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AC Servo Drives Sigma-V Series USER`S MANUAL INDEXER Module

1. cont d Parameter Setting Factory When No Name Setting Range Unit Setting Enabled Reference WARN Otol 0 After restart 5 3 6 PnB1C Setting Meaning 0 When an error warning occurs photocoupler becomes ON close 1 When an error warning occurs photocoupler becomes OFF open BK Otol 0 After restart 5 3 4 PnB1D Setting Meaning 0 When braking signal BK is ON close brake is released 1 When braking signal BK is OFF open brake is released S RDY Otol 0 After restart 5 3 5 PnB1E Setting Meaning 0 When SERVOPACK is ready photocoupler becomes ON close 1 When SERVOPACK is ready photocoupler becomes OFF open Overtravel OT Stop Method 0to2 0 After restart 5 32 Setting Meaning PnB1F 0 Stops motor by the same method as when servo is turned OFF according to Pn001 0 setting 1 Stops motor immediately and then changes motor state to servo lock 2 Decelerates motor to a stop at deceleration rate set with PnB2B and then changes motor state to servo lock Moving Mode 0 to3 0 After restart 5 4 2 Setting Meaning PnB20 0 Sets coordinates to linear type 1 Sets coordinates to rotary type Moving mode is set as shortest path 2 Sets coordinates to rotary type Moving mode is set as always forward 3 Sets coordinates to rotary type Moving mode is
2. PGMSTEP POS SPD RDST RSPD ACC DEC POUT EVENT LOOP NEXT 0 A 000000 30000 z 1000 NNNAZZZZ ITO 1 END 1 A 100000 30000 z 1000 NNNNZZZZ ITO I END 2 A 200000 30000 1000 NNNAZZZZ ITO I END 3 A 300000 30000 1000 NNNNZZZZ ITO I END 4 A 400000 30000 z 1000 NNNAZZZZ ITO I END PGMSTEP 0 PGMSTEP 1 PGMSTEP2 PGMSTEP3 i i PGMSTEP4 Speed ISTART STOP Li ISELO ISEL1 ISEL2 INPOSITION j IPoUO M POUTI i j POUT2 A j POUT3 j IPOUT4 4 i gt gt B Zone Table ZONEN ZONEP ZONEN ZONEP 0 0 0 16 4399000 401000 I 001000 001000 17 0 0 2 099000 101000 18 0 0 3 0 0 19 0 0 4 199000 201000 20 0 0 5 0 0 21 0 0 6 0 0 22 0 0 7 0 0 23 0 0 8 3299000 4301000 24 0 0 9 0 0 25 0 0 10 0 0 26 0 0 i 0 0 27 0 0 12 0 0 28 0 0 13 0 0 29 0 0 14 0 0 30 0 0 15 0 0 31 0 0 6 1 Program Table 6 Using INFINITE PGMSTEP POS SPD RDST RSPD ACC DEC POUT EVENT LOOP NEXT 0 INFINITE 15000 1000 NNNNNNNN T2000 1 1 1 INFINITE 30000 1000 op E SELOTO 1 2 2 STOP 30000 1000
3. cont d Parameter Setting Factory When No Name Range Units Setting Enabled Classification 2nd Step 2nd Torque Reference Filter Frequency Rotational servomotors Pn40F 100 to 5000 1 Hz 5000 Immediately Tuning 2nd Step 2nd Force Reference Filter Frequency Linear servomotors 2nd Step 2nd Torque Reference Filter Q Value Rotational servomotors Pn410 50 to 100 0 01 50 Immediately Tuning 2nd Step 2nd Force Reference Filter Q Value Linear servomotors Ist Step 2nd Torque Reference Filter Time Con stant Rotational servomotors Pn412 0 to 65535 0 01 ms 100 Immediately Tuning Ist Step 2nd Force Reference Filter Time Constant Linear servomotors Pn423 Reserved Do not change 0000 Torque Limit at Main Circuit Voltage Drop Rotational servomotors Pn424 o 0 to 100 1 50 Immediately Setup Force Limit at Main Circuit Voltage Drop Linear servomotors Release Time for Torque Limit at Main Circuit Voltage Drop Rotational servomotors Pn425 0 to 1000 1 ms 100 Immediately Setup Release Time for Force Limit at Main Circuit Volt age Drop Linear servomotors Sweep Torque Reference Amplitude Rotational servomotors Pn456 1 to 800 1 15 Immediately Tuning Sweep Force Reference Amplitude Linear servomotors Notch Filter Adjustment Switch 0000 to 0101 0101 Immediately Tuning 4th 3rd 2nd 1st digit digit digit digit n Notch Filt
4. 6 7 6 8 digital operator 8 1 DTR DSR control 7 2 duct ventilated 3 3 dynamic brake 5 6 E echoback 7 4 7 6 echoback response time 7 6 electronic gear 5 13 electronic gear ratio setting 5 13 EMC directive xiii 3 2 EMC installation conditions 3 5 encoder signal outputs 5 12 error warning output signal 5 9 errors INDEXER Module error displays and troubleshooting 9 14 status displays 9 14 European Standards xiii EVENT 6 7 6 8 6 11 EVENT condition examples 6 8 F FG 4 11 framing error 7 7 full duplex wiring 4 20 7 2 7 4 7 6 G global commands 7 5 Grl 9 2 Gr2 9 2 H half duplex wiring 4 20 7 2 7 4 7 6 hall sensor
5. Serial Command Function Description Pasive Response Registration Distance Specification Setting range 0 nnnnnnnn lt 99999999 Reference units Specifies the registration distance that is used in the RS RSnnnnnnnn RSAnnnnnnnn and RSInnnnnnnn commands POSa ME RDSTnnnnnnnn Speed gt RSPDy OK A x y i gt RGRT Note Alarm E23A will occur the motor will become servo OFF state if the RGRT signal latched but the registration distance is longer than the deceleration distance Registration Speed Specification Setting range 1 nnnnnnnn lt 99999999 1000 reference units min RSPDnnnnnnnn Specifies the registration speed OK After the control power supply is turned ON the registration speed set in parameter PnB27 will be used until the speed is specified with this command Note If a new registration speed is specified during registration operation the new speed will become effective from the next registration operation 7 7 Serial Commands Control Commands cont d Serial Command Function Description Positive Response RS Positioning Start with Registration Starts positioning with the speed specified by the SPD command and the target position speci fied by the POS POSA or POSI command If the RGRT signal goes ON during positioning that position is latched and the motor will move the specified relative distance from the latched position The registration ope
6. 6 2 6 5 6 9 7 24 7 28 input signal timing specifications for program table operation 6 11 input signals for program table operation 6 2 program step 6 5 program table 5 11 6 2 6 5 program table edit 8 6 program table examples 6 13 program table initialization 8 16 program table method 2 4 program table operation 6 8 6 9 6 10 program table operation commands 7 28 program table save 8 10 program table settings 6 5 program table setup commands 7 24 program table step selection 6 4 resetting the program 6 10 restarting the program 6 9 starting and stopping the program 6 9 status changes in program table operation 6 10 stopping the program 6 9 programmable output signal 5 11 6 6 6 23 7 21 protection class 2 4 3 2 protocol 7 3 R rack mounted 3 3 RDST 6 5 6 20 reference units
7. 5 13 Index region indicating signal 6 22 registration 6 17 6 19 6 20 JOG forward reverse with registration 7 15 positioning start with registration 7 13 registration distance 6 5 6 20 7 12 registration input setting 6 20 registration latch signal 6 20 registration operation 6 20 registration speed 6 6 7 12 registration timing specifications 6 19 response 7 3 7 4 7 5 7 7 7 8 command response format 7 4 OK response 7 3 response data details 7 7 RGRT 4 10 6 20 7 12 7 15 RS 422 4 18 4 21 7 2 RS 485 4 18 4 21 7 2 RSPD 6 6 RTS CTS control 7 2 S SELO to SEL7 4 12 4 16 6 3 6 4 6 7 6 8 6 9 6 11 serial commands 6 3 7 1 7 8 alphabetical list 10 29 command response format 7 4 parameters related to serial communications 7 3 serial command communi
8. 3 2 interfaces with output circuits 4 15 interfaces with sequence input circuits 4 14 J JOG forward reverse 7 14 JOG speed table 6 24 6 28 6 30 7 30 homing JOG speed table input signals 6 24 input conditions 6 30 input signal timing specifications 6 30 JOG speed table edit 8 14 JOG speed table initialization 8 18 JOG speed table operation 6 27 6 28 JOG speed table save 8 15 JOG speed table setup commands 7 30 JOG0 to JOG3 4 12 4 16 6 28 IJOGN 4 12 4 16 6 27 6 28 6 30 JOGP 4 12 4 16 6 27 6 28 6 30 L latch 6 19 6 20 6 21 7 12 7 15 latch signal 6 21 latch timing 6 19 LED indicators 2 5 2 6 LOOP 6 7 low voltage directive xiii 3 2 M Mode 0 6 2 MODE 0 1 4 12 4 16 6 2 6 3 6 11 6 24 6 30 Model 6 24 mode switch signal 6 2 model designat
9. 6 6 acceleration 5 14 6 6 7 10 alarm code output signal 5 7 alarm reset 7 8 8 25 alarm reset capability 9 2 alarm reset method 5 7 alarm stopping method 9 2 alarms 5 7 INDEXER Module alarm displays and troubleshooting 9 9 list of alarms for SERVOPACKs 9 2 servo alarm output signal 5 7 status displays 9 2 ALM 4 11 5 7 ALM RST 4 10 5 7 ALOI to ALO3 5 7 altitude 2 4 3 2 ambient humidity 2 4 3 2 applicable SERVOPACK 2 4 applicable standards xiii 3 2 average movement time of position references 5 14 axis address 7 3 setting 7 3 axis address selection 10 32 axis number 7 4 7 5 7 7 7 8 B backlash compensation 5 19 base mounted
10. 9 1 2 INDEXER Module Alarm Displays and Troubleshooting The INDEXER Module alarm list and the corresponding corrective actions are shown below Serial Servomotor eee SEEN Alarm Name Meaning Corrective Action Stop d Response Meineg A BIEIEI SERVOPACK Alarm A SERVOPACK alarm Refer to Refer to Activation Alarm occurred 9 1 1 9 1 1 Upgrade the firmware Firmware Execution The firmware processing version E12A TUNER Alarm time was too long Reduce the number of n NA functions being used Upgrade the SERVO PACK software ver The SERVOPACK does E13A Firmware Version not supported this func u the d e J A AEF Unmatched tion because the software that Pipe corre Gr 1 N A i sponding function version do not match Use the SERVOPACK with the function set disabled Incorrect or corrupted M parameters are stored in Initialize the parame ora Checksum EEPROM ters with the PRMINIT E14A A AEF Detected only when This alarm can occur if command or FnBOB Gr 1 N A the control power supply If the problem is not control power supply is turned ON is turned OFF while the solved correct the parameters are being ini parameters tialized or changed Unmatched Detected The combination ofthe ajon wm E15A A AEF only when the control and the parameter version Change the parameter Gr 1 N A power supply is turned Ue MU version to match the ON amp firmware version The moving metho
11. MODE SET co Press the key to return to the Utility Function Mode main menu Ifthe key is pressed in an operation prohibited state Error is displayed for approximately 2 seconds and then the display returns to the ZONE table editing screen In this case make the setting again by referring to 7 Prepara tion Operation of Digital Operator 8 14 8 Operation of Digital Operator 8 2 4 JOG Speed Table Edit Save FnB05 8 2 4 JOG Speed Table Edit Save FnBO05 This function edits and saves JOG speed tables Saving a JOG speed table to flash memory after editing it ensures that the data will be retained even after the control power has been turned off For details on how to read the screen refer to 8 1 3 Reading the Screen Preparation The following conditions must be met to save and edit JOG speed tables The write prohibited setting Fn010 must not be set to write protect parameters The JOG speed tables must not being saved by any other means than using the digital operator Editing JOG Speed Tables The operating procedure when setting the value for JOG speed table number 5 is explained here JSPDOOO OOOO01000 2 JSPDOO1 00001000 Step Display after Operation Keys Operation BB FUNCTION MODESET FnBO4 ZONE Edit co Press the key to open the Utility Function Mode 1 EnBOS USPD Edit main menu and move the cursor with the FnBO6 PGM Init keys to select FnB05
12. 7 34 HOME 4 12 4 17 6 27 6 30 home position setting 5 18 homing 6 24 6 30 homing operation 6 27 homing start 7 16 homing JOG speed table input signals 6 24 input conditions 6 30 input signal timing specifications 6 30 parameters related to homing 6 26 I O signals connection example 4 16 input signals 4 10 names and functions 4 10 output signals 4 11 incremental encoder 7 18 INDEXER alarm history display 8 27 clearing the alarm history 8 25 parameter setting initialization 8 24 resetting alarms 8 25 status monitor 8 21 INDEXER Module general specifications 2 4 nameplate 1 3 part names 2 5 specifications 2 1 INFINITE 6 5 6 17 INPOSITION 4 13 4 16 5 10 6 7 6 8 installation conditions
13. 6 4 Homing JOG Speed Table 6 4 1 Mode Switch Input Signal IMODE 0 1 If the MODE 0 1 input signal is inactive the mode is set to Mode 1 homing JOG speed table operation mode 1 Signal Specifications Connector A Type Signal Name Pin No Setting Meaning ON close Mode 0 program table operation mode Input MODE 0 1 CNII 3 OFF open Mode 1 homing JOG speed table operation mode 2 Related Parameters The relationship between the ON OFF and active inactive statuses of signals can be set with the parameter below Parameter Meaning When Enabled MT When input signal is ON close mode is set to Mode 0 PnB03 1 When input signal is OFF open mode is set to Mode 0 After restart 2 Always Mode 0 3 Always Mode 1 6 4 2 Homing JOG Speed Table Input Signals 1 Signal Specifications 5 Connector Type Signal Name Pin No Setting Meaning ON close Starts homing HOME CNII 5 OFF open Stops homing ON close The deceleration point has been detected DEC CNI 10 OFF open The current position has not reached or passed Input the deceleration point ON close Starts forward JOG operation JOGP CNII 7 OFF open Stops JOG operation ON close Starts reverse JOG operation JOGN CNI1 9 OFF open Stops JOG operation Type Signal Name EOD clon Name Pin No JOGO CN11 11 JOG speed table selection 0 goi JOG1 CN11 13 JOG speed table select
14. llle 7 3 7 3 Command Response Format 00 00 eee eee less 7 4 7 4 Global Commands 0000 cece eee tees 7 5 7 5 Echoback Response Time 0 00 cece cece tet less 7 6 7 6 Response Data Details 0000 tees 7 7 7 6 1 Positive Responses 22 0 cee ee ee ee e ee n eee es 7 7 7 6 2 Negative Responses 0 ce eens 7 7 7 7 Serial Commands 0000 ccc ttt tees 7 8 7 7 1 Basic Operation Commands 0 0 cette 7 8 7 7 2 Control Commands 0 0c e rn 7 9 7 7 3 Parameter Edit Commands 0 00 7 22 7 7 4 Program Table Setup Commands 0 0 0 cece teens 7 24 7 7 5 Program Table Operation Commands ssllee eee 7 28 7 7 6 Zone Table Setup Commands lssleseeee nee 7 29 7 7 7 JOG Speed Table Setup Commands sellee ees 7 30 7 7 8 Monitor and Utility Function Commands lseleee eee 7 31 Serial Command Communications 7 1 7 2 7 Serial Command Communications CN12 Connector Specifications The following table shows the specifications of the CN12 connector Item Specifications Interface Full duplex RS 422 or RS 485 or half duplex RS 485 Set the appropriate wiring method with parameter PnBO0O Synchronization Start stop synchronization ASYNC 9600 19200 or 38400 bps BitRate Selectable with parameter PnB01 Start Bits 1 bit Data Bits 7
15. INDEXER Module Mounted on 2 V Series SGDV SERVOPACK 2 1 1 Main Functions Main functions of the INDEXER Module are listed below Function Description The program step selection input signals binary format are used to select the desired Digital I O positioning data from the program table stored in the INDEXER Module The Program Table Mode 0 INDEXER Module can store up to 256 program steps The program steps can be linked to create combinations that perform more complex motions Digital I O Homing JOG Speed Homing using an incremental encoder and operation using a JOG speed table with up Table Mode 1 to 16 speed levels can be performed Positioning can be controlled by ASCII command strings received through RS 422 Serial Commands or RS 485 communications Up to 16 axes can be connected ASCII commands can also be used to operate using a program table Both the program table and serial commands are equipped with registration functions Registration for external positioning There are 8 output signals POUTO to POUT7 for which the output status can be Programmable Output Signals specified The programmable output signals POUTO to POUT4 can also be used as zone sig Zone Signals and Zone Table nals Up to 32 zones can be specified in the zone table 2 1 2 INDEXER Module Serial 2 1 Product Overview SGDV SERVOPACK Profiler operation Dual port RAM Position control
16. Linear 7 DAT Servomotor Does 2nd reverse run prohibited N OT Check P OT or N OT input signal e POTON OTAnput signal Not Start When input signals are turned OFF f Using JOG Thecuitent positon of llevo Check the motor position and soft Operation or Host P de the sofi limi Check the error at the INDEXER ware limit setting PnB21 PnB23 Controller bd 2l e the software imit Module then move the servomotor into the Reference enone software limit setting range There is not position reference or it Check the error at the INDEXER xn Set the program table correctly is incorrect Module Check the parameter Pn080 Correct the setting of Pn080 f n When using an incremental linear The polarity detection is not exe scale send the servo ON command cuted Check the command sent from the Whenusine an absol te tieat host controller 8 scale execute polarity detection Fn080 Set the HWBBI or HWBB2 input signal to ON The safety input signal IHWBBI or Check the HWBB1 or HWBB2 When not using the safety function HWBB2 remains OFF input signal mount the safety function jumper connector provided as an acces sory on the CN8 A SERVOPACK fault occurred Replace the SERVOPACK Linear servomotor wiring is incor Dd Correct the linear servomotor wir Check the linear servomotor wiring rect ing Serial converter unit wiring is incor Check the serial converter unit wir Correct the serial converte
17. 3 3 BAT 4 10 bit rate 7 2 7 3 7 6 BK 4 11 5 8 C clear hold 71 10 7 13 7 15 7 16 CNI I O signal connector CN1 CN8 connection example 4 16 CNII T O signal connector 2 5 CN12 serial command communications connector 2 5 4 18 specifications 7 2 CN8 T O signal connector CN1 CN8 connection example 4 16 coast to a stop 5 6 commands 7 4 7 6 7 7 command response format 7 4 connector T O signal connector 2 5 serial command communications connector CN12 4 18 continuous stop 6 5 6 18 Index 1 cooling 3 4 coordinates coordinates setting 7 17 7 18 moving mode and coordinate settings 5 16 corrosive gas 3 2 cursor ili 8 3 D IDEC 4 10 6 27 7 16 DEC 6 6 deceleration 5 14 6 6 7 10 delimiter 7 4 7 5 7 6 7 8 DEN
18. DEC Deceleration 1 to 99999999 Deceleration 1000 reference units min ms Continues with deceleration specified in the most previously executed program step If is set for the first step in program operation the last deceleration enabled before the start of program operation e g the deceleration in PnB2B or the deceleration set with the DEC serial command will be used 66 99 The factory setting is Programmable POUT output signals nnnnnnnn n N A Z Ly pouto N Inactive POUT1 A Active PouT2 Z ZONE signal Refer to ZONE table POUT3 POUTA Continues specification used in the most POUT5 previously executed program step POUT6 rx POUT7 When execution of a step is started the corresponding output signal POUTO to POUT7 is output If you want to output the signal at the end of the step specify POUT as POS in the next step tis possible to set a ZONE signal for POUTS to 7 but the output is always inactive 6 1 Program Table Item Function Description EVENT LOOP Pass condition Number of executions Set the condition to use to determine when the program step has been completed For example with the factory setting of ITO the pass condition is met 0 ms after INPOSITION becomes active When the pass condition is met the PGMSTEP that was specified for NEXT will be executed if the number of executi
19. Abnormal Noise from Servomotor The servomotor largely vibrated during execution of tuning less function factory setting Check the servomotor speed wave form Mounting is not secured Bearings are defective Vibration source at the driven machine Check for any foreign matter dam age or deformations on the machin ery s movable parts Noise interference due to incorrect input output signal cable specifica tions The I O signal cables must be tinned annealed copper shielded twisted pair or shielded multi core twisted pair cables with a core of 0 12 mm min Noise interference due to length of input output signal cable Noise interference due to incorrect encoder cable specifications The encoder cable must be tinned annealed copper shielded twisted pair or shielded multi core twisted pair cables with a core of 0 12 mm min Noise interference due to length of encoder cable wiring Noise interference due to damaged encoder cable Excessive noise to the encoder cable Check if the encoder cable is bun dled with high current line or near a high current line FG potential varies because of influence of machines such as weld ers at the servomotor Check if the machines are correctly grounded SERVOPACK pulse counting error due to noise interference Check if there is noise interference on the input output signal line from the encoder
20. Serial Command Function Description Positive Response RDSTTsss Program Table RDST Read Reads the RDST value registration distance sss Program step PGMSTEP RDSTT123 12345678 CR LF RDSTT123 SP SP SP SP SP SP SP CR LF RDSTTsss nnnnnnnn Program Table RDST Write Sets the RDST value registration distance sss Program step PGMSTEP Settings 0 nnnnnnnn lt 99999999 Registration distance Reference units No registration OK RSPDTsss Program Table RSPD Read Reads the RSPD value registration speed Sss Program step PGMSTEP RSPDT123 12345678 CR LF RSPDTsss nnnnnnnn Program Table RSPD Write Sets the RSPD value registration speed sss Program step PGMSTEP Settings 1 nnnnnnnn lt 99999999 1000 reference units min OK ACCTsss Program Table ACC Read Reads the ACC value acceleration sss Program step PGMSTEP ACCTsss 12345678 CR LF ACCTsss SP SP SP SP SP SP SP CR LF ACCTsss nnnnnnnn Program Table ACC Write Sets the ACC value acceleration sss Program step PGMSTEP Settings 1 lt nnnnnnnn lt 99999999 Acceleration 1000 reference units min ms 7 Continues the previously executed program step s specifi cation OK DECTsss Program Table DEC Read Reads the DEC value deceleration Sss Program step PGMSTEP DECTsss 12345678 CR
21. DATA Press the key to view the FnBOB operation screen Return SET Press the key to start initialization of the parame ters SH Shon wade Do not turn off the control power supply until initial ization has been completed normally 3 Restoring now Wo a To cancel the FnBOB operation press the key ea e wail before pressing the key The display returns to the Utility Function Mode main menu without executing the operation BB HP rm ut When parameter initialization has been completed nor 4 Done ie oo E mally Done is displayed Press SET key BB FUNCTION 5 i k x pl E i A MODERSET Press the key to return to the Utility Function FnBOC ALM Reset Mode main menu FnBOD Indexer ALM 6 To bring the settings into effect turn the SERVOPACK power supply off and back on Ifthe key is pressed in an operation prohibited state Error is displayed for approximately 2 seconds and then the display returns to the FnBOB operation screen In this case make the setting again by referring to 7 Preparation 8 24 8 2 Operation of Utility Functions 8 2 11 INDEXER Alarm Reset FnBOC This function resets alarms at both the SERVOPACK and INDEXER Module and clears the alarm history at the INDEXER Module d INDEXER Module alarms are not reset by the ALARM RESET button of the digital operator To reset INDEXER Module alarms execute alarm resetting with FnBOC Eliminate the cau
22. No change Response to the Most Recent Error Read Command ERR Error code the most recent closest error code ALM Signal No change WARN Signal Becomes active for 2 seconds The INDEXER Module error displays and the corrective actions are shown below Serial Command Negative Response Panel Display Error Name Meaning Corrective Action E41E Program Table Save A A9F Failure Error While writing data to the flash memory a fail ure occurred during one of the following oper ation While saving a program table by using a PGMSTORE command While saving a program table by using FnB03 While initializing a program table by using a PGMINIT command While initializing a program table by using FnB06 Repair the hardware E42E Zone Table Save ADE Failure Error While writing data to the flash memory a fail ure occurred during one of the following oper ation While saving a zone table by using a ZON ESTORE command While saving a zone table by using FnB04 While initializing a zone table by using a ZONEINIT command While initializing a zone table by using FnB07 Repair the hardware E43E JOG Speed Table Save A A9F Failure Error While writing data to the flash memory a fail ure occurred during one of the following oper ation While saving a JOG speed table by using a JSPDSTORE command While saving a JOG speed table
23. Panels and Trial Trial Maintenance Ratings and Specifications Designing Systems Wiring Operation Devices Operation and Servo Adjustment and Inspection Z V Series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 x V Series User s Manual Design and Maintenance Linear Motor Command Option Attachable Type SIEP S800000 66 Z V Series INDEXER Module Installation Guide TOBP C720829 02 2 V Series User s Manual Setup Rotational Motor SIEP S800000 43 x V Series Product Catalog Y KAEP S800000 42 x V Series User s Manual Operation of Digital Operator SIEP S800000 55 x V Series AC SERVOPACK SGDV Safety Precautions TOBP C710800 10 X Series Digital Operator Safety Precautions TOBP C730800 00 AC SERVOMOTOR Safety Precautions TOBP C230200 00 W Safety Information The following conventions are used to indicate precautions in this manual Failure to heed precautions pro vided in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems Indicates precautions that if not heeded could possibly result in loss of AN WARNING life or serious injury Indicates precautions that if not heeded could result in relatively serious N CAUTION or minor injury damage to the product or faulty operation
24. 000000 eee eee eee 4 5 4 1 4 Connecting to SGDV LILILDIFEBA SERVOPACK 00000 cee eee 4 6 4 1 5 Connecting to SGDV LILILDIAESA SERVOPACK 0000 00 e eee eee 4 7 4 1 6 Connecting to SGDV LILILDIDEBA SERVOPACK 0000 0c eee 4 9 4 2 WO Signal Connections c5 Lo oe taht A ge ok eb Ute tds 4 10 4 2 1 I O Signal Names and Functions lle 4 10 4 2 2 Interface Circuits x con eta Saba ew ERE kha cis IR A e NE dus Rue Ak shed ades UR 4 14 4 2 3 Example of I O Signal Connections 4 16 4 3 Serial Command Communications Connector CN12 4 18 4 3 1 Communications Specifications lisse 4 18 4 3 2 Communications Connector s asas cc eer 4 19 4 3 3 Connector Signal Names 0000 cc n 4 19 4 3 4 Connection Examples ck kk uet oe i eee ee ee Lr 4 20 4 3 5 RS 422 RS 485 Interface 0 eee hrs 4 21 4 4 Power Loss in the INDEXER Module 0 4 22 xiv Chapter 5 Parameter Setting and Functions 005 5 1 5 1 Parameter Configurations 2 2 0 0 662 eee ee eee 5 2 5 2 Restrictions on SGDV SERVOPACK Parameters 00 005 5 3 5 3 Sequence l O Signals zx aa Set Eee Fu SO eg est MUR 5 5 5 3 1 Servo ON Signal SON reken aren tiarra en piep rn 5 5 5 3 2 Oyertravel ri net eue ce Leti TE r E eee Sep ea ARE a EEE N Teg 5 5 5 3 3 Servo Alarm Output Signal ALM and Alarm Code Output Signals ALO1 AEO2 and ALO3 c aa n
25. 9 jo lo i9 CN1 CN8 I I INDEXER Core Core Module One turn PE I Two turn Clamp CN11 CN12 Host Safety Host Host PE controller unit controller controller Symbol Cable Name Specifications T O signal cable Shielded cable Safety signal cable Shielded cable Motor main circuit cable Shielded cable Encoder cable Shielded cable Main circuit cable Shielded cable n SERVOPACK Installation 3 5 3 SERVOPACK Installation B Three phase 200 V SGDV OODAE1A OOO R70 R90 1R6 2R8 3R8 5R5 7R6 SGDV OCA03A SGDV OOOAESA OOO R70 R90 1R6 2R8 3R8 5R5 7R6 SGDV OCA03A Power supply Three phase 200 VAC Shield box Brake power supply One turn SERVOPACK m 2 m U VW 5080 Brake rer 8 H L1 L2 L3 DH mS HHE HS amp o Servomotor o Surge 9 LIC L2C One turn absorber 9 s a CN2 j 5 E Encoder Lo Eja INDEXER One turn Module CN11 CN12 Host controller Host controller controller Host DE Symbol Cable Name Specifications T O signal cable Shielded cable Safety signal cable Shielded cable Motor main circuit cable Shielded cable amp Encoder cable Shielded cable Main circuit cable Shielded cable 3 6 B Three phase 200 V SGDV OOODAE1A OOD
26. ALO2 and ALO3 CN11 Input Signals Q IMPORTANT Ensure that the following condition does not last longer than 5 minutes Otherwise the product life may be shortened The ambient temperature is high and There is a high ratio of CN11 input signal contacts that are ON closed contact ON ratio 2 The allowable ranges for ambient temperature and contact ON ratio are shown below Ambient temperature and input signal contact ON ratio 100 90 80 70 60 50 If values in this range continue for 5 minutes or longer the product life may be shortened 40 Contact ON ratio 96 30 20 10 0 0 The state that a contact is ON closed indicates regardless of the logic of the input signal that the contact is closed and that current is flowing in the input circuit 2 For example a contact ON ratio of 100 indicates that 11 out of the 11 con tacts are ON 20 30 40 50 Ambient temperature C Wiring and Connection 5 4 11 4 12 4 Wiring and Connection 4 2 1 I O Signal Names and Functions Signal Name Pin No Function 24V COM 1 Power Supply for Sequence Signals Voltage range 24 VDC 10 This pin switches between Mode 0 and Mode 1 MODE 0 1 3 ON Mode 0 program table operation OFF Mode 1 JOG speed table operation or homing Mode 0 When ON s
27. Excessive vibration and shock to the encoder Check if vibration from the machine occurred or servomotor installation is incorrect mounting surface accu racy fixing alignment etc An encoder fault occurred Check the mounting status of the Tighten the mounting screws servomotor Check if there is misalignment of Align the couplings couplings Check if there are unbalanced cou Balance the couplings plings Check for noise and vibration Replace the servomotor around the bearings Check the length of the input output The input output cable must be no cable longer than 3 m Check the length of the encoder The encoder cable must be no cable longer than 20 m Check if the encoder cable is bent or Replace the encoder cable and mod if its sheath is damaged ify the encoder cable layout Reduce the load so that the moment of inertia ratio becomes within the allowable value or increase the load level or lower the tuning level for the tuning less level setting Fn200 Contact the machine manufacturer Use the specified I O signal wires Use the specified encoder cable Correct the encoder cable layout so that no surge from high current lines is applied Ground machines correctly and prevent diversion to the FG at the PG side Take measures against noise in the encoder wiring Reduce vibration from the machine or secure the servomotor installa tion Replac
28. Reserved Do not change Reserved Do not change Pn311 Vibration Detection Sensibility 50 to 500 196 100 Immediately Tuning Pn312 Vibration Detection Level 0 to 5000 1 mir 50 Immediately Tuning Moment of Inertia Calculating Start Level Pn324 Rational servomotors 0 to 20000 1 300 Immediately Setup Mass Calculating Start Level Linear servomotors Pn380 Reserved Do not change 10 Pn381 2 Reserved Do not change 20 Parameter exclusive for rotational servomotors 2 Parameter exclusive for linear servomotors 10 20 10 2 Parameter List for Command Option Attachable Type SERVOPACKs cont d E Name Ree Units E E d Classification Pn3827 Reserved Do not change 30 Pn383 2 JOG Speed 0 to 10000 1 mm s 50 Immediately Setup Pn384 2 Vibration Detection Level 0 to 5000 1 mm s 10 Immediately Tuning Pn385 2 Motor Max Speed 1 to 100 100 mm s 50 After restart Setup Pn400 Reserved Do not change 30 Ist Step 1st Torque Reference Filter Time Constant Pn401 Sia das ad Deu 0 to 65535 0 01 ms 100 Immediately Tuning 1st Step 1st Force Reference Filter Time Constant Linear servomotors Pn402 Forward Torque Limit 0 to 800 196 800 Immediately Setup Pn403 1 Reverse Torque Limit 0 to 800 1 800 Immediately Setup Pn404 Reserv
29. SP SP CR LF Program Table EVENT Write Sets the EVENT value pass condition sss Program step PGMSTEP Settings I INPOSITION positioning completed active N NEAR near position active D DEN positioning reference distribution completed active SELx SEL input signal active x 0 to 7 Tnnnnn Time elapsed ms since the program step started EVENTTsss nnnnnnnn 0 nnnnn lt 99999 ITnnnnn Time elapsed ms after the INPOSITION signal became active 0 nnnnn 99999 NTnnnnn Time elapsed ms after the NEAR signal became active 0 nnnnn lt 99999 DTnnnnn Time elapsed ms after the DEN signal became active 0 nnnnn x 99999 SELxnnnnn Time elapsed ms after the SEL input signal became active x 0 to 7 0 nnnnn lt 99999 gt Continues the previously executed program step s specifi cation OK Program Table LOOP Read LOOISSS Reads the LOOP value number of repetitions sss Program step PGMSTEP LOOPT123 12345 CR LF 7 26 Program Table Setup Commands cont d 7 7 Serial Commands Serial Command Function Description Positive Response LOOPTSsss nnnnn Program Table LOOP Write Sets the LOOP value number of repetitions sss Program step PGMSTEP Setting nnnnn lt 99999 OK NEXTTsss Program Table NEXT Read Reads the NEXT value link destination Sss Program step PGMSTEP NEXTT123 1234
30. beens ITO 1 3 3 A 400000 30000 1000 eas cere SELITO 1 0 PGMSTEP 0 PGMSTEP 2 PGMSTEP 0 PGMSTEP 2 IPGMSTEP 1 PGMSTEP3 PGMSTEP 1 PGMSTEP 3 Speed ISTART STOP ISELO ISEL1 IINPOSITION 7j 7 Using Registration Refer to 6 2 Registration for details on the Registration function PGMSTEP POS SPD RDST RSPD ACC DEC POUT EVENT LOOP NEXT 0 1 200000 30000 100000 15000 NNNNNNNN ITO 1 1 1 I 200000 30000 100000 15000 pea ITO 1 0 PGMSTEP 0 i PGMSTEP 1 i PGMSTEP 0 Speed ISTART STOP IRGRT 1 1 1 INPOSITION Program Table 6 17 6 Program Table 6 1 10 Program Table Examples 8 Using Continuous Stop Function PGMSTEP POS SPD RDST RSPD ACC DEC POUT EVENT LOOP NEXT 0 INFINITE 1080000 zs 1080 1080 NNNNNNNA T2000 12 1 1 845000 1000 1080 4 1080 NNNNNNAN SELSTO 12 END 1 When using the continuous stop function the Deceleration DEC specified in the preceding program step is dis abled The servomotor decelerates at the set rate in the program step specified by the continuous stop function 2 Can only be set to 1 3 When using the continuous stop function the Positioning Speed SPD is disabled The servomotor moves at the set rate specified in the preceding program step 4 When using t
31. EN61800 3 EN61800 5 1 EN954 1 Standards IEC61508 1 to 4 Overvoltage category III Operating Pollution d 2 Conditions iniu cab Protection class IP10 UL Standard and Low Voltage Directive Satisfy the conditions outlined in 3 V Series AC SERVOPACK SGDV Safety Precautions TOBP Installation C710800 10 Conditions EMC Directive Certification is required after installation in the user s machine under the conditions outlined in 3 3 EMC Installation Conditions 3 2 SERVOPACK Installation 3 2 SERVOPACK Installation 3 2 1 Orientation The SERVOPACK is available in models that are base mounted models that are rack mounted and models that are duct ventilated In any case mount the SERVOPACK with a vertical orientation Firmly secure the SERVOPACK to the mounting surface using either two to four mounting holes depending on the SERVOPACK capacity Base mounted Base t Air flow e Rack mounted aisi 77 DLL Z LLL 7 f Z 7 Duct ventilated j Duct BB 7 q Air flow n SERVOPACK Installation 3 3 3 4 3 SERVOPACK Installation 3 2 2 Installation Standards 3 2 2 Installation Standards Observe the stand
32. Excessive vibration and shock to the encoder Check if vibration from the machine occurred or servomotor installation is incorrect mounting surface accu racy fixing alignment etc An encoder fault occurred Check the encoder cable length Thecncoder cable must beno longer than 20 m Check if the encoder cable is bent or Replace the encoder cable and cor if its sheath is damaged rect the encoder cable layout A SERVOPACK fault occurred The pulse count does not change Host controller multi turn data read ing error Check the error detection section at the host controller Correct the moment of inertia ratio value Pn103 Use the specified encoder cable Correct the encoder cable layout so that no surge from high current lines is applied Ground machines correctly and prevent diversion to the FG at the PG side Take measures against noise in the encoder wiring Reduce vibration from the machine or secure the servomotor installa tion Replace the servomotor Replace the SERVOPACK Correct the error detection section of the host controller Check if the host controller is exe cuting data parity checks Execute a multi turn data parity check Check noise in the input output sig nal line between the SERVOPACK and the host controller Take measures against noise and again execute a multi turn data par ity check e Troubleshooting
33. FnB09 8 2 Operation of Utility Functions This utility function replaces the current position with a specified position Also updates PnB25 with the abso lute position offset value to achieve the position specified by this utility function N DANGER This function replaces the coordinates of the reference position and is therefore very dangerous After exe cuting this function check that the new coordinates match the reference position before starting operation db IMPORTANT If the settings for any of parameters Pn20E to Pn210 Pn205 or PnB20 to PnB25 have been changed turn the control power supply off and back on to bring the settings into effect before executing operation The absolute position offset value is saved in parameter PnB25 so do not rewrite this value 1 Preparation The following conditions must be met to perform the absolute encoder origin setting The write prohibited setting Fn010 must not be set to write protect parameters Position references must not being distributed The absolute position offset value must not be outside the range for PnB25 The absolute encoder must be connected and the setting for Pn002 2 must be 0 2 Operating Procedure Step Display after Operation Keys Operation BB FUNCTION MODESET a f FnBO8 JSPD Init co Press the key to open the Utility Function Mode 1 LR
34. For details on functions other than those indicated by the thick bordered frame refer to 3 V Series User s Manual Operation of Digital Operator SIEP S800000 55 Parameters Monitoring Functions Utility Functions Parameter Copy Functions SERVOPACK SERVOPACK INDEXER SERVOPACK XR SERVOPACK DEXER Parameters Display TELS Utility Functions IRE Parameters PARTES Pn000 to Un000 to PnBOO to Fn000 to FnBOS3 to Pn000 to PnBOO to Pn95F Un085 PnB52 Fn207 FnBOD Pn95F PnB52 When an INDEXER Module is g 2 Q O 9 d installed When no INDEXER Module is i z i S m 2 a installed To copy the INDEXER Module parameters PnB00 to PnB52 use the SigmaWin parameter editing function 8 1 2 Changing the Function Connect the digital operator to the SERVOPACK and turn ON the power to the SERVOPACK The initial dis play appears and then the Parameter Monitoring Function screen appears Press the key to change the function Initial Display File list loading Displayed for two seconds Please wait Parameter Monitoring Functions Parameter Functions Sets and displays the internal parameters of the SERVOPACK and the INDEXER Module Monitoring Functions Shows the numerical values and signal statuses that indicate the internal data speed position and torque of the SERVOPACK The figure to the left shows the Monitoring Function screen Utility Functions Sets up the SERVOPACK adjusts the servo gains and maintains the SERVOPACK Edits the tab
35. JOG1 becomes active 4 When input signal is OFF open program table selection When input signal is OFF open JOG speed table selec signal SEL2 becomes active tion signal JOG1 becomes active Program table selection signal SEL2 is always active JOG speed table selection signal JOG1 is always active Program table selection signal SEL2 is always inactive JOG speed table selection signal JOG1 is always inactive SEL3 JOG2 0 to 3 0 After restart 6 1 2 6 4 2 Meaning Setting Mode 0 Mode 1 0 When input signal is ON close program table selection When input signal is ON close JOG speed table selection PnB09 signal SEL3 becomes active signal JOG2 becomes active 1 When input signal is OFF open program table selection When input signal is OFF open JOG speed table selec signal SEL3 becomes active tion signal JOG2 becomes active Program table selection signal SEL3 is always active JOG speed table selection signal JOG2 is always active Program table selection signal SEL3 is always inactive JOG speed table selection signal JOG2 is always inactive SEL4 JOG3 0 to3 0 After restart 6 1 2 6 4 2 j Meaning Setting Mode 0 Mode 1 0 When input signal is ON close program table selection When input signal is ON close JOG speed table selection PnBOA signal SEL4 becomes active signal JOG3 becomes active 1 When input signal is OFF open program table selection When input signal is OFF open JOG spe
36. Operat Stopped Operating ing lo Program Table 6 9 6 Program Table 6 1 7 Status Changes in Program Table Operation 2 Resetting the Program The program will be canceled if the PGMRES signal becomes active while the program is stopped when the PGMRES signal is on the rising edge and the START STOP signal is inactive START STOP Canceled Operating Stopped i Canceled PGMRES Rising edge 6 1 7 Status Changes in Program Table Operation There are three different statuses for program table operation The initial status is canceled PGMRES START STOP rising edge with active start START STOP When NEXT inactive is END START STOP inactive lt Stopped P Error START STOP active restart The following table shows the status changes that can occur during program table operation Status START STOP PGMRES Operation Active Active Start Canceled ar Latch specified signal Inactive Inactive between SELO and SEL7 Operating Active Active Started or ar Stop restarted Inactive Inactive Active Inactive Cancel Inactive Stopped Active Active i Restart Inactive Inactive Note If the program table operation is restarted after it stopped because of an error the PGMSTEP in which the error occurred will be skipped and execution will be restarted from the PGMSTEP specified by NEXT If the operation
37. Reserved Do not change Reserved Do not change E Appendix 10 11 10 Appendix cont d Parameter Setting Factory When Name Units gt Classification No Range Setting Enabled Application Function Select Switch 7 0000 to 005F 0000 Immediately Setup 4th 3rd 2nd 1st digit digit digit digit n Analog Monitor 2 Signal Selection 00 Motor speed 1 V 1000 min Rotational servomotors Motor speed 1 V 1000 mm s Linear servomotors 01 Speed reference 1 V 1000 min Rotational servomotors Speed reference 1 V 1000 mm s Linear servomotors 02 Torque reference 1 V 100 Rotational servomotors Force reference 1 V 100 Linear servomotors 03 Position error 0 05 V 1 reference unit 04 Position amplifier error after electronic gears 0 05 V 1 encoder pulse unit 05 Position reference speed 1 V 1000 min Rotational servomotors Position reference speed 1 V 1000 mm s Linear servomotors Pn007 go 06 Reserved Do not change Motor load position error 0 01 V 1 reference unit Rotational servomotors 07 Reserved Do not change Linear servomotors 08 Positioning completion positioning completed 5 V positioning not completed 0 V 09 Speed feedforward 1 V 1000 min Rotational servomotors Speed feedforward 1 V 1000 mm s Linear servomotors oA Torque feedforward 1 V 100 Rotational servomotors Force feedforward 1 V 100 Linear servomotors OB
38. Speed control Current control Counter jj RS422 485 Block Diagram Features of Firmware Versions The table below lists the differences between firmware versions for the INDEXER Module Some functions are included in every version and have upward compatibility Features Firmware Version 1 Version 3 Fully closed loop control Cannot be supported The fully closed loop control option is not provided in the parameter Pn002 External Encoder Usage Can be supported when the INDEXER Module is used with the option module for fully closed loop control Use with a linear SERVOPACK Cannot be supported Can be supported Serial commands RES command lt IN3 command Not supported Supported HBB response of ALM command Version mismatch alarms E13A E15A E1AA EIDA and E21A Not supported Supported View status of overtravel and software limit functions on digital operator Not supported Supported Utility functions of digital operator Not supported Supported FnB03 to FnBOD Version number display Serial command VER Digital operator Fn12 SigmaWin product information Displays 0001 Displays 0003 SigmaWint Full support for SigmaWin version 5 30 or later Full support for SigmaWin version 5 33 or later These functions are supported by SERVOPACK software version 001B or later D Specifications 2 3 2 4 2 Specific
39. Use the FnB03 utility function to save program tables The function FnBO03 is available for the following software versions INDEXER module Version 3 or later SERVOPACK Version 001B or later B Program Table PGMSTEP POS SPD RDST RSPD ACC DEC POUT EVENT LOOP NEXT 0 1 2 255 1 Program Table Functions The following table shows the various program table functions Item Function Description Number of usable program steps 256 0 to 255 PGMSTEP Program step The program step can be specified in NEXT I 4 99999999 Relative position travel distance specification reference units A 99999999 Absolute position specification reference units INFINITE JOG forward operation INFINITE JOG reverse operation STOP Stop for use with INFINITE operation S 99999999 Continuous stop Absolute position specification No positioning specified for POUT only LL The factory setting is STOP POS Target position Note 1 The INFINITE and INFINITE settings can be used only when the rotary type coordinates have been set PnB20 1 2 or 3 or software limits are not being used PnB21 PnB23 0 An error will occur if linear type coordinates are being used and a software limit is enabled 2 Continuous stop can be used when the rotary type coordinates have been set PnB20 1 2 or 3 and the target position specification of the most previous ta
40. ZA Main FUNCIONS xiu se i Seen ev canes GRA eed um de hee th aed E eee 2 2 2 1 2 Features of Firmware Versions 000 000 ccc cee ee ee 2 3 2 2 General Specifications llis 2 4 2 3 Part Names of the INDEXER Module eene 2 5 2 4 LED lridiCatO s tm n nhe ee kr RE RR y 2 6 S Specifications 2 1 2 2 2 Specifications 2 1 1 Main Functions 2 1 Product Overview The INDEXER Module is a single axis positioning device that is equipped with a program table operation function The INDEXER Module is mounted to the side of the SERVOPACK The INDEXER Module has two reference methods digital I O and serial commands Digital I O is structured as a program table Mode 0 or homing JOG speed table Mode 1 If the program table Mode 0 is being used the program step selected with the input signal pattern binary format can be executed If the JOG speed table Mode 1 is being used the JOG speed selected with the input signal pattern binary format can be executed With serial commands ASCII command strings are sent to the INDEXER Module through RS 422 or RS 485 communications and these commands are interpreted and executed immediately The support software tool SigmaWin can be used to easily set program tables and parameters or to perform monitoring operations These same operations can also be performed using serial commands
41. c gt c gt Reverse Machine Forward Reverse Machine Forward Positioning in Reverse Direction Motor Motor Reference position position Reference side side Compensation Compensation not applied applied 5 4 5 Torque Limit Only the internal torque limit can be used For details refer to the following manuals X V Series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 X V Series User s Manual Design and Maintenance Linear Motor Command Option Attachable Type SIEP S800000 66 Parameter Setting and Functions 5 19 5 20 5 Parameter Setting and Functions 5 4 6 Fully closed Loop Control 5 4 6 Fully closed Loop Control For more information on the settings for fully closed loop control refer to 3 V Series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 When using the fully closed loop control with an INDEXER Module some restrictions apply to the setting for parameter Pn20A External Encoder Pitches Set parameter Pn20A External Encoder Pitches to a value within the recommended Q range If a value outside of this range is set the speed reference may be limited to a value lower than the maximum speed of the motor IMPORTANT Scale Type PGTYPE Response re ink S SENAN ONUS SES PGTYPE 0000xx08 Pn20A lt 65103 8 bit scale 9 bit scale PGTYPE 0000xx09 Pn20
42. ead a 3 4 1 System Configuration Diagram SERVOPACK Digital operator INDEXER Module Sequence O signal cable a E Host controller Connection cable for digital operator Connection cable for personal computer Serial command Ee cable I O signal cable ce When not using the safety function use the SERVOPACK with the safety function jumper connector JZSP CVHO5 E provided as an accessory inserted G When using the safety function insert a connection cable specifically for the safety function C gt Safety unit Battery case when an absolute encoder is used Motor main circuit cable SGMGV SGMSV Servomotor 2 Wiring and Connection Use a 24 VDC power supply with double insulation or reinforced insulation The power supply is not included Before connecting an external regenerative resistor to the SERVOPACK refer to 3 V Series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 3 For 200 V input voltage LPSE 2H01 E For 100 V input voltage LPDE 1HOI E Use a following power supply for 90 V brake For details refer to 2 V Series Product Catalog KAEP S800000 42 Note The connections and wiring of the power supply of the main circuit and that ofthe controls differ in accordance with the SERVOPACK to be used For details refer to 2 V Series User s Manual Des
43. servo ON execution beeen a Tempo rarily establish the servo OFF Hard wire base block status HWBB status status by turning the S ON sii rate will ae if there was an et signal OFF or sending the when the servo ON request was sent using the SVOFF command then turn SVON command Error ESCE will occur if the f the servo ON again main power supply was OFF when the servo ON request was sent There was a syntax error in the serial com E56E A AOF Undefined Serial mand Check the serial command s char Command Error There was a number in the serial command acter string longer than 8 digits or 10 digits The specified address was incorrect for a Address Out of range parameter program table zone table JOG ETE AAIE Error speed table alarm history or monitor read CUECK INE address write command E58E A AOF ES Out of range The specified setting was incorrect in a param Check the setting rror eter or program table write command Communication Failure E59E A AOF Error between Communications between the INDEXER Check the version of the SERVO INDEXER Module and Module and the SERVOPACK have failed PACK SERVOPACK Some of the utility functions such as parame ter initialization has been requested while still in the servo ON status For safety the follow ing functions cannot be executed in the servo E5AE A A9F Execution Disabled ON status Execute these functions after while Servo ON Error Serial commands Parameter
44. sese esses 4 2 4 1 2 Connecting to SGDV LILILIAE1A SERVOPACK 0 00 00 e eee 4 3 4 1 3 Connecting to SGDV LILILIDE1A SERVOPACK ss else eee 4 5 4 1 4 Connecting to SGDV LILILIFESA SERVOPACK sssesee esses 4 6 4 1 5 Connecting to SGDV LILILIAEBSA SERVOPACK 00 00 0 eee eee 4 7 4 1 6 Connecting to SGDV LILILIDESA SERVOPACK 0000 cece eee 4 9 4 2 I O Signal Connections 2 0 0 6 060 eee ee eee hn 4 10 4 2 1 I O Signal Names and Functions 0 0 cece tee 4 10 4 2 2 Interface Circuits ene s eae ee eee ee eee Rhee eee Eie ede ew Be 4 14 4 2 3 Example of I O Signal Connections 0 0 eee eee 4 16 4 3 Serial Command Communications Connector CN12 4 18 4 3 1 Communications Specifications lesleee eee 4 18 4 3 2 Communications Connector ssl 4 19 4 3 3 Connector Signal Names sseeeeeee eee 4 19 4 3 4 Connection Examples lssseeeee e eee 4 20 4 3 5 RS 422 RS 485 Interface 0 res 4 21 4 4 Power Loss in the INDEXER Module 2 0055 4 22 5 Wiring and Connection 4 1 4 Wiring and Connection 4 1 1 Connecting to SGDV OOOFE1A SERVOPACK 4 1 System Configuration Diagram Examples of basic servo system configurations are shown for each SERVOPACK type 4 1 1 Connecting to SGDV LILILIFE1A SERVOPACK Power supply Single phase 100 VAC R T Molded case circuit breaker MCCB Protects
45. the display returns to the JOG speed table editing screen In this case make the setting again by referring to 7 Prepa ration Operation of Digital Operator 8 16 8 Operation of Digital Operator 8 2 5 Program Table Initialization FnBO6 8 2 5 1 Program Table Initialization FnBO6 This function initializes the program tables and restores the settings on shipment from the factory Preparation The following conditions must be met to initialize the program table The write prohibited setting Fn010 must not be set to write protect parameters The program must not be running or on hold The program tables must not being saved by any other means than using the digital operator The RES command must not being executed Operating Procedure Step Display after Operation Keys Operation BB FUNCTION MODEISET FnBOS JSPD Edit Press the key to open the Utility Function Mode 1 FnBO6 PGM Init FnBO7 ZONE Init FnBO8 JSPD Init main menu and move the cursor with the keys to select FnB06 BB PGM Init 2 Start DATA Return SET Press the key to view the FnB06 operation screen BB PGM Tmt 3 Restoring now Please wait DATA Press the key to start program table initialization Do not turn off the control power supply until initial ization has been completed normally To cancel the FnB06 operation press the key before pressing th
46. 0 Does not return OK response PnB02 1 Immediately Factory setting Returns OK response 7 3 Command Response Format The following diagram shows the command response format Command Host controller INDEXER Module Response Host controller INDEXER Module Command character string Example 1SVON CR Note When full duplex wiring is being used either CR or CR 2SVON CR 1POS10000 CR 2POS10000 CR 1ST CR 2ST CR 1PUN CR 2PUN CR LF can be used as the delimiter When half duplex wiring is being used set the delimiter to either CR or CR LF with parameter PnB0O In both cases CR LF will be returned as the echoback Upper case and lower case characters can be used in the command including the axis number and are treated the same Response character string Example 1OK 20K 10K 10K 20K gt gt gt gt 20K gt gt gt C C C C C CR 1PUN 00004567 CR LF 2PUN 00002345 CR LF ZF eR L L L L L LF Note The response s delimiter is always CR LF Alphabetical characters in the response are always upper case Note In ASCII the CR character is OD Hex and the LF character is 0A Hex 0O IMPORTANT To maximize communications reliability confirm the echoback and responses to each com mand while communicating with the INDEXER Module
47. 0tol 0 After restart 5 3 8 Settin Meanin PnB16 v8 xg 0 When programmable output signal POUT2 is active photocoupler becomes ON close 1 When programmable output signal POUT2 is active photocoupler becomes OFF open POUT3 0 tol 0 After restart 5 3 8 Settin Meanin PnB17 s AS 0 When programmable output signal POUT3 is active photocoupler becomes ON close 1 When programmable output signal POUT3 is active photocoupler becomes OFF open POUT4 0 to 1 0 After restart 5 3 8 Settin Meanin PnB18 2 g 0 When programmable output signal POUTA is active photocoupler becomes ON close 1 When programmable output signal POUTA is active photocoupler becomes OFF open POUTS Otol 0 After restart 5 3 8 Settin Meanin PnB19 ds ii 0 When programmable output signal POUTS is active photocoupler becomes ON close 1 When programmable output signal POUTS is active photocoupler becomes OFF open POUT6 Otol 0 After restart 5 3 8 PnB1A Setting Meaning 0 When programmable output signal POUT6 is active photocoupler becomes ON close 1 When programmable output signal POUT6 is active photocoupler becomes OFF open POUT7 0tol 0 After restart 5 3 8 Settin Meanin PnB1B dis ne 0 When programmable output signal POUT7 is active photocoupler becomes ON close 1 When programmable output signal POUT7 is active photocoupler becomes OFF open 10 1 Parameter List for INDEXER Module
48. 1 10 Program Table Examples This section provides examples of program tables 1 Simple Round trip Operation PGMSTEP POS SPD RDST RSPD ACC DEC POUT EVENT LOOP NEXT 0 1 200000 15000 1000 NNNNNNNA IT2000 1 1 1 1 200000 30000 1000 NNNNNNAN IT2000 2 0 PGMSTEP 0 PGMSTEP 1 i PGMSTEP 1 l PGMSTEP 0 LOOP 1 LOOP 2 Speed ISTART STOP IINPOSITION POUTO E POUT1 2 Output POUTx Signal for the Specified Time after Positioning Completed PGMSTEP POS SPD RDST RSPD ACC DEC POUT EVENT LOOP NEXT 0 1 200000 15000 1000 NNNNNNNN ITO 1 1 1 15000 1000 pyres SA T2000 1 2 2 1 200000 30000 1000 NNNNNNNN ITO 1 3 3 30000 1000 DERDITAC T2000 1 4 4 1 200000 30000 1000 f NNNNNNNN ITO 1 5 5 30000 1000 i AT T2000 1 0 PGMSTEP 1 PGMSTEP 3 PGMSTEP 5 E E E PGMSTEP 0 PGMSTEP 2 l l PGMSTEP 4 l PGMSTEP 0 Speed ISTART STOP INPOSITION POUTO POUT1 POUT2 Program Table 6 14 6 Program Table 6 1 10 Program Table Examples 3 Using SELx Signal with EVENT Function PGMSTEP POS SPD RDST RSPD ACC D
49. 14 hj 7 e e Case FG Las x D C Tp 3 To next axis Pin No 3 4 14 FG Half duplex Wiring Connect short the RT and RXD pins in the last axis 4 20 4 3 5 4 3 Serial Command Communications Connector CN12 RS 422 RS 485 Interface The maximum total length for RS 422 or RS 485 cable is 50 m Use the minimum length of cable that is needed The INDEXER Module s communications circuits are not insulated If communications errors occur because of noise use noise suppression methods such as shielded cable or ferrite cores When using full duplex wiring connect a terminator in the host controller s reception circuit and the reception circuit of the last INDEXER Module in the line The INDEXER Module has a built in terminator 120 2 that is connected between the RXD and RXD pins when the RT and RXD pins are shorted When using half duplex wiring connect a terminator at both ends of the communications cable The INDEXER Module has a built in terminator 120 2 that is connected between the RXD and RXD pins when the RT and RXD pins are shorted The INDEXER Module s transmission circuit 1s high impedance when it is not transmitting Pull up or pull down the host controller s reception circuit 5 Wiring and Connection 4 21 4 22 4 Wiring and Connection 4 4 Power Loss in the INDEXER Module Power loss in the INDEXER Module is shown below The INDEXER Module s p
50. 20 BER ipai E TION OFF open Positioning is not completed Parameter Meaning When Enabled 0 When positioning has been completed photocoupler becomes ON Factory setting close PnB13 After restart 1 When positioning has been completed photocoupler becomes OFF open INPOSITION width PnB2D Setting Range Setting Unit Factory Setting When Enabled 0 to 99999 Reference unit 1 Immediately The inposition width setting has no effect on final positioning accuracy pes speed Motor speed Position error 1 EO een Notes when the Positioning Completed State is Established while Canceling a Motion Command When the SERVOPACK enters any of the following states during execution of a motion command it may cancel the execution of the motion command and establish the positioning completed state The servo OFF state has been established due to an alarm The servo OFF state has been established because the main power supply was turned OFF The motor has stopped due to overtravel or a software limit In this case the motor has not reached the target position specified by the host controller Check the current position to confirm that the axis is stopped at a safe position If the state of an OT signal varies over a short time in a pulsing manner for example the host controller may not be able to monitor the variation of the OT signal properly Take due care about the selection of limit switches and their
51. 3 and later Serial Command Communications 7 31 7 Serial Command Communications 7 7 8 Monitor and Utility Function Commands Monitor and Utility Function Commands cont d Serial Command Function Description Positive Response IN2 10101010101 CR LF 0 Photocoupler OFF 1 Photocoupler ON Bit 0 MODE 0 1 Bit 1 START STOP HOME Bit 2 PGMRES JOGP Bit 3 SELO JOGN Bit 4 SEL1 JOGO Bit 5 SEL2 JOG1 Bit 6 SEL3 JOG2 Bit 7 SEL4 JOG3 Bit 8 SEL5 Bit 9 SEL6 Bit 10 SEL7 IN2 INDEXER Module Input Signal Monitor INDEXER Module Input Signal Specification The actual signal is ignored and the input signal is forcibly set to the specified status This command is used to test operation when the actual signal line is not connected b 0 Photocoupler OFF b 1 Photocoupler ON Bit 0 MODE 0 1 Bit 1 START STOP HOME Bit 2 PGMRES JOGP Bit 3 SELO JOGN Bit 4 SEL1 JOGO Bit 5 SEL2 JOG1 Bit 6 SEL3 JOG2 INZTESTbbbbbbbbbbb _ Bit 7 SEL4 JOG3 OK Bit 8 SELS Bit 9 SEL6 Bit 10 SEL7 IN2TESTEND Return to actual signal status Note 1 Error E56E will occur if fewer than 11 digits bbbbbbbbbbb are specified in the com mand 2 If operation is being performed in Mode 0 program table operation mode MODEO0 1 must be set to 1 before START STOP is set to 1 If operation is being performed in Mode 1 homing or JOG speed table oper
52. 9 21 9 22 9 Troubleshooting cont d Problem Probable Cause Investigative Actions Corrective Actions Overtravel OT Forward or reverse run prohibited signal is input Check the external power supply 24 V voltage for the input signal Correct the external power supply 24 V voltage Check if the overtravel limit switch operates properly Correct the overtravel limit switch Check if the overtravel limit switch is wired correctly Correct the overtravel limit switch wiring Check the settings for PnBOF and PnB10 Set the parameters correctly Forward or reverse run prohibited signal is malfunctioning Check the fluctuation of external power supply 24 V voltage for the input signal Stabilize the external power supply 24 V voltage Check if the overtravel limit switch operates correctly Stabilize the operation of the over travel limit switch Check if the overtravel limit switch wiring is correct Check for dam aged cables or loose screws Correct the overtravel limit switch wiring Incorrect servomotor stop method selection Check Pn001 0 and PnB1F when the servomotor power is OFF Select a servomotor stop method other than coast to stop Check Pn001 0 and PnBIF in torque control Select a servomotor stop method other than coast to stop Improper Position to Stop by Overtravel OT Signal Improper li
53. B RSPD Registration Speed e a cursor gee registration speed RSPDO00 12345678 RSPD000 12345678 DJ RSPD000 13 345678 Note For details on the registration speed refer to 6 1 4 1 Program Table Functions 8 2 Operation of Utility Functions B ACC Acceleration Move cursor Change acceleration 2 ACCO00 12345678 P ACC000 12345678 ACCOOO 13345678 If the value becomes less than 1 js displayed Note For details on the acceleration refer to 6 1 4 1 Program Table Functions B DEC Deceleration Move cursor Change deceleration DECO00 12345678 4 bECO00 12345678 4 DECOO00 13345678 If the value becomes less than 1 is displayed Note For details on the deceleration refer to 6 1 4 1 Program Table Functions B POUT Programmable Output Signals Move cursor Change programmable output signal POUTOOOZNAZ NAZ POUTOOO NAZ NAZ POUTOOO NNZ NAZ Pressing the key changes the display in the following order N A Z Pressing the key changes the display in the reverse order Note For details on the programmable output signal refer to 6 1 4 1 Program Table Functions B EVENT Pass Condition Move cursor Change elapsed time EVTOOO T12345 EVTOOO T12345 EVTOOO T223495 Ghan idu Move cursor Change elapsed time EVTOOO IT12345 C EVTOOO IT1234965 EVTOOO IT22345 A Yom icon Move cursor Chang
54. Cable for connecting linear scale Main circuit cable for linear servomotor Linear scale not included Linear servomotor with core Before connecting an external regenerative resistor to the SERVOPACK refer to 3 V Series User s Manual Design and Maintenance Linear Motor Command Option Attachable Type SIEP S800000 66 Note The connections and wiring ofthe power supply ofthe main circuit and that of the controls differ in accordance with the SERVOPACK to be used For details refer to 2 V Series User s Manual Design and Maintenance Linear Motor Command Option Attachable Type SIEP S800000 66 4 1 System Configuration Diagram 4 1 5 Connecting to SGDV OOOAESA SERVOPACK 1 Using a Three phase 200 V Power Supply Power supply Three phase 200 VAC RST Molded case circuit breaker MCCB El Protects the power supply line by shutting the circuit OFF when overcurrent is detected Digital operator Noise filter SGDV OOOAE5A INDEXER Module Used to eliminate external noise from L SERVOPACK the power line Sequence I O signal cable Oo is eas contactor z Host controller urns the servo o oe E V um SU Connection cable abscrber yu m for digital operator L TL au Connection cable Gift a for personal computer fe 2 p p CCo L n Jen Serial command n cable T n L o Ez u c s Mei
55. Correction 1 to 1000 1 100 Immediately Tuning Pn131 Gain Switching Time 1 0 to 65535 1 ms 0 Immediately Tuning Pn132 Gain Switching Time 2 0 to 65535 0 Immediately Tuning Pn135 Gain Switching Waiting Time 1 0 to 65535 1 ms 0 Immediately Tuning Pn136 Gain Switching Waiting Time 2 0 to 65535 1 ms 0 Immediately Tuning Parameter exclusive for rotational servomotors 10 16 10 2 Parameter List for Command Option Attachable Type SERVOPACKs cont d Parameter Setting Factory When No Name Range Units Setting Enabled Classification Automatic Gain Changeover Related Switch 1 0000 to 0052 0000 Immediately Tuning 4th 3rd 2nd 1st digit digit digit digit n Gain Switching Selection Switch 0 Disables automatic gain selection 1 Reserved Do not change 2 Automatic gain switching pattern 1 Changes automatically 1st gain to 2nd gain when the switching condition A is satisfied Changes automatically 2nd gain to 1st gain when the switching condition A is not satisfied Pn139 Gain Switching Condition A 0 Positioning completion signal COIN ON 1 Positioning completion signal COIN OFF 2 NEAR signal NEAR ON 3 NEAR signal NEAR OFF 4 Position reference filter output 0 and reference input OFF 5 Position reference input ON Reserved Do not change Reserved Do not change Pn13D Current Gain Level 100 to 2000 196 2000 Immediately Tuning Model
56. Echoback is performed for each character 4 Half duplex wiring is used for communications method CR is used as the delimiter Echoback is performed for each command 1 1 250 us u 600 us 6 Half duplex wiring is used for communications Bit rate x 2 Bit rate x 2 method CRLF is used as the delimiter Echoback is performed for each character 7 Half duplex wiring is used for communications method CRLF is used as the delimiter Echoback is performed for each command Example Echoback response time when PnB00 1 9600 bps 1 E 1 Bit rate x 2 9600 x 2 tg min 52 us When using half duplex wiring the host controller must set the line driver to high impedance within the Q te min response time IMPORTANT 7 6 7 6 1 7 6 2 7 6 Response Data Details Response Data Details There are positive responses and negative responses The positive response indicates normal operation and the negative response indicates an error Positive Responses There two kinds of positive responses responses that return data for commands such as PRM and responses that do not return data for commands such as SVON For commands that require data to be returned refer to the description of the individual command for details on the structure of the response s character string For commands that do not require data to be returned the positive resp
57. Enabled 0 Factory Does not execute homing setting PnB31 1 DEC and phase C are used for homing After restart 2 Only DEC is used for homing 3 Only phase C is used for homing 0 Factory HOME or ZRN command is used for homing in forward direction PnB32 setting Immediately 1 HOME or ZRN command is used for homing in reverse direction Homing Moving Speed Setting Range Setting Unit Factory Setting When Enabled PnB33 1000 1 to 99999999 Reference units 1000 Immediately min Homing Approach Speed Setting Range Setting Unit Factory Setting When Enabled PnB35 1000 1 to 99999999 Reference units 1000 Immediately min Homing Creep Speed Setting Range Setting Unit Factory Setting When Enabled PnB37 1000 1 to 99999999 Reference units 1000 Immediately min Homing Final Move Distance PnB39 Setting Range Setting Unit Factory Setting When Enabled 99999999 to 199999999 Reference unit 0 Immediately Note 1 The software limits PnB21 and PnB23 are disabled until homing is completed They are enabled after homing is completed On the other hand the overtravel sig nals P OT and N OT signals are enabled before homing is completed 2 When an incremental encoder is being used homing will be completed if the ZSET command coordinates setting is executed instead of homing 3 Error ESDE will occur if the ZRN command is executed while PnB31 0 4 Homing can be performed only when an increme
58. Error Linear scale is faulty Gr 1 N A A 8A0 External Encoder Error External encoder is faulty Gr 1 inn Alarm occurs when an Option Module for Fully closed Loop Control is mounted 9 1 Troubleshooting Servomotor Alarm Code Output Alarm A Alarm Alarm Name Meanin Sto Display Method Reset ALo1 ALO2 ALO3 A 8A1 ps AR Error Serial converter unit is faulty Gr 1 on External Encoder Error Avail A 8A2 of Sensor Incremental External encoder is faulty Gr 1 able External Encoder Error m g Avail OFF OFF OFF A 8A3 of Position Absolute The external encoder position data is incorrect Gr 1 able pen open open The overspeed from the external encoder Avail A 8A5 Encoder Overspeed ocurred Gr 1 able The overheat from the external encoder Avail A 8A6 Encoder Overheated DH Gr 1 able A AEF INDEXER Module Some kind of alarm has occurred at the Gri Poi OFF ON ON i Alarm INDEXER Module 912 open close close Current Detection Error The current detection circuit for phase U is A b31 1 Phase U faulty Gr 1 N A Current Detection Error The current detection circuit for phase V is A b32 2 Phase V faulty Gr 1 N A Current Detection Error P A b33 3 Current detector The detection circuit for the current is faulty Gr 1 N A A bFO System Alarm 0 Internal program e
59. FnBO7 ZONE Init eys 1o select EnBO BB JSPD Edit JSPD002 00001000 JSPD003 00001000 Press the key to view the FnB05 operation screen BB JSPD Ed it JSPD002 00001000 3 JSPD003 00001000 JSPD004 00001000 JSPD005 00001000 Move the cursor using the keys to select the JOG speed table number to be edited Note Pressing the key when the cursor is on JOG speed table number 0 moves it to number 15 Pressing the key when the cursor is on JOG speed table number 15 moves it to number 0 BB JSPD JE dob t JSPDOO2 00001000 4 JSPDOOS3 OOOO1000 JSPDO004 00001000 JSPDO005 00001000 Press the key to move the cursor to the setting side of the table BB JSPD Edit JSPDOO2 00001000 5 JSPDO003 00001000 JSPDOO4 00001000 JSPDO005 12345678 Move the cursor with the keys and change the JOG speed setting with the keys BB JS PD Edite JSPD002 00001000 6 JSPD003 00001000 JSPD004 00001000 JSPD005 12345678 On pressing the key the setting is entered and the cursor returns to the JOG speed table number side 7 Repeat steps 3 to 6 to set the JOG speed table On completing the setting of all the JOG speed tables to be used save the JOG speed tables to flash memory by following the procedure in 3 Saving JOG Speed Tables If setting is attempted in an operation prohibited state it will not be possible to change the setting In this case make th
60. INDEXER Module PACK with a SERVO PACK that is i mt ible with the Initial Communication compas Alarm Between INDEXER Module INDEXER Module and The INDEXER Mod E17A SERVOPACK ule failed in parameter Grl N A Detected only when oe during ini control power supply is tial communications 4 med ON withthe SERVO Cometh encoder tol power was tumed _ Parameter ON Cancel the A 040 alarm A C90 or This can happen in the and then change the A 040 following cases e display i When a parameter IF the alarm disp Is hasbeen changed other than A E00 it gue can be reset by turning while the encoder is not connected e ON OFka d When a parameter aek ONJ has been changed during occurrence of A 040 alarm Communication Alarm e i Take steps to reduce Ei8A READ penyeen INDEXER the INDEXER Module ee un Gr Available SERVOPACK A ee ground The program table stored Initialize the program Program Table in flash nias was not table with the Checksum Alarm recorded propery PGMINIT command or E19A A AEF Detected only when This alarm can occurif p poc 2 Grl Available trol vi the control power supply control power supply is i Ifthe problem is not turned ON is turned OFF while the l h i program table is being solved correct the pro saved or initialized gram table Program Table Version The combination of the S Brune Unmatched Detected firmware version and the f 3 E MAER only when the cont
61. LF DECTsss SP SP SP SP SP SP SP CR LF DECTsss nnnnnnnn Program Table DEC Write Sets the DEC value deceleration sss Program step PGMSTEP Settings 1 lt nnnnnnnn lt 99999999 Deceleration 1000 reference units min ms Continues the previously executed program step s specifi cation OK E Serial Command Communications POUTTsss Program Table POUT Read Reads the POUT value programmable output signal sss Program step PGMSTEP POUTT123 NANANANZ CR LF 7 25 7 Serial Command Communications 7 7 4 Program Table Setup Commands Program Table Setup Commands cont d Serial Command Function Description Positive Response Program Table POUT Write Sets the POUT value programmable output signal sss Program step PGMSTEP Settings N Inactive A Active Z Zone table POUTTsss nnnnnnnn Continues the previously executed program step s specifi cation POUTnnnnnnnn POUTO POUTI POUT2 POUT3 POUT4 POUTS POUT6 POUT7 OK Program Table EVENT Read Reads the EVENT value pass condition Sss Program step PGMSTEP EVENTTsss EVENTT123 T12345 SP SP SP SP CR LF EVENTT123 IT12345 SP SP SP CR LF EVENTT123 NT12345 SP SP SP CR LF EVENTT123 DT12345 SP SP SP CR LF EVENTT123 SELIT12345 CR LF EVENTT123 SP SP SP SP SP SP SP
62. N CAUTION Do not disassemble the SERVOPACK Failure to observe this caution may result in electric shock or injury Do not change wiring while the power is ON Failure to observe this caution may result in electric shock or injury When replacing the SERVOPACK resume operation only after copying the previous SERVOPACK parameters to the new SERVOPACK Failure to observe this caution may result in damage to the product B Disposal N CAUTION When disposing of the products treat them as ordinary industrial waste B General Precautions Observe the following general precautions to ensure safe application The products shown in illustrations 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 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 Warranty 1 Details of Warranty M Warranty Period The warranty period for a product that was purchased hereafter called delivered product is one year from the time of delivery to the location specified by the customer or 18 months from the time of shipment from the Yaskawa factory whi
63. NNNAZZZZ CR LF Bit 0 POUTO Bit 1 POUTI Bit 2 POUT2 POUT POUT Monitor Bit 3 POUT3 Bit 4 POUT4 Bit 5 POUT5S Bit 6 POUT6 Bit 7 POUT7 PGMSTEP Program Step PGMSTEP Monitor PGMSTEP 12345 CR LF Program EVENT Elapsed Time Monitor EVTIME Monitors time elapsed ms for the EVENT function EVTIME 12345 CR LF in program table operation Serial Command Communications 7 33 7 Serial Command Communications 7 7 8 Monitor and Utility Function Commands Monitor and Utility Function Commands cont d Serial Command Function Description Positive Response Program Table Operation LOOP Pass Through LOOP Monitor LOOP 12345 CR LF Monitor Read MONn isnsll See following description of the responses for STS to RDST See following description of STS to RDST STS 1010101 CR LF Bit 0 ON 1 when the INPOSITION positioning completed signal is active Bit 1 ON 1 when the NEAR near position signal is active STS or MONG Status Flag Monitor Bit 2 ON 1 when the DEN positioning reference distribution completed signal is active Bit 3 ON 1 when positioning or program opera tion is interrupted on hold Bit 4 ON 1 during program operation Bit 5 ON 1 when the current torque is being limited Bit 6 ON 1 when the main power supply is ON PUN or MON1 Current Distributed Position Monitor PUN 12345678 CR LF PFB or MON7
64. OFF Abnormal vibration at the motor speed was close open open A911 Vibration detected The detection level is the same as A 520 Set whether to output an alarm or warning by Vibration Detection Switch of Pn310 This warning occurs before the regenerative over A920 Regenerative Overload load alarm A 320 occurs If the warning is ignored and operation continues a regenerative overload alarm may occur OFF ON OFF This warning occurs before the dynamic brake open close open overload alarm A 731 occurs If the warning is A 921 Dynamic Brake Overload ignored and operation continues a dynamic brake overload alarm may occur A 930 Absolute Encoder Battery Error This warning occurs when the absolute encoder ON ON OFF battery voltage is lowered close close open 9 2 Warning Displays cont d Warning Code Output Maing Warning Name Meaning p Display ALO1 ALO2 ALO3 This warning occurs when there is an error in a A 94A Command Option M OOUE IE parameter number sent to the SERVOPACK from Data Setting Warning 1 the host controller or command option module This warning occurs when out of range data is sent A 94B command Option Modul I to the SERVOPACK from the host controller or Data Setting Warning 2 command option module This warning occurs when there is an error in the A 94C a Gah otek ipe x IF parameter data se
65. ON even if the overtravel is released To turn ON the servo turn the S ON signal OFF and then ON or send the SVON serial command If parameter PnBOE is set to 2 to keep the S ON signal always ON turn the power supply OFF and then ON again 5 6 5 3 3 5 3 Sequence I O Signals Servo Alarm Output Signal ALM and Alarm Code Output Signals ALO1 ALO2 and ALO3 This section describes signals that are output when the SERVOPACK detects errors and resetting methods Servo Alarm Output Signal ALM This signal is output when the SERVOPACK detects an error Configure an external circuit so that this alarm output turns OFF the main circuit power supply for the SERVOPACK whenever an error occurs Q IMPORTANT Signal Connector Type Name Pin No Setting Meaning ON close Normal SERVOPACK status Output ALM CN1 3 4 OFF open SERVOPACK alarm status Alarm Code Output Signals ALO1 ALO2 and ALO3 The ON OFF combination of these signals specifies the type of alarm detected by the SERVOPACK Use these signals as required to display the contents of the alarm at the host controller For details refer to 9 1 1 List of Alarms for Command Option Attachable Type SERVOPACKs Type Signal Name pd Description ALO1 CN1 1 2 Alarm code output Output ALO2 CN1 23 24 Alarm code output ALO3 CN1 25 26 Alarm code output Select whether ALO1 to ALO3 a
66. Pulses 0 Determines divided output pulses with fixed maximum speed 1 Determines maximum speed with fixed divided output pulses Pn100 Speed Loop Gain 10 to 20000 0 1 Hz 400 Immediately Tuning Pn101 Speed Loop Integral Time Constant 15to 51200 0 01 ms 2000 Immediately Tuning Pn102 Position Loop Gain 10 to 20000 0 1 s 400 Immediately Tuning Pn103 Moment of Inertia Ratio Rotational servomotors 0 to 20000 1 100 Immediately Tuning Mass Ratio Linear servomotors Pn104 2nd Speed Loop Gain 10 to 20000 0 1 Hz 400 Immediately Tuning Pn105 2nd Speed Loop Integral Time Constant 15 to 51200 0 01 ms 2000 Immediately Tuning Pn106 2nd Position Loop Gain 10 to 20000 0 1 s 400 Immediately Tuning Pn109 Feedforward Gain 0 to 100 196 0 Immediately Tuning Pn10A Feedforward Filter Time Constant 0 to 6400 0 01 ms 0 Immediately Tuning E Appendix 10 15 10 Appendix cont d Parameter Setting Factory When No Name Range Units Setting Enabled Classification Application Function for Gain Select Switch 0000 to 5334 0000 4th 3rd 2nd 1st digit digit digit digit n When Mode Switch Selection Enabled Classification Uses internal torque reference as the condition Level setting Pn10C Rotational servomotors Uses internal force reference as the condition Level setting Pn10C Linear servomoros Uses speed reference as the condition Level setting Pn10D Rotational servomotor
67. Series SERVOPACKs Be sure to refer to this manual and perform design and maintenance to select devices correctly Keep this manual in a location where it can be accessed for reference whenever required Description of Technical Terms The following table shows the meanings of terms used in this manual Term Meaning INDEXER Module INDEXER Module for 2 V Series SERVOPACKs Cursor A mark that indicates the input position of data displayed on the digital operator Z V Series SGMJV SGMAV SGMPS SGMGV SGMSV or SGMCS Direct Drive servomotor Servomotor Linear E Series SGLGW SGLFW SGLTW or SGLC servomotor SERVOPACK X V Series SGDV SERVOPACK Servo drive A set including a servomotor and SERVOPACK i e a servo amplifier A servo control system that includes the combination of a servo drive with a host controller and Servo System peripheral devices Analog pulse type Interface specifications for SERVOPACK Analog voltage and pulse train reference type Servo ON When power is being supplied to the servomotor Servo OFF When power is not being supplied to the servomotor Base block Turning OFF the power by shutting OFF the base current of the IGBT for the current amplifier Servo lock Motor status where motor is stopped with a position loop established by a position reference of 0 IMPORTANT Explanations The following icon is displayed for explanations requiring special attention Qo Indi
68. This section describes the procedure for setting parameters according to the dimensions and performance of the equipment used 5 4 1 Setting Reference Units Reference units are the position and distance units that are used between the host controller and INDEXER Module A reference unit 1s the minimum unit for positioning The electronic gear ratio converts encoder pulse units into reference units When the Electronic Gear When the Electronic Gear Function is Not Used Function is Used Workpiece Workpiece Reference unit 1 um E LIILIA X ZT A AAA ET Encoder resolution N Ball screw pitch o of encoder itch 1048576 6 mm B pulses 2048 nai pitch To move a workpiece 10 mm To move a workpiece 10 mm One revolution is 6 mm Therefore Equipment conditions and reference units 10 6 1 6666 revolutions must be defined for the electronic gear function 1048576 pulses make one revolution beforehand Therefore ntt 1 6666 x 1048576 1746928 pulses Referenceunitis Tum Therefore 1746928 pulses are input as references 10mm _ 10000 reference units The equation must be calculated at the host 1H 7 un controller 1 Setting Reference Units Determine the reference unit to be used To move table in 0 001 mm unit Reference unit 0 001 mm n L 3 4
69. When the echoback and responses are not being confirmed improve the communications reliability by reading the status when appropriate 7 4 Global Commands 7 4 Global Commands Global commands are commands that are sent to all axes at the same time Command Host controller INDEXER Module Response Host controller INDEXER Module Command character string Delimiter Example SVON CR ST CR PUN CR No response returned 66399 The axis number setting is the global address and addresses all axes No echoback or response is returned when the global address is used When global commands are used improve the communications reliability by reading the status when QD appropriate IMPORTANT Serial Command Communications 7 5 7 6 7 Serial Command Communications 7 5 Echoback Response Time The following diagram shows the response time from the command transmission until the echoback Stop bit Command High impedance High impedance Echoback Start bit PnBOO Protocol Settings tg Min tg Max 1 Full duplex wiring is used for communications z l 1 method Bit rate x 2 100 us Echoback is performed for each character 1 Bit rate x 2 Centered at the command stop bit 3 Half duplex wiring is used for communications method CR is used as the delimiter
70. ZWNODOEILOGQOOO0OU00 for Moving the Cursor BB ZONE Edit ZNO02 00000000 E 4 zHdOssdouopDOODD s the key to move the cursor to the setting side ZNO004 00000000 BOE ZNO05 00000000 5 ZNO 0 2 F 0 000 0000 Move the cursor using the keys and change ZN003 00000000 i NOO SSEOUDODODO the ZONE boundary values using the keys ZNO05 412345678 BB ZONE Edit ZNO002 00000000 E 6 BO S ESEO DO QULORO OLO On pressing the key the setting is entered and the ZNOO04 00000000 ZNOO05 112345678 cursor returns to the ZONE table number side If setting is attempted in an operation prohibited state it will not be possible to change the setting In this case make the setting again by referring to 1 Preparation Operation of Digital Operator 8 11 8 Operation of Digital Operator 8 2 3 ZONE Table Edit Save FnB04 cont d Step Display after Operation Keys Operation Repeat steps 3 to 6 to set the ZONE table On completing the setting of all the ZONE tables to be used save the ZONE tables to flash memory by following the procedure in 3 Saving ZONE Tables B Method for Moving the Cursor The values within the frames in the figure below are the ZONE table numbers displayed at the digital operator 8 amp Moves the displayed column one column at a time to the left or right On reaching the edge of the table movement stops Moves the displayed rows up or do
71. a Revue rec bm EE E E we E ES 5 7 5 3 4 Brakirig Signal BK iei sorsi tirep ug err Rhoden ahaa te he tenonta nak 5 8 5 3 5 Servo Ready Output Signal S RDY lssseeeeee e 5 9 5 3 6 Error Warning Output Signal WARN ssesese I I 5 9 5 3 7 Positioning Completed Output Signal INPOSITION eene 5 10 5 3 8 Programmable Output Signals POUTO to IPOUT7 l l 5 11 5 3 9 Encoder Signal Outputs llle eens 5 12 5 4 Settings According to Device Characteristics 5 13 5 4 1 Setting Reference Units liliis 5 13 5 4 2 Moving Mode and Coordinate Settings liliis 5 16 5 4 3 Setting Home Position lisi RR PERRA dr 5 18 5 4 4 Backlash Compensation llseeeee n 5 19 5 4 5 Torque Limit p26 oe hd phew tein ale gee ye me etd pa One ea eee asl pur ees 5 19 5 4 6 Fully closed Loop Control 1 0 0 eee tees 5 20 Chapteroserogramilable at atau ae seats te DTE 6 1 6 1 Program Table ot steer of cate wae want eek es ne MERE eaten FARLO 6 2 6 1 1 Mode Switch Signal MODE 0 1 0 0 ett n 6 2 6 1 2 Input Signals for Program Table Operation 0 0 cece 6 2 6 1 3 Program Table Step Selection llle 6 4 6 1 4 Program Table Settings nii hiere ilu e eR RR RES eb Bab MEA ER 6 5 6 1 5 Examples of EVENT Conditions lselseeeee II 6 8 6 1 6 Program Table Operation osse lose BR lh bre ER 6 9 6 1 7 Status Changes in Program Table Oper
72. again Each time that the command is executed the content of PnB25 is refreshed and stored in EEPROM so this command must not be executed repeatedly or too frequently Note When one of the Pn20E to Pn210 Pn205 or PnB20 to PnB25 parameters has been changed enable the new setting by turning the control power supply OFF and then ON again before executing the command OK 7 7 Serial Commands Control Commands cont d Serial Command Function Description Positive Response HOLD Positioning Interruption Interrupts the current positioning The remainder of the positioning is put on hold When the HOLD command has interrupted a positioning initiated by an ST STnnnnnnnn STAnnnnnnnn or STInnnnnnnn command the positioning can be restarted by executing the ST command When the HOLD command has interrupted registration positioning initiated by an RS RSnnnnnnnn RSAnnnnnnnn or RSInnnnnnnn command the registration positioning can be restarted by executing the RS command When the HOLD command has interrupted a forward jogging with registration operation that was initiated by the RJOGPnnnnnnnn command the operation can be restarted by executing the RJOGPnnnnnnnn command again When the HOLD command has interrupted a reverse jogging with registration operation that was initiated by the RJOGNnnnnnnnn command the operation can be restarted by executing the RJOGNnnnnnnnn command again When the HOLD command has in
73. by using FnB05 While initializing a JOG speed table by using a JSPDINIT command While initializing a JOG speed table by using FnB08 Repair the hardware 9 14 This function is available for the following software versions INDEXER module Version 3 or later SERVOPACK Version 001B or later 9 2 Warning Displays cont d Serial Command Panel Negative Display Error Name Meaning Corrective Action Response There was a request to start program table Canceled Program operation even though an E19A or ELBA e ERE NAJE Table Error alarm occurred when the control power supply Elmina TReERUSS OE MIO alacri was turned ON There was a request to start JOG speed table Canceled JOG Speed operation even though an E1FA or E22A alarm NT ETE pou Table Error occurred when the control power supply was Pinna the cause ar Heals turned ON There was an overflow in the reception buffer used for serial commands An error will occur if too many serial com ae ii sent consecutively without wait Wait for a response to be received Serial Communications Normally Pis SUE buffer will not before sending the next com EVE BE Receiving Buffer PR there A ts onse Thang Overflow Error P The reception buffer can contain handshaking up to 100 commands When an overflow has occurred error code P E47E will be returned and all of the data that has accumulated in the reception buffer will be discarded A parity
74. close mode is set to Mode 0 PnB03 1 When input signal is OFF open mode is set to Mode 0 After restart 2 Always Mode 0 3 Always Mode 1 Input Signals for Program Table Operation Signal Specifications Type Signal Name pid Setting Meaning START ante ON close Starts program table operation Input STOP OFF open Stops program table operation OFF open Resets program table operation Program table MISES CNIT ON close operation is canceled Connector Type Signal Name Pin No Name SELO CN11 9 Program table selection 0 SEL1 CNII 11 Program table selection 1 SEL2 CN11 13 Program table selection 2 aut SEL3 CN11 15 Program table selection 3 npu SELA CNI1 17 Program table selection 4 SELS CN11 14 Program table selection 5 SEL6 CN11 16 Program table selection 6 SEL7 CN11 18 Program table selection 7 2 Related Parameters Make the settings for program table operation with the parameters below 6 1 Program Table Parameter Meaning When Enabled Starts program table operation when START STOP signal is ON 0 close Factory setting Stops program table operation when START STOP signal is OFF open Starts program table operation when START STOP signal is OFF PnB04 open Stops program table operation when START STOP signal is ON close 2 3 Do
75. control power supply is turned ON the positioning speed set in parameter PnB27 will be used until the SPD command is executed For example when the reference unit is 0 01 mm and the desired speed is 15 m min 15 m min 15000 mm min 15000 x 100 reference unit min 1500 1000 reference unit min SPD1500 Note Ifa new positioning speed is specified during positioning the new speed will become effective from the next positioning OK Serial Command Communications 7 9 7 10 7 Serial Command Communications 7 7 2 Control Commands Control Commands cont d Serial Command Function Description Positive Response ACCnnnnnnnn Acceleration Specification Setting range 1 lt nnnnnnnn lt 99999999 1000 reference units min ms Speed reference V i i Ti t t ts t4 mE V x 1000 reference units min Acceleration amp t ms V x 1000 reference units min Deceleration u i Ims Note The acceleration setting in parameter PnB29 can also be used Executing the command ACCnnnnnnnn is the same as executing TRMB29 nnnnnnnn OK DECnnnnnnnn Deceleration Specification Setting range 1 lt nnnnnnnn lt 99999999 1000 reference units min ms Note The deceleration setting in parameter PnB2B can also be used Executing the command DECnnnnnnnn is the same as executing TRMB2B nnnnnnnn OK ST Positioning Start Starts positioning with the speed speci
76. direction and Moves direction do not agree ARDEN Without moving coil direction Reference Check if the value of Un004 Elec Input Polarity detection is not performed tric Angle 2 angle from polarity Correct the settings for the polarity correctly origin at an arbitrary position is detection related parameter between 10 degrees Improper setting of parameter Check the setting of parameter Correct the setting of parameter Pn001 0 Pn001 0 Pn001 0 DB dynamic Check if excessive mass motor brake Does Not Operate DB resistor disconnected Replace the SERVOPACK and overspeed or DB frequent activa reconsider the load tion has occurred DB drive circuit fault DB circuit parts are faulty Replace the SERVOPACK Abnormal Noise from Linear Servomotor The linear servomotor largely vibrated during execution of tuning less function factory setting Reduce the load so that the mass ratio becomes within the allowable value or increase the load level or lower the rigidity level for the tun ing less level setting Fn200 Check the motor speed waveform Mounting not secured Check if there are any loosen Tighten the mounting screws mounting screws Vibration source on the driven machine Noise interference due to incorrect I O signal cable specifications Check the machine movable section for foreign matter damage or defor mity The specifications of I O s
77. erly inserted and connected tion Check the wiring Correct the wiring so that the con trol power supply comes ON trol power supply comes ON Correct the wiring The servomotor is overloaded Run under no load and check the load status Reduce load or replace with larger capacity servomotor Settings for input signals PnBO3 to PnB12 are incorrect Check settings of input signals PnB03 to PnB12 Correct the settings of input signals PnB03 to PnB12 A servo ON command was not input Servomotor Does Check the command sent from the host controller Send a servo ON command and then Stops Not Start The forward run prohibited P OT ears and reverse run prohibited N OT Check P OT or N OT input signal Turm Ese orl CHI input signal ON input signals are turned OFF Thecurrent position ofthe See Check the motor position and soft P qnan Check the error at the INDEXER ware limit setting PnB21 PnB23 motor is outside the software limit seitine tanve Module then move the servomotor into the TOM software limit setting range There is no position reference or it Check the error at the INDEXER p Set the program table correctly is incorrect Module Set the HWBB1 or HWBB2 input signal to ON The safety input signal HWBBI or Check the HWBB1 or HWBB2 When not using the safety function HWBB2 remains OFF input signal mount th
78. from working in case of its signal line disconnection If this setting is absolutely necessary check the operation and confirm that there are IMPORTANT no safety problems Configure the relay circuit to apply the holding brake by the emergency stop o Inverting the polarity of the brake output signal BK i e positive logic will prevent Relay Circuit Example SERVOPACK 5 to 24 VDC cg Emergency stop Photocoupler Dy Lo y3 lt V ov Failures caused by incorrect wiring or wrong voltage application in the brake circuit may damage the equipment or cause an accident resulting in death or injury Follow the procedures and instructions for wiring and trial operation precisely as described in the manual This output signal controls the brake The BK signal turns OFF when an alarm is detected or the servomotor power is OFF The brake OFF timing can be adjusted with Pn506 Type Name ME Setting Meaning ON close Releases the brake Output BK CN1 23 CN1 24 OFF open Applies the brake The setting of the BK signal can be changed with the parameters below Parameter Meaning When Enabled 0 When the BK signal is ON close the brake is released PnB1D Factory setting 8 After restart 1 When the BK signal is OFF open the brake is released 0 Does not output ALOI to ALO
79. greatly damaged by the gases or fumes resulting from the fumigation process In particular disinfectants containing halogen which includes chlo rine fluorine bromine or iodine can contribute to the erosion of the capacitors B Installation N CAUTION Never use the product in an environment subject to water corrosive gases inflammable gases or combustibles Failure to observe this caution may result in electric shock or fire Do not step on or place a heavy object on the product Failure to observe this caution may result in injury or malfunction Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire Be sure to install the product in the correct direction Failure to observe this caution may result in malfunction Provide the specified clearances between the SERVOPACK and the control panel or with other devices Failure to observe this caution may result in fire or malfunction Do not apply any strong impact Failure to observe this caution may result in malfunction vii viii B Wiring N CAUTION Be sure to wire correctly and securely Failure to observe this caution may result in motor overrun injury or malfunction Do not connect a commercial power supply to the U V or W terminals for the servomotor connec tion Failur
80. initialization turning the servo OFF absolute encoder reset gt motor current zero adjust 3 ment 2 SigmaWin Parameter initialization 2 Execution Disabled Turn the servo ON after eliminat 2 E5BE A A9F while Alarm Activated DEOS requested the SVON command ing the cause of the alarm and was executed while there was an alarm Error clearing the alarm Execution Disabled Servo ON was requested the SVON command Tum th ON after turnin CN E5CE A A9F while Main Power OFF was executed while the main power supply is E SYS ii 8 ON the main power supply 9 17 9 Troubleshooting 9 2 2 INDEXER Module Error Displays and Troubleshooting cont d Serial Command Negative Response Panel Display Error Name Meaning Corrective Action E5DE A A9F Homing Method Unspecified Error The homing method is not specified Homing Start was requested HOME signal was turned ON or ZRN command was exe cuted without setting the homing method Specify the homing method in PnB31 E5EE A A9F Execution Disabled during Program Table Operation Error There was a request to execute a process that is not allowed during program table opera tion while program table operation was in progress or on hold There was an attempt to change the program table while program table operation was in progress or on hold There was a request to start positioning by a serial command while program table opera tion
81. is in progress the remainder of the opera tion remaining distance is put on hold OK PGMRES Program Table Operation Reset When program table operation has been interrupted by the STOP command or other method the PGMRES command can be executed to cancel that operation reset program table opera tion OK 7 7 6 Zone Table Setup Commands The following table shows the Zone Table Setup Commands Zone Table Setup Commands 7 7 Serial Commands Serial Command Function Description Positive Response ZONESTORE Zone Table Save Saves the zone table in flash memory Once ZONESTORE is executed the zone table will be retained after the control power supply is turned OFF Because the zone table is stored in flash memory this command must not be exe cuted frequently OK ZONEINIT Zone Table Initialization Resets all values in the zone table to their factory settings OK ZONEPTzz Zone Table ZONEP Read Reads the ZONEP value positive side zone boundary position zz Zone number ZONE ID ZONEPT123 12345678 CR LF ZONEPTzz nnnnnnnn Zone Table ZONEP Write Sets the ZONEP value positive side zone boundary position zz Zone number ZONE ID Settings 99999999 lt nnnnnnnn lt 99999999 OK ZONENTzz Zone Table ZONEN Read Reads the ZONEN value negative side zone boundary posi tion zz Zone number ZONE ID ZONENT123 12345678 CR L
82. keys to select FnB07 BB ZONE Init 2 Start DATA Press the key to view the FnBO7 operation screen Return SET Press the key to start ZONE table initialization Do not turn off the control power supply until initial BB ZONE Init ization has been completed normally 3 Restoring now ERE To cancel the FnB07 operation press the key e wage before pressing the key The display returns to the Utility Function Mode main menu without executing the operation BB ZONE Init 4 When ZONE table initialization has been completed pisi normally Done is displayed Press SET key BB FUNCTION FnBO6 PGM Ini roy DT 5 x OUR GNE i i MODESET Press the key to return to the Utility Function FnBO8 JSPD Init Mode main menu FnBO9 ZSET Ifthe key is pressed in an operation prohibited state Error is displayed for approximately 2 seconds and then the display returns to the FnB07 operation screen In this case make the setting again by referring to 7 Preparation Operation of Digital Operator 8 17 8 Operation of Digital Operator 8 2 7 JOG Speed Table Initialization FnBO8 8 2 7 1 8 18 JOG Speed Table Initialization FnBO8 This function initializes JOG speed tables and restores the factory settings Preparation The following conditions must be met to initialize JOG speed tables The write prohibited setting Fn010 must not be set to write protect parameters The JOG speed ta
83. o S 5 S Encoder O oll O One turn INDEXER Module CN11 CN12 Host Safety Host Host PE controller unit controller controller Symbol Cable Name Specifications O T O signal cable Shielded cable Safety signal cable Shielded cable Motor main circuit cable Shielded cable amp Encoder cable Shielded cable Main circuit cable Shielded cable 3 8 B Three phase 200 V SGDV OOODAE1A OOO 470 550 590 780 SGDV OCA03A SGDV OODAESA OOO 470 550 590 780 SGDV OCA03A 3 3 EMC Installation Conditions Shield box a E O Brake power supply Fan One turn SERVOPACK Em m l U VW S m E g Brake Power s pply E Noise L1 L2 L3 O hs 5 H O je Three phase 200 VAC amp o ilter O Surge L1C L2C absorber e e CN2 5 8 Encoder oll Regenerative B1 B2 resistor unit CN1 CN8 INDEXER One turn PR Module Clamp CN11 CN12 fe PE Host Safety Host Host controller unit controller controller Symbol Cable Name Specifications T O signal cable Shielded cable Safety signal cable Shielded cable Motor main circuit cable Shielded cable Encoder
84. offset signal adjustment of motor current O detection signal EnOOF Manual offset signal adjustment of motor current O detection signal Fn010 Write prohibited setting O Fn011 Servomotor model display O Fn012 SERVOPACK software version display O Fn013 Multiturn limit value setting change when a multi O i turn limit disagreement alarm A CCO occurs V Series Users Manual Design and Maintenance Rotational Motor Com Fn014 Resetting configuration error in option module O mand Option Attachable Type SIEP Fn01B Vibration detection level initialization O 8800000 60 XV Series User s Manual Design and FnO1E Display of SERVOPACK and servomotor ID O Maintenance Linear Motor Command Fn01F Display of servomotor ID in feedback option module O Pd Attachable Type SIEP S800000 Fn020 Origin setting O Fn030 Software reset O Fn080 Polarity detection O Fn200 Tuning less levels setting O Fn201 Advanced autotuning O Fn202 Advanced autotuning by reference O Fn203 One parameter tuning O Fn204 Anti resonance control adjustment function O Fn205 Vibration suppression function O Fn206 EasyFFT O Fn207 Online vibration monitor O FnBOS3 Program table edit save O 8 2 2 O Possible x Not possible 8 2 Operation of Utility Functions cont d Possible Fn No Function Not Remarks and Reference Possible FnB04 ZONE table edit save O 8 2 3 FnB05 JOG speed table edit save 8
85. phase C input after DEC signal went from active to inactive 4 4 ms min W Only DEC is used for homing PnB31 2 PnB35 Homing Approach Speed PnB37 Homing Creep Speed PnB32 0 Forward i PnB39 Homing Final Move Distange HOME DEC Encoder s phase C gt 4 20 us min when PnB11 0 A 200 us min when PnB11 1 W Only phase C of the encoder is used for homing PnB31 3 PnB35 Homing Approach Speed PnB37 Homing Creep Speed PnB32 0 Forward PnB39 Homing Final Move Distance T t HOME DEC Encoder s phase C Program Table 6 27 6 Program Table 6 6 1 Example of JOG Speed Table Operation 6 28 6 6 1 JOG Speed Table Operation The JOGP signal executes forward operation and the JOGN signal executes reverse operation The JOGO to JOG3 signals select the speed Example of JOG Speed Table Operation The following diagram shows an example of JOG Speed Table operation Speed JOGO IJOG1 oa IJOG3 JOG Speed Table Operation 6 6 JOG Speed Table Operation 6 6 2 JOG Speed Table A total of 16 speeds can be set for JSPDO to JSPD15 If the edited JOG speed table is saved to flash memory it will be saved even after the control power supply is turned OFF Use one of the following methods to save the JOG speed table t
86. power supply while PGMINIT is being executed Execution can take a few seconds to slightly longer than 10 seconds The green LED will flash during execution OK POSTsss POSTsss nnnnnnnn Program Table POS Read Reads the POS value positioning target position sss Program step PGMSTEP Program Table POS Write Sets the POS value positioning target position sss Program step PGMSTEP Settings Annnnnnnn Absolute position Reference units 99999999 lt nnnnnnnn lt 99999999 Innnnnnnn Relative distance Reference units 99999999 lt nnnnnnnn lt 99999999 Snnnnnnnn Continuous stop Reference units 99999999 lt nnnnnnnn lt 99999999 INFINITE or INFINITE JOG forward or JOG reverse STOP Stop No specification POST123 A 12345678 CR LF POST123 1 12345678 CR LF POST123 12345678 CR LF POST123 HINFINITE SP CR LF POST123 STOP SP SP SP SP SP SP CR LF POST123 SP SP SP SP SP SP SP SP SP CR LF OK SPDTsss Program Table SPD Read Reads the SPD value positioning speed sss Program step PGMSTEP SPDT123 12345678 CR LF SPDTsss nnnnnnnn Program Table SPD Write Sets the SPD value positioning speed sss Program step PGMSTEP Settings 1 lt nnnnnnnn lt 99999999 1000 reference units min OK 7 24 Program Table Setup Commands cont d 7 7 Serial Commands
87. the forward direction was requested move to a position where the P E4BE A AOF Moving Disabled Error when P OT was in effect Forward movement OT is not in effect due to P OT is disabled when P OT forward overtravel is When P OT is not being used in effect disable P OT in the parameter PnBOF 3 When N OT is being used Travel in the reverse direction was requested move to a position where the E4CE A A9F Moving Disabled Error when N OT was in effect Reverse movement N OT is not in effect due to N OT is disabled when N OT reverse overtravel is in effect When N OT is not being used disable N OT in the parameter PnB10 3 e Troubleshooting 9 15 9 16 9 Troubleshooting 9 2 2 INDEXER Module Error Displays and Troubleshooting cont d Serial moda Ades Error Name Meaning Corrective Action Response Check the target position speci fication Check the forward software limit in PnB21 The specified target position exceeds the posi Check the moving mode E4DE A A9F M Pisone tion reference of forward software limit set in rotary or linear dd in PnB20 ue to P LS s PnB21 If software limits are not being used either select a rotary moving mode in PnB20 or dis able the software limits by set ting PnB21 PnB23 0 Check the target position speci fication Check the reverse software limit in PnB23 The specified target pos
88. the power supply line by shutting the circuit OFF when a overcurrent is detected Digital operator ane SGDV OOOFE1A INDEXER Module external noise from SERVOPACK the power line Sequence I O signal cable 3 Magnetic contactor Host controller Turns the servo o ud ut 7 UH cnm Connection cable wiser ot g a FL E for digital operator E Connection cable 1 CHARGE 1 n for personal computer Serial command eee cable KJ d I O signal cable Co When not using the safety function use the SERVOPACK with the safety function jumper connector JZSP CVHO5 E provided as an accessory inserted t When using the safety function insert a connection cable specifically for the safety function Choo Safety unit Personal computer z6 Regenerative resistor CI 100 VAC 5 0 zo DC brake power supply Used for a servomotor with a brake Battery case when an absolute encoder is used Magnetic contactor Turns the brake power supply ON and OFF Install a surge absorber y Encoder cable Motor main circuit cable SGMJV SGMAV SGMPS SGMCS Servomotor 1 Usea24 VDC power supply not included 2 Before connecting an
89. the servomotor stops using the same method as Gr 1 When coordinating a number of servomotors use this alarm stop method to prevent machine damage that may result due to differences in the stop method Alarm Reset Capability Available Removing the cause of alarm and then executing the alarm reset can clear the alarm N A Executing the alarm reset cannot clear the alarm 9 1 1 List of Alarms for Command Option Attachable Type SERVOPACKs The SERVOPACK alarm list is shown below For details on the causes of SERVOPACK alarms and the corrective action to take in response to them refer to the following manuals XV Series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 2 V Series User s Manual Design and Maintenance Linear Motor Command Option Attachable Type SIEP S800000 66 Servomotor Alarm Code Output ae Alarm Name Meaning Stop esas play Method IALO1 ALO2 ALO3 A020 Parameter Checksum The data of the parameter in the SERVOPACK Grl N A Error is incorrect The data format of the parameter in the SER A 021 Parameter Format Error VOPACK is incorrect Gr 1 N A A 022 System Checksum The data of the parameter in the SERVOPACK Gri N A OFF OFF OFF Error is incorrect open open open A 030 Main Circuit Detector Detection data for the main circuit is incorrect Gr 1 ydus Error able A 040 Parameter Setting Error The parameter setting is outside the allo
90. to the Utility Function Mode main menu without executing the operation BB ALM Reset MO di EAT s tenetis When alarm resetting or alarm history clearance is 5 completed the display returns to the Mode selection Start DATA screen Return SET Ifthe key is pressed in an operation prohibited state Error is displayed for approximately 2 seconds and then the display returns to the FnBOC operation screen In this case make the setting again by referring to 7 Preparation Operation of Digital Operator 8 25 8 26 8 Operation of Digital Operator 8 2 11 INDEXER Alarm Reset FnBOC cont d Step Display after Operation Keys Operation BB FUNCTION 6 PE TUE ERR MODESET Press the key to return to the Utility Function FnBOC ALM Reset co Mode main menu FnBOD Indexer ALM FnOOO AIm History 8 2 12 INDEXER Alarm History Display FnBOD This function displays the history of alarms that have occurred at the SERVOPACK and INDEXER Module Preparation None Operating Procedure 8 2 Operation of Utility Functions Step Display after Operation Operation BB FnBOC 1 FnBOD FUNCTION ALM Reset Indexer ALM FnOOO Fn002 Alm History JOG Press the key to open the Utility Function Mode main menu and move the cursor with the keys to select FnBOD BB ALM Trace ALMO A F10 2 ALM1 E
91. was in progress or on hold Request execution of the process again after cancelling program table operation by turning the PGMRES signal ON E5FE A A9F Session Conflict Error There was a request that could not be executed at the same time as the function that was being executed Example There was a request to start program table operation while the program table was being initialized Execute the operation again after the execution of the current func tion is completed E61E A A9F Encoder Mismatch Error There was a request that was incompatible with the connected encoder Examples An Absolute Encoder Reset ABSPGRES command was requested when an incre mental encoder is connected Homing Start was requested HOME signal was turned ON or ZRN command was exe cuted when an absolute encoder is con nected An absolute encoder can be used as an incremental encoder if parameter Pn002 2 1 Check the encoder E62bE A A9F No A CCO Alarm Occurred Error A Multi turn Limit Setting MLTLIMSET command was requested even though alarm A CCO has not occurred Alarm A CCO indicates that Pn205 does not match the setting in the encoder after the multi turn limit setting in Pn205 was changed and the control power supply was turned OFF and ON Use the Multi turn Limit Setting operation to adjust the setting in the encoder to match Pn205 only after alarm A CCO has occurred E63E A A
92. x ALMn O Fn002 JOG operation O x O Fn003 Origin search O x O Fn004 Program JOG operation O x O dro O Fn005 Initializing parameter settings x PRMINIT O f O Fn006 Clearing alarm history x ALMTRCCLR O Absolute encoder multi turn reset and encoder alarm O Se ee Q ABSPGRES S FnOOC Offset adjustment of analog monitor output O x O FnOOD Gain adjustment of analog monitor output O x O Automatic offset signal adjustment of motor current O Fn00E detection d CURZERO 2 FnOOF Manual offset signal adjustment of motor current O Oo detection Fn010 Write prohibited setting O x O Fn011 Servomotor model display O MTTYPE MTSIZE O PGTYPE SVYSPEC O Fn012 Software version display O SVVER PGVER O VER Fn013 Multi turn limit value setting change when a multi O O O turn limit disagreement alarm A CC0 occurs MLTLIMSET Fn014 Resetting configuration error of option module O x O Fn01B Vibration detection level initialization O x O O FnO1E Display of SERVOPACK and servomotor ID O TYPE O Fn01F Display of servomotor ID in feedback option module x x x Fn020 Origin setting O x O Fn030 Software reset O x O Fn080 Polarity detection O x O Fn200 Tuning less level setting O x O Fn201 Advanced autotuning O x O Fn202 Advanced autotuning by reference O x O Fn203 One parameter tuning O x O Fn204 Anti resonance control adjustment function O x O Fn205 Vibration suppression function O x O Fn206 EasyFFT O x O Fn207 Online vibration monitor O
93. x O mnn O FnB03 Program table edit save O PGMSTORE O O FnB04 ZONE table edit save O ZONESTORE O O FnB05 JOG speed table edit save O ISPDSTORE O E Appendix 10 27 10 Appendix cont d Fn No Function PE oi Re aes lees Operator SigmaWin FnBOG Program table initialization O UR O FnBO7 ZONE table initialization O Z an O FnBos JOG speed table initialization O disponen O FnB09 Absolute encoder origin setting O UN x O ALM ERR IN2 OUT2 STS PUN FnBOA INDEXER status monitor O PFB POS DST O RPOS RDST PGM STEP EVTIME LOOP EXE NE O FnBOB INDEXER parameter setting initialization O PRMINIT O O FnBOC INDEXER alarm reset O ARES ALMTRC O CLR a 1 O FnBOD INDEXER alarm history display O ALMn O O Available x Not available These functions are available for the following software versions INDEXER module Version 3 or later SERVOPACK Version 001B or later Note A setting may be write prohibited if the digital operator displays NO OP when any of the above utility function is executed For details refer to the following manuals XV Series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 XV Series User s Manual Design and Maintenance Linear Motor Command Option Attachable Type SIEP S800000 66 10 28 10 5 Alphabetical List of Serial Commands 10
94. 0 Immediately Tuning Compensation Pn148 2nd Model Following Control Gain 10 to 20000 0 1 s 500 Immediately Tuning Pn149 2nd Model Following Control Gain Compensation 500 to 2000 0 1 1000 Immediately Tuning Pn14A Vibration Suppression 2 Frequency 10 to 2000 0 1 Hz 800 Immediately Tuning Pn14B Vibration Suppression 2 Compensation 10 to 1000 1 100 Immediately Tuning Pn14F Reserved Do not change 0011 Anti Resonance Control Related Switch 0000 to 0011 0010 Immediately Tuning 4th 3rd 2nd 4st digit digit digit digit n Anti Resonance Control Selection 0 Does not use anti resonance control 1 Uses anti resonance control Pn160 Anti Resonance Control Adjustment Selection 0 Does not adjust anti resonance control automatically using utility function 1 Adjusts anti resonance control automatically using utility function T Reserved Do not change SSS Reserved Do not change Pn161 Anti Resonance Frequency 10 to 20000 0 1 Hz 1000 Immediately Tuning Pn162 Anti Resonance Gain Compensation 1 to 1000 1 100 Immediately Tuning Pn163 Anti Resonance Damping Gain 0 to 300 1 0 Immediately Tuning eee Filter Time Constant 1 1000 to 1000 0 01ms 0 Immediately Tuning Compensation Pn165 ace nce Filter Time Cotistant2 1000 to 1000 0 01 ms 0 Immediately Tuning Compensation 10 18 10 2 Parameter List for Command Option Attachable Type SERVOPACKs cont d Parameter Setting Factory When No Name Range
95. 0 VAC pine T Um RE provided as an DC brake power supply CT Used for a servomotor with a brake When using the safety function insert a connection cable specifically for the safety function Choo Battery case when an absolute Magnetic contactor l l ey Turns the brake power encoder is used i Safety unit 5 supply ON and OFF uz Install a surge absorber E 8 c o O Van Encoder cable o Motor main circuit cable 5 2 SGMJV SGMAV SGMPS SGMGV SGMSV SGMCS Servomotor 1 Use a24 VDC power supply not included 2 Before connecting an external regenerative resistor to the SERVOPACK refer to 2 V Series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 Note The connections and wiring of the power supply of the main circuit and that ofthe controls differ in accordance with the SERVOPACK to be used For details refer to 2 V Series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 4 3 4 Wiring and Connection 4 1 2 Connecting to SGDV LILICIAE1A SERVOPACK 2 Using a Single phase 200 V Power Supply The 2 V Series SERVOPACK for a 200 V power supply input has input specifications for a three phase power supply but some models can also be used with a single phase 200 V power supply For details refer to 2 V Series User s Manual Design and Ma
96. 00C Input Reference counter reference unit Un00D Feedback pulse counter pulse encoder resolution UnOOE Fully closed feedback pulse counter pulse encoder resolution 5 Un011 Hall sensor signal monitor HALLSENS Un012 Total operation time 100 ms Un013 Feedback pulse counter reference unit Un014 Effective gain monitor gain setting 1 1 gain set o ting2 2 Un015 Safety I O signal monitor Motor rated rotational speed 2d Un020 Rotational servomotors m _ Motor rated speed Linear servomotors mm s Motor maximum rotational speed E Un021 Rotational servomotors apes Motor maximum speed Linear servomotors mm s Un084 Linear scale pitch pm ES Un085 Linear scale pitch index a 1 For details refer to the following manuals XV Series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 XV Series User s Manual Design and Maintenance Linear Motor Command Option Attachable Type SIEP S800000 66 2 Scale pitch Un084 x 10U 055 pm 10 26 10 4 Utility Functions The following table lists the available utility functions The following utility functions can be executed from a digital operator 10 4 Utility Functions Operation from a Operation Fn No Function the Digital e from the Operator SigmaWin O Fn000 Alarm history display
97. 120 SGDV OCA03A SGDV OODAESA OOD 120 SGDV OCA03A Power supply on Three phase 200 VAC 5 3 3 EMC Installation Conditions Brake S o Shield box Brake power supply SERVOPACK UV WI s m aw cH ba Es Es 5 pow L1 L2 L3 D m o Ro 9 Surge L1C L2C One turn absorber A g E CN2 E 5m o o CN8 I INDEXER Core Module I Two turn Clamp CN11 CN12 o fe Host Safety Host Host controller unit controller controller One turn Servomotor Encoder One turn Core PE Symbol Cable Name Specifications T O signal cable Shielded cable Safety signal cable Shielded cable Motor main circuit cable Shielded cable Encoder cable Shielded cable Main circuit cable Shielded cable n SERVOPACK Installation 3 7 3 SERVOPACK Installation B Three phase 200 V SGDV OODAE1A OOD 180 200 330 SGDV OCA03A SGDV OOODAESA OOD 180 200 330 SGDV OCA03A Shield box Brake power supply One turn SERVOPACK a B a U V W E E Brake Power supply 5 pos L1 L2 L3 8 L6 Three phase 200 VAC o a One turn L1C L2C absorber lA E
98. 19A ALM2 NONE ALM3 NONE Press the key to view the alarm history Note If no alarms occur NONE is displayed BB ALM Trace ALMO A F10 ALM1 E19A ALM2 NONE ALM3 NONE BB ALM Trace ALM1 E19A 3 ALM2 NONE ALM3 NONE ALM4 NONE BB ALM Trace ALM6 NONE ALM7 NONE ALM8 NONE ALM9 NONE Use the keys to scroll the alarm history BB FnBOC 6 FnBOD FUNCTION ALM Reset Indexer ALM FnOOO FnOO2 Alm History JOG MODE SET Press the key to return to the Utility Function Mode main menu Note The alarm history can be cleared by executing the alarm history clearance FnBOC with mode set at ALM His tory described in 8 2 77 INDEXER Alarm Reset FnBOC The alarm history is not cleared by either resetting the alarms FnBOC with mode set at ALM state or by turning the SERVOPACK s control power supply off Operation of Digital Operator 8 27 efesotomasyon com O Troubleshooting This chapter describes troubleshooting 9 1 Troubleshooting 15 3e eds OR OME EY WE c E dicen eee eee Reis 9 2 9 1 1 List of Alarms for Command Option Attachable Type SERVOPACKs 9 2 9 1 2 INDEXER Module Alarm Displays and Troubleshooting llle 9 9 9 2 Warning Displays ueris ike Eom aola e ure rn Rn re Rae Rr ta aed 9 12 9 2 1 List of Warnings for Command Option Attachable Type SERVOPACKs 9 12 9 2 2 IN
99. 2 4 16 6 3 6 11 PGMSTEP 6 4 6 5 6 7 6 9 photocoupler output circuit 4 15 placement 2 4 pollution degree 2 4 3 2 POS 6 5 position error 5 10 positioning 6 5 positioning completed output 5 10 positioning completed output signal 5 10 positioning interruption 7 19 positioning speed 5 14 6 5 7 9 positioning start 7 10 7 11 positioning stop 7 20 positioning table 6 16 target position 6 5 7 9 positioning start 7 10 positioning start with registration 7 14 positive responses 7 7 P OT 4 10 5 5 POUT POUTO to POUT7 6 6 7 21 POUTO to POUT7 4 13 4 16 5 11 6 6 6 23 7 21 power loss power loss in the INDEXER Module 4 22 power specifications 2 4 power supply method 2 4 product overview 2 2 program
100. 2 8 1 2 Changing the Function 0 0 0 teens 8 2 8 1 3 Reading the Screen 22 055 ee eee eee eee dg beeen eee ewe Lra ees 8 3 8 2 Operation of Utility Functions i i ssa rr ahmed em eed 8 4 8 2 1 Uulity F nctlons x 29e Fok cung Er ber P Rs nct d een ee ee Rut 8 4 8 2 2 Program Table Edit Save FnBO3 sslssseeeeee eh 8 6 8 2 3 ZONE Table Edit Save FnB04 lsssleelseeee eee 8 11 8 2 4 JOG Speed Table Edit Save FnB05 cette 8 14 8 2 5 Program Table Initialization FnBO6 0 cee ee 8 16 8 2 6 ZONE Table Initialization FnBO7 0 0 0 cee 8 17 8 2 7 JOG Speed Table Initialization FnBO8 0 ee 8 18 8 2 8 Absolute Encoder Origin Setting FnBO9 0 eee 8 19 8 2 9 INDEXER Status Monitor FnBOA 00 0 eee 8 21 8 2 10 INDEXER Parameter Setting Initialization FnBOB 00 0 8 24 8 2 11 INDEXER Alarm Reset FnBOC 0 000 e eee ene 8 25 8 2 12 INDEXER Alarm History Display FnBOD 0 0 0 0 e eee eee 8 27 a Operation of Digital Operator 8 1 8 Operation of Digital Operator 8 1 1 Functions List 8 1 Overview 8 1 1 Functions List The table below shows whether functions of the digital operator can or cannot be used when an INDEXER Module is installed This chapter describes the operating procedures for the functions indicated with the thick bordered frame in the table below
101. 2 4 FnBO6 Program table initialization O 8 2 5 FnBO7 ZONE table initialization O 8 2 6 FnB08 JOG speed table initialization O 8 2 7 FnBO9 Absolute encoder origin setting O 8 2 8 FnBOA INDEXER status monitor O 8 2 9 FnBOB INDEXER parameter setting initialization O 8 2 10 FnBOC INDEXER alarm reset O 8 2 11 FnBOD INDEXER alarm history display O 8 2 12 O Possible x Not possible Operation of Digital Operator 8 5 8 Operation of Digital Operator 8 2 2 Program Table Edit Save FnB03 8 2 2 Program Table Edit Save FnBO3 This function edits and saves program tables Saving a program table to flash memory after editing it ensures that the data will be retained even after the control power has been turned off B Codes Displayed on the Program Table Editing Screen For details on how to read the screen refer to 8 1 3 Reading the Screen PGMSTEP POS SPD RDST RSPD ACC DEC POUT EVENT LOOP NEXT 0 POSO00 SPD000 RDSTO00 RSPD000 ACCO00 DECO00 POUTOO0 EVTOOO LOOPO000 NEXTOOO 1 POSO01 SPD001 RDSTO01 RSPD001 ACCOO DECOOI POUTOO EVTOO1 LOOPO001 NEXTOOI 255 POS255 SPD255 RDST255 RSPD255 ACC255 DEC255 POUT255 EVT255 LOOP255 NEXT255 1 Preparation 8 6 The following conditions must be met to edit and save program tables The write prohibited setting Fn010 must not be set to write protect parameters The prog
102. 28 9 Troubleshooting Problem Probable Cause Overtravel OT cont d Incorrect linear servomotor stop method selection Investigative Actions Check Pn001 0 and Pn001 1 when the linear servomotor power is OFF cont d Corrective Actions Select a linear servomotor stop method other than coast to stop Check Pn001 0 and Pn001 1 when in force control Select a linear servomotor stop method other than coast to stop Improper Position to Stop by Overtravel OT Signal Improper limit switch position and dog length Install the limit switch at the appropriate position The overtravel limit switch position is too short for the coasting distance Position Error without alarm Noise interference due to improper specifications of the linear scale connection cables Noise interference because the length of the linear scale connection cables is too long Noise influence due to damaged lin ear scale connection cables Excessive noise interference to the linear scale connection cables FG electrical potential varies by influence of such machines on the linear servomotor side as welders SERVOPACK pulse counting error due to noise Excessive vibration and shock to the serial converter unit Noise interference due to improper I O signal cable specifications Noise interference due to length of I O signal cable A serial converter unit faul
103. 3 WARN BK and S RDY are Factory setting output PnB51 After restart 1 Outputs ALO1 to ALO3 WARN BK and S RDY are not out put 5 3 Sequence I O Signals 5 3 5 Servo Ready Output Signal S RDY This signal is turned ON when the SERVOPACK is ready to accept the servo ON S ON signal The S RDY signal is turned ON under the following conditions The main circuit power supply is ON No hard wire base block state No servo alarms Type nd u Setting Meaning ON close SERVOPACK is ready to accept the servo ON signal S ON Output S RDY CN1 25 26 OFF open SERVOPACK is not ready to accept the servo ON P signal S ON The setting of the S RDY signal can be changed with the parameters below Parameter Meaning When Enabled 0 When SERVOPACK is ready photocoupler becomes ON close PnB1E Factory setting is i After restart 1 When SERVOPACK is ready photocoupler becomes OFF open 0 Does not output ALOI to ALO3 WARN BK and S RDY are Factory setting output PnB51 After restart 1 Outputs ALO1 to ALO3 WARN BK and S RDY are not out put 5 3 6 Error Warning Output Signal WARN This is the error or warning signal before an alarm occurs An error signal is output for only 2 seconds A warning signal is output continuously until the cause of the warning is eliminated Refer to 9 2 7 List of Warn ings for Com
104. 3 Servo ON Input When ON power is supplied to the motor When OFF power is not supplied to the motor Note With the Reverse Run Prohibited and Forward Run Prohibited functions the processing required to stop the SER VOPACK is executed by the software In some cases the safety specifications of an application may not fulfill the safety standards Add external safety circuits as necessary 2 3 4 2 O Signal Connections Output Signals Signal Name Pin No Name Function ALM Servo Alarm ALM 4 Servo Alarm Output Turns OFF when an error is detected ANARN SO1 l l Error Warning Warning Signal Output ON for 2 seconds when an error has occurred IWARN 2 ON continuously while a warning is being detected SO1 IBK 23 SO2 Brake Siowal Output Brake interlock controls the brake IBK B p ON when the brake is released SO2 S RDY 25 SO3 Servo Ready Servo Ready Output ON when the control and main circuit power supplies are IS RDY 26 ON and a Servo Alarm has not occurred SO3 Gonn ctor By connecting the shielded wire of the I O signal cable to FG onnector Frame Ground the connector shell it will be connected to the frame ground Shell earth Note The allocation of SO1 SO2 and SO3 can be changed to ALO1 ALO2 and ALO3 by using PnB51 For details refer to 5 3 3 Servo Alarm Output Signal ALM and Alarm Code Output Signals ALO1
105. 3599 PnB23 0 PnB21 4999 PnB23 5000 Starting Starting point point Even when equipment like a rotary table is used if multiple turns cannot be performed set the coordinate as linear type PnB20 0 In this case the values set in PnB21 and PnB23 are the values of the soft limits Pn205 For details on setting the multi turn limit refer to 3 V Series User s Manual Design and IMPORTANT Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 Q When using rotary type coordinates and an absolute encoder set the multi turn limit Parameter Setting and Functions 5 17 5 18 5 Parameter Setting and Functions 5 4 3 Setting Home Position 5 4 3 1 Setting Home Position Set the origin or the difference between the reference coordinates and absolute encoder position the absolute encoder offset for parameter PnB25 Origin Incremental Encoder Absolute Encoder Offset Absolute Encoder En Setting Range Setting Unit Factory Setting When Enabled 99999999 to 99999999 Reference unit 0 After restart When Using an Incremental Encoder When the power is turned ON and when homing is completed the setting for PnB25 is set as the current value When Using an Absolute Encoder Use one of the following methods to set the home position Execute the ZSET serial command Use the FnB09 utility function The function FnB09 is available for the
106. 4 2 Homing JOG Speed Table Input Signals llis 6 24 6 4 3 Parameters Related to Homing 0 0 cece tees 6 26 6 5 MOT se cen aka See sikan Woke oe EARNE PEAREN RE WR ae 6 27 6 6 JOG Speed Table Operation 0000 cee 6 28 6 6 1 Example of JOG Speed Table Operation 2 0000 c eee eee eee 6 28 6 6 2 JOG Speed Table 1 0 0 cette he 6 29 6 6 3 Input Conditions for Homing and JOG Speed Table Operation 6 30 6 6 4 Input Signal Timing Specifications for Homing and JOG Speed Table Operation 6 30 o Program Table 6 1 6 Program Table 6 1 1 Mode Switch Signal IMODE 0 1 6 1 6 1 1 6 1 2 1 6 2 Program Table This section explains program table In this section the word open or close shown in parentheses in parameter descriptions indicates that the contact is open or closed Mode Switch Signal IMODE 0 1 If the MODE 0 1 input signal is active the mode is set to program table operation mode Mode 0 Signal Specifications Type Signal Name ead Setting Meaning ON close Mode 0 program table operation mode Input MODE 0 1 CN11 3 i i p OFF open e homing JOG speed table operation Related Parameters The relationship between the ON OFF and active inactive statuses of signals can be set with the parameter below Parameter Meaning When Enabled 0 Factory setting When input signal is ON
107. 5 CR LF NEXTT123 END SP SP CR LF NEXTTsss nnn Program Table NEXT Write Sets the NEXT value link destination sss Program step PGMSTEP Settings 0 nnn 255 Program step PGMSTEP END End OK Serial Command Communications 7 27 7 28 7 Serial Command Communications 7 7 5 Program Table Operation Commands 7 7 5 Program Table Operation Commands The following table shows the Program Table Operation Commands Program Table Operation Commands Serial Command Function Description Positive Response STARTsss Program Table Operation Start Starts program table operation from program step sss sss Program step PGMSTEP When program table operation has been interrupted by the STOP command or other method the STARTsss command can be executed to cancel that operation and simultaneously start a new program table operation from program step sss OK START Program Table Operation Restart When program table operation has been interrupted by the STOP command or other method the START command can be executed to restart that operation clearing the hold state If program table operation was canceled or ended the START command will start a new program table operation from the pro gram step sss that was specified in the last STARTsss com mand OK STOP Program Table Operation Interruption Interrupts a program table operation When a positioning
108. 5 Alphabetical List of Serial Commands The following table lists the usable serial commands in alphabetical order For more details on the serial commands refer to 7 7 Serial Commands Serial Command Function Reference ABSPGRES Absolute Encoder Reset 7 7 8 ACCnnnnnnnn Acceleration Specification 7 7 2 ACCTsss Program Table ACC Read 7 1 4 ACCTsss Program Table ACC Write 7 1 4 ALM Alarm or Warning Read 7 7 8 ALMn Alarm History Read 7 7 8 ALMTRCCLR Alarm Trace Clear 7 7 8 ARES Alarm Reset 7 7 1 CURZERO Motor Current Zero Adjustment 7 7 8 DBRMS Dynamic Brake Load Ratio Monitor 7 7 8 DECnnnnnnnn Deceleration Specification 7 3 2 DECTsss Program Table DEC Read 7 7 4 DECTsss Program Table DEC Write 7 1 4 DST or MON9 Target Distance Monitor 7 7 8 ERR Most Recent Error Read 7 7 8 EVENTTsss Program Table EVENT Read 7 1 4 EVENTTsss Program Table EVENT Write 7 7 4 EVTIME Program EVENT Elapsed Time Monitor 7 7 8 HALLSENS Hall Sensor Monitor For Linear Servomotors 7 7 8 HOLD Positioning Interruption 7 7 2 IN1 SERVOPACK Input Signal Monitor CN1 7 7 8 IN2 INDEXER Module Input Signal Monitor CN11 7 7 8 IN2TESTbbbbbbbbbbb INDEXER Module Input Signal Specification CN11 7 7 8 IN3 Safety Function Input Signal Monitor 7 7 8 JOGPnnnnnnnn JOG Forward 772 JOGNnnnnnnnn JOG Reverse 7 7 2 JSPDINIT JOG Speed Table Initialization 73 3 JSPDSTO
109. 7 35 POUT 36 Wiring and Connection 4 13 4 Wiring and Connection 4 2 2 Interface Circuits 4 2 2 Interface Circuits This section shows examples of SERVOPACK I O signal connection to the host controller 1 Interfaces with Sequence Input Circuits The sequence input circuit interface connects through a relay or open collector transistor circuit Select a low current relay otherwise a faulty contact will result INDEXER Module and INDEXER Module and SERVOPACK SERVOPACK 24 VDC 24 VICOM 24 VDC 24 VICOM 50 mA min Z 3 3kQ 50 mA min 3 3kQ gt _ L vast ES vast R E x J CN1 0 CN1 0 CN11 0 START STOP CN11 0 START STOP HOME etc HOME etc INDEXER Module and Alternative configurations INDEXER Module and SERVOPACK SERVOPACK 24 VDC 24 VICOM 24 VICOM 50 mA min L 33kQ X 33k0 gt D CN1 0 gt T T z CN11 0 Vit ENTE wast L gt gt K START STOP START STOP HOME etc Ta HOME etc 24 VDC 50 mA min 4 14 4 2 O Signal Connections 2 Interfaces with Output Circuits The SERVOPACK signals use the following types of output circuits Construct an input circuit on the host controller side to match the output circuit Connecting to a Photocoupler Output Circuit Connect a photocoupler output circuit
110. 7 YASKAWA AC Servo Drives V Series USER S MANUAL INDEXER Module Model SGDV OCA03A OO O0 OO OO d Ej Ej Ej K Iz vr mE EE E T MANUAL NO SIEP C720829 02C Overview Specifications SERVOPACK Installation Wiring and Connection Parameter Setting and Functions Program Table Serial Command Communications Operation of Digital Operator Troubleshooting Appendix Copyright O 2009 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 About this Manual This manual describes information required for designing trial operating adjusting and maintaining the INDEXER Module for Z V
111. 8E2 Polarity Detection Range 1 to 65535 1 mm 10 Immediately Tuning Pn4902 Polarity Detection Load Level 0 to 20000 196 100 Immediately Tuning Pn4957 Polarity Detection Confirmation Force Reference 0 to 200 196 100 Immediately Tuning Pn498 Polarity Detection Allowable Error Range 0 to 30 1 deg 10 Immediately Tuning Pn501 Reserved Do not change 10 Pn502 Reserved Do not change 20 Pn503 Reserved Do not change 10 Pn506 Brake Reference Servo OFF Delay Time 0 to 50 10 ms 0 Immediately Setup Pn507 Brake Reference Output Speed Level 0 to 10000 1 min 100 Immediately Setup Pn508 De Time f r Brake Signal when Motor R n 10 to 100 10 ms 50 Immediately Setup Pn509 Instantaneous Power Cut Hold Time 20 to 1000 1 ms 20 Immediately Setup Pn50A Reserved Do not change 8881 E Pn50B Reserved Do not change 8888 Pn50E Reserved Do not change 3000 Pn50F Reserved Do not change 1200 Pn510 Reserved Do not change 0000 Pn511 Reserved Do not change 8468 Pn512 Reserved Do not change 0000 Pn513 Reserved Do not change 0000 Pn517 Reserved Do not change 0000 0 to 1 Pn51B n id ub nl Level Between Servo dos 1824 reference 1000 Immediately Setup 2 unit Pn51E Excessive Position Error Warning Level 10 to 100 196 100 Immediately Setup 1 to 1 Pn520 Excessive Position Error Alar
112. 9 14 9 3 Troubleshooting Malfunction Based on Operation and Conditions 9 19 Chapter TO ADD cc cote te T ae en d NR EB AE NU M dee 10 1 10 1 Parameter List for INDEXER Module 0 0000s 10 2 10 2 Parameter List for Command Option Attachable Type SERVOPACKs 10 9 10 3 Monitor Modes 2 2 0 0 0 0 RR rs 10 26 10 4 Utility FUNCHONS uus dat aceite de eam en are cR ees 10 27 10 5 Alphabetical List of Serial Commands 0000000000 ae 10 29 10 6 Parameter Equivalence List for INDEXER Modules for SGDV SERVOPACKs and INDEXER Modules for SGDH SERVOPACKs sss 10 32 Incgxo os o div cls a Ae Ss SA eM ere tie Be os ee ee A Index 1 Revision History xvii efesotomasyon com 1 Overview This chapter gives an overview of the INDEXER Module and describes how to check parts upon delivery 1 1 Checking Products on Delivery 00 0 cee e eee 1 2 1 2 Nameplate and Model Designation 2 00 c eee eee 1 3 1 3 Nameplate Location 00 00 c eens 1 4 Overview 1 1 1 2 1 Overview 1 1 Checking Products on Delivery 1 When the INDEXER Module is Not Connected to the SERVOPACK 1 Mount the INDEXER Module to the SERVOPACK as described in the enclosed 2 V Series INDEXER Module Installation Guide TOBP C720829 02 For the location of the nameplate refer to 1 3 Nameplate Location 2 Check the nameplate to confirm that the product is the one that was ordered For t
113. 9F Continuous Stop Execution Disabled Error An attempt was made to execute a continuous stop under conditions where it could not be executed Examples The coordinates have been set to linear mov ing method The immediately preceding table target posi tion is not INFINITE The immediately preceding table target posi tion is INFINITE but the registration dis tance is set A value other than 1 has been set for the exe cution count Execute a continuous stop under conditions where it can be exe cuted 9 18 9 3 Conditions 9 3 Troubleshooting Malfunction Based on Operation and Conditions Troubleshooting Malfunction Based on Operation and Troubleshooting for the malfunctions based on operation and condition is provided in this section Be sure to turn OFF the servo system before troubleshooting items outlined in bold in the table Rotational Servomotors 1 Problem Probable Cause Investigative Actions Corrective Actions The control power supply is not Check the voltage between control Correct the wiring so that the con Wiring of I O signal connector CN1 is faulty or disconnected Servomotor or encoder wiring is disconnected ON power supply terminals The main circuit power supply is Check the voltage between main not ON circuit power supply terminals Check if the connector CN1 is prop Correct the connector CN1 connec
114. A lt 32551 10 bit scale PGTYPE 0000xx0A Pn20A lt 16275 13 bit scale PGTYPE 0000xx0D Pn20A lt 2034 efesotomasyon com 6 SSS SS naX Program Table The chapter describes how to set and operate a program table 6 1 Program Table 2 iura Seed o ds betas wh ee ote senesced seed Pees 6 2 6 1 1 Mode Switch Signal IMAMODE 0 1 ssssssesess eh 6 2 6 1 2 Input Signals for Program Table Operation llis 6 2 6 1 3 Program Table Step Selection slilslel eee 6 4 6 1 4 Program Table Settings 20 0 22 e eee ee I ne 6 5 6 1 5 Examples of EVENT Conditions 0 0 0 eee 6 8 6 1 6 Program Table Operation 0 cect eee 6 9 6 1 7 Status Changes in Program Table Operation 0 0 0 aaran 6 10 6 1 8 Input Signal Timing Specifications for Program Table Operation 6 11 6 1 9 Response Times after Turning ON the START STOP Signal 6 12 6 1 10 Program Table Examples ssseeee eae 6 13 6 2 Registration 0000 es 6 19 6 2 1 Registration Timing Specifications leen 6 19 6 2 2 Registration Input Setting lllleeleele ee 6 20 6 2 3 Registration Operation lssesleel 6 20 6 3 ZONE Table Settings desde un am sed ove eod doe Rh REOR es 6 22 6 4 Homing JOG Speed Table sllll eee 6 24 6 4 1 Mode Switch Input Signal MODE 0 1 ssee eee 6 24 6
115. Active gain Ist gain 1 V 2nd gain 2 V OC Completion of position reference distribution completed 5 V not completed 0 V Op External encoder speed 1 V 1000 min Rotational servomotors Reserved Do not change Linear servomotors Reserved Do not change Reserved Do not change 10 12 10 2 Parameter List for Command Option Attachable Type SERVOPACKs cont d Parameter Setting Factory When No Name Range Units Setting Enabled Classification Application Function Select Switch 8 0000 to 7121 4000 After restart Setup 4th 3rd 2nd 1st digit digit digit digit n Lowered Battery Voltage Alarm Warning Selection Rotational Servomotors Outputs alarm A 830 for lowered battery voltage Outputs warning A 930 for lowered battery voltage Reserved Do not change Function Selection for Insufficient voltage Pn008 0 Disables detection of insufficient voltages 4 Detects warning and limits torque by host controller Rotational servomotors Detects warning and limits force by host controller Linear servomotors Detects warning and limits torque by Pn424 and Pn425 Execution by SERVOPACK alone 2 Rotational servomotors Detects warning and limits force by Pn424 and Pn425 Execution by SERVOPACK alone Linear servomotors Warning Detection Selection 0 Detects warning 1 Does not detect any warnings except A 971 Reserved Do not chang
116. Behn BA der dad ofi da d oor ec a 7 3 7 2 1 Block Diagram 32e eek we eek we Oh Ld irae vae fry REA vg 7 3 7 2 2 Setting the Axis Address canoe etree 0000 cc teen eee 7 3 7 2 3 Parameters Related to Serial Communications llle 7 3 7 3 Command Response Format 000 0c cece eee eee eens 7 4 7 4 Global Commands 0 000 cece eens 7 5 7 5 Echoback Response Time ood sewage dte a bea we 7 6 7 6 Response Data Details liliis 7 7 6 1 Positive Responses icol prr RI RIS RR eg Se ee ea ees a 7 7 7 6 2 Negative Responses saei npea cece poe e Rechercher pur ae pees 7 7 7 7 Serial Commands 0 00 ccc eee eee eens 7 8 7 7 1 Basic Operation Commands 00000 cee eee 7 8 7 7 2 Control Commands eer bee ee ee Bee eee ee Bee e 7 9 7 7 3 Parameter Edit Commands 0 00 anaana 7 22 7 7 4 Program Table Setup Commands 0 00 c eee lee 7 24 7 7 5 Program Table Operation Commands 2 00 0c eee eee eee 7 28 7 7 6 Zone Table Setup Commands 0 00 cece ees 7 29 7 7 7 JOG Speed Table Setup Commands 0 00 tees 7 30 7 7 8 Monitor and Utility Function Commands lsslee tees 7 31 Chapter 8 Operation of Digital Operator 0005 8 1 GNO I II 8 2 8 11 Functions Elst tu uuo oe eee md WA AE US 8 2 8 1 2 Changing the Functio uu Ace etc ake tice Wada RR eg pie p draaie Pos AG ede una 8 2 8 1 3 Reading the Screen uu
117. Bit rate PnBO1 Pn801 Response OK PnB02 Pn802 MODE 0 1 PnB03 Pn803 START STOP HOME PnB04 Pn804 PGMRES JOGP PnB05 Pn805 SELO JOGN PnB06 Pn806 SEL1 JOGO PnB07 Pn807 ISEL2 JOG1 PnB08 Pn808 SEL3 JOG2 PnB09 Pn809 ISEL4 JOG3 PnBOA Pn80A SEL5 PnBOB Pn833 SEL6 PnBOC Pn834 SEL7 PnBOD S ON PnBOE Pn80B P OT PnBOF Pn80C N OT PnB10 Pn80D IDEC PnB11 Pn80E RGRT PnB12 Pn80F INPOSITION PnB13 Pn810 POUTO PnB14 Pn811 POUT1 PnB15 Pn812 POUT2 PnB16 Pn813 POUT3 PnB17 Pn814 POUT4 PnB18 Pn815 POUT5 PnB19 POUT6 PnB1A POUT7 PnB1B ANARN PnBIC Pn816 IBK PnBID Pn817 S RDY PnB1E Pn818 Overtravel OT Stop Method PnB1F Pn819 Moving Mode PnB20 Pn81A Linear Type PnB20 0 Forward Software Limit P LS PnB21 Pn81B Rotary Type PnB20 z 0 PnB22 End Point of Rotational Coordinates 10 32 cont d Parameter Name SGDV OCA03A Parameter No NS600 Parameter No Linear Type PnB20 0 Reverse Software Limit N LS PnB23 Pn81C Rotary Type PnB20 z 0 PnB24 Starting Point of the Rotational Coordinates Origin Incremental Encoder PnB25 Pn81D Absolute Encoder Offset Absolute Encoder PnB26 m PnB27 Positioning Registration Speed PnB28 Pn81E PnB29 Acceleration rate PnB2A Pn81F PnB2B Deceleration rate PnB2C Pn820 PnB2D INPOSITION Width PnB2E Pn821 PnB2F NEAR Width PnB30 Pn822 Homin
118. CE marking are recommended for the 24 VDC power supply 2 Install the following noise filter on the power line between the single phase 200 V power supply and the 24 VDC power supply Model number FN2070 6 07 SCHAFFNER 3 For more information on this filter refer to 2 V Series Product Catalog KAEP S800000 42 3 10 3 3 EMC Installation Conditions B Three phase 400 V SGDV OOODE1A OOO 210 260 280 370 SGDV OCA03A SGDV OOODESA OOO 210 260 280 370 SGDV OCA03A Shield box Power supply Single phase 200 VAC Noise filter Brake power supply Clamp One turn Surge absorber Control SERVOPACK a r Bern power J U VW EM IE fen Supply 24 V 0 V 8 8 Servo motor Power supply Three phase 400 VAC L1 L2 L3 Encoder Core CN2 Clamp Surge absorber e One turn Regenerative B1 B2 resistor unit D CN1 CN8 I I INDEXER Core Core Module I PE Two turn Clamp CN11 CN12 Qo Host Safety Host Host controller unit controller controller Symbol Cable Name Specifications 0 T O signal cable Shielded cable Safety signal cable Shielded ca
119. Current Actual Motor Position Monitor PFB 12345678 CR LF POS or MON8 Target Position Monitor POS 12345678 CR LF DST or MON9 Target Distance Monitor DST 12345678 CR LF RPOS or MON10 Registration Target Position Monitor RPOS 12345678 CR LF RDST or MON11 Registration Target Distance Monitor RDST 12345678 CR LF NFB or MON3 Motor Speed Monitor min rotational motor NEB 12345678 CR LF Motor Speed Monitor mm s linear motor TREF or MONS Internal Torque Reference Monitor TREF 12345678 CR LF Speed Reference Monitor min rotational motor NREF or MON4 NREF 12345678 CR LF Speed Reference Monitor mm s linear motor PER or MON2 Position Error Monitor Reference units PER 12345678 CR LF TRMS Cumulative Load Ratio Monitor TRMS 12345678 CR LF RGRMS Regeneration Load Ratio Monitor RGRMS 12345678 CR LF DBRMS Dynamic Brake Load Ratio Monitor DBRMS 12345678 CR LF HALLSENS 1 SP LLH CR LF HALLSENS Hall Sensor Monitor for Linear Motor A number i Status of phase W H or L between 0 and 7 Status of phase V H or L Status of phase U H or L INDEXER Module Model Displ TvpE odule Model Code Di play TYPE 00000A03 CR LF INDEXER Module Model Code 0A03 i a ES YSPEC n Module Special Specification No Dis YSPEC 12345678 CR LF VER 00001234 CR LF VER INDEXER Module Firmware Versio
120. DEXER Module Error Displays and Troubleshooting lees 9 14 9 3 Troubleshooting Malfunction Based on Operation and Conditions 9 19 jo Troubleshooting 9 1 9 2 9 Troubleshooting 9 1 1 List of Alarms for Command Option Attachable Type SERVOPACKs 9 1 Troubleshooting When an alarm has been detected the SERVOPACK stops the servomotor and suspends motor operation When the SERVOPACK detects an alarm the motor is stopped in accordance with the alarm stopping method described below and the alarm status is displayed W Status Displays SERVOPACK Panel Display The SERVOPACK alarm code is displayed Green LED Remains unlit LED Red LED Remains lit Digital Operator The alarm code is displayed at the top left of the screen Response to the Alarm or Warning Read Command ALM Alarm code apan to the Most Recent Error Read No change ommand ERR ALM Signal Becomes active photocoupler OFF ANARN Signal No change B Alarm Stopping Method Gr 1 The servomotor is stopped according to the settings in Pn001 0 if an alarm occurs Pn001 0 is factory set to stop the servomotor by applying the dynamic brake DB Gr 2 The servomotor is stopped according to the setting in PnOOB 1 if an alarm occurs PnOOB 1 is factory set to stop the servomotor by setting the speed reference to 0 The servomotor under torque control will always use the Gr 1 method to stop By setting PnOOB 1 to 1
121. Determine the reference unit according to equipment specifications and positioning accuracy Example 0 01 mm 0 001 mm 0 1 or 0 01 inch A reference input of one pulse moves the table by one reference unit e When the reference unit is 1 um If a reference of 50000 pulses is input the table moves 50 mm 50000 x 1 um 2 Setting Electronic Gear Ratio Parameter Setting and Functions After deciding the reference unit set the electronic gear ratio For details on the setting method refer to the following manuals X V Series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 X V Series User s Manual Design and Maintenance Linear Motor Command Option Attachable Type SIEP S800000 66 If a value smaller than 1 is set the motor may not rotate at its maximum speed Q Electronic gear ratio setting range 1 lt Electronic gear ratio B A lt 4000 And if a value larger than 4000 is set a parameter setting error A 040 alarm occurs IMPORTANT 5 13 5 14 5 Parameter Setting and Functions 5 4 1 Setting Reference Units 3 Setting Speeds in Reference Units Calculate the positioning speed Example Reference unit 0 01 mm Desired positioning speed 15 m min 15000 mm min 1500000 reference units min 0 01 mm Thus the positioning speed setting is 1500 1000 reference units min Specify the positioning speed a
122. EC POUT EVENT LOOP NEXT 0 1 200000 15000 1000 NNNNNNNA SELOT2000 1 1 1 I 200000 30000 1000 NNNNNNAN SELIT2000 2 0 PGMSTEP 0 PGMSTEP 1 i PGMSTEP 1 PGMSTEP 0 LOOP 1 LOOP 1 LOOP 2 2s 28 2s Speed i START STOP SELO SEL1 INPOSITION 7j POUTO POUT1 4 Using ZONE Table 6 1 Program Table PGMSTEP POS SPD RDST RSPD ACC DEC POUT EVENT LOOP NEXT 0 A 500000 30000 1000 NNNZZZZZ ITO 1 1 1 A 000000 30000 E 1000 NNNZZZZZ ITO 1 0 PGMSTEP 0 PGMSTEP 1 PGMSTEP 0 PGMSTEP 1 PGMSTEP 0 Speed START STOP INPOSITION POUTO IPOUT1 POUT2 POUT3 M POUT4 r1 r1 r1 B ZONE Table ZONEN ZONEP ZONEN ZONEP 0 0 0 16 4499995 500004 1 099995 100004 17 0 0 2 199995 200004 18 0 0 3 0 0 19 0 0 4 4299995 300004 20 0 0 5 0 0 21 0 0 6 0 0 22 0 0 7 0 0 23 0 0 8 4399995 400004 24 0 0 9 0 0 25 0 0 10 0 0 26 0 0 m 0 0 27 0 0 12 0 0 28 0 0 13 0 0 29 0 0 14 0 0 30 0 0 15 0 0 31 0 0 Program Table 6 15 6 16 6 Program Table 6 1 10 Program Table Examples 5 Using as Positioning Table
123. F ZONENTzz nnnnnnnn Zone Table ZONEN Write Sets the ZONEN value negative side zone boundary position zz Zone number ZONE ID Settings 99999999 lt nnnnnnnn lt 99999999 OK Serial Command Communications 7 29 7 30 7 Serial Command Communications 7 7 7 JOG Speed Table Setup Commands 7 7 7 JOG Speed Table Setup Commands The following table shows the JOG Speed Table Setup Commands JOG Speed Table Setup Commands Serial Command Function Description Positive Response JSPDSTORE JOG Speed Table Save Saves the JOG speed table in flash memory Once JSPDSTORE is executed the jog speed table will be retained after the control power supply is turned OFF Because the JOG speed table is stored in flash memory this command must not be executed frequently OK JSPDINIT JOG Speed Table Initialization Resets all values in the JOG speed table to their factory settings OK JSPDTdd JOG Speed Table Read Reads the JOG speed table setting for the specified number dd JOG speed number JSPDT123 12345678 CR LF JSPDTdd nnnnnnnn JOG Speed Table Write Sets the JOG speed table setting for the specified number dd JOG speed number Settings 1 lt nnnnnnnn lt 99999999 OK 7 7 Serial Commands 7 7 8 Monitor and Utility Function Commands The following table shows the Monitor and Utility Function Commands Monitor and Utility Function Com
124. Following Control Related Switch 0000 to 1121 om 0100 Immediately Tuning Ath 3rd 2nd 1st digit digit digit digit n Model Following Control Selection 0 Does not use model following control 1 Uses model following control Pn140 Vibration Suppression Selection 0 Does not perform vibration suppression 1 Performs vibration suppression over the specified frequency 2 Performs vibration suppression over two different kinds of frequencies Vibration Suppression Adjustment Selection 0 Does not adjust vibration suppression automatically using utility function 1 Adjusts vibration suppression automatically using utility function Reserved Do not change Pn141 Model Following Control Gain 10 to 20000 0 1 s 500 Immediately Tuning Pn142 Model Following Control Gain Compensation 500 to 2000 0 1 1000 Immediately Tuning pn143 Mode Following Control Bias 01010000 0 1 1000 Immediately Tuning Forward Direction ee 01e Following Control Bias 01010000 0 1 1000 Immediately Tuning Reverse Direction Pn145 Vibration Suppression 1 Frequency A 10 to 2500 0 1 Hz 500 Immediately Tuning E Appendix 10 17 10 Appendix cont d Parameter Setting Factory When No Name Range Units Setting Enabled Classification Pn146 Vibration Suppression 1 Frequency B 10 to 2500 0 1 Hz 700 Immediately Tuning ME Model Following Control Speed Feedforward 01010000 0 1 100
125. GDV SERVOPACKs axis addresses are set in the parameters Parameters Related to Serial Communications The following table shows the parameters that set the communications protocol bit rate and OK response Parameter Meaning When Enabled 0 Full duplex wiring is used for communications method 1 Full duplex wiring is used for communications method Factory setting Echoback is performed for each character 2 Half duplex wiring is used for communications method CR is used as the delimiter Half duplex wiring is used for communications method 3 CR is used as the delimiter Echoback is performed for each character Half duplex wiring is used for communications method PnB00 4 CR is used as the delimiter Echoback is performed for each command A Ner restart 5 Half duplex wiring is used for communications method CRLF is used as the delimiter Half duplex wiring is used for communications method 6 CRLF is used as the delimiter Echoback is performed for each character Half duplex wiring is used for communications method 7 CRLF is used as the delimiter Echoback is performed for each command 8 9 Reserved parameter 0 Factory setting Sets bit rate at 9600 bps Prot 1 Sets bit rate at 19200 bps et a 2 Sets bit rate at 38400 bps Serial Command Communications 7 3 7 4 7 Serial Command Communications cont d Parameter Meaning When Enabled
126. Gr 1 Linear Vibration at the motor speed was able motors detected A 521 Autotuning Alarm Vibration was detected while performing tun Grl Avail ing less function able Maximum Speed The Pn385 setting is greater than the maximum Avail A 550 Gr 1 Setting Error speed able e Troubleshooting 9 3 9 4 9 Troubleshooting 9 1 1 List of Alarms for Command Option Attachable Type SERVOPACKs Servomotor Alarm Code Output Alarm Alarm Alarm Name Meanin Sto Display Method Reset aLo1 ALO2 ALO3 The motor was operating for sev Rotational eral seconds to several tens of sec motors onds under a torque largely exceeding ratings iJ A710 Overload 8 8 Gr2 Avail High Load The linear servomotor was operat able Linear ing for several seconds to several motors tens of seconds under a force largely exceeding ratings Rotational The motor was operating continu notor ously under a torque largely Overload exceeding ratings Avail A 720 1 Gr 1 Low Load hear The linear servomotor was operat able ing continuously under a force motors largely exceeding ratings ON ON ON When the dynamic brake was close close close Rotational applied rotational energy exceeded motors the capacity of dynamic brake A 730 Dynamic Brake resistor Gri Avail A 731 Overload When the dynamic brake was able Linear applied mo
127. I O signal cable g m Regenerative o z l resistor o When not using the safety function use the o SERVOPACK with the safety function jumper x n c connector JZSP CVHO5 E provided as an ne accessory inserted t When using the safety function insert a connection cable specifically for the safety function C gt Safety unit Cable for connecting serial converter unit Serial converter unit Cable for connecting i ea psa hall sensor ay 1 Cable for connecting linear scale Main circuit cable for linear servomotor Wiring and Connection Linear scale not included Linear servomotor with core Before connecting an external regenerative resistor to the SERVOPACK refer to X V Series User s Manual Design and Maintenance Linear Motor Command Option Attachable Type SIEP S800000 66 Note The connections and wiring of the power supply of the main circuit and that of the controls differ in accordance with the SERVOPACK to be used For details refer to XV Series User s Manual Design and Maintenance Linear Motor Command Option Attachable Type STEP S800000 66 4 7 4 Wiring and Connection 4 1 5 Connecting to SGDV LILILIAES5A SERVOPACK 2 Using a Single phase 200 V Power Supply The 2 V Series SERVOPACK for a 200 V power supply input has input specifications for a three phase power supply but some model
128. In some situations the precautions indicated could have serious consequences if not heeded Indicates prohibited actions that must not be performed For example S PROH B ITED this symbol would be used to indicate that fire is prohibited as follows amp Indicates compulsory actions that must be performed For example this Q MAN DATO RY symbol would be used as follows to indicate that grounding is compulsory vi Safety Precautions These safety precautions are very important Read them before performing any procedures such as checking products on delivery storage and transportation installation wiring operation and inspection or disposal Be sure to always observe these precautions thoroughly N WARNING og Never touch any rotating motor parts while the motor is running Failure to observe this warning may result in injury Before starting operation with a machine connected make sure that an emergency stop can be applied at any time Failure to observe this warning may result in injury or damage to the product Never touch the inside of the SERVOPACKs Failure to observe this warning may result in electric shock Do not remove the cover of the power supply terminal block while the power is ON Failure to observe this warning may result in electric shock After the power is turned OFF or after a voltage resistance test do not touch terminals while the charge indicator is ON Residual voltage m
129. L BASIC main menu and move the cursor with the FnBOA Monitor Pico NAR IIR keys to select FnB09 BB ZzSET Pos 00000000 2 Press the key to view the FnB09 operation screen Start DATA Return SET BB ZSET Pos 00001000 Move the cursor with the keys and change the 3 setting for the position whose current position is to be Stert i IDATA replaced with the A v keys Press the key to start origin setting Do not turn off the control power supply until origin BB ZSET setting has been completed normally 4 Storing now To cancel the FnB09 operation press the key before pressing the key The display returns to the Utility Function Mode main menu without executing the operation BB ZzSET 5 When origin setting has been completed normally podus Done is displayed Press SET k e y Ifthe key is pressed in an operation prohibited state Error is displayed for approximately 2 seconds and then the display returns to the FnB09 operation screen In this case make the setting again by referring to 1 Preparation Operation of Digital Operator 8 19 8 20 8 Operation of Digital Operator 8 2 8 Absolute Encoder Origin Setting FnBO9 cont d Step Display after Operation Keys Operation BB FUNCTION 6 De LP TIU MODEISET Press the key to return to the Utility Function FnBO9 ZSET co Mod L FnBOA Monitor ode main menu FnBOB Prm Init 7 Check that the cu
130. MSTEP 0 to 255 PGMSTEP Selection Signal Status ISEL7 SEL6 SEL5 ISEL4 SEL3 SEL2 SEL1 SELO 0 Em ms S ES zu ES 1 Active 2 Active 3 Active Active 4 Active 5 Active Active 6 Active Active 7 Active Active Active 8 Active 9 Active Active 10 Active Active 11 Active Active Active 12 Active Active 13 Active Active Active 14 Active Active Active 15 Active Active Active Active 16 Active 254 Active Active Active Active Active Active Active 255 Active Active Active Active Active Active Active Active Note The symbols indicate an inactive input status 6 1 Program Table 6 1 4 Program Table Settings This section explains the program table settings If the edited program table is saved to flash memory it will be saved even after the control power supply is turned OFF Use one of the following methods to save the program table to flash memory Execute the PGMSTORE serial command Select Save Program Table from SigmaWin
131. RE JOG Speed Table Save 7 7 7 JSPDTdd JOG Speed Table Read 7 1 7 JSPDTdd JOG Speed Table Write TATE LOOP Program Table LOOP Pass Through Monitor 7 7 8 LOOPTsss Program Table LOOP Read 7 1 4 LOOPTsss Program Table LOOP Write 7 1 4 MLTLIMSET Multi turn Limit Setting 7 7 8 MONn Monitor Read 7 7 8 MTSIZE Monitor Capacity Display 7 7 8 MTTYPE Motor Model Code Display 7 7 8 NEXTTsss Program Table NEXT Read 7 7 4 NEXTTsss Program Table NEXT Write 7 1 4 NFB or MON3 Motor Speed Monitor 7 7 8 NREF or MON4 Speed Reference Monitor 7 7 8 OUT1 SERVOPACK Output Signal Monitor CN1 7 7 8 E Appendix 10 29 10 Appendix 10 30 Serial Command Function Reference OUT2 INDEXER Module Output Signal Monitor CN11 7 7 8 OUT2TESTbbbbbbbbb INDEXER Module Output Signal Specification CN11 7 7 8 PER or MON2 Position Error Monitor 7 7 8 PFB or MON7 Current Actual Motor Position Monitor 7 7 8 PGMINIT Program Table Initialization 7 74 PGMRES Program Table Operation Reset 7 7 5 PGMSTEP Program Step PGMSTEP Monitor 7 7 8 PGMSTORE Program Table Save 7 74 PGTYPE Encoder Model Code Display 7 7 8 PGVER Encoder Firmware Version Display 7 7 8 Eo NA LUE Target Position Specification Absolute Position 7 7 2 POS or MON8 Target Position Monitor 7 7 8 POSI nnnnnnnn Target Position Specification Relative Distance 7 7 2 POSTsss Program Ta
132. RVO PACK will be set for position control It is not necessary to set parameters related to speed control or torque control so those parameters should not be changed After the INDEXER Module is installed it will take up to 10 seconds before the SERVOPACK starts up for the first time because the parameters are set automatically the first time that the power is turned ON ee Digit Description Setting Description Torque Limit Reference Selection for Com Torque limit references from command option Pn002 0 0 ji mand Option Module modules are not used When the encoder being used is a single turn Pn205 Multi turn Limit 0 absolute encoder and also Pn002 2 0 zero is automatically set Pn207 3 COIN Output Timing 1 0 Reserved Do not change 1 1 Reserved Do not change 8 Pn50A 2 Reserved Do not change 8 3 P OT Signal Mapping 8 Not used 0 N OT Signal Mapping 8 Not used 1 Reserved Do not change 8 E Pn50B 2 P CL Signal Mapping 8 Not used 3 N CL Signal Mapping 8 Not used Positioning Completion Signal Mapping 0 COIN 0 Not used 1 us M m Signal 0 Not used ROMS S Rotation D ion Signal ervomotor Rotation Detection Signa 2 Mapping TGON 0 Not used 3 Servo Ready Signal Mapping S RDY 0 or3 e EE Module sets a value matched to Torque Limit Detection Signal Mapping 0 CLT 0 Not used 1 Speed Limit Detection
133. Signal Mapping 0 Not used VLT ae The INDEXER Modul l hed 2 Brake Signal Mapping BK 0 or 2 SOM sets a vau mateaed to PnB51 3 Warning Signal Mapping WARN icr A uem Module sets a value matched to 0 Near Signal Mapping NEAR 0 Not used 1 Reserved Do not change 0 Pn510 2 Reserved Do not change 0 3 Reserved Do not change 0 e Input Signal 3 Mapping for Command Option 9 Module SI3 n pond 1 Input Signal 4 Mapping for Command Option Boni oe The INDEXER Module sets a value matched to eae Module S14 DUST PnB12 n 2 Input Signal 5 Mapping for Command Option AgrSorB The INDEXER Module sets a value matched to Module S15 PnB11 Input Signal 6 Mapping for Command Option 3 Module S16 8 Nor used Parameter Setting and Functions 5 3 5 4 5 Parameter Setting and Functions Parameter No Digit Description Setting Description 0 Output Signal Inversion for CN1 1 or 2 Oorl The INDEXER Module sets a value matched to Terminals PnB1C and PnBS1 1 Output Signal Inversion for CN1 23 or 24 dod The INDEXER Module sets a value matched to Pn512 Terminals x PnB1D and PnB51 2 Output Signal Inversion for CN1 25 or 26 Oorl The INDEXER Module sets a value matched to Terminals 9 PnB1E and PnB51 3 Reserved Do not change 0 0 ALOI Output Signal Mapping Oorl Pn517 1 ALO2 Output Signal Mapping 0 or2 The INDEXER Module sets a value matched to 2 ALOS3 Output Signal Ma
134. TI 4 nnnnnnnn Positioning Start Relative Position 7 7 2 STOP Program Table Operation Interruption 31 9 STS or MON6 Status Flag Monitor 7 7 8 SVOFF Servo OFF Tell SVON Servo ON 7 71 SVTYPE SERVOPACK Model Code Display 7 78 SVVER SERVOPACK Firmware Version Display 7 7 8 SVYSPEC SERVOPACK Special Specification No Display 7 7 8 TREF or MON5 Internal Torque Reference Monitor 7 7 8 TRMppp Temporary Parameter Write TAS TRMS Cumulative Load Ratio Monitor 7 7 8 TYPE INDEXER Module Model Code Display 7 7 8 VER INDEXER Module Firmware Version Display 7 7 8 YSPEC INDEXER Module Special Specification No Display 7 7 8 ZONEINIT Zone Table Initialization 7 7 6 ZONENTzz Zone Table ZONEN Read 7 7 6 ZONENTzz Zone Table ZONEN Write 7 7 6 ZONEPTzz Zone table ZONEP Read 7 7 6 ZONEPTzz Zone Table ZONEP Write 7 7 6 ZONESTORE Zone Table Save 7 7 6 ZRN Homing Start 1 1 2 ZSET nnnnnnnn Coordinates Setting TAD E Appendix 10 31 10 Appendix 10 6 Parameter Equivalence List for INDEXER Modules for SGDV SERVOPACKs and INDEXER Modules for SGDH SERVOPACKs The equivalence list for INDEXER Modules SGDV OCA03A for SGDV SERVOPACKs and INDEXER Modules NS600 for SGDH SERVOPACKs is presented below Parameter Name d NS600 Parameter No Axis Address Selection FRUI Rotary Switch ADRS setting range 1 to F Serial Communication Protocol PnB00 Pn800
135. The information described in product catalogs or manuals is provided for the purpose of the customer pur chasing the appropriate product for the intended application The use thereof does not guarantee that there are no infringements of intellectual property rights or other proprietary rights of Yaskawa or third parties nor does it construe a license 4 Yaskawa shall not be responsible for any damage arising from infringements of intellectual property rights or other proprietary rights of third parties as a result of using the information described in catalogs or man uals xii 3 Suitability for Use 1 It is the customer s responsibility to confirm conformity with any standards codes or regulations that apply if the Yaskawa product is used in combination with any other products The customer must confirm that the Yaskawa product is suitable for the systems machines and equipment used by the customer Consult with Yaskawa to determine whether use in the following applications is acceptable If use in the application is acceptable use the product with extra allowance in ratings and specifications and provide safety measures to minimize hazards in the event of failure Outdoor use use involving potential chemical contamination or electrical interference or use in condi tions or environments not described in product catalogs or manuals Nuclear energy control systems combustion systems railroad systems aviation sy
136. Units Setting Enabled Classification Tuning less Function Related Switch 0000 to 2411 x 1401 4th 3rd 2nd 1st digit digit digit digit n Tuning less Function Selection Disables tuning less function Enables tuning less function Bue Classification After restart Setup When e Pn170 Classification Uses as speed control After Tuning less Tuning Level RE Classification Tuning less Load Level Ed g Classification Pn181 Mode Switch Speed Reference 0 to 10000 mm s 0 Immediately Tuning Pn182 2 Mode Switch Acceleration 0 to 30000 1 mm s2 0 Immediately Tuning Pn190 Reserved Do not change 0010 Pn200 Reserved Do not change 0100 Pn205 Multi turn Limit 0 to 65535 1 rev 65535 After restart Setup Pn207 Reserved Do not change 1010 Setup Pn20A Number of External Encoder Pitch 4 to 1048576 Pitch rev 32768 After restart Setup 1 to Pn20E Electronic Gear Ratio Numerator 1073741824 1 4 After restart Setup 2 1 to Pn210 Electronic Gear Ratio Denominator 1073741824 1 1 After restart Setup 2 16 to Pn212 Encoder Output Pulses 1073741824 P rev 2048 After restart Setup 2 Pn216 Reserved Do not change 0 After the change and Pn217 Average Movement Time of Position Reference 0 to 10000 0 1 ms 0 also after the Setup motor has stopped Parameter exc
137. Unsecured coupling between x the coupling between machine and machine and servomotor servomotor The I O signal cable must be tinned annealed copper shielded twisted Noise IEPCETGHUR due to mproper pair or shielded multi core twisted I O signal cable specifications j 2 pair cables with a core of 0 12 mm min Noise interference due to length of VO signal cable Check the I O signal cable length An encoder fault occurred The n pulse count does not change A SERVOPACK fault occurred Ambient temperature too high Measure the servomotor ambient temperature Servomotor Servomotor surface dirty Visually check the surface Overheated Servomotor overloaded Check the load status with monitor Check the encoder cable length a rig ala longer than 20 m Check if the encoder cable is bent or Replace the encoder cable and cor if its sheath is damaged rect the encoder cable layout Corrective Actions Use the specified encoder cable Correct the encoder cable layout so that no surge from high current lines is applied Ground machines correctly and prevent diversion to the FG at the PG side Take measures against noise in the encoder wiring Reduce vibration from the machine or secure the servomotor installa tion Secure the coupling between the machine and servomotor Use the specified I O signal cable The I O signal cable must be no longer than 3 m Replace the servom
138. able shows the control commands Control Commands Serial Command Function Description Positive Response POS nnnnnnnn POSA nnnnnnnn The sign can be omitted Target Position Specification Absolute Position Setting range 99999999 lt nnnnnnnn lt 499999999 Reference units Specifies the target position as an absolute position Speed SPDx A POSy or POSz or POSAy POSAz ST ST ST TN When the target position is an absolute position the axis will not move if the same positioning is repeated with ST Xa y y 2 Position coordinate Note If a new target position is specified during positioning the new target position will be used in the next ST command OK POSI nnnnnnnn The sign can be omitted Target Position Specification Relative Distance Setting range 99999999 lt nnnnnnnn lt 99999999 Reference units Specifies the target position as a relative distance Speed spp e POSIy ST ST ST re The same positioning is repeated with ST xd d Hv deo Ho Poi m ei ii E Dx b bty b 2y b 3y Position coordinate Note If a new target position is specified during positioning the new target position will be used in the next ST command OK SPDnnnnnnnn Positioning Speed Specification Setting range 1 nnnnnnnn lt 499999999 1000 reference units min Specifies the positioning speed After the
139. actory setting Immediately 1 HOME or ZRN command is used for homing in reverse direction Note After having completed homing the current position where homing stopped will be switched to the setting of PnB25 6 5 Homing 6 5 Homing Homing starts when the HOME signal becomes active Homing stops if the HOME signal becomes inactive again If the HOME signal becomes active again while the homing is stopped homing will be restarted from the point where it was interrupted The homing will be canceled if operation is switched to JOG speed table mode with the JOGP signal or JOGN signal or the mode is switched with the MODE 0 1 signal while the homing is stopped When parameter PnB31 0 No homing homing will end as soon as the control power supply is turned ON The smaller of the settings in parameter PnB29 Acceleration and PnB2B Deceleration will be used as the homing acceleration and deceleration rate Note 1 When PnB31 is set to 0 homing cannot be done by the HOME signal If so an ESDE error will occur 2 Homing is available when an incremental encoder is used When an absolute encoder is used an E61E error will occur if the HOME signal is active W DEC and phase C of the encoder are used for homing PnB31 1 PnB33 Homing Moving Speed PnB32 0 Forward N PnB35 Homing Approach Speed PnB37 Homing Creep Speed PnB39 Homing Final Move Distange HOME IDEC Encoder s phase C i First
140. aning Setting Mode 0 Mode 1 Starts program table operation when START STOP signal is ON close 2 PnB04 B Stops program table operation when START STOP signal Starts homing when input signal is ON Nase is OFF open Starts program table operation when START STOP signal is OFF open F 1 Stops program table operation when START STOP signal Starts homing when ipit signal is OEF open is ON close 2 3 Does not start program table operation Does not start homing PGMRES JOGP 0 to 3 0 After restart 6 1 2 6 4 2 Meaning Setting Mode 0 Mode 1 0 inde E UM pe el Li ba Executes JOG operation in the forward direction when PnB05 En P PSOE P input signal is ON close ation is canceled Rossis progr m table operation by swiiching PGMRES Executes JOG operation in the forward direction when 1 signal from ON close to OFF open Program table oper n input signal is OFF open ation is canceled 2 3 Does not reset program table operation Does not execute JOG operation SELO JOGN 0to3 0 After restart 6 1 2 6 4 2 i Meaning Setting Mode 0 Mode 1 0 When input signal is ON close program table selection Executes JOG operation in the reverse direction when input PnB06 signal SELO becomes active signal is ON close 1 When input signal is OFF open program table selection Executes JOG operation in the reverse direction when input signal SELO becomes active signal is OFF open Program table s
141. ar in such a state this alarm occurs motors when the position references are input and the number of position error pulses exceeds the value set for parameter Pn520 Excessive Position Error Alarm Level Alarm occurs when an Option Module for Fully closed Loop Control is mounted 9 1 Troubleshooting Servomotor Alarm Code Output Ka aali Alarm Name Meaning Stop ANEN isplay Method Reset ALO1 ALO2 ALO3 A d10 Motor load Position Position error between motor and load is exces Gr2 Avail Error Pulse Overflow sive when fully closed position control is used able ON ON OFF The position feedback data exceeded close close open A d30 Position Data Overflow 41879048192 Gr 1 N A Command Option Communications initialization failed between Avail A E00 Module IF Initialization the SERVOPACK and the command option Gr 2 able Timeout Error module Command Option An synchronization error occurred between the Avail A E02 Module IF SERVOPACK and the command option mod Gr 1 2 Synchronization Error 1 ule NUES Option An error occurred in the data of communica Avail A E03 Cormmunibatiuns Data tions between the SERVOPACK and the com Gr 1 able E mand option module rror m E E Option An error occurred in establishing communica Avail A E40 Communications e dn ob E and Gr 2 able Setting Error 2 E Command Option An error oc
142. ards for mounting SERVOPACKs in control panels including those for the mounting SER VOPACKs side by side in one control panel as shown in the following illustration SERVOPACK Mounting Orientation Mount the SERVOPACK vertically to the base with the front panel the side with the panel operator display facing out Cooling Refer to the following diagram and leave sufficient space for cooling by fans and natural convection Mounting SERVOPACKs Side by Side in a Control Panel Fan Fan KN 7 04 KN 7 04 40 mm or more 30 mm or more Width varies with SERVOPACK model 40 mm or more Leave sufficient space on each side and at the top and the bottom of each SERVOPACK The width on each side varies in accordance with the models of the SERVOPACKs used Side SERVOPACK Model SGDV Top and Bottom Left Right R70F R90F 2R1F R70A R90A 1R6A 2R8A 1 mm or more 2R8F 3R8A 5R5A 7R6A 1 mm or more 10 mm or more 120A 180A 200A 330A 470A 550A 590A 780A AU mim on more 1R9D 3R5D 5R4D 8R4D 120D 170D 210D 260D 10 mm or more 280D 370D Also install cooling fans above the SERVOPACKs to disperse local pockets of warmer air around the SERVO PACKs Inside the Control Panel The conditions inside the control panel should be the same as the environmental conditions of the SERVO PACK Refer to 3 1 1 Installation Enviro
143. are shown I O Signal Names and Functions The following table shows the names and functions of I O signals Q Provide an external power supply the SERVOPACK and INDEXER Module do not have an internal 24 V power supply Yaskawa recommends using the same external power supply as that used for output cir IMPORTANT cuits Confirm the characteristics of relays and other mechanical contacts before using a power supply Input Signals Signal Pin No Name Function Name Overtravel prohibited N OT 9 Reverse Run Prohibited Stops servomotor when movable part travels beyond the allowable range of motion IALM RST 7 Alarm Reset Input Overtravel prohibited P OT 8 Forward Run Prohibited Stops servomotor when movable part travels beyond the allowable range of motion IDEC 10 Homing Deceleration Homing Deceleration Limit Switch Limit Switch Input Connects to the deceleration limit switch for homing Not used 11 Registration Latch RGRT 12 Registration This is a latch signal used for registration external position ing Used to input control power supply for sequence signals 424VIN 6 Control Power Input for Operable range 11 V to 25 V Sequence Signals Note The 24 V power supply must be prepared by the customer BAT 14 Battery Input Used to connect an absolute encoder s backup battery BAT 15 Battery Input Connect to CN8 or pins 14 and 15 of CNI Servo ON S ON 1
144. ation 0 eee 6 10 6 1 8 Input Signal Timing Specifications for Program Table Operation 6 11 6 1 9 Response Times after Turning ON the START STOP Signal 6 12 6 1 10 Program Table Examples sesti noa sceana T a aia eR ae 6 13 6 2 Registrations cir kenossa name UM s Prae B See a eS A a denda 6 19 6 2 1 Registration Timing Specifications 0 eae 6 19 6 2 2 Registration Input Setting llle 6 20 6 2 3 Registration Operation 1 teeta 6 20 6 3 ZONE Table Settings om ato aer ahha tanks b ER oc le aud aet Sop we 6 22 6 4 Homing JOG Speed Table 22 0 ee 6 24 6 4 1 Mode Switch Input Signal MODE 0 1 lisse 6 24 6 4 2 Homing JOG Speed Table Input Signals lle eese 6 24 6 4 3 Parameters Related to Homing lssleeleee ee 6 26 6 5 HoIinde sos 0 lice dox e RE aie EC beg ul aene A UR a dee b Seed 6 27 6 6 JOG Speed Table Operation 0 00000 eee 6 28 6 6 1 Example of JOG Speed Table Operation llle 6 28 6 6 2 JOG Speed Tables renes Ds eR erre XU qae ee eS 6 29 6 6 3 Input Conditions for Homing and JOG Speed Table Operation 6 30 6 6 4 Input Signal Timing Specifications for Homing and JOG Speed Table Operation 6 30 XV xvi Chapter 7 Serial Command Communications 000 7 1 7 1 CN12 Connector Specifications llle 7 2 Tid Selle martio hn bla aeos eade Pared to eti
145. ation mode MODEO0 1 must be set to 0 before HOME JOGP or JOGN is set to 1 IN3 01010101 CR LF 0 Photocoupler OFF IN3 2 Safety Input Signal Monitor FEhoweouplen ON Bit 0 HWBBI Bit 1 HWBB2 Bit 2 to Bit 7 Not used indefinite 2 IN3 command is available for firmware version 3 and later 7 32 7 7 Serial Commands Monitor and Utility Function Commands cont d Serial Command Function Description Positive Response OUTI 01010101 CR LF 0 Photocoupler OFF 1 Photocoupler ON Bit 0 ALM OUT1 SERVOPACK Output Signal Monitor Bit 1 WRN Bit 2 BK Bit 3 S RDY Bit 4 ALO Bit 5 ALO2 Bit 6 ALO3 Bit 7 Not used Always 0 OUT2 101010101 CR LF 0 Photocoupler OFF 1 Photocoupler ON Bit 0 INPOSITION OUT2 INDEXER Module Output Signal Monitor Bit I POUTO Bit 2 POUTI Bit 3 POUT2 Bit 4 POUT3 Bit 5 POUT4 Bit 6 POUT5S Bit 7 POUT6 Bit 8 POUT7 INDEXER Module Output Signal Specification Forcibly sets the output signals to the specified status This command is used to check wiring b 0 Photocoupler OFF b 1 Photocoupler ON Bit 0 INPOSITION Bit 1 POUTO Bit 2 POUTI OUT2TESTbbbbbbbbb Bit 3 POUT2 OK Bit 4 POUT3 Bit 5 POUT4 Bit 6 POUTS Bit 7 POUT6 Bit 8 POUT7 OUT2TESTEND Clears the forced signal status Note Error E56E will occur if fewer than 9 digits bbbbbbbbb are specified in the command POUT SP
146. ations 2 2 General Specifications This table lists the general specifications of the INDEXER Module Applicable SERVOPACK X V Series SGDV LILILILILIE SERVOPACK all models Placement Attached to the SERVOPACK Power Specifications Power Supply Method Supplied from the control power supply of the SGDV SERVOPACK Surrounding Air Storage 0 C to 55 C 20 C to 85 C Temperature Ambient Storage Humidity 90 RH or less with no condensation Vibration Shock 2 2 Resistance 4 9 m s 19 6 m s Operating Protection class IP10 Pollution degree 2 Conditions An environment that satisfies the following conditions Protection Class CPRevoboomodvestexnlod enis Pollution Degree ee of corrosive or explosive gases Free of exposure to water oil or chemicals Free of dust salts or iron dust Altitude 1000 m or less Free of static electricity strong electromagnetic fields magnetic fields or exposure to Others ENS radioactivity Program table positioning in which steps are executed sequentially by commands given through contact input or serial communications Program Table Method Positioning in which station numbers are specified by commands given through contact input or serial communications Max Number of 256 Steps Max Control Number of 256 Method Tables Max Number of 256 Stations Serial command by 1 channel ASCII code Serial Communications Communications specificat
147. ay cause electric shock Follow the procedures and instructions provided in the user s manual for the relevant products for trial operation Failure to do so may result not only in faulty operation and damage to equipment but also in personal injury The multi turn serial data output range for the X V Series absolute position detecting system is dif ferent from that of earlier systems with 15 bit and 12 bit encoders In particular change the system to configure the X Series infinite length positioning system with the X V Series The multi turn limit value need not be changed except for special applications Changing it inappropriately or unintentionally can be dangerous If the Multi turn Limit Disagreement alarm occurs check the setting of parameter Pn205 in the SER VOPACK to be sure that it is correct If Fn013 is executed when an incorrect parameter value is set 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 in a dangerous situation where the machine will move to unexpected positions Do not remove the front cover cables connectors or optional items from the upper front of the SERVOPACK while the power is ON Failure to observe this warning may result in electric shock Do not damage press exert excessive force on or place heavy objects on the cables Failure to observe this warning may result in electric shock stopping op
148. ayout Change the layout of the linear scale connection cables so that no surge voltage is applied Ground the machine separately from linear scale side FG Take a measure against noise for the serial converter unit wiring Reduce the machine vibration or mount the serial converter unit securely Use I O signal cable with the speci fied specifications The I O signal cable length must be less than 3 m Replace the serial converter unit Replace the linear servomotor Replace the SERVOPACK 9 3 Troubleshooting Malfunction Based on Operation and Conditions cont d Problem Probable Cause Investigative Actions Corrective Actions Ambient operating temperature is Measure the linear servomotor Reduce the ambient operating tem too high ambient operating temperature perature to 40 C max Linear servomotor surface is dirty Check visually Clean UH ad it ero inpar Sere vomotor surface Servomotor If overloaded reduce load or Overheated Linear servomotor overloaded Check the load status with monitor replace with larger capacity SER VOPACK and linear servomotor Polarity detection is not performed correctly Check if the value of Un004 Elec tric Angle 2 at an arbitrary position is between 10 degrees Correct the settings for the polarity detection related parameter 5n Troubleshooting 9 29 10 Appendix This chapter presents the parameters monitor mod
149. ber The table settings Note The line beneath POS000 shows that this indication is flashing This line does not appear on the actual screen Note also that the part that flashes is referred to as the cursor in this document Operation of Digital Operator 8 3 8 4 8 Operation of Digital Operator 8 2 1 Utility Functions 8 2 Operation of Utility Functions 8 2 1 Utility Functions The following table shows whether utility functions can be set or not with the digital operator Possible Fn No Function Not Remarks and Reference Possible This utility function cannot be used Exe Fn000 Alarm history display x cute FnBOD instead A XV Series User s Manual Design and PnO02 JOG operati n Q Maintenance Rotational Motor Com mand Option Attachable Type SIEP Fn003 Origin search O S800000 60 XV Series User s Manual Design and Maintenance Linear Motor Command Fn004 Program JOG operation O Option Attachable Type SIEP S800000 66 meu This utility function cannot be used Exe Fn005 Initializing parameter settings x cute FnBOB instead 3 This utility function cannot be used Exe Fn006 Clearing alarm history x cute FnBOC instead Fn008 Absolute encoder multiturn reset and encoder alarm o reset FnOOC Offset adjustment of analog monitor output O FnOOD Gain adjustment of analog monitor output O FnOOE Automatic
150. bits ASCII code Parity Bits 1 bit even parity Stop Bits 1 bit X ON X OFF Control No DTR DSR Control No RTS CTS Control No Echoback Each character Each command or None Selectable with parameter PnBO0O Data structure Character string 0010101 1 0 1 4 Stop bit Start bit L4 D ta Even parity 7 2 7 2 1 7 2 2 7 2 3 7 2 Settings Settings This section explains the settings for the INDEXER Module s serial commands Block Diagram The following block diagram shows the basic connections for multi axis control Host m controller 1 2 SGDV SGDV CN12 CN12 e Le Up to 16 axes can be connected For details on wiring refer to 4 3 Serial Command Communications Connector CN12 Setting the Axis Address Axis addresses can be set with parameter Pn010 axis address selection Set an axis address in the range 1 to F If an address outside this range is set serial command communications will not be performed For details on the parameter setting method refer to 3 V Series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 Note With the INDEXER Module NS600 for SGDH SERVOPACKs axis addresses were set with rotary switches but with INDEXER Modules SGDV OCA03A for S
151. ble Motor main circuit cable Shielded cable Encoder cable Shielded cable Control power cable Shielded cable Main circuit cable Shielded cable Regenerative resistor unit cable Non shielded cable 1 Products that have received CE marking are recommended for the 24 VDC power supply 2 Install the following noise filter on the power line between the single phase 200 V power supply and the 24 VDC power supply Model number FN2070 6 07 SCHAFFNER 3 For more information on this filter refer to 22V Series Product Catalog KAEP S800000 42 n SERVOPACK Installation 3 11 efesotomasyon com 4 Wiring and Connection This chapter describes examples of how a system is configured using the INDEXER Module and how the I O signals are connected For details on the main circuit encoders safety devices and regenerative resistors refer to the following manual For more information on safe and stable usage of the servo system be sure to read the precautions in the section labeled Q IMPORTANT in the following manuals X V Series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type Chapter 3 Wiring and Connection SIEP S800000 60 3 V Series User s Manual Design and Maintenance Linear Motor Command Option Attachable Type Chapter 3 Wiring and Connection SIEP S800000 66 4 1 System Configuration Diagram 2 0 0 eee 4 2 4 1 1 Connecting to SGDV LILILIFETA SERVOPACK
152. ble POS Read 7 74 POSTsss Program Table POS Write 7 74 POUT POUT Monitor 7 7 8 POUTnnnnnnnn POUT Specification T2052 POUTTsss Program Table POUT Read 7 74 POUTTsss Program Table POUT Write 7 74 PRMINIT Parameter Initialization 7 1 3 PRMppp Parameter Read 7 1 3 PRMppp Parameter Write 7 7 3 PUN or MON1 Current Distributed Position Monitor 7 7 8 RDST or MON11 Registration Target Distance Monitor 7 7 8 RDSTnnnnnnnn Registration Distance Specification T5152 RDSTTsss Program Table RDST Read 7 1 4 RDSTIsss Program Table RDST Write 7 1 4 RES Reset 7 7 1 RGRMS Regeneration Load Ratio Monitor 7 7 8 RPOS or MON10 Registration Target Position Monitor 7 7 8 RS Positioning Start with Registration 7 7 2 ix Pre bte Positioning Start with Registration Absolute Position 7 7 2 RSI nnnnnnnn Positioning Start with Registration Relative Distance 7 7 2 RSPDnnnnnnnn Registration Speed Specification 7 7 2 RSPDTsss Program Table RSPD Read 7 7 4 RSPDTsss Program Table RSPD Write 7 7 4 SKIP Positioning Stop 441 2 SPDnnnnnnnn Positioning Speed Specification 7 7 2 SPDTsss Program Table SPD Read 7 7 4 SPDTsss Program Table SPD Write 7 7 4 ST Positioning Start 7 7 2 SA URP Positioning Start Absolute Position 7 7 2 START Program Table Operation Restart 7 7 5 STARTsss Program Table Operation Start 7 7 5 10 5 Alphabetical List of Serial Commands Serial Command Function Reference S
153. ble is INFINITE or INFINITE If the coordinates are the linear type or the target position specification of the most previous table is not INFINITE or INFINITE attempting a con tinuous stop causes an error Ifthe speed is changed using the INFINITE and INFINITE settings con tinuous stop cannot be done 1 to 99999999 Positioning speed 1000 reference units min SPD Positioning speed The factory setting is 1000 0 to 99999999 Registration distance reference units No registration RDST Registration The factory setting is for no registration distance Note 1 Ifthe change of speed is performed using the INFINITE and INFINITE settings registration cannot be done 2 Ifa continuous stop is performed registration cannot be done Program Table 6 5 6 6 6 Program Table 6 1 4 Program Table Settings Item Function Description RSPD Registration speed 1 to 99999999 Registration speed 1000 reference units min The factory setting is 1000 ACC Acceleration 1 to 99999999 Acceleration 1000 reference units min ms Continues with acceleration specified in the most previously executed program step If is set for the first step in program operation the last acceleration enabled before the start of program operation e g the acceleration in PnB29 or the acceleration set with the ACC serial command will be used 66 99 The factory setting is
154. bles must not being saved by any other means than using the digital operator The RES command must not being executed Operating Procedure Step Display after Operation Keys Operation BB FUNCTION MODEISET FnBO7 ZONE Init co Press the key to open the Utility Function Mode 1 En SS P Be donc main menu and move the cursor with the FnBO9 ZSET icc area NM keys to select FnB08 BB JSPD Init 2 Start DATA Press the key to view the FnB08 operation screen Return SET Press the key to start JOG speed table initializa tion ZJSPD inire Do not turn off the control power supply until initial ization has been completed normally 3 Restoring now Baage wait To cancel the FnB08 operation press the key before pressing the key The display returns to the Utility Function Mode main menu without executing the operation BB JSPD Init 4 When JOG speed table initialization has been com iiic pleted normally Done is displayed Press SET k e y BB FUNCTION 5 r Ei on 5 i i MODESET Press the key to return to the Utility Function EnBO ZSET c Mode main menu FnBOA Monitor Ifthe key is pressed in an operation prohibited state Error is displayed for approximately 2 seconds and then the display returns to the FnB08 operation screen In this case make the setting again by referring to 1 Preparation 8 2 8 Absolute Encoder Origin Setting
155. bout the digital operator All chapters Revision Slightly revised 6 1 10 8 Addition Information about the continuous stop function Chapter 8 Addition Entire chapter on the digital operator December 2009 All chapters Addition Linear servomotors 2 1 2 Addition Features of firmware versions Addition Parameter configuration Fully closed loop control parameters and linear servo Chapter 5 motor parameters 5 2 2 Addition Note 5 2 7 Addition Notes when the position completed state is established while canceling a motion ns command 5 3 1 4 Addition Important 5 3 6 Addition Fully closed loop control 6 2 2 1 Revision Connector pin number 7 7 1 Addition Serial command RES TA Revision Positive response for PRMppp 7 7 8 Revision Positive responses for ALM TRMS RGRMS and DBRMS Addition Serial command IN3 July 2009 First edition AC Servo Drives gt V Series USER S MANUAL INDEXER Module IRUMA BUSINESS CENTER SOLUTION CENTER 480 Kamifujisawa Iruma Saitama 358 8555 Japan Phone 81 4 2962 5151 Fax 81 4 2962 6138 YASKAWA AMERICA INC 2121 Norman Drive South Waukegan IL 60085 U S A Phone 800 YASKAWA 800 927 5292 or 1 847 887 7000 Fax 1 847 887 7310 YASKAWA ELETRICO DO BRASIL LTDA Avenida Fagundes Filho 620 Sao Paulo SP CEP 04304 000 Brazil Phone 55 11 3585 1100 Fax 55 11 5581 8795 YASKAWA EUROPE GmbH Hauptstra e 185 Eschbo
156. bsolute scale 010A 10 bit absolute scale Note When fully closed loop control is selected the external encoder s information is displayed PGTYPE 00001234 CR LF Displayed in hexadecimal PGVER Encoder Firmware Version Display Note When fully closed loop control is selected the external encoder s information is displayed PGVER 00001234 CR LF Displayed in hexadecimal ABSPGRES Absolute Encoder Reset OK MLTLIMSET Multi turn Limit Setting OK ALMTRCCLR Alarm Trace Clear OK CURZERO Motor Current Zero Adjustment OK Serial Command Communications 7 35 efesotomasyon com 8 Operation of Digital Operator This chapter describes how to operate the digital operator when an INDEXER Module is installed For details on the basic operation of the digital operator refer to the following manuals 2 V Series User 5 Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 XV Series User s Manual Design and Maintenance Linear Motor Command Option Attach able Type SIEP S800000 66 X V Series User s Manual Operation of Digital Operator SIEP S800000 55 The information given in this chapter applies to the following software versions INDEXER Module Version 3 or later SERVOPACK Version 001B or later 8 1 Overview teens 8 2 8 1 1 Functions List 200 need epee ewe eee ey RR xd ee cident bende ee ede dans 8
157. cable Shielded cable Main circuit cable Shielded cable Regenerative resistor unit cable Non shielded cable Cooling fan cable Shielded cable n SERVOPACK Installation 3 9 3 SERVOPACK Installation B Three phase 400 V SGDV OOODE1A OOO 1R9 3R5 5R4 8R4 120 170 SGDV OCA03A SGDV OOODESDA OOO 1R9 3R5 5R4 8R4 120 170 SGDV OCA03A Shield box 2 i Power supply E Noise Brake power supply Single phase 200 VAC o filter Surae One turn SERVOPACK absorber Control Q Em C m c Brake power eu U VW E E supply sy Or S SIS 24 VDC 9 Servo motor Power supply Noise L1 L2 L3 turn Three phase 400 VAC T amp filter Of sees m o o CN2m m 5 S P Encoder Surge o Ol absorber One turn 9 One turn CN1 CN8 I I INDEXER PE Core Core Module Two turn CN11 CN12 PE Q Host Safety Host Host controller unit controller controller Symbol Cable Name Specifications 0 T O signal cable Shielded cable Safety signal cable Shielded cable Motor main circuit cable Shielded cable amp Encoder cable Shielded cable Control power cable Shielded cable Main circuit cable Shielded cable Products that have received
158. cates important information that should be memorized as well as precautions such as alarm displays that do not involve potential damage to equipment IMPORTANT Notation Used in this Manual Reverse Symbol Notation In this manual the names of reverse signals ones that are valid when low are written with a forward slash before the signal name as shown in the following example Example The notation for BK is BK Parameter Notation The following two types of notations are used for parameter digit places and settings Example Pn000 n 0000 L Digit 1 Digit 2 Digit 3 Digit 4 Notation Example for Pn000 Digit Notation Set Value Notation Notation Method Meaning Notation Method Meaning Pn000 0 Indicates digit 1 of the parameter Pn000 Pn000 0 x or n OOOx Indicates that digit 1 of the parameter Pn000 is x Pn000 1 Indicates digit 2 of the parameter Pn000 Pn000 1 x or n OOxO Indicates that digit 2 of the parameter Pn000 is x Pn000 2 Indicates digit 3 of the parameter Pn000 Pn000 2 x orn OxOO Indicates that digit 3 of the parameter Pn000 is x Pn000 3 Indicates digit 4 of the parameter Pn000 Pn000 3 2 x or n xLILILI Indicates that digit 4 of the parameter Pn000 is x B Manuals Related to the X V Series Refer to the following manuals as required Selecting Name Models and Peripheral
159. cations 7 1 serial communications method 2 4 servo alarm output signal 5 7 Servo OFF 7 8 Servo ON 7 8 servo ON OFF input signal 5 5 servo ready output signal 5 9 SERVOPACK EMC installation conditions 3 5 installation conditions for applicable standards 3 2 installation environment 3 2 installation precautions 3 2 installation standards 3 4 orientation 3 3 system configuration diagram SGDV LILILIAEI A SERVOPACK 4 3 system configuration diagram SGDV OOOAESA SERVOPACK 4 7 system configuration diagram SGDV OOODEIA SERVOPACK 4 5 system configuration diagram SGDV OOODESA SERVOPACK 4 9 system configuration diagram SGDV LILILIFEIA SERVOPACK 4 2 system configuration diagram SGDV LILILIFESA SERVOPACK 4 6 SERVOPACK orientation base mounted 3 3 duct ventilated 3 3 rack mounted 3 3 side by side mounting 3 4 setting reference unit
160. check error occurred with the serial Check the serial communica command tions protocol PnBO00 and bit This error will occur if even parity is not rate PnBO1 settings being used Check the wiring erial Communications E48E A A9F gt an The command that caused this error willbe If noise may be causing the Parity Error discarded and no response will be returned problem take steps to reduce There will be no response but the noise such as using communi WARN output and LED indicators will indi cations cables with ferrite cate that an error has occurred cores Check the serial communica A stop bit detection error occurred with the tions protocol PnBO00 and bit serial command rate PnBO1 settings Serial Communications The command that caused this error willbe e Check the wiring l E49E A A9F Frami discarded and no response will be returned If noise may be causing the raming Error There will be no response but the problem take steps to reduce WARN output and LED indicators will indi noise such as using communi cate that an error has occurred cations cables with ferrite cores Serial command reception failed 2p The hardware s reception buffer was over E4AE A A9F Serial Communications written with the subsequent data Repair the hardware Overrun Error Ss n Normally data is read before it is overwrit ten so this error does not occur When P OT is being used Travel in
161. chever is sooner B Warranty Scope Yaskawa shall replace or repair a defective product free of change if a defect attributable to Yaskawa occurs during the warranty period above This warranty does not cover defects caused by the delivered product reach ing the end of its service life and replacement of parts that require replacement or that have a limited service life This warranty does not cover failures that result from any of the following causes 1 Improper handling abuse or use in unsuitable conditions or in environments not described in product cata logs or manuals or in any separately agreed upon specifications Causes not attributable to the delivered product itself Modifications or repairs not performed by Yaskawa Abuse of the delivered product in a manner in which it was not originally intended nA A U N Causes that were not foreseeable with the scientific and technological understanding at the time of ship ment from Yaskawa 6 Events for which Yaskawa 1s not responsible such as natural or human made disasters 2 Limitations of Liability 1 Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product 2 Yaskawa shall not be responsible for any programs including parameter settings or the results of program execution of the programs provided by the user or by a third party for use with programmable Yaskawa products 3
162. ck the mass ratio Pn103 set ting Correct the mass ratio Pn103 set ting The force reference is saturated Check the force reference wave form Use the mode switch function The force limit Pn483 Pn484 is set to the initial value Initial value of force limit Pn483 30 Pn484 30 Set Pn483 and Pn484 Force Limit to an appropriate value Problem Probable Cause 9 3 Troubleshooting Malfunction Based on Operation and Conditions Linear Scale Position Difference Error The position saved in the host controller when the power was turned OFF is different from the position when the power is next turned ON Noise interference due to improper linear scale connection cable speci fications The specifications of linear scale connection cables must be Shielded twisted pair or shielded multi core twisted pair wire with core 0 12 mm min and tinned annealed copper twisted wire Noise interference due to length of linear scale connection cables Check the length of linear scale connection cables Noise interference due to damaged linear scale connection cables Check if any of the linear scale con nection cables is bent or if its sheaths are damaged Excessive noise interference at the linear scale connection cables Check if any of the linear scale con nection cables is bundled with a high current line or near high cur rent line FG pote
163. completion of homing If however PnB31 is set to 0 no homing the software limit function will be enabled when the control power supply is turned ON The software limit function will also be enabled as soon as the ZSET serial command is executed Reverse Software Limit N LS PnB23 Workpiece Forward Software Limit P LS PnB21 E 5 4 Settings According to Device Characteristics 2 When the Coordinates are the Rotary Type When using a rotary type coordinates such as with a rotary table set PnB20 to 1 shortest path to 2 forward or to 3 reverse Then set the end point of rotational coordinates in PnB21 and the starting point of rotational coordinates in PnB23 The software limit function will be disabled If PnB20 is set to 1 shortest path the motor will rotate in the shortest direction forward or reverse when the target position is specified as an absolute position If PnB20 is set to 2 forward the motor will always rotate in the forward direction when the target position is specified as an absolute position If PnB20 is set to 3 reverse the motor will always rotate in the reverse direction when the target position is specified as an absolute position If the target position is specified as an relative position the motor will rotate in the specified direction regard less of the setting of PnB20 Example PnB21 43599 PnB23 0 PnB21 4999 PnB23 5000 PnB21
164. correct in the numerical data shown in these exam ples but the sign and numerical value will vary in actual applications Basic Operation Commands The following table shows the basic operation commands Basic Operation Commands Serial Command Function Description Positive Response Normal Response Servo ON SVON Supplies power to the motor OK This command is the same as turning ON the S ON signal Servo OFF SVOFF Stops the power supply to the motor OK This command is the same as turning OFF the S ON signal The response OK will be returned when the alarm has been cleared The alarm code will be returned if the Alarm Reset alarm remains uncleared ARES Cl he al ALM SP A xxx SP CR LF Saree a arm The xxx is the SGDV alarm code ALM SP E xxA SP CR LF The xx is the INDEXER Module alarm code None No response Note If the RES command has been successfully exe cuted no response will be returned Because the Reset execution of the RES command resets all status RES This command is the same as turning in the same way that restarting the control power OFF ON the control power supply supply will serial communications will be unsta ble for a maximum of 5 seconds after the RES command is used Wait at least 5 seconds before sending the next command RES command is available for firmware version 3 or later 7 7 Serial Commands 7 7 2 Control Commands The following t
165. curred in synchronization between Avail A E50 Module IF the SERVOPACK and the command option Gr 2 able Synchronization Error 2 module val 4 ts Option An error occurred in establishing communica Avail A E51 Synchronization i s ee and the com Gr 2 able Establishment Error MEUS Command Option An error occurred in communications between Aut A E60 Module IF Data the SERVOPACK and the command option Gr 2 abl Communications Error module M Command Option There was a change in timing of synchroniza Avail A E61 Module IF tion between the SERVOPACK and the com Gr 2 ice Synchronization Error 3 mand option module OFF ON ON Command Option open close close A E70 Module Detection cm of the command option module Gri N A Failure anec Safety Option Module A E71 Detection Failure Detection of the safety option module failed Gr 1 N A Feedback Option A E72 Module Detection Detection of the feedback option module failed Gr 1 N A Failure Unsupported Command An unsupported command option module was A E73 Option Module connected cil NA A E74 Unsupported Safety An unsupported safety option module was con Gri N A Option Module nected Unsupported Feedback An unsupported feedback option module was A E75 Option Module connected a NA Command Option i A E80 Module Unmatched The command option module was replaced Gri N A Error with a different model Alarm in Current Communications An error has occurred in communication
166. d is set Parameter Out of to a rotary method C ttheh iti range Alarm PnB20 1 2 or 3 but ae P B25 p ER dn E16A A AEF Detected only when the home position setin e Er PnB21 Gr l N A control power supply is PnB25 exceeds the soft and PnB23 turned ON ware limits set in PnB21 i and PnB23 The following function cannot be used with the SERVOPACK software version 0016 or earlier SERVOPACK Software Related i Version Number ciate Function Name i ENS Remarks 0016 or earlier 0017 or later Alarm Code Output For the SERVOPACK whose soft Signals Not supported Supported PnB51 ware version number is 0016 or ALO1 ALO2 ALO3 earlier set PnB51 to 0 PnB51 0 2 This function is available for the following software versions INDEXER module Version 3 or later SERVOPACK Version 001B or later e Troubleshooting 9 9 9 Troubleshooting 9 1 2 INDEXER Module Alarm Displays and Troubleshooting Serial Servomotor Command Panel c Alarm Negative Display Alarm Name Meaning Corrective Action E Rocce Response The INDEXER Module failed in initialization of Take steps to reduce A E00 communications with the noise in the system such SERVOPACK when the as improving frame control power was turned ground ON Upgrade the SERVO PACK s software ver sion The SERVOPACK is not A AEF compatible with the Replace the SERVO
167. e Application Function Select Switch 9 0000 to 0111 x 0010 After restart Tuning 4th 3rd 2nd 1st digit digit digit digit n Reserved Do not change Current Control Method Selection Pn009 0 Current control method 1 Speed detection 2 Reserved Do not change E Appendix 10 13 10 Appendix cont d Parameter Setting Factory When Name Units Classification No Range Setting Enabled Application Function Select Switch B 0000 to 1111 Es 0000 After restart Setup 4th 3rd 2nd 1st digit digit digit digit n Parameter Display Selection 0 Setup parameters 1 All parameters Alarm Gr 2 Stop Method Selection 0 Stops the motor by setting the speed reference to 0 Pn00B 1 Same setting as Pn001 0 Stops the motor by applying DB or by coasting Power Supply Method for Three phase SERVOPACK 0 Three phase power supply 1 Uses three phase input specification as single phase power supply Semi closed Encoder Usage Method Rotational servomotors 0 Uses the encoder connected to the SERVOPACK 1 Uses the encoder connected to the feedback option module Reserved Do not change Linear servomotors Application Function Select Switch C 0000 to 0111 x 0000 After restart Setup 4th 3rd 2nd 1st digit digit digit digit n Selection of Test without Motor 0 Disables test without motor 1 Enables test without motor Encoder Resolution for Test without Motor Rotational servomoto
168. e utility functions and serial command list 10 1 Parameter List for INDEXER Module lessseslnsse 10 2 10 2 Parameter List for Command Option Attachable Type SERVOPACKs 10 9 10 3 Monitor Modes uu Ua dO emer cR Rice rede irn aeos 10 26 10 4 Utility Functions i uiu uc doe sqoRAOCER ed nhac I Rar CR eR RR od 10 27 10 5 Alphabetical List of Serial Commands 10 29 10 6 Parameter Equivalence List for INDEXER Modules for SGDV SERVOPACKs and INDEXER Modules for SGDH SERVOPACKs 10 32 E Appendix 10 1 10 Appendix 10 1 Parameter List for INDEXER Module The following table shows the INDEXER Module s parameters In this section the word open or close shown in parentheses in parameter descriptions indicates that the contact is open or closed Parameter Setting Factory When Nam tting Ran Referen No ame Saing Renge Unit Setting Enabled Dio Serial Communication Protocol 0 to 9 1 After restart 7 2 3 Setting Meaning 0 Full duplex wiring is used for communications method 1 Full duplex wiring is used for communications method Echoback is performed for each character 2 Half duplex wiring is used for communications method CR is used as delimiter 3 Half duplex wiring is used for communications method CR is used as de
169. e elapsed time EVTOOO NT12345 P EVTOOO NT12345 C EVTOOO NT223495 4 AI y ange pass Move cursor Change elapsed time EVTOOO DT12345 EVTOOO DT123495 EVTOOO DT22345 RE KA Y condi jor Move cursor Change elapsed time EVTOOO SELOT12345 74 EVTOOO SELOT12345 EVTOOO SELOT22345 PETER ange pass i Y condi Je P Move cursor Change elapsed time EVTOOO SEL1T12345 EVTOOO SELI1IT12345 EVTOOO SELI1T22345 A Change pass condition Move cursor Change elapsed time EVTOOO SEL7T12345 EVTOOO SEL7T12345 EVTOOO SEL7T22345 MES Change pass condition EVTOOO Note For details on the pass condition and elapsed time refer to 6 1 4 1 Program Table Functions Operation of Digital Operator 8 Operation of Digital Operator 8 2 2 Program Table Edit Save FnB03 B LOOP Number of Executions Move cursor Change number of executions LOOPOOO OOQ0001 LOOPOOO OOO001 LOOPOOO 01001 Note For details on the number of executions refer to 6 1 4 1 Program Table Functions B NEXT PGMSTEP to be Executed Next NEXTOOO OOOOO0 lt t gt Note For details on the PGMSTEP to be executed next refer to 6 1 4 1 Program Table Functions 4 Saving Program Tables Move cursor Change next PGMSTEP to be executed NEXTOOO OOOO00 NEXTOOO O0OO255 If the value becomes less than 0 END is d
170. e key The display returns to the Utility Function Mode main menu without executing the operation BB PGM Init 4 Done Press SET k e y When program table initialization has been completed normally Done is displayed BB FUNCTION FnBOS5 JSPD Edit 5 FnBO6 PGM Init FnBO7 ZONE Init FnBO8 JSPD Init MODESET co Press the key to return to the Utility Function Mode main menu Ifthe key is pressed in an operation prohibited state Error is displayed for approximately 2 seconds and then the display returns to the FnB06 operation screen In this case make the setting again by referring to 1 Preparation 8 2 6 ZONE Table Initialization FnBO7 This function initializes ZONE tables and restores the settings on shipment from the factory Preparation 8 2 Operation of Utility Functions The following conditions must be met to initialize ZONE tables The write prohibited setting Fn010 must not be set to write protect parameters The ZONE tables must not being saved by any other means than using the digital operator The RES command must not being executed Operating Procedure Step Display after Operation Keys Operation BB FUNCTION MODEISET M FnBO6 PGM Init co Press the key to open the Utility Function Mode 1 EMBO AONE Aii main menu and move the cursor with the FnBO8 JSPD Init EnB SHEET
171. e operation HOME JOGP IJOGN Operation Active Start or restart inactive Inactive i Inactive homing Active Forward JOG Inactive iatis Inactive operation l Active Reverse JOG Inactive Inactive inactive operation Inactive Inactive Inactive Stop Active _ Active Inactive Stop Active i _ Active _ Inactive Stop Active _ Active i i Inactive Stop Active Active _ Active m Stop 6 6 4 Input Signal Timing Specifications for Homing and JOG Speed Table Operation The following figures show the timing specifications of input signals for homing and JOG speed table opera tion IMODE O1 HOME i 3 4ms min H Oms min IMODE 04 X JOGP B 4 ms min 4 Oms min IMODE 01 IJOGN P 4 ms min 4 h 0 ms min HOME __1 IJOGP JOGN 4ms min 4msmin 6 30 efesotomasyon com r Serial Command Communications This chapter describes the INDEXER Module s serial command communications 7 1 CN12 Connector Specifications llle 7 2 IESU d ses ace a a be Mh ae eae ae ge le tanec ete ean oa a ede a wad 7 3 1 2 1 Block Diagram sete Sa ree ae be dw eee ec Oe dee Oe RS 7 3 7 2 2 Setting the Axis Address 1 0 0 ect e eee 7 3 7 2 3 Parameters Related to Serial Communications
172. e safety function jumper connector provided as an acces sory on the CN8 A SERVOPACK fault occurred Replace the SERVOPACK Servomotor Servomotor wiring is incorrect Check the servomotor wiring Moves Instantaneously Encoder wiring is incorrect Check the encoder wiring Servomotor Speed Unstable Wiring connection to servomotor is defective Servomotor Rotates without Reference Input A SERVOPACK fault occurred Check connections of main circuit cable phases U V and W and encoder connectors Tighten any loose terminals or con nectors Replace the SERVOPACK Setting for parameter Pn001 0 is incorrect Check the setting of parameter Pn001 0 Correct the parameter setting Dynamic Brake Does Not Operate Dynamic brake resistor is disconnected Check if excessive moment of iner tia motor overspeed or Dynamic Brake frequently activated If moment of inertia exceeds motor overspeeds or Dynamic Brake is frequently activated Dynamic Brake resistor may be disconnected Replace the SERVOPACK and e Troubleshooting reduce the load to avoid disconnec tion 9 19 9 20 9 Troubleshooting cont d Problem Probable Cause Investigative Actions Corrective Actions Dynamic Brake Does Not Operate cont d Dynamic brake drive circuit fault There is a defective component in the dynamic brake circuit Replace the SERVOPACK
173. e setting again by referring to 7 Preparation 3 Saving JOG Speed Tables 8 2 Operation of Utility Functions The operating procedure for saving JOG speed tables is shown below Step Display after Operation Keys Operation BB JSPD Edit JSPD000 00001000 1 JSPD001 00001000 Display the JOG speed table editing screen JSPD002 00001000 JSPD003 00001000 BB JSPD Edit 2 STORE eon TABUE Press the key to view the JOG speed table save ERVO screen CANCEL STORE Move the cursor with the keys to select BB JSPD Edit STORE 3 STORE JSPD TABLE Note Selecting CANCEL and pressing the key CANCEL STORE will return the display to the JOG speed table editing screen BB SUS DB Edo des Press the key to start saving the JOG speed table 4 Seri E JW cs to flash memory l l Do not turn off the control power supply until saving Please wait has been completed normally BB JSPD Edit JSPD000 00001000 When saving to flash memory has been completed nor 5 JSPD001 00001000 mally the display returns to the JOG speed table edit JSPDOO2 00001000 ing screen JSPD003 00001000 BB FUNCTION FnBO4 ZONE Edit roy a MODESET 6 EmBOE JPD Edit E Press the key to return to the Utility Function ERNBOS POM nit X Mode main menu FnBO7 ZONE Init Ifthe key is pressed in an operation prohibited state Error is displayed for approximately 2 seconds and then
174. e the servomotor Servomotor Vibrates at Frequency of Approx 200 to 400 Hz Unbalanced servo gains Check to see if the servo gains have been correctly adjusted Execute the advanced autotuning Speed loop gain value Pn100 too high Check the speed loop gain value Pn100 Factory setting Kv 40 0 Hz Reduce the speed loop gain value Pn100 Position loop gain value Pn102 too high Check the position loop gain value Pn102 Factory setting Kp 40 0 s Reduce the position loop gain value Pn102 9 3 Troubleshooting Malfunction Based on Operation and Conditions cont d Problem Probable Cause Investigative Actions Corrective Actions REA Incorrect speed loop integral time ME E i Dor integral timje Correct the speed loop integral time Frequency of Approx 200 to 400 Hz cont d constant value Pn101 Factory setting Ti 20 0 ms constant value Pn101 Incorrect moment of inertia ratio value Pn103 Check the moment of inertia ratio value Pn103 Correct the moment of inertia ratio value Pn103 High Rotation Speed Overshoot on Starting and Stopping Unbalanced servo gains Check to see if the servo gains have been correctly adjusted Execute the advanced autotuning Speed loop gain value Pn100 too high Check the speed loop gain value Pn100 Factory setting Kv 40 0 Hz Reduce the speed loop gain value Pn100 Positi
175. e to AC power input Input AC power supply through L1 L2 and L3 terminals Applicable to DC power input Input DC power supply between B1 and 2 or input DC power supply between B1 and 2 ALOI ALO2 and ALOS output both alarm codes and warning codes While warning codes are output ALM signal output remains ON normal state E Appendix 10 9 10 Appendix cont d Parameter Setting Factory When Nam nit a lassification No ame Range unis Setting Enabled Oleesiieeiio Application Function Select Switch 2 0000 to 4113 0000 After restart Setup Ath 3rd 2nd 1st digit digit digit digit n Reserved Do not change Reserved Do not change Absolute Encoder Usage Rotational Servomotors 0 Uses absolute encoder as an absolute encoder 1 Uses absolute encoder as an incremental encoder Pn002 Extemal Encoder Usage Rotational Servomotors 0 Does not use external encoder 1 Uses external encoder for forward rotation direction 2 Reversed Do not change 3 Uses external encoder for reverse rotation direction 4 Reversed Do not change Reserved Do not change Linear Servomotors Uses absolute linear scale as an incremental linear scale 10 10 10 2 Parameter List for Command Option Attachable Type SERVOPACKs cont d Parameter Setting Factory When Name Units Classification No Range Setting Enabled Application Function Select S
176. e to observe this caution may result in injury or fire Securely connect the main circuit power supply terminal screws control power supply terminal Screws and servomotor connection terminal screws Failure to observe this caution may result in fire Do not bundle or run the main circuit cables together with the input output signal cables or the encoder cables in the same duct Keep them separated by at least 30 cm Failure to do so may result in malfunction Use shielded twisted pair wires or multi core shielded twisted pair wires for input output signal cables and the encoder cables I O signal cables must be no longer than 3 m encoder cables must be no longer than 50 m and control power supply cables for the SERVOPACK with a 400 V power supply 24 V 0 V must be no longer than 10 m Do not touch the power terminals while the charge indicator is ON after turning power OFF because high voltage may still remain in the SERVOPACK Make sure the charge indicator is OFF first before starting an inspection Observe the following precautions when wiring main circuit terminal blocks of the SERVOPACK Do not turn ON the power to the SERVOPACK until all the wiring including that to the main circuit termi nal blocks has been completed When the main circuit terminal blocks are connectors remove the connectors from the SERVOPACK and connect the wires to the connectors Insert only one main power line per opening in the main circuit term
177. ed Do not change 100 Pn405 Reserved Do not change 100 Pn406 Reserved Do not change 800 Pn407 Reserved Do not change 10000 Torque Related Function Switch Rotational servomotors 0000 to 1111 0000 Setup Force Related Function Switch Linear servomotors 4th 3rd 2nd 1st digit digit digit digit n 1st Step Notch Filter Selection ee Classification N A Immediately Uses Ist step notch filter for torque reference mm Pn408 Reserved Do not change r When RUE 2nd Step Notch Filter Selection Enabled Classification N A Immediately Uses 2nd step notch filter for torque reference eias When Lx Friction Compensation Function Selection Enabled Classification Does not use friction compensation function F Immediately Uses friction compensation function Pn409 1st Notch Filter Frequency 50 to 5000 1 Hz 5000 Immediately Tuning Pn40A 1st Notch Filter Q Value 50 to 1000 0 01 70 Immediately Tuning Pn40B 1st Notch Filter Depth 0 to 1000 0 001 0 Immediately Tuning Pn40C 2nd Notch Filter Frequency 50 to 5000 1 Hz 5000 Immediately Tuning Pn40D 2nd Notch Filter Q Value 50 to 1000 0 01 70 Immediately Tuning Pn40E 2nd Notch Filter Depth 0 to 1000 0 001 0 Immediately Tuning Parameter exclusive for rotational servomotors 2 Parameter exclusive for linear servomotors E Appendix 10 21 10 Appendix
178. ed table selec signal SEL4 becomes active tion signal JOG3 becomes active Program table selection signal SEL4 is always active JOG speed table selection signal JOG3 is always active Program table selection signal SEL4 is always inactive JOG speed table selection signal JOG3 is always inactive SEL5 0 to3 0 After restart 6 12 Setting Meaning 0 When input signal is ON close program table selection signal SELS becomes active PnBOB 1 When input signal is OFF open program table selection signal SEL5 becomes active 2 Program table selection signal SELS is always active 3 Program table selection signal SELS is always inactive SEL6 0 to3 0 After restart 6 1 2 Setting Meaning 0 When input signal is ON close program table selection signal SEL6 becomes active PnBOC 1 When input signal is OFF open program table selection signal SEL6 becomes active 2 Program table selection signal SEL6 is always active 3 Program table selection signal SEL6 is always inactive 10 4 10 1 Parameter List for INDEXER Module cont d Parameter Setting Factory When Nam tting Ran Referen No ame paling Range Unit Setting Enabled EEUU SEL7 0to3 0 After restart 6 1 2 Setting Mea
179. election signal SELO is always active Does not execute JOG operation Program table selection signal SELO is always inactive Does not execute JOG operation SEL1 JOGO 0 to3 0 After restart 6 1 2 6 4 2 Meaning Setting Mode 0 Mode 1 0 When input signal is ON close program table selection When input signal is ON close JOG speed table selection PnB07 signal SEL1 becomes active signal JOGO becomes active 4 When input signal is OFF open program table selection When input signal is OFF open JOG speed table selec signal SEL1 becomes active tion signal JOGO becomes active Program table selection signal SEL1 is always active JOG speed table selection signal JOGO is always active Program table selection signal SELI is always inactive JOG speed table selection signal JOGO is always inactive E Appendix 10 3 10 Appendix cont d Parameter Setting Factory When Nam tting Ran 3 Referen No amg Seiling REME Unit Setting Enabled pod dic SEL2 JOG1 0to3 0 After restart 6 1 2 6 4 2 4 Meaning Setting Mode 0 Mode 1 0 When input signal is ON close program table selection When input signal is ON close JOG speed table selection PnB08 signal SEL2 becomes active signal
180. ence speed Speed i Motor speed SELO T2000 Speed t 2000 ms T2000 Speed IX N gt t INPOSITION t Dig NT2000 t 2000 ms Speed S N S N gt t NEAR lt gt DT2000 t 2000 ms Speed DEN MX SELOT2000 t 2000 ms Speed m ISELO t 2000 ms Note If t lt tj an error E53E will occur and program table operation will be stopped 6 8 6 1 Program Table 6 1 6 Program Table Operation 1 Starting and Stopping the Program If the START STOP signal becomes active when program table operation has been canceled SELO to SEL7 will be latched and the program will be executed from the PGMSTEP specified with SELO to SEL7 Speed gt t ISTART STOP Canceled Operating i Latched SELO to SEL7 If the START STOP returns to inactive state the program will be stopped and the motor will stop positioning will be stopped Speed ISTART STOP Canceled Operating Stopped If the START STOP becomes active again while the program is stopped the program positioning will be restarted SELO to SEL7 will not be latched at this time Speed t START STOP Canceled Opera Stopped Operating ting l Not latched SELO to SEL7 The program will be restarted even if the motor is decelerating Speed START STOP Canceled
181. ensate for positioning offset caused by the backlash of gears Backlash Compensation PnB50 Setting Range Setting Unit Factory Setting When Enabled 1000 to 1000 Reference unit 0 Immediately Specify the direction for compensation with the sign and the quantity of the compensation with a numeric value If the sign is positive compensation will be applied for forward positioning If the sign is negative compensation will be applied for reverse positioning If the setting is changed the new setting will be enabled from the next positioning When using an incremental encoder the final direction used in homing generally serves as the reference direc tion and backlash compensation 1s applied in the opposite direction When using an absolute encoder the initial direction of movement generally serves as the reference direction and backlash compensation is applied in the opposite direction Even when compensation is applied the compensation will not be indicated in the target position monitor or any other monitor values Only the actual motor positions will be subject to compensation PnB50 0 PnB50 0 gt c gt Reverse Machine Forward Reverse Machine Forward Positioning in Forward Direction Motor Motor Reference position position Reference side side Compensation Compensation applied not applied
182. ent Pn531 x Number of times of movements Pn536 Waiting time Pn535 Reverse movement Pn531 x Number of times of movements Pn536 Pn530 3 Waiting time Pn535 Reverse movement Pn531 x Number of times of movements Pn536 Waiting time Pn535 Forward movement Pn531 x Number of times of movements Pn536 4 Waiting time Pn535 Forward movement Pn531 Waiting time Pn535 gt Reverse movement Pn531 x Number of times of movement Pn536 5 Waiting time Pn535 Reverse movement Pn531 Waiting time Pn535 gt Forward movement Pn531 x Number of times of movement Pn536 Reserved Do not change Reserved Do not change Reserved Do not change 1 to 1 Pn531 Program JOG Movement Distance 1073741824 reference 32768 Immediately Setup 25 unit Pn533 1 Program JOG Movement Speed 1 to 10000 1 mir 500 Immediately Setup Pn534 Program JOG Acceleration Deceleration Time 2 to 10000 1 ms 100 Immediately Setup Pn535 Program JOG Waiting Time 0 to 10000 1 ms 100 Immediately Setup Pn536 Number of Times of Program JOG Movement 0 to 1000 1 time 1 Immediately Setup 10000 to Pn550 Analog Monitor 1 Offset Voltage 10000 0 1 V 0 0 Immediately Setup 10000 to Pn551 Analog Monitor 2 Offset Voltage 10000 0 1 V 0 0 Immediately Setup 10000 to Pn552 Analog Monitor Magnification x1 10000 x0 01 100 Immediately Setup 10000 to Pn553 Analog Monitor Magnification x2 10000 x0 01 100 Immediately Setup Pn560 Remained Vibration Detection Wid
183. eoe eet EV rares ue hr ee e deta EA 8 3 8 2 Operation of Utility Functions ille 8 4 9 2 1 UiilitysFUNCHONS c eene ne eR zoe re enne cr DEOR y ber alg eh te he RUE 8 4 8 2 2 Program Table Edit Save FnB03 0 0c eect eee 8 6 8 2 3 ZONE Table Edit Save FnB04 00 cece teens 8 11 8 2 4 JOG Speed Table Edit Save FnBO5 0 0 0 0 eee 8 14 8 2 5 Program Table Initialization FnBOG6 0 0 00 eee 8 16 8 2 6 ZONE Table Initialization FnBO7 1 0 0 0 II 8 17 8 2 7 JOG Speed Table Initialization FnBO8 0 0 0 eee 8 18 8 2 8 Absolute Encoder Origin Setting FnBO9 0 0002 ee 8 19 8 2 9 INDEXER Status Monitor FnBOA 0 0 0 0 eee 8 21 8 2 10 INDEXER Parameter Setting Initialization FnBOB 00 8 24 8 2 11 INDEXER Alarm Reset FnBOC 00 0 c eee 8 25 8 2 12 INDEXER Alarm History Display FnBOD 0 0 0 0 cee eee 8 27 Chrapiehsamroubiesboold te rer cate T Me M M E 9 1 9 1 Troubleshooting 2 0 0 cece eee eens 9 2 9 1 1 List of Alarms for Command Option Attachable Type SERVOPACKs 9 2 9 1 2 INDEXER Module Alarm Displays and Troubleshooting 0 0 0 e eee eee 9 9 9 2 Warning Displays 25 Sass Luka d EA RE wy oe fea p eee tee en ee 9 12 9 2 1 List of Warnings for Command Option Attachable Type SERVOPACKs 9 12 9 2 2 INDEXER Module Error Displays and Troubleshooting 00e eee eee
184. er Adjustment Selection 1 0 Does not adjust Ist step notch filter automatically with utility function Pn460 1 Adjusts Ist step notch filter automatically with utility function Reserved Do not change Notch Filter Adjustment Selection 2 0 Does not adjust 2nd step notch filter automatically with utility function 1 Adjusts 2nd step notch filter automatically with utility function Reserved Do not change Pn480 Reserved Do not change 10000 Pn481 2 Polarity Detection Speed Loop Gain 10 to 20000 0 1 Hz 400 Immediately Tuning Pn4822 eg Detection Speed Loop Integral Time Con 15 to 51200 0 01 ms 3000 Immediately Tuning Pn483 2 Forward Force Limit 0 to 800 1 30 Immediately Setup Pn484 2 Reverse Force Limit 0 to 800 1 30 Immediately Setup Pn485 Polarity Detection Reference Speed 0 to 100 mm s 20 Immediately Setup Parameter exclusive for rotational servomotors 2 Parameter exclusive for linear servomotors 10 22 10 2 Parameter List for Command Option Attachable Type SERVOPACKs cont d E Name En Units Esos r UE d Classification Pn4862 Polarity Detection Reference Accel Decel Time 0 to 100 1 ms 25 Immediately Tuning Pn4872 Polarity Detection Constant Speed Time 0 to 300 1 ms 0 Immediately Tuning Pn4882 Polarity Detection Reference Waiting Time 50 to 500 1 ms 100 Immediately Tuning Pn4
185. eration of the product or fire Do not modify products Failure to observe this warning may result in injury damage to products or fire Provide an appropriate stopping device on the machine side to ensure safety The holding brake on a servomotor with a brake is not a stopping device for ensuring safety Failure to observe this warning may result in injury Do not approach the machine when an instantaneous power interruption has occurred because the machine may restart suddenly when the power is recovered Secure the safety of people around the machine when the machine restarts Failure to observe this warning may result in injury Connect the ground terminal according to local electrical codes 100 Q or less for a SERVOPACK with a 100 V 200 V power supply 10 Q or less for a SERVOPACK with a 400 V power supply Improper grounding may result in electric shock or fire Installation disassembly or repair must be performed only by authorized personnel Failure to observe this warning may result in electric shock or injury The person who designs a system using the safety function Hard Wire Baseblock function must have full knowledge of the related safety standards and full understanding of the instructions in this manual Failure to observe this warning may result in injury or damage to the product W Storage and Transportation N CAUTION Do not store or install the product in the following locations Failure to
186. erform operations such as positioning setting parameters and program tables monitoring and other operations RS 422 or RS 485 Host controller 4 3 1 Communications Specifications The following table shows the communications specifications of the CN12 connector Item Specifications Interface Full duplex RS 422 or half duplex RS 485 Selectable with parameter PnB00 Max Number of Axes 16 axes Total Cable Length RS 422 RS 485 50 m max Bit Rate 9600 19200 or 38400 bps Selectable with parameter PnBO1 Factory setting 9600 bps Synchronization Start stop synchronization Data Format Start bits 1 bit Data bits 7 bits ASCII Parity 1 bit even parity Stop bits 1 bit Flow Control None Shift Control None 4 3 Serial Command Communications Connector CN12 4 3 2 Communications Connector 1 Connector Model INDEXER Applicable Receptacles Module end Connector Solder Type Case Manufacturer np S 10114 3000PE 10314 52A0 008 Sumitomo 3M Limited 4 3 3 Connector Signal Names Pin No Signal Name Signal Circuit Name Signal Direction 1 TXD Transmit data not inverted Host controller INDEXER Module 2 TXD Transmit data inverted Host controller INDEXER Module 3 RXD Receive data not inverted Host controller
187. erring to 7 Preparation If setting is attempted in an operation prohibited state it will not be possible to change the setting In this case make 8 2 Operation of Utility Functions cont d Step Display after Operation Keys Operation BB PGM Edit ACCOO2 On pressing the key the setting is entered and the 6 ACCOO03 cursor returns to the program table article and program ACCOO04 step side ACC005 00001000 7 Repeat steps 3 to 6 to set the program table On completing the setting of all the program tables to be used save the program tables to flash memory by following the procedure in 4 Saving Program Tables B Method for Moving the Cursor The values within the frames in the figure below are the articles and steps of the program table displayed at the digital operator SPDO01 SPD002 SPD003 SPD004 RDSTO01 RDST002 RDST003 RDST004 Moves the displayed column one column at a time to the left or right On reaching the edge of the table movement stops Moves the displayed rows up or down one row at a time On reaching step 0 the next movement is to step 255 On reaching step 255 SPD002 SPD003 SPD004 SPD005 the next movement is to step 0 You can move 4 rows at a time by holding down the Or key By using the key at the same time as these keys you can move 30 rows at a time Operation of Digital Operator 8 7 8 Operation of Digital Ope
188. ert a connection cable specifically for the safety function m Safety unit Cable for connecting a kadd hall sensor m 1 Linear servomotor with core Before connecting an external regenerative resistor to the SERVOPACK refer to 3 V Series User s Manual Design and Maintenance Linear Motor Command Option Attachable Type SIEP S800000 66 Note The connections and wiring of the power supply of the main circuit and that of the controls differ in accordance with the SERVOPACK to be used For details refer to XV Series User s Manual Design and Maintenance Linear Motor Command Option Attachable Type STEP S800000 66 4 8 4 1 System Configuration Diagram 4 1 6 Connecting to SGDV LILILIDESA SERVOPACK Power supply Three phase 400 VAC RST Molded case circuit breaker MCCB Protects the power supply line by shutting the circuit OFF when Digital operator overcurrent is detected INDEXER Module M SGDV OOODE5A Noise filter SERVOPACK Used to eliminate Sequence I O external noise from signal cable EE the power line x Host controller Magnetic contactor p a peste oe z Turns the servo ON 4a ica g p and OFF Install a surge absorber 1 El Connection cable 5 gs a for personal computer Serial command s Is eS cable 24 VDC i I O signal cable o
189. ervo ON after the Servo ON function was Gr 1 Aail Command Alarm cas able used with the utility function A 100 Overcurrent or Heat An overcurrent flowed through the IGBT Grl NA ON OFF OFF Sink Overheated Heat sink of the SERVOPACK was overheated close open open A 300 Regeneration Error Regenerative circuit or regenerative resistor is Gr 1 Avail faulty able A 320 Regenerative Overload Regenerative energy exceeds regenerative Gr2 Avail ON ON OFF resistor capacity able close close open Main Circuit Power Setting of AC input DC input is incorrect Avail A 330 es as Gr 1 Supply Wiring Error Power supply wiring is incorrect able A 400 Overvoltage Main circuit DC voltage is excessively high Gr 1 ea A 410 Undervoltage Main circuit DC voltage is excessively low Gr 2 cow PUN a oN able open open close Main Circuit The capacitor of the main circuit has deterio A 430 Capacitor Overvoltage rated or is faulty Gr B A 510 Overspeed The servomotor speed is over the maximum Grl Avail allowable speed able The set value of the encoder output Rotational HM pulse Pn212 exceeds the speed Overspeed of Encoder limit Avail A 511 Gr 1 Output Pulse Rate Li The set value of the encoder output able mear resolution Pn281 exceeds the motors ne speed limit ON OFF ON Rotational Vibration at the motor speed was close open close 2n motors detected Avail A 520 Vibration Alarm
190. es not start program table operation Aotea 0 Resets program table operation by switching PGMRES signal from Factory setting OFF open to ON close Program table operation is canceled 1 Resets program table operation by switching PGMRES signal from PnB05 ON close to OFF open Program table operation is canceled Does not reset program table operation Parameter Signal name Setting Factory Setting When Enabled PnB06 SELO PnB07 SEL1 0 When input signal is ON PnB08 ISEL2 close program table selection signal becomes active PnB09 SEL3 i i i 1 When input signal is OFF 0 Afer testart PnB0A SEL4 open program table selec tion signal becomes active PnBOB SELS 2 Signal is always active PnBOC SEL6 3 Signal is always inactive PnBOD SEL7 Notes The wiring for the signals and the parameter settings described in the table above are not necessary when program table operations are performed with serial commands The following table shows which serial com mands correspond to the various input signals Signal Corresponding Serial Command MODE 0 1 None Mode switching is not necessary ISTART STOP Start START OOO command O00 000 to 255 Stop STOP command ISELO to SEL7 Restart START command PGMRES PGMRES command Program Table 6 3 6 Program Table 6 1 3 Program Table Step Selection 6 1 3 Program Table Step Selection Use the 8 bit selection signals SELO to SEL7 to specify PG
191. eter exclusive for linear servomotors 3 Normally set to 0 When using an external regenerative resistor set the capacity W of the regenerative resistor 4 The upper limit is the maximum output capacity W of the SERVOPACK S Appendix 10 25 10 Appendix 10 3 Monitor Modes The following list shows monitor modes available Un No Content of Display Unit Serial Command Motor rotating speed Rotation servomotors min Un000 NFB Motor movement speed Linear servomotors mm s Un001 Not used Un002 Internal torque reference in percentage to the rated m TREF torque Un003 Electrical angle 1 pulse encoder resolution Un004 Electrical angle 2 electric angle from polarity origin deg Un005 Input signal monitor INI Unoo6s Output signal monitor OUTI Input Reference speed Rotational servomotors in Un007 E d d NREF Input Reference speed Linear servomotors mm s Un008 Position error amount reference unit PER Un009 Accumulated load ratio in percentage to the rated TRMS torque effective torque in cycle of 10 seconds Regenerative load ratio in percentage to the process Un00A able regenerative power regenerative power con RGRMS sumption in cycle of 10 seconds Power consumed by DB resistance Un00B in percentage to the processable power at DB activa DBRMS tion display in cycle of 10 seconds Un
192. external regenerative resistor to the SERVOPACK refer to 2 V Series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 Note The connections and wiring ofthe power supply ofthe main circuit and that of the controls differ in accordance with the SERVOPACK to be used For details refer to XV Series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 4 1 System Configuration Diagram 4 1 2 Connecting to SGDV OOOAE1A SERVOPACK 1 Using a Three phase 200 V Power Supply Power supply Three phase 200 VAC RST Molded case circuit breaker MCCB Protects the power supply line by shutting the circuit OFF when overcurrent is detected Digital operator Mose mer ad SGDV OOOAE1A INDEXER Module external noise from SERVOPACK the power line Sequence I O signal cable i o Magnetic contactor Host controller Turns the servo d a OFF Connection cable nstall a surge es absorber for digital operator Connection cable for personal computer Serial command m cable Personal computer I O signal cable Regenerative resistor When not using the safety function use the SERVOPACK with the safety function jumper 20
193. f Digital Operator 8 23 8 Operation of Digital Operator 8 2 10 INDEXER Parameter Setting Initialization FnBOB 8 2 10 INDEXER Parameter Setting Initialization FnBOB This function restores the factory settings and initializes the parameters of both the SERVOPACK and the INDEXER Module db IMPORTANT Always carry out initialization of the parameter settings in the servo OFF status It cannot be done in the servo ON status To bring the settings into effect always turn the SERVOPACK power supply off and back on after this operation The parameters of the INDEXER Module are not initialized with FnOO5 To initialize these parameters execute FnBOB 1 Preparation The following conditions must be met to initialize INDEXER parameter settings The write prohibited setting Fn010 must not be set to write protect parameters The servo OFF status must be established The parameter settings must be not being initialized by any other means than using the digital operator The RES command must not being executed 2 Operating Procedure Step Display after Operation Keys Operation BB FUNCTION MODESET E FnBOA Monitor co Press the key to open the Utility Function Mode 1 FnBOB Prm Init main menu and move the cursor with the PIB ALM Ries ot keys to select FnBOB FnBOD Indexer ALM y BB Prm lIrnit 2 Start
194. fied as ZONE signals in order to use ZONE signals If the edited ZONE table is saved to flash memory it will be saved even after the control power supply is turned OFF Use one of the following methods to save the ZONE table to flash memory Execute the ZONESTORE serial command Select Save ZONE Table from Sigma Win Use the FnB04 utility function to save ZONE tables The function FnB04 is available for the following software versions INDEXER module Version 3 or later SERVOPACK Version 001B or later ZONE Table ZONE ID ZONE N ZONE P Z4 Z3 Z2 Z1 Z0 0 nnnnnnnn nnnnnnnn 1 nnnnnnnn nnnnnnnn Active 2 nnnnnnnn nnnnnnnn Active 3 nnnnnnnn nnnnnnnn Active Active 4 nnnnnnnn nnnnnnnn Active 5 nnnnnnnn nnnnnnnn Active Active 6 nnnnnnnn nnnnnnnn Active Active 7 nnnnnnnn nnnnnnnn Active Active Active 8 nnnnnnnn nnnnnnnn Active 9 nnnnnnnn nnnnnnnn Active Active 10 nnnnnnnn nnnnnnnn Active Active 11 nnnnnnnn nnnnnnnn Active Active Active 12 nnnnnnnn nnnnnnnn Active Active 13 nnnnnnnn nnnnnnnn Active Active Active 14 nnnnnnnn nnnnnnnn Active Active Active 15 nnnnnnnn nnnnnnnn Active Active Active Active 16 nnnnnnnn nnnnn
195. fied by the SPD command and the target position speci fied by the POS POSA or POSI command The target position specification and speed specification can be omitted In this case the previ ous positioning will be repeated Error E51E will occur if the ST command is executed but the target position hasn t been speci fied even once If the ST command is executed but the speed hasn t been specified even once the speed specified in parameter PnB27 will be used When positioning has been stopped with the HOLD command the positioning will be restarted the hold will be cleared if the ST command is executed Example 1 POSI nnnnnnnn Target Position Specification SPDnnnnnnnn Positioning Speed Specification ST Positioning Start ST Repeat Example 2 POSI nnnnnnnn Target Position Specification ST Positioning Start using the speed specified in PnB27 Example 3 POSI nnnnnnnn Target Position Specification ST Positioning Start HOLD Positioning Interruption ST Positioning Restart Clear Hold Note An E53E error will occur if a new move command such as the ST command is received while the motor is already moving positioning or other moving operation Execute a move command such as the ST command only after the previous moving operation has been completed OK 7 7 Serial Commands Control Commands cont d Serial Command Function Description Positive Response ST nnnnnnnn STA nnnnnn
196. following software versions INDEXER module Version 3 or later SERVOPACK Version 001B or later Set PnB25 to the value calculated with the equation explained in the following section The value for PnB25 can be calculated from the following equation PnB25 Current setting of PnB25 nnnnnnnn Position reference current position PnB25 Absolute encoder offset nnnnnnnn Desired position Usually zero Position reference current position Can be monitored with the serial command PON or MONI When using the linear type coordinate PnB20 0 set the calculated value in PnB25 When using a rotary type coordinate PnB20 0 set the results in PnB25 after performing the following cal culations so that the following relationships are satisfied PnB23 lt PnB25 lt PnB21 f the results is smaller than PnB23 the starting point of the rotational coordinates add the width of the coordinates PnB21 PnB23 1 f the results is larger than PnB21 the end point of the rotational coordinates subtract the width of the coor dinates PnB21 PnB23 1 Making the above setting will change the current position of the machine to nnnnnnnn After changing parameter Pn20E Pn210 Pn205 or PnB20 to PnB25 turn the control o power OFF and then ON again to enable the new setting IMPORTANT 5 4 4 5 4 Settings According to Device Characteristics Backlash Compensation This parameter can be set to comp
197. for SERVOPACKs 9 12 status displays 9 12 warning displays 9 12 wiring and connection 4 1 X X ON X OFF control 7 2 Z ZONE 6 22 7 29 ZONE signal 6 6 6 22 ZONE table 6 6 6 15 6 22 7 21 ZONE table edit 8 11 ZONE table initialization 8 17 ZONE table save 8 12 ZONE table setup commands 7 29 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover MANUAL NO SIEP C720829 02C Published in Japan September 2010 09 7 T 1 WEB revision number Revision number Date of Date of original publication publication Mor on Rev Section Revised Content October 2010 D 2 iont cova Revision Format 2 3 Addition Description of S1 and S2 4 2 3 Deletion Earth symbol of CN8 92 1 Revision Warning code output of A A9F 10 1 Revision Factory setting of PnB23 10 2 Revision Description of Pn001 4 September 2010 1 6 5 Addition Restrictions on encoder use 10 2 Revision Descriptions of the first digit of Pn000 Back cover Revision Address June 2010 0 Addition Information a
198. for a vertical axis install safety devices to prevent workpieces from fall ing due to alarms or overtravels Set the servomotor so that it will stop in the zero clamp state when overtravel occurs Failure to observe this caution may cause workpieces to fall due to overtravel When not using tuning less function set to the correct moment of inertia ratio Pn103 Setting to an incorrect moment of inertia ratio may cause machine vibration Do not touch the SERVOPACK heatsinks regenerative resistor or servomotor while power is ON or soon after the power is turned OFF Failure to observe this caution may result in burns due to high temperatures Do not make any extreme adjustments or setting changes of parameters Failure to observe this caution may result in injury or damage to the product due to unstable operation When an alarm occurs remove the cause reset the alarm after confirming safety and then resume operation Failure to observe this caution may result in damage to the product fire or injury Do not use the holding brake of the servomotor for braking Failure to observe this caution may result in malfunction An alarm or warning may be generated if communications are executed with the host controller dur ing operation using SigmaWin or the digital operator If an alarm or warning is generated the process currently being executed may be aborted and the system may stop B Maintenance and Inspection
199. g Method PnB31 Pn823 Homing Direction PnB32 Pn824 p PnB33 Homing Moving Speed PnB34 Pn825 PnB35 Homing Approach Speed PnB36 Pn826 PnB37 Homing Creep Speed PnB38 Pn827 PnB39 Homing Final Move Distance PnB3A Pn828 PnB3B Reserved setup information PnB3C Pn829 PnB3D Reserved setup information PnB3E Pn82A PnB3F Reserved setup information PnB40 Pn82B PnB41 Reserved setup information PnB42 Pn82C PnB43 Reserved setup information PnB44 Pn82D PnB45 Reserved setup information PnB46 Pn82E PnB47 Reserved setup information PnB48 Pn82F PnB49 Reserved setup information PnB4A Pn830 F PnB4B Reserved setup information PnB4C Pn831 PnB4D Reserved setup information PnB4E Pn832 ZONE Signal Setting PnB4F Pn835 Backlash Compensation PnB50 Pn836 ALO Output Selection PnB51 ALM RST PnB52 10 6 Parameter Equivalence List for INDEXER Modules for SGDV SERVOPACKs and INDEXER Modules for SGDH SERVOPACKs E Appendix 10 33 Index Index Symbols global address 7 5 24V COM 4 12 24VIN 4 10 A absolute encoder 7 17 7 18 offset 5 18 origin setting 8 19 reset 7 35 ACC
200. gt aa IMODE 0 1 3 TIUS hw 20 t gt ISTART STOP t 7 HOME VAS 5 Pe a 22 Ye PP M gt e P 23 IPGMRES JOGP YA TT ML WE M gt L 25 ISELO JOGN VAS 9 PNL ES p gt 0 j J 27 gt ISEL1 JOGO 11 VAS m w 128 M gt L ERE ISEL2 0001 ASK l gt m 31 yT Zi a ISEL3 JOG2 VAS 15 NL MES M gt o L_ T Pe 3 gt ISEL4 IJOG3 Y h 47 M 135 gt ISELS A NI 4 ISEL6 YAS Js NI CN12 ISEL7 YAS 35 18 NJ INDEXER Module 4 INPOSITION INPOSITION IPOUTO o c o IPOUT1 7_ POUT1 IPOUT2 Z_IPOUT2 IPOUT3 _IPOUT3 _IPOUT4 IPOUT4 TEE T dE TE daa lPOUTS en a Photocoupler output Max operating voltage 30 VDC Max operating current 50 mA DC 4 Serial command communications Note START STOP PGMRES SELO SEL1 SEL2 SEL3 SELA SEL5 SEL6 and SEL7 signals are valid when Mode 0 is set HOME JOGP JOGN JOGO JOGI JOG2 and JOG3 signals are valid when Mode 1 is set Example Connections to I O Signal Connector CN11 Wiring and Connection 4 17 4 18 4 Wiring and Connection 4 3 1 Communications Specifications 4 3 Serial Command Communications Connector CN12 Serial commands can be used to p
201. gt INDEXER Module 4 RXD Receive data inverted Host controller gt INDEXER Module 5 GND Signal ground 0 V 6 RXD Receive data inverted 7 RT If RT and RXD are connected shorted the built in terminator 120 Q will be connected between RXD and RXD 8 TXD Transmit data not inverted Host controller INDEXER Module 9 TXD Transmit data inverted Host controller INDEXER Module 10 RXD Receive data not inverted Host controller INDEXER Module 11 Reserved Reserved pin 12 Reserved Reserved pin 13 Reserved Reserved pin 14 GND Signal ground 0 V Wiring and Connection 4 19 4 Wiring and Connection 4 3 4 Connection Examples 4 3 4 Connection Examples 1 Full duplex Wiring RS 422 or RS 485 port INDEXER Module idis deis Pin No RXD TXD 1 RXD F TXD 2 TXD A RXD 3 TXD Fi RXD 4 OV GND 5 FG P RXD 6 4 RT 7 TXD 8 TXD 9 RXD 10 GND 14 Case FG P d v ie A4 To next axis Pin No 1 218 4 14 FG Full duplex Wiring Connect short the RT and RXD pins in the last axis Note Cable length 50 m max 2 Half duplex Wiring RS 485 port INDEXER Module Tu fe Sew Pin vo TXD i RXD 3 TXD V RXD 4 OV GND 5 FG 7 RXD 6 RT 7 RXD 10 GND
202. h always ON 3 Sets homing limit switch always OFF RGRT 0to3 0 After restart 6 2 2 Setting Meaning PnB12 0 Starts registration by switching input signal from OFF open to ON close 1 Starts registration by switching input signal from ON close to OFF open 2 3 Does not start registration E Appendix 10 5 10 6 10 Appendix cont d Parameter Setting Factory When Nam tting Ran 3 3 Referen No amg Seiling REME Unit Setting Enabled Sos INPOSITION 0 to3 0 After restart 5 3 7 Settin Meanin PnB13 2 g 0 When positioning has been completed photocoupler becomes ON close 1 When positioning has been completed photocoupler becomes OFF open POUTO Otol 0 After restart 5 3 8 Settin Meanin PnB14 z 3 0 When programmable output signal POUTO is active photocoupler becomes ON close 1 When programmable output signal POUTO is active photocoupler becomes OFF open POUTI 0tol 0 After restart 5 3 8 Settin Meanin PnB15 2 g 0 When programmable output signal POUTI is active photocoupler becomes ON close 1 When programmable output signal POUTI is active photocoupler becomes OFF open POUT2
203. h if they exceed the allowable range of motion For rotating applications such as rotary tables and conveyors an overtravel function is not always necessary and in this case no wiring for overtravel input signals is required Signal Specifications Type Name Eu Setting Meaning ON close Forward run allowed Normal operation sta P OT CNI 8 tus Input OFF open Forward run prohibited Forward overtravel ON close Reverse run allowed Normal operation status N OT CNI1 9 OFF open Reverse run prohibited Reverse overtravel Rotation in the opposite direction 1s possible during overtravel by inputting the reference Parameter Setting and Functions 5 5 5 Parameter Setting and Functions 5 3 2 Overtravel 2 Changing Input Signal Settings The settings of the input signals for overtravel can be changed with the parameters below Parameter Meaning When Enabled 0 When input signal is OFF open forward run is prohibited forward Factory setting overtravel 1 When input signal is ON close forward run is prohibited forward PnBOF overtravel Forward run is always prohibited forward overtravel Forward run is always enabled P OT signal is not used After restart When input signal is OFF open reverse run is prohibited reverse Factory setting overtravel 1 When input signal is ON close reverse run is prohibited reverse PnB10 overtravel 2 Reve
204. has not been executed for the number of times specified in the LOOP the next LOOP will be executed 6 10 6 1 8 6 1 Program Table Input Signal Timing Specifications for Program Table Operation The following figures show the timing specifications of program table input signals MODE 0 1 ISTART STOP lt gt 4 ms min ei 0 ms min PGMRES ISTART STOP lt gt 4 ms min lt gt 4 ms min ISTART STOP j SELO to SEL7 2ms min 43 4 ms min When SELO to SEL7 are specified in EVENT SELO to SEL7 E lt gt 0 ms min START STOP lt gt 4 ms min EVENT time max gt Program Table 6 11 6 12 6 Program Table 6 1 9 Response Times after Turning ON the START STOP Signal 6 1 9 Response Times after Turning ON the START STOP Signal The response times after turning ON the START STOP signal are shown below START STOP Motor movement MEM INPOSITION SES POUTO to 7 X n tM M y j t j i lt gt Time Normal Under Special Conditions tu 2msto 6 ms 2 ms to 16 ms t 2msto 8 ms 2 ms to 14 ms tp 2msto6 ms 2 ms to 10 ms Special Conditions Program is stopped due to error Previous positioning was stopped Previous external latch is on standby Overtravel status exists 6 1 Program Table 6
205. he continuous stop function the Acceleration ACC is disabled The servomotor accelerates at the set rate specified in the preceding program step PGMSTEP 0 i PGMSTEP 1 a 2s E Speed START STOP IINPOSITION POUTO POUT1 B Continuous Stop Function With the continuous stop function the servomotor decelerates to a stop at the specified position absolute position specification in rotational coordinates after a step has been finished when a INFINITE command is used to jog forward or to jog reverse in operations using a program table The servomotor rotates at the positioning speed SPD set in the preceding program step until the point where deceleration starts The servomotor stops at the target point in rotational coordinates without rotating in reverse The figure shows an example where the servomotor runs at a constant speed in program step 0 for two seconds and positions the servomotor at a 45 degree reference unit 0 001 degree in program step 1 Note To use the continuous stop function the following conditions must be met A rotational coordinate must be used PnB20 1 2 or 3 The target position of the preceding program step must be tINFINITE The INFINITE POS setting must not be used in two consecutive steps The Registration function must not be used in the preceding program step If these conditions are not met one of the following errors will
206. he nameplate refer to 1 2 Nameplate and Model Designation 2 When the INDEXER Module is Connected to the SERVOPACK Check the nameplate to confirm that the Module that is mounted is the INDEXER Module The nameplate is located in the following position 1 2 Nameplate and Model Designation 1 2 Nameplate and Model Designation B Nameplate Example CE Yy Yaskawa ELECTRIC ene en DE IN JAPAN T Option Module model number Name SERVOPACK OPTION MODULE ODEL SGDV OCA03A O N 840204 9 1 S N D0093A102110001 Manufacturing number Nameplate M Model Designation Use with SGDV SERVOPACK only SGDV OC A03 A SGDV Series X V Series 1st 2nd digits Module Type i Code Module OC Command option module L 6th digit Design Revision Order 3rd 4th 5th digits Interface Specifications Code Interface A03 INDEXER gt Overview 1 Overview 1 3 Nameplate Location Nameplate Model no 1 4 efesotomasyon com 2 Specifications This chapter gives an overview and describes the specifications of the INDEXER Module 2 1 Product OvervieW 0 0 cee RR ss 2 2
207. he serial converter unit Replace the linear scale Replace the SERVOPACK Correct the error detection section of the host controller Check if the host controller is exe cuting data parity checks Execute a serial data parity check Check for noise in the input output signal line between the SERVO PACK and the host controller Take measures against noise and again execute a serial data parity check Overtravel OT Forward or reverse run prohibited signal is input Check if the voltage of input signal external power supply 24 V is correct Correct external power supply 424 V voltage Check if the overtravel limit switch operates properly Check if the overtravel limit switch is connected correctly Check the settings for PnBOF and PnB10 Correct the overtravel limit switch Correct the overtravel limit switch wiring Set the parameters correctly Forward or reverse run prohibited signal is malfunctioning Check the fluctuation of the input signal external power supply 24 V voltage Stabilize the external power supply 24 V voltage Check if the overtravel limit switch operates correctly Check if the overtravel limit switch wiring is correct check for dam aged cables or loosen screws Stabilize the operation of the over travel limit switch e Troubleshooting Correct the overtravel limit switch wiring 9 27 9
208. ications 2 5 2 6 2 4 LED Indicators The following table shows the meaning of the LED indicators 2 Specifications Status Red LED Green LED Control Power Supply OFF Not lit Not lit Control Power Supply ON Not lit Flashing Normal Not lit Lit Overtravel Software Limit Activated Resetting Saving a Table Flashing Initializing a Table Initializing Parameters Error Flashing 2 seconds Warning Flashing Alarm Lit Not lit efesotomasyon com 3 E nn SERVOPACK Installation This chapter describes how to install the SERVOPACK 3 1 SERVOPACK Installation Environment and Applicable Standards 3 2 3 1 1 Installation Environment 00 0 000 nn 3 2 3 1 2 Installation Conditions for Applicable Standards slsllselsesses 3 2 3 2 SERVOPACK Installation llle 3 3 3 2 1 Orientation licis nicus obese bebe bee eh ee be X GRE t bh Re eae dud 3 3 3 2 2 Installation Standards lseleeeeeeee e 3 4 3 3 EMC Installation Conditions 0 2 00 02 e eee 3 5 n SERVOPACK Installation 3 2 3 SERVOPACK Installation 3 1 1 Installation Environment 3 1 3 1 1 3 1 2 SERVOPACK Installation Environment and Applicable Standards SERVOPACK installation environment and applicable standards are as follows Installation Environment Surrounding air temperature 0 C to 55 C Ambient humidity 90 RH or less w
209. ign and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 4 5 4 Wiring and Connection 4 1 4 Connecting to SGDV OOOFESA SERVOPACK 4 1 4 Connecting to SGDV OOOFESA SERVOPACK Power supply Single phase 100 VAC R T Molded case circuit breaker MCCB Protects the power supply line by shutting the circuit OFF when overcurrent is detected Digital operator Noise aer i SGDV OOOFE5A INDEXER Module sucum Wh SERVOPACK the power line Sequence O signal cable EE Magnetic contactor Host controller Turns the servo o M om V WE ooj O o Connection cable abea mr Hes for digital operator B Ex AA m Connection cable o e for personal computer m sP Len i il Serial command B CSA cable Personal computer Y u im 9 O B S eu g en i I O signal cable Regenerative Jen resistor ee S p When not using the safety function Wen use the SERVOPACK with the safety function o ALI jumper connector JZSP CVHO5 E DE provided as an accessory inserted 1 When using the safety function insert a connection cable specifically for the safety function C gt Safety unit Cable for connecting serial converter unit Serial converter unit i Cable for connecting ey bs hall sensor M 1
210. ignal cables must be Shielded twisted pair or shielded multi core twisted pair wire with 2 Contact the machine manufacturer Use the specified I O signal cables core 0 12 mm min and tinned annealed copper twisted wire Noise interference due to long dis tance of I O signal cable Check the I O signal cable length Shorten the I O signal cable length to 3 m or less Noise interference due to incorrect specifications of linear scale con nection cables The specifications of cable for con necting serial converter unit must be Shielded twisted pair or shielded multi core twisted pair wire with Use the specified linear scale con nection cables core 0 12 mm min and tinned annealed copper twisted wire Noise interference because the lin ear scale connection cables is too long The maximum length of linear scale connection cables Check the length of the linear scale 20 m for the cable for connecting a connection cables serial converter unit 15 m for the cable for connecting a linear scale hall sensor jo Troubleshooting 9 25 9 26 9 Troubleshooting Problem Probable Cause Abnormal Noise Noise interference because the lin ear scale connection cables are damaged Excessive noise to the linear scale connection cables FG electrical potential varies by influence of such machines on the linear servomotor side as welders Investigati
211. inals Make sure that no part of the core wire comes into contact with i e short circuit adjacent wires Install a battery at either the host controller or the SERVOPACK but not both Itis dangerous to install batteries at both ends simultaneously because that sets up a loop circuit between the batteries Always use the specified power supply voltage An incorrect voltage may result in fire or malfunction Take appropriate measures to ensure that the input power supply is supplied within the specified voltage fluctuation range Be particularly careful in places where the power supply is unstable An incorrect power supply may result in damage to the product Install external breakers or other safety devices against short circuiting in external wiring Failure to observe this caution may result in fire Take appropriate and sufficient countermeasures for each form of potential interference when installing systems in the following locations Locations subject to static electricity or other forms of noise Locations subject to strong electromagnetic fields and magnetic fields Locations subject to possible exposure to radioactivity Locations close to power supplies Failure to observe this caution may result in damage to the product Do not reverse the polarity of the battery when connecting it Failure to observe this caution may damage the battery the SERVOPACK the servomotor or cause an explo sion Wiring or inspection m
212. intenance Rotational Motor Command Option Attachable Type SIEP S800000 60 Power supply Single phase 200 VAC R T Molded case circuit breaker MCCB Protects the power supply line by shutting the circuit OFF when overcurrent is detected Digital operator SGDV OODAE1A INDEXER Module Noise filter SERVOPACK Used to eliminate Sequence I O external noise from signal cable the power line O a Magnetic contactor Turns the servo Host controller ium OCAOS ON and OFF Connection cable Install a surge m for digital operator absorber j A EN Connection cable Loy 9 for personal computer i f jeD Serial command v e opera cable Personal computer en L 5D s B Pu l E z SNAH eu j I O signal cable 9 o Regenerative f s 22 resistor n When not using the safety function use the n SERVOPACK with the safety function jumper 200 VAC W n 5 connector JZSP CVHO05 E provided as an i accessory inserted DC brake power supply X 7 Used for a servomotor with a brake When using the safety function insert a connection cable specifically for the safety function Battery case CT C IJ Magneiie See when an absolute L Safety unit urns the brake power supply ON and OFF encoder is
213. ion 1 3 monitor monitor and utility function commands 7 31 monitor modes 10 26 moving mode and coordinate settings 5 16 multiturn limit setting 7 35 N NEAR 6 7 6 8 negative responses 7 7 NEXT 6 5 6 7 noise filter 3 10 3 11 North American Safety Standards xiii N OT 4 10 5 5 number of executions 6 7 O OK 7 3 7 7 structure of the response OK 7 7 overrun error 7 7 overtravel 5 5 7 17 overtravel setting 5 5 Index parameter setting and functions 5 1 parameters parameter edit commands 7 22 parameter equivalence list 10 32 parameter list for INDEXER Module 10 2 parameter list for SERVOPACKs 10 9 restrictions on SGDV SERVOPACK parameters 5 3 parity 7 2 parity error 7 7 PGMRES 4 1
214. ion 1 npu P JOG2 CN11 15 JOG speed table selection 2 JOG3 CN11 17 JOG speed table selection 3 6 24 2 Related Parameters 6 4 Homing JOG Speed Table The homing JOG speed table operation signal can be set with the following parameters Parameter Meaning When Enabled 0 Factory setting Starts homing when input signal is ON close Peo 1 Starts homing when input signal is OFF open 2 3 Does not start homing 0 Executes JOG operation in forward direction when input signal is ON Factory setting close PnB05 1 Executes JOG operation in forward direction when input signal is OFF open 2 3 Does not execute JOG operation 0 Executes JOG operation in reverse direction when input signal is ON After restart Factory setting close PnB06 1 Executes JOG operation in reverse direction when input signal is OFF open 2 3 Does not execute JOG operation 0 m Factory setting Starts deceleration in homing when input signal is ON close PnB11 1 Starts deceleration in homing when input signal is OFF open 2 Sets homing limit switch always ON 3 Sets homing limit switch OFF Parameter Signal Name Setting Factory Setting When Enabled PnB07 JOGO 0 When input signal is ON PnBO8 JOGI close JOG speed table selec tion signal becomes active PnB09 JOG2 1 When input signal is OFF open JOG speed table selec 0 hie tion signal become
215. ions RS 422 485 50 m max Method Connection topology Multi drop connection 16 axes max Baud rate 9600 19200 38400 bps Other dci JE Functions Registration positioning by external signals homing Display Function LED Lit during parameter setting monitoring executing utility functions etc Applicable Standards ULS08C EN50178 EN61800 5 1 EN55011 group 1 class A EN61800 3 EN61000 6 2 Applicable when the INDEXER Module is attached to the command option attachable type SERVOPACKs 2 3 Part Names of the INDEXER Module 2 3 Part Names of the INDEXER Module The following figure shows the part names of the INDEXER Module With front cover open Reserved Do not use V Quom oov GDV IRGAEIA CHARGE B3 iE o1 e MZZO Reserved Do not use LED red LED green 1 O signal connector CN11 for sequence I O signals Serial command communications connector CN12 D Specif
216. is tration distance or reduce the deceleration distance increase the decelera The registration distance tion rate was shorter than the The registration distance deceleration distance can be set by executing f when the RGRT signal the RDST command or E23A A AEF dia as EE went ON to start registra changing the RDST Gr 1 Available non operation The cur parameter in the pro rent position will exceed gram table the position specified by registration The deceleration rate can be changed by executing the DEC command or changing parameter PnB2B 2 This function is available for the following software versions INDEXER module Version 3 or later SERVOPACK Version 001B or later 4 These alarms can be reset but it is possible that the zone signals POUTO to POUT7 will be output incorrectly When using the zone table correct the zone table without resetting 5 These alarms can be reset but a Canceled JOG Speed Table Error E46E will occur the next time you attempt to start JOG speed table operation so JOG speed table operation will not be possible jo Troubleshooting 9 11 9 Troubleshooting 9 2 1 List of Warnings for Command Option Attachable Type SERVOPACKs 9 12 9 2 Warning Displays When a warning has been detected the SERVOPACK displays the warning status as shown below and contin ues motor operation B Status Displays SERVOPACK Panel Display The SERVOPACK s
217. isplayed The operating procedure for saving program tables is shown below Step Display after Operation Keys Operation BB PGM Edit POSOOO STOP LL 1 POSOO1 STOP Display the program table editing screen POSOO2 STOP POSOOS3 STOP BB PGM Edit ITE 53 i 2 STORE Ne quus Press the key to view the program table save RVO operation screen CANCEL STORE Move the cursor with the keys to select BB PGM Edit STORE 3 STORE PGM TABLE Note Selecting CANCEL and pressing the key CANCEL STORE will return the display to the program table edit ing screen BB PGM Edit Press the key to start saving the program table to 4 Storing now flash memory N N Do not turn off the control power supply until saving Please wait has been completed normally BB PGM Edit POSO00 STOP When saving to flash memory has been completed nor 5 POSOO1 STOP mally the display returns to the program table editing POSOO2 STOP screen POSOOS3 STOP BB FUNCTION 6 d Z o I ini i s r lt Press the key to return to the Utility Function n 1 FnBO4 ZONE Edit Mode main menu FnBO5 JSPD Edit Ifthe key is pressed in an operation prohibited state Error is displayed for approximately 2 seconds and then the display returns to the program table editing screen In this case make the setting again by referring to 7 Prepara tion 8 2 3 8 2 Operatio
218. ith no condensation Altitude 1 000 m or less Vibration resistance 4 9 m s Shock resistance 19 6 m s Installation Precautions Mounting in a Control Panel To prevent the temperature around the SERVOPACK from exceeding 55 C take into account the size of the control panel the layout of the SERVOPACK and the cooling method For details refer to 3 2 SERVOPACK Installation Mounting Near a Heating Unit To prevent the temperature around the SERVOPACK from exceeding 55 C suppress radiant heat from the heating unit and temperature rise due to convection Mounting Near a Vibration Source To prevent vibration from being transmitted to the SERVOPACK install a vibration isolator underneath the SERVOPACK Mounting to a Location Exposed to Corrosive Gas Take measures to prevent exposure to corrosive gas Corrosive gases will not immediately affect the SERVO PACK but will eventually cause electronic components and contactor related devices to malfunction Other Locations Do not mount the SERVOPACK in locations subject to high temperatures high humidity dripping water cut ting oil dust iron filings or radiation Note When storing the SERVOPACK with the power OFF store it in an environment with the following tempera ture and humidity 20 C to 85 C 90 RH or less with no condensation Installation Conditions for Applicable Standards Applicable ULSVSC EN50178 EN55011 A2 group1 classA EN61000 6 2
219. ithout notice for ongoing product modifications and improvements 2009 2010 YASKAWA ELECTRIC CORPORATION All rights reserved MANUAL NO SIEP C720829 02C Published in Japan October 2010 09 7 lt gt 2 10 10 4 Original instructions
220. ition exceeds the posi Check the moving mode E4EE A A9F MEAE DISSDIGPAEHOR tion e aee software limit v in rotary or linear m in PnB20 ue to N LS ape E PnB23 If software limits are not being used either select a rotary moving mode in PnB20 or dis able the software limits by set ting PnB21 PnB23 0 Check the target position speci The moving method is set to rotary PnB20 fication E4FE A AOF Position Reference 1 2 or 3 and the target position specification Check the positioning range set Out of range Error exceeds the position reference limits in PnB21 with PnB21 and PnB23 and PnB23 Check the moving method rotary or linear set in PnB20 Es though the target position was not speci Specify a target position with a Target Position iedeyem oncs ere Was d regust bythe st command such as the POS com E51E A A9F U gero command to start positioning or a request by nspecified Error ee mand STnnnnnnnn command or the RS command to start registration position id RSnnnnnnnn command Even though the registration distance was not E52E A A9F jesse ene specified even once there was a request by the ie d E RS command to start registration positioning Send the next move reference request only after the current movement is completed Posi tion reference distribution is There was a new move reference requested completed E53E A A9F Move Reference even though the system was already moving in A m
221. le 1 HOLD OK Speed SPDx spDz Oey s ST ST i HOLD x y1 y2 y zi yz t Example 2 Speed SPDx POSI st HOLD PME xt 4ST zc i i y i gt t Positioning Stop Stops the current positioning The remaining distance will be canceled SPDx st SKIP i Remaining SKIP Speed Y distance YOGPX SKIP K A i i cancelled Y Y xi NS x i i 0 t 7 7 Serial Commands Control Commands cont d Em Positive Serial Command Function Description Response POUT Specification Specifies the operation of programmable output signals POUTO to POUT7 Settings N Inactive A Active Z Zone table POUTnnnnnnnn 75 Continue OK POUTnnnnnnnn POUTO POUTI POUT2 POUT3 POUT4 POUTS POUT6 POUT7 Serial Command Communications 7 21 7 Serial Command Communications 7 7 3 Parameter Edit Commands 7 7 3 Parameter Edit Commands The following table shows the Parameter Edit Commands Parameter Edit Commands Serial Command Function Description Positive Response PRMppp Parameter Read Reads a parameter ppp Parameter number Pn number Example Reading PnB00 Command 1PRMBO00 CR Response IPRMBO0O 00000001 CR LF An 8 digit signed decimal value is returned for commands PRM124 PRM164 PRM165 PRM550 to PRM553 PRMB21 PRMB23 PRMB25 PRMB39 and PRMBS50 Example PRMB21 412345678 CR LF An 8 digit hexadeci
222. les of the INDEXER Module and performs INDEXER Module setting monitoring and maintenance PRM MON 00000 00000 0000000000 0000000000 FUNCTION Fn01E V Monitor Fn000 AIm History Fn002 JOG Fn003 Z Search BB B Parameter Copy Functions A SERVO gt OP Copies and stores the SERVOPACK parameters settings to the digital B 1 2 0P SERVO operator or writes them into the SERVOPACK 3 VERIFY 4 LIST 8 1 Overview 8 1 3 Reading the Screen PGM Edit POSOOO 1 12345678 POSOO1 A T12345678 POSOO2 INFINITE POSOO3 STOP O OO The SERVOPACK status is always displayed at the top left of the screen BB Base blocked RUN Servomotor is ON A O00 Alarm warning is in effect OO is the alarm warning code PT NT Forward run and reverse run prohibited Over travel P OT Forward run prohibited Over travel N OT Reverse run prohibited Over travel P LS Forward software limit N LS Reverse software limit NO OP Setting disabled or setting error HBB During hard wire base block Overtravel and software limit indications are supported by the following software version INDEXER Module Version 3 or later SERVOPACK Version 001B or later The figure of editing screen used in the program tables ZONE tables and JOG speed tables has the follow ing elements Q The article and table number currently selected The article of the table 4 The table num
223. limiter Echoback is performed for each char acter PnB00 Eum T D 4 Half duplex wiring is used for communications method CR is used as delimiter Echoback is performed for each com mand 5 Half duplex wiring is used for communications method CRLF is used as delimiter 6 Half duplex wiring is used for communications method CRLF is used as delimiter Echoback is performed for each character 7 Half duplex wiring is used for communications method CRLF is used as delimiter Echoback is performed for each command 8 9 Reserved parameter Bit rate 0to2 0 After restart 7 2 3 Setting Meaning PnB01 0 Sets bit rate at 9600 bps 1 Sets bit rate at 19200 bps 2 Sets bit rate at 38400 bps Response OK Otol 1 Immediately 7 2 3 Setting Meaning PnB02 0 Does not return OK response 1 Returns OK response MODE 0 1 0to3 0 After restart 6 1 1 6 4 1 Setting Meaning 0 When input signal is ON close mode is set to Mode 0 PnB03 T 7 1 When input signal is OFF open mode is set to Mode 0 2 Always Mode 0 3 Always Mode 1 10 2 10 1 Parameter List for INDEXER Module cont d Parameter Setting Factory When Nam tting Ran Referen No ame paling Renge Unit Setting Enabled USE START STOP HOME 0to3 0 After restart 6 1 2 6 4 2 Me
224. lusive for rotational servomotors 2 Parameter exclusive for linear servomotors E Appendix 10 19 10 Appendix cont d Parameter Setting Factory When No Name Range Units Setting Enabled Classification 4th 3rd 2nd 1st digit digit digit digit n Reserved Do not change Reserved Do not change Pn22A Reserved Do not change Speed Feedback Selection at Fully closed Loop Control 0 Uses the motor encoder speed 1 Uses external encoder speed P Edge n281 Encoder Output Resolution 1 to 4096 pitch 20 After restart Setup Pn282 2 Linear Scale Pitch 0 to 65536 0 01 um 0 After restart Setup Pn300 Reserved Do not change 600 Pn301 1 Reserved Do not change 100 Pn302 Reserved Do not change 200 Pn303 Reserved Do not change 300 Pn304 JOG Speed Oto 10000 1 min 500 Immediately Setup Pn305 Soft Start Acceleration Time 0 to 10000 1 ms 0 Immediately Setup Pn306 Soft Start Deceleration Time 0 to 10000 1 ms 0 Immediately Setup Pn307 Reserved Do not change 40 Vibration Detection Switch 0000 to 0002 0000 Immediately Setup 4th 3rd 2nd ist digit digit digit digit n Vibration Detection Selection 0 No detection Pn310 1 Outputs warning A 911 when vibration is detected 2 Outputs alarm A 520 when vibration is detected Reserved Do not change
225. m Level 1073741823 reference 5242880 Immediately Setup 239 1 unit Pn522 Reserved Do not change 1 Pn524 Reserved Do not change 1073741824 e 1 to 1 Pn526 Excessive Position Error Alarm Level at Servo ON 1073741823 reference 5242880 Immediately Setup 239 1 unit Pn528 eue Position Error Warning Level at Servo 10 to 100 1 100 Immediately Setup Pn529 Speed Limit Level at Servo ON 0 to 10000 1 min 10000 Immediately Setup Pn52A Multiplier per One Fully closed Rotation 0 to 100 1 20 Immediately Setup Pn52B Overload Warning Level 1 to 100 1 20 Immediately Setup Pn52C Derating of Base Current at Detecting Overload of 10 to 100 1 100 Adier restart Setup Motor Parameter exclusive for rotational servomotors 2 Parameter exclusive for linear servomotors E Appendix 10 23 10 Appendix cont d Parameter Setting Factory When No Name Range Units Setting Enabled Classification Pn52F Reserved Do not change OFFF Program JOG Operation Related Switch 0000 to 0005 0000 Immediately Setup 4th 3rd 2nd 1st digit digit digit digit n Program JOG Operation Related Switch 0 Waiting time Pn535 Forward movement Pn531 x Number of times of movement Pn536 1 Waiting time Pn535 Reverse movement Pn531 x Number of times of movements Pn536 2 Waiting time Pn535 Forward movem
226. m ON close to OFF open 2 3 Does not reset alarms Signal is ignored 10 8 10 2 10 2 Parameter List for Command Option Attachable Type SERVOPACKs Parameter List for Command Option Attachable Type SERVOPACKs Parameter Setting Factory When 5 No Name Range Units Setting Enabled Classification Basic Function Select Switch 0 0000 to 00B3 0000 After restart Setup 4th 3rd 2nd 1st digit digit digit digit n Direction Selection Rotational Servomotors Sets CCW as forward direction Sets CW as forward direction Reverse rotation mode 2 to 3 Reserved Do not change Direction Selection Linear Servomotors Pn000 0 Sets the linear scale counting up phase A lead direction as forward direction 1 Sets the linear scale counting down phase B lead direction as forward direction Reverse Movement Mode 2 to 3 Reserved Do not change Reserved Do not change Reserved Do not change Reserved Do not change Application Function Select Switch 1 0000 to 1122 0000 After restart Setup 4th 3rd 2nd 1st digit digit digit digit n Servomotor power OFF or Alarm Gr 1 Stop Mode 0 Stops the motor by applying DB dynamic brake 1 Stops the motor by applying dynamic brake DB and then releases DB 2 Makes the motor coast to a stop state without using the dynamic brake DB Reserved Do not change Pn001 AC DC Power Input Selection Applicabl
227. mal value is returned for com mands PRMO000 to PRM002 PRM006 to PRM 009 PRMOOB to PRMOOD PRM010 PRMIOB PRM139 PRM140 PRMI60 RPM170 PRM310 PRM408 PRM460 PRM530 PRM587 Example PRM000 00001234 CR LF A 10 digit unsigned decimal value is returned for commands PRM20E PRM210 PRM212 PRMS520 PRM526 and PRMS531 Example PRM20E 1234567890 CR LF An 8 digit unsigned decimal value is returned for all other parameters Example PRMB00 12345678 CR LF PRMppp nnnnnnnn Parameter Write Sets a parameter ppp Parameter number Pn number Parameters are stored in EEPROM so the settings will be retained after the control power supply is turned OFF Because the value is stored in EEPROM this command must not be used if the setting needs to be changed frequently In such a case use the TRM ppp nnnnnnnn command Note Parameter settings are either enabled immedi ately or after restarting the power supply For details refer to 10 1 Parameter List for INDEXER Module TRMppp nnnnnnnn Temporary Parameter Write Sets a parameter ppp Parameter number Pn number The PRMppp nnnnnnnn command stores the parameter setting in EEPROM but the TRMppp nnnnnnnn command does not Because this com mand does not write the setting in EEPROM it can be used to change settings frequently Note Parameter settings are either enabled immedi ately or after restarting the power
228. mand Option Attachable Type SERVOPACKs Type Me NEN RU Setting Meaning ON close Warning status Error warning status Output WARN CNI 1 2 OFF open Normal status The WARN output status can be set with the parameters below Parameter Meaning When Enabled d When an error warning occurs photocoupler becomes ON close PnB1C Factory setting After restart 1 When an error warning occurs photocoupler becomes OFF open 0 Does not output ALOI to ALO3 WARN BK and S RDY are Factory setting output PnB51 After restart 1 Outputs ALO1 to ALO3 WARN BK and S RDY are not out put Parameter Setting and Functions 5 9 5 Parameter Setting and Functions 5 3 7 Positioning Completed Output Signal INPOSITION 5 3 7 5 10 Positioning Completed Output Signal INPOSITION This signal indicates that servomotor positioning has been completed The signal 1s output when the motor stops even if the current position has not reached the target position If the difference between the reference from the INDEXER Module and the movement of the servomotor the number of position error pulses drops below the value set for this parameter the positioning completed signal will be output Signal Connector Type Name Pin No Output Status Meaning ON close Positioning has been completed Output INPOSE ew 19
229. mands Serial Command Function Description Positive Response One of the following responses is returned depend ing on the status ALM SP A xxx SP CR LF The xxx is the SERVOPACK s alarm warning code ALM SP ExxA SP CR LF ExxA is the INDEXER Module s alarm code ALM SP HBB SP CR LF ALM SP P OT SP CR LF ALM Alarm or Warning Read ALM SP N OT SP CR LF ALM SP P LS SP CR LF ALM SP N LS SP CR LF ALM SP BB SP SP SP CR LF ALM SP HOLD SP CR LF ALM SP INPOS CR LF ALM SP NEAR SP CR LF ALM SP RUN SP SP CR LF ALM SP SP SP SP SP CR LF One of the following responses is returned depend ing on the status No alarm SERVOPACK alarm or INDEXER Mod ule alarm ALMI NONE CR LF ALMI A xxx CR LF ALMI ExxA CR LF Alarm History Read ALMn 0 lt n lt 9 One of the following responses is returned A response of NONE indicates that no errors have ERR Most Recent Error Read occurred ERR SP NONE SP CR LF ERR SP ExxE SP CR LF INI 01010101 CR LF 0 Photocoupler OFF 1 Photocoupler ON Bit 0 S ON IN 1 SERVOPACK Input Signal Monitor Bit 1 ALM RST Bit 2 P OT Bit 3 N OT Bit 4 DEC Bit 5 Not used Invalid Bit 6 RGRT Bit 7 Not use Always 0 1 HBB response is available for firmware version
230. mit switch position and dog length Install the limit switch at the appro priate position The overtravel limit switch position is too close for the coasting dis tance Install the overtravel limit switch at the appropriate position 9 3 Troubleshooting Malfunction Based on Operation and Conditions cont d Problem Probable Cause Position Error Noise interference due to improper encoder cable specifications Noise interference due to length of encoder cable Noise influence due to damaged encoder cable Excessive noise interference to encoder cable FG potential varies because of influence of machines such as weld ers at the servomotor SERVOPACK pulse counting error due to noise interference Investigative Actions The encoder cable must be tinned annealed copper shielded twisted pair or shielded multi core twisted pair cable with a core of 0 12 mn min Check if the encoder cable is bun dled with a high current line or near a high current line Check if the machines are correctly grounded Check if there is noise interference on the I O signal line from the encoder Without Alarm Check if vibration from the machine Excessive vibration and shock to occurred or servomotor installation the encoder is incorrect mounting surface accu racy fixing alignment etc Check if a position error occurs at
231. mmable outputs POUTI POUT2 and POUTA B ZONE Signal Conditions When ZONEN lt ZONEP the motor position is within range when ZONEN lt motor position ZONEP When ZONEN gt ZONEP the motor position is within range when the motor position 2 ZONEN or the motor position ZONEP Example ZONEN 11000 0 ZONEP 1000 ay When the motor position is within range for two or more zones only the lowest ZONE ID will be effective If the motor position 1s not within range of any zones signals Z0 to Z4 will all be inactive A ZONE ID will be disabled if ZONEN ZONEP 0 is set for that zone 1 Setting the Initial Status of Programmable Output Signals POUTO to POUT7 With the following parameter the initial status of the programmable output signals POUTO to POUT7 can be set to ZONE signals The initial status indicates the status when the control power supply is turned ON or after resetting the SERVOPACK Parameter Meaning When Enabled 0 When control power is turned ON or SERVOPACK is reset signals Factory setting POUTO to 7 are inactive PnB4F After restart When control power is turned ON or SERVOPACK is reset signals 1 POUTO to 7 are ZONE signals Note It is possible to set a ZONE signal for POUTS to 7 but the output is always inactive Program Table 6 23 6 Program Table 6 4 1 Mode Switch Input Signal MODE 0 1
232. mounting and wiring to avoid chattering of OT signals and malfunctioning Q IMPORTANT 5 3 8 Programmable Output Signals POUTO to POUT7 5 3 Sequence I O Signals The basic use and wiring procedure for the programmable outputs POUTO to POUT7 are given below The programmable output signals can be changed by the user through the program table s POUT bits or the POUT serial command 1 Signal Output Specifications Type Signal Name Connector Pin No Name POUTO CN11 21 22 Programmable output 0 POUTI CN11 23 24 Programmable output 1 POUT2 CN11 25 26 Programmable output 2 POUT3 CN11 27 28 Programmable output 3 POUT4 CN11 29 30 Programmable output 4 POUTS CN11 31 32 Programmable output 5 POUT6 CN11 33 34 Programmable output 6 POUT7 CN11 35 36 Programmable output 7 2 Related Parameters The output statuses of POUTO to POUT7 can be set with the parameters below Parameter Signal Name Setting Factory Setting When Enabled PnB14 POUTO PnB15 POUTI PnB16 POUT2 0 When programmable output signal is active photocoupler PnB17 POUT3 becomes ON close 0 n PnB18 POUT4 1 When programmable output signal is active photocoupler PnB19 POUTS becomes OFF open PnB1A POUT6 PnB1B POUT7 3 Setting the Initial Status of Programmable Output Signals POUTO to POUT7 With the following paramete
233. n Display Displayed in hexadecimal SERVOPACK Model Code Display SVTYPE SVTYPE 0000002A CR LF SGDV LILILILIEIA 2A Displayed in hexadecimal SGDV LILILILIESA 2D SVYSPEC SERVOPACK Special Specification No Display SVYSPEC 12345678 CR LF SVVER SERVOPACK Firmware Version Display S VER ae oor LE Displayed in hexadecimal 7 7 Serial Commands Monitor and Utility Function Commands cont d Serial Command Function Description Positive Response MTTYPE Motor Model Code Display 0111 Motor model 11 SGMMJ 32 to 39 SGMCS 40 linear motor 60 SGMAV 62 SGMSV 63 SGMGV 6D SGMJV 6E SGMEV FF Undefined motor Voltage 00 100 VAC 01 200 VAC 02 400 VAC MTTYPE 00001234 CR LF Displayed in hexadecimal MTSIZE Motor Capacity Display 10 W MTSIZE 12345678 CR LF PGTYPE Encoder Model Code Display 000D 13 bit incremental encoder 0011 17 bit incremental encoder 0014 20 bit incremental encoder 0110 16 bit absolute encoder 0111 17 bit absolute encoder 0114 20 bit absolute encoder multi turn 0214 20 bit absolute encoder within one rotation When fully closed loop control is selected and linear motor is used 0008 8 bit serial converter unit 000C 12 bit serial converter unit 0008 8 bit incremental scale 0009 9 bit incremental scale 000A 10 bit incremental scale 000D 13 bit incremental scale 0109 9 bit a
234. n is Change the ZONE Gr 1 Available 4 power supply is turned table version to match ON NP the firmware version Zone Table Out of Change the firmware range Alarm A value set in the zone version E1EA A AEF Detected only when table is not within the Change the ZONE Gr Available control power supply is allowed setting range table version to match turned ON the firmware version The JOG speed table stored in flash memory Initialize the JOG JOG Speed Table was not recorded prop speed table with the Checksum Alarm erly JSPDINIT command E1FA A AEF Detected only when Thisalarm can occur if or FnB08 Gr Available control power supply is the control power supply e If the problem is not turned ON is turned OFF while the solved correct the JOG JOG speed table is being speed table saved or initialized er Speed Table The combination of the Change the firmware ersion Unmatched Dota vetsioh and th version E21A A AEF Detected only when TOG sbeed table version Change the JOG speed Gr 1 Available the control power p table version to match supply is turned ON ines the firmware version JOG Speed Table Out Change the firmware of range Alarm A value set in the JOG version E22A A AEF Detected only when speed table is not within Change the JOG speed Gr 1 Available control power supply is the allowed setting range table version to match turned ON the firmware version Either increase the reg
235. n of Utility Functions ZONE Table Edit Save FnB04 This function edits and saves ZONE tables Saving a ZONE table to flash memory after editing it ensures that the data will be retained even after the control power has been turned off Codes Displayed on the ZONE Table Editing Screen For details on how to read the screen refer to 8 1 3 Reading the Screen ZONE Numia ZONEP ZONEN 0 ZP000 ZN000 1 ZP001 ZNO001 31 ZP031 ZN031 Preparation The following conditions must be met to edit and save ZONE tables The write prohibited setting Fn010 must not be set to write protect parameters The ZONE tables must not being saved by any other means than using the digital operator Editing ZONE Tables The operating procedure when setting ZONEN in ZONE number 5 is explained here Step Display after Operation Keys Operation BB FUNCTION MODEISET FnBO3 PGM Edit co Press the key to open the Utility Function Mode 1 FnBOA4 ZONE Edit main menu and move the cursor with the PAB Oe SED Ed keys to select FnB04 FnBO6 PGM Init y BB ZONE Edit ZP000 00000000 2 ZP001 00000000 Press the key to view the FnB04 operation screen ZP002 00000000 ZP003 00000000 PE LONE Ey Move the cursor using the keys and 3 Z i o 3 ede o 7 o d keys to select the ZONE table number to be edited For NOU EE dodo v details on how to move the cursor refer to B Method
236. nd registration speed in the program table in SPD and RSPD Specify the JOG speed in the JOG speed table in JSPD Specify the positioning speed and registration speed with the SPD and RSPD serial commands The SPD and RSPD commands can be omitted in this case the setting in the following parameter will be used Positioning Registration Speed PnB27 Setting Range Setting Unit Factory Setting When Enabled 1 to 99999999 rd 1000 After restart Reference units min Setting Reference Unit Acceleration Deceleration and Average Movement Time of Position References Calculate the acceleration deceleration Example Reference unit 0 01 mm Acceleration time from 0 m min to 15 m min 100 ms 15000 mm min 0 01 mm 1500000 reference units min 1500000 reference units min 100 ms 15000 reference units min ms Thus the acceleration setting is 15 1000 reference units min ms 5 4 Settings According to Device Characteristics Using the parameters below set the acceleration and deceleration and set the average movement time of posi tion references Acceleration rate Setting Range Setting Unit Factory Setting When Enabled PnB29 1000 1 to 99999999 Reference units min 1000 Immediately ms Deceleration rate Setting Range Setting Unit Factory Setting When Enabled PnB2B 1000 to 99999999 Reference units min 1000 Immediately ms Average Movemen
237. ning 0 When input signal is ON close program table selection signal SEL7 becomes active PnBOD 1 When input signal is OFF open program table selection signal SEL7 becomes active 2 Program table selection signal SEL7 is always active 3 Program table selection signal SEL7 is always inactive S ON 0 to 3 0 After restart 5 3 1 Setting Meaning PnBOE 0 When input signal is ON close servomotor power is ON Servomotor can be operated n 1 When input signal is OFF open servomotor power is ON Servomotor can be operated 2 Always servo ON 3 Always servo OFF P OT 0to3 0 After restart 5 3 2 Setting Meaning PnBOF 0 When input signal is OFF open forward run is prohibited forward overtravel n 1 When input signal is ON close forward run is prohibited forward overtravel 2 Forward run is always prohibited forward overtravel 3 Forward run is always enabled P OT signal is not used N OT 0to3 0 After restart 5 3 2 Setting Meaning PnB10 0 When input signal is OFF open reverse run is prohibited reverse overtravel d 1 When input signal is ON close reverse run is prohibited reverse overtravel 2 Reverse run is always prohibited reverse overtravel 3 Reverse run is always enabled N OT signal is not used DEC 0to3 0 After restart 6 4 2 Setting Meaning PnB11 0 Starts deceleration in homing when input signal is ON close n 1 Starts deceleration in homing when input signal is OFF open 2 Sets homing limit switc
238. nment 3 3 EMC Installation Conditions This section describes the recommended installation conditions that satisfy EMC guidelines for each model of the SGDV SERVOPACK The conditions required for the standard type base mounted of SERVOPACK are described Refer to this section for other SERVOPACK models such as the rack mounted types as well 3 3 EMC Installation Conditions This section describes the EMC installation conditions satisfied in test conditions prepared by Yaskawa The actual EMC level may differ depending on the actual system s configuration wiring and other condi tions However because this product is built into machines check that the following conditions are still met after being installed in the user s product The applicable standards are EN55011 A2 group 1 class A EN61800 3 and EN61000 6 2 B Single phase 100 V SGDV OOOFE1A O00 R70 R90 2R1 2R8 SGDV OCA03A SGDV OOOFESA OOO R70 R90 2R1 2R8 SGDV OCA03A Shield box Brake power supply One turn SERVOPACK Power supply g g UMW 2 S Noise 5 s Single phase E filter 8 L1 L2 O8 o 100 VAC e o Servomotor o Surge 9 E LIC L2C One turn absorber A9 m o o dwoitum cn2 S E S M Encoder
239. nn The sign can be omitted Positioning Start Absolute Position Setting range 99999999 lt nnnnnnnn lt 99999999 Reference units Specifies the absolute position nnnnnnnn as the target position and starts positioning at the same time This command is equivalent to the following combination POSA nnnnnnnn gt ST Example SPDnnnnnnnn Positioning Speed Specification STA nnnnnnnn Target Position Specification and Positioning Start Speed sppx Disabled STy or STAy ST STzor STAz t i a y Zz Position coordinate When the target position is an absolute position the axis will not move if the same position ing is repeated with ST OK STI nnnnnnnn The sign can be omitted Positioning Start Relative Position Setting range 99999999 lt nnnnnnnn lt 99999999 Reference units Specifies the relative distance nnnnnnnn as the target position and starts positioning at the same time This command is equivalent to the following combination POSI nnnnnnnn gt ST Example SPDnnnnnnnn Positioning Speed Specification STI nnnnnnnn Target Position Specification and Positioning Start Speed 4 spp ety s st The same position H ing is repeated with ST t a aty 8 2y Position coordinate OK Serial Command Communications 7 11 7 12 7 Serial Command Communications 7 7 2 Control Commands Control Commands cont d
240. nnn Active 17 nnnnnnnn nnnnnnnn Active Active 18 nnnnnnnn nnnnnnnn Active Active 19 nnnnnnnn nnnnnnnn Active Active Active 20 nnnnnnnn nnnnnnnn Active Active 21 nnnnnnnn nnnnnnnn Active Active Active 22 nnnnnnnn nnnnnnnn Active Active Active 23 nnnnnnnn nnnnnnnn Active Active Active Active 24 nnnnnnnn nnnnnnnn Active Active 25 nnnnnnnn nnnnnnnn Active Active Active 26 nnnnnnnn nnnnnnnn Active Active Active 27 nnnnnnnn nnnnnnnn Active Active Active Active 28 nnnnnnnn nnnnnnnn Active Active Active 29 nnnnnnnn nnnnnnnn Active Active Active Active 30 nnnnnnnn nnnnnnnn Active Active Active Active 31 nnnnnnnn nnnnnnnn Active Active Active Active Active 6 3 ZONE Table Settings Note 1 The symbols indicate an inactive signal status 2 ZONE ID ZONE Number ZONE N Negative side ZONE boundary position ZONE P Positive side ZONE boundary position ZO to Z4 If the programmable output signals POUTO to POUTA are specified as ZONE signals POUTO Z0 POUTI Z1 POUT2 Z2 POUT3 Z3 and POUTA ZA 3 The status of outputs Z0 to Z4 is defined for each ZONE ID 4 The programmable output signals POUTO to POUT4 must be specified as ZONE signals Z For example if POUT ZAZZN then signals Z1 Z2 and Z4 will be output from progra
241. nnnnnn lt 499999999 Reference units Specifies the relative distance nnnnnnnn as the target position and starts registration positioning RSI nnnnnnnn at the same time This command is equivalent to the following combination The sign can be POSI nnnnnnnn gt RS OK omitted Example SPDnnnnnnnn Positioning Speed Specification RDSTnnnnnnnn Registration Distance RSPDnnnnnnnn Registration Speed Specification RSI nnnnnnnn Target Position Specification and Positioning Start with Registration JOG Forward Reverse Setting range 1 lt nnnnnnnn lt 99999999 1000 reference units min Starts JOG forward or JOG reverse operation at the speed specified in nnnnnnnn JOGPnnnnnnnn Forward JOGNnnnnnnnn Reverse The specified speed and JOG direction can be changed while jogging is in progress JOGPnnnnnnnn P OK JOGNnnnnnnnn P edd A JOGPx Y JOGNy JOGNz JOGPx v oY n 7 14 7 7 Serial Commands Control Commands cont d Serial Command Function Description Positive Response RJOGPnnnnnnnn RJOGNnnnnnnnn JOG Forward Reverse with Registration Setting range 1 nnnnnnnn lt 99999999 1000 reference units min Starts JOG forward or JOG reverse operation at the speed specified in nnnnnnnn RJOGPnnnnnnnn Forward RJOGNnnnnnnnn Reverse If the RGRT signal goes ON during forward reverse jogging that position is latched and the motor will move the specified relative distance fr
242. nt to the SERVOPACK from the Mu ad UE 9 9 host controller or command option module P P F This warning occurs when there is an error in the A 94D SIMA Option Moduls Il data size sent to the SERVOPACK from the host Data Setting Warning 4 controller or command option module This warning occurs when there is an error in the A 94E Comman Option Module IF latch mode settings sent to the SERVOPACK from Data Setting Warning 5 the host controller or command option module This warning occurs when the host controller or A 95A Command Option Module IF command option module outputs an operating Command Warning 1 command when the operation execution conditions in the SERVOPACK have not been met Command Option Module IF This warning occurs when there is an error in the A 95B Command Warning d command output from the command option mod 9 ule to the SERVOPACK Command Option Module IF This warning occurs when a latch command is out ON OFF ON A 95D Command Warning 4 put from the command option module to the SER close open close 9 VOPACK during latch operation This warning occurs when an unallowed command A 95E Commend Option Module combination is output to the SERVOPACK from Command Warning 5 the command option module This warning occurs when there is an error in the A 95F command Option Modul Ik command output to the SERVOPACK from the Command Warning 6 command option module Command Option Module IF This warning occurs when an err
243. ntal encoder is being used Error E61E will occur if the ZRN command is executed and an absolute encoder is being used Serial Command Communications 7 17 7 18 7 Serial Command Communications 7 7 2 Control Commands Control Commands cont d Serial Command Function Description Positive Response ZSET nnnnnnnn Coordinates Setting Note It can be dangerous to execute this command carelessly to switch the coordinates of the reference position After executing this command confirm that the reference position and the new coordinates are in agreement before starting operation Setting range 99999999 lt nnnnnnnn lt 499999999 Reference units With an Incremental Encoder Replaces the current position with nnnnnnnn Homing will be completed and the software limits PnB21 and PnB23 will be enabled This coordinates setting will be cleared when the control power supply is turned OFF Note Parameter PnB25 will not be refreshed PnB25 will be used as the current position when the control power supply is turned ON and homing is completed With an Absolute Encoder Switches the current position to nnnnnnnn and refreshes PnB25 with the absolute position offset so that the current position becomes nnnnnnnn The coordinates setting will remain effective after the control power supply is turned OFF Normally this command is executed once during system setup and it is not necessary to exe cute it
244. ntial varies because of influence of machines such as weld ers at the servomotor Check if the machines are correctly grounded SERVOPACK pulse counting error due to noise interference Check if there is noise interference on the input output signal line from the serial converter unit Excessive vibration and shock to the serial converter unit Check if vibration from the machine occurred or the serial converter unit installation is incorrect mounting surface accuracy and fixing A serial converter unit fault occurred Investigative Actions A linear scale fault occurred A SERVOPACK fault occurred Host controller serial data reading error Check the error detection section at the host controller cont d Corrective Actions Use the specified linear scale con nection cables The maximum length of linear scale connection cables 20 m for the cable for connecting a serial converter unit 15 m for the cable for connecting a linear scale hall sensor Replace the linear scale connection cables and correct their layout Correct the linear scale connection cable layout so that no surge from high current lines is applied Ground machines correctly and prevent diversion to the FG at the linear scale side Take measures against noise in the serial converter unit wiring Reduce vibration from the machine or secure the serial converter unit installation Replace t
245. o flash memory Execute the JSPDSTORE serial command Select Save JOG Speed Table from SigmaWin Use the FnBOS utility function to save JOG speed tables The function FnBO 5 is available for the following software versions INDEXER module Version 3 or later SERVOPACK Version 001B or later Selection Signals JSPD JOG Speed IJOG3 JOG2 JOG1 JOGO 0 nnnnnnnn 1 nnnnnnnn Active 2 nnnnnnnn Active 3 nnnnnnnn Active Active 4 nnnnnnnn Active 5 nnnnnnnn Active Active 6 nnnnnnnn Active Active 7 nnnnnnnn Active Active Active 8 nnnnnnnn Active zas n 9 nnnnnnnn Active Active 10 nnnnnnnn Active Active 11 nnnnnnnn Active Active Active 12 nnnnnnnn Active Active 13 nnnnnnnn Active Active Active 14 nnnnnnnn Active Active Active 15 nnnnnnnn Active Active Active Active Note 1 The symbols indicate an inactive signal status 2 JSPD JOG speed number JOGO to JOG3 Selection signals JOG speed Speed setting Setting range 1 to 99999999 1000 Reference units min Factory setting 1000 Program Table 6 29 6 Program Table 6 6 3 Input Conditions for Homing and JOG Speed Table Operation 6 6 3 Input Conditions for Homing and JOG Speed Table Operation The following table shows the functions of the signals related to homing and JOG speed tabl
246. observe this caution may result in fire electric shock or damage to the product Locations subject to direct sunlight Locations subject to ambient operating temperatures outside the range specified in the storage installation temperature conditions Locations subject to humidity outside the range specified in the storage installation humidity conditions Locations subject to condensation as the result of extreme changes in temperature Locations subject to corrosive or flammable gases Locations subject to dust salts or iron dust Locations subject to exposure to water oil or chemicals Locations subject to shock or vibration Do not hold the product by the cables motor shaft or detector while transporting it Failure to observe this caution may result in injury or malfunction Do not place any load exceeding the limit specified on the packing box Failure to observe this caution may result in injury or malfunction If disinfectants or insecticides must be used to treat packing materials such as wooden frames pal lets or plywood the packing materials must be treated before the product is packaged and meth ods other than fumigation must be used Example Heat treatment where materials are kiln dried to a core temperature of 56 C for 30 minutes or more If the electronic products which include stand alone products and products installed in machines are packed with fumigated wooden materials the electrical components may be
247. occur Move Reference Duplication Error ES3E Continuous Stop Execution Disabled Error E63E 6 18 6 2 Registration 6 2 Registration Positioning is performed for the specified distance and specified speed from the position where the RGRT signal is latched Speed sp iE EC Registration Registration speed distance t RGRT 6 2 1 Registration Timing Specifications The following figure shows the latch timing specifications 30 us max 2 pi ig 20 us min when PnB12 0 200 us min when PnB12 1 RGRT H Latch operation Shifting to registration operation 8 ms max Speed IRGRT lo Program Table 6 19 6 Program Table 6 2 2 Registration Input Setting 6 2 2 1 6 2 3 6 20 Registration Input Setting Parameter PnB12 sets the logic for the RGRT Registration Latch Signal Signal Specifications Type Signal Name pore Setting Meaning ON close bod current position has reached the latch posi Input RGRT CNI 12 OFF open The current position has not reached the latch Ope position or has passed the latch position Related Parameters The RGRT signal can be set with the parameter below Parameter Meaning When Enabled 0 Starts registration by switching input signal from OFF open to ON Factory setting close Starts registration by switching input signal f
248. oducts on Delivery 050050 eee eee 1 2 1 2 Nameplate and Model Designation 00 00 e eee 1 3 1 3 Nameplate Location 000 0000s 1 4 Chaptek 2 Specifications evo edet E EE iS Sia ce tas eR te 2 1 2 1 Product Overview ooi to etis dede v eure es e tan dt Ata 2 2 23 1 MairiFUlctloris norte Oe E epu Qui AEN A 2 2 2 1 2 Features of Firmware Versions 0 0 ees 2 3 2 2 General Specifications liliis 2 4 2 3 Part Names of the INDEXER Module 0 0 00 2 5 2 4 LED Indicators 25 ud eL a ere ee wad Wh Re 2 6 Chapter dcsERVOPACIEInstallatiories ete od oy ete ee en eae a 3 1 3 1 SERVOPACK Installation Environment and Applicable Standards 3 2 3 1 1 Installation Environment 0 00 000 eee ra 3 2 3 1 2 Installation Conditions for Applicable Standards 0 000 0020 c eee eeaee 3 2 3 2 SERVOPACK Installation 2 0 0 0 0 ee es 3 3 3 21 Orientation 75 I IRSE DB eene pt eui 3 3 3 2 2 Installation Standards llllsilsssslelee e eee eens 3 4 3 3 EMC Installation Conditions 5 erc RR rt reU dem esos 3 5 Chapter 4 Winng and Connection e se oh cit Le M ee IM 4 1 4 1 System Configuration Diagram 2 0 0 0 eee 4 2 4 1 1 Connecting to SGDV LILILDIFE1A SERVOPACK 0000 0c eee eee eee 4 2 4 1 2 Connecting to SGDV LILILDIAE1A SERVOPACK 000000 eee eee eee 4 3 4 1 3 Connecting to SGDV LILIDIDE1A SERVOPACK
249. om the latched position The registration oper ation uses the registration distance specified by the RDST command and the registration speed specified by the RSPD command Error E52E will occur if the RIOGP RJOGNnnnnnnnn command is executed but the registra tion distance hasn t been specified even once If the RIOGP RJOGNnnnnnnnn command is exe cuted but the registration speed hasn t been specified even once the speed specified in parameter PnB27 will be used for the registration speed When registration jogging has been stopped with the HOLD command forward registration jogging will be restarted the hold will be cleared when the RJOGPnnnnnnnn command is exe cuted again Reverse registration jogging will be restarted when the RJOGNnnnnnnnn com mand is executed again The specified speed and direction cannot be changed while jogging is in progress Error ES3E will occur if the speed or direction is changed during operation Speed RDSTa RSPDb RJOGPx RJOGNy t OK Serial Command Communications 7 15 7 Serial Command Communications 7 7 2 Control Commands Control Commands cont d i Eu Positive Serial Command Function Description Response Homing Start Starts homing When homing has been stopped with the HOLD command homing will be restarted the hold will be cleared when the ZRN command is execu
250. on loop gain value Pn102 too high Check the position loop gain value Pn102 Factory setting Kp 40 0 s Reduce the position loop gain value Pn102 Incorrect speed loop integral time constant value Pn101 Check the speed loop integral time constant value Pn101 Factory setting Ti 20 0 ms Correct the speed loop integral time constant value Pn101 Incorrect moment of inertia ratio value Pn103 Check the moment of inertia ratio value Pn103 Absolute Encoder Position Difference Error The position saved in the host controller when the power was turned OFF is different from the position when the power is next turned ON Noise interference due to improper encoder cable specifications The encoder cable must be tinned annealed copper shielded twisted pair or shielded multi core twisted pair cables with a core of 0 12 mm min Noise interference due to length of encoder cable Noise interference due to damaged encoder cable Excessive noise interference at the encoder cable Check if the encoder cable is bun dled with a high current line or near high current line FG potential varies because of influence of machines such as weld ers at the servomotor Check if the machines are correctly grounded SERVOPACK pulse counting error due to noise interference Check if there is noise interference on the input output signal line from the encoder
251. on times specified for LOOP has been reached If the number of execution times specified for LOOP has not been reached execution is repeated again Settings I INPOSITION N NEAR D Position reference distribution completed DEN SELx Input signal SELO to SEL7 active Note Level detection is used not edge detection Tn Time elapsed ms since the program step started gt Continues the previously executed program step s specification ITn Waits for n ms after INPOSITION becomes active NTn Waits for n ms after NEAR becomes active DTn Waits for n ms after DEN becomes active SELxTn Waits for n ms after SELx becomes active 3 The factory setting is ITO 1 Thel N D and SELx parameters can be combined with Tn Ifn 0 then including Tn will not change the results 2 x 0to7 3 n 0 to 99999 Refer to 6 1 5 Examples of EVENT Conditions if necessary The following parameters set the INPOSITION and NEAR detection widths INPOSITION Width Setting Range Factory Setting When Enabled PnB2D Setting Unit Reference 1 unit Immediately 0 to 99999 NEAR Width Setting Range Factory Setting When Enabled PnB2F Setting Unit Reference 1 unit Immediately 0 to 99999 Specifies the number of execution of the program step Setting range 1 to 99999 The factory setting is 1 Note The NEXT parameter is referenced afte
252. onse is OK unless parameter PnB02 is set to 0 If PnB02 0 there is no response Structure of the Response OK OK SP SP SP SP SP SP SP SP SP CR LF Note In ASCII the SP character is 20 Hex the CR character is OD Hex and the LF character is 0A Hex Negative Responses There will be no response if one of the following errors is detected a parity error E48E framing error E49E or overrun error E4AE There will be no response to a global command or a command with an incorrect axis number In all other cases a negative response will be returned if an error is detected Structure of the Negative Response Undefined Command Error E56E SP ERR SP SN CR LF Address Out of range Error E57E SP ERR SP PN CR LF Data Out of range Error ES8E SP ERR SP OV CR LF ExxE SP SP SP SP SP SP SP CR LF Other Errors The xx is the error number Note In ASCII the SP character is 20 Hex the CR character is OD Hex and the LF character is 0A Hex Serial Command Communications 7 7 7 8 7 Serial Command Communications 7 7 1 Basic Operation Commands 7 7 7 7 1 Serial Commands The axis number and delimiter are attached to actual serial commands but are omitted here Some data in responses such as parameters table numbers and monitored data is expressed numerically The presence absence of the sign and the number of digits are
253. or occurred in OFF ON ON A 960 Communications Warning communications between the SERVOPACK and open close close command option module This warning occurs before the undervoltage alarm ON ON ON A 971 Undervoltage A 410 occurs If the warning is ignored and oper close close close ation continues an undervoltage alarm may occur Some kind of error has occurred at the INDEXER Module ON OFF OFF BOSE Error Refer to 9 2 2 INDEXER Module Error Displays close open open and Troubleshooting Note 1 Set Pn001 3 1 Outputs both Alarm Codes and Warning Codes to output warning codes 2 IfPn008 2 1 Does not detect warning is selected warnings other than the undervoltage warning A 971 will not be detected e Troubleshooting 9 13 9 Troubleshooting 9 2 2 INDEXER Module Error Displays and Troubleshooting 9 2 2 INDEXER Module Error Displays and Troubleshooting Negative responses error responses to input signals serial commands or operations from the Digital Opera tor are known as errors When an error occurs the display and signal output will remain for 2 seconds The servo will not be turned OFF when an error occurs E Status Displays SERVOPACK Panel Display A A9F is displayed for 2 seconds LED The red LED flashes for 2 seconds Digital Operator A A9F is displayed for 2 seconds at the top left of the screen Response to the Alarm or Warning Read Command ALM
254. otational Contents of communications with motors encoder is incorrect A CbO Encoder Echoback p Grl N A Error Linear Contents of communications with motors linear scale is incorrect Multi turn Limit Different multi turn limits have been set in the ACCO Disagreement encoder and the SERVOPACK vet We Feedback Option Module Reception from the feedback option module is A CF1 Communications Error faulty ve NA Reception error Feedback Option Module Timer for communications with the feedback A CF2 Communications Error option module is faulty grl NA p Timer stop Position error pulses exceeded the value set for A d00 Position Error Pulse parameter Pn520 Excessive Position Error Gr 1 Aval Overflow able Alarm Level Position Error Pulse Avail A d01 Overflow Alarm at Position error pulses accumulated too much Gr 1 able Servo ON After a position error pulse has been input Pn529 limits the speed if the servo ON command is received If Pn529 limits the speed Rotational in such a state this alarm occurs motors when the position references are ON ON OFF input and the number of position error pulses exceeds the value set close close open Position Error Pulse for parameter Pn520 Excessive Position Error Alarm Level A A d02 oe Alarm by S b cd peed Limit at Servo After a position error pulse has able ON been input Pn584 limits the speed if the servo ON command is received If Pn584 limits the speed Line
255. otor Replace the SERVOPACK Lower the ambient temperature to 40 C or less Clean dust and oil from the surface If overloaded reduce load or replace with larger capacity SER VOPACK and servomotor 5n Troubleshooting 9 23 9 24 9 Troubleshooting 2 Linear Servomotors Problem Probable Cause Investigative Actions Corrective Actions The control power supply is not Check voltage between control Correct the control power circuit Wrong wiring or disconnection of I O signal connector CN1 Linear servomotor cable or linear connection cables disconnected The linear servomotor is over loaded ON power supply terminals The main circuit power supply is Check the voltage between power not ON supply terminals Check the wiring Run under no load and check the load status Check if the connector CN1 is prop Correct the connector CN1 connec erly inserted and connected tion Correct the power circuit Correct the wiring Reduce load or replace with larger capacity linear servomotor Settings for input signals PnBO3 to PnB12 are incorrect Check settings of input signals PnB03 to PnB12 Correct the settings of input signals PnB03 to PnB12 A servo ON command was not input Check the command sent from the host controller Send a servo ON command The forward run prohibited P OT
256. ovement can be interrupted Duplication Error a positioning or other travelling operation or canceled with the HOLD or SKIP commands Also STOP can be specified in the target position specification POS with the program table 9 2 Warning Displays Error was OFF cont d Serial ras dde Error Name Meaning Corrective Action Response Send the move reference request only after turning the servo ON by turning ON the S ON signal The servo is not ON setting PnBOE 2 so that the There was a positioning request or other S ON signal is always ON or move reference request in servo OFF status executing the SVON command The servo went OFF during program table There are two possibilities E54E A A9F uis ON Incomplete operation The program can be canceled Program table operation will be interrupted with the PGMRES signal or while just the step that was being executed is PGMRES command canceled If LOOP 1 the first LOOP is can The servo can be turned ON celed and the program can be restarted with the START STOP signal or the START command The servo could not be turned ON within 2 s fter turni N the S ON signal ti E dias d gt ON signal Sree Turn the servo ON when the The motor is rotating during servo ON exe pute ped cution Check the main power supply The main power supply went OFF during Peel ow Mies E55E A A9F Servo ON Failure Error
257. ower is supplied from the SERVOPACK INDEXER Module Specifications Item Specifications Min operating voltage 5 05 V Max operating voltage 525V Max operating current 500 mA Max power loss 2 6 W For the SERVOPACK power losses at the rated output refer to the following manuals 3 1 Main Circuit Wiring in the XV Series User s Manual Design and Maintenance Rotational Motor Com mand Option Attachable Type SIEP S800000 60 3 1 Main Circuit Wiring in the 2 V Series User s Manual Design and Maintenance Linear Motor Command Option Attachable Type SIEP S800000 66 efesotomasyon com 5 Parameter Setting and Functions This chapter describes the use of the I O signals in the SGDV SERVOPACK and INDEXER Module I O signals in the CN1 and CN11 connectors as well as the procedure for setting the related parameters for the intended purposes The following sections can be used as references for this chapter e Lists of CN1 and CN11 I O signals Refer to 4 2 1 I O Signal Names and Functions List of parameters Refer to 10 1 Parameter List for INDEXER Module 5 1 Parameter Configurations i lekecas rua bk RR RR RR RR 5 2 5 2 Restrictions on SGDV SERVOPACK Parameters 5 3 5 3 Sequence I O Signals 2 re hn 5 5 5 3 1 Servo ON Signal S ON 2 0 0 0 00nd 5 5 5 3 2 OvertraVel sive rupti erat i rures t beg 5 5 5 3 3 Servo Alarm Output Signal ALM and Alarm Code Out
258. peed loop gain value too high M Pea Factory setting Kv 40 0 Hz Linear E Servomotor Position loop gain value Pn102 is Check the positign loop gaim value Vibrates at about 200 to 400 Hz too high Incorrect speed loop integral time constant Pn101 setting Incorrect mass ratio Pn103 setting Pn102 Factory setting Kp 40 0 s Check the speed loop integral time constant Pn101 setting Factory setting Ti 20 0 ms Check the mass ratio Pn103 set ting Reduce the speed loop gain Pn100 Reduce the position loop gain Pn102 Correct the speed loop integral time constant Pn101 setting Correct the mass ratio Pn103 set ting High Speed Overshoot on Starting and Stopping Unbalanced servo gains Check to see if the servo gains have been correctly adjusted Execute the advanced autotuning Speed loop gain value Pn100 is too high Check the speed loop gain value Pn100 Factory setting Kv 40 0 Hz Reduce the speed loop gain Pn100 Position loop gain value Pn102 is too high Check the position loop gain value Pn102 Factory setting Kp 40 0 s Reduce the position loop gain Pn102 Incorrect speed loop integral time constant Pn101 setting Check the speed loop integral time constant Pn101 setting Factory setting Ti 20 0 ms Correct the speed loop integral time constant Pn101 setting Incorrect mass ratio Pn103 setting Che
259. power supply f y When not using the safety function 4 use the SERVOPACK with the safety function jumper connector JZSP CVHO5 E provided as an 3 accessory inserted When using the safety function Regenerative OO insert a connection cable specifically resistor 2 for the safety function C gt T Safety unit Cable ib connecting serial converter unit Serial converter unit ON Main circuit cable for linear servomotor Cable for connecting hall sensor Wiring and Connection Cable for connecting linear scale Linear scale not included Linear servomotor with core 1 Usea24 VDC power supply with double insulation or reinforced insulation The power supply is not included 2 Before connecting an external regenerative resistor to the SERVOPACK refer to 2 V Series User s Manual Design and Maintenance Linear Motor Command Option Attachable Type SIEP S800000 66 Note The connections and wiring of the power supply of the main circuit and that ofthe controls differ in accordance with the SERVOPACK to be used For details refer to XV Series User s Manual Design and Maintenance Linear Motor Command Option Attachable Type SIEP S800000 66 4 9 4 10 4 Wiring and Connection 4 2 1 I O Signal Names and Functions 4 2 4 2 1 I O Signal Connections This section describes the names and functions of I O signals Also terminal layout and connection examples by control method
260. pping 00r3 PnBS1 3 Reserved Do not change 0 Pn522 Positioning Completed Width 04099999 The INDEXER Module s ts value matetied t PnB2D S ON P OT N OT ALM RST DEC RGRT are allocated to each terminal in a fixed manner For the connector terminal layout refer to Chapter 3 5 3 5 3 1 5 3 2 1 5 3 Sequence I O Signals Sequence I O Signals This section explains sequence I O signals In this section the word open or close shown in parentheses in parameter descriptions indicates that the contact is open or closed Servo ON Signal S ON This sets the servo ON signal S ON that determines whether the servomotor power is ON or OFF Connector 7 Type Name Pin No Setting Meaning Servomotor power is ON Servomotor ON can be operated Input S ON CNI 13 Servomotor power is OFF Servomo OFF tor cannot be operated The setting of the S ON signal can be changed with the parameter below Parameter Meaning When Enabled 0 When input signal is ON close servomotor power is ON Servo Factory setting motor can be operated When input signal is OFF open servomotor power is ON Servo PnBOE i motor can be operated After restart Servomotor power is always ON Servomotor power is always OFF Overtravel The overtravel limit function forces movable machine parts to stop by turning ON a limit switc
261. put Signals ALO1 ALO2 and ALO3 ssssssseeeseeee hs 5 7 5 3 4 Braking Signal BK 0 0 ce nets 5 8 5 3 5 Servo Ready Output Signal S RDY 0 0 0 0 cee 5 9 5 3 6 Error Warning Output Signal WARN 0 000 eee eee 5 9 5 3 7 Positioning Completed Output Signal INPOSITION esses 5 10 5 3 8 Programmable Output Signals POUTO to POUT7 0222005 5 11 5 3 9 Encoder Signal Outputs 0 2 e n 5 12 5 4 Settings According to Device Characteristics 5 13 5 4 1 Setting Reference Units 2 22 e 0 seen e ol e ee e 5 13 5 4 2 Moving Mode and Coordinate Settings llis 5 16 5 4 3 Setting Home Position ossi mem e pene ed md ee 5 18 5 4 4 Backlash Compensation lssseeeeee nh 5 19 5 4 5 Torque Limit 2 22 spe o ERE doe nl deere deb rU ERU 5 19 5 4 6 Fully closed Loop Control sleeeeeleee II 5 20 a Parameter Setting and Functions 5 2 5 Parameter Setting and Functions Parameter Configurations Parameters are comprised of the types shown in the following table Refer to Chapter 10 Type Parameter No Description Function Selection Parameters Pn000 to Pn010 PnB1F Select basic and application functions such as the type of control mode or the stop method when an alarm occurs Servo Gain and Other Parameters Pn100 to Pn170 Set numerical values such as speed and position loop gains Position Cont
262. r N A Setting Error Linear jl The data of the absolute linear scale was not motors Clear Error properly cleared or set Alarm occurs when an Option Module for Fully closed Loop Control is mounted e Troubleshooting 9 5 9 6 9 Troubleshooting 9 1 1 List of Alarms for Command Option Attachable Type SERVOPACKs Servomotor Alarm Code Output Alarm Alarm Di Alarm Name Meaning Stop isplay Method Reset ALO1 ALO2 ALO3 Rotational Communications between the oratona SERVOPACK and the encoder is motors not possible A c9o Encoder pus Gr l N A Communications Error Linear Communications between the SERVOPACK and the linear scale motors is not possible Rotational An encoder position data calcula Encoder motors tion error occurred A C91 Communications Gr 1 N A Position Data Error Linear A linear scale position data calcu motors lation error occurred An error occurs in the communica Rotational OTOT tions timer between the encoder Encoder and the SERVOPACK A C92 Communications Timer Gr 1 N A An error occurs in the communica Error Linear f t tions timer between the linear scale motors and the SERVOPACK Rotational ON OFF ON Encoder parameters are faulty l l A CAO Encoder Parameter motors Gr Wie close open close Error Linear Linear scale parameters are faulty motors R
263. r the initial status ofthe programmable output signals POUTO to POUT7 can be set to inactive or to ZONE signals The initial status indicates the status when the control power supply is turned ON or after resetting the SERVOPACK PnB4F Parameter Meaning When Enabled 0 When control power is turned ON or SERVOPACK is reset signals Factory setting POUTO to 7 are inactive After restart 1 When control power is turned ON or SERVOPACK is reset signals POUTO to 7 are ZONE signals Parameter Setting and Functions 5 11 5 Parameter Setting and Functions 5 3 9 Encoder Signal Outputs 5 12 5 3 9 Encoder Signal Outputs The encoder signals can be used to monitor the servomotor s speed and position However the INDEXER Module manages the servomotor s speed and position so it is not necessary to use the encoder signals to mon itor the speed and position from the host controller If an absolute encoder is used the absolute position data is sent only once when the power is turned ON Nor mally do not use this signal For details refer to the following manuals XV Series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 XV Series User s Manual Design and Maintenance Linear Motor Command Option Attachable Type SIEP S800000 66 5 4 Settings According to Device Characteristics 5 4 Settings According to Device Characteristics
264. r the number of LOOP repetitions are completed The LOOP specification cannot apply to more than one PGMSTEP Program Table NEXT PGMSTEP to be executed next 0 to 255 Jump to the specified PGMSTEP END Ends program table operation Program table operation will be canceled The factory setting is END 6 7 6 Program Table 6 1 5 Examples of EVENT Conditions Note 1 An error ES3E will occur and program table operation will be stopped if a new positioning command is received during positioning To restart turn the START STOP signal OFF and then ON again The execution will be started from the next step when restarting 2 When the target position POS is INFINITE or INFINITE and the registration distance RDST is the Speed can be changed by executing the next PGMSTEP In this case the motor speed will shift to the new speed In all other cases the speed cannot be changed by executing the next PGMSTEP and an error will occur ES3E if an attempt is made to do so 3 Program table settings can be changed only when program table operation is canceled Program table settings cannot be changed during program table operating or stopping even if the PGMSTEP has not been executed and an error will occur ESEE 6 1 5 Examples of EVENT Conditions The following figures show examples of EVENT conditions Reference speed Speed x Motor speed m ON INPOSITION N Refer
265. r unit rect ing wiring Linear scale wiring is incorrect Check the linear scale wiring Correct the linear scale wiring Linear i i is incor Servomotor ied scale pitch Pn282 15 incor Check the setting of Pn282 Correct the setting of Pn282 Moves instantaneously Linear scale counting up direction and then Stops and motor moving coil forward direction do not agree Check the directions Change the setting of Pn080 1 Motor Phase Selection Match the linear scale direction and moving coil direction Polarity detection is not performed correctly Linear Servomotor Speed Unstable Wiring connection to linear servo motor is defective Check if the value of Un004 Elec tric Angle 2 angle from polarity origin at an arbitrary position is between 10 degrees Check connection of power lead phases U V and W and the con nectors of serial converter unit con nection cables Correct the settings for the polarity detection related parameter Tighten any loose terminals or con nectors 9 3 Troubleshooting Malfunction Based on Operation and Conditions cont d Problem Probable Cause Investigative Actions Corrective Actions A SERVOPACK fault occurred Replace the SERVOPACK Linear Linear scale counting up direction CHange ee or cage ee Motor Phase Selection Servomotor and motor moving coil forward Check the directions yt uon Match the linear scale
266. ram must not be running or on hold The program tables must not being saved by any other means than using the digital operator The RES command must not being executed Editing Program Table The operating procedure when setting the acceleration ACC in program step 5 is explained here Step Display after Operation Keys Operation BB FUNCTION MODEISET m Fn207 V Monitor co Press the key to open the Utility Function Mode 1 FnBO3 PGM Edit main menu and move the cursor with the Pn BO ONE Ed it keys to select FnB03 FnBO5 JSPD Edit y BB PGM Edit POS000 STOP 2 POS001 STOP Press the key to view the FnB03 operation screen POSOO2 STOP POSOOS3 STOP T SE TT Move the cursor using the keys and ACCOO2 keys or the X A and X Y keys to 3 MOCO OSs STOL select the article and program step of the program table ACC004 A A to be edited For details on how to move the cursor BSCS refer to B Method for Moving the Cursor SCROLL A r LMY BB PGM Edit 4 o E l Press the key to move the cursor to the setting side AIGGCQQ as of the table ACCOOS BB PGM Edit lt gt Move the cursor with the keys and change the ACCOO2 bl ith th ic 5 ee tonii table settings wit the LA v eys l AGCOO4 A v For details on how to set each field refer to 3 Details ACCOOS 00001000 on How to Set Table Settings the setting again by ref
267. ration uses the registration distance specified by the RDST command and the registration speed specified by the RSPD command The target position specification positioning speed specification registration distance specifica tion and registration speed specification can be omitted In this case the positioning performed in the previous registration operation will be repeated Error E51E will occur if the RS command is executed but the target position hasn t been speci fied even once Error E52E will occur if the RS command is executed but the registration dis tance hasn t been specified even once If the RS command is executed but the positioning speed and registration speed haven t been specified even once the speed specified in parameter PnB27 will be used either as the positioning speed or the registration speed When registration positioning has been stopped with the HOLD command the registration posi tioning will be restarted the hold will be cleared if the RS command is executed Example 1 POSI nnnnnnnn Target Position Specification SPDnnnnnnnn Positioning Speed Specification RDSTnnnnnnnn Registration Distance Specification RSPDnnnnnnnn Registration Speed Specification RS Positioning Start with Registration RS Repeat Example 2 POSI nnnnnnnn Target Position Specification RDSTnnnnnnnn Registration Distance Specification RS Positioning Start with Registration using the speed specified in PnB27 for both the posi
268. rator 8 2 2 Program Table Edit Save FnB03 3 Details on How to Set Table Settings Details on the setting method for step 5 in 8 2 2 2 Editing Program Table are shown below B POS Target Position POSOOO STOP a positioning pe Reesor cursor Change target position POSOOO Pos000 A 12345678 Posooo at12845678 P0s000 A 22345678 NS Wee pum d Move cursor LA Lv Change target position posooo 14 12345678 2345678 4 POSOOO IT12345678 4 POSOOO IT22345678 Change positioning type POSOOO INFINITE Change positioning type POSOOO INFINITE Change positioning type POSOO00 AJLY loss positioning Change target position ee Move cursor POSOOO POS000 8 12345678 4 POSOOO0 S t12345678 4 POSOOO S T22345678 Note For details on the positioning type and target position refer to 6 1 4 1 Program Table Functions B SPD Positioning Speed p ada cursor pgs positioning speed spD000 12345678 sebpoooci2345e78 seoococizs4se7s spp000 12345678 Pa SPDOOO 13345678 Note For details on the positioning speed refer to 6 7 4 1 Program Table Functions B RDST Registration Distance Move cursor Change registration distance RDSTOOO 12345678 4 RDSTOOO 12345678 4 RDSTOOO 13345678 If the value becomes less than 0 is displayed Note For details on the registration distance refer to 6 1 4 1 Program Table Functions
269. re used or WARN BK and S RDY are used with the parameter below PnB51 Parameter Meaning When Enabled 0 Does not output ALOI to ALO3 WARN BK and S RDY are Factory setting output After restart 1 put Outputs ALOI to ALO3 WARN BK and S RDY are not out 3 Alarm Reset Method If a servo alarm ALM occurs first eliminate the cause of that alarm then reset the alarm It is sometimes not possible to reset encoder related alarms with the ALM RST signal In such cases shut off the control power and then reset the alarm db Be sure to eliminate the cause of an alarm before resetting the alarm Resetting an alarm without eliminating its cause and then continuing operation may result in damage to the product or fire IMPORTANT Type Signal Name Connecter Description Pin No Input ALM RST CN1 7 Alarm reset Parameter Setting and Functions 5 7 5 8 5 Parameter Setting and Functions 5 3 4 Braking Signal BK The setting of the ALM RST signal can be changed with the parameter below Parameter Meaning When Enabled 0 Resets alarms by switching input signal from OFF open to ON Factory setting close 1 Resets alarms by switching input signal from ON close to OFF PnB52 open After restart Does not reset alarms Signal is ignored 5 3 4 Braking Signal BK the holding brake
270. rn 65760 Germany Phone 49 6196 569 300 Fax 49 6196 569 398 YASKAWA ELECTRIC UK LTD 1 Hunt Hill Orchardton Woods Cumbernauld G68 9LF United Kingdom Phone 44 1236 735000 Fax 44 1236 458182 YASKAWA ELECTRIC KOREA CORPORATION 7F Doore Bldg 24 Yeoido dong Yeoungdungpo gu Seoul 150 877 Korea Phone 82 2 784 7844 Fax 82 2 784 8495 YASKAWA ELECTRIC SINGAPORE PTE LTD 151 Lorong Chuan 04 01 New Tech Park 556741 Singapore Phone 65 6282 3003 Fax 65 6289 3003 YASKAWA ELECTRIC SHANGHAI CO LTD No 18 Xizang Zhong Road 17F Harbour Ring Plaza Shanghai 200001 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 YASKAWA ELECTRIC SHANGHAI CO LTD BEIJING OFFICE Room 1011 Tower W3 Oriental Plaza No 1 East Chang An Ave Dong Cheng District Beijing 100738 China Phone 86 10 8518 4086 Fax 86 10 8518 4082 YASKAWA ELECTRIC TAIWAN CORPORATION 9F 16 Nanking E Rd Sec 3 Taipei 104 Taiwan Phone 886 2 2502 5003 Fax 886 2 2505 1280 Y YASKAWA YASKAWA ELECTRIC CORPORATION 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 w
271. rol program table version is Change the progran OE Available table version to match power is ON wrong the firmware version Program Out of range Change the firmware Alarm A value set in the pro version E1BA A AEF Detected only when gram table is not within Change the program Gr 1 Available control power supply is turned ON the allowed setting range table version to match the firmware version 9 10 2 This function is available for the following software versions INDEXER module Version 3 or later SERVOPACK Version 001B or later 3 These alarms can be reset but a Canceled Program Table Error E44E will occur the next time you attempt to start program table operation so program table operation will not be possible 9 1 Troubleshooting Serial Servomotor pode Ede Alarm Name Meaning Corrective Action Stop eum Response Meineg The zone table stored in flash memory was not nitialize the zone table AU Checksum recorded properly with the ZONEINIT E E1CA A AEF Detected only when Seis iie can occur i command or FnB07 Gri Available 4 control power supply is contro power supply If the problem is not turned ON is turned OFF while the solved correct the zone zone table is being saved table or initialized ZONE Table Version ns Change the firmware Unmatched Detected 3e combinen ofthe versjon E1DA A AEF only when the control ZONE table versio
272. rol Parameters Pn205 to Pn217 Set position control parameters such as average movement time Speed Control Parameters Pn304 to Pn324 Set speed control parameters such as the speed feedback filter Torque Control Pn401 to Pn460 Set torque control parameters such as the torque Parameters limit values Pn506 to Pn561 a d E ROBIE Set conditions for the sequence I O signals PnB51 to PnB52 ioc EA ass 10 TDBZE Set parameters related to positioning Homing Parameters PnB31 to PnB39 Set parameters related to homing Others Pn600 to Pn601 Set other parameters Serial Communications Parameters PnB00 to PnB02 Set parameters related to serial communications through CN6 Setup Information Parameters PnB3B to PnB4D Do not change these parameters These are reserved parameters Fully closed Loop Control Parameters Pn20A Pn22A Pn281 Pn51B Pn52A Set parameters related to fully closed loop control Linear Servomotor Parameters Pn080 Pn181 to Pn182 Pn281 to Pn282 Pn380 to Pn385 Pn480 to Pn498 Pn581 to Pn587 Set parameters related to linear servomotors 5 2 5 2 Restrictions on SGDV SERVOPACK Parameters Restrictions on SGDV SERVOPACK Parameters The following parameters are set automatically when an INDEXER Module is installed on an SGDV SERVO PACK Do not change these parameters because they are reserved for system use Also the SGDV SE
273. rom ON close to OFF PnB12 1 E MS After restart open Does not start registration Registration Operation If the RGRT signal becomes active latches during positioning operation will proceed from the latch posi tion to the registration distance only The registration distance is specified in RDST Speed t START STOP RGRT Alarm E23A will occur when the registration distance is too short i e when positioning will go too far even if deceleration begins immediately When alarm E23A occurs the servo will go OFF and the program will stop Speed Servo turned OFF by alarm gt t START STOP RGRT ALM 6 2 Registration The second and later latch signals are ignored Speed START STOP RGRT The RGRT latch signal can also be input while the program is stopped Speed Registration target position gt t ISTART j STOP RGRT Even if the program is stopped during registration operation the registration operation will be restarted if the program is restarted Speed Registration target position ISTART STOP IRGRT Program Table 6 21 6 22 6 Program Table 6 3 ZONE Table Settings ZONE signals indicate regions defined in the ZONE table ZONE signals are allocated to the regions using the ZONE table Outputs POUTO to POUT4 must be speci
274. rrent distributed position PUN and the current actual motor position PFB have changed to the specified positions by executing FnBOA 8 2 Operation of Utility Functions 8 2 9 INDEXER Status Monitor FnBOA This function shows the internal status of the INDEXER Module such as the current position and input output signals 1 Preparation None 2 Operating Procedure Step Display after Operation Keys Operation BB FUNCTION MODEISET i FnBO9 ZSET co Press the key to open the Utility Function Mode 1 Fn BOA MEO RUE EO main menu and move the cursor with the FnBOB Prm Init k eys to select FnBOA FnBOC ALM Reset y BB MONITOR ALM BB 2 ERR NONE Press the key to view the FnBOA operation screen PFB 12345678 PGMSTEP 12345 Use the keys to change the monitor display content d PENES ibis Note Press the key to change the content being 3 BUN t Aud 5 avs displayed in the following order PFB 12345678 ALM gt ERR gt IN2 OUT2 gt STS PUN POS 4 12345678 gt PFB POS gt DST RPOS 5 RDST gt PGMSTEP EVTIME LOOP Press the key to change the content being displayed in the reverse order BB FUNCTION 4 E r z Fa i Press the key to return to the Utility Function EWHOBH Prm inti c Mode main menu FnBOC ALM Reset M Monitor Display Content List Serial Command Display Code Display Conten
275. rror 0 occurred in the Gri N A d SERVOPACK l OFF OFF OFF Internal program error 1 occurred in the open open open A bF1 System Alarm 1 SERVOPACK Gr 1 N A Internal program error 2 occurred in the A bF2 System Alarm 2 SERVOPACK Gr 1 N A A bF3 System Alarm 3 Internal program error 3 occurred in the Grl N A y SERVOPACK Internal program error 4 occurred in the A bF4 System Alarm 4 SERVOPACK Gr 1 N A A C10 m mm The servomotor ran out of control Gr 1 Eon A C20 Phase Detection Error The detection of the phase is incorrect Gr N A A C21 Hall Sensor Error The hall sensor is faulty Gr 1 N A Phase Information A C22 Disagreement The phase information does not match Gr 1 N A A C50 Polarity Detection Error The polarity detection failed Gr 1 N A A C51 Overtravel Detection at The overtravel signal was detected at polarity Gri Avail Polarity Detection detection able A C52 Polarity Detection The linear servomotor was turned ON under the Gri Avail Uncompleted condition of polarity detection uncompleted able ON OFF ON A C53 Out of Range for The movement distance exceeded the set value Gri N A close open close Polarity Detection of Pn48E during polarity detection A C54 3 olamiy Detection Error The polarity detection failed Gr 1 N A Absolute Encoder Rotational Clear Error The multi turn for the absolute encoder was not motors and Multi properly cleared or set A C80 turn Limit G
276. rs Pnooc 0 13 bits Reserved Do not change Linear servomotors Encoder Type for Test without Motor Incremental encoder Rotational servomotors Incremental linear scale Linear servomotors Absolute encoder Rotational servomotors Absolute linear scale Linear servomotors Reserved Do not change 10 14 10 2 Parameter List for Command Option Attachable Type SERVOPACKs cont d Parameter Setting Factory When Nam nit lassification No amg Range unite Setting Enabled Claesiticalia Application Function Select Switch D 0000 to 0001 0000 After restart Setup Ath 3rd 2nd 1st digit digit digit digit n O O Stand alone Mode Test Operation Selection Pn00D 0 Enables connection with the command option module 1 Disables connection with the command option module Reserved Do not change Reserved Do not change Reserved Do not change Axis Address Selection Pn010 For UART USB communications 0000 to 007F 0001 After restart Setup Application Function Select Switch 80 0000 to 1111 0000 After restart Setup 4th 3rd 2nd 1st digit digit digit digit n Hall Sensor Selection 0 Enables selection 1 Disables selection Pn080 Motor Phase Selection Sets phase A lead as phase sequence of U V W Sets phase B lead as phase sequence of U V W Reserved Do not change Calculation Method for Maximum Speed or Divided Output
277. rse run is always prohibited reverse overtravel Reverse run is always enabled N OT signal is not used Note During the overtravel state or software limit state the servomotor is not positioned to the target position specified by the controller Check the current position to confirm that the axis is stopped at a safe position 3 Motor Stopping Method When Overtravel is Used Set the following parameter to specify the motor stopping method when overtravel is used Overtravel Stopping Method After stopping Pn001 0 0 or 1 Stop b PnB1F 0 dynami brake Coast status Coastt Pn001 0 2 e ia Coast status PUES Emergency Servo lock stop Ete a En Ip Servo lock Parameter Meaning When Enabled 0 Stops motor by the same method as when servo is turned OFF Factory setting according to Pn001 0 setting PnB1F 1 Stops motor immediately and then changes motor state to servo lock After restart 2 Decelerates motor to a stop at deceleration rate set with PnB2B and then changes motor state to servo lock Set the deceleration rate when decelerating to a stop in PnB2B Deceleration Setting Range Setting Unit Factory Setting When Enabled PnB2B 1000 1 to 99999999 Reference units min 1000 Immediately ms Q IMPORTANT If the servo turns OFF due to overtravel the servo will not turn
278. s 5 13 setting speeds in reference units 5 14 shock resistance 2 4 3 2 SOI to SO3 4 11 software limit 5 16 6 5 7 17 IS ON 4 10 5 5 SPD 6 5 specifications 2 1 S RDY 4 11 5 9 Index 3 statt bits iise brn eae Cee a ee eee ee eee Se ee 7 2 7 6 START STOP 4 12 4 16 6 3 6 9 6 11 status display 8 3 stop bits 7 2 7 6 storage humidity 2 4 storage temperature 2 4 surrounding air temperature 2 4 3 2 T torquelimit 5 19 troubleshooting 9 2 troubleshooting malfunction based on operation and conditions 9 19 UL standards xiii 3 2 utility function 7 31 8 4 10 27 V vibration resistance 2 4 3 2 vibration source 3 2 WwW WARN 4 11 5 9 warning output 5 9 warnings list of warnings
279. s Uses speed reference as the condition Level setting Pn181 Linear servomoros Immediately Setup Uses acceleration as the condition Level setting Pn10E 2 Rotational servomotors LL Pn10B Uses acceleration as the condition Level setting Pn182 Linear servomoros 3 Uses position error pulse as the condition Level setting Pn10F 4 No mode switch function available When Enabled Classification After restart I P control Setup 2 and 3 Reserved Do not change Reserved Do not change Reserved Do not change Mode Switch Torque Reference Rotational servomotors Pn10C 0 to 800 1 200 Immediately Tuning Mode Switch Force Reference Linear servomotors Pn10D Mode Switch Speed Reference 0 to 10000 1 mir 0 Immediately Tuning Pn10E Mode Switch Acceleration 0 to 30000 1 min l s 0 Immediately Tuning Pn10F Mode Switch Position Error Pulse 0 to 10000 l Tee 0 Immediately Tuning ence unit Pn11F Position Integral Time Constant 0 to 50000 0 1 ms 0 Immediately Tuning Pn121 Friction Compensation Gain 10 to 1000 1 100 Immediately Tuning Pn122 2nd Gain for Friction Compensation 10 to 1000 1 100 Immediately Tuning Pn123 Friction Compensation Coefficient 0 to 100 1 0 Immediately Tuning Friction Compensation Frequency 10000 to Pn124 Correctioi 10000 0 1 Hz 0 Immediately Tuning Pn125 Friction Compensation Gain
280. s Avail A EA2 between the INDEXER between the INDEXER Module and SERVO Gr 1 bl Module and PACK during operation PUE SERVOPACK 1 Alarm in Current Communications An error has occurred in communications Avail A EA3 between the INDEXER between the INDEXER Module and SERVO Gr 1 abl Module and PACK during operation SERVOPACK 2 Alarm occurs when an Option Module for Fully closed Loop Control is mounted e Troubleshooting 9 7 9 8 9 Troubleshooting 9 1 1 List of Alarms for Command Option Attachable Type SERVOPACKs Servomotor Alarm Code Output e Alarm Name Meaning Stop I isplay Method Reset ALO1 ALO2 ALO3 A Eb1 Safety Device Signal There is an error in the timing of the safety Gri N A Input Timing Error function input signal ES on N Command Option Processing of reference from the command Avail open close close A ED1 Module IF Command ee Gr2 Timeout Error option module was not completed able ar Manote jij diensinpowermpply ON ees o Aek orr on ore Open Phase T P able open close open Digital Operator CPFO00 on ka Error 1 Digital operator JUSP OP05A fails to com N A Didital O r municate with the SERVOPACK e g CPU Invalid cpFo4 a perator error N A Transmission Error 2 A Notan error Normal operation status OPE e OHP OEE open open open 9 1 Troubleshooting
281. s active 2 JOG speed table selection sig PnBOA JOG3 nal is always active 3 JOG speed table selection sig nal is always inactive Program Table 6 25 6 26 6 Program Table 6 4 3 Parameters Related to Homing 6 4 3 Parameters Related to Homing Set the homing parameters with the parameters listed in the following table Origin Incremental Encoder Absolute Encoder Offset Absolute Encoder FnBzy Setting Range Setting Unit Factory Setting When Enabled 99999999 to 99999999 Reference unit 0 After restart Homing Moving Speed PnB33 Setting Range Setting Unit Factory Setting When Enabled 1000 to 99999999 Reece vitis 1000 Immediately Homing Approach Speed PnB35 Setting Range Setting Unit Factory Setting When Enabled 1000 1 to 99999999 Refrence qnit did 1000 Immediately Homing Creep Speed PnB37 Setting Range Setting Unit Factory Setting When Enabled 1000 1 to 99999999 Reference units min 1000 Immediately Homing Final Move Distance PnB39 Setting Range Setting Unit Factory Setting When Enabled 99999999 to 99999999 Reference unit 0 Immediately Parameter Meaning When Enabled 0 Factory setting Does not execute homing PnB31 1 DEC and phase C are used for homing After restart 2 Only DEC is used for homing 3 Only phase C is used for homing 0 HOME or ZRN command is used for homing in forward direction i PnB32 F
282. s can also be used with a single phase 200 V power supply For details refer to 2 V Series User s Manual Design and Maintenance Linear Motor Command Option Attachable Type SIEP S800000 66 Power supply Single phase 200 VAC R T Molded case circuit breaker MCCB Protects the power supply line by shutting the circuit OFF when overcurrent is detected Noise filter Used to eliminate external noise from the power line Magnetic contactor Turns the servo ON and OFF Install a surge absorber Regenerative resistor Main circuit cable for linear servomotor SGDV LILILIAE5A SERVOPACK Se V sw OAI zo Linear scale Cable for connecting serial converter unit Serial converter unit Cable for connecting linear scale not included Digital operator INDEXER Module Sequence I O signal cable eee Host controller Connection cable for digital operator Connection cable for personal computer Cott Serial command 3 communications cable I O signal cable coe Personal computer f When not using the safety function use the SERVOPACK with the safety function jumper connector JZSP CVHO5 E provided as an accessory inserted When using the safety function ins
283. sed for homing 3 Only phase C is used for homing Homing Direction 0tol 0 Immediately 6 4 3 7 7 2 PnB32 Setting Meaning 0 HOME or ZRN command is used for homing in forward direction 1 HOME or ZRN command is used for homing in reverse direction 1000 PnB33 Homing Moving Speed to 99999999 Reference 1000 Immediately 6 4 3 7 7 2 units min 1000 PnB35 Homing Approach Speed 1 to 99999999 Reference 1000 Immediately 6 4 3 7 7 2 units min 1000 PnB37 Homing Creep Speed to 99999999 Reference 1000 Immediately 6 4 3 7 7 2 units min 99999999 to Reference PnB39 Homing Final Move Distance 199999999 imi 0 Immediately 6 4 3 7 7 2 PnB3B to Do not change the PnB4D Reserved setup information setting 0 ZONE Signal Setting Otol E 0 Afterrestart 5 3 8 6 3 PnB4F Setting Meaning 0 When control power is turned ON or SERVOPACK is reset signals POUTO to 7 are inactive 1 When control power is turned ON or SERVOPACK is reset signals POUTO to 7 are ZONE signals PnB50 Backlash Compensation 1000 to 1000 mS T 0 Immediately 5 4 4 ALO Output Selection 0tol 0 After restart E pm PnB51 Setting Meaning 0 Does not output ALOI to ALO3 WARN BK and S RDY are output 1 Outputs ALOI to ALO3 WARN BK and S RDY are not output ALM RST 0 to3 0 After restart 5 3 3 Setting Meaning PnB52 0 Resets alarms by switching input signal from OFF open to ON close 1 Resets alarms by switching input signal fro
284. ses of alarms before resetting them IMPORTANT The INDEXER Module alarm history is not cleared with FnOO6 To clear it execute alarm history clear ance with FnBOC 1 Preparation B When Resetting Alarms None B When Clearing the Alarm History The following conditions must be met to reset INDEXER alarms The write prohibited setting Fn010 must not be set to write protect parameters The ALMTRCCLR command must not being executed The RES command must not being executed 2 Operating Procedure Step Display after Operation Keys Operation A AEF FUNCTION MODEISET X x FnBOB Prm Init co Press the key to open the Utility Function Mode 1 FnBOC ALM Reset main menu and move the cursor with the FnBOD Indexer ALM k eys to select FnBOC FnOOO AIm History y A AEF ALM Reset Mode ALM state 2 Press the key to view the FnBOC operation screen Start DATA Return SET A AEF ALM Reset Mio de ALM State W When Resetting Alarms 3 1 ec 99 Steed TOATAI Use the keys to select ALM state A AEF ALM Reset 32 Mode ALM History W When Clearing the Alarm History Share LOBWTAT Use the keys to select ALM History Return SET Press the key to reset the alarms or clear the alarm history A AEF ALM Reset 4 Resetting To cancel the FnBOC operation press the key before pressing the key The display returns
285. set as always reverse Linear Type PnB20 0 Forward Software Limit P LS 99999999 to Reference s T 4 PnB21 Rotary Type PnB20 z 0 199999999 anit 99999999 After restart 5 4 2 End Point of Rotational Coordinates Linear Type PnB20 0 Reverse Software Limit N LS PnB23 Rotary Type PnB20 0 009000 Msi 99999999 After restart 5 4 2 Starting Point of the Rotational Coordinates Origin Incremental Encoder 5 4 2 5 4 3 PnB25 Absolute Encoder Offset oi iro 0 After restart 6 4 3 Absolute Encoder ake 1000 PnB27 Positioning Registration Speed 1 to 99999999 Reference 1000 After restart 5 4 1 units min 1000 PnB29 Acceleration rate 1 to 99999999 Reference 1000 Immediately 5 4 1 units min ms 1000 PnB2B Deceleration rate 1 to 99999999 Reference 1000 Immediately 5 3 2 5 4 1 units min ms E Appendix 10 7 10 Appendix cont d Parameter Setting Factory When No Name Setting Range Unit Setting Enabled Reference PnB2D INPOSITION Width 1 to 99999 is 1 Immediately 5 3 7 6 1 4 PnB2F NEAR Width 1 to 99999 sim 1 Immediately 6 1 4 Homing Method 0 to3 0 After restart 6 4 3 7 7 2 Setting Meaning PnB31 0 Does not execute homing 1 DEC and phase C are used for homing 2 Only DEC is u
286. st 20 g IPBO Registration 21 PCO Encoder output Instruments or hasec 9 MC3486 it E x 22 IPCO pulses phase equivalent Servo ON IS ON sio lig T t 16 SG V Signal ground BAT Backup battery 2 14 i Switch CN8 HWBB1 24 V s e 3 8 EDM1 Safety function signal 6 Redt EDM1 0v 2 backup battery 3 4 NT s SERVOPACK Connector shell FG Connect shielded cable to connector shell vis represents twisted pair wires Connect when using an absolute encoder When the encoder cable for the battery case is connected do not connect a The 24 VDC power supply is not included Use a power supply with double insulation or reinforced insulation To turn the servomotor power ON a safety unit must be connected and the wiring to activate the safety function must be done When not using the safety function use the SERVOPACK with the safety jumper connector JZSP CVH05 E provided as an accessory inserted into the CN8 Example Connections to I O Signal Connector CN1 H 4 2 O Signal Connections SGDV SERVOPACK CN10 CN11 Sinking or sourcing 1 CN11 ON Mode 0 us is OFF Mode 1
287. start ward 3 Sets coordinates to rotary type Moving mode is set as always reverse Linear Type PnB20 0 Forward Software Limit P LS Rotary Type PnB20 z 0 End Point of Rotational Coordinates Ene Setting Range Setting Unit Factory Setting When Enabled 99999999 to 99999999 Reference unit 99999999 After restart Linear Type PnB20 0 Reverse Software Limit N LS Rotary Type PnB20 z 0 Starting Point of the Rotational Coordinates FnBes Setting Range Setting Unit Factory Setting When Enabled 99999999 to 99999999 Reference unit 99999999 After restart Origin Incremental Encoder Absolute Encoder Offset Absolute Encoder Png Setting Range Setting Unit Factory Setting When Enabled 99999999 to 99999999 Reference unit 0 After restart 1 When the Coordinates are the Linear Type When using the linear type coordinates such as with a ball screw set PnB20 to 0 and set the forward software limit P LS in PnB21and the reverse software limit N LS in PnB23 An error will occur if the positioning target position exceeds one of the software limits An error will also occur if INFINITE is set for the target position POS in the program table If the workpiece reaches a software limit during the JOG command or JOG speed table operation the motor will stop at the deceleration set in PnB2B If both PnB21 and PnB23 are set to 0 the software limit function will be disabled The software limit function is enabled after
288. stems vehicle sys tems medical equipment amusement machines and installations subject to separate industry or gov ernment regulations Systems machines and equipment that may present a risk to life or property Systems that require a high degree of reliability such as systems that supply gas water or electricity or systems that operate continuously 24 hours a day Other systems that require a similar high degree of safety Never use the product for an application involving serious risk to life or property without first ensuring that the system is designed to secure the required level of safety with risk warnings and redundancy and that the Yaskawa product is properly rated and installed The circuit examples and other application examples described in product catalogs and manuals are for ref erence Check the functionality and safety of the actual devices and equipment to be used before using the product Read and understand all use prohibitions and precautions and operate the Yaskawa product correctly to prevent accidental harm to third parties Specifications Change The names specifications appearance and accessories of products in product catalogs and manuals may be changed at any time based on improvements and other reasons The next editions of the revised catalogs or manuals will be published with updated code numbers Consult with your Yaskawa representative to confirm the actual specifications before p
289. supply To edit parameters that are enabled after restarting use the PRMppp nnnnnnnn command instead of the TRMppp nnnnnnnn command For details refer to 70 1 Parameter List for INDEXER Module OK 7 22 Parameter Edit Commands cont d 7 7 Serial Commands Serial Command Function Description Positive Response PRMINIT Parameter Initialization Resets all parameters to their factory settings After executing PRMINIT turn the control power supply OFF and ON OK Serial Command Communications 7 23 7 Serial Command Communications 7 7 4 Program Table Setup Commands 7 7 4 Program Table Setup Commands The following table shows the Program Table Setup Commands Program Table Setup Commands Serial Command Function Description Positive Response PGMSTORE Program Table Save Saves the program table in flash memory Once PGMSTORE is executed the program table will be retained after the control power supply is turned OFF Because the program table is stored in flash memory this command must not be executed frequently Note Do not turn OFF the control power supply while PGM STORE is being executed Execution can take a few seconds to slightly longer than 10 seconds The green LED will flash during execution OK PGMINIT Program Table Initialization Resets all values in the program table to their factory settings Note Do not turn OFF the control
290. t occurred The specifications of the linear scale connection cables must be Shielded twisted pair or shielded multi core twisted pair wire with core 0 12 mm min and tinned annealed copper twisted wire Check the length of the linear scale connection cables Check the linear scale connection cables to see if any of them is bent or its sheath is damaged Check if the any of the linear scale connection cables is bundled with a high current line or near high cur rent line Check if the machine is correctly grounded Check if the I O signal cable from the serial converter unit is influ enced by noise Check if machine vibration occurred or serial converter unit mounting such as mounting surface precision fixing is incorrect The specifications of the I O signal cable must be Shielded twisted pair or shielded multi core twisted pair wire with core 0 12 mm min and tinned annealed copper twisted wire Check the I O signal cable length A linear scale fault occurred A SERVOPACK fault occurred Install the overtravel limit switch at the appropriate position Use the linear scale connection cables with the specified specifica tions The maximum length of the linear scale connection cables 20 m for the cable for connecting a serial converter unit 15 m for the cable for connecting a linear a linear scale hall sensor If the cable is damaged replace it and correct the cable l
291. t Display Example Units ALM A xxx ASERVOPACK alarm warn ing is in effect xxx is the alarm warning code ALM ExxA An INDEXER Module alarm is in effect ExxA is the alarm code ALM HBB During hard wire base block ALM P OT_ Forward run prohibited Over travel ALM Alarm or Warning ALM N OT mal run prohibited Over E ALM ALM P LS Forward software limit ALM N LS Reverse software limit ALM BB Base blocked ALM HOLD Positioning interrupted ALM INPOS Positioning completed ALM NEAR Near position status reached in positioning e ALM RUN Motor running ALM Status other than above Operation of Digital Operator 8 21 8 22 8 Operation of Digital Operator 8 2 9 INDEXER Status Monitor FnBOA cont d Display 5 Serial Gade Display Content Display Example Units Command Most Recent Closest ERR NONE No error ERR Error ERR ExxE Error code B ERR EEn IN2 ME EU EN 1110987 6 5 4 3 2 1 digit Upper level Photocoupler ON Lower level Photocoupler OFF Display Digit NURSE Signal Name 1 MODE0 1 2 START STOP HOME INDEXER Module Input IN2 Si mem 3 PGMRES JOGP IN2 gnal 4 SELO JOGN 5 SEL1 JOGO 6 SEL2 JOG1 7 SEL3 JOG2 8 SELA JOG3 9 SELS 10 SEL6 11 SEL7 um um NE EEE UN OUT2 c3 MESES 987654932 1digit Upper level Photocoupler ON Lower le
292. t Time of Position Reference Setting Range Setting Unit Factory Setting When Enabled PACA After the change and also 0 to 10000 0 1 ms 1000 after the motor has stopped Set the acceleration and deceleration so that the values of the two settings do not differ T greatly If they differ greatly the machine will not accelerate in accordance with the settings IMPORTANT For example if PnB29 is set to 99999999 and PnB2B is set to 1 then the machine s per formance will be unpredictable Speed reference Before average movement time filter Speed apaec reference Speed reference R REE Vps r4 After average movement time filter t te ts t4 Time t te ts ts t4 te Time V x 1000 reference units min Acceleration t2 t1 ms Dec leration x 1000 reference units min ta t3 ms Average movement time of position reference ts ta te t4 Parameter Setting and Functions 5 15 5 16 5 Parameter Setting and Functions 5 4 2 Moving Mode and Coordinate Settings 5 4 2 Moving Mode and Coordinate Settings Use the following parameters to set the moving mode and coordinates Parameter Meaning When Enabled Set dinates to li Factory setting ets coordinates to linear type 1 Sets coordinates to rotary type Moving mode is set as shortest path PnB20 2 Sets coordinates to rotary type Moving mode is set as always for After re
293. tarts or restarts program table operation Refers to signals SELO i through SEL7 when starting operation TOME E STOP 5 When OFF interrupts program table operation Mode 1 When ON starts or restarts homing When OFF interrupts homing Mode 0 When ON while program table operation is interrupted resets program table PGMRES 7 operation JOGP Mode 1 When ON causes forward JOG operation When OFF stops forward JOG operation Mode 0 Program table 0 SELO JOGN 9 Mode 1 When ON causes reverse JOG operation When OFF stops reverse JOG operation ISEL1 JOGO T Mode 0 Program table selection 1 Mode 1 JOG speed table selection 0 ISEL2 JOG1 B Mode 0 Program table selection 2 Mode 1 JOG speed table selection 1 ISEL3 JOG2 15 Mode 0 Program table selection 3 Mode 1 JOG speed table selection 2 ISEL4 JOG3 17 Mode 0 Program table uon 4 Mode 1 JOG speed table selection 3 ISEL5 14 Mode 0 Program table selection 5 Mode 1 SELG 16 Mode 0 Program table selection 6 Mode 1 ISEL7 18 Mode 0 Program table selection 7 Mode 1 4 CN11 Output Signals 4 2 O Signal Connections Signal Name Pin No Function INPOSITION 19 Positioning complete INPOSITION 20 POUTO 21 POUTO 22 POUT1 23 POUT1 24 POUT2 25 POUT2 26 POUT3 27 POUT3 28 Programmable outputs POUT4 29 POUT4 30 POUT5 31 POUT5 32 POUT6 33 POUT6 34 POUT
294. ted again The parameters for homing are specified in parameters PnB31 to PnB39 PnB31 PnB32 Homing Method Homing Direction PREES t0 PRESE PnB31 0 No homing Homing ends when the control power supply is turned ON ZRN Moving speed PnB33 Approach Creep PnB31 1 enB35 hepar Uses the DEC signal Final Move ZRN and the encoder s Distance OK phase C IDEC PnB39 Encoder phase C II MN n n First encoder phase C signal after the DEC signal went from OFF to ON ZRN PnB32 0 Forward Approach PnB31 2 PnB32 1 Reverse oom Creep Uses the DEC signal PnB37 only i f Final Move Dis tance PnB39 IDEC T Approach speed Creep PnB31 3 PnB35 speed Uses the encoder s Pran phase C only Final Move Dis Encoder H tance PnB39 phase C The current position when homing is completed is specified in PnB25 When the control power supply is turned ON and homing is completed the value of the current position is replaced with the value in PnB25 7 16 Control Commands cont d 7 7 Serial Commands Serial Command Function Description Positive Response ZRN Origin Incremental Encoder Absolute Encoder Offset Absolute Encoder PnB25 Setting Range Setting Unit Factory Setting When Enabled 99999999 to 199999999 Reference unit 0 After restart Parameter Meaning When
295. terrupted a homing initiated by the ZRN command homing can be restarted by executing the ZRN command When the HOLD command is executed during a JOG forward operation initiated by JOGP nnnnnnnn or a JOG reverse operation initiated by JOGNnnnnnnnn the JOG operation will be stopped SPDx POSly ST Speed A HOLD Remaining dis tance put on hold 0 yity2 y When the HOLD command is executed after positioning is completed a remaining distance of zero is put on hold Speed 0 gt t If a new target position is specified while a positioning has been put on hold by the HOLD com mand the remaining distance is canceled and the new target position is used instead A Speed POSIZ SPDx HOLD POSIy sI ST X A y N A 2 i gt t Remaining distance cancelled OK Serial Command Communications 7 19 7 20 7 Serial Command Communications 7 7 2 Control Commands Control Commands cont d i 1 es Positive Serial Command Function Description Response Even if a new target position is specified before the HOLD command is executed the remaining distance will be canceled and the new target position will be used instead Speed A POSIZ SPD ST POSIy HOLD ST i x i d z i gt t Remaining distance cancelled When the speed setting has been changed the new setting will be used when positioning is restarted Examp
296. th 1 to 3000 0 1 400 Immediately Setup Pn561 Overshoot Detection Level 0 to 100 1 100 Immediately Setup Pn580 Reserved Do not change 10 Pn581 2 Reserved Do not change 20 Pn582 2 Reserved Do not change 10 Pn583 Brake Reference Output Speed Level 0 to 10000 1 mm s 10 Immediately Setup Pn584 2 Speed Limit Level at Servo ON 0 to 10000 1 mm s 10000 Immediately Setup Pn585 Program JOG Movement Speed 1 to 10000 1 mm s 50 Immediately Setup 10 24 2 Parameter exclusive for rotational servomotors Parameter exclusive for linear servomotors 10 2 Parameter List for Command Option Attachable Type SERVOPACKs cont d Parameter Setting Factory When No Name Range Units Setting Enabled Classification 0 Pn5862 Motor Running Air cooling Ratio 0 to 100 En 0 Immediately Setup Polarity Detection for Absolute Scale Selection 0000 to 0001 0000 Immediately Setup 4th 3rd 2nd 1st digit digit digit digit n Detection for Absolute Scale Selection 3 Does not detect polarity Pn587 Detects polarity l Reserved Do not change Do not change Reserved Do not change Reserved Do not change Depends on Pn600 Regenerative Resistor Capacity 3 SERVOPACK 10W Immediately Setup Capacity 4 Pn601 Reserved Do not change Pn800 to Pn95F Reserved Do not change 2 Param
297. through a relay or line receiver circuit T 51024 VDC Relay 5 to 12 VDC SERVOPACK 5 SERVOPACK T end end m 1 i 2 a 3 k i ae 4 Y 0v a Note The maximum allowable voltage and current capacities for photocoupler output circuits are as follows Voltage 30 VDC max Current 50 mA DC max Wiring and Connection 4 15 4 Wiring and Connection 4 2 3 Example of I O Signal Connections 4 2 3 Example of I O Signal Connections The following diagram shows a typical connection example Photocoupler output Max operating voltage 30 VDC Max operating current 50 mA DC SGDV SERVOPACK CN1 Control power supply 3 33kQ for sequence signal 24 VIN 24 Vl 6 3 ALM An Servo alarm output IALM RST ISI Wy AR I Cl 4 ALM OFF for an alarm 1 SOT WARN v q Warning Forward run prohibited 8 2 SO1 WARN Prohibited when OFF 23 S02 BK i Brake output VA p Reverse run prohibited 9 ze 24 SO2 IBK 25 S03 S RDY Cows A Servo ready signal output Deceleration limit switch Y AS TC x SO3 S RDY y sig p for homing IDEC SI4 10 ig ro y Ast 17 PAO Encoder output eee line Notused SI5 11 EN 18 PAO pulses phase A oes ss 19 PBO Encoder output manufactured Bd 3 pulses phase B by Texas IRGRT jsie 12 pe
298. tioning and registration speeds Example 3 POSI nnnnnnnn Target Position Specification RDSTnnnnnnnn Registration Distance Specification RS Positioning Start with Registration HOLD Positioning Interruption RS Positioning Restart Clear Hold Note Error E53E will occur if a new move command such as the RS command is received while the motor is already moving positioning or other moving operation Execute a move command such as the RS command only after the previous moving operation has been completed OK RS nnnnnnnn RSA nnnnnnnn The sign can be omitted Positioning Start with Registration Absolute Position Setting range 99999999 lt nnnnnnnn lt 99999999 Reference units Specifies the absolute position nnnnnnnn as the target position and starts registration position ing at the same time This command is equivalent to the following combination POSA nnnnnnnn gt RS Example SPDnnnnnnnn Positioning Speed Specification RDSTnnnnnnnn Registration Distance Specification RSPDnnnnnnnn Registration Speed Specification RSA nnnnnnnn Target Position Specification and Positioning Start with Registration OK Serial Command Communications 7 13 7 Serial Command Communications 7 7 2 Control Commands Control Commands cont d Serial Command Function Description mesi Response Positioning Start with Registration Relative Distance Setting range 99999999 lt nn
299. urchasing a product Applicable Standards efesotomasyon com W North American Safety Standards UL Uv Nus LISTED Model UL Standards ose UL File No SERVOPACK SGDV ULSOSC E147823 SGMJV SGMAV Servomotor SGMPS UL1004 E165827 SGMGV SGMSV Underwriters Laboratories Inc Note Applicable when the INDEXER Module is attached to the SERVOPACKs for the command option attachable type B European Standards Vodei Low Voltage EMC Directive Safety Directive EMI EMS Standards EN55011 A2 EN50178 EN61800 3 EN954 1 SERVOPACK SGDV EN61800 5 1 SOUP class A EN61000 6 2 IEC61508 1 to 4 EN61800 3 SGMJV a SGMAV TEC60034 EN55011 A2 IEC60034 5 EN61800 3 Servomotor SGMPS group 1 class A IEC60034 8 ees EN61000 6 2 SGMGV IEC60034 9 SGMSV Note 1 Because SERVOPACKs and servomotors are built into machines certification is required after installation in the final product 2 Applicable when the INDEXER Module is attached to SERVOPACKs for the command option attachable type xiii Contents About this Manual seer cssc pou cuve ur RAV e ER ebb er E P4 iii Safety Precautions saar ES hited hues URS RP IR UE A E EE MEME RES vi Warranty uita cte ke epe eel tene oer parer Ere RE P NR ese aS xi Applicable Standards 0 000 ete eee xiii Chapter OVet vigo sacs Meri eats eae ere ands T ere es ee eae 1 1 1 1 Checking Pr
300. used Install a surge absorber Motor main circuit cable SGMJV SGMAV SGMPS SGMCS Servomotor 1 Usea24 VDC power supply not included 2 Before connecting an external regenerative resistor to the SERVOPACK refer to 3 V Series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 Note The connections and wiring ofthe power supply ofthe main circuit and that of the controls differ in accordance with the SERVOPACK to be used For details refer to 22V Series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 4 1 3 Connecting to SGDV OOODE1A Power supply Three phase 400 VAC Molded case circuit breaker MCCB Protects the power supply line by shutting the circuit OFF when overcurrent is detected SGDV OOODE1A Noise filter SERVOPACK Used to eliminate external noise from the power line Magnetic contactor Turns the servo ON and OFF pL Install a surge absorber i ex 100 200 VAC DC power supply 24 VDC y A 9f LE SA Regenerative resistor y NA Brake power supply 3 Used for a servomotor with a 90 V brake roa for Magnetic contactor Turns the brake power supply ON and OFF Install a surge absorber
301. ust be performed by a technical expert Use a 24 VDC power supply with double insulation or reinforced insulation B Operation N CAUTION Always use the servomotor and SERVOPACK in one of the specified combinations Failure to observe this caution may result in fire or malfunction Conduct trial operation on the servomotor alone with the motor shaft disconnected from the machine to avoid accidents Failure to observe this caution may result in injury During trial operation confirm that the holding brake works correctly Furthermore secure system safety against problems such as signal line disconnection 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 Do not frequently turn power ON and OFF Since the SERVOPACK has a capacitor in the power supply a high charging current flows when power is turned ON Frequently turning power ON and OFF causes main power devices like capacitors and fuses to deteriorate resulting in unexpected problems When using JOG operations Fn002 origin search Fn003 or EasyFFT operations Fn206 the dynamic brake function does not work for reverse overtravel or forward overtravel Take necessary precautions Failure to observe this caution may result in damage to the product When using the servomotor
302. ve Actions Check the linear scale connection cables to see if they are not dam aged or bent Check if the linear scale connection cables are not bundled with high current line or not near the high cur rent line Check if the machine is correctly grounded cont d Corrective Actions Replace the linear scale connection cables and reconsider the layout of the linear scale connection cables Modify the cable layout so that no surge from high current line is applied to the linear scale connec tion cables Ground the machine separately from linear scale side FG Take measure against noise for the serial converter unit wiring Reduce vibration from the machine or correct the serial converter unit installation Replace the serial converter unit Replace the linear scale Execute the advanced autotuning from Linear Check if there is noise interferen Servomotor SERVOPACK pulse counting error HOP S on the I O signal cable from the cont d due to noise serial converter unit Check if vibration from the machine Excessive vibration and shock to pceured i SEHE Converterin installation is incorrect the serial converter unit Mounting surface accuracy or fix ing A serial converter unit fault E occurred A linear scale fault occurred f Check to see if the servo gains have Unbalanced servo gains been correctly adjusted Speed loop gain value Pn100 is Du cor S
303. vel Photocoupler OFF Display Digit N mber Signal Name 1 INPOSITION OUT2 INDEXER Module Output 2 POUTO B OUT2 Signal 3 POUTI 4 POUT2 5 POUT3 6 POUT4 7 POUTS 8 POUT6 9 POUT7 8 2 Operation of Utility Functions cont d ae Display Content Display Example Units Scu Code Command Em NB EB END UR UN STS LLL LL gl 7654 32 1digit Upper level ON Lower level OFF Display Digit Number Status Flag 1 INPOSITION Positioning complete STS Status Flag 2 NEAR Near position 7 STS 3 DEN positioning reference distribution completed When positioning or pro 4 gram operation is interrupted on hold 5 During program operation 6 When the current torque is being limited 7 When the main power supply is ON Position Reference i Reference PUN Current Position PUN 112343618 unit BUN PFB Current Actual Motor PFB 12345678 Reference PFB Position unit POS Target Position POS 12345678 Da POS DST Target Distance DST 12345678 o DST Registration Target _ Reference RPOS Position RPOS 12345678 PEN RPOS RDST Registration Target RDST 12345678 Reference RDST Distance unit PGMSTEP End When the program is not Program Step running B POMSTEP PGMSTEP PGMSTEP 12345 The program step being EOM IEE executed EVTIME ae EVENT Elapsed EVTIME 12345 ms EVTIME LOOP Loop Pass Through LOOP 12345 Times LOOP Operation o
304. ving energy exceeded motors the capacity of dynamic brake resistor A 740 Overload of Surge The main circuit power was frequently turned Grl Avail i Current Limit Resistor ON and OFF able A 7A0 Heat Sink Overheated The temperat re of the SERVOPACK heat sink Gr2 Avail exceeded 100 C able Built in Fan in Be Avail A 7AB SERVOPACK Stopped The fan inside the SERVOPACK stopped Gr 1 able A 810 Encoder Backup Error All the power supplies for the absolute encoder Grl N A have failed and position data was cleared Rotational The checksum results of encoder motors memory is incorrect A 820 Encoder Checksum Ty Gri N A Error Linear The checksum results of linear motors scale memory is incorrect aae Absolute Enoader o espeifed Co Am i Battery Error ON 2 able Rotational Data in the encoder is incorrect motors A 840 Encoder Data Error Gr 1 N A Linear S hes Data in the linear scale is incorrect motors OFF OFF OFF The encoder was rotating at high Rotational speed when the power was turned open open open motors ON A 850 Encoder Overspeed B Gr 1 N A Li The linear scale was operating at inear Histor high speed when the power was turned ON Rotational The internal temperature of motors encoder is too high A 860 Encoder Overheated Gr 1 N A Linear The internal temperature of linear motors scale is too high A 890 Encoder Scale Error A linear scale fault occurred Gr 1 N A A 891 Encoder Module
305. wable Gri N A setting range 9 1 Troubleshooting Servomotor Alarm Code Output Alarm Alarm Alarm Name Meanin Sto Display Method Reset ALO1 ALO2 ALO3 The encoder output pulse setting Rotational pulse unit Pn212 is outside the motors allowable setting range or does not satisfy the setting conditions A041 Encoder Output Pulse fy g Gri NYA Setting Error The encoder output resolution set Linear ting Pn281 is outside the allow motors able setting range or does not satisfy the setting conditions A042 Parameter Combination Combination of some parameters exceeds the Grl N A Error setting range Semi closed Fully The settings of the feedback option module and A 044 closed Loop Control 5 505 4 Pn002 3 do not match Bn N A OFF OFF OFF Parameter Setting Error open open open A 04A Parameter Setting Error There is an error in settings of parameters Gri N A 2 reserved by the system A 050 Combination Error The SERVOPACK and the servomotor capaci Grl Avail ties do not match each other able Unsupported Device A 051 Alarm The unsupported device unit was connected Gr 1 N A Linear Scale Pitch The setting of the linear scale pitch Pn282 has A 030 Setting Error not been changed from the default setting n N A The host controller reference was sent to turn A 0b0 Canceled Servo ON the S
306. warning code is displayed LED Red LED Flashing Digital Operator When a warning occurs the warning code is displayed at the top left of the screen Response to the Alarm or Warning Read Command ALM Warning code Response to the Most Recent Error Read Command ERR No change ALM Signal No change ANARN Signal Becomes active 9 2 1 List of Warnings for Command Option Attachable Type SERVOPACKs The relation between warning displays and warning code outputs are shown below For details on the causes of warnings and the corrective action to take in response to them refer to the follow ing manuals XY Series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 XV Series User s Manual Design and Maintenance Linear Motor Command Option Attachable Type SIEP S800000 66 Warning Warning Code Output Warning Name Meanin Display E i JALO1 ALO2 ALO3 E Position error pulse exceeded the parameter set A 900 Position Error Pulse Overflow tings Pn520xPn51E 100 cau ORC OFF OFF OFF Position Error Pulse Overflow en the servo turns ON the position error pulses open open open A 901 Alarm at Servo ON o MEE the parameter setting Pn526xPn528 This warning occurs before the overload alarms A 910 Overload A 710 or A 720 occur If the warning is ignored and operation continues an overload alarm may occur ON OFF
307. witch 6 0000 to 005F 0002 Immediately Setup 4th 3rd 2nd st digit digit digit digit n Analog Monitor 1 Signal Selection 00 Motor speed 1 V 1000 min Rotational servomotors Motor speed 1 V 1000 mm s Linear servomotors 01 Speed reference 1 V 1000 min Rotational servomotors Speed reference 1 V 1000 mm s Linear servomotors o2 Torque reference 1 V 100 Rotational servomotors Force reference 1 V 100 Linear servomotors 03 Position error 0 05 V 1 reference unit 04 Position amplifier error after electronic gears 0 05 V 1 encoder pulse unit 05 Position reference speed 1 V 1000 min Rotational servomotors Position reference speed 1 V 1000 mm s Linear servomotors Pn006 06 Reserved Do not change 07 Motor load position error 0 01 V 1 reference unit Rotational servomotors Reserved Do not change Linear servomotors 08 Positioning completion positioning completed 5 V positioning not completed 0 V Speed feedforward 1 V 1000 min Rotational servomotors 09 Speed feedforward 1 V 1000 mm s Linear servomotors OA Torque feedforward 1 V 100 Rotational servomotors Force feedforward 1 V 100 Linear servomotors OB Active gain Ist gain 1 V 2nd gain 2 V OC Completion of position reference distribution completed 5 V not completed 0 V OD External encoder speed 1 V 1000 min Rotational servomotors Reserved Do not change Linear servomotors
308. wn one row at a time On reaching step 0 the next movement is to step 31 On reaching step 31 the next movement is to step 0 You can move 3 rows at a time by holding down the or key 3 Saving ZONE Tables The operating procedure for saving ZONE tables is shown below Step Display after Operation Keys Operation BB ZONE Edit ZP000 00000000 1 ZP001 00000000 Display the ZONE table editing screen ZP002 00000000 ZPO003 00000000 BB ZONE Edt te 2 STORE ZONE TABLE screen Press the key to view the ZONE table save CANCEL STORE Move the cursor with the keys to select BB ZONE Edit STORE 3 STORE ZONE TABLE Note Selecting CANCEL and pressing the key CANCEL STORE will return the display to the ZONE table editing screen 8 12 8 2 Operation of Utility Functions cont d Step Display after Operation Keys Operation BB TAONE Ed t Press the key to start saving the ZONE table to 4 st flash memory or i ng now Please wait DATA Do not turn off the control power supply until saving has been completed normally BB ZONE E dii t ZPOOO 00000000 5 ZP001 00000000 ZPO0O02 00000000 ZPO0O03 00000000 When saving to flash memory has been completed nor mally the display returns to the ZONE table editing screen BB FUNCTION FnBO3 PGM Edit 6 FnBO4 ZONE Edit FnBOS JSPD Edit FnBO6 PGM Init

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