensor 0 Enabled 1 Motor Only Selection Disabled Motor Phase Selection In Order The encoder counts up wh
43. Names This chapter describes the procedure for checking II Series products and the NS115 upon delivery It also describes the names of product parts 1 1 Checking Products on Delivery 1 2 1 2 Product Part Names 1 4 1 3 Mounting the NS115 1 5 1 Checking Products and Part Names 1 1 Checking Products on Delivery The following procedure is used to check products upon delivery Check the following items when products are delivered Are the delivered products the ones Check the model numbers marked on the nameplates that were ordered of the NS115 Refer to the descriptions of model numbers on the following page Is there any damage Check the overall appearance and check for damage or scratches that may have occurred during shipping Can the NS115 be installed on the Check the model number given on the SERVOPACK SERVOPACK used nameplate and the version seal on the front panel The model number must contain SGDH and E as shown below to support the NS115 Model number MODEL SGDH LILILIE L1 The latter two numbers on the version seal are more than 33 Version seal 33 If any of the above items are faulty or incorrect contact your Yaskawa sales representative or the dealer from whom you purchased the products B External Appearance and Nameplate Examples Application module model number Application module name SERV
44. ONITOR 1 The reference point zero point ZPOINT and software limits will be enabled when an absolute encoder is used Can be used during phases 2 and 3 f an incremental encoder is being used the command will be ignored During phase 1 a MECHATROLINK II command warning A 95 will occur and the command will be ignored MONITOR 2 12 SEL MON 1 2 SEL MON 1 2 IO MON mr 4 23 4 MECHATROLINK II Communications 4 3 17 Turn Sensor OFF SENS OFF 24H 4 3 17 Turn Sensor OFF SENS OFF 24H Byte SENS OFF Description BEN Control com Synchronization Asynchronous ce ES cations mand group classifications STATUS Turns sensor OFF The position data is not specified The reference point zero point ZPOINT and software limits will be enabled MONITOR 1 Can ne used during phases 2 and 3 If an incremental encoder is being used the command will be ignored During phase 1 a MECHATROLINK II command warning A 95 will occur and the command will be ignored MONITOR 2 SEL MON 1 2 SEL MON 1 2 MEM ni RWDT ees MESE Es eae E EUR peres px MCN EN e 4 24 4 3 Main Commands 4 3 18 Stop Motion HOLD 25H Byte omues mem Description NE Motion command Synchronization Asynchronous classifications group classifications ALARM Processing time Within communi Subcommand Can be used cations cycle OPTION STATUS From current motion status performs a deceleratio
45. Once the latch operation has been performed it will not be performed again mands even if a latch signal is input Send a new LTMOD ON command Interference with another latch mode command If LATCH ZRET EX POSING or SVCTRL are received during modal latch mode the new command is enabled B Related Parameters Pn511 Input Signal Selections 5 Pn820 Latching Area Upper Limit Pn822 Latching Area Lower Limit 4 26 4 3 Main Commands 4 3 20 Release Latch Mode LTMOD OFF 29H Byte LTMOD OFF Command pet Description Processing Control com Synchronization Asynchronous classifications mand group classifications ALARM Processing time Within communi Subcommand Can be used cations cycle E E aa E STATUS MONITOR1 MONITOR2 SEL MON 1 2 SEL MON 1 2 IO MON L we EC subcommands use Refer to 4 4 Subcom mands 18 a ee EE E Le E E 59 For subcommands use Refer to 4 4 Subcom mands Releases the modal latch mode Can be used during phases 2 and 3 A MECHATROLINK II command warning A 95 will occur and the com mand will be ignored in the following cases During phase 1 If LTMOD_OFF and LATCH ZRET EX POSING or SVCTRL are executed simultaneously or if LTMOD OFF is received during LATCH ZRET EX POSING or SVCTRL execution the LTMOD OFF will be ignored Check that CMDRDY is 1 to confirm that the Release Latch Mode command has been rece
46. Online Autotuning IMPORTANT N INFO nop Online autotuning always processes the latest load moment of inertia to renew data so that the speed loop gain will reach the target value that has been set When the SERVOPACK is turned OFF all the processed data is lost Therefore when the SERVOPACK is turned ON again online autotuning is performed by processing the factory set values in the SERVOPACK To save the results of online autotuning and use them as the initial values set in the SERVOPACK when the SERVOPACK is turned ON again it is necessary to save them according to the procedures for saving the results of online autotuning In this case the moment of inertia ratio set in parameter Pn103 can be changed On the basis of the rotor moment of inertia of the servomotor the inertia ratio is expressed in percentage terms by the load moment of inertia The value set in Pn103 is used to calculate the load moment of inertia at the time of online autotuning Moment of Inertia Setting Factory Position Control Ratio Range Setting O to 10000 0 Motor axis conversion load moment of inertia J Servomotor rotor moment of inertia Jm Moment of inertia ratio The moment of inertia ratio is factory set to 0 Before making servo gain adjustments manually be sure to set the inertia ratio in Pn103 If the moment of inertia ratio is incorrect the speed loop gain unit Hz set in Pn100 will be wrong Procedure for Savin
47. Outputs ALM Alarm Name Description Display l a o1 ALO2 ALos Output Parameter Breakdown EEPROM data of SERVOPACK is incorrect Main Circuit Detector or Faulty power circuit sensor Sensor Error Parameter Setting Error The parameter setting is outside the allowable setting range Combination Error SERVOPACK and servomotor capacities do no match each other OFF OFF OFF FF Overcurrent or Heat Sink An overcurrent flowed through the IGBT A107 ON O Overheated Heat sink of SERVOPACK was overheated A 30 4 ON ON 0 Regeneration Error Regenerative circuit is faulty Regenerative resistor is faulty A32 4 Regenerative Overload Regenerative energy exceeds regenerative resistor capacity OFF OFF ON OFF Overvoltage Main circuit DC voltage is excessively high Undervoltage Main circuit DC voltage is excessively low high ON ON ON OFF Overload High Load The motor was operating for several seconds to several tens of seconds under a torque largely exceeding ratings A72 4 Overload Low Load The motor was operating continuously under a torque largely exceeding ratings A 73 4 Dynamic Brake Overload When the dynamic brake was applied rota tional energy exceeded the capacity of dynamic brake resistor A 74 4 Overload of Surge Current The main circuit power was frequently turned Limit Resistor ON and OFF Heat Sink Overheated The heat sink of SERVOPACK is overheated OFF OFF FF 9 23 9 Troublesho
48. Parameter Second step Linear Acceleration Parameter Acceleration Parameter Switching Speed First step Linear Deceleration Parameter Second step Linear Deceleration Parameter Deceleration Parameter Switching Speed 4 34 4 3 Main Commands 4 3 27 Interpolation Feeding with Position Detection LATCH 38H Byte See ee Description NI Motion command Synchronization Synchronous classifications group classifications LT SGN ALARM Processing time Within communi Subcommand Can be used cations cycle OPTION STATUS Performs interpolation feeding and latches the position using the latch signal simultaneously Sends speed feedforward VFF simultaneously too If the latch signal is input the position when the input is received is recorded TPOS MONITOR1 as the counter latch position LPOS and LPOS will be indicated as the i MONITOR forcibly for one communications cycle Can be used during phases 2 and 3 A command warning will occur and the command will be ignored in the fol a E lowing cases VFF MONITOR2 During phases other than phase 3 MECHATROLINK II command warning A 95 If the SERVOPACK is Servo OFF MECHATROLINK II command warning A 95 If the output speed difference from the previous target position TPOS exceeds the limit Parameter setting warning A 94 SEL MON 1 2 SEL MON 1 2 If VEF is not within the setting range IO MON Parameter setting warning A 94 If LTMOD ON OF
49. Pn511 Input Signal Selections 3 2 0000H to 8888H FFFFH Pn512 Output Signal Reversal 2 0000H to 0000H 0111H For Rotary Pn51A Error Level between Motor and Load 2 pulse 1 to 32767 Motor Only Position Sequence Pn51E Position Error Over Warning Detection 2 0 to 100 100 related Parameters For Linear Pn580 Zero Clamp Level 2 mm s 0 to 5000 1 Motor Only For Linear Pn581 Rotation Detection Level 2 mm s 1 to 5000 20 Motor Only 0 10 0 0 For Linear Pn582 Speed Coincidence Signal Output Width 2 0 to 100 1 Motor Only For Linear Pn583 Brake Reference Output Speed Level 2 mm s 0 to 5000 0 Motor Only Sequence Pn600 Regenerative Resistor Capacity 0 to 1000 EA related Parameter changing method is as follows Can be changed at any time and immediately enabled after changing Called an online parameter O Can be changed when DEN 1 Immediately enabled after changing Do not change when DEN 0 Doing so may lead to misoperation such as position errors Called an online parameter A Can be changed at any time and enabled immediately after the power is turned OFF then ON again Sends a Set Up Device command at power ON when changing a parameter Called an offline parameter Do not access 2 When using an External Regenerative Resistor set the capacity of the regenerative resistor B 6 B 1 Parameters Table B 2 NS115 Parameter List Category Pn No
50. Processing Data communica Processing time Within 6 ms classifications tions command group 01H Reads the parameters This command has the same function as the main command SIZE SIZE PARAMETER 4 4 3 Write Parameter PRM WR 02H PRM WR Description Command Response Processing Data communica Processing time Within 6 ms classifications tions command group 17 Writes the parameters This command has the same function as the main command 18 Substatus PRM_WE NO NO SIZE SIZE PARAMETER PARAMETER 4 51 4 MECHATROLINK II Communications 4 4 4 Read Alarm or Warning ALM RD 05H 4 4 4 Read Alarm or Warning ALM RD 05H Byte AMRD RD Description n oss Response Processing clas Data communica Processing time 6 ms to25s sifications tions command group 17 08H 0H Reads the alarm or warning This command has the same function as the main com ALM RD MOD ALM RD MOD i 4 4 5 Write Non volatile Parameter PPRM_WR 1CH PPRMWR O _WR Description MN M Response Processing Data communica Processing time Within 200 ms classifications tions command group Writes the parameters This command has the same function as the main command Substatus PPRMOCNE SIZE 4 52 4 4 Subcommands 4 4 6 Request Latch Mode LTMOD ON 28H LIE em classifications group cations cycle 17 28 BH 28H ses the modal latch mode This command has the same function
51. SMON iW wn zm zm zW zW 9 9 Hien fs S econo dE 1 Wo 20 MONITORS MONITORS MONITORS HEN SIZE ME EN E PARAMETER MONITOR4 MONITOR4 MONITOR4 SJEWJO4 pueuiuo pue SPUBWWOD I YNITONLYHOJN JO IS v xipueddy Appendix B List of Parameters B This appendix lists the parameters memory switches input signal selections and output signal selections for SGDH SERVOPACKs with an NS115 mounted B 1 Parameters B 2 B 2 Function Switches B 9 Appendix B List of Parameters B 1 Parameters The following list shows parameters and their settings IMPORTANT Parameters marked as reserved by system are used internally by the SERVOPACK As a general rule access is denied to users SERVOPACK operation cannot be guaranteed if settings other than initial values are made to the reserved by system parameters Be sure to use adequate caution if any of these settings is changed Table B 1 Parameter List Category Pn No Name Size Unit Setting SGDH Changing Range Factory Method Setting Function Pn0OOO Function Selection Basic Switches 0000H to 0000H Selection IFFIH Parameters Pn001 Function Selection Application Switches 1 0000H to 0000H pp 1122H Pn002 Function Selection Application Switches 2 0000H to 0000H 4113H Pn003 Function Selection Application Switches 3 0000H to 0002H OOFFH Pn004 Reserved by system 0000H to 0100
52. Same as above WARN Near Pn510 0 0 to3 Same as above NEAR Phase C Detection Pn510 1 0to3 Same as above C PULS Always OFF when an NS115 is mounted Note Same as above means output signals are disabled or allocated to output terminals SO1 to SO3 through parameter settings 0 to 3 S INFOJ Signals are output with OR logic when multiple signals are allocated to the same output circuit Signals that are not detected are invalid B Output Signal Reversal The following parameter can be used to reverse the signals output on output terminals SO1 to S03 Output Signal Reversal Settings Factory Position Control Setting 0000 6 35 6 Parameter Setting and Functions 6 4 4 Monitoring The settings specify which of the connector CN1 output signals are to be reversed Output Terminals Parameter Description bind pm wa om j 0 6 4 4 Monitoring The monitoring function allows various data to be monitored using the MECHATROLINK II communications monitoring function B Option Monitor Using the MECHATROLINK II option monitor OMNI OMN2 all signals not covered by MECHATROLINK II can be monitored Use the following parameter settings Pn813 0 Option Monitor 1 Factory Position Control Setting 0 Option Monitor 2 Factory Position Control Setting 1 Settings are as shown in the following table Pn813 0 Pn813 1 Description Settings According to Analog Monitor 1 Pn003 0
53. Save in the CDATA field 5 After setting the data send the command Confirm that the response is correct and that CMDRDY of STATUS is set to 1 6 Send the following command Set 01H Data setting in the CCMD field Set 2001H in the CADDRESS field Set 01H Execute in the CDATA field 7 After setting the data send the command Approximately 2 seconds after sending con firm that the response is correct and that CMDRDY of STATUS is set to 1 This completes setting up the absolute encoder Turn the power OFF then ON again to con firm that the SERVOPACK will start up normally C 11 Appendix C Using the Adjusting Command ADJ 3EH C 3 Multiturn Limit Setting The Adjusting command ADJ 3EH can be used to set the multiturn limit Use the following setting procedure SN INFOL Be sure to turn the power OFF then ON again after the multiturn limit setting 1 By setting byte 1 ofthe MECHATROLINK II command field to ADJ 3EH and byte 2 to 00H the following command field can be set O foma Response CCMD CANS CCMD Command 6s CADDRESS CADDRESS CANS Answer CADDRESS Setting reference address CDATA Setting reference data 08 CDATA CDATA 2 Send the following data in each command field Set 01H Data setting in the CCMD field Set 2000H in the CADDRESS field Set 1013H in the CDATA field 3 After setting the data send the command Confirm that the response is correc
54. Selections 2 Factory Position Control Setting 0000 Pn50F 2 20 Input terminals BK 4 CN1 25 26 SO1 i CN1 27 28 SO2 Brake interlock 3 output CN1 29 30 SO3 Select the BK output terminal Parameter Setting Output Terminal CN1 Note Signals are output with OR logic when multiple signals are allocated to the same output circuit Set other output signals to a value other than that allocated to the BK signal in order to output the BK signal alone Refer to 6 4 3 Output Circuit Signal Allocation 6 40 6 5 Setting Stop Functions B Brake Operation Set whether the brake is applied using the SERVOPACK parameter brake command or the controller s BRK ON BRK OFF commands Pn005 0 Brake Operation Factory Position Control Setting 0 fF 9 Brake operation using the SERVOPACK parameter Brake operation using the controller BRK ON BRK OFF commands IMPORTANT When brake operation is controlled using the controller BRK ON BRK OFF commands the SERVOPACK s parameters Pn506 Pn507 Pn508 settings will be ignored B Brake ON Timing If the machine moves slightly due to gravity when the brake is applied set the following parameter to adjust brake ON timing Brake Reference Servo Setting Factory Position Control OFF Delay Time Range Setting 0 to 50 0 This parameter is used to set the output time from the brake control output signal BK until the servo OFF operation servomotor
55. Signal Selection BT bo ese of ee Lx Es 1 EXTI EXT2 EXTI EXT2 and EXT3 must be allocated to the CN1 input signal using parameter Pn511 If they are not allocated the latch operation will be undefined The latch operation will also be undefined if phase C is selected for a fully closed encoder that does not use phase C 4 55 4 MECHATROLINK II Communications 4 5 2 Option Field Specifications OPTION 4 5 2 Option Field Specifications OPTION The option field specifications OPTION can be designated using the following main com mands SV ON HOLD INTERPOLATE POSING LATCH EX POSING ZRET FEED VELCTRL TRQCTRL SVCTRL The option field is used to add motion command functions for individual products with the third to fourth byte reserved area of the above main commands Refer to the following table for details on bit allocation B Option Field i pepe s sm fo fo fe 5 om ow oa on om 95 9 pea freee pe fe T 9 5 T958 D3 ACCFIL Position reference filter No position reference filter Note Never change position reference filter setting Uses exponential position ref during output when DEN of STATUS is set to 0 erence filter U w Uses S curve movement aver age position reference filter a is G SEL D14 P CL Forward torque limit D15 N CL Reverse torque limit 4 56 D10 D11 D12 Le EON NE eni E RUN EDO 4 5 Command Data Field 4 5 3
56. Status Field Specifications STATUS The status field is used to monitor the Servo status with the third to fourth byte reserved area of the main commands Refer to the following table for details on bit allocation B Status Field Cw T T5 9 T9 Tw o VCMP N SOT P SOT NEAR L CMP EUM LIM EE V LIM ZSPD Bit Name Description Set Details Control Value Mode a 1 Warming occurs occurs hal au Command nan MN Command cannot be received busy Command can be received ready SVON Servo ON 0 Servo OFF D4 PON Main power supply ON EM Main power supply OFF E Main power supply ON id MLOCK Machine lock status always released LL pee Machine lock released ZPOINT Zero point Out of zero point range Within zero point range D7 PSET Positioning completion Out of positioning complete Position Output completion DEN is set to 1 and APOS is range control mode within the positioning complete range EH Within positioning complete range m CMP Speed coincides E Speed dose not coincide Speed WE coincides control mode ili n completion Fr eee Position ZSPD Zero speed an Speed 4 57 4 MECHATROLINK II Communications 4 5 4 Monitor Selection and Monitor Information Field Specifications SEL MON1 2 3 4 MONITOR 1 2 3 4 cont d Value Mode em es ee ME Latch not completed Positioning proximity Latch completed Out of positioning proxim Position ity range control mode Speed limit D12 Forwar
57. Values Pn203 6000 Circular Tables Reference unit 0 1 Deceleration 360 ratio 3 1 Travel distance per load shaft revolution 3600 0 1 Load shaft iani di E bit incremental encoder EAN ratio 2 _ 2048 x 4 x 3 _ Pn202 A 3600 x 1 Pn203 Preset Pn202 24576 Values Pn203 3600 Belts and Pulleys 3 14 x 100mm 12362 Reference unit 0 0254 mm 0 0010 in Load shaft Travel distance per load shaft revolution 0 0254 mm 1024 x 4 x 2 4 Electronic gear ratio 2 Pn202 oo Pulley diameter A 12362 x 1 Pn203 ratio 2 4 enn _ 9830 4 _ 49152 12362 61810 Set a PG dividing ratio equivalent to 1024 P R for the absolute encoder Preset Pn202 49152 Values Pn203 61810 6 21 6 Parameter Setting and Functions 6 3 3 Acceleration Deceleration Function B Control Block Diagram The following diagram illustrates a control block for position control SERVOPACK position control Differ entiation Pn109 Pn202 Position B las data inter addition polation range Position data Encoder 6 3 3 Acceleration Deceleration Function Acceleration and deceleration can be performed by setting the following parameters Use only after you have fully understood the meaning of each parameter Settings are changed using MECHATROLINK II communications Related parameters Acceleration deceleration Pn80A First step linear acceleration parameter Pn80B Second step linear acc
58. allocation 1 ser set mode S ON signal mapping 8 ot used P CON signal mapping 8 ot used Pn50B 1 ALM RST signal map ot used ping Pn50C Select input signal 3 8888 Not used Pn50D I Select input signal 4 8888 Not used N INFOL These parameters are set automatically the first time the power to the SERVOPACK is turned ON after the NS115 has been mounted Startup will take approximately 6 seconds when these parameters are being set 6 4 6 1 Parameter Limits and Standard Settings with NS115 6 1 2 Standard Settings for CN1 I O Signals The standards settings for CN1 I O signals when the NS115 is mounted are described below The parameters can be set as described for standard applications Not used _5 40 S10 pec gt S1 POT 42 812 Noy gt 43 S13 fEXT1 44 SM JEXT2 949 95 46 SI6 EXT3 9 SGDH SERVOPACK CN1 25 ICOIN 26 4 con are BK 502 23 ee 29 4 IS RDY 30 IS RDY SO1 SO3 Fig 6 1 Standard CN1 I O Signal Settings Table 6 2 Factory Settings and Standard Settings for CN1 I O Signals Pn No Description Factory Setting Standard Setting Pn50A Input signal selections 1 2881 2881 Pn50B Input signal selections 2 6583 8883 6 5 6 Parameter Setting and Functions 6 2 1 Switching Ser
59. and Error encoder is not possible Encoder Parameter Error Encoder parameters are faulty 2 FF ON Encoder Echoback Error Contents of communications with encoder is incorrect ON OFF 3 A Cl OFF A C6 A C7 A C8 A C9 A CA A Cb A CC Multiturn Limit Disagree Different multiturn limits have been set in the ment Alarm encoder and SERVOPACK ON O OFF Position Error Pulse Over Position error pulse exceeded parameter flow Pn505 9 24 9 3 Alarm Display Table Table 9 2 Alarm Displays and Outputs cont d Alarm Alarm Code Outputs ALM Alarm Name Description Display l a o1 ALO2 ALos Output A E0 NS115 No Response No NS115 installed Alarm NS115 Time Out Alarm No response from the board in the NS115 NS115 WDC Error WDC error in the board in the NS115 MECHATROLINK II The setting of MECHATROLINK II transmis Transmission Cycle Setting sion cycle is out of range Error MECHATROLINK II MECHATROLINK II synchronization error Synchronization Error MECHATROLINK II MECHATROLINK II communications error Communications Error SERVOPACK Malfunction SERVOPACK is defective 2 SERVOPACK Initial Access Initial processing failed Error SERVOPACK WDC Error SERVOPACK WDC error Command Execution Command was interrupted A ED Incomplete M E RR a Power Line Open Phase One phase is not connected in the main power supply CPFO0 Not specified Hand held Digital Operator The Hand held Digital
60. at the DEC 0 When a latch signal is input zero point return approach speed 2 Pn818 is used and positioning is performed for the target position specified in the final travel distance to return to zero point Pn819 When positioning is completed that position is zero point Can be used during phases 2 and 3 A command warning will occur and the command will be ignored in the fol lowing cases During phase 1 MECHATROLINK II command warning A 95 If the SERVOPACK is Servo OFF MECHATROLINK II command warning A 95 If the target speed TSPD exceeds the limit Parameter setting warning A 94 If LTMOD_ON OFF is received during ZRET execution or simultaneously MECHATROLINK II command warning A 95 the LTMOD ON OFF commands will be ignored OPTION can be selected Refer to 4 5 2 Option Field Specifications OPTION for details The target speed TSPD is an unsigned 4 bytes It is set using units s Before DEC is input the target speed during motion can be changed Use DEN output complete and ZPOINT zero point to confirm the comple tion of position reference output If ZRET command is received during modal latch mode the ZRET command is enabled Note Refer to 4 5 5 IO Monitor Field Specifications IO MON for details of DEC 4 39 4 MECHATROLINK II Communications 4 3 29 Zero Point Return ZRET 3AH B Related Parameters Pn511 Input Signal Selections 5 Pn820 Latching Area Upper Lim
61. can be selected Refer to 4 5 2 Option Field Specifications OPTION for details VREF speed reference The unit for speed reference is maximum motor speed 40000000H The direction is specified by the sign When the designation for VREF is larger than the maximum motor speed it is SEL MON T23 SELEMON 1 2 clamped at the OS detection speed The OS detection speed varies depending IO MON on the motor but is approximately 110 of the maximum speed STATUS status D8 ZSPD zero speed bit Se o 0 Zero speed not detected mA For For 1 Zero speed detected 178 subcommands subcommands D7 V CMP speed coincidence bit use Refer to use Refer to 0 Speed coincidence not detected tee 4 4 Subcom 4 4 Subcom 1 Speed coincidence detected 20 mands mands Monitor MONITOR 1 2 3 4 The unit for TSPD CSPD and FSDP is maximum motor speed 40000000H EEN Setting the torque reference option P TLIM TFF N TLIM Setting range 0 to 4000H maximum motor torque 4000H Refer to E Torque Reference Option Operation on page 4 42 for operation a details B Related Parameters Pn305 Soft Start Acceleration Time Pn306 Soft Start Deceleration Time Pn002 0 Torque Reference Option in Speed Position Control Mode 4 41 4 MECHATROLINK II Communications 4 3 30 Velocity Control VELCTRL 3CH B Torque Reference Option Operation Pn No and Set Torque Reference Option Operation Digit Place Value Pn002 0 The torque re
62. each CN1 I O signal for the SGDH SERVOPACK with the NS115 It also describes the procedure for setting the related parameters for the intended purposes The following sections can be used as references for this chapter e CNI TO signal list Refer to 3 3 3 I O Signal Names and Functions e CNI TO signal terminal layout 3 3 2 I O Signals Connector CN1 Terminal Layout Parameter list Refer to Appendix B List of Parameters The CN1 connector is used to exchange signals with external circuits B Parameter Configurations Parameters are comprised of the types shown in the following table Refer to Appendix B List of Parameters Function Selection Pn000 to Pn005 Select basic and application functions such as Parameters the type of function or the stop mode used when an alarm occurs Servo Gain and Pn100 to Pn123 Set numerical values such as speed and position Other Parameters loop gains Position Parameters Pn200 to Pn208 Set position parameters such as the reference Pn804 to Pn808 pulse input form and electric gear ratio Speed Parameters Pn300 to Pn308 Set speed parameters such as speed reference input gain and soft start acceleration decelera tion time Torque Parameters Pn400 to Pn409 Set torque parameters such as the torque refer ence input gain and forward reverse torque lim its Acceleration Decel Pn80A to Pn812 Set acceleration deceleration parameters such eration Parameters as selecting an acceleration decele
63. gain of the servo system Any of the following ten levels of rigidity can be selected Machine Position Loop Speed Loop Gain Speed Loop Torque Reference Rigidity Gain Hz Integral Time Filter Time Setting S Constant Constant 0 01 ms 0 01ms Note The rigidity value is factory set to 4 As the rigidity value is increased the servo system loop gain increases and the time required for positioning is shortened If the rigidity is excessively high however it may cause the machine to vibrate In that case decrease the set value The rigidity value setting automatically changes the parameters in the above table S INFOJ If parameters Pn102 Pn100 Pn101 and Pn401 are set manually with the online autotuning function enabled tuning is performed with the manually set values as target values C 5 Appendix C Using the Adjusting Command ADJ 3EH C 1 2 Machine Rigidity Settings for Online Autotuning B Changing the Machine Rigidity Setting The machine rigidity setting is changed using the Adjusting command ADJ 3EH The procedure for making changes is shown below It is also possible to use a Digital Operator to change settings Refer to the X Z Series SGMLIH SGDH User 5 Manual SIEPS80000005 E z Q WY 1 By setting byte 1 of the MECHATROLINK II command field to ADJ 3EH and byte 2 to 00H the following command field can be set eomma Response CS CCMD CANS CCMD Command 06 CADDRESS CADDRESS CA
64. i wem KX EIER es EINE Pn120 Reserved by system Pn121 Pn122 Pn123 2 Pn181 Mode Switch Speed Reference 2 0 to 5000 For Linear Pn182 Mode Switch Acceleration 2 mm s2 0 to 3000 Motor Only Position Pn200 Position Control Reference Selection 2 0000H to 0100H related Switches 1239H Parameters For Rotary Pn201 PG Divider 2 16 to 16384 16384 Motor Only ae FERE E ad as P20 Phone Ger Rao Denna 2 79995 1 5 Multi turn Limit Setting For Rotary Pn205 2 rev 0 to 65535 65535 Motor Only N N E 2 lu E a utc Oo co S N N ce N 50 EE For Linear Motor Only Een REN LOTES fS al Log REY uS EET ior E ECT CR ee EA eea S Eras px ze jp sel Lu peer wc poseen Eo E FEE moron nir EH For Linear Motor Only B 3 Appendix B List of Parameters Table B 1 Parameter List cont d Category Pn No Name Size Unit Setting SGDH Changing Range Factory Method Setting For Rotary Pn206 Number of Fully Closed Encoder Pulses 513 to 32768 16384 Motor Only Position Pn207 Reserved by system NEAN 0010 related Pn208 Parameters I 0 to 65535 For Linear Pn280 Linear Scale Pitch Motor Only For Linear Pn281 PG Divider pulse scale 1 to 256 Motor Only pitch Pn280 Speed related Pn300 Reserved by system Parameter For Rotary Pn301 Reserved by system Motor Only For Rotary Pn302 Reserved by system Motor Only F
65. left from SI6 CN1 46 Reverse Run Prohibited OFF high level Pn50B 0 Oto F Same as above N OT Forward Current Limit ON low level Pn50B 1 Oto F Same as above P CL Reverse Current Limit ON low level Pn50B 2 Oto F Same as above N CL Zero point Return Deceleration ON low level Pn511 0 Oto F Same as above LS DEC 6 32 6 4 Setting Up the SERVOPACK cont d Input Signal Parameter Description External Latch Signal 1 ON low level Pn511 1 0 to3 Sets the signal on the left to always disabled 4 Inputs the signal on the left from SI4 CN1 44 Inputs the signal on the left from SI5 CN1 45 Inputs the signal on the left from SI6 CN1 46 IEXT1 5 7 Sets the signal on the left to always enabled Sets the signal on the left to always disabled Inputs the reverse of the signal on the left from SI4 CN1 44 E Inputs the reverse of the signal on the left from SIS CN1 45 F Inputs the reverse of the signal on the left from SI6 CN1 46 9toF Sets the signal on the left to always disabled External Latch Signal 2 ON low level Pn511 2 Oto F Same as above EXT2 External Latch Signal 3 ON low level Pn511 3 Oto F Same as above EXT3 6 33 6 Parameter Setting and Functions 6 4 3 Output Circuit Signal Allocation 6 4 3 Output Circuit Signal Allocation Output signal functions can be allocated to the sequence signal output circuits shown below In general allocate si
66. lt EXAMPLE 0 01 mm 0 0004 in 0 001 mm 0 00004 in 0 1 0 01 inch A reference unit of one pulse moves the load by one reference unit When the reference unit is 1 um If a reference of 50000 units is input the load moves 50 mm 1 97 in 50000 x lum 4 Determine the load travel distance per load shaft revolution in reference units Travel distance per load shaft revolution Travel distance per load shaft revolution reference unit Reference unit lt EXAMPLE When the ball screw pitch is 5 mm 0 20 in and the reference unit is 0 001 mm 0 00004 in 5 0 000 5000 reference unit Ball Screw Circular Table Belt and Pulley Load shaft 4 gt p Doe nn Load shaft P Pitch Load shaft D Pulley P 1 revolution AT 1 revolution zD 1 revolution g RC r Pi reference unit reference unit reference unit 6 19 6 Parameter Setting and Functions 6 3 2 Electronic Gear Function B 5 Electronic gear ratio is given as B 2 n If the decelerator ratio of the motor and the load shaft is given as z where m is the rotation of the motor and n is the rotation of the load shaft Electroni ti 2 No of encoder pulses x 4 m SOPHIE TAON A Travel distance per load shaft revolution reference unit 2 IMPORTANT Make sure the electronic gear ratio satisfies the following condition 0 01 lt Electronic gear ratio 2 lt 100 The SERVOPACK will not
67. reference units must be defined for the electronic gear function beforehand To move a workpiece 10 mm 0 39in 1 revolution host contro 10 6 1 6666 revolutions 2048 x 4 pulses is 1 revolution Therefore 1 6666 x 2048 x 4 13653 pulses 13653 pulses are input as references The equation must be calculated at the is 6 mm Therefore ller B Setting the Electronic Gear To movea workpiece 10 mm 0 39 in Reference unit is 1 um Therefore omm 10000 pulses Calculate the electronic gear ratio B A using the following procedure and set the values in parameters 1 Check Pn202 and 203 machine specifications Items related to the electronic gear Deceleration ratio Ball Pull screw pitch ey diameter Ball screw pitch Hi Deceleration ratio 6 18 6 3 Settings According to Host Controller 2 Check the number of encoder pulses for the SGMLIH servomotor Servomotor Model and Encoder Type Number of Encoder Pulses Encoder _ e Per Revolution P R Incremental encoder 2048 Absolute encoder 16384 3 Determine the reference unit used A reference unit is the minimum position data unit used to move a load Minimum unit of reference from the host controller To move a table in 0 001mm units Reference unit 0 001mm 4 LH Determine the reference unit according to equipment specifications and positioning accuracy
68. signals are used to indicate SERVOPACK operating status Photocoupler output per output Maximum operating voltage 30 VDC Maximum output current 50 mADC Open collector output per output Maximum operating voltage 30 VDC Maximum output current 20 mADC IMPORTANT Provide a separate external I O power supply the SERVOPACK does not have an internal 24 V power supply Yaskawa recommends using the same type of external power supply as that used for input cir cuits 6 17 6 Parameter Setting and Functions 6 3 2 Electronic Gear Function Function allocation for some sequence output signal circuits can be changed Refer to 6 4 3 Output Circuit Signal Allocation for more details 6 3 2 Electronic Gear Function The electronic gear function enables the servomotor travel distance per input reference pulse to be set to any value It allows the host controller generating pulses to be used for control without having to consider the machine deceleration ratio or the number of encoder pulses When the Electronic Gear Function is Not Used Workpiece ZITTTTA WIIIII No of encoder pulses 2048 When the Electronic Gear Function is Used Workpiece LH LIIIII Reference unit 1um IZ TTT TT Ball screw pitch 6 mm 0 24 in No of encoder pul k ses 2048 Ball screw pitch 6mm 0 24 in Equipment conditions and
69. specifications for each com mand B Unsupported command Do not sent unsupported commands 9 9 9 Troubleshooting B A 96 A 96 MECHATROLINK II Communications Warning Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm During MECHATROLINK II communications Contact between the cable and the connector is Correct the connector wiring faulty B Malfunction due to noise Take noise prevention measures B A b6 A b6 Communications LSI Error Alarm Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm At power ON gt NS115 is defective Replace the NS115 9 10 9 1 Alarm Displays and Troubleshooting B A C6 A C6 Fully Closed Encoder Phase A B Disconnection Alarm Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm At power ON 1 to 3 seconds after power A ON During servomotor operation Circuit board 1IPWB is defective Replace the SERVOPACK or Uw There is noise in the encoder wiring Separate the encoder wiring from the main circuit Encoder is defectiv
70. the following three groups Pn000 to Pn819 Specify SERVOPACK functions set servo gains etc Fn000 to Fn013 Execute auxiliary functions such as JOG Mode operations and zero point searches Un000 to UnOOD Enable monitoring the motor speed and torque reference on the panel display Refer to Appendix B List of Parameters 6 4 2 Input Circuit Signal Allocation The functions allocated to sequence input signal circuits can be changed CN1 connector input signals are allocated with the factory settings as shown in the following table In general allocate signals according to the standard settings in the following table CN1 Input Standard Setting Connector Terminal Terminal Numbers DEC Zero point return eration LS 2 sp ROT Forward run prohibited Forward run prohibited Ea Reverse run prohibited Reverse run prohibited P ex External latch signal 1 latch External latch signal 1 1 ss CL run external LN External latch signal 2 torque control N CL Reverse run external EXT3 External latch signal 3 torque control 6 Parameter Setting and Functions 6 4 2 Input Circuit Signal Allocation The following parameter is used to enable input signal allocations Usually this parameter is set to 1 Do not change this setting Pn50A 0 Input Signal Allocation Mode Factory Position Control Setting 1 ENENMM eee Enables any sequence input signal settings B Input Signal Allocation Th
71. use Refer to use Refer to use Refer to use Refer to use Refer to 19 4 4 Subcom 4 4 Subcom 4 4 Subcom 4 4 Subcom 4 4 Subcom 4 4 Subcom 4 4 Subcom 4 4 Subcom 20 mands mands mands mands mands mands mands mands 21 22 sr1 1euuo j pueuluo TIT MNI IOH LVHO3IN Z V 0rv Table A 5 Servo Standard Command Format cont d POSING FEED LATCH O ALARM ALARM LT_SGN ALARM OPTION STATUS OPTION STATUS OPTION STATUS iudi MONITOR2 TSPD MONITOR2 ud MONITOR2 SEL MON1 2 SEL MON1 2 SEL MON1 SEL MON1 2 SEL MON1 2 SEL MON1 2 VFF RWOT RWOT RWOT For For For For subcommands subcommands subcommands subcommands subcommands subcommands use Refer to use Refer to use Refer to use Refer to use Refer to use Refer to 4 4 Subcom 4 4 Subcom 4 4 Subcom 4 4 Subcom 4 4 Subcom 4 4 Subcom mands mands mands mands mands T 1 0 1 0 SJEWJO4 puewwog pue spuewwop I YNITONLYHOJN JO IS v xipueddy Lev EN o EZ t EA UK uS EA A 9 Ea o EA E IE ND m m S 1 2 3 4 5 7 10 11 12 13 14 15 16 18 19 20 21 22 23 24 25 26 27 28 29 Table A 5 Servo Standard Command Format cont d OPTION STATUS OPTION STATUS OPTION STATUS TPOS MONITOR1 MONITOR1 P TLIM MONITOR1 N TLIM TSPD MONITOR2 TSPD MONITOR2 VREF MONITOR2 SEL MON1 2 SEL MON1 2 SEL MON1 2 SEL MON1 2 SEL MON1 2 SEL MON1 2 HEN li MEI E E RWDT r wor oor For For For For For For subcommands subc
72. 00 to 400 Hz high Pn100 preset value High Rotation Speed Over Speed loop gain value is too Reduce speed loop gain shoot on Starting and Stop high Pn100 preset value ping Increase integration time con stant Pn101 Speed loop gain is too low Increase speed loop gain compared to position loop Pn100 gain Reduce the integration time constant Pn101 9 21 9 Troubleshooting Table 9 1 Troubleshooting Table with No Alarm Display cont d Servomotor Overheated Ambient temperature is too Measure servomotor ambient Reduceambient temperature to high temperature 40 C max Servomotor surface is dirty Visual check Clean dust and oil from motor surface Overloaded Run under no load Reduce load or replace with larger capacity servomotor Abnormal Noise Mechanical mounting is Check servomotor mounting Tighten mounting screws incorrect Screws Check couplings not centered Center coupling Check coupling balance Balance coupling Bearing is defective Check noise and vibration near Consult your Yaskawa repre bearing sentative if defective Machine causing vibrations Check foreign object intru Consult with machine manu sion damage or deformation of facturer movable parts of machine 9 22 9 3 Alarm Display Table 9 3 Alarm Display Table A summary of alarm displays and alarm code outputs is given in the following table Table 9 2 Alarm Displays and Outputs Alarm Alarm Code
73. 1 Communications Settings The SW2 DIP switch sets the MECHATROLINK II communications settings as shown below Settings that have n Pb been changed are enabled when the power is turned OFF and OF ON SW2 Item Setting Description Factory Setting Bit 1 Baud rate 4 Mbps ON SW1 factory setting ION Bit 2 Transmission SS 17 bytes ON SW2 factory setting Bit 3 Station address Station address OFF 40H SW1 Station address 50H SW1 mu eeu er 9 IMPORTANT 1 When connecting to a MECHATROLINK network set bits 1 and 2 to OFF 2 Baud rate 4 Mbps transmission bytes 30 bit 1 OFF bit 2 ON cannot be used 4 4 4 2 Switches for MECHATROLINK II Communications Settings 4 2 2 Setting the Transmission Cycle The transmission cycle and number of stations that can be set with the NS115 are shown below i Table 4 1 Number of Connectable Stations Determined by Transmission Cycle and Transmission Bytes Transmission Transmission Cycle When the transmission cycle is 0 5 ms set the communications cycle in multiples of 1 0 ms Note 1 When the number of stations actually connected is less than the number of connectable stations the remaining channels up to 7 can be used as communications retry channels Number of communications retry channels Number of connnectable stations Number of actual stations connected 1 2 When not using communications retry the number of connnectable stations is the n
74. 1D 0 setting The backlash compensation is performed according to the motion data The backlash com pensation is not available after the SERVOPACK is Servo ON The backlash compensation is not available during Servo OFF state or overtravel state 6 27 6 Parameter Setting and Functions 6 3 6 Backlash Compensation Function When Pn81D 0 is set to 0 The compensation is performed for the compensation amount the value set to Pn81B in the forward direction L i Machine EN i I 1 Motor axis Q e Forward direction I I 4 4 i i EN 1 Pi 1 BL When Pn81D 0 is set to 1 The compensation is performed for the compensation amount the value set to Pn81B in the reverse direction Machine o wi I Motor axis e si Forward direction 0 0 3 i BL l 6 28 6 4 Setting Up the SERVOPACK 6 4 Setting Up the SERVOPACK This section describes the procedure for setting parameters to operate the SERVOPACK 6 4 1 Parameters The 2 II Series SERVOPACK provides many functions and has parameters called parame ters that allow the user to specify functions and perform fine adjustments SERVOPACK Parameters E E 9i GI o D0 no no no A Panel Operator Digital Operator or MECHATROLINK II commands are used to set parameters BERE D Cp Lp IL p Parameters are divided into
75. 2 occurs If the warning load is ignored and operation continues a regen erative overload alarm may occur Parameter A value outside the setting range was set Setting using MECHATROLINK II communica Warning tions Command A command not supported in the product Warning specifications was sent The command reception conditions were not met MECHA A communications error occurred Once TROLINK II Communica tions Warn ing Note OFF Output transistor is OFF high ON Output transistor is ON low 9 26 10 Peripheral Devices This chapter describes the peripheral devices for MECHATROLINK MECHATROLINK II and the fully closed encoder 10 1 Fully Closed Encoder Connector Kit 10 2 10 2 MECHATROLINK MECHATROLINK II Communications Cables and Terminator 10 3 10 1 10 Peripheral Devices 10 1 Fully Closed Encoder Connector Kit Name Connector Kit Model Manufacturer Model Number Number Encoder Connector CN4 JZSP VEP02 Manufacturer Sumitomo 3M Itd Plug Plug connector 10120 3000VE Shell system 10320 52S0 00S 10 2 10 2 MECHATROLINK MECHATROLINK II Communications Cables and Terminator 10 2 MECHATROLINK MECHATROLINK II Communications Cables and Terminator The following communications cables and terminator can be used both for MECHATROLINK MECHATROLINK II communications B Communications Cables with Connectors on Both Ends Model Number Cable Len
76. 2 2 Setting the Overtravel Limit Function The overtravel limit function forces movable machine parts to stop 1f they exceed the allow able range of motion IMPORTANT The forward reverse run prohibited function uses software to stop the SERVOPACK This method may not satisfy the standards depending on the safety specifications for the application If necessary add an external safety circuit B Using the Overtravel Function To use the overtravel function connect the overtravel limit switch input signal terminals shown below to the correct pins of the SERVOPACK CNI connector Input P OT CN1 42 Forward Run Prohibited Position Control Forward Overtravel Input N OT CN1 43 Reverse Run Prohibited Position Control Reverse Overtravel Connect limit switches as shown below to prevent damage to the machines during linear motion Reverse rotation end Forward rotation end Cea Servomotor Limit Limit switch switch SERVOPACK Drive status with an input signal ON or OFF is shown in the following table N1 42 at low level Forward rotation allowed Normal operation status hen ON N1 42 at high level Forward run prohibited reverse rotation allowed hen OFF N1 43 at low level Reverse rotation allowed Normal operation status hen ON N1 43 at high level Reverse run prohibited forward rotation allowed when OFF 6 7 6 Parameter Setting and Functions 6 2 2 Setting the
77. 2 Option Field Specifications ET OPTION for details For linear motors not equipped with a pole sensor it takes 10 seconds max until the SERVOPACK changes to Servo ON the first time because the pole must be detected SEL MON 1 2 SEL MON 12 Upon completion of this command the reference position POS must be read and the controller coordinate system must be set up IO MON e wer p mer EM For For 18 subcommands subcommands use Refer to use Refer to 4 4 Subcom 4 4 Subcom mands mands ER Co NH 386 1 Le Ee E 25955 4 29 4 MECHATROLINK II Communications 4 3 23 Servo OFF SV OFF 32H 4 8 23 Servo OFF SV OFF 32H SV OFF Description BE Control com Synchronization Asynchronous BER 7 mand group classifications ALARM Processing time Follow settings Subcommand Can be used from Pn506 to Pn508 STATUS The SERVOPACK changes to Servo OFF Can be used during phases 2 and 3 During phase 1 a MECHATROLINK II command warning A 95 will occur MONITOR1 and the command will be ignored MONITOR2 SEL MON 1 2 SEL MON 1 2 rn id RWDT For subcommands subcommands use Refer to use Refer to 4 4 Subcom 4 4 Subcom mands 4 30 4 3 Main Commands 4 3 24 Interpolation Feed INTERPOLATE 34H Byte EAE Description NL Motion command Synchronization Synchronous classifications group classifications ALARM Processing time Within communi Subcommand Ca
78. 232 1536 SHOUGANG MOTOMAN ROBOT CO LTD 7 Yongchang North Street Beijing Economic Technological Investment amp Development Area Beijing 100076 P R China Phone 86 10 6788 0551 Fax 86 10 6788 2878 YASKAWA ELECTRIC CORPORATION YASKAWA In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations Therefore be sure to follow all procedures and submit all relevant documentation according to any and all rules regulations and laws that may apply Specifications are subject to change without notice MANUAL NO SIEP C710800 01C for ongoing product modifications and improvements Printed in Japan March 2005 02 8 0 2002 2005 YASKAWA ELECTRIC CORPORATION All rights reserved 04 8 8 98 7115
79. 3 A IS RDY Servo ready output Latched when ON ON when ready s S RDY External latch 2 3 Servo alarm output ALM Latched when ON co OFF for an alarm External latch 3 3 LM Photocoupler output Latched when ON Al lt Maximum operating voltage 30 VDC Maximum operating Connector shell current 50 mA DC Tre Connect shield to connector shell 1 SP represents twisted pair wires 2 When using an absolute encoder connect a backup battery only when there is no battery connected to the CN8 3 Make signal allocations using parameters Refer to 6 7 2 Standard Settings for CN1 I O Signals Fig 3 1 I O Signal Connections for CN1 Connectors 3 6 3 3 I O Signals 3 3 2 I O Signals Connector CN1 The following diagram shows the layout of CN1 terminals 26 COIN Positioning let BK Brake inter Ma output lock output 28 BK Brake inter lock output S Servo ready RDY output 2 2 3 3 3 B CN1 Terminal Layout 1 2 4 re 3 5 SG GND ple e Fr M an am 5 7 9 1 3 5 30 S RDY Servo ready tput ALM Servo alarm CURR tput oe 32 ALM Servo alarm aS EL ES tput e 38 ALO2 Alarm code ALO3 open collec tor output 41 DEC Zero point ua l return dece P OT Forward drive eration LS A prohibited input input 43 N OT Reverse run hibit P rohibited EXTI External latch Input d signal 1 input
80. 4 3 10 Disconnection DISCONNECT OFH 4 17 4 3 11 Read Non volatile Parameter PPRM_RD 1BH 4 18 4 3 12 Write Non volatile Parameter PPRM_WR 1CH 4 19 4 3 13 Set Coordinates POS_SET 20H 4 20 4 3 14 Apply Brake BRK_ON 21H 4 21 4 3 15 Release Brake BRK OFF 22H 4 22 4 3 16 Turn Sensor ON SENS_ON 23H 4 23 4 3 17 Turn Sensor OFF SENS_OFF 24H 4 24 4 3 18 Stop Motion HOLD 25H 4 25 4 3 19 Request Latch Mode LTMOD_ON 28H 4 26 4 3 20 Release Latch Mode LTMOD OFF 29H 4 27 4 3 21 Status Monitoring SMON 30H 4 28 4 1 4 MECHATROLINK II Communications 4 3 22 Servo ON SV ON 81H 4 29 4 3 23 Servo OFF SV OFF 32H 4 30 4 3 24 Interpolation Feed INTERPOLATE 34H 4 31 4 3 25 Positioning POSING 35H 4 32 4 3 26 Constant Speed Feed FEED 36H 4 33 4 3 27 Interpolation Feeding with Position Detection LATCH 38H 4 35 4 3 28 External Input Positioning EX POSING 39H 4 37 4 3 29 Zero Point Return ZRET BAH 4 39 4 3 30 Velocity Control VELCTRL 3CH 4 41 4 3
81. CW OT 42 Y gt e e CCW OT 4 43 V ch e o e I EXTA 44 V EE ei Y I QUA 45 SEE Ex 46 Y tk VOV IMPORTANT Provide an external input power supply the SERVOPACK does not have an internal 24 V power sup ply External power supply specifications for sequence input signal 24 1 VDC 50 mA min Yaskawa recommends using the same external power supply as that used for output circuits The allowable voltage range for the 24 V sequence input circuit power supply is 11 to 25 V Although a 12 V power supply can be used contact faults can easily occur for relays and other mechanical contacts under low currents Confirm the characteristics of relays and other mechanical contacts before using a 12 V power supply The function allocation for sequence input signal circuits can be changed Refer to 6 4 2 Input Circuit Signal Allocation for more details 6 16 6 3 Settings According to Host Controller Input 24VIN CN1 47 External I O Power Supply Input Position Control The external power supply input terminal is common to sequence input signals SERVOPACK I O power supply 24V Connect an external I O power supply Contact input signals DEC CNI 41 P OT CN1 42 N OT CN1 43 EXTI CN1 44 EXT2 CN1 45 EXT3 CN1 46 B Output Signal Connections Connect the sequence output signals as shown in the following figure Standard settings I O power supply SERVOPACK Sequence output
82. F is received during LATCH execution or simul taneously MECHATROLINK II command warning A 95 3e p me the LTMOD ON OFF commands will be ignored For For e LT SGN can be selected Refer to 4 5 1 Latch Signal Field Specifications subcommands subcommands LT SGN LT SGN use Refer to use Refer to OPTION can be selected Refer to 4 5 2 Option Field Specifications 4 4 Subcom 4 4 Subcom OPTION for details mands Use DEN output complete to confirm the motion completion t takes 4 ms max for the Request Latch Mode command to start If LATCH command is received during modal latch mode the LACTH com mand is enabled 4 35 4 MECHATROLINK II Communications 4 3 27 Interpolation Feeding with Position Detection LATCH 38H B Related Parameters Pn511 Input Signal Selections 5 Pn820 Latching Area Upper Limit Pn822 Latching Area Lower Limit 4 36 4 3 Main Commands 4 3 28 External Input Positioning EX POSING 39H Byte EX POSING Command NI Description Processing Motion command Synchronization Asynchronous classifications group classifications LT SGN ALARM Processing time Within communi Subcommand Can be used cations cycle OPTION STATUS TPOS MONITOR1 Em EE TSPD MONITOR2 SEL_MON 1 2 SEL_MON 1 2 14 1 O_MON e we p E subcommands subcommands use Refer to use Refer to 4 4 Subcom 4 4 Subcom 20 mands mands Eu 7 Moves toward the target posi
83. H 1100H Pn005 Function Selection Application Switches 5 a 0000H to 0000H 0001H For Linear Pn080 Function Selection Application Switches 0000H to 0000H Motor Only 0011H Gain related Pn100 Speed Loop Gain 1 to 2000 NE Parameters Pn101 Speed Loop Integral Time Constant He 15to 51200 2000 Pn103 Moment of Inertia Ratio p 0 to 10000 Pn104 2nd Speed Loop Gain S UN 1 to 2000 Lae Pn105 2nd Speed Loop Integral Time Constant ERAN 15to 51200 2000 Pn106 06 2nd Position 2nd Position Loop Gain e Gain EARNE 1 to 2000 For Rotary E ELI E H 0 to 10000 Motor Only EEEEEED N Gain related Pn108 Bias Width Addition 2 me 0 to 250 Parameters Pn109 Feed forward 0 to 100 Pn10A Feed forward Filter Time Constant 0 to 6400 EPRE Pn10B Gain related Application Switches HEER 0000H Pn10C Mode Switch Torque Reference 0 to 800 B 2 B 1 Parameters Table B 1 Parameter List cont d Category Pn No Name Size Unit Setting SGDH Changing Range Factory Method Setting For Rotary Pn10D Mode Switch Speed Reference Spp emus emo Motor Onl E s Pn10E Mode Switch Acceleration 2 10min ls 0 to 3000 end Gain related Pn10F Mode Switch Position Error 0 to 10000 EE Parameters Pn110 Online Autotuning Switches EE Pn111 Speed Feedback Compensation 1 9 Pn112 Reserved by system Pn113 Pn114 Pn115 Pn116 Pn117 Pn118 Pn119 Pn11A Pn11B Pn11C Pn11D Pn11E CTN ONE E XC awe mammae menms
84. HATROLINK II communications 5 2 1 Preparations for Trial Operation IMPORTANT To prevent accidents initially conduct trial operation with no load connected to the servomotor Before starting operation with a connected load make sure emergency stop procedures are in place Prepare for operation using the following procedure 1 Check that wiring has been performed correctly and then connect the signals CN1 con nector Turn ON the power If power is being supplied correctly the CHARGE or POWER indicator on the SERVOPACK and the R indicator on the NS115 will light If the R indicator on the NS115 does not light check to make sure the switches on the NS115 SWI and SW2 are set correctly and then turn the power OFF then ON again For information on switch settings refer to 4 2 Switches for MECHATROLINK II Com munications Settings Send the CONNECT start connection command to start communications The status of the SERVOPACK can be checked using the SMON Status Monitoring command The response data from the SERVOPACK will be alarm code 99 normal Confirm the model number using the ID RD Read ID command SGDH E will be returned from the SERVOPACK Alternatively for the NS115 JUSP NS115 will be returned Write the parameters necessary for trial operation using the PRM WR Write Parame ter command Refer to 5 4 1 Minimum Parameters and Input Signals for information on the nec
85. I 1 i IO MON Within 3 ms gt m 7 IMPORTANT When Pn005 0 is set to 1 the brake interlock must be processed at the controller instead of the Servo B Related Parameter 4 21 4 MECHATROLINK II Communications 4 3 15 Release Brake BRK OFF 22H 4 3 15 Release Brake BRK OFF 22H BRK OFF Description Processing Control com Synchronization Asynchronous classifications mand group classifications ALARM Processing time Within communi Subcommand Cannot be used cations cycle STATUS Applies brake This command is enabled when Pn005 0 is set to 1 Can be used during phases 2 and 3 MONITOR 1 A warning will occur and the command will be ignored in the following cases During phase 1 MECHATROLINK II command warning A 95 If Pn005 0 is set to 0 MECHATROLINK II command warning A 95 Brake signal output timing MONITOR 2 1 SEL MON1 2 SEL MON1 2 1 1 I I I He O O 7 IMPORTANT When Pn005 0 is set to 1 the brake interlock must be processed at the controller instead of the Servo B Related Parameter 4 22 4 3 Main Commands 4 3 16 Turn Sensor ON SENS ON 23H Byte SENS ON Description Command a Processing Control com Synchronization Asynchronous classifications mand group classifications eee Obtains the initial position data when an absolute encoder is used Position data is received from the encoder and the current position is created pd
86. I R changed to SGDH 50AE 10 2 Revision Model and diagram of MECHATROLINK MECHATROLINK II communications cables and terminator Addition Pn280 and Pn281 Revision Description of Pn002 0 and Pn002 1 April 2004 a Revision Address March 2005 3 5 3 4 2 2 Revision Description of connectable slave stations Revision Description of main command Addition Table 4 3 Deletion ics A of combination with main command shown in each subcommand table 6 4 4 4G 4 5inpre Revision Reference unit pulse unit of position error when Pn003 0 Pn003 1 3 or 4 vious version B 2 Y I Series SGDH MECHATROLINK II APPLICATION MODULE USER S MANUAL IRUMA BUSINESS CENTER 480 Kamifujisawa Iruma Saitama 358 8555 Japan Phone 81 4 2962 5696 Fax 81 4 2962 6138 YASKAWA ELECTRIC AMERICA INC 2121 Norman Drive South Waukegan IL 60085 U S A Phone 1 847 887 7000 Fax 1 847 887 7370 MOTOMAN INC HEADQUARTERS 805 Liberty Lane West Carrollton OH 45449 U S A Phone 1 937 847 6200 Fax 1 937 847 6277 YASKAWA EL TRICO DO BRASIL COM RCIO LTD A Avenida Fagundes Filho 620 Bairro Saude Sao Paulo SP Brazil CEP 04304 000 Phone 55 11 5071 2552 Fax 55 11 5581 8795 YASKAWA ELECTRIC EUROPE GmbH Am Kronberger Hang 2 65824 Schwalbach Germany Phone 49 6196 569 300 Fax 49 6196 569 312 Motoman Robotics Europe AB Box 504 S38525 Tors s Sweden Phone 46 486 48800 Fax 46 486 41410 Motoman Robotec GmbH Kammerfeldstrage 1 85391 Allershausen
87. INK II Communications Cables and Terminator Cable Length The total cable length must be 50 m or less Cable Length for Stations The length of the cable between stations must be 0 5 m or more Terminal Processing Install a Terminator on the last SERVOPACK and host controller For more information on Terminators refer to 70 2 MECHATROLINK MECHATROLINK II Communications Cables and Terminator 3 15 3 Wiring 3 6 1 Single phase Power Supply Specifications 3 6 for Fully Closed Encoders 3 6 1 To next MECHATROLINK II slave XA S i Connect a Terminator JEPMC W6022 of the end connector of the last SERVOPACK Backup battery 2 8 to 4 5V Zero point return deceleration LS amp LS enabled when ON Forward run prohibited Prohibited when OFF Reverse run prohibited Prohibited when OFF External latch 1 3 Latched when ON External latch 2 3 Latched when ON External latch 3 3 Latched when ON Examples of Combined Connections The following diagrams show examples of combined connections Single phase Power Supply Specifications Connect to ground _ Terminator excitation coil of the magnetic contactor and relay Servomotor
88. N Apply Brake command p omman m Co O aj gt 26 MLOCK ON Machine Lock Mode ON command 27 MLOCK OFF Machine Lock Mode OFF command 28 LTMODE ON Request Latch Mode com mand 29 LTMODE OF Release Latch Mode com F mand Enabled Not supported Enabled NS115 extended command A Enabled NS115 extended command A A A A A A A A ES A 2 A 1 MECHATROLINK II Command List Servo Standard Commands Table A 1 Main Command List cont d Command Code Command Function Type Name SV_ON Servo ON command SV_OFF Servo OFF command 34 INTERPO Interpolation Feed com mand LATE POSING 36 FEED Constant Speed Feed com mand 38 LATCH Interpolation Feeding with Position Detection com EX POSING mand External Input Positioning command Processing Synchroniza Classifica tion Classifi tion 1 cation 2 C M M mand Pas Ems Enabled Enabled Enabled Speed Reference command VELCTRL TRQCTRL Torque Reference command Command special for MECHATROLIN K II Command special for Enabled Enabled MECHATROLIN K II pases 3F SVCTRL General purpose Servo x S A Enabled Control command Main commands are classified as follows N Network command D Data communications command C Control command M Motion command X Compound command 2 Main commands are classified for synchronizat
89. NS Answer CADDRESS Setting reference address CDATA Setting reference data 8 CDATA CDATA 2 Send the following data setting commands in each command field Set 01H Data setting in the CCMD field Set 2003H in the CADDRESS field Set 1 to 10 in the CDATA field 3 After setting the data send the command Approximately one second after sending con firm that the response is correct and that CMDRDY of STATUS is set to 1 It takes one second max after sending for the setting to be completed 4 Use the following data reference command to check when settings have been com pleted Set 00H Data reference in the CCMD field Set 2003H in the CADDRESS field 5 After setting the data send the command Confirm that the response is correct and that CMDRDY or STATUS is set to 1 Confirm that the value of the CDATA field in the response field is the machine rigidity you set If a response is returned with the rigidity setting that is being made the rigidity setting has been completed This completes changing the machine rigidity setting using online autotuning For Confirm that the following items are correct in the response CCMD in the command and CANS in the response are the same CADDRESS is the same in the command and response When written confirm that CDATA is the same in the command and response The alarm and warning bits in STATUS are 0 C 6 C 1 Autotuning C 1 3 Saving Results of
90. OD Lx Clear current alarm warning status Within 200 ms Clear alarm status history Within 2 s 4 14 4 3 Main Commands 4 3 8 Start Synchronous Communications SYNC SET ODH Byte rer emt SET Description NI Network com Synchronization Asynchronous classifications mand group classifications ALARM Processing time Transmission Subcommand Cannot be used cycle or more STATUS Starts synchronous communications Switches from phase 2 to phase 3 Processing is completed at the WDT changing edge However if WDT errors are being masked by parameter Pn800 0 processing is completed when this command is received During phase 1 a MECHATROLINK II command warning A 95 will occur and the command will be ignored During phase 3 the command will be ignored without a warning The SERVOPACK will change to Servo OFF if this command is received when the SERVOPACK is Servo ON during phase 2 The synchronous communications have to be restarted using this command when the MECHATROLINK II communications error A E6 or the MECHATROLINK II synchronization error A E5 occurs 4 15 4 MECHATROLINK II Communications 4 3 9 MECHATROLINK II Connection CONNECT OEH 4 3 9 MECHATROLINK II Connection CONNECT OEH CONNECT Description Command Response Description OEH Processing Network com Synchronization Asynchronous classifications mand group classifications ALARM Processing time Communications Subcommand Ca
91. OPACK MECHATROLINK I F UNIT MODEL JUSP NS115 VER 000000 S N V81003 69 YASKAWA ELECTRIC MADE IN JAPAN Serial number Version Fig 1 2 Nameplate Fig 1 1 External Appearance of the NS115 1 1 Checking Products on Delivery B Model Numbers NS115 JUSP NS11 5 SERVOPACK peripheral device Type of device Design Revision Order NS11 MECHATROLINK II interface 1 3 1 Checking Products and Part Names 1 2 Product Part Names The following diagram illustrates the product part names of the NS115 Ground wire Connect to the terminal marked G on the SGDH SERVOPACK Rotary Switch SW1 Used to set the MECHATROLINK II station address LED A Lit when an alarm occurs LED R Lit when MECHATROLINK II communications are in progress DIP Switch SW2 Used to set MECHATROLINK II communications Nameplate Indicates the model and serial numbers MECHATROLINK II Communications CN6A and CN6B Connectors Connects to the MECHATROLINK II system CN4 Fully Closed Encoder Signal Connector Used for fully closed signal connection Fig 1 3 NS115 1 3 Mounting the NS115 1 3 Mounting the NS115 This section describes how to mount an NS115 on the SGDH SERVOPACK Prepare the screws for connecting the ground wire as
92. Operator JUSP Eg Transmission Error OP02A 2 fails to communicate with SERVO PACK e g CPU error Le lswperqer w meme Demum This alarm display appears only within the range of 30 W to 1000 W These alarms are not reset for the alarm clear ALM CLR command Eliminate the cause of the alarm and then turn OFF the power supply to reset the alarms 3 For SERVOPACKs with a capacity of 6 0 kw or more A 40 indicates a main circuit voltage error alarm This means that either an overvoltage or an undervoltage has occurred at some stage 4 For corrective actions refer to XI Series SGM LIH SGDH User Manual SIEPSS0000005 Note OFF Output transistor is OFF high ON Output transistor is ON low 9 25 9 Troubleshooting 9 4 Warning Displays The relation between warning displays and warning code outputs are shown in the following table Warning code are not normally output but when warning code output is specified in the param eter they are as shown in the following table Table 9 3 Warning Displays and Outputs Warning Waming Code Outputs Code Waming Code Outputs ALM Warning Description of Warning Display ALO1 ALO2 ALO3 Output Name A 91 Overload This warning occurs before the overload alarm A 71 or A 72 occurs If the warning is ignored and operation continues an over load alarm may occur A 92 Regenera This warning occurs before the regenerative tive Over overload alarm A 3
93. Overtravel Limit Function B Enabling Disabling Input Signals Set the following parameters to specify whether input signals are used for overtravel or not The factory setting is used Pn50A 3 Pn50B 0 SERVOPACK P OT Signal Mapping Forward Run Prohibited Input Signal N OT Signal Mapping Reverse Run Prohibited Input Signal CN1 42 P OT CN1 43 N OT 0v Pn No Pn50A 3 Pn50B 0 Factory Position Control Setting 2 Factory Setting 3 Position Control The short circuit wiring shown in the figure can be omitted when P OT and N OT are not used 2 Factory setting 3 Factory setting B Servomotor Stop Mode for P OT and N OT Input Signals Uses the P OT input signal for prohibiting forward rotation Forward rotation is prohibited when CN1 42 is open and is allowed when CN1 42 is at 0 V Does not use the P OT input signal for prohibiting forward rotation Forward rotation is always allowed and has the same effect as shorting CN1 42 to 0 V Uses the N OT input signal for prohibiting reverse rotation Reverse rotation is prohibited when CN1 43 is open and is allowed when CN1 43 is at 0 V Does not use the N OT input signal for prohibiting reverse rotation Reverse rotation is always allowed and has the same effect as shorting CN1 43 to 0 V Set the following parameters to specify the servomotor Stop Mode when P OT and N OT input signals are used
94. SS CADDRESS During phase 1 MECHATROLINK II command warning A 95 If a digital operator is connected MECHATROLINK II command warning A 95 CDATA CDATA If SigmaWin and so on are connected MECHATROLINK II command warning A 95 4 45 4 MECHATROLINK II Communications 4 3 33 General purpose Servo Control SVCTRL 3FH 4 3 33 General purpose Servo Control SVCTRL 3FH SVCTRL Description classifications mand group classifications asynchronous cessing OPTION STATUS Latch Processing Supported Select the latch signal using L_SGN in the SUBCTRL and set SET L to 1 When the selected latch signal is input L CMP in STATUS will TPOS MONITOR1 become 1 To perform latch processing again set SET L to 0 for one communications cycle then set SET L again to 1 The latch signal cannot be changed while SET L is set to 1 Motion Any of the motions listed in the following table can be executed Refer to TSPD MONITOR2 each motion item for operating specifications Sequence Signals Any of the sequence signals listed in the following table can be executed VFF Refer to each sequence item for operating specifications A command warning will occur and the command will be ignored in the fol lowing cases SEL MON 1 2 SEL MON 1 2 During phase 1 MECHATROLINK II command warning A 95 SQ CMD If the SERVOPACK is Servo OFF MECHATROLINK II command warning A 95 zx If LTMOD ON OFF is received during SVCTRL execu
95. Time 2 0 01ms 15 to 51200 3000 Motor Only For Linear Pn483 Forward Thrust Limit 0 to 800 30 Motor Only 2 2 For Linear Pn484 Reverse Thrust Limit 0 to 800 30 Motor Only Sequence Pn500 Positioning Completed Width related Parameters For Rotary Pn504 Zero Clamp Level min Motor Only For Rotary Pn502 Rotation Detection Level min 1 to 10000 20 Motor Only For Rotary Pn503 Speed Coincidence Signal min 0 to 100 Motor Only 10 Sequence Pn504 NEAR Signal Width referenceunit 1 to 250 7 related pulse for Parameters NEAR output 00 reference unit 0 to 250 7 pulse for COIN output 2 2 2 Pn505 Position Error Overflow Level 256 pulses 1 to 32767 1024 Pn506 Brake Reference Servo OFF Delay Time Pee a E 7 For Rotary Brake Reference Output Speed Level 2 min 0 to 10000 1 Motor Only B 5 Appendix B List of Parameters Table B 1 Parameter List cont d Category Pn No Name Size Unit Setting SGDH Changing Range Factory Method Setting Sequence Pn508 Timing for Brake Reference Output during 2 10ms 10 to 100 50 related Motor Operation Pn50A Input Signal Selections 1 2 0000H to 2881H FFFFH Pn50B Input Signal Selections 2 2 0000H to 6583H FFFFH Pn50D Reserved by system 2 aa 8888H Pn50E Output Signal Selections 1 2 0000H to 3211H 3333H Pn50F Output Signal Selections 2 2 0000H to 0000H 3333H Pn510 Output Signal Selections 3 2 0000H to 0000H 0033H
96. Troubleshooting with No Alarm Display 9 21 9 3 Alarm Display Table 9 23 9 4 Warning Displays 9 26 10 Peripheral Devices 10 1 Fully Closed Encoder Connector Kit 10 2 10 2 MECHATROLINK MECHATROLINK II Communications Cables and Terminator 10 3 Appendix A List of MECHATROLINK II Commands and Command Formats A 1 MECHATROLINK II Command List A 2 A 2 MECHATROLINK II Command Format List A 5 Appendix B List of Parameters B 1 Parameters B 2 B 2 Function Switches B 9 Appendix C Using the Adjusting Command ADJ 3EH C 1 Autotuning C 2 C 1 1 Online Autotuning C 3 C 1 2 Machine Rigidity Settings for Online Autotuning C 5 C 1 3 Saving Results of Online Autotuning C 7 C 1 4 Parameters Related to Online Autotuning C 9 C 2 Absolute Encoder Setup Initialization C 11 C 3 Multiturn Limit Setting C 12 C 4 Automatic Offset Adjustment of Motor Current Detection Signals C 13 C 5 Enabling the Panel Operator C 14 Index Revision History xiv 1 Checking Products and Part
97. Up the SERVOPACK 6 29 6 4 1 Parameters 6 29 6 4 2 Input Circuit Signal Allocation 6 29 6 4 3 Output Circuit Signal Allocation 6 34 6 4 4 Monitoring 6 36 6 5 Setting Stop Functions 6 38 6 5 1 Using the Dynamic Brake 6 38 6 5 2 Using the Holding Brake 6 39 6 6 Absolute Encoders 6 43 6 6 1 Selecting an Absolute Encoder 6 43 6 6 2 Absolute Encoder Setup 6 44 6 6 3 Multiturn Limit Setting 6 45 6 6 4 Absolute Encoder Zero Point Position Offset 6 47 7 Digital Operator 7 1 Connecting the Digital Operator 7 2 7 2 Limitations in Using a Hand held Digital Operator 7 3 7 3 Panel Operator Indicators 7 4 8 Ratings Specifications and Dimensional Drawings 8 1 Ratings and Specifications 8 2 8 2 Dimensional Drawings 8 3 8 2 1 NS115 2 2 2222 eee eee eee eee 8 3 8 2 2 SERVOPACKS 8 4 xiii 9 Troubleshooting 9 1 Alarm Displays and Troubleshooting 9 2 9 2
98. a POWER iti d d N e Ut i Monitor display ee urge Suppress Analog voltage e VO sequence 1 0 L L Open during servo CN5 CN3 CN10 f E 4 i z 5Ry m Analog monitor Digital Operator S personal computer crea Y a CONI i Other station _ l 3 J BUS interface i CN6B f Diharsiai n e MECHATROLINK II T Communications interface E l CN4 Fully closed PG CPU position commands i command interpretation arithmetic processing e 45V etc kr Power i supply sw1 4 Station No sw2 5V ja Baud rate A X d i 3 Wiring 3 3 1 Connection Example of I O Signal Connector CN1 3 3 O Signals This section describes I O signals for the SERVOPACK with NS115 3 3 1 Connection Example of I O Signal Connector CN1 The following diagram shows a typical example of I O signal connections SGDH SERVOPACK CN1 Backup battery t lt ALON Alarm code output 2 8 to4 5V ALO2 Maximum operating lt voltage 30 VDC Maximum operating ara current 20 mA DC c 24V lt COIN Positioning completed ON when positioning has Zero point return decel COIN been completed eration LS S LS enabled when ON Forward run prohibited Prohibited when OFF Reverse run prohibited Prohibited when OFF External latch 1
99. al Form 90 Phase difference 2 phase differential pulse phase A phase B Maximum receivable frequency for SERVOPACK 1 Mbps PhaseA jJ EF LJ L PhaseB p4 gt lt gt lt gt t1 t2 t3 t4 gt O2us t1 t2 t3 t4 SEL SL Forward rotation Reverse rotation 6 12 6 2 Settings According to Machine Characteristics 6 2 6 Parameter Settings This section describes the parameters that must be set when using an NS115 B Overflow Level For information on parameter contents refer to 9 3 3 Position Loop Gain of the X I Series SGMUIH SGDH User s Manual SIEPS80000005 The factory setting is made to minimize the chance of the motor going out of control due to wiring errors or other causes After per forming a trial operation at a low speed change the setting to a higher value if necessary B Fully Closed Encoder Set the method for using the fully closed encoder Fully Closed Encoder Usage Method Factory Position Control Setting 0 The setting details are as follows Pn002 3 0 Fully closed encoder is not used Factory setting Fully closed encoder is used without phase C Fully closed encoder is used with phase C Fully closed encoder is used in Reverse Rotation Mode without phase C 4 Fully closed encoder is used in Reverse Rotation Mode with phase C Normal operation with semi closed control can be performed when Pn002 3 is set to 0 When changes have been made to this parameter turn OFF the power
100. al is to be replaced by another input sig nal When the forward run prohibited P OT input signal is not effective temporarily dur ing trial or normal operation When the forward run prohibited status is not required in the system configuration 6 31 6 Parameter Setting and Functions 6 4 2 Input Circuit Signal Allocation inFory The forward run prohibited P OT and the reverse run prohibited N OT input signals are valid when OFF high level The input terminals must therefore be wired so that these signals remain ON low level in systems where they are not required The need to wire these terminals can be eliminated by setting the Pn50A 3 to 8 Signals are input with OR logic when multiple signals are allocated to the same input circuit Allocating Other Input Signals Input signal allocation can be changed as shown below Forward Run Prohibited OFF high level Pn50A 3 0 Inputs the signal on the left from SIO CN1 40 Sets the signal on the left to always disabled Inputs the reverse of the signal on the left from SIO CN1 40 Inputs the reverse of the signal on the left from SH CN1 41 Inputs the reverse of the signal on the left from SD CN1 42 Inputs the reverse of the signal on the left from SD CN1 43 Inputs the reverse of the signal on the left from SI4 CN1 44 Inputs the reverse of the signal on the left from SI5 CN1 45 Inputs the reverse of the signal on the
101. anging C 6 settings C 5 magnetic contactor 3x3 minimum parameters and input signals 5 6 model numbers 1 3 molded case circuit breaker MCCB 3 3 moment of inertia 9 14 C 3 C 7 C 9 C 10 monitoring 6 36 multiturn limit setting 6 45 N noise filter 3 3 number of encoder pulses 6 19 O online autotuning machine rigidity setting C 5 method C 9 parameters C 9 saving results C 7 setting parameters C 4 open collector output circuit 3 9 option monitor 6 36 output circuit interfaces 3 9 outputsignals 3 8 output circuit signal allocation 6 34 output signal reversal 6 35 output signal selections 6 34 overtravel limit function overtravel limit switch 6 7 setting the overtravel limit function
102. art the WDT count 3 Check information such ID_RD Read information such as device type 2 or 3 as device ID 4 Set device PRM WR Set the necessary parameters such as 2 or 3 offline parameters Set up device CONFIG Enable the parameter settings Turn ON encoder SENS ON Turn ON encoder and obtain the posi 20r3 tion data W m m Turn OFF main circuit SV OFF Turn OFF servomotor Disconnect connection DISCONNECT Disconnect communications Turn OFF control and Turn OFF power supplies 5 main circuit power sup plies f communication disconnects normally the NOP command is sent If communication does not disconnect normally the DISCONNECT command is sent for two or more communications cycles prior to connection then the CONNECT command is sent 4 63 4 MECHATROLINK II Communications 4 7 2 Operation Sequence for Managing Parameters Using SERVOPACK 4 7 2 Operation Sequence for Managing Parameters Using SERVOPACK The following describes the operation sequence for managing parameters using the non vol atile memory of the SERVOPACK As described below divide the operation into two steps Step 1 Saving parameters during set up Step 2 Ordinary operation sequence NOP DISCONNECT Turn ON power supply 1 ion CONNECT Establish communications 2or3 Start the WDT count Check information ID_RD Read information such as device type 20r3 such as device ID Table 4 5 Step 1 Saving Parameters During Set up
103. as the main com MONITOR3 P MONITOR4 Emp d o 29 4 4 7 Release Latch Mode LTMOD OFF 29H NECEM RENE Processing Control command Processing time Within communi classifications group cations cycle 4 5 i ee 29H 29H Releases the modal latch mode This command has the same function as the main SEL MON3 4 SEL MON3 4 20 MONITOR3 MONITOR4 27 4 53 4 MECHATROLINK II Communications 4 4 8 Status Monitoring SMON 30H 4 4 8 Status Monitoring SMON 30H Byte SMON Description Command Response Processing Data communica Processing time Within communi classifications tions command cations cycle group 17 30H 30H Reads the monitoring information specified in SEL MON3 4 This command has 18 EE Substatus the same function as the main command SMON 19 SEL MON3 4 SEL MON3 4 20 MONITOR3 21 22 MONITOR4 4 54 4 5 Command Data Field 4 5 Command Data Field 4 5 1 This section describes command data in main commands and subcommands Latch Signal Field Specifications LT SGN The latch signal field specifications LT SGN can be designated using the following com mands LATCH EX POSING ZRET LTMOD ON The latch signal field is used to select latch signals for position data with the second byte of the above main commands or the eighteenth byte reserved area of the subcommands Refer to the following table for details on bit allocation E Latch Signal Field Latch
104. c Contactor HI Series Turns the servo ON and OFF Install a surge suppressor on the magnetic contac tor p Magnetic contactor Power supply ground line Power Supply for Brake Used for a servomotor with a brake connect an external regenerative resistor to terminals B1 and B2 For SERVOPACKs with a capacity of 6 0 kW or higher connect an external regenerative resistor between terminals B1 and B2 There is no terminal B3 on these SEERVOPACKs o Three phase 200 V Main Circuit Specifications Controller for MECHATROLINK II Host Controller TASRAWR SCEVOPACE SGDH 8 amp QOO at iit u moljije Dolley Do i91 Do volile f m uc BBB 606 Digital Operator see note JUSP OP02A 2 Allows the user to set parameters or opera tion references and to display operation or alarmstatus Communication is also possible with a person al computer for maintenance Be sure to coordinate Note Used operation from these devices with controls exerted by the host controller Encoder Cable Regenerative resistor optional Encoder Connector 3 2 SERVOPACK Internal Block Diagrams 3 2 SERVOPACK Internal Block Diag
105. cations OPTION 4 56 4 5 3 Status Field Specifications STATUS 4 57 4 5 4 Monitor Selection and Monitor Information Field Specifications SEL MON1 2 34 MONITOR1 2 3 4 4 58 4 5 5 IO Monitor Field Specifications IO MON 4 59 4 5 6 Substatus Field Specifications SUBSTATUS 4 61 4 6 Command and Response Timing 4 62 4 6 1 Command Data Execution Timing 4 62 4 6 2 Monitor Data Input Timing 4 62 4 7 Operation Sequence 4 63 4 7 1 Operation Sequence for Managing Parameters Using a Controller 4 63 4 7 2 Operation Sequence for Managing Parameters Using SERVOPACK 4 64 4 7 3 Operation Sequence When Being Servo ON 4 65 4 7 4 Operation Sequence When OT Overtravel Limit Switch Signal Is Input 4 66 5 Trial Operation 5 1 Check Items before Trial Operation 5 2 5 1 1 Servomotors 5 2 5 1 2 SERVOPACKS Sos eee ee eee 5 2 5 2 Trial Operation for MECHATROLINK II Communications 5 3 5 2 1 Preparations for Trial Operation 5 3 5 2 2 Operating the Servomotor 5 4 5 3 Trial Operation Inspection
106. cuit board 1PWB is defective Replace the SERVOPACK B A 86 A 86 Encoder Overheated Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm During servomotor At power ON operation A B C D eS ambient temperature of the servomo Alter conditions so that the ambient tempera tor is high ture goes below 40 C B Servomotor i is operating under overload Reduce load Circuit board 1P WB is defective Replace the SERVOPACK D Encoder is defective Replace the servomotor 9 8 9 1 Alarm Displays and Troubleshooting B A 94 A 94 Parameter Setting Warning Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm Occurred when the command was sent A A value outside the MECHATROLINK II Reset correctly communications setting range was set B A 95 A 95 MECHATROLINK II command warning Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALOS Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm Occurred when the command was sent Presently unable to receive the sent command Adjust conditions to match the command Refer to the
107. d software limit Cg Em range ES 1 911 D13 Reverse software limit 0 Ea 1 Within range E eee NEZ ES pie Oo 4 5 4 Monitor Selection and Monitor Information Field Specifications SEL_MON1 2 3 4 MONITOR1 2 3 4 The monitor selection and monitor information field specifications SEL_MON1 2 3 4 MONITOR1 2 3 4 can be designated using the following main commands SV ON SV OFF HOLD INTERPOLATE POSING LATCH EX POSING ZRET SMON SENS ON SENS OFF BRK ON BRK OFF The monitor selection and monitor information field is used to select the Servo monitor information and monitor it with the thirteenth byte of the above main commands or the nineteenth byte reserved area of the subcommands B SEL MON1 2 3 4 Fields s s x u s s a a s E R R s s Co oo s s N N E SEL MON4 SEL MON3 4 58 B MONITOR1 2 3 4 Monitor Codes 4 5 Command Data Field Monitor Description Unit Codes Reference position in the reference coordinate sys Reference units tem position after reference filter procedure Position error Reference units Feedback position in the mechanical coordinate Reference units system Reference position in the mechanical coordinate Reference units system Feedback latch position in the mechanical coordi Reference units nate system Reference position in the reference coordinate sys Reference units tem position before reference filter procedure Target position in the reference coor
108. d status with the eighteenth byte reserved area of the subcommands m SUBSTATUS CONUM UNO UB XR EM Em UN MN NE a E ee ee eee Bit Name Description Set Details Value SBALM Subcommand alarm occurrence 0 None D1 SBWARNG Subcommand warning occurrence 0 Nome SBCMDRDY Subcommand ready 0 Disabled busy Subcommand reception enabled Enabled read y 4 61 4 MECHATROLINK II Communications 4 6 1 Command Data Execution Timing 4 6 Command and Response Timing This section describes the execution timing for command data and the input timing for monitor data This timing is fixed regardless of the transmission cycle and communications cycle 4 6 1 Command Data Execution Timing Motion commands POSING INTERPOLATE and the OPTION command are executed 625 s after they are received Command sent Response received Transmission cycle AN i I Lu i i i DEMNM RA gt i i 1 it i tt i I y l i 1 i i i I NI 1 I Lu Lu 1 Lu I Master sent 1 1 i Slave sent i l J i h rot 1 1 1 od 1 l na uv l i 3 Received Sent i i i ES y l f as TURN l l i i I I 1 i FON d l i I I 1 1 b UM x l l l N l
109. ders represents twisted pair wires When using an absolute encoder connect a backup battery only when there is no battery con nected to the CN8 Make signal allocations using parameters Refer to 6 7 2 Standard Settings for CN1 I O Sig nals Connect the ground wire of the NS115 to the marked G on the SERVOPACK Refer to 1 3 Mounting the NS115 3 17 3 Wiring 3 6 2 Three phase Power Supply Specifications 3 6 2 Three phase Power Supply Specifications O0 Three phase 200 to 230 VAC 5 50 60Hz PP Power Noise filter oe ON Alarm ad rm 1MC processing zs i 1 fot ee I i b 1 1 l E a M Be sure to attach a surge suppressor to the excitation coil of the magnetic contactor and relay 1MC Connect to ground p SGDH OOOE SERVOPACK 3 Servomotor Speed and position detector Be sure to prepare the end of shield properly oe IS x To next MECHATROLINK II slave Ua S 3 j SH 4 DL x IS Terminator aih Connect a Terminator JEPMC W6022 of the end connector of the last SERVOPACK o AA 99 CN6B Fully closed speed and position detector CN4 Fully closed PG Backup battery 2 8 to 4 5V 2 f 24 VIN CN1 BAT
110. dinate system Reference speed Target speed TRQ Torque reference The rated torque is 100 Option monitor 1 selected in Pn813 0 Option monitor 2 selected in Pn813 1 Up to 4 monitor codes can be set to MONITOR 1 to 4 ECT EA Feedback speed pe Position torque control reference units s Speed control Maximum speed 40000000H Position torque control reference units s Speed control Maximum speed 40000000H Position torque control reference units s Speed control Maximum speed 40000000H Position torque control 96 Speed control Maximum torque 40000000H 4 5 5 IO Monitor Field Specifications IO MON The IO monitor field specifications IO MON can be designated using the following com mands SMON SV ON SV OFF HOLD INTERPOLATE POSING LATCH EX POSING ZRET SENS ON SENS OFF BRK ON BRK OFF The IO monitor field is used to monitor the I O signal status of the SERVOPACK with the fourteenth to fifteenth byte reserved area of the above main commands 4 59 4 MECHATROLINK II Communications 4 5 5 O Monitor Field Specifications IO MON B O Monitor Field o5 ow os ez 9 Valla pn pum D EUN cR p odo al Oee eee de eu me E ee pes Bad dE REN o Pix pe m Eme BE DAN oca coe eee a 4 60 4 5 Command Data Field 4 5 6 Substatus Field Specifications SUBSTATUS The substatus field is used to monitor the subcomman
111. e Replace the servomotor Encoder wiring error or faulty contact Check the wiring and check that the con nector is fully inserted on the encoder side 9 Troubleshooting B A C7 A C7 Fully Closed Encoder Phase C Disconnection Alarm Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm At power ON 1 to 3 seconds after power ON or U Uu During servomotor operation Circuit board 1PWB is defective Replace the SERVOPACK Encoder wiring error or faulty contact Check the wiring and check that the con nector is fully inserted on the encoder side C There is noise in the encoder wiring Separate the encoder wiring from the main circuit D Encoder is defective Replace the servomotor 9 12 9 1 Alarm Displays and Troubleshooting B A CC A CC Multiturn Limit Disagreement Alarm Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm At power ON HEN e n i The setting of the Multiturn Limit Setting Change parameter Pn205 Pn205 parameter in the SERVOPACK is incorrect The multiturn limit has not been set in the Check to be sure the Multiturn Limit Set encoder ting Pn205 parameter in t
112. e following signals can be allocated SERVOPACK CN1 P OT e 40 SIO CN1 42 is factory set for 41 S11 the P OT input signal Determines 7777 gt gt 42 S12 terminal gt i allocation 29 SI3 Any terminal from CN1 40 to for input l sesi gt gt 44 SM 46 can be allocated to the signals e gt 5 SIS P OT signal through the NN gt 46 SI6 Pn50A 3 setting Factory Standard Setting Setting 2881 2881 Factory Standard Setting Setting 6583 8883 Input Signal Selections 5 Standard Setting 6541 Select the input terminal on the CN1 connector that will be used for each input signal 6 30 6 4 Setting Up the SERVOPACK Examples of Input Signal Allocation The procedure used to allocate sequence input signals is described using the P OT for ward run prohibited signal as a typical example Pn50A 3 Description Remarks Setting 09 Inputs the P OT signal from the SIO CN1 40 input terminal Signal Polarity Reverse function Not active Inputs the P OT signal from the SI1 CN1 41 input terminal Example Forward run prohibited signal P OT is valid when high OFF Inputs the P OT signal from the SI2 CN1 42 input terminal Inputs the P OT signal from the SI3 CN1 43 input terminal Inputs the P OT signal from the SI4 CN1 44 input terminal Inputs the P OT signal from the SIS CN1 45 input terminal 06 Inputs the P OT signal from the SI6 CN1 46 input term
113. e limits set limits in software for machine movement that do not use the overtravel signals P OT and N OT If a software limit is exceeded an emergency stop will be executed in the same way as it is for overtravel B Software Limit Function The software limits can be enabled or disabled The software limit function parameter is used to enable the software limit function The software limits can be enabled under the following conditions Under all other circum stances the software limits will not be enabled even if a software limit is exceeded 6 10 6 2 Settings According to Machine Characteristics The ZRET command has been executed REFE I using the POS SET command The software limits are also enabled after the SENS ON command is executed for an abso lute encoder Pn801 0 Software Limit Function Factory Position Control Setting 0 Enable or disable the software limits using one of the following settings E Software Limit Check using References Enable or disable software limit checks when target position references such as POSING or INTERPOLATE are input When the input target position exceeds the software limit a deceleration stop will be performed from the software limit set position Pn801 2 Software Limit Check using Factory Position Control References Setting 0 0 Factory setting No software limit check using references Software limit check using references E Software Limit Setting
114. ecifications for standard models Procedures for maintenance and inspection MECHATROLINK II communications specifications for SGDH SERVOPACK B intended Audience This manual is intended for the following users Those designing servodrive systems using MECHATROLINK II Those designing X II Series servodrive systems Those installing or wiring X II Series servodrives Those performing trial operation or adjustments of X II Series servodrives Those maintaining or inspecting X II Series servodrives B Description of Technical Terms In this manual the following terms are defined as follows Servomotor X II Series SGMAH SGMPH SGMGH SGMSH or SGMDH servomo tor SERVOPACK XII Series SGDH LILILIE SERVOPACK Servodrive A set including a servomotor and Servo Amplifier Servo System A servo control system that includes the combination of a servodrive with a host controller and peripheral devices Online parameters Parameters that are enabled as soon as they are set Offline parameters Parameters that are enabled when the control power is turned OFF and ON again after setting with the Write Non volatile Parameter command PPRM WB or those that are set with the control power ON and enabled with the Set Up Device command CONFIG B indication of Reverse Signals In this manual the names of reverse signals ones that are valid when low are written with a forward slash before the signal name a
115. eleration parameter Pn80C Acceleration switching speed Pn80D First step linear deceleration parameter Pn80E Second step linear deceleration parameter Pn80F Deceleration switching speed Position reference filter Pn810 Exponential position reference filter bias Pn811 Exponential position reference filter time constant Pn812 Movement average time of movement average position reference filter 6 22 6 3 Settings According to Host Controller E Iis s es u tag dem Speed Pn80D Time B First step Linear Acceleration Parameter Set the first step linear acceleration when 2 step acceleration is used First step Linear Unit Setting Factory Position Acceleration Parameter 10 000 Range Setting Control reference 1 to 65535 100 units s B Second step Linear Acceleration Parameter Set the second step linear acceleration Second step Linear Unit Setting Factory Position Acceleration Parameter 10 000 Range Setting Control reference 1 to 65535 100 units s B Acceleration Switching Speed Set the speed for switching between first step and second step acceleration when 2 step acceleration is used When 2 step acceleration is not used set the acceleration switching speed Pn80C to 0 Pn80C Acceleration switching Unit Setting Factory Position 100 Range Setting Control reference 0 to 65535 0 units s 6 23 6 Parameter Setting and Function
116. em Software B 20 Forward soft limit disabled Reverse soft limit disabled Soft limit disabled in both directions Set to 0 No software limit check using references Limit Check Using Refer ences Reserved by system Reserved by system Reserved by system Software limit check using references Set to 0 Set to 0 Set to 0 2 1 3 1 3 1 B 2 Function Switches Table B 4 NS115 Parameters List cont d Category Pn No Digit Name Setting Description SGDH Changing Place Factory Method Setting Supple Pn816 Return to Zero Forward mentary Point 1 Reverse mands 1 Reserved by Set to 0 system 2 Reserved by Set to 0 system 3 Reserved by Set to 0 system Pn81D Backlash Compensa tion Direction CS mmn system mm system system o EA Forward direction Reverse direction Set to 0 Set to 0 No allocation Monitors the SIO CN1 40 input terminal Monitors the SI1 CN1 41 input terminal Monitors the SI2 CN1 42 input terminal Monitors the SI3 CN1 43 input terminal Monitors the SI4 CN1 44 input terminal Monitors the SI5 CN1 45 input terminal Monitors the SI6 CN1 46 input terminal IO13 Mapping Same settings as Pn81E 0 IO14 Mapping Same settings as Pn81E 0 IO15 Mapping Same settings as Pn81E 0 Parameter changing method is as follows p Pn81E Can be changed at any time and immediately enabled after changing Cal
117. en the moving coil moves in the forward direction The encoder counts down when the moving coil moves in the forward direction 2 Reserved by system 3 Reserved by system Mode Switch Selection Set to 0 Set to 0 Gain related Switches Uses internal torque reference as the condition Level setting Pn10C ses speed reference as the condition Level setting Pn10D 2 Uses acceleration as the condition Level setting Pn10E ses error pulse as the condition Level setting Pn10F 4 No mode switch function available Speed Loop PI control Control Method 1 TP control Reserved by Set to 0 system Reserved by system Online Autotuning Method 2 1 3 Set to 0 Tunes only at the beginning of operation Always tunes Does not perform autotuning Speed Feedback Enabled 1 Compensation 1 Disabled Selection Friction 0 Friction compensation Disabled Comp ensaugn Friction compensation Small Selection Friction compensation Large B 2 Function Switches Position related Switches Position related Switches Torque related Switches Pn200 Pn207 Pn408 Table B 3 Function Switches List cont d Category Pn No Digit Name Setting Description SGDH Changing Place Factory Method Setting E Pulse E Error Counter Clear Signal Form Clear Operation pem PES NNI Does not clear error counter Possible to clear error counter only with CLR
118. equence output signal circuits Connect a photocoupler output circuit through a relay or line receiver circuit 81025 VDU Relay 5to 12 VDC SERVOPACK o SERVOPACK end end f ov ov e ov Note The maximum allowable voltage and current capacities for photocoupler output circuits are as follows Voltage 30 VDC max Current 50 mA DC max 3 10 3 4 Fully Closed Encoder Signals Connector CN4 3 4 Fully Closed Encoder Signals Connector CN4 This section describes the wiring for the fully closed encoder signals connector CN4 3 4 1 Fully Closed Encoder Connection Example The following diagram shows an example of CN4 connections External PG O O External power supply Note represents twisted pair wires 3 4 2 CN4 Connector Terminal Layout The following diagram shows the CN4 connector terminal layout and connector specifica tions B CN4 Connector Terminal Layout Signal ground m ES T ope m input 1 Phase A t 18 FB Phase B mpu input 19 Phase B input Note 1 The connector shell is connected to the FG frame ground 2 Do not use unused terminals as relay terminals 3 Wiring 3 4 2 CN4 Connector Terminal Layout B CN4 Specifications Specifications for Applicable Receptacles SERVOPACK Soldered Case Manufacturer Connectors 10220 52A2JL 10120 3000VE 10320 52A0 008 SUMITOMO 3M 20 pin Right Angle Plug LTD 3 12 3 5 Connections for MECHATROLINK II Com
119. er to Appendix B List of Parameters Processing time 1 ms when writing NS115 parameter 4 to 6 ms when writing SGDH SERVOPACK parameter 4 10 4 3 Main Commands 4 3 4 Read ID ID RD 03H Description 1 03H 03H Processing Data communica Synchronization Asynchronous classifications tions command classifications group Reads the ID The corresponding DEVICE COD is shown in the table on the following page DEVICE COD Can be seo during phases 2 and 3 A warning will occur and the command will be ignored in the following cases ESCXED OFFSET OFFSET If a digital operator is connected MECHATROLINK II command warning A 95 If SigmaWin and so on are connected MECHATROLINK II command warning A 95 If SIZE 1 to 8 does not match Parameter setting warning A 94 f communications are in progress with a digital operator or SigmaWin and so on a command execution incomplete alarm A ED may occur B The ID contents of DEVICE COD Mods ST PREP rE i ol Encoder Software Ver Software Ver e ee ee ee Model 3H aS poppe a UR Sane nL NENNEN bead T Note 1 Model numbers appear in ASCII code with the last section as 90 2 The software version is binary data 3 Spaces indicate unspecified data 4 If the SERVOPACK is not operating since an alarm EO E1 E2 EA EB EC occurs at power ON the SERVOPACK and the servo motor model are 00
120. erenced by one POSING command is 2147483647 7FFFFFFFH Execute the POSING command so that the following equation is satisfied Target position TPOS current position POS The maximum positioning distance 4 37 4 MECHATROLINK II Communications 4 3 28 External Input Positioning EX POSING 39H B Related Parameters Pn511 Latching Area Upper Limit Pn80A Latching Area Lower Limit B Operation Latch signal 4 38 When a latch signal is input positioning is performed according to the final travel distance for external positioning specified in the parameter Pn814 Final Travel Distance for External Positioning When no latch signal is input positioning is performed for the target position 4 3 Main Commands 4 3 29 Zero Point Return ZRET 3AH Byte ZRET Command ELM Description Processing Motion command Synchronization Asynchronous classifications group classifications LT SGN ALARM Processing time Within communi Subcommand Can be used cations cycle OPTION STATUS 5 3 TSPD MONITOR2 SEL MON 1 2 SEL MON 1 2 14 N E EA EE Eu subcommands use Refer to 4 4 Subcom mands IO MON subcommands use Refer to 4 4 Subcom mands Accelerates to the target speed TSPD in the direction specified in the param eter Pn816 and continues to move at the target speed Decelerates to approach speed 1 Pn817 at the DEC 1 Latch operation will start
121. ervomotor from rotating due to gravity To prevent faulty operation due to gravity or external force make sure that the servomotor and holding brake operate normally with the servomotor disconnected from the machine When both of them oper ate normally connect the servomotor to the machine to start trial operation The following figure shows wiring for a servomotor with brakes Refer to 6 5 2 Using the Holding Brake for details on wiring Servomotor with brakes Power supply Three phase 200 V L1 L2 L3 SERVOPACK Magnetic Contactor Single phase 200 V 90VDC Brake control relay Brake power supply LPDE 1HO1 100 V input LPSE 2H01 200 V input 5 7 6 Parameter Setting and Functions This chapter describes the procedure for setting and applying parameters 6 1 Parameter Limits and Standard Settings with NS115 6 4 6 1 1 Parameter Limits 6 4 6 1 2 Standard Settings for CN1 I O Signals 6 5 6 2 Settings According to Machine Characteristics 6 6 6 2 1 Switching Servomotor Rotation Direction 6 6 6 2 2 Setting the Overtravel Limit Function 6 7 6 2 3 Software Limit Settings 6 10 6 2 4 Fully Closed Control 6 12 6 2 5 Fully Closed System Specifications 6 12 6 2 6 Parameter Settings
122. es sary preparations Execute the SV ON Servo ON command The power circuit in the SERVOPACK will be activated and the servomotor will be ready to operate At this point SVON 1 base block currently being released in STATUS will be returned 5 3 5 Trial Operation 5 2 2 Operating the Servomotor 5 2 2 Operating the Servomotor Only the main circuit can be operated while the base block is being released Run the servo motor at low speed B Command Transmission Example POSING rapid traverse positioning command Option 0 Positioning setting 10000 current position 10000 with absolute encoders Rapid traverse speed 400 Make sure the servomotor is operating in the proper direction according to the reference Fig 5 1 Motor Forward Rotation If the reference and rotational direction do not match refer to 5 4 7 Minimum Parameters and Input Signals and set correctly 5 4 5 3 Trial Operation Inspection 5 3 Trial Operation Inspection Inspect the following items during the trial operation Unusual vibration Abnormal noise Excessive temperature rise Take actions according to Chapter 9 Troubleshooting if an alarm occurs Also note that the servomotor may overload during the trial operation if the load system is not suitably broken in 5 5 5 Trial Operation 5 4 1 Minimum Parameters and Input Signals 5 4 Supplementary Information on Trial Operation 5 4 1 Minimum Parame
123. et to 65535 factory setting the multiturn data will vary from 32768 to 32767 If any other value is set the multiturn data will vary from 0 to the set ting of Pn205 If the servomotor rotates in the negative direction from 0 the multiturn data will change to the value set in Pn205 If the servomotor rotates in the positive direction from the value set in Pn205 the multiturn data will change to 0 Set Pn205 to m 1 TERMS 1 Multiturn limit The upper limit of multiturn data The multiturn data will vary between 0 and the value of Pn205 multiturn limit setting when Pn002 2 is set to 0 6 45 6 Parameter Setting and Functions 6 6 3 Multiturn Limit Setting N INFOL Turn the power OFF and then back ON after changing the setting of parameter Pn002 2 or Pn205 The multiturn limit value in the encoder is factory set to 65535 the same as the SERVOPACK If the multiturn limit value in the SERVOPACK is changed with Pn205 and then the SERVOPACK power is turned OFF and ON the following alarm will occur Alarm Name Multiturn Limit Disagreement Alarm Alarm Code Outputs Description of Alarm A CC ON OFF ON The multiturn limit value is different in the encoder and SERVOPACK Note ON signals are low level OFF signals are high level When this alarm occurs the multiturn limit in the encoder must be changed This operation is performed in one of the following ways Refer to the Z Series SGMOH SGDH Users Manual Desi
124. ference option is not effective Set P TLIM TFF N TLIM to 0 1 P TLIM operates as the torque limit value Set N TLIM to 0 TFF operates as the torque feed forward Set N TLIM to 0 When P CL and N CL of OPTION field 0 parameters Pn402 and Pn403 operate as torque limit values When P CL 0andN CL 1 N TLIM operates as the torque limit value WhenP CL 1andN CL 0 orP CLandN CL 1 P TLIM operates as the torque limit value 4 42 4 3 Main Commands 4 3 31 Torque Control TRQCTRL 3DH Byte ARTIE Description NEL Motion command Synchronization Asynchronous classifications group classifications ALARM Processing time Within communi Subcommand Can be used cations cycle OPTION STATUS The Servo does not perform position control and speed control but directly performs torque control Can be used during phases 2 and 3 XM MONITORI A command warning will occur and the command will be ignored in the fol i lowing cases During phases other than phases 2 and 3 MECHATROLINK II command warning A 95 E NE Ifthe SERVOPACK is Servo OFF MECHATROLINK II command warning TQREF MONITOR2 A 95 OPTION can be selected Refer to 4 5 2 Option Field Specifications OPTION for details TOREF torque reference The unit for torque reference is maximum motor torque 40000000H The direction is specified by the sign SEE MOM 127 SELEMON 1 2 When the designation for TOREF is larger than the maximum motor tor
125. g Problems that occur in the servodrives are displayed on the panel operator as A LI1LT or CPFOD A however does not indicate an alarm Refer to the following sections to identify the cause of an alarm and the action to be taken Contact your Yaskawa representative if the problem cannot be solved by the described proce dures B A 02 A 02 Parameter Breakdown Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm At power ON A B C Power turned OFF during parameter write Initialize parameters using Fn005 and Alarm occurred at next power ON reinput user settings Replace the SERVOPACK B Circuit board 1PWB is defective Replace the SERVOPACK NS115 is defective Replace the NS115 9 2 9 1 Alarm Displays and Troubleshooting B A 04 A 04 Parameter Setting Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm A A An out of range parameter was previously set Reset all parameters in range or loaded Otherwise re load correct parameter Circuit board 1PWB is defective Replace the SERVOPACK NS115 is defective Replace the NS115 9 3 9 Troubleshooting B A 81 A 81 Encoder Backup Error Display and Outputs
126. g Results of Online Autotuning The Adjusting command ADJ 3EH is used to save the results of online autotuning The procedure for saving results is shown below It is also possible to use a Digital Operator to save settings Refer to the X Series SGMLIH SGDH User 5 Manual SIEPS80000005 1 By setting byte 1 ofthe MECHATROLINK II command field to ADJ 3EH and byte 2 to 00H the following command field can be set Smmew Remme CCMD CANS CCMD Command 6 CADDRESS CADDRESS CANS Answer CADDRESS Setting reference address CDATA Setting reference data 08 CDATA CDATA C 7 Appendix C Using the Adjusting Command ADJ 3EH C 1 3 Saving Results of Online Autotuning 2 Send the following data setting commands in each command field Set 01H Data setting in the CCMD field Set 2000H in the CADDRESS field Set 1007H in the CDATA field 3 After setting the data send the command Confirm that the response is correct and that CMDRDY of STATUS is set to 1 The Online Autotuning Results Write Mode will be entered 4 Continue by using the following data setting command Set 01H Data setting in the CCMD field Set 2001H in the CADDRESS field Set 01H Execute in the CDATA field 5 After setting the data send the command Approximately one second after sending confirm that the response is correct and that CMDRDY of STATUS is set to 1 This completes saving the online autotu
127. g table for coordinate setting modes POS DATA POS DATA Set position in POS DATA A warning will occur and the command will be ignored in the following cases During phase 1 MECHATROLINK II command warning A 95 If a number not within the range is set for PS SUBCMD Parameter setting warning A 94 1 2 3 4 5 7 10 11 12 13 14 15 6 20H m B Details of P5 SUBCMD Cor w 9 To 9 9 9 9 REFE Sets reference point 0 Does not set reference point 1 Sets reference point The zero point is enabled ZPOINT and software limits are enabled POS SEL Selects coordinates 3 When APOS feedback position in machine coordinate system is selected it 1s also set in the reference and machine coordinate system 4 20 4 3 Main Commands 4 3 14 Apply Brake BRK ON 21H Byte fumer ON Description Semmens H Response H Processing Control com Synchronization Asynchronous classifications mand group classifications ALARM Processing time Within communi Subcommand Cannot be used cations cycle STATUS Applies brake This command is enabled when Pn005 0 is set to 1 Can be used during phases 2 and 3 MONITOR 1 A warning will occur and the command will be ignored in the following cases During phase 1 MECHATROLINK II command warning A 95 If Pn005 0 is set to 0 MECHATROLINK II command warning A 95 Brake signal output timing MONITOR 2 2 SEL MON 1 2 SEL MON 1 2 i
128. gain manually if tuning is not possible Refer to 9 3 Manual Tuning of the X I Series SGMOHA SGDH User 5 Manual SIEPS80000005 Do not use online autotuning in the following cases When using IP control for the speed loop When using the torque feed forward function C 3 Appendix C Using the Adjusting Command ADJ 3EH C 1 1 Online Autotuning B Setting Parameters for Online Autotuning The following flowchart shows the procedure for setting the parameters for online autotuning Operate with factory settings of parameters Operation OK No moment of inertia No Set to always perform tuning Set Pn110 0 to 1 Operation OK Adjust the machine rigidity setting Operation OK No Adjust the friction compensation Setin Pn110 2 Operation OK Clear theonline autotuning Savethe results of autotuning to Set Pn110 0 to 2 parameters From the next time execute autotuning using the saved value as the initial value Make servo gain adjustments manually End Before making servo gain adjustments manually refer to 9 4 Servo Gain Adjustment Functions of the X Series SGM LJH SGDH User Manual SIEPS80000005 ca C 1 Autotuning C 1 2 Machine Rigidity Settings for Online Autotuning For the machine rigidity settings at the time of online autotuning select the target values for speed loop gain and position loop
129. gn and Maintenance SIE S800 32 2 for details on changing the multiturn limit setting Fn013 using a Digital Operator Refer to Appendix C 3 Multiturn Limit Setting for details on changing the value using the Adjusting command ADJ 3EH N INFO The multiturn limit setting in the encoder can be changed only when the Multiturn Limit Disagreement alarm has occurred After changing the setting turn the power supply OFF and then back ON 6 46 6 6 Absolute Encoders 6 6 4 Absolute Encoder Zero Point Position Offset When an absolute encoder is used the offset between the encoder position and the machine zero point APOS can be set Absolute Unit Setting Range Factory Position Control Encoder Zero Refer 1073741823 Setting Point Position ence unit to 1073741823 0 Offset Settings are as shown in the following figure To set encoder position X as the machine zero point 0 set Pn808 to X Machine zero point APOS i Encoder position S 6 47 7 Digital Operator This chapter describes limitations when using a SERVOPACK with an NS115 mounted and Digital Operator connected It also describes Panel Operator indi cator operation 7 1 Connecting the Digital Operator 7 2 7 2 Limitations in Using a Hand held Digital Operator 7 3 7 3 Panel Operator Indicators 7 4 7 1 7 Digital Operator 1 1 Connecting the Digita
130. gnal is not reversed o not reversed for S02 CNI ots nal is reversed Signal Reversal O Signal is not reversed is not reversed for SO3 CN1 29 30 Terminal _ Reserved by Lo NN NN to 0 system Parameter changing method is as follows mm 3 is reversed Can be changed at any time and immediately enabled after changing Called an online parameter O Can be changed when DEN 1 Immediately enabled after changing Do not change when DEN 0 Doing so may lead to misoperation such as position errors Called an online parameter A Can be changed at any time and enabled immediately after the power is turned OFF then ON again Sends a Set Up Device command at power ON when changing a parameter Called an offline parameter Do not access B 2 Function Switches Category Communi cations Parame ters Pn No Digit Place Table B 4 NS115 Parameters List Name Setting MECHATRO LINK II Com munications Check Mask for debug ging Warning Check Mask for debug ging Communica tions Error Counts at Sin gle Transmis sion Reserved by system Description SGDH Changing Factory Method Setting Detects both communications error A E6 and WDT error A E5 Ignores communications error A E6 Ignores WDT error A E5 Ignores both communications error A E6 and WDT error A E5 Detects A 94 A 95 and A 96 all Ignores para
131. gnals according to the standard settings in the following table CN1 Output Factory Setting Standard Setting Connector Terminal Symbol Name Symbol Name Terminal Name Numbers Sol COIN COIN Positioning com COIN Positioning com 26 COIN pleted EMI pleted 27 SO2 TGON Rotation detec BK e BK Brake interlock 29 SO3 S RDY RDY Servo ready S RDY RDY Servo ready The output signal selection parameters and their factory settings and standard settings are shown below Factory Standard Setting Setting 3211 3001 Factory Standard Setting Setting 0000 0200 Factory Standard Setting Setting 0000 0000 SO1 CN1 25 26 SO2 CN1 27 28 SO3 CN1 29 30 6 34 6 4 Setting Up the SERVOPACK Positioning Com Pn50E 0 EE Disabled Not used for the output signal on the left Feat Outputs the signal on the left from the SO1 CN1 25 and 26 output terminal Outputs the signal on the left from the SO2 CN1 27 and 28 output terminal Outputs the signal on the left from the SO3 CN1 29 and 30 output terminal Speed Coinci Pn50E 1 0 to 3 Same as above dence Detection V CMP Rotation Detection Pn50E 2 0to3 Same as above TGON Servo Ready Pn50E 3 0to3 Same as p S RDY Torque Limit De Pn50F 0 0 to 3 Same as LE tection CLT Speed Limit De Pn50F 1 0 to 3 Same as above tection NLT Brake Interlock Pn50F 2 0to3 Same as above BK Warning Pn50F 3 0to3
132. gth MECHATROLINK JEPMC W6002 A5 MECHATROLINK I Con ep munications Cables THENCE re ie mi fo B Terminator MECHATROLINK JEPMC W6022 MECHATROLINK II Commu nications Terminator 10 3 Appendix A List of MECHATROLINK II Commands and Command Formats This appendix provides a list of MECHATROLINK II commands and com mand formats A 1 MECHATROLINK II Command List A 2 A 2 MECHATROLINK II Command Format List A 5 A 1 Appendix A List of MECHATROLINK II Commands and Command Formats A 1 MECHATROLINK II Command List The following table shows main commands such as MECHATROLINK II common commands motion common commands and servo standard commands Table A 1 Main Command List Processin Synchroniza Command Command 9 y Subcom Code Function Classifica tion Classifi Remarks Type Name musst E mand tion 1 cation 2 Fw or ooo N or rev RD Red hasmeersomma P s ALM RD Read Alarm or Warning Disabled command ALM CLR Clear Alarm Warning com Disabled mand C C N SYNC SET Start Synchronous Commu Disabled nications command CONNECT MECHATROLINK II Con N Disabled nection command OF DISCON Disconnection command N Disabled NECT IB PPRM RD Read Non volatile Parame Disabled Not supported ter command IC PPRM WR Write Non volatile Parame Disabled ter command Motion POS SET Set Coordinates command Disabled Disabled P Md BRK O
133. he SERVO PACK is correct and then execute the encoder multiturn limit setting change Fn013 when a Multiturn Limit Disagree ment Alarm A CC occurs 9 13 9 Troubleshooting B A d0 A d0 Position Error Pulse Overflow Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm During servomotor At power ON operation E Overflow during high speed rotation Operation is normal but overflow occurs when long reference is input Increase speed loop gain Pn100 and position loop gain Pn102 Reduce load torque or moment of inertia If problem not corrected replace with a servomotor with larger capacity Position reference is too high Reduce the acceleration deceleration rate Correct electronic gear ratio 9 14 9 1 Alarm Displays and Troubleshooting B A EO A E0 NS115 No Response Alarm Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm At power ON P A A NSIIS is defective Replace the NS115 B A E1 A E1 NS115 Time Out Alarm Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output tra
134. he results of unauthorized modifications of this product Yaskawa shall not be liable for any damages or troubles resulting from unauthorized modification CONTENTS Overview 2 2 2 eee eer ree ee er eee eee eee ee iii Visual Aids 2 eee eee ee eee eee eee iv Safety Information e vi Safety Precautions vii 1 Checking Products and Part Names 1 1 Checking Products on Delivery 1 2 1 2 Product Part Names Im e 1 4 1 3 Mounting the NS115 1 5 2 Installation 2 1 Storage Conditions 2 2 2 2 Installation Site 2 2 2 3 Orientation 2 3 2 4 Installation 2 4 3 Wiring 3 1 Connecting to Peripheral Devices 3 2 3 1 1 Single phase 100 V or 200 V Main Circuit Specifications 3 3 3 1 2 Three phase 200 V Main Circuit Specifications 3 4 3 2 SERVOPACK Internal Block Diagrams 3 5 3 3 I O Signals 3 6 3 3 1 Connection Example of I O Signal Connector CN1 3 6 3 3 2 I O Signals Connector CN1 3 7 3 3 3 I O Signal Names and Functions 3 8 3 3 4 Interface Circui
135. high temperatures B Maintenance and Inspection A WARNING Never touch the inside of the SERVOPACKs Doing so may result in electric shock Do not remove the panel cover while the power is ON Doing so may result in electric shock Do not touch terminals for five minutes after the power is turned OFF Residual voltage may cause electric shock N CAUTION Do not disassemble the servomotor Doing so may result in electric shock or injury Do not attempt to change wiring while the power is ON Doing so may result in electric shock or injury viii B General Precautions Note the following to ensure safe application The drawings presented in this manual are sometimes shown without covers or protective guards Always replace the cover or protective guard as specified first and then operate the products in accordance with the manual The drawings presented in this manual are typical examples and may not match the product you received This manual is subject to change due to product improvement specification modification and manual improvement When this manual is revised the manual code is updated and the new manual is published as a next edition The edition number appears on the front and back covers Ifthe manual must be ordered due to loss or damage inform your nearest Yaskawa representative or one of the offices listed on the back of this manual Yaskawa will not take responsibility for t
136. iewed from Motor load Input Phase CCW direction Figure 6 2 Figure 6 2 Figure 6 3 Figure 6 3 CW direction Figure 6 2 l Figure 6 3 Figure 6 3 Figure 6 2 1 This setting is for when Reverse Rotation Mode is not being used 2 This setting is for when Reverse Rotation Mode is being used 6 14 6 2 Settings According to Machine Characteristics Fully Closed PG Input Fully Closed PG Input Phase A Phase A _ dll 7 LT gt gt Time Time Fig 6 2 Fig 6 3 Pn000 0 can be used to change the rotational direction for forward rotation during normal operation If the motor runs out of control change Pn002 3 6 15 6 Parameter Setting and Functions 6 3 1 Sequence I O Signals 6 3 Settings According to Host Controller This section describes the procedure for connecting a X II Series Servo to a host controller including the procedure for setting related parameters 6 3 1 Sequence I O Signals Sequence I O signals are used to control SERVOPACK operation Connect these signal ter minals as required B input Signal Connections Connect the sequence input signals as shown below Standard settings SERVOPACK I O power supply y 24V 3 3kQ aI aT e Photocoupler Host controller y 3h 40 gt IDEC a1 Y 3K e ar iE
137. ill not be lost if power goes OFF i Details of ALM RD MOD ALM RD MOD Description Processing Time Read current alarm warning status Within commu 10 items max sixth to fifteenth byte nications cycle 1 Read alarm status history Within 2 s 10 items max sixth to fifteenth byte Warning history is not preserved 4 13 4 MECHATROLINK II Communications 4 3 7 Clear Alarm Warning ALM CLR 06H 4 3 7 Clear Alarm Warning ALM CLR 06H ALM CLR Description Processing Control command Synchronization Asynchronous classifications group classifications ALARM Processing time Refer to Subcommand Cannot be used E Details of ALM CLR MOD STATUS Clears the following alarm or warning status Current alarm warning status Alarm status history warning history is not preserved ALM CLR MOD CLR MOD ALM CLR MOD Can be used during any phase The ALM CLR MOD specifications are shown in the following table A warning will occur and the command will be ignored in the following cases During phases other than phases 2 and 3 MECHATROLINK II command warning A 95 If a digital operator is connected MECHATROLINK II command warning A 95 If SigmaWin and so on are connected MECHATROLINK II command warning A 95 If ALM CLR MOD is not within range Parameter setting warning A 94 RWDT Alarm occurrence history is saved on E PROM and will not be lost if power goes OFF B Details of ALM CLR M
138. iming 4 62 4 6 2 Monitor Data Input Timing 4 62 4 Operation Sequence 4 63 4 7 1 Operation Sequence for Managing Parameters Using a Controller 4 63 4 7 2 Operation Sequence for Managing Parameters Using SERVOPACK 4 64 4 7 3 Operation Sequence When Being Servo ON 4 65 4 7 4 Operation Sequence When OT Overtravel Limit Switch Signal Is Input 4 66 4 2 4 1 Specifications and Configuration 4 1 Specifications and Configuration 4 1 1 Specifications Items that are not described in this chapter are based on the MECHATROLINK application layer For more details refer to the following manuals MECHATROLINK System User s Manual SIE S800 26 1 e MECHATROLINK Servo Command User s Manual SIE S800 26 2 4 1 2 System Configuration The following illustration shows system configuration Refer to 3 5 3 Precautions for Wir ing MECHATROLINK II Cables for the number of stations possible to be connected Host controller s 3 4LL El E SERVOPACK SERVOPACK Servomotor Servomotor Fig 4 1 System Configuration 4 3 4 MECHATROLINK II Communications 4 2 1 Communications Settings 4 2 Switches for MECHATROLINK II Communications Settings This section describes the switch settings necessary for MECHATROLINK II communications 4 2
139. inal Sets P OT signal so that it is always valid Set the forward run prohibited signal P OT so 8 Sets P OT signal so that it is always invalid thatit 1s always valid or always mmvalid 09 Inputs the P OT signal from the SIO CN1 40 input terminal Signal Polarity Reverse function Active Inputs the P OT signal from the SI1 CN1 41 input terminal Example Forward run prohibited signal P OT is B Inputs the P OT signal from the SI2 CN1 42 input terminal valid when low ON Inputs the P OT signal from the SI3 CN1 43 input terminal D Inputs the P OT signal from the SI4 CN1 44 input terminal Inputs the P OT signal from the SIS CN1 45 input terminal Inputs the P OT signal from the SI6 CN1 46 input terminal Settings 9 through F can be used to reverse signal polarity IMPORTANT If reverse polarity is set for the Forward Run Prohibited or Reverse Run Prohibited signals safe opera tion may not occur when troubles such as broken signal lines occur You must confirm operational safety if setting reverse polarity is necessary for one or more of these signals As shown in the table above the P OT signal can be allocated to any input terminal from SIO to SI6 When Pn504A 3 is set to 1 the signal input to the CN1 41 terminal will be the P OT signal The P OT signal is not used when Pn50A 3 is set to 8 This setting is used in the follow ing instances When the signal input to the CN1 42 termin
140. ing so may cause fire or malfunction B Installation N CAUTION Never use the products in an environment subject to water corrosive gases inflammable gases or combustibles Doing so may result in electric shock or fire B Wiring A WARNING Connect the ground terminal to electrical codes ground resistance 100 Q or less Improper grounding may result in electric shock or fire N CAUTION Do not connect a three phase power supply to the U V or W output terminals Doing so may result in injury or fire Securely fasten the power supply terminal screws and motor output terminal screws Not doing so may result in fire vii B Operation A WARNING Never touch any rotating motor parts while the motor is running Doing so may result in injury N CAUTION Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to avoid any unexpected accidents Not doing so may result in injury Before starting operation with a machine connected change the settings to match the parameters of the machine Starting operation without matching the proper settings may cause the machine to run out of control or mal function Before starting operation with a machine connected make sure that an emergency stop can be applied at any time Not doing so may result in injury Do not touch the heat sinks during operation Doing so may result in burns due to
141. ion as follows S Synchronous command A Asynchronous command A 3 Appendix A List of MECHATROLINK II Commands and Command Formats Table A 2 Subcommand List m po Noemiremmm w margo RaPhmmerenmd wr mark Wie Farmserconmand 5 AM RD ReiNamowWaswemmmi ic mars WieNosmiehemeeremmai x sw Sus onirngconmnd A 4 Sv E Lael EA Ea EA ES ES EE EH KA ECT E 22 EN KEEN EA 26 za EA 297 A 2 MECHATROLINK II Command Format List The command formats for MECHATROLINK II commands are shown in the following table Table A 3 Common Command Format PRM RD PRM WR CONFIG ALM RD Command Ress Command Command ALARM ALARM ALARM ALARM ALARM ALARM STATUS STATUS STATUS STATUS STATUS STATUS DEVICE DEVICE ALM RD ALM RD COD COD MOD MOD OFFSET OFFSET ALM __ SIZE SIZE SIZE SIZE SIZE SIZE DATA ITE PARAMETER PARAMETER al WDT RWDT WD RWDT WD RWDT RWDT WDT W RWDT sr1 1euuo 4 puewwoop TIT MNI IOH LVHO3IN Z V 9v EE 8 EH ma EJ EA 20 Eg Ea E 24 25 2 Table A 3 Common Command Format cont d ALM_CLR SYNC_SET Response ODF ALARM ALARM STATUS STATUS ALM_CLR ALM_CLR _MOD _MOD ODH RWDT WoT CONNECT Command OEH Response ALARM STATUS o m X VER COM MOD COM TIM COM MOD COM TIM RWDT BLAN ALARW wer PARAME A ET ibis ET TER wor RWor wor RWor
142. it Pn80A First step Linear Acceleration Parameter Pn822 Latching Area Lower Limit Pn80B Second step Linear Acceleration Parameter EM Pn80C Acceleration Parameter Switching Speed a ee Pn80D First step Linear Deceleration Parameter a ee Proe Secon Liner Deeein Foams PROF Desesaion Paane seese Prete Zar Poin Raum Diseion S Prat Zar Pontre aos Pn819 Final Travel Distance to Return to Zero Point Reference speed I Zero Point Return Approach Speed 1 Zero Point Return Approach Speed 2 Final Travel Distance to Return to Zero Point DEC N l Latch signal I I 4 40 4 3 Main Commands 4 3 30 Velocity Control VELCTRL 3CH Byte hee D Description NE Motion command Synchronization Asynchronous classifications group classifications ALARM Processing time Within communi Subcommand Can be used cations cycle OPTION STATUS Controls speed The Servo does not perform position control but directly controls the speed of the speed loop Soft start acceleration deceleration can also be used by setting the parameters P TLIM MONITOR1 Can be used during phases 2 and 3 EOE TFF A warning will occur and the command will be ignored in the following cases N TLIM During phase 1 MECHATROLINK II command warning A 95 If the SERVOAPCK is Servo OFF MECHATROLINK II command warn ing A 95 VREF MONITOR2 OPTION
143. ived It takes 4 ms max for the Release Latch Mode command to start 4 27 4 MECHATROLINK II Communications 4 3 21 Status Monitoring SMON 30H 4 3 21 Status Monitoring SMON 30H SMON Description 1 30H 30H Processing Control com Synchronization Asynchronous classifications mand group classifications MONITOR1 and the command will be ignored MONITOR2 SEL MON 1 2 SEL MON 1 2 IO MON For subcommands subcommands use Refer to use Refer to 4 4 Subcom 4 4 Subcom mands ALARM Processing time Within communi Subcommand Can be used cations cycle STATUS Reads the current status of the Servo Can be used during phases 2 and 3 During phase 1 a MECHATROLINK II command warning A 95 will occur 4 28 4 3 Main Commands 4 3 22 Servo ON SV ON 31H Byte umm MTM Description Semmens H Response H Processing Control com Synchronization Asynchronous classifications mand group classifications ALARM Processing time Within 50 ms nor Subcommand Can be used mally OPTION STATUS The SERVOPACK changes to Servo ON Can be used during phases 2 and 3 5 A MECHATROLINK II command warning A 95 will occur and the com za MONITOR1 ee l mand will be ignored in the following cases 6 During phase 1 During alarm occurrence when ALM of STATUS is 1 39 3 If SENS_ON has not been completed when the absolute encoder is used MONITOR2 OPTION can be selected Refer to 4 5
144. l Operator There are two types of Digital Operator One is a built in operator incorporating a panel indica tor and switches located on the front panel of the SERVOPACK This type of Digital Operator is also called a Panel Operator The other one is a Hand held Digital Operator i e the JUSP OP02A 2 Digital Operator which can be connected to the SERVOPACK through connector CN3 of the SERVOPACK There is no need to turn OFF the SERVOPACK to connect the Hand held Digital Operator to the SERVOPACK For details on how to use the Hand held Digital Operator refer to the 2 7 Series SGMLIH SGDH User s Manual SIEPS80000005 7 2 7 2 Limitations in Using a Hand held Digital Operator 7 2 Limitations in Using a Hand held Digital Operator N INFO nop When an NS115 is mounted the Hand held Digital Operator has the following limitations Disconnect the Hand held Digital Operator during normal operation Do not connect SigmaWin and so on too Normal Operation When a Hand held Digital Operator is connected or communications with SigmaWin and so on started during normal operation the following commands are prohibited Furthermore when a Hand held Digital Operator is connected or communications with a personal computer started while any of the following commands are being executed a com mand execution incomplete A ED alarm will be detected PRM_RD PRM_ WR PPRM WR CONFIG ALM RD ALM CLR SENS ON ADJ ID RD 7 3
145. led an online parameter O Can be changed when DEN 1 Immediately enabled after changing Do not change when DEN 0 Doing so may lead to misoperation such as position errors Called an online parameter A Can be changed at any time and enabled immediately after the power is turned OFF then ON again Sends a Set Up Device command at power ON when changing a parameter Called an offline parameter B 21 Appendix C Using the Adjusting Command ADJ 3EH This appendix describes how to use the Adjusting command ADJ 3EH C 1 Autotuning C 2 C 1 1 Online Autotuning C 3 C 1 2 Machine Rigidity Settings for Online Autotuning C 5 C 1 3 Saving Results of Online Autotuning C 7 C 1 4 Parameters Related to Online Autotuning C 9 C 2 Absolute Encoder Setup Initialization C 11 C 3 Multiturn Limit Setting C 12 C 4 Automatic Offset Adjustment of Motor Current Detection Signals C 13 C 5 Enabling the Panel Operator C 14 C 1 Appendix C Using the Adjusting Command ADJ 3EH C 1 Autotuning If positioning is taking a long time the speed loop gain or position loop gain ofthe servo system may not be set properly If the gain settings are wrong set them properly in accordance with the configurati
146. may occur For details on NO and SIZE refer to Appendix B List of Parameters Chapter Processing time 1 ms for reading NS115 parameter 4 to 6 ms for reading SGDH SERVOPACK parameter 4 9 4 MECHATROLINK II Communications 4 3 3 Write Parameter PRM WR 02H 4 3 3 Write Parameter PRM WR 02H Byte PRM WR Description Processing Data communica Synchronization Asynchronous classifications tions command classifications group ALARM Processing time Refer to the fol Subcommand Cannot be used lowing description STATUS Temporarily writes parameters and does not store them in E PROM memory Offline parameters are enabled with the Set Up Device command CONFIG after setting Can be used during phases 2 and 3 A warning will occur and the command will be ignored in the following cases During phases other than phases 2 and 3 MECHATROLINK II command warning A 95 If a digital operator is connected MECHATROLINK II command warning A 95 If SigmaWin and so on are connected MECHATROLINK II command warning A 95 If NO is not within range Parameter setting warning A 94 If SIZE does not match Parameter setting warning A 94 If PARAMETER is not within range or would result in a calculation over flow Parameter setting warning A 94 f communications are in progress with a Digital Operator a command execu tion incomplete alarm A ED may occur For details on NO SIZE and PARAMETER ref
147. meter setting warning A 94 Ignores MECHATROLINK II command warning A 95 Ignores both parameter setting warning A 94 and MECHATROLINK II command warning A 95 Ignores both MECHATROLINK II command warning A 95 and communications error A 96 Ignores parameter setting warning A 94 MECHATROLINK II command warning A 95 and communications error A 96 Detects communications error A E6 when a MECHATROLINK II receive data error occurs the number of times of set value 2 continu ously Appendix B List of Parameters Table B 4 NS115 Parameters List cont d Category Pn No Digit Name Setting Description SGDH Changing Place Factory Method Setting Sequence Pn801 Soft Limit EA Soft limit enabled related 1 bam DES m T 2 EA system E971 mI E i Function Reserved by Set to 0 system Reserved by system Monitor Pn813 Option As for Analog Monitor 1 Pn003 0 Monitori As for Analog Monitor 2 Pn003 1 Monitors initial multi rotation data IMTDATA Monitors the encoder count value PGCNT x 4 multiple number Monitors the motor encoder initial multi rotation data value Monitors the motor encoder count value Monitors the motor encoder count latch value Do not set Monitors the fully closed encoder count value Monitors the fully closed encoder count latch value Option Oto9 Same settings as Pn813 0 Monitor 2 2 Reserved by Set to 0 system 3 Reserved by Set to 0 syst
148. munications 3 5 Connections for MECHATROLINK II Communications This section describes the connection and wiring of connectors for MECHATROLINK II com munications 3 5 1 MECHATROLINK II Communications Connection Example The following diagram shows an example of connections between a host controller and a SERVOPACK using MECHATROLINK II communications cables CN6A CN6B Host controller qm Terminator Note 1 The length of the cable between stations L1 L2 Ln must be 0 5 m or more 2 L1 L2 Ln must be 50 m or less 3 13 3 Wiring 3 5 2 MECHATROLINK II Communications Connectors CN6A CN6B 3 5 2 3 5 3 MECHATROLINK II Communications Connectors CN6A CN6B The terminal layout and specifications of the CN6A and CN6B connectors are shown below B CN6A and CN6B Connectors Terminal Layout aa ea NN DN CENE NEN Note The connector shell is connected to the FG frame grou
149. n be used cations cycle OPTION STATUS Starts interpolation feeding Speed feed forward VFF can be specified simul taneously Can be used during phases 2 and 3 TROS MONITORI A warning will occur and the command will be ignored in the following cases i During phases other than phase 3 MECHATROLINK II command warning A 95 If the SERVOPACK is Servo OFF E NE MECHATROLINK II command warning A 95 VFF MONITOR2 If the output speed difference from the previous target position TPOS exceeds the limit Parameter setting warning A 94 If VFF is not within the setting range Parameter setting warning A 94 OPTION can be selected Refer to 4 5 2 Option Field Specifications OPTION for details SEL MON 1 2 SEL MON 1 2 a a output complete to confirm the completion of position reference IO MON L7 we e For For subcommands subcommands use Refer to use Refer to 4 4 Subcom 4 4 Subcom mands mands ES ER C NM ETE Le Ee E 25955 4 31 4 MECHATROLINK II Communications 4 3 25 Positioning POSING 35H 4 3 25 Positioning POSING 35H POSING Description 35H 35H Processing Motion command Synchronization Synchronous classifications group classifications ALARM Processing time Within communi Subcommand Can be used cations cycle OPTION STATUS Performs positioning at the target position TPOS using the target speed TSPD Can be used during phases 2 and 3 TPOS
150. n stop and positioning according to the deceleration value set in the parameters Can be used during phases 2 and 3 HOED MOD MONITORI During phase 1 a MECHATROLINK II command warning A 95 will occur 6 and the command will be ignored OPTION can be selected Refer to 4 5 2 Option Field Specifications OPTION for details NC CHE Use DEN output complete to confirm the completion of motion processing d Latch processing which is dependent on LATCH EX POSING and SVC TRL will be cancelled ZRET latch processing and ZRET zero point alignment will be cancelled Upon completion of this command the reference position POS must be read and the controller coordinate system must be set up SEL MON 1 2 SEL MON 1 2 The stop method can be selected using HOLD MOD lO MON 0 Decelerate to a stop according to the deceleration parameter 1 Stop immediately output stop Ls wer p mer EM For For 18 subcommands subcommands use Refer to use Refer to 4 4 Subcom 4 4 Subcom mands mands ER Co NH 386 1 Le Ee E 25955 B Related Parameters Pn80D First step Linear Deceleration Parameter Pn80F Deceleration Parameter Switching Speed Pn80E Second step Linear Deceleration Parameter 4 25 4 MECHATROLINK II Communications 4 3 19 Request Latch Mode LTMOD ON 28H 4 3 19 Request Latch Mode LTMOD ON 28H LTMOD ON Description 28H Processing Control com Synchronization Asynchrono
151. ncy stop Pn406 Forward run prohibited input P OT CN1 42 Reverse run prohibited input N OT CN1 43 6 Parameter Setting and Functions 6 2 3 Software Limit Settings B Servo OFF Stop Mode Selection The SGDH SERVOPACK turns OFF under the following conditions The SV OFF command is transmitted Servo alarm occurs Power is turned OFF Specify the Stop Mode if any of these occurs during servomotor operation Pn001 0 Servo OFF or Alarm Stop Mode Stop Mode Stop by dynamic brake After stopping The dynamic brake electrically applies a brake by using a resistor to consume servomotor rotation energy Hold with dynamic brake Coast status Coast status Refer to 6 5 1 Using the Dynamic Brake Pn001 0 2 Coast to a stop Pn001 0 0 Uses the dynamic brake to stop the servomotor and Factory setting maintains dynamic brake status after stopping 1 Uses the dynamic brake to stop the servomotor and cancels dynamic brake status after stopping to go into coast status 2 Coasts the servomotor to a stop The servomotor is turned OFF and stops due to machine friction Note If the servomotor is stopped or rotating at extremely low speed when the Pn001 0 is set to 0 dynamic brake status after stopping with the dynamic brake then braking power is not generated and the servo motor will stop the same as in coast status 6 2 3 Software Limit Settings The softwar
152. nd B CN6A and CN6B Specifications Specifications for Applicable Plug or Socket DUSB ARAAIT TI1 DUSB APA41 B1 C50 DDK Ltd Precautions for Wiring MECHATROLINK II Cables Observe the following precautions when wiring MECHATROLINK II cables B Number of Connectable Stations The number of connectable stations is determined by the settings for the transmission cycle and number of transmission bytes When the communications retry channel is 1 the number of connectable stations is as follows for the combinations of transmission cycle and trans mission bytes Table 3 1 Number of Connectable Stations Determined by Transmission Cycle and Transmission Bytes Transmission Transmission Cycle Bytes When the transmission cycle is 0 5 ms set the communications cycle in multiples of 1 0 ms Note 1 When the number of stations actually connected is less than the number of connectable stations the remaining channels up to 7 can be used as communications retry channels Number of communications retry channels Number of connnectable stations Number of actual stations connected 1 2 When not using communications retry the number of connnectable stations is the number in Table 3 1 increased by one 3 Connect a repeater for more than 16 stations 3 14 3 5 Connections for MECHATROLINK II Communications Cables Be sure to use the specified cables For more information on cables refer to 10 2 MECHATROLINK MECHATROL
153. nder the following conditions When the SV OFF command is transmitted A servo alarm occurs Power is turned OFF Stop mode After stopping 0 SON 0 Hold dynamic brake a Dynamic brake stop 3 Coast status Coast status stop Specify the Stop Mode during Servo OFF using the following parameter Uses the dynamic brake to stop the servomotor Maintains dynamic brake after the servomotor stops Uses the dynamic brake to stop the servomotor Releases dynamic brake after the servomotor stops and the servomotor coasts to a stop Coasts the servomotor to a stop The servomotor is turned OFF and motion stops due to machine friction 1 Ifthe servomotor is stopped or moving at extremely low speed the dynamic brake will not have sufficient braking power 2 A dynamic brake is used when the control power are turned OFF TERWS Dynamic brake DB SERVOPACK Servomotor The dynamic brake is a common way of suddenly stopping a servomotor Built into the SERVOPACK the dynamic brake suddenly stops a servomotor by electrically shorting its electri cal circuit 6 38 6 5 Setting Stop Functions IMPORTANT The dynamic brake is an emergency stop function Do not repeatedly start and stop the servomotor using the SV ON SV OFF command or by repeatedly turning power ON and OFF 6 5 2 Using the Holding Brake The holding brake is used when a servodrive controls a vertical axis In other words a ser
154. nds only while the SERVOPACK is Servo ON while current flows to the motor While the SERVOPACK is Servo OFF while current to the motor is interrupted control is performed by the SERVOPACK so that the reference coordinate system POS MPOS and FB coordinate sys tem APOS are equal In order to send appropriate motion commands it is necessary to use the SMON command after the SERVOPACK changes to Servo ON to read the Servo refer ence coordinate POS and send an appropriate reference position 4 65 4 MECHATROLINK II Communications 4 7 4 Operation Sequence When OT Overtravel Limit Switch Signal Is Input 4 7 4 Operation Sequence When OT Overtravel Limit Switch Signal Is Input When the OT signal is input the SERVOPACK prohibits rotation in the OT signal direction This is performed as specified in parameter Pn001 and the SERVOPACK continues to con trol the motor while this rotation is prohibited Use the following sequence for processing or canceling when the OT signal is input B Processing When the OT Signal Is Input 1 To monitor the OT signal and align it with the present movement reference direction send a stop command Use either of the following stop commands nterpolation command INTERPOLATE LATCH The interpolation command updates the interpolation position then stops As an alternative send the HOLD command or SMON command Movement reference command other than the interpolation command Send the HOLD c
155. ne parameters those parameters will become effective immediately Offline parameters are enabled with the Set Up Device command CONFIG after setting Can be used during phases 2 and 3 EN Wk A warning will occur and the command will be ignored in the following cases E TX PARAMETER PARAMETER During M 1 MECHATROLINK II command warning A 95 EE If a digital operator is connected MECHATROLINK II command warning d If SigmaWin and so on are connected MECHATROLINK II command warning A 95 If NO is not within range Parameter setting warning A 94 If SIZE does not match Parameter setting warning A 94 If PARAMETER is not within range or would result in a calculation overflow Parameter setting warning A 94 If communications are in progress with a Digital Operator a command execu tion incomplete alarm A ED may occur 16 WDT RWDT For details on NO SIZE and PARAMETER refer to the Appendix B List of Parameters 4 19 4 MECHATROLINK II Communications 4 3 13 Set Coordinates POS SET 20H 4 8 13 Set Coordinates POS SET 20H Byte POS SET Description 20H Processing Data communica Synchronization Asynchronous classifications tions command classifications group ALARM Within 200 ms Cannot be used STATUS Sets coordinates REFE can also enable zero point ZPOINT and software limits Can be used during phases 2 and 3 Hp mUBEND Pese dM PS SUBCMD Refer to the followin
156. ng goes into effect when the power is turned OFF and ON again after the change has been made 6 43 6 Parameter Setting and Functions 6 6 2 Absolute Encoder Setup 6 6 2 Absolute Encoder Setup Perform the setup operation for the absolute encoder in the following circumstances When starting the machine for the first time When an encoder backup alarm occurs When the SERVOPACK s power supply is turned OFF and the encoder s cable is removed Perform the setup operation in one of the following ways Refer to the Z Series SGMUIH SGDH User s Manual Design and Maintenance SIE S800 32 2 for details on the absolute encoder setup operation Fn008 when a Digital Operator is used Refer to Appendix C 2 Absolute Encoder Setup Initialization for details on the setup operation when the Adjusting command ADJ 3EH is used X INFOL The absolute encoder setup operation is only possible when the SERVOPACK is Servo OFF After the setup processing is finished turn the power back ON again IMPORTANT If the following absolute encoder alarms are displayed the alarms must be cleared using the method described above for the setup operation They cannot be cleared by the SERVOPACK alarm clear ALM CLR command Encoder backup alarm A 81 Encoder checksum alarm A 82 In addition if a monitoring alarm occurs in the encoder the alarm must be cleared by turning OFF the power 6 44 6 6 Absolute Encoders 6
157. nications Error Twice Consecutively B A E6 Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALOS Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm At control power ON Contact between the cable and the connector is Correct the connector wiring faulty B Malfunction due to noise Take noise prevention measures 9 17 9 Troubleshooting B A EA A EA An Error which occurs when the SERVOPACK is used with the NS115 Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm At power ON SERVOPACK is defective Replace the SERVOPACK A software version of SERVOPACK is less Replace the SERVOPACK A software than 33 version is more than 33 SgimaWin is connected Disconnect the Sigma Win B A EB A EB SERVOPACK Initial Access Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm At power ON gt A SERVOPACK is defective Replace the SERVOPACK 9 18 9 1 Alarm Displays and Troubleshooting B AEC A EC SERVOPACK WDC Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output
158. ning results C 8 C 1 Autotuning C 1 4 Parameters Related to Online Autotuning This section provides information on a variety of parameters related to online autotuning B Online Autotuning Method The following parameter is used to set the autotuning conditions ENS Online Autotuning Method Factory Setting Position Control 0 Autotuning is performed only when the system runs for the first time after the power is turned ON After the load moment of inertia is calculated the calculated data is not refreshed Autotuning is continuously performed moment of inertia value calcula tion The online autotuning function is not used This parameter is factory set to 0 If the load moment of inertia change is minimal or if the application makes few changes there is no need to continue calculating the moment of iner tia while the system is in operation Instead continue to use the value that was calculated when the system was first started up Set this parameter to 1 if the load moment of inertia always fluctuates due to the load con ditions Then the response characteristics can be kept stable by continuously refreshing the moment of inertia calculation data and reflecting them in the servo gain If the load moment of inertia fluctuation results within 200 ms the moment of inertia calcu lation data may not be refreshed properly If that happens set Pn110 0 to 0 or 2 Set Pn110 0 to 2
159. nnot be used cycle or more STATUS Establishes a MECHATROLINK II connection Sets the communications mode according to COM MOD VER Version Set VER to 21H Ver 2 1 COM MOD COM MOD Communications mode Refer to the following table COM TIM COM TIM Communications cycle Set the multiple number of transmission cycle in the range of 1 to 32 1 ms transmission cycle ms x COM TIM lt 32 ms Set the multiple number of 1 ms o m E VER lt m A COM MOD COM TIM A warning will occur and the command will be ignored in the following cases If COM_MOD is not within range Parameter setting warning A 94 If COM_TIM is not within range Parameter setting warning A 94 If the transmission bytes is 17 and SUBCMD is 1 Parameter setting warning A 94 B Details of COM MOD x 5 m 9 9 DTMOD SYNCMOD FO SYNCMOD 0 Asynchronous communication o Warning alarm The SERVOPACK changes communication to phase 2 C Phase 1 SUBCMD u ol 1 Synchronous communication The SERVOPACK changes communication to phase 3 Set SYNC SET when the SERVOPACK changes communication to phase 3 y DTMOD Data transfer method Phase 2 SYNCMOD 1 00 11 Single transfer 01 Consecutive transfer 10 Multiple transfers not supported SUBCMD 0 Subcommand not used 1 Subcommand used SYNCMOD 0 SYNC Phase 3 4 16 4 3 Main Commands
160. nsistor is ON Status and Remedy for Alarm At power ON A NS115 is defective Replace the NS115 9 15 9 Troubleshooting B A E2 A E2 NS115 WDC Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm During MECHATROLINK II At power ON A communications B NS115 is defective Replace the NS115 id MECHATROLINK II communications inter Turn the power ON again rupted B A E4 A E4 MECHATROLINK II Transmission Cycle Setting Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm Occurred when a CONNECT command was sent A The setting of MECHATROLINK II trans Correct the setting of MECHATROLINK mission cycle is out of range II transmission cycle 9 16 9 1 Alarm Displays and Troubleshooting B A F5 A E5 MECHATROLINK II Synchronization Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm Occurred when command was sent WDT data does not match Update WDT data every communications cycle A E6 MECHATROLINK II Commu
161. ommand 2 Use the output complete flag DEN 1 to confirm the completion of SERVOPACK OT processing By also confirming that PSET 1 it is possible to detect motor stopping with absolute certainty The command used in number 1 above is held until these flags are complete B OT Cancellation Retraction OT cancellation retraction is performed with a movement command When retracting with an interpolation command such as INTERPOLATE read the present reference position POS and interpolate the starting position This process is not necessary when retracting is done using a command other than an interpolation command 4 66 5 Trial Operation This chapter describes the procedure for trial operation of the NS115 5 1 Check Items before Trial Operation 5 2 5 1 1 Servomotors 5 2 5 1 2 SERVOPACKs 5 2 5 2 Trial Operation for MECHATROLINK II Communications 5 3 5 2 1 Preparations for Trial Operation 5 3 5 2 2 Operating the Servomotor 5 4 5 3 Trial Operation Inspection 5 5 5 4 Supplementary Information on Trial Operation 5 6 5 4 1 Minimum Parameters and Input Signals 5 6 5 4 2 Servomotors with Brakes 5 7 5 1 5 Trial Operation 5 1 1 Servomotors 5 1 Check Item
162. ommands subcommands subcommands subcommands subcommands use Refer to use Refer to use Refer to use Refer to use Refer to use Refer to 4 4 Subcom 4 4 Subcom 4 4 Subcom 4 4 Subcom 4 4 Subcom 4 4 Subcom mands mands mands mands mands mands sr1 1euuo Jj pueuluo IT MNI IOHLLVHO3IN Z V cvv Byte 7 10 11 12 13 14 15 16 7 1 18 Table A 5 Servo Standard Command Format cont d O ALARM ALARM CTRL_CMD ALARM OPTION STATUS Lod STATUS OPTION STATUS VLIM MONITOR1 CCMD CANS TPOS MONITOR1 CADDRESS CADDRESS CDATA CDATA TSPD MONITOR2 OR VFF SEL MON1 2 SEL MON1 2 RWDT For For For subcommands subcommands subcommands subcommands subcommands subcommands use Refer to use Refer to use Refer to use Refer to use Refer to use Refer to 4 4 Subcom 4 4 Subcom 4 4 Subcom 4 4 Subcom 4 4 Subcom 4 4 Subcom mands mands mands mands mands mands TQREF MONITOR2 SEL MON1 2 SEL MON1 2 N NN SJEWJO4 pueuiuo pue SPUBWWOD II MNIIOHLVH23IW JO IS v xipueddy Table A 6 Subcommand Format Bye NO J PRM RD PRM WR ALM RD PPRM RD i7 00H 0H oH o 02H 02H 38 SUBSTATUS SUBSTATUS REESE SUBSTATUS ae SUBSTATUS a SUBSTATUS SIZE SIZE SIZE SZE O PARAMETER PARAMETER ALM RD ALM RD MOD MOD T E PARAMETER sr1 1euuo Jj pueuluo IT MNI IOHLLVHO3IN Z V vv Table A 6 Subcommand Format cont d Byte PPRM WR LTMOD ON LTMOD OFF
163. ompensation Large N INFOL 1 Do not set friction compensation for loads with low friction 10 rated torque speed or less 2 Autotuning will be performed as if the load moment of inertia was 30 times the motor moment of inertia when the load moment of inertia exceeds 30 times the motor moment of inertia C 10 C 2 Absolute Encoder Setup Initialization C 2 Absolute Encoder Setup Initialization The Adjusting ADJ 3EH command can be used to setup initialize the absolute encoder The setup procedure is outline below ON INFOL Be sure to turn the power OFF then ON again after the encoder setup 1 By setting byte 1 ofthe MECHATROLINK II command field to ADJ 3EH and byte 2 to 00H the following command field can be set CCMD CANS CCMD Serial communications command 6 CADDRESS CADDRESS CANS Serial communications answer CADDRESS Setting reference address CDATA Setting reference data CDATA CDATA 2 Send the following data setting commands in each command field Set 01H Data setting in the CCMD field Set 2000H in the CADDRESS field Set 1008H in the CDATA field 3 After setting the data send the command Confirm that the response is correct and that CMDRDY of STATUS is set to 1 The absolute encoder will enter the Setup Mode 4 Continue by using the following data setting command Set 01H Data setting in the CCMD field Set 2001H in the CADDRESS field Set 02H
164. on and rigidity of the machine Autotuning The characteristics of the machine are checked automatically for optimum tuning Load moment of inertia SERVOPACK The SERVOPACK incorporates an online autotuning function which checks the characteristics of the machine automatically and makes the necessary servo gain adjustments The function is easy to use and makes it possible for even beginners to perform servo gain tuning and set all servo gains as parameters The following parameters can be set automatically by using the online autotuning function Pn100 Speed loop gain Pn101 Speed loop integral time constant Pn102 Position loop gain Pn401 Torque reference filter time constant C 2 C 1 Autotuning C 1 1 Online Autotuning IMPORTANT Online autotuning is a control function which enables the SERVOPACK to check changes in the load moment of inertia during operation in order to maintain the target value for speed loop gain or position loop gain Online autotuning may not work well in the following cases When the cycle for load moment of inertia change is 200 ms or shorter when the load changes rapidly When the application has slow acceleration or deceleration using the soft start function and the speed error of the servomotor being driven is small When adjusting the servo gain manually and operating at low gain a machine rigidity of 1 or less Disable the online autotuning function and adjust the
165. once The set value will become effective when the power is turned ON again B Number of Fully Closed Encoder Pulses Set the number of fully closed encoder pulses for each motor rotation Set the number of pulses with a multiplication factor of 1 Number of Fully Closed Setting Factory Position Encoder Pulses Range Setting Control 513 to 32768 16384 When changes have been made to this parameter turn OFF the power once The set value will become effective when the power is turned ON again 6 13 6 Parameter Setting and Functions 6 2 6 Parameter Settings B Flectronic Gears For information on the parameters refer to 6 3 2 Electronic Gear Function SERVOPACK Elec m S i Deviation peed Servo gt pud counter gt current motor Machine LL loop A eue tion output Fo Fully closed PG Elec lt tronic le TUS gear B Reverse Rotation Settings The settings shown in the following table must be made in order to use the Reverse Rotation Mode If this settings are not correct improper axis control may lead to motor overrun Confirm the operation carefully Direction of Relation Pn000 0 Setting Pn002 3 Setting Relation Motor as between Fully Between Fully Viewed from Closed PG Closed PG Load for during Forward during CCW Forward Rotation Input Rotation as Rotation Phase V
166. onitor 2 0000H to 0010H 0099H uctus B 7 Appendix B List of Parameters Table B 2 NS115 Parameter List cont d Category Pn No Name Size Unit Setting NS115 Changing Range Factory Method Setting Supplementary Pn814 Final Travel Distance for External 4 reference unit 239 1 to 100 Commands Pn815 Positioning 230 1 Pn816 Zero Point Return Mode Setting 0000H to 0000H 0001H Pn817 Zero Point Return Approach Speed 2 100 reference 0 to 65535 50 1 unit s Pn818 Zero Point Return Approach Speed 100 reference 0 to 65535 5 2 unit s Pn819 Final Travel Distance to Return to 4 reference unit 23041 to 100 Pn81A Zero Point 230 1 Pn81B Backlash Compensation Amount 0 1 reference 32768 to 0000H unit 32767 N Pn81C Reserved by system 0000H Pn81D Compensation Function Selection 0000H to 0000H 0001H Monitor Pn81E Input Signal Monitor Selection MEINE 0000H to 0000H TITIH Pn81F Reserved by system Supplementary Pn820 Latching Area Upper Limit Commands Pn821 Pn822 Latching Area Lower Limit Pn823 Parameter changing method is as follows 0000H reference unit 231 t 00000000H 23 1 reference unit 231 to 00000000H 231 1 Can be changed at any time and immediately enabled after changing Called an online parameter O Can be changed when DEN 1 Immediately enabled after changing Do not change when DEN 0 Doing so may lead to misoperation such as position errors
167. or Rotary Pn303 Reserved by system Motor Only For Rotary Pn304 Jog Speed 2 0 to 10000 Motor Only Par tenon vom seme 5 8 pw wemneTmome i me pessp e For Linear Pn380 Speed 1 0 to 5000 Motor Only For Linear Pn381 Speed 2 0 to 5000 Motor Only For Linear Pn382 Speed 3 2 0 to 5000 Motor Only For Linear Pn383 JOG Speed 0 to 5000 Motor Only Torque related Pn400 Reserved by system apc Be Parameter Pn401 Torque Thrust Filter Time Constant Thrust Filter Time Constant 0 01ms 0 to 65535 For Rotary uu EIL Torque Limit 0 to 800 Motor Only 6 9 For Rotary Pn403 Reverse Torque Limit 0 to 800 Motor Only Torque related Pn404 External Input Forward Torque Thrust 0 to 800 Parameter Limit Pn405 External Input Reverse Torque Thrust 0 to 800 Limit Pn406 Emergency Stop Torque Thrust 0 to 800 For Rotary Pn407 Speed Limit during Torque Control 2 min 0 to 10000 10000 Motor Only B 1 Parameters Table B 1 Parameter List cont d Category Pn No Name Size Unit Setting SGDH Changing Range Factory Method Setting 1 Torque related Pn408 Torque Thrust Control Function Switches 2 0000H to 0000H Parameter 0001H Pn409 Notch Filter Frequency 50 to 2000 2000 For Linear Pn480 Speed Limit at Thrust Control 2 mm s 0 to 5000 5000 Motor Only For Linear Pn481 Pole Detection Speed Loop Gain 2 Hz 1 to 2000 40 Motor Only For Linear Pn482 Pole Detection Speed Loop Integral
168. oting Table 9 2 Alarm Displays and Outputs cont d Alarm Alarm Code Outputs Alarm Name Description Display ALO1 ALO2 ALO3 A 81 Oo A 82 A 8 A 84 A 85 A 86 A bl A b2 A b6 A bF Encoder Checksum Error The checksum results of encoder memory is incorrect Encoder Battery Error Backup battery voltage for the absolute encoder has dropped OFF Encoder Backup Error All the power supplies for the absolute encoder have failed and position data was cleared Encoder Data Error Data in the encoder is incorrect Encoder Overspeed The encoder was rotating at high speed when the power was turned ON Encoder Overheated The internal temperature of encoder is too high Reference Speed Input Read The A D converter for reference speed input is Error faulty Reference Torque Input The A D converter for reference torque input is Read Error faulty Gate array error Communications LSI error OFF System Alarm A system error occurred in the SERVOPACK ON OFF Servo Overrun Detected The servomotor ran out of control FF Fully Closed Encoder Phase The phase A B of the fully closed encoder was A B Disconnection Alarm disconnected Fully Closed phase C Dis The phase C ofthe fully closed encoder was connection Alarm disconnected Encoder Clear Error and The multiturn for the absolute encoder was not Multiturn Limit Setting properly cleared or set Error Encoder Communications Communications between SERVOPACK
169. output stop when a servomotor with a brake is used SV ON ServoON Servo OFF command Release brake Hold with brake Servomotor Seno ON OFF ON sewomororr operation i i Servomotor lq gt ON OFF status Servo OFF time delay With the standard setting the SERVOPACK changes to Servo OFF when the BK signal brake operation is output The machine may move slightly due to gravity depending on machine configuration and brake characteristics If this happens use this parameter to delay Servo OFF timing This setting sets the brake ON timing when the servomotor is stopped Use Pn507 and Pn508 for brake ON timing during operation IMPORTANT The servomotor will turn OFF immediately if an alarm occurs The machine may move due to gravity in the time it takes for the brake to operate 6 41 6 Parameter Setting and Functions 6 5 2 Using the Holding Brake BM Holding Brake Setting Set the following parameters to adjust brake ON timing so the holding brake is applied when the servomotor stops Brake Reference Output Setting Factory Position Control Speed Level during Mo in Range Setting tor Operation 0 to 10000 100 Timing for Brake Refer Setting Factory Position Control ence Output during Mo Range Setting tor Operation 10 to 100 50 Set the brake timing used when the Servo is turned OFF by the SV OFF command or alarm occurrence during servomotor with brake operation SV OFF command Ser
170. que it IO MON is clamped at the maximum torque STATUS status D11 V LIM speed limit bit 3e me 0 Speed limit not detected For For 1 Speed limit detected subcommands subcommands MONITORI 2 3 4 monitor use Referto use Refer to The unit for torque is maximum motor torque 40000000H 4 4 Subcom 4 4 Subcom Setting the speed reference option VLIM mands Setting range 0 to 40000000H maximum motor speed 40000000H Refer to B Speed Reference Option Operation on page 4 44 B Related Parameters Rotary Pn407 Speed Limit at Torque Control Linear Pn480 Speed Limit at Thrust Control Pn002 1 Speed Reference Option in Torque Control Mode 4 43 4 MECHATROLINK II Communications 4 3 31 Torque Control TRQCTRL 3DH B Speed Reference Option Operation Pn No and Set Speed Reference Option Operation Digit Place Value Pn002 1 The speed reference option is not effective Set VLIM to 0 VLIM operates as the speed limit value 4 44 4 3 Main Commands 4 3 32 Adjusting ADJ 3EH 1 3EH 3EH Processing Data communica Synchronization Asynchronous classifications tions command classifications group ALARM Processing time Depends on pro Subcommand Cannot be used cessing STATUS This command is for maintenance Refer to Appendix C Using the Adjusting Command ADJ 3EH CCMD CANS a command warning will occur and the command will be ignored in the fol owing cases CADDRE
171. r MECHATROLINK II communications settings 4 4 switching servomotor rotation direction 6 6 T torque feed forward function C 3 torque reference filter time constant C 5 travel distance per load shaft revolution 6 19 troubleshooting 9 1 with alarm displays 9 2 with no alarm display 9 2 V visual aids iv W warning displays 9 26 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover MANUAL NO SIEPC71080001B Printed in Japan June 2003 02 07 Revision number Date of Date of original printing publication Date of Printing Revised Content June 2003 Revision Diagram of host controller Revision Replacement of the diagram in 3 5 1 with the wiring diagram in 3 5 3 Revision Host controller and terminator diagram Revision Terminator diagram Revision Processing classifications synchronization classifications processing times and subcommands moved to table Revision Conditions that the command warning A 95 occurs ee s Description of the read ID command and DEVICE COD ee s Subcommand deletion of bytes 17 to 29 Revision Subcommand deletion of bytes 17 to 29 Revision SERVOPACK model SGDH 50AE N
172. rams The following sections show an internal block diagram for the SERVOPACK with an NS115 30 to 400 W 200 V and 30 to 200 W 100 V Models Single phase ceo Ves B1 B2 z x a x T 5 e CE THs e 2 n TY D2D3D4 PM1 1 S PM1 2 t i0 Noise filter P1 P2 Y 1 AC servomotor l l FU1 QE ZX D1 A U R7 U oe R 1 N wc JH L A Cim D V Vd o i R8 Ww E ao iD T K TRA J Aw e ol 1 N1 l i s N2y A oj a 1 y Gate drive over L neay wre Gate drive Suet protector CN2 H PG 7 Ns i mize Volt 1 Sensor X V Interface le o gt l 9 A i i Y t i Current For battery 4 L1C e 5V Sensor connection L2C T Doc PHIS CN8 9 om o_o di ASIC 1 d verter 4 EU PWM control m gt CN1 1 i 12V N E AE AE ee LU It 1 5V Du Power Power amp IgRIBIR OFF ON 1MC o s 9 e ov CPU T T p
173. ration filter Sequence Parame Pn500 to Pn512 Set output conditions for all sequence signals ters Pn801 to Pn803 and changes I O signal selections and alloca tions Motion Parameters Pn814 to Pn819 Set motion parameters such as the zero point return direction MECHATROLINK II Pn800 to Pn802 Set parameters for MECHATROLINK II com Parameters Pn813 Pn816 munications settings Others Pn600 to Pn601 Specify the capacity for an external regenerative resistor and reserved parameters Auxiliary Function Fn000 to Fn013 Execute auxiliary functions such as JOG Mode Execution operation Monitor Modes Un000 to Un00D Enable speed and torque reference monitoring as well as monitoring to check whether I O sig nals are ON or OFF 6 3 6 Parameter Setting and Functions 6 1 1 Parameter Limits 6 1 Parameter Limits and Standard Settings with NS115 This section explains the limits for parameters and I O signals standard settings with the NS115 mounted 6 1 1 Parameter Limits When an NS115 1s mounted on a SGDH SERVOPACK and it is used for MECHATROLINK II communications the following parameters are automatically set The following parameters will be treated as reserved for system use so do not change them Table 6 1 List of Parameters for System Use with the NS115 Pn200 2 Clear signal status 1 Error counter is not cleared Pn207 1 Position control option 1 Uses V REF as a speed feed foward input Pn50A Input signal
174. renthesis indicate signal grounds 2 The functions allocated to BK S RDY and COIN output signals can be changed to CLT VCT TGON WARN or NEAR signals via parameters ALO1 3 8 3 3 I O Signals 3 3 4 Interface Circuits This section shows examples of SERVOPACK I O signal connection to the host controller B Sequence Input Circuit Interface The sequence input circuit interface connects through a relay or open collector transistor cir cuit Select a low current relay otherwise a faulty contact will result SERVOPACK SERVOPACK 24VDC 50mA min POLL B Output Circuit Interfaces Any of the following two types of SERVOPACK output circuits can be used Form an input circuit at the host controller that matches one of two types Connecting to an Open collector Output Circuit Alarm code signals are output from open collector transistor output circuits Connect an open collector output circuit through a photocoupler relay or line receiver circuit 5to 12VDC Photocoupler 5 to 12VDC Relay SERVOPACK o end 27 Vf ov OV z 5to 12 VDC SERVOPACK end ov ov Note The maximum allowable voltage and current capacities for open col lector output circuits are as follows Voltage 30VDC max Current 20 mA DC max Connecting to a Photocoupler Output Circuit 3 9 3 Wiring 3 3 4 Interface Circuits Photocoupler output circuits are used for servo alarm servo ready and other s
175. rite Parameter PRM_WR 02H 4 10 4 3 4 Read ID ID RD 03H 4 11 4 3 5 Set Up Device CONFIG 04H 4 12 4 3 6 Read Alarm or Warning ALM RD 05H 4 13 4 3 7 Clear Alarm Warning ALM CLR 06H 4 14 4 3 8 Start Synchronous Communications SYNC SET ODH 4 15 4 3 9 MECHATROLINK II Connection CONNECT OEH 4 16 4 3 10 Disconnection DISCONNECT OFH 4 17 4 3 11 Read Non volatile Parameter PPRM RD 1BH 4 18 4 3 12 Write Non volatile Parameter PPRM WR 1CH 4 19 4 3 13 Set Coordinates POS SET 20H 4 20 4 3 14 Apply Brake BRK ON 21H 4 21 4 3 15 Release Brake BRK OFF 22H 4 22 4 3 16 Turn Sensor ON SENS ON 23H 4 23 4 3 17 Turn Sensor OFF SENS OFF 24H 4 24 4 3 18 Stop Motion HOLD 25H 4 25 4 3 19 Request Latch Mode LTMOD ON 28H 4 26 4 3 20 Release Latch Mode LTMOD OFF 29H 4 27 4 3 21 Status Monitoring SMON 30H 4 28 4 3 22 Servo ON SV ON 31H 4 29 4 3 23 Servo OFF SV OFF 32H 4 30 4 3 24 Interpolation Feed INTERPOLATE 34H
176. rvo is set to OFF with the main circuit power turned ON 1 By setting byte 1 ofthe MECHATROLINK II command field to ADJ 3EH and byte 2 to 00H the following command field can be set Gowmed Remw CCMD CANS CCMD Command 6 cAppness CADDRESS CANS Answer 7 CADDRESS Setting reference CDATA CDATA CDATA Setting reference data 2 Send the following data setting commands in each command field Set 01H Data setting in the CCMD field Set 2000H in the CADDRESS field Set 100EH in the CDATA field 3 After setting the data send the command Confirm that the response is correct and that CMDRDY of STATUS is set to 1 The automatic offset adjustment of motor current detection signals will be enabled 4 Continue by using the following data setting command Set 01H Data setting in the CCMD field Set 2001H in the CADDRESS field Set 01H Execute in the CDATA field 5 After setting the data send the command Approximately 2 seconds after sending confirm that the response is correct and that CMDRDY of STATUS is set to 1 This completes setting up the automatic offset adjustment of the motor current detection sig nals C 13 Appendix C Using the Adjusting Command ADJ 3EH C 5 Enabling the Panel Operator If the Panel Operator indicator LED is turned OFF refer to 7 3 Panel Operator Indicators by receiving MECHATROLINK II command it can be lit by using an
177. s 4 3 26 Constant Speed Feed FEED 36H FEED Description 36H 36H Processing Motion command Synchronization Asynchronous classifications group classifications ALARM Processing time Within communi Subcommand Can be used cations cycle OPTION STATUS Performs constant speed feeding using the target speed TSPD Use the Stop Motion command HOLD 25H to stop the constant speed feeding The posi tion control loop is effective during this command MONITOR1 Can be used during phases 2 and 3 A command warning will occur and the command will be ignored in the fol lowing cases During phase 1 MECHATROLINK II command warning A 95 If the SERVOPACK is Servo OFF MONITOR2 MECHATROLINK II command warning A 95 If the target speed TSPD exceeds the limit Parameter setting warning A 94 OPTION can be selected Refer to 4 5 2 Option Field Specifications OPTION for details SEL MON 12 SEL MON 12 The target speed TSPD isa signed 4 bytes The direction is determined by the sign It is set using units s IO MON Changes can be made to the target speed during movement Use DEN output complete to confirm the completion of position reference WDT RWDT omput For For subcommands subcommands use Refer to use Refer to 4 4 Subcom 4 4 Subcom mands 4 33 4 MECHATROLINK II Communications 4 3 26 Constant Speed Feed FEED 36H B Related Parameters First step Linear Acceleration
178. s 6 3 3 Acceleration Deceleration Function B First step Linear Deceleration Parameter Set the first step linear deceleration when 2 step deceleration is used First step Linear Unit Setting Factory Position Deceleration Parameter 10 000 Range Setting Control reference 1 to 65535 100 units s B Second step Linear Deceleration Parameter Set the second step deceleration Second step Linear Unit Setting Factory Position Deceleration Parameter 10 000 Range Setting Control reference 1 to 65535 100 units s B Deceleration Switching Speed Set the speed for switching between first step and second step deceleration when 2 step deceleration is used When 2 step deceleration is not used set the deceleration switching speed Pn80F to 0 Deceleration Switching Unit Setting Factory Position Speed 100 Range Setting Control reference 0 to 65535 0 units s B Exponential Position Reference Filter Bias Set the bias speed when using exponential position reference filter as position reference fil ter Exponential Unit Setting Factory Position Position Reference Reference Range Setting Control Filter Bias unit s 0 to 32767 0 B Exponential Position Reference Filter Time Constant Set the time constant when using exponential position reference filter as position reference filter Exponential Setting Factory Position Position Reference Range Setting Control Filter Time Constant 0 to
179. s Manual Safety Information The following conventions are used to indicate precautions in this manual Failure to heed precautions provided in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems A WARNING pee P that if not heeded could possibly result in loss of life or serious injury A CAUTION Indicates precautions that if not heeded could result in relatively serious or minor injury damage to the product or faulty operation Even items described in AA CAUTION may result in a vital accident in some situ ations In either case follow these important notes Q PROHIBITED Indicates actions that must never be taken e MANDATORY Indicates compulsory actions that must be performed For example this symbol would be used as follows to indicate that grounding is compulsory do The warning symbols for ISO and JIS standards are different as shown below ISO JIS N o The ISO symbol is used in this manual Both ofthese symbols appear on warning labels on Yaskawa products Please abide by these warning labels regardless of which symbol is used vi Safety Precautions The following precautions are for checking products upon delivery installation wiring operation maintenance and inspections B Checking Products upon Delivery N CAUTION Always use the servomotor and SERVOPACK in one of the specified combinations Not do
180. s before Trial Operation Conduct trial operation after wiring has been completed Inspect and check the following items when performing trial operation and be sure to conduct trial operation safely 5 1 1 Servomotors Inspect the following items before conducting trial operation Also conduct the inspections according to Chapter 10 Inspection Maintenance and Troubleshooting in the 2 Series SGMOH SGDH User s Manual SIEPS80000005 if conducting trial operation on servomo tors that have been stored for a long period of time Connection to machines or devices wiring and grounding are correct Are bolts and nuts securely tightened s the oil seal undamaged and oiled Take appropriate actions immediately if one of the items above is incorrect 5 1 2 SERVOPACKs Inspect the following items before conducting trial operation Parameters are properly set for the applicable servomotor and specifications Terminal connections and wiring leads are tightened securely and connectors are inserted securely The power supply turns OFF if a servo alarm occurs The power supplied to the SERVOPACK is the correct voltage The NS115 is installed correctly Take appropriate actions immediately if an alarm occurs or one of the items above is incor rect 5 2 5 2 Trial Operation for MECHATROLINK II Communications 5 2 Trial Operation for MECHATROLINK II Communications This section describes the trial operation procedure for MEC
181. s shown in the following examples e S ON P CON Visual Aids The following aids are used to indicate certain types of information for easier reference lt EXAMPLE Indicates application examples Indicates supplemental information INFO z IMPORTANT BAS important Pd that SUE be memorized including precautions such as alarm displays to avoid damaging the devices TERMS Indicates definitions of difficult terms or terms that have not been previously explained in S this manual B Related Manuals Refer to the following manuals as required Read this manual carefully to ensure the proper use of X II Series servodrives Also keep this manual in a safe place so that it can be referred to whenever necessary XII Series SGMLIH SGDH SIEPS80000005 Provides detailed information on selecting User s Manual 2 II Series Servodrives Servomotors and capacities and detailed information on installation wiring trial operation using functions maintenance and inspection XII Series SGMLIH SGDM TOE S800 34 Provides detailed information on the opera Digital Operator tion of the JUSP OP02A 2 Digital Opera Operation Manual tor which is an optional product High speed Field Network SIE S800 26 1 Provides detailed information on the MECHATROLINK System MECHATROLINK system User s Manual High speed Field Network SIE S800 26 2 Describes the Servo commands for use in a MECHATROLINK MECHATROLINK system Servo Command User
182. s to 8 when the Mapping NS115 is connected Pn50E Pn50F 2 Pn510 NEAR Signal 0to3 Same settings as Pn50E 0 Mapping Reserved by Set to 0 system 2 Reserved by Set to 0 system COIN Signal Disabled 1 Mapping 1 Outputs from the SO1 CN1 25 26 output terminal 2 Outputs from the SO2 CN1 27 28 output terminal 3 Outputs from the SO3 CN1 29 30 output terminal V CMP Signal 0to3 Same settings as Pn50E 0 1 Mapping S RDY Signal Oto3 Same settings as Pn50E 0 3 Mapping CLT Signal 0to3 Same settings as Pn50E 0 Mapping VLT Signal 0t03 Same settings as Pn50E 0 Mapping BK Signal 0t03 Same settings as Pn50E 0 Mapping WARN Signal 0to3 Same settings as Pn50E 0 Mapping 1 3 1 3 1 3 1 2 TGON Signal 0t03 Same settings as Pn50E 0 2 Mapping P DET Signal Set to 8 Automatically sets to 8 when the Mapping NS115 is connected 3 Reserved by Set to 0 system B 2 Function Switches Table B 3 Function Switches List cont d Category Pn No Digit Name Setting Description SGDH Changing Place Factory Method Setting Inputs from the SIO CN1 40 input terminal DEC Signal N i inal Mapping Inputs from the SI1 CN1 41 input terminal Inputs from the SI2 CN1 42 input terminal Inputs from the SI3 CN1 43 input terminal Inputs from the SIA CN1 44 input terminal Inputs from the SIS CN1 45 input terminal Inputs from the SI6 CN1 46 input terminal 7 Sets signal ON
183. shown in the following table Base Mounted SGDH A3 to 02BE M3 x 10 round head screw Use attached screws SGDH A3 to 1OAE spring or flat washer on the NS115 SGDH 15 to 50AE M4 x 10 round head screws Use attached screws SGDH 05 to 30DE spring or flat washer on the NS115 SGDH 60 75AE MA x 8 round head screw Use front panel fixer spring or flat washer screws Rack Mounted SGDH A3 to 02BE R MA x 6 round head screws Use attached screws SGDH A3 to 50AE R spring or flat washer on the NS115 SGDH 05 to 30DE R Duct Vent SGDH 60 75AE P MA x 8 round head screw Use front panel fixer spring or flat washer Screws Note Be sure to use spring washers or flat washers Failure to do so may result in the screws for connecting the ground wire protruding behind the flange preventing the SERVOPACK from being mounted By mounting an NS115 the SGDH SERVOPACK can be used in a MECHATROLINK II sys tem Use the following procedure to ensure NS115 is mounted correctly 1 Remove the connector cover from the CN10 connector on the SERVOPACK v YASKAWA SERVOPACK SGDH MODE SET Ww ma 0 o CN10 gt Connector cover N 1 Checking Products and Part Names 2 Mount the NS115 on the SERVOPACK Connector Connect to SERVOPACK SERVOPACK connector CN10 Y oso SERVOPACK SGDH A 9o Sd Kes So 5 Ol 5 Ol
184. signal Automatically sets to 1 when the NS115 is connected em EMT EMT Position Control Option Nu NNI d t Uses V REF as a speed feed forward input Automatically sets to 1 when the NS115 is connected Reserved by Set to 0 system Reserved by system Notch Filter Selection Reserved by system Reserved by system Reserved by system Disabled Uses a notch filter for torque reference os a pee aes pue cae Appendix B List of Parameters Table B 3 Function Switches List cont d Category Pn No Digit Name Setting Description SGDH Changing Place Factory Method Setting Manual signal allocation Automatically sets to 1 when the NS115 is connected Set to 8 Automatically sets to 8 when the NS115 is connected Set to 8 Automatically sets to 8 when the NS115 is connected Sequence pn50A Input Signal related Allocation Mode Switches Mapping Mapping 7 40 input terminal 41 input terminal i N1 i N1 i N1 i N1 N1 Inputs the reverse signal from the SI2 C 42 input terminal Inputs the reverse signal from the SI3 C 43 input terminal Inputs the reverse signal from the SI4 C 44 input terminal Inputs the reverse signal from the SI5 C 45 input terminal Inputs the reverse signal from the SI6 C 46 input terminal me EE EA M B 2 Function Switches Table B 3 Function Switches List cont d Category Pn No Digit Name Se
185. supply terminals Loose connection Check terminals of connectors Tighten any loose parts CN1 CN2 Connector CN1 external wir Check connector CN1 exter Refer to connection diagram ing is incorrect nal wiring and correct wiring Servomotor or encoder wiring Reconnect wiring disconnected Overloaded Run under no load Reduce load or replace with larger capacity servomotor Encoder type differs from Check the type of encoder Set parameter Pn002 2 to the parameter setting being used encoder type being used P OT and N OT inputs are Refer to section 6 2 2 Turn P OT and N OT input turned OFF signals ON Servomotor Does Not Run Motion commands have not Check using Send the motion commands been sent MECHAROLINK II SV ON command has not communications or the Send the SV ON command been MECHATROLINK II monitor a een sent SENS ON command has not Send the SENS ON command been sent Servomotor Moves Instanta Servomotor or encoder wiring Refer to chapter Chapter 3 neously then Stops incorrect and correct wiring Servomotor Speed Unstable Wiring connection to motor is Check connection of power Tighten any loose terminals or defective lead phases U V and W and connectors Software limits P SOT and N Refer to section 6 2 3 Operate the servomotor within SOT are 1 the software limits encoder connectors Servomotor Vibrates at Ap Speed loop gain value is too Reduce speed loop gain proximately 2
186. t and that CMDRDY of STATUS is set to 1 The Multiturn Limit Setting Mode will be entered 4 Continue by using the following data setting commands Set 01H Data setting in the CCMD field Set 2001H in the CADDRESS field Set 02H Save in the CDATA field 5 After setting the data send the command Confirm that the response is correct and that CMDRDY of STATUS is set to 1 6 Send the following command Set 01H Data setting in the CCMD field Set 2001H in the CADDRESS field Set 01H Execute in the CDATA field 7 After setting the data send the command Approximately 2 seconds after sending con firm that the response is correct and that CMDRDY of STATUS is set to 1 This completes setting the multiturn limit Turn OFF the power and ON again to confirm that the SERVOPACK will start up normally C 12 C 4 Automatic Offset Adjustment of Motor Current Detection Signals C 4 Automatic Offset Adjustment of Motor Current Detection Signals The offset adjustment of the motor current detection signals has already been made before ship ping the product Therefore it is not necessary for the users to make any adjustment Use the automatic offset adjustment only if the torque ripple due to current offset is considered abnor mally high or the torque ripple needs to be reduced to achieve higher accuracy The adjustment procedure is outlined below SN INFOL The automatic adjustment is possible only when the Se
187. t interface 3 9 servo alarm output 9 23 servo gain C 2 servo OFF stop mode selection 6 10 Servomotor Stop Mode 6 8 servomotors with brakes 5 7 Index 2 SERVOPACKs cooling 2 4 dimensional drawings 8 3 environmental conditions in the control panel 2 4 installation 2 4 installation site 2 2 internal block diagrams 3 5 orientation 033 ratings and specifications 8 2 side by side installation 2 4 storage conditions 2 5 software limit 6 11 forward software limit 6 11 reverse software limit 6 11 software limit check using commands 6 11 speed feedback compensation selection C 9 speed loop gain C 5 speed loop integral time constant C 5 switches and factory settings B 9 switches fo
188. tatus ae GNE Other status Current status Not specified Current status ALARM code Alarms currently Alarms currently Alarms currently occurred occurred occurred AL Current status Current status Current status CN1 output signal S RDY Current status OFF Current status CNI output signal Other output signals Current status Not specified Current status 4 12 4 3 Main Commands 4 3 6 Read Alarm or Warning ALM RD 05H Byte ALM RD Description 1 05H 05H Processing clas Control com Synchronization Asynchronous sifications mand group classifications 2 ALARM Processing time Refer to Subcommand Cannot be used W Details of ALM_RD_MOD STATUS Reads the following alarm or warning status Current alarm warning status Alarm status history warning history is not preserved ALM RD MOD ALM_RD_MOD The ALM RD MOD specifications are shown in the following table 6 ALM_DATA The latest error and warning information is contained from byte 6 onwards of the ALM_DATA When there are no errors or warnings the remaining bytes are normal 99H 8 A warning will occur and the command will be ignored in the following cases 9 If a digital operator is connected MECHATROLINK II command warning e If SigmaWin and so on are connected MECHATROLINK II command warning A 95 If ALM RD MOD is not within range Parameter setting warning A 94 mur Alarm occurrence history is saved on E PROM and w
189. ters and Input Signals This section describes the minimum parameters and input signals required for trial opera tion B Parameters Turn OFF power once after changing any parameter The change will be valid when power is turned ON again Pn202 Electronic Gear Ratio Numerator See 6 3 2 Pn203 Electronic Gear Ratio Denominator See 6 3 2 Changing Servomotor Rotation Direction Use the following parameter to reverse the direction of rotation Pn000 0 Function Selection Basic Switches Direction Selection See 6 2 1 B input Signals Refer to the relevant page for details on each input signal Input signal selection settings through parameters can be used to eliminate the need for external short circuits Signal Name Pin Description Number Forward run CN1 42 The Overtravel Limit Switch prohibited Refer to 6 2 2 Reverse run CN1 43 prohibited 5 6 5 4 2 IMPORTANT 5 4 Supplementary Information on Trial Operation Servomotors with Brakes Use servomotors with brakes for vertical shaft applications or when external force is applied to the shaft to prevent the shaft from rotating due to gravity or external force when power is lost The SERVOPACK uses the brake interlock output BK signal to control holding brake operation when using servomotors with brakes Vertical Shaft Shaft with External Force Applied Servomotor Holding brake External Servomotor fore Prevents the s
190. th MECHATROLINK I The subcommands can be used in combination with the main commands described in Table 4 3 Table 4 3 Combination of Main Commands and Subcommands mx ow n pm Ok 2 pe f coe OK a RR D e fmm ox RO fesser ox ma a feon Ok o C erco f R as pon ww SENS_OFF Z Zal 2 Z Z Z Z Z Z a A Zl o Z S S e e ep S S Zz Z zi ziziziziziziziziziz io Z z zizizizizizizizizizo z O ojo o oj o o o O oO o Z Zz zizizizizizizizizizo z OO O Of CO OF CO OF CO CO CO e A CO O A ojlo A CO oO A ojlo Z Z Z Z Z O Z Zz ee 1 Zz AEAEE EZA n A o Ez Sel Of CO OF CO OF CO erele Z Zl zZz Zz oO CO OK Z SS Z o Z o E o Z o Z O E o ox 9 9 9 9 9 9 4 49 4 MECHATROLINK II Communications 4 4 1 No Operation NOP 00H Table 4 3 Combination of Main Commands and Subcommands cont d Command PRM RD PRM WR ALM RD PPRM WR LTMOD ON LTMOD OFF SMON Note OK This combination can be used NO This combination cannot be used 4 4 1 No Operation NOP 00H Description Command Response Processing Network command Processing time Within communica classifications group tions cycle NECEM KD a 0H Ne operation command T i 4 50 4 4 Subcommands 4 4 2 Read Parameter PRM RD 01H PRM RD Description Command Response
191. tion TPOS at the target speed TSPD When a latch signal is input midway positioning is performed according to the final travel distance for external position specified in the parameter When no latch signal is input positioning is performed for the target position Can be used during phases 2 and 3 A command warning will occur and the command will be ignored in the fol lowing cases During phase 1 MECHATROLINK II command warning A 95 If the SERVOPACK is Servo OFF MECHATROLINK II command warning A 95 If the target speed TSPD exceeds the limit Parameter setting warning A 94 If LTMOD ON OFF is received during EX POSING execution or simultaneously MECHATROLINK II command warning A 95 the LTMOD ON OFF commands will be ignored OPTION can be selected Refer to 4 5 2 Option Field Specifications OPTION for details The target position TPOS is a signed 4 bytes units s It is set using an abso lute position in the reference coordinate system The target speed TSPD is an unsigned 4 bytes It is set using units s After the latch is input any changes to the target position during motion will be ignored After the latch is input use DEN output complete to confirm the completion of position reference output It takes 4 ms max for the Request Latch Mode command to start If EX POSING command is received during modal latch mode the EX POSING command is enabled The maximum positioning distance ref
192. tion or WDT simultaneously MECHATROLINK II command warning A 95 For the LTMOD ON OFF commands will be ignored subcommands subcommands IfSVCTRL command is received during modal latch mode the new command use Refer to use Refer to is enabled 4 4 Subcom 4 4 Subcom mands 4 46 4 3 Main Commands B Sub control SUBCTRL MOTION Select motion Latch Signal Select Motion MOTION D6 D5 D4 Moto During phase 1 a parameter setting HOLD warning A 94 will occur for POSING and FEED and the commands will be l INTERPOLATE For INTERPOLATE in all other phases except phase 3 a parameter setting warning A 94 will occur and the com l FEED mand will be ignored A warning may not be given depending ERHEBEN on the sequence signal status Sequence Signals SQ CMD or es ee RESERVE BRK SON 0 Sensor ON Brake ON Servo ON 4 47 4 MECHATROLINK II Communications 4 3 34 MECHATROLINK Connection CONNECT OEH 4 3 34 MECHATROLINK Connection CONNECT OEH CONNECT Description Processing Network com Synchronization Asynchronous classifications mand group classifications ALARM Processing time Communications Subcommand Cannot be used cycle or more STATUS Establishes a MECHATROLINK connection Sets the communications mode according to COM MODE VER Version Set VER to 10H Ver 1 0 MIN pm ES ONE CM COM MOD Subcommand Cannot be used 7 cow TIM COM TIM
193. trol width unit 0 to 250 7 e INFOL This parameter is usually used to set NEAR output signal width but can also be used as the MECHATROLINK II NEAR width in STATUS The NEAR output signal width will also be changed 6 25 6 Parameter Setting and Functions 6 3 5 Zero Point Return 6 3 5 Zero Point Return B Zero Point Width Set the zero point position detection ZPOINT width Zero Point Width Unit Setting Factory Position Reference Range Setting Control unit 0 to 65535 10 B Final Travel Distance for External Positioning Set the distance to move after the external signal input when external positioning is used When the direction is negative or the distance very short a deceleration stop will be per formed and the movement begins again in the reverse direction Final Travel Distance for Unit Setting Factory Position External Positioning Reference Range Setting Control unit 1073741823 100 to 1073741823 B Zero point Return Direction Set the zero point return direction Set to 0 to return in the forward direction and set to 1 to return in the reverse direction Pn816 0 Zero point Return Direction Factory Position Control Setting 0 The setting details are as show below rte B Zero point Return Approach Speed 1 Set the speed for searching for the zero point after the deceleration limit switch signal turns ON for zero point returns Zero point Return Unit Setting Factor
194. ts 3 9 3 4 Fully Closed Encoder Signals Connector CN4 3 11 3 4 1 Fully Closed Encoder Connection Example 3 11 3 4 2 CN4 Connector Terminal Layout 3 11 3 5 Connections for MECHATROLINK II Communications 3 13 3 5 1 MECHATROLINK II Communications Connection Example 3 13 3 5 2 MECHATROLINK II Communications Connectors CN6A CN6B 3 14 3 5 3 Precautions for Wiring MECHATROLINK II Cables 3 14 3 6 Examples of Combined Connections for Fully Closed Encoders 3 16 3 6 1 Single phase Power Supply Specifications 3 16 3 6 2 Three phase Power Supply Specifications 3 18 4 MECHATROLINK II Communications 4 1 Specifications and Configuration 4 3 4 1 1 Specifications I e 4 3 4 1 2 System Configuration 4 3 4 2 Switches for MECHATROLINK II Communications Settings 4 4 4 2 1 Communications Settings 4 4 4 2 2 Setting the Transmission Cycle 4 5 4 2 3 Setting the Station Address 4 6 4 3 Main Commands 4 7 4 3 1 No Operation NOP 00H 4 8 4 3 2 Read Parameter PRM_RD 01H 4 9 4 3 3 W
195. tting Description SGDH Changing Place Factory Method Setting N OT Signal OtoF Same settings as Pn50A 3 Mapping Set to 8 Automatically sets to 8 when the NS115 is connected UE d HE 40 input terminal 41 input terminal 42 input terminal 43 input terminal i NI i NI i NI Sequence Pn50B related Switches ALM RST Signal Mapping Q Inputs the reverse signal from the SI4 C 44 input terminal Inputs the reverse signal from the SI5 C 45 input terminal Inputs the reverse signal from the SI6 C 46 input terminal N CL Signal OtoF Same settings as Pn50B 2 Mapping Pn50C SPD D Signal Mapping SPD A Signal Mapping 2 SPD B Signal Mapping 3 C SEL Signal Mapping m 1 3 Set to 8 Automatically sets to 8 when the NS115 is connected 1 Set to 8 Automatically sets to 8 when the NS115 is connected Set to 8 Automatically sets to 8 when the NS115 is connected Set to 8 Automatically sets to 8 when the NS115 is connected Appendix B List of Parameters Table B 3 Function Switches List cont d Category Pn No Digit Name Setting Description SGDH Changing Place Factory Method Setting Sequence Pn50D ZCLAMP Sig Set to 8 Automatically sets to 8 when the related nal Mapping NS115 is connected Switches 2 INHIBIT Sig Set to 8 Automatically sets to 8 when the nal Mapping NS115 is connected G SEL Signal Set to 8 Automatically set
196. umber in Table 4 1 increased by one 3 Connect a repeater for more than 16 stations 4 5 4 MECHATROLINK II Communications 4 2 3 Setting the Station Address 4 2 3 Setting the Station Address The station address is set as shown in Table 4 2 using the rotary switch SW1 and piano switch SW2 bit 3 Settings that have been changed are enabled when the power is turned OFF and ON The factory setting for the station address is 41H SW2 bit 3 OFF SWI 1 Table 4 2 Station Address Settings Swi Station Address Bit 3 of Station Address mo pm Disabled i 43H 55H o Zio N olojo Z Z Z 44H 45H 4 47H 48H 49H 4AH ojo Z zZ aD T O Z 5 Zz TED E S O Z UA a T 6 4 x a a olojo olo Z Z Z Z zZ algz 22 x oon ffan I ies jam O Z UA ies jan i o Z 4 6 4 3 Main Commands 4 3 Main Commands The following sections describe main command specific items that are unique to the NS115 The MECHATROLINK II main commands are upwardly compatible with the MECHATROLINK commands They use the first to the sixteenth bytes of the command and response data 03H is set in command byte 0 and 01H is returned to response byte 0 4 7 4 MECHATROLINK II Communications 4 3 1 No Operation NOP 00H 4 3 1 No Operation NOP 00H Description Processing Network com Synchronization Asynchronous classifications mand group classifications
197. ure The SERVOPACK must be oriented this way because it is designed to be cooled by natural convection or cooling fan Secure the SERVOPACK using 2 to 4 mounting holes The number of holes depends on the SERVOPACK capacity Jmm TET Ventilation 7 CN ms 2 3 2 Installation 24 Installation Follow the procedure below to install multiple SERVOPACKs side by side in a control panel Coolingfan Coolingfan 50 mm 1 97 in min iol iml iso iso DI BE OQ pL p IL p 1 o no ino Ino no E Do 6 iro ino io 3 joao 30 mml 1 18in min 10 mm 0 39in min 50 mm 1 97 in min B SERVOPACK Orientation Install the SERVOPACK perpendicular to the wall so that the front panel containing con nectors faces outward B Cooling As shown in the figure above provide sufficient space around each SERVOPACK for cool ing by cooling fans or natural convection B Side by side Installation When installing SERVOPACKs side by side as shown in the figure above provide at least 10 mm 0 39 in between and at least 50 mm 1 97 in above and below each SERVOPACK Install cooling fans above the SERVOPACKs to avoid excessive temperature rise and to maintain even temperature inside the control panel B Environmental Conditions in the Control Panel Ambient Temperature 0 to 55 C
198. us classifications mand group classifications LT SGN ALARM Processing time Within communi Subcommand Can be used cations cycle STATUS Sets the modal latch mode If a latch signal is input during modal latch mode position latching will be performed Can be used during phases 2 and 3 MONITOR1 AMECHATROLINK II command warning A 95 will occur and the com mand will be ignored in the following cases During phase 1 If LTMOD_ON and LATCH ZRET EX POSING or SVCTRL are executed simultaneously or if LTMOD ON is received during LATCH MONITOR2 ZRET EX POSING or SVCTRL execution the LTMOD ON command will be ignored A latch signal can be selected using LT SGN Refer to 4 5 1 Latch Signal Field Specifications LT SGN Use response command 28H CMDRDY 1 to confirm that the Request Latch SEL MON 1 2 SEL MON 1 2 Mode command has been received It takes 4 ms max for the Request Latch Mode command to start Io MON Confirm that L_CMP is 1 in STATUS at the completion of latching When there is monitor data such as SMON or POSING appended to the Ls command response LPOS is forcefully returned to MONITOR2 When there is no monitor data such as PRM RD or ALM RD appended to For the command response confirm that L_CMP is 1 in STATUS then use a subcommands subcommands command that has monitor data such as SMON in the response and select use Refer to use Refer to LPOS to confirm 4 4 Subcom 4 4 Subcom
199. using parameters Refer to 6 1 2 Standard Settings for CN1 I O Sig nals Connect the ground wire of the NS115 to the marked G on the SERVOPACK Refer to 1 3 Mounting the NS115 3 19 4 MECHATROLINK II Communications This chapter describes MECHATROLINK II communications specifications commands and power ON sequence 4 1 Specifications and Configuration 4 3 4 1 1 Specifications 4 3 4 1 2 System Configuration 4 3 4 2 Switches for MECHATROLINK II Communications Settings 4 4 4 2 1 Communications Settings 4 4 4 2 2 Setting the Transmission Cycle 4 5 4 2 3 Setting the Station Address 4 6 4 3 Main Commands 4 7 4 3 1 No Operation NOP OOH 4 8 4 3 2 Read Parameter PRM_RD 01H 4 9 4 3 3 Write Parameter PRM_WR 02H 4 10 4 3 4 Read ID ID RD 03H 4 11 4 3 5 Set Up Device CONFIG 04H 4 12 4 3 6 Read Alarm or Warning ALM RD 05H 4 13 4 3 7 Clear Alarm Warning ALM CLR 06H 4 14 4 3 8 Start Synchronous Communications SYNC SET ODH 4 15 4 3 9 MECHATROLINK II Connection CONNECT OEH 4 16
200. vo motor with brake prevents the movable part from shifting due to gravity when system power goes OFF Servomotor E Holding brake Prevents the movable part from shifting due to gravity when system power goes OFF IMPORTANT The brake built into the SGMLIH servomotor with brakes is a de energization brake which is used only to hold and cannot be used for braking Use the holding brake only to hold a stopped motor Brake torque is at least 120 of the rated motor torque B Wiring Example Use the SERVOPACK sequence output signal BK and the brake power supply to form a brake ON OFF circuit The following diagram shows a standard wiring example Servomotor SERVOPACK with brake Power supply Brake Power Supply 2 BK RY Brake control relay 1 The output terminal allocated with Pn50F 2 2 Brake power supplies are available in 200 V and 100 V models 6 39 6 Parameter Setting and Functions 6 5 2 Using the Holding Brake Output gt BK Brake Interlock Output Position Control This output signal controls the brake when using a servomotor with a brake and does not have to be connected when using a servomotor without a brake ON Closed or low level Releases the brake OFF Open or high level Applies the brake Related Parameters Timing for Brake Reference Output during Motor Operation The output signal in the following parameter must be selected when the BK signal is used Output Signal
201. vo ON Servo OFF I Stop by dynamic brake Motor speed or coast to a stop a Pn001 0 min Pn 507 l I I Release BK output brake Hold with brake I 1 Pn508 i a y Brake ON timing when the servomotor stops must be adjusted properly because servomotor brakes are designed as holding brakes Adjust the parameter settings while observing machine operation BK Signal Output Conditions During Servomotor Operation The circuit is open under either of the following conditions Motor speed drops below the setting at Pn507 after Servo OFF 2 The time set at Pn508 has elapsed since Servo OFF The actual setting will be the maximum speed even if Pn507 is set higher than the maximum speed 6 42 6 6 Absolute Encoders 6 6 Absolute Encoders If a servomotor with an absolute encoder is used a zero point setting when the machine setup is stored and normal operation can be performed without zero point return operation Motor SGMLIH LILILI1LI With 16 bit absolute encoder SGMLIH LILIDIZLI With 17 bit absolute encoder 6 6 1 Selecting an Absolute Encoder Select the absolute encoder usage with the following parameter Absolute Encoder Usage Factory Position Control Setting 0 0 in the following table must be set to enable the absolute encoder a oi Use the absolute encoder as an absolute encoder Use the absolute encoder as an incremental encoder Note This parameter setti
202. vomotor Rotation Direction 6 2 Settings According to Machine Characteristics This section describes the procedure for setting parameters according to the dimensions and per formance of the machine used 6 2 1 Switching Servomotor Rotation Direction The SERVOPACK has a Reverse Rotation Mode that reverses the direction of servomotor rotation without rewiring Forward rotation in the standard setting is defined as counter clockwise as viewed from the load With the Reverse Rotation Mode the direction of servomotor rotation can be reversed with out changing other items The direction of shaft motion is reversed aaa Standard Setting Reverse Rotation Mode Forward Position data from Position data from Reference cow Cw a2 e SERVOPACK ET SERVOPACK Da direction pa direction Reverse a Reference cw Position dataifrom cow Position data from e SERVOPACK 4 SERVOPACK ol i i E ae direction ke direction B Setting Reverse Rotation Mode Use parameter Pn000 0 Pn000 0 Direction Selection Factory Position Control Setting 0 Use the following settings to select the direction of servomotor rotation Setting Description Forward rotation is defined as counterclock Standard setting wise CCW rotation as viewed from the load Forward rotation is defined as clockwise CW Reverse Rotation rotation as viewed from the load Mode 6 6 6 2 Settings According to Machine Characteristics 6
203. wer supply input for sequence signals Users must provide the 24 V power supply Allowable voltage fluctuation range 11 to 25 V BAT 21 Connecting pin for the absolute encoder backup battery BAT 22 Connect to either CN8 or CN1 Note 1 The functions allocated to DEC P OT N OT EXTI EXT2 EXT3 P CL and N CL input signals can be changed via parameters 2 The forward reverse run prohibited function uses software to stop the SERVOPACK This method may not satisfy the standards depending on the safety specifications for the application If necessary add an external safety circuit B Output Signals Common ALM 31 Servo alarm Turns OFF when an error is detected ALM 32 BK 27 Brake interlock Output that controls the brake The brake is released when this signal is ON BK 28 S RDY 29 Servo ready ON if there is no servo alarm when the control main circuit power supply is turned S RDY 30 ON 37 Alarm code output Outputs 3 bit alarm codes ALO2 38 Open collector 30 V and 20 mA rating maximum ALO3 39 1 FG Shell Connected to frame ground if the shield wire of the I O signal cable is connected to the connector shell Position COIN 25 Positioning completed output in Position Control Mode Turns ON when the number of error COIN 26 pulses reaches the value set The setting is the number of error pulses set in reference units input pulse units defined by the electronic gear Note 1 Pin numbers in pa
204. wor RWOT Sjeuuo j pueuiuo pue SPUBWWOD II MNIIOH LVH23WJO IS v xipueddy LN Table A 4 Motion Common Command Format Byte POS SET BRK ON BRK OFF SENS ON 3 s x z zm zw zm zw 2 Ea AARM ALARM ALARM Nd EN EN EN i 6 POS_DATA POS_DATA aes MEN sr 1euuo jJ pueuluo TI MNIIONLVHOAW Z V gv Table A 4 Motion Common Command Format cont d Byte SENS OFF 24H 24H STATUS OPTION SEL MON1 2 For subcommands use Refer to 4 4 Subcom mands HOLD Response 25H ALARM STATUS MONITOR1 MONITOR2 SEL MON1 2 1 0 use Refer to 4 4 Subcom LTMOD_ON LTMOD_OFF LT SGN ALARM STATUS MONITOR1 MONITOR2 SEL_MON1 2 SEL_MON1 2 SEL_MON1 2 ae NEM ALARM STATUS MONITOR1 MONITOR2 SEL_MON1 2 1 0 Sjeuuo j puewwog pue SPUBWWOD I YNITONLYHOJN JO IS v xipueddy ev Table A 5 Servo Standard Command Format Byte SMON SV ON SV OFF INTERPOLATE O O 34H MONITOR1 MONITOR1 MONITOR1 TPOS MONITOR1 MONITOR2 MONITOR2 MONITOR2 V MONITOR2 10 11 SEL MON1 2 SEL MON1 2 SEL MON1 2 SEL MON1 2 SEL MON1 2 SEL MON1 2 SEL MON1 2 SEL MON1 2 STATUS OPTION STATUS STATUS OPTION STATUS FF 12 13 14 I I O I I O 15 16 DT 17 32H RWT RWT RWDT RWT For For For For For For For For 18 subcommands subcommands subcommands subcommands subcommands subcommands subcommands subcommands use Refer to use Refer to use Refer to
205. work properly if the electronic gear ratio is outside this range In this case modify the load configuration or reference unit 6 Set the parameters Set the electronic gear ratio according to machine specifications SGDH SERVOPACK with NS115 SGMOH servomotor Reference Electronic input gear B p A BY Pn202 Electronic gear ratio x Pn203 B Number of encoder pulses x 4 x motor speed A Reference units travel distance per load shaft revolution x load shaft revolu tion speed B Reduce the electronic gear ratio 2 to the lower terms so that both A and B are integers smaller than 65535 then set A and B in the respective parameters Electronic Gear Pn202 Ratio Numerator Electronic Gear Ends Ratio Denominator Electronic Gear Ratio it Setting Factory Position Control Numerator Range Setting 1 to 65535 4 Electronic Gear Ratio it Setting Factory Position Control Denominator Range Setting 1 to 65535 1 6 20 6 3 Settings According to Host Controller W Electronic Gear Setting Examples The following examples show electronic gear settings for different load mechanisms Ball Screws Reference unit 0 001 mm 0 00004 in Load shaft A 6mm Travel distance per load shaft revolution 6000 0 001 mm 13 bit incremental Ball screw pitch 6mm 0 24 in Electronic gear ratio 2 2048 x 4 x 1 Pn202 A 6000 x 1 Pn203 Preset Pn202 8192 encoder
206. x Mass 0 2 0 441 kg Ib MECHATROLINK II Baud Rate 10 MHz 500 us or more Communications Transmission Cycle 4 MHz 2 ms for MECHATROLINK communications Command Format Operation Positioning using MECHATROLINK I II communications Specifications Reference Input MECHATROLINK I II communications Commands Motion commands position speed Interpolation commands Parameter read write Monitor output Position Control Func Acceleration Linear first second step asymmetric tions Deceleration Method Position Reference Exponential movement average Filter Fully Closed Control Position control with fully closed feedback is possible Fully Closed System Fully Closed Encoder 5 V differential line driver output complies with EIA Standard RS 422A Specifications Pulse Output Form Fully Closed Encoder 90 Phase difference 2 phase differential pulse phase A phase B Pulse Signal Form Maximum Receivable 1 Mpps Frequency for SERVO PACK Power Supply for Fully To be prepared by customer Closed Encoder Input Signals Input Signal Allocation Forward reverse run prohibited zero point return deceleration LS Function External latch signals 1 2 3 Input signal allocation for forward reverse torque control is possible Internal Functions Position Data Latch Position data latching is possible using phase C and external latch signals 1 Function 2 and 3 Protection Parameters damage parameter setting errors communications errors
207. y Position Approach Speed 1 100 Range Setting Control reference 0 to 65535 50 units s 6 26 6 3 Settings According to Host Controller B Zero Point Return Approach Speed 2 Set the speed for searching for the zero point after the deceleration limit switch signal turns ON or OFF for zero point returns Zero point Return Unit Setting Factory Position Approach Speed 2 100 Range Setting Control reference 0 to 65535 5 units s B Final Travel Distance to Return to Zero Point Set the distance from the encoder zero point phase C to the zero point for zero point returns When the direction is negative or the distance very short a deceleration stop will be performed and the movement begins again in the reverse direction Final Travel Distance to Unit Setting Factory Position Return to Zero Point Reference Range Setting Control unit 1073741823 100 to 1073741823 6 3 6 Backlash Compensation Function Set the backlash compensation amount to perform backlash compensation Pn81B Backlash Compensation Unit Setting Factory Position Amount 0 1 reference Range Setting Control unit 32768 to 0 32767 Pn81D 0 Backlash Compensation Direction Factory Setting Position Control 0 The setting details are as follows The setting unit is 0 1 reference unit and the resolution is pulse The direction of the backlash compensation is determined by the backlash compensation direction Pn8
208. y connection is defective Specified value 2 7 V power to SERVOPACK is ON After replacement turn ON the power again Circuit board 1PWB is defective Replace the servomotor Note No alarm will occur at the SERVOPACK if the battery error occurs during operation li Battery voltage is below specified value Install a new battery while the control 9 6 9 1 Alarm Displays and Troubleshooting B A 84 A 84 Encoder Data Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm At power ON A During operation B A Encoder is defective Replace the servomotor if the error occurs frequently Operational error in encoder caused by exter Check and correct wiring around the nal noise encoder as follows Grounding of the servomotor Separation between the encoder cable and the servomotor power cable nsertion of toroidal cores onto cables 9 7 9 Troubleshooting B A 85 A 85 Encoder Overspeed Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm At power ON At SENS_ON command A B C D bo Case ER Remedy Q encoder Ta ON at a speed Turn ON power supply again with the exceeding 200 min servomotor stopped B Cir

Sigma-II Series SGDH MECHATROLINK-II - Support

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