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Sigma-II Series SGDH Indexer Application Module USER`S MANUAL

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1. z o nNVDOLS 142 5 59 AZO Be te e 24 1 128 5 04 0 94 0 039 9 Troubleshooting This chapter describes the troubleshooting procedures for problems which cause an alarm display problems that do not cause an alarm display and related functions 9 1 Servodrive Troubleshooting 9 2 9 1 1 Alarm Display Table 9 2 9 1 2 Warning Display Table 9 5 9 1 3 Troubleshooting Problems with No Alarm Display 9 6 9 2 NS600 Troubleshooting 9 8 9 2 1 Status Displays 9 8 9 2 2 Alarm Display Table 9 10 9 2 3 Error Display Table 9 14 9 2 4 Warning Display Table 9 19 9 2 5 Normal Display Table 9 20 9 3 STS Status Indicators 9 21 9 1 9 Troubleshooting 9 1 1 Alarm Display Table 9 1 Servodrive Troubleshooting This section explains how to troubleshoot and correct s
2. 5 57 5 7 ZONE Table Settings 5 59 5 8 Homing Jog Speed Table Mode 5 62 5 8 1 Mode Switch Signal MODE 0 1 5 62 5 8 2 Homing Jog Speed Table Input Signals 5 63 5 8 3 Parameters Related to Homing 5 64 5 9 Homing Operation 5 65 5 10 Jog Speed Table Operation 5 66 5 10 1 Example of Jog Speed Table Operation 5 66 5 10 2 Jog Speed Table 5 67 5 10 3 Input Conditions for Homing and Jog Speed Table Operation 5 68 5 10 4 Input Signal Timing Specifications for Homing and Jog Speed Table 5 69 5 2 E Before Reading this Chapter This chapter describes the use of the I O signals in the SDH SERVOPACK and NS600 I O signals in the CN1 and CN4 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 CN4 I O signals See 3 1 3 I O Signal Names and Functions e CNI and CN4 UO signal terminal layout See 3 1 2 Terminal Layout on I O Signal Con nectors CN and CN4 e List of parameters See Appendix A List of Parameters RB Parameter Configurations Parameters are comprised of the types shown in the following table
3. 1 4 serial communications cables 1 4 clearing hold 6 12 6 15 6 17 6 18 CNI 1 4 connections examples 3 2 examples of I O signal connections to CN1 and CN4 3 2 input signal connections 5 6 output signal connections 5 8 specifications 3 5 terminal layout 3 4 CNIO 1 6 CN2 3 2 CN4 1 4 connection examples 3 2 examples of I O signal connections to CN1 and CN4 3 2 input signal connections 5 6 output signal connections 5 8 specifications 3 5 terminal layout 3 5 CNG 1 4 3 10 serial command communications connector CN6 3 10 specifications 6 2 CNT 1 4 Digital Operator or Support Software connector CN7 3 15 CNR 5 22 coasting to a stop 5 28 5 29 command
4. 3 12 6 2 6 4 6 5 6 7 G global commands 6 6 H half duplex wiring 3 13 6 2 6 4 6 5 6 7 hall sensor 6 37 7 13 holding brake ON timing 5 12 settings 5 12 wiring example 5 11 homing 5 36 5 62 5 63 5 68 5 69 homing start 6 18 homing jog speed table input signals 5 63 input conditions 5 68 input signal timing specifications 5 69 operation 5 65 parameters 5 64 l T O signals connection examples 3 2 signal names and functions 3 6 INFINITE 5 42 5 55 INPOSITION 5 45 input signals 3 6 3 7 Index 2 installation 2 1 2 5 installation site 2 3 orientation 2 4 interfaces with sequence input circuits 3 8 J jog speed table 5 62
5. 9 20 status display 9 8 STS status indicators 9 21 warning display table 9 5 9 19 DTR DSR control 6 2 dynamic brake 5 28 5 29 echoback 6 4 6 5 6 7 response time 6 7 electronic gear 5 30 setting examples 5 33 settings 5 30 encoder encoder signal outputs 5 18 output phase form 5 19 output phase A 5 18 output phase B 5 18 output phase C 5 18 pulses 5 30 errors error display 9 8 error display table 9 14 error warning output signal WARN 5 14 EVENT K ereet a R G KE a 5 44 5 45 5 49 examples of EVENT conditions 5 45 F forward reference 5 26 forward run prohibited 5 27 forward torque limit 5 38 framing error 6 8 full duplex wiring
6. 6 9 response 6 4 6 5 6 6 6 8 6 9 command answer format 6 5 details 6 8 OK response 6 4 reverse reference 5 26 Reverse Rotation Mode 5 26 reverse run prohibited 5 27 reverse torque limit 5 38 rotary switch 1 4 6 3 rotation direction 5 26 RS 232C 3 10 3 13 3 15 3 17 6 2 RS 422 3 10 3 12 3 15 3 17 6 2 RS 485 3 10 3 12 6 2 RSPD 5 43 RTS CTS control 6 2 safety information ix safety precautions x S curve time 5 34 sequence I O signals input signal connections 5 6 output signal connections 5 8 serial commands 5 40 6 9 command response format 6 5 communications 6 1 list C 2 parameters
7. 9 20 POS 5 42 position error 5 15 positioning positioning completed judgement 5 44 positioning completed output signal 5 15 positioning interruption 6 21 positioning speed 5 34 5 42 6 11 positioning start 6 12 6 13 positioning table 5 54 positioning registration speed 5 34 stopping 6 22 target position 5 42 6 10 positive responses 6 8 P OT 3 2 5 6 5 27 5 28 9 20 POUT POUTO to POUT4 5 16 5 43 6 23 power loss 3 19 program input signal timing for program table operation 5 49 input signals for program table operation 5 40 program step 5 42 program table 5 16 5 39 5 42 program table examples 5 51 program table operation 5 40 5 44 5 46 5 47 program table operation commands 6 30 program table setup commands 6 26 program table step selection
8. 6 4 serial command received character trace 7 16 serial command transmitted character trace 7 17 Servo OFF 5 29 6 9 9 20 Servo ON 6 9 9 20 Servo ON OFF input signal S ON 5 9 Servo ready output signal 5 13 software limit 5 42 6 19 9 20 SPD 5 42 speed setting 5 34 start bits 6 2 6 7 status status display 9 8 status indicators 9 8 9 9 9 21 stop bits 6 2 6 7 storage conditions 2 2 SDS a T pecs eee De a E E 9 8 9 9 9 21 STS status indicators 1 4 9 21 Support Software 1 5 T terminator 3 11 3 16 torque limit 5 38 trial operation 4 1 step 1 servomotor without load 4 3 step 2 servomotor connected to the machine 4 10 troubleshooting 9 8 V version 1 3 differences between
9. 7 10 Un000 Actual motor speed 7 11 Un002 Internal torque reference 7 11 Un003 Rotation angle pulses 7 11 Un004 Rotation angle electrical angle 7 11 Un005 SERVOPACK CN 11 input signal monitor 7 11 Un006 SERVOPACK CN 11 output signal monitor 7 11 Un007 Position reference speed 7 11 Un008 Position error 7 12 Un009 Torque load ratio monitor 7 12 UnOOA Regeneration load ratio monitor 7 12 Un0OB Dynamic brake load ratio monitor 7 12 Un00C Position reference pulse counter 7 12 UnOOD Encoder pulse counter 7 13 Un010 Maximum speed for linear motor 7 13 Un011 Hall Sensor for linear motor 7 13 Un800 Last error 7 13 Un801 NS600 CN4 input signal monitor 7 14 Un802 NS600 CN4 output signal monitor 7 14 Un803 Status flag monitor 7 14 7 1 7 Using the Digital Operator Un804 Current position reference monitor 7 14
10. 7 48 Fn809 Absolute Encoder Zero Setting 7 49 7 8 Operations during Program Table Editing Display 7 52 7 9 Operation during Zone Table Editing Display 7 62 7 10 Operation during Jog Speed Table Editing Display 7 64 8 Dimensions 8 1 NS600 Dimensions 8 2 9 Troubleshooting 9 1 Servodrive Troubleshooting 9 2 9 1 1 Alarm Display Table 9 2 9 1 2 Warning Display Table 9 5 9 1 3 Troubleshooting Problems with No Alarm Display 9 6 9 2 NS600 Troubleshooting 9 8 9 2 1 Status Displays eee eee 9 8 9 2 2 Alarm Display Table 9 10 9 2 3 Error Display Table 9 14 9 2 4 Warning Display Table 9 19 9 2 5 Normal Display Table 9 20 9 3 STS Status Indicators 7 9 21 Appendix A List of Parameters A 1 NS600 Parameters A 2 A 2 SERVOPACK Parameters A 6 A 3 Parameters Used for SERVOPACK Linear Motors A 11 A 4 SERVOPACK Switches A 12 Appendix B Monitor Mode and Auxiliary Functions B 1 Monitor
11. 7 5 7 4 Switching between Basic Displays 7 6 7 5 Operation during Parameter Editing Display 7 8 XV 7 6 Operation during Monitor Display 7 10 Un000 Actual motor speed 7 11 Un002 Internal torque reference 7 11 Un003 Rotation angle pulses 7 11 Un004 Rotation angle electrical angle 7 11 Un005 SERVOPACK CNT input signal monitor 7 11 Un006 SERVOPACK CNT output signal monitor 7 11 Un007 Position reference speed 7 11 Un008 Position error 7 12 Un009 Torque load ratio monitor 7 12 UnOOA Regeneration load ratio monitor 7 12 UnOOB Dynamic brake load ratio monitor 7 12 Un00C Position reference pulse counter 7 12 UnOOD Encoder pulse counter 7 13 Un010 Maximum speed for linear motor 7 13 Un011 Hall Sensor for linear motor 7 13 Un800 Last error 7 13 Un801 NS600 CN4 input signal monitor 7 14 Un802 NS600 CN4 output signal m
12. 5 47 5 5 8 Input Signal Timing Specifications for Program Table Operation 5 49 5 5 9 Response Times after Turning ON the START STOP Signal 5 50 5 5 10 Program Table Examples 5 51 5 6 Registration 5 56 5 6 1 Registration Timing Specifications 5 56 5 6 2 Registration Input Setting 5 56 5 6 3 Registration Operation 5 57 5 7 ZONE Table Settings 5 59 xiv 5 8 Homing Jog Speed Table Mode 5 62 5 8 1 Mode Switch Signal MODE 0 1 5 62 5 8 2 Homing Jog Speed Table Input Signals 5 63 5 8 3 Parameters Related to Homing 5 64 5 9 Homing Operation 5 65 5 10 Jog Speed Table Operation 5 66 5 10 1 Example of Jog Speed Table Operation 5 66 5 10 2 Jog Speed Table 5 67 5 10 3 Input Conditions for Homing and Jog Speed Table Operation 5 68 5 10 4 Input Signal Timing Specifications for Homing and Jog Speed Table 5 69 6 Serial Command Communications 6 1 CNG Connector Specifications 6 2 6 2 Settings
13. 5 41 resetting 5 47 restarting 5 46 settings 5 42 starting and stopping 5 46 status changes in program table operation 5 48 stopping 5 47 programmable output signals 5 16 5 43 5 60 5 61 6 23 protocol 6 3 PSO 3 2 R RDST 5 43 5 57 reference units 5 30 setting 5 30 region 5 59 registration 5 55 5 56 jog forward reverse with registration 6 17 positioning start with registration 6 15 6 16 registration distance 5 43 5 57 6 14 registration input 5 56 registration latch signal 5 56 registration operation 5 57 registration speed C 5 34 6 14 registration timing specifications 5 56 Index 3 Index related manuals v reset
14. 5 21 setup initialization 5 22 zero setting 5 25 7 49 ACC 5 43 acceleration 5 34 5 43 6 11 alarms alarm code output signals 5 9 alarm display 9 8 alarm display table 9 2 9 10 alarm reset 6 9 7 5 Servo alarm output 5 9 troubleshooting 9 6 ALM 3 2 5 8 5 9 ALO 1 to ALO3 3 2 5 8 5 9 auxiliary functions commands 6 33 list B 4 axis address 1 4 6 3 setting 6 3 axis number 6 3 6 5 6 6 6 8 6 9 B backlash compensation 5 37 baseblock 9 20 BAT 3 2 battery handling 5 21 bit rate 6 2 6 3 6 4 6 7 brake 5 10 interlock output signal 5 10 Index 1 cables UO cables
15. 5 20 5 3 1 Interface Circuit 5 21 5 3 2 Selecting an Absolute Encoder 5 21 5 3 3 Handling Batteries 5 21 5 3 4 Absolute Encoder Setup Initialization 5 22 5 3 5 Multiturn Limit Setting 5 23 5 3 6 Absolute Encoder Zero Setting 5 25 5 4 Settings According to Device Characteristics 5 26 5 4 1 Switching Servomotor Rotation Direction 5 26 5 4 2 Setting the Overtravel Limit Function 5 27 5 4 3 Setting Reference Units 5 30 5 4 4 Moving Mode and Coordinate Settings 5 35 5 4 5 Backlash Compensation 5 37 5 4 6 Limiting Torques 5 38 5 5 Program Table 5 39 5 5 1 Mode Switch Signal MODE 0 1 5 39 5 5 2 Input Signals for Program Table Operation 5 40 5 5 3 Program Table Step Selection 5 41 5 5 4 Program Table Settings 5 42 5 5 5 Examples of EVENT Conditions 5 45 5 5 6 Program Table Operation 5 46 5 5 7 Status Changes in Program Table Operation
16. 6 2 4 Monitors Related to Serial Communications Serial communications can be checked by using Un80D to Un811 on the Digital Operator or the Serial Command Monitor in SigmaWin Use these when troubleshooting problems with communications ber Un80D Serial command received character trace 7 6 Operation during Un80E Serial command received character count Monitor Display Un80F Serial command received error character count Un810 Serial command transmitted character trace Un811 Serial command transmitted character count 6 4 6 3 Command Response Format 6 3 Command Response Format The following diagram shows the command response format Command Host controller NS600 Response Host controller NS600 Command character string Response character string Example Example R R ISVON 2SVON 1POS10000 CR 2POS10000 CR 1ST CR 2ST CR 1PUN CR 2PUN CR 10K CR LF 20K CR LF C C 10K CR LF L L 20K CR LF 10K CR LF 20K CR LF 1PUN 00004567 CR LF 2PUN 00002345 CR LF VVYVVVVYVY Note When full duplex wiring is being used either CR or Note The response s delimiter is always CR LF CR LF can be used as the delimiter Alphabetical characters in the response are always upper When half duplex wiring is being used the delimiter case can be set to either CR or CR LF with parameter Pn800 In both cases
17. 7 24 Fn005 Parameter Settings Initialization 7 26 Fn006 Alarm Traceback Data Clear 7 28 Fn007 Write Inertia Ratio Data 7 29 Fn008 Absolute Encoder Reset 7 30 Fn00C Manual Zero adjustment of Analog Monitor Output 7 32 Fn00D Manual Gain adjustment of Analog Monitor Output 7 33 FnOOE Automatic Offset adjustment of Motor Current Detection Signal 7 34 FnOOF Manual Offset adjustment of Motor Current Detection Signal 7 36 Fn010 Write protection Setting 7 37 Fn011 Motor Model Display 7 38 Fn012 SERVOPACK Firmware Version Display 7 39 Fn013 Change Multiturn Limit Value Setting 7 40 Fn800 NS600 Firmware Version Display 7 42 Fn801 NS600 Model Code Display 7 42 Fn802 NS600 Y Specification Number Display 7 42 xvi Fn803 Program Table Save 7 43 Fn804 Zone Table Save 7 44 Fn805 Jog Speed Table Save 7 45 Fn806 Program Table Initialization 7 46 Fn807 Zone Table Initialization 7 47 Fn808 Jog Speed Table Initialization
18. Appendix A List of Parameters A 1 NS600 Parameters The following table shows the NS600 s parameters Table A 1 NS600 Parameters Parameter Name Unit Setting Range Factory Pn8s00 Serial Communication 0 Full duplex wiring Protocol 1 Full duplex wiring Echoback each character 2 Half duplex wiring delimiter CR 3 Half duplex wiring delimiter CR Echoback each character 4 Half duplex wiring delimiter CR Echoback each command 5 Half duplex wiring delimiter CR LF 6 Half duplex wiring delimiter CR LF Echoback each character 7 Half duplex wiring delimiter CR LF Echoback each command B Pn802 Response OK Pn803 MODE 0 1 0 Disables response OK 1 1 Enables response OK 0 Closed Mode 0 1 Closed Mode 1 2 Always Mode 0 3 Always Mode 1 Pn805 PGMRES JOGP Pn806 SELO JOON 0 Closed Program select Mode 0 Jog reverse Mode 1 1 Open Program select Mode 0 Jog reverse Mode 1 2 Always program select Mode 0 No jog reverse Mode 1 3 No program select Mode 0 No jog reverse Mode 1 Pn804 START STOP 0 Closed Program Start Mode 0 HOME Homing Start Mode 1 1 Open Program Start Mode 0 Homing Start Mode 1 2 or 3 No Program Start Mode 0 No Homing Start Mode 1 0 Open to closed Reset program Mode 0 Jog forward Mode 1 1 Closed to open Reset program Mode 0 Jog forward Mode 1 2 or 3 No program reset Mo
19. The holding brake is used when a servodrive controls a vertical axis In other words a servo motor with brake prevents the movable part from shifting due to gravity when system power goes OFF Servomotor Holding brake S Prevents the movable part from shifting due to gravity when system power goes OFF 5 10 5 2 Sequence I O Signals IMPORTANT The brake built into the SGMOH servomotor with brakes is a de energization brake which is used only to hold and cannot be used for braking Use the holding brake only to hold a stopped motor Brake torque is at least 120 of the rated motor torque B Wiring Example Use the SERVOPACK contact output signal BK and the brake power supply to form a brake ON OFF circuit The following diagram shows a standard wiring example SERVOPACK Servomotor with brake Power supply A B LIG BK RY oe CN1 27 to gt IBK SO gt w lt C miS Cae El ee 24V CN2 28 IBK CN2 Blue or BK RY yellow Red _ __White ac DC Black Brake power supply BK RY Brake control relay Output gt BK Brake Interlock Output This output signal controls the brake when using a servomotor with a brake and does not have to be connected when using a servomotor without a brake ON
20. he gt y gt ISEL 3 WOG2 CN4 15 K Fh gt ISEL 4 JOG3 CN4 17 Ly a ov Provide an external power supply the SERVOPACK and NS600 do not have an internal 24 V power IMPORTANT l p Ppy p supply Yaskawa recommends using the same external power supply as that used for output circuits The allowable voltage range for the 24 V sequence input circuit power supply is 11 to 25 V Although a 12 V power supply can be used contact faults can easily occur for relays and other mechanical contacts under low currents Confirm the characteristics of relays and other mechanical contacts before using a 12 V power supply E Input Signal Specifications CN1 and CN4 Item Specification Signal Names CN1 S ON P OT N OT DEC RGRT CN4 MODE0 1 START STOP HOME PGMRES JOGP SELO JOGN SEL1 JOGO SEL2 JOG1 SEL3 JOG2 SEL4 JOG3 Input Form Sinking or Sourcing 5 7 5 Parameter Settings and Functions Connect the sequence output signals as shown in the following figure CN1 Connector Photocoupler output per output Maximum operating voltage 30 V DC Maximum output current 50 mA DC Open collector output per output Maximum operating voltage 30 V DC Maximum output current 20 mA DC CN4 Connector Photocoupler output per output Maximum operating voltage 30 V DC Maximum output current 50 mA DC IMPORTANT lt t
21. 0 the reverse position reference limit is set in Pn81C When the reverse position reference limit is being used move to a position within the position reference limits When the position reference limits are not being used because the system is a rotary system set the moving method to Rotary by set ting Pn81A 1 2 or 3 When the system is a linear system but position reference limits are not being used disable the software limits by setting Pn81B Pn81C 0 Servo OFF Baseblock This display indicates that power is not being supplied to the motor This display indicates that power is being supplied to the motor The panel display may be OFF depending on communications between the NS600 and the SER VOPACK 9 20 9 3 STS Status Indicators 9 3 STS Status Indicators The following table shows the meaning of the STS Status Indicators LED indicators Normal Lit Not lit Overtravel Software Limit Activated Resetting Flashing Saving a Table Initializing a Table Initializing Parameters Error Pp Flashing 2 seconds 9 21 Appendix A List of Parameters This appendix lists the parameters and switches for the NS600 and SGDH SERVOPACKs with an NS600 installed A 1 NS600 Parameters A 2 A 2 SERVOPACK Parameters A 6 A 3 Parameters Used for SERVOPACK Linear Motors A 11 A 4 SERVOPACK Switches A 12
22. 1 Dynamic brake load ratio moni tor 1 Position refer ence pulse counter reference units Table 7 1 Monitor Displays cont d Monitor Monitored Value Display Explanation Number Example 6 250 reference units 6250 Example 100 SHE D 10 TD Example 30 0040 Example 10 0040 Example 01234567 reference units hexadecimal HD10 2 Upper 2 bytes ST H4569 Lower 2 bytes Nv Press the Up or Down Key to display the upper 2 bytes or lower 2 bytes The counter can be cleared by pressing the Up and Down Keys together HOBO Leo 7 12 Indicates the position error If the value exceeds 9 999 SAt will be displayed Indicates the executed torque over a 10 second interval The torque level is displayed as a percentage of the rated torque rated torque 100 Indicates the power consumed by the regenerative resistor over a 10 second interval The load rate is displayed as a percentage of the regenerative resistor s allowed power con sumption Indicates the power consumed by the dynamic brake over a 10 second interval The load rate is displayed as a percentage of the dynamic brake s allowed power con sumption Displays a position reference counter for monitoring Monitor Number Un00D Un010 Un011 Table 7 1 Monitor Displays cont d 7 6 Operation during Monitor Display Monitored Value Display Explanation Encoder pulse count
23. 3 6 3 1 I O Signal Connections RB CN4 Input Signals 24V COM Power Supply for Sequence Signals Voltage range 11 V to 25 V MODE 0 1 3 This pin switches between Mode 0 and Mode 1 ON Mode 0 Program table operation OFF Mode 1 JOG speed table operation or homing ISTART STOP Mode 0 When ON starts or restarts program table operation Refers to signals SELO through HOME SEL6 when starting operation When OFF interrupts program table operation Mode 1 When ON starts or restarts homing When OFF interrupts homing PGMRES Mode 0 When ON while program table operation is interrupted resets program table operation JOGP Mode 1 When ON causes forward JOG operation When OFF stops forward JOG operation SELO JOGN Mode 0 Program table 0 Mode 1 When ON causes reverse JOG operation When OFF stops reverse JOG operation SEL1 JOGO 11 Mode 0 Program table selector 1 Mode 1 JOG speed table selector 0 SEL2 JOG1 13 Mode 0 Program table selector 2 Mode 1 JOG speed table selector 1 SEL3 JOG2 15 Mode 0 Program table selector 3 Mode 1 JOG speed table selector 2 SEL4 JOG3 17 Mode 0 Program table selector 4 Mode 1 JOG speed table selector 3 B CN4 Output Signals Positioning complete ae aa 2 POUTO Programmable outputs POUTO POUT1 x 3 7 3 Connector Wiring 3 1 4 Interface Circuits 3 1 4 Interface Circuits This section shows examples of SERVOPACK I O
24. 5 16 5 2 Sequence I O Signals Parameters Pn811 to Pn815 set the output status for POUTO to POUT4 as shown in the following table ter Setting Pn811 0 Output closed Active Pn812 1 Output open Active E Setting the Initial Status of Programmable Output Signals POUTO to POUT4 The following parameter can be set to be inactive or to use ZONE signals as the initial status i e the status when the control power supply is turned ON or after resetting of program mable output signals POUTO to POUT4 This function is supported for version 4 or later The programmable output signals will initially be inactive with version 3 or lower Parame Name Unit Settings Factory ter Setting Pn835 ZONE Signal 0 POUTO to POUT4 become inactive Setting when the control power supply is turned ON or after resetting 1 POUTO to POUT4 are operated as ZONE signals when the control power supply is turned ON or after setting 5 17 5 Parameter Settings and Functions 5 2 8 Encoder Signal Outputs 5 2 8 Encoder Signal Outputs The encoder signals can be used to monitor the servomotor s speed and position However the NS600 manages the servomotor s speed and position so it isn t necessary to use the encoder signals to monitor the speed and position from the host controller These outputs explained here SERVOPACK Host controller Servomotor CN2 CN1 Encoder W i iPhase A
25. 5 4 5 1 Restrictions on SGDH SERVOPACK Parameters Table 5 1 Setting restricted Parameters cont d G SEL E TGON Pn50F Pn510 Pn512 N S RDY Always SO3 pe e eee EAE EAE ESE EAE EME fab aoa IE a S O EAR E Ip E Ea fe Ee 5 5 5 Parameter Settings and Functions 5 2 Sequence I O Signals Sequence I O signals are used to control operation of the SERVOPACK and NS600 Connect these signal terminals as required E Input Signal Connections Connect the Sequence Input signals as shown below CN1 Connector SERVOPACK Power supply 24V 33ko Photocouplers Host controller 24 VIN CN1 47 S ON CN1 40 gt ISEL5 CN1 41 3 gt TE a ml gt I P OT gt N Boa gt N OT aN gt gt IDEC gt b aT ee ak gt SEL6 vA gt gt aea IRGRT CN1 46 aq y e Vov 5 6 5 2 Sequence I O Signals CN4 Connector NS600 Power supply T V CN 3 3k2 Photocouplers Host controller 24VICOMLCN4 1 a p ithe WV gt MODE 01 y CN4 3 b L yO ais a ISTART STOP HOME J CN4 5 i SN i PASE CN4 7 h PGMRES JOGP TO Ase CN4 9 lt Jaw OBR ISEL0 NOGN J CA Mal arme C ISEL1 J0Go CN4 11 l gt l YV ISEL 2 JOG1 e LT 3 y A gt L gt vn
26. A C9 Encoder Communications Communications between SERVOPACK Error and encoder is not possible A CA Encoder Parameter Error Encoder parameters are faulty 2 A Cb Encoder Echoback Error Contents of communications with encoder is incorrect A CC Multiturn Limit Disagree Different multiturn limits have been set in ment the encoder and SERVOPACK A d0 Position Error Pulse Over Position error pulse exceeded parameter OFF ON ON OFF flow Pn505 A d2 Position Data Overflow The position data exceeds the range of posi Error tion management data A EF Application Module Error Some kind of alarm occurred in the Applica OFF OFF ON ON tion Module Check the NS600 Alarm Dis play AF 1 Power Line Open Phase One phase is not connected in the main OFF OFF ON OFF power supply A F6 Servomotor Disconnection The power is not supplied to the servomotor OFF ON OFF OFF Alarm 4 though the SERVOPACK received the Servo ON command Note OFF Output transistor is OFF high ON Output transistor is ON low 1 This alarm display appears only within the range of 30 W to 1000 W 2 These alarms cannot be reset with the alarm reset signal ALM RST Eliminate the cause of the alarm and then turn the control power supply OFF ON or execute the RES command to reset the alarm 3 For the SERVOPACK with a capacity of 6 0 kW or higher alarm A 40 indicates main circuit DC voltage is excessively high or low 4 These errors are
27. Indicates that data is being saved to flash memory L D R L Flashing Never turn OFF the control power supply while StorE data is being saved Flashing default settings Never turn OFF the control power Indicates that data is being initialized to the factory supply while settings are being initialized Init ALARM IMPORTANT If an alarm has occurred reset the alarm after eliminating the cause of the alarm Refer to Chapter 9 Troubleshooting for details The key can be used to reset alarms on the Status Display only 7 5 7 Using the Digital Operator 7 4 Switching between Basic Displays Switch between the Digital Operator s basic displays for indicating the status of the SERVO PACK in operation and setting a variety of parameters and operation references The following basic displays are available status display auxiliary function parameter editing monitor program table editing zone table editing and jog speed table editing displays Select the basic display by pressing the DSPL SET Key The displays will appear in the following order as the key is pressed 7 6 Example gt Example Example Example Example Example Example ABE DSPL SET EoDD Fn000 DSPL SET Pxaobaa Pn000 DSPL SET HnGGo Un000 DSPL SET HoU U Po000 DSPL SET cPOOO ZP000 DSPL SET 485000 JS000 DSPL SET 7 7 7 4 Switching b
28. Photocoupler ON Releases the brake OFF Photocoupler OFF Applies the brake The BK signal setting can be changed with parameter Pn817 Parame Signal Pin No Settings Factory ter Setting Pn817 IBK CN1 27 0 Photocoupler ON Releases the brake CN1 28 1 Photocoupler OFF Releases the brake Related Parameters Pn506 Time Delay from Brake Reference until Servo OFF Pn507 Speed Level for Brake Reference Output during Motor Operation Pn508 Timing for Brake Reference Output during Motor Operation 5 Parameter Settings and Functions 5 2 3 Brake Interlock Output Signal BK IMPORTANT B Brake ON Timing If the equipment moves slightly due to gravity when the brake is applied set the following parameter to adjust brake ON timing Brake Reference Servo OFF Delay Time Setting Factory Range Setting 0 to 50 0 This parameter is used to set the output time from the brake control signal BK until the servo OFF operation servomotor output stop when a servomotor with a brake is used S ON input Servo ON a_n CN1 40 em Servo OFF Release _ _ o oO brake BK output Pake Hold with brake Servo ee Servo ON OFF Motor ON servomotor OFF Servomotor i 1 ON OFF status lt _ gt Servo OFF time delay With the factory setting the servo is turned OFF when the BK signal brake operation is output The equipment may mov
29. Serial Command Function RSPDnnnnnnnn RSPDTsss RSPDTsss SKIP SPDnnnnnnnn SPDTsss SPDTsss Registration Speed Reservation Program Table RSPD Read Program Table RSPD Write Positioning Stop or Jog Stop Positioning Speed Reservation Program Table SPD Read Program Table SPD Write Yn 4 Positioning Start ST nnnnnnnn Positioning Start Absolute Position STA nnnnnnnn START STARTsss STI nnnnnnnn Positioning Start Relative Position STIFF STIFFd STOP STS or MONG SVOFF SVON SVTYPE SVVER SVYSPEC TREF or MON5 TRMppp TRMS TUNESTORE TYPE E YSPEC ZONEINIT ZONENTzz ZONENTzz ZONEPTzz ZONEPTzz ZONESTORE Zone Table Save ZRN Homing Start ZSET nnnnnnnn Coordinates Setting Program Table Operation Restart Program Table Operation Start Rigidity Monitor Rigidity Reservation Program Table Operation Interruption Status Flag Monitor reference units Servo OFF Servo ON SGDH Type Code xx02H Display SGDH Firmware Version Display SGDH Y Spec No Display Torque Reference Monitor Temporary Parameter Write Torque Load Ratio Monitor Auto tuning Inertia Save NS600 Type Code 0600H Display lt 0 NS600 Firmware Version Display NS600 Y Spec No Display Zone Table Initialization Zone Table ZONEN negative side zone position limit Read Zone Table ZONEN negative side zone position limit Write Zone table ZONEP positive side zone position limit Read Zone Table ZONEP positive
30. mand gram table while program table opera tion was in progress or on hold e There was a request to start positioning by a serial command while program table operation was in progress or on hold E5FE Session Conflict Error There was a request that could not be exe Execute the operation again after cuted at the same time as the function that the execution of the current func was being executed tion is completed Example There was a request to start program table operation while the program table was being initialized 9 18 9 2 NS600 Troubleshooting Table 9 5 NS600 Error Displays cont d Error Error Name Details Remedy Panel Display Display 2 Encoder Mismatch Error There was a request that was incompatible with the connected encoder Examples e An Absolute Encoder Reset ABSPGRES command or Fn008 was requested when an incremental encoder is connected e Homing Start was requested HOME signal was turned ON or ZRN command was executed when an absolute encoder is connected An absolute encoder can be used as an incremental encoder if parameter Pn002 2 1 A Multiturn Limit Setting MLTLTMSET command or Fn013 was requested even though alarm A CC has not occurred Alarm A CC indicates that Pn205 does No A CC Alarm Occurred Error Check the encoder Use the Multiturn Limit Setting operation to adjust the setting in the encoder to match Pn205 only after alarm A CC has occu
31. 7 29 Fn008 Absolute Encoder Reset 7 30 Fn00C Manual Zero adjustment of Analog Monitor Output 7 32 Fn00D Manual Gain adjustment of Analog Monitor Output 7 33 FnOOE Automatic Offset adjustment of Motor Current Detection Signal 7 34 FnOOF Manual Offset adjustment of Motor Current Detection Signal 7 36 Fn010 Write protection Setting 7 37 Fn011 Motor Model Display 7 38 Fn012 SERVOPACK Firmware Version Display 7 39 Fn013 Change Multiturn Limit Value Setting 7 40 Fn800 NS600 Firmware Version Display 7 42 Fn801 NS600 Model Code Display 7 42 Fn802 NS600 Y Specification Number Display 7 42 Fn803 Program Table Save 7 43 Fn804 Zone Table Save 7 44 Fn805 Jog Speed Table Save 7 45 Fn806 Program Table Initialization 7 46 Fn807 Zone Table Initialization 7 47 Fn808 Jog Speed Table Initialization 7 48 Fn809 Absolute Encoder Zero Setting 7 49 7 8 Operations during Program Table Editing Display 7 52 7 9 Operation during Zone Table Editing Display
32. A 100000 A ZA po o p mm Taa Too o o a _ mm Taa T Too fs a _ EE ZZ ACC and DEC are supported for version 4 or later i PGMSTEPO PGMSTEP1 PGMSTEP2 PGMSTEP3 PGMSTEP4 Speed ISTART STOP LI ISELO M ISELI ISEL2 INPOSITION m P POUTO l E POUT1 i i IPOUT2 E IPOUT3_ IPOUT4 Zone Table E 001000 099000 LE 199000 a e aa 299000 6 17 5 54 5 5 Program Table E Using the INFINITE Parameter m HR H e a aan Tam toon e secon SO R RTS o on R HES ACC and DEC are supported for version 4 or later PGMSTEP 0 PGMSTEP 2 PGMSTEP 0 PGMSTEP 2 iPGMSTEP 1 i PGMSTEP3 i i PGMSTEP 1i i PGMSTEP 3 ios 25 Speed ISTART STOP _ ISELO ISEL1 INPOSITION 7 j j B Using Registration See 5 6 Registration for details on the Registration function TmT aa Tm a TRT a ACC and DEC are supported for version 4 or later PGMSTEP 0 i PGMSTEP 1 i PGMSTEP 0 Speed ISTART STOP RGRT INPOSITION 5 55 5 Parameter Settings and Functions 5 6 1 Registration Timing Specifications 5 6 Registration Positioning is performed for the specified distance and specified sp
33. Edit the setting with the gt A 7 Keys 4 Press the Key to enter the new setting and return to the program table number dis play 7 52 N INFO TD 7 8 Operations during Program Table Editing Display The Program Table Save function Fn803 can be executed to save the new settings to flash memory Once saved to flash memory the data will be retained even if the control power supply goes OFF See page 7 43 for details Ea Skor StorE Related Errors The following table shows the main errors related to the program table editing operations ESEE The program table cannot be edited while Execution Disabled dur program operation is in progress or on hold ing Program Operation interrupted Error Reset program operation and try again 7 53 7 Using the Digital Operator m POS Target Position This parameter sets the target position SISI Press the DATA ENTER Key again to return to the program table number Press the DATA ENTER Key to display the Target Position Edit display display Example Changing the Target Position Setting Target position set to lax mM Target position set to INFINITE InF IAM H m Target position set to INFINITE InFI IAL Haana ZZ anhaa 2 JIN 4423 7 Ia aaga SY 2 9389 Se LN 44123 cursor ase C L oO L Target position set to STOP StoP cursor s 7 54 VIZ gt
34. If the DATA ENTER Key is pressed before executing the display will return to the function number y 7 setting display 1 l N Wait until the display stops flashing Never turn OFF the control power N z l A d supply while the display is flashing 4 7 AN X The display will return to the function number setting display 7 48 7 7 Operations during Auxiliary Function Display R Fn809 Absolute Encoder Zero Setting The present position can be changed to a desired position by inputting the desired position The desired position is often 0 Calculate the difference between the desired position and the absolute encoder position i e the absolute encoder offset and save the value in parameter Pn81D N This function is supported for version 4 or later INFO CAUTION It can be dangerous to execute this function to switch the coordinates of the position reference After execut ing this function confirm that the position reference and the new coordinates are in agreement before start ing operation IMPORTANT When one of the Pn202 Pn203 Pn205 or Pn81A to Pn81D parameters has been changed enable the new setting by turning the control power supply OFF and then ON again before continuing operation 7 49 7 Using the Digital Operator A Cn U Press the DATA ENTER Key to display the absolute encoder home position setting edit display HEE ZSEt1 Press the Up Key se
35. Pn213 Upper 2 Bytes of PG Divider 77 0 to 65 536 0000H rt Sst oan iT D v Pn309 Fixed parameter Do not change 1 0 to 500 60 Appendix A List of Parameters Table A 2 SERVOPACK Parameters cont d Range Setting C LET o E C mar os o e Pasos Tore Funen swis Pn40A First Stage Notch Filter Q Value 50 to 400 Pn40B Second Stage Notch Filter Frequency 50 to 2 000 2 000 Pn40C Second Stage Notch Filter Q Value 50 to 400 A 8 A 2 SERVOPACK Parameters Table A 2 SERVOPACK Parameters con d Category Parameter Name Unit Setting Factory Range Setting Constants Pn502 Rotation Detection Level 1 to 10 000 Pn505 Overflow Level 256 refer 1 to 32 767 1 024 ence units Pn506 Brake Reference Servo OFF Delay Time 10ms Uap Jo Pn507 Brake Reference Output Speed Level 0 to 10 000 Pn508 Timing for Brake Reference Output during 10 ms 10 to 100 50 Motor Operation Pn509 Momentary Hold Time ms Pn50A Fixed parameters Do not change Pn50B Pn50C Pn50D Pn50E Pn50F Pn510 Pn511 Pn512 Pn513 Fixed parameter Do not change 1 TTT TE 0088H Pn51A Error Level between Motor and Load Position 0 to 32 767 eo units Pn51B Fixed parameter Do not change 256 refer l to 32 767 100 ence units Pn51C Fixed parameter Do not change 6 0 to 10 000 Pn51E Excessive Position Error Warning Level 0 to 100 fo Other Pn600 Regenerative Resistor Capacity 10W 0 to capac Co
36. See Appendix A List of Parameters Function Selection Pn000 to Pn005 Select basic and application functions such as the Parameters Pn819 type of control or the stop mode used when an alarm occurs Servo Gain and Pn100 to Pn123 Set numerical values such as speed and position Other Parameters loop gains Position Control Pn200 to Pn208 Set position control parameters such as S shaped Parameters curve Speed Control Pn308 Set speed control parameters such as the Speed Parameter Feedback Filter Time Constant Torque Control Pn401 to Pn409 Set torque control parameters such as the torque Parameters limit values Sequence Pn500 to Pn509 Sets conditions for the sequence I O signals Parameters Pn803 to Pn818 Positioning Pn81A to Pn822 Sets parameters related to positioning Parameters Homing Parameters Pn823 to Pn828 Sets parameters related to homing Serial Pn800 to Pn802 Sets parameters related to serial communications Communications through CN6 Parameters Setup Information Pn829 to Pn834 Do not change these parameters Parameters These parameters are used by the Support Software 5 3 5 Parameter Settings and Functions 5 1 Restrictions on SGDH SERVOPACK Parameters The following parameters are set automatically when an NS600 is installed on an SGDH SERVOPACK Do not change these parameters because they are reserved for system use Also the SGDH SERVOPACK will be set for position control It is not n
37. forward software limit in Pn81B P LS and the reverse software limit in Pn81C N LS 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 motor reaches a software limit during the JOG command or JOG speed table opera tion the motor will stop at the deceleration rate set in Pn820 5 35 5 Parameter Settings and Functions 5 4 4 Moving Mode and Coordinate Settings lt q EXAMPLE gt IMPORTANT If both Pn81B and Pn81C are set to 0 the software limit function will be disabled The software limit function is enabled after completion of homing If however Pn823 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 Negative Software Limit Workpiece Positive Software Limit N LS Pn81C P LS Pn81B Rotary Moving Methods When using a rotary moving method such as with a disc table set Pn81A to shortest path to 2 forward or to 3 reverse Then set the end point of rotational coordinates in Pn81B and the starting point of rotational coordinates in Pn81C The software limit function will be disabled If Pn81A is set to 1 shortest path the motor will rotate in the shortest direction forward or
38. 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 or the RES command is executed Since the value is stored in EEPROM this command must not be used if the setting needs to be changed fre quently In this case use the TRMppp nnnnnnnn command Online parameters The setting is enabled immediately Offline parameters Enable the setting by turning the control power sup ply OFF and ON or executing the RES command Refer to Appendix A List of Parameters to determine whether a parameter is an online or offline parame ter 6 24 6 7 Serial Commands Table 6 3 Parameter Edit Commands cont d 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 Since this com mand does not write the setting in EEPROM it can be used to change settings frequently Online parameters The setting is enabled immediately Offline parameters Offline parameters must be enabled by turning the control power supply OFF and ON or executing the RES command so the TRMppp nnnnnnnn command cannot be used to change these parame ters Use the PRMppp nnnnnnnn command Refer to Appendix A List of Parameters to determ
39. speed table Replace the firmware or jog speed table Either increase the registration distance or reduce the deceler ation distance increase the deceleration rate The registration distance can be set by executing the RDST command or changing the RDST parameter in the pro gram table The deceleration rate can be changed by executing the DEC command or changing parame ter Pn820 Panel Alarm DE ae Reset a Ku 1 This is the alarm code displayed on the Digital Operator when it is connected to CN7 This same alarm code is also used in the response to the ALM command 2 The panel display may be OFF depending on communications between the NS600 and the SERVOPACK 3 These alarms can be reset but a Program Table Checksum Error E44E will occur the next time you attempt to start program table operation so program table operation will not be pos sible 9 12 9 2 NS600 Troubleshooting a et 4 These alarms can be reset but it is possible that the zone signals POUTO to POUT4 will be output incorrectly When using the zone table correct the alarm without resetting 5 These alarms can be reset but a Jog Speed Table Checksum Error E46E will occur the next time you attempt to start jog speed table operation so jog speed table operation will not be possible 9 13 9 Troubleshooting 9 2 3 Error Display Table 9 2 3 Error Display Table E41E E42E E43E E44E E46E Refer to the foll
40. 2 1 1 1 External Appearance and Nameplate Examples 1 2 1 1 2 Model Number 1 3 1 1 3 Version Information 1 3 1 2 Product Part Names 1 4 1 3 Installing the Application Module 1 6 2 Installation 2 1 Storage Conditions 2 2 2 2 Installation Site 2 3 2 3 Orientation 2 4 2 4 Installation 2 5 3 Connector Wiring 3 1 I O Signal Connections 3 2 3 1 1 Examples of I O Signal Connections to CNT and CN4 3 2 3 1 2 Terminal Layout on I O Signal Connectors CNT and CN4 3 4 3 1 3 I O Signal Names and Functions 3 6 3 1 4 Interface Circuits 3 8 3 2 Serial Command Communications Connector CN6 3 10 3 2 1 Communications Specifications 3 10 3 2 2 Communications Connector 3 11 3 2 3 Connector Signal Names 3 11 3 2 4 Connection Examples 3 12 3 2 5 RS 422 RS 485 Interface 3 14 3 3 Digital Operator or Support Software Connector CN7 3 15 3 3 1 Communicatio
41. 4 3 4 3 Step 2 Trial Operation with the Servomotor Connected to the Machine 4 10 4 1 4 Trial Operation 4 1 Two step Trial Operation Make sure that all wiring is completed prior to starting trial operation Perform the trial operation in the order given below steps and 2 for your safety See 4 2 Step 1 Trial Operation for Servomotor without Load and 4 3 Step 2 Trial Operation with the Servomotor Connected to the Machine for more details on the trial operation Step 1 Trial Operation for Servomotor without Load Make sure the servomotor is wired properly and then turn the shaft prior to connecting the servomotor to the equipment dL B 12 7 mA eJ d kA dt Do not connect to the equipment Step 2 Trial Operation with the Equipment and Servomotor Connected Adjust the SERVOPACK according to equipment characteristics connect the servomotor to the equipment and perform the trial operation SGMOH servomotor Connect to the equipment 4 2 4 2 Step 1 Trial Operation for Servomotor without Load 4 2 Step 1 Trial Operation for Servomotor without Load CAUTION gt Do not operate the servomotor while it is connected to the equipment To prevent accidents initially perform step 1 where the trial operation is conducted under no load conditions with all couplings and belts disconnected In step 1 make sure that the servomotor is wired prope
42. 40 This signal is used to turn the servomotor ON and OFF S ON Photocoupler ON Power is supplied to the servomotor Photocoupler OFF Power is not supplied to the servomotor Do not turn the servo OFF while the servomotor is operating except in an emergency stop situation The S ON signal setting can be changed with parameter Pn80B Parame Signal Pin No Settings Factory ter Setting 0 Photocoupler ON Servo ON i 1 Photocoupler OFF Servo ON 2 Servo is always ON 3 Servo is always OFF Pn80B S ON CN1 40 5 2 2 Using Servo Alarm and Alarm Code Outputs ALM ALO1 to ALO3 The basic procedure for connecting alarm output signals is described below SERVOPACK Power supply 24v Dov Photocouplers CN1 31 ALM a S lt Photocoupler output per output Jay 50 MA max T P N Al Maximum operating voltage 30 V DC ERA i cont 32 ALM Maximum output current 50 mA DC are EE cn1 37 ALO1 lt _ Yr 20 mA max A Open collector output per output J CN1 38 ALO2 gt gt Maximum operating voltage 30 V DC 9 lt Maximum output current 20 mA DC cn1 39 ALO3 lt AA C Host a cn1 1 J SG os d lt gt 1 controller ov ov A suitable external I O power supply must be provided by the user separately because there is no internal 24 V power supply in the SER
43. 422 Interface The maximum total length for an RS 422 cable is 50 m Use the minimum length of cable that is needed The NS600 s communications circuits are not isolated If communications errors occur because of noise use noise suppression methods such as shielded cable or ferrite cores When using RS 422 cable connect a terminator in the host controller s reception circuit and the reception circuit of the last NS600 in the line The NS600 has a built in terminator 120 Q that is connected between the RXD and RXD pins when the RT and RXD pins are shorted The NS600 s transmission circuit is high impedance when it is not transmitting Pull up or pull down the host controller s reception circuit 3 18 3 4 Power Loss in the NS600 3 4 Power Loss in the NS600 Refer to 4 4 SERVOPACK Y Power Supply Capacities and Power Losses in the X I Series SGM GH SGDH User s Manual Manual No SIEPS80000005 for a table showing the SERVOPACK power losses at the rated output Table 3 1 NS600 Specifications Min operating voltage 5 05 V Max operating voltage 5 25 V Max operating current 500 mA uro The NS600 s power is supplied from the SERVOPACK 3 19 4 Trial Operation This chapter describes a two step trial operation Be sure to complete step 1 before proceeding to step 2 4 1 Two step Trial Operation 4 2 4 2 Step 1 Trial Operation for Servomotor without Load
44. 5 26 5 4 1 Switching Servomotor Rotation Direction 5 26 5 4 2 Setting the Overtravel Limit Function 5 27 5 4 3 Setting Reference Units 5 30 5 4 4 Moving Mode and Coordinate Settings 5 35 5 4 5 Backlash Compensation 5 37 5 4 6 Limiting Torques 5 38 5 1 5 Parameter Settings and Functions 5 5 Program Table 5 39 5 5 1 Mode Switch Signal MODE 0 1 5 39 5 5 2 Input Signals for Program Table Operation 5 40 5 5 3 Program Table Step Selection 5 41 5 5 4 Program Table Settings 5 42 5 5 5 Examples of EVENT Conditions 5 45 5 5 6 Program Table Operation 5 46 5 5 7 Status Changes in Program Table Operation 5 47 5 5 8 Input Signal Timing Specifications for Program Table Operation 5 49 5 5 9 Response Times after Turning ON the START STOP Signal 5 50 5 5 10 Program Table Examples 5 51 5 6 Registration 5 56 5 6 1 Registration Timing Specifications 5 56 5 6 2 Registration Input Setting 5 56 5 6 3 Registration Operation
45. 5 68 5 69 6 32 homing jog speed input signals 5 63 input conditions 5 68 input signal timing specifications C 5 69 operation 5 65 5 66 selection 5 67 setup commands 6 32 latch 5 56 5 57 5 58 6 14 6 17 latch signal 5 57 latch timing 5 56 limit switches 5 27 LOOP 5 44 M Mode 0 3 3 5 39 Mode 1 3 3 5 62 mode switch signal MODE 0 1 5 39 5 62 model number 1 3 monitor commands 6 33 monitor modes B 2 moving method and coordinate settings 5 35 5 36 multiturn limit setting 5 20 5 23 6 37 N NEAR 5 44 5 45 negative responses 6 8 NEXT 5 42 5 44 N LS 9 20 N OT 3 2 5 6 5 27 5 28 9 20 number of
46. 6 3 6 2 1 Block Diagram 6 3 6 2 2 Setting the Axis Address 6 3 6 2 3 Parameters Related to Serial Communications 6 4 6 2 4 Monitors Related to Serial Communications 6 4 6 3 Command Response Format 6 5 6 4 Global Commands 6 6 6 5 Echoback Response Time 6 7 6 6 Response Data Details 6 8 6 6 1 Positive Responses 6 8 6 6 2 Negative Responses 6 8 6 7 Serial Commands 6 9 6 7 1 Basic Operation Commands 6 9 6 7 2 Control Commands 6 10 6 7 3 Parameter Edit Commands 6 24 6 7 4 Program Table Setup Commands 6 26 6 7 5 Program Table Operation Commands 6 30 6 7 6 Zone Table Setup Commands 6 31 6 7 7 Jog Speed Table Setup Commands 6 32 6 7 8 Monitor and Auxiliary Function Commands 6 33 7 Using the Digital Operator 7 1 Connecting the Digital Operator 7 3 7 2 Digital Operator Functions 7 4 7 3 Status Display
47. 7 62 7 10 Operation during Jog Speed Table Editing Display 7 64 7 2 7 1 Connecting the Digital Operator 7 1 Connecting the Digital Operator Jh CAUTION The built in Panel Operator cannot be used Do not operate the built in Panel Operator Connect the Hand held JUSP OP02A Digital Operator to connector CN7 on the NS600 The SERVOPACK power supply can be left ON while connecting and disconnecting the Digital Operator s connector JUSP OP02A Digital Operator SERVOPACK SGDH YASKAWA CN7 ARN sqi ID WUL A v MUS USO nst rore O OY Toje VS fae Dolle D To Dolle A gI D Ojjjoz K A mo ga f Q i D Offer 1 D Olle A ia D O fjee D Ofe ES poly A el T D Op b cS S ool DD 7 Using the Digital Operator 7 2 Digital Operator Functions Hand held Digital Operator _ blb FF SERVOPACK nT ALARM SoS set P YASKAWA The Digital Operator can be used for parameter settings operating references and status dis plays This section provides information on the keys and their functions available from the initial dis plays ALARM RESET On the Status Display use this key to reset alarms DSPL SET Use this key for operations such as switching dis plays or executing auxiliary functions DATA ENTER
48. A a E0 EF EF EF EF EF E17A E18A E19A E1BA E1CA Initial Communication Alarm between NS600 and SGDH Detected only when con trol power supply is turned ON or the RES command is executed Communication Alarm between NS600 and SGDH after initializa tion Program Table Checksum Alarm Detected only when con trol power supply is turned ON or the RES command is executed Program Version Unmatched Detected only when con trol power supply is turned ON or the RES command is executed Program Out of range Alarm Detected only when con trol power supply is turned ON or the RES command is executed Zone Table Checksum Alarm Detected only when con trol power supply is turned ON or the RES command is executed Table 9 4 NS600 Alarm Displays cont d Alarm Alarm Name Details Remedy Panel Alarm Display Display 2 Reset When the control power sup ply was turned ON or the RES command was exe cuted the NS600 was unable to acquire necessary informa tion from the SERVOPACK such as parameters or an absolute encoder s position data When an absolute encoder is being used this alarm can occur if the Digital Operator is connected to SERVOPACK connector CN3 and the posi tion data cannot be acquired An error occurred in commu nications between the NS600 and SGDH during operation The program table stored in flash memory was not recorded properly This al
49. BK Signal Output Conditions during Servomotor Operation The circuit is open under either of the following conditions Motor speed drops below the setting at Pn507 after servo OFF The time set at Pn508 has elapsed since servo OFF The actual setting will be the maximum speed even if Pn507 is set higher than the maximum speed 5 2 4 Using the Servo Ready Output Signal S RDY The basic use and wiring procedures for the Servo Ready S RDY output signal photocou pler output signal are described below Servo Ready signal means there are no servo alarms and the main circuit power supply is ON so the servo can be turned ON Power supply SERVOPACK 24V OV CN1 29 laa S TSL a L w Photocoupler output per output Maximum operating voltage 30 V DC Maximum output current 50 mA DC IS a DA AONT Servo Ready Output Signal 5 13 5 Parameter Settings and Functions 5 2 5 Using the Error Warning Output Signal WARN This signal indicates the SERVOPACK received the Servo ON signal and completed all preparations The S RDY signal setting can be changed with parameter Pn818 Parame Signal Pin No Settings Factory ter Setting Pn818 S RDY CN1 29 0 Output closed Servo Ready CN1 30 1 Output open Servo Ready 5 2 5 Using the Error Warning Output Signal WARN The basic use and wiring procedure for the warning WARN output signal photocoupler output si
50. CR LF will be returned as the echo back Upper case and lower case characters can be used in the command including the axis number and are treated the same Note In ASCII the CR character is 0D Hex and the LF character is 0A Hex To maximize communications reliability confirm the echoback and responses to each command while IMPORTANT communicating with the NS600 When the echoback and responses are not being confirmed commu nications reliability can be improved by reading the status when appropriate 6 5 6 Serial Command Communications 6 4 Global Commands Global commands are commands that are sent to all axes at the same time Command Host controller NS600 Response Host controller NS600 Command character string Example No response returned SVON CR ST CR PUN CR The axis number setting is the global address and ad dresses all axes No echoback or response is returned when the global ad dress is used When global commands are used communications reliability can be improved by reading the status IMPORTANT S N dins when appropriate 6 6 6 5 Echoback Response Time 6 5 Echoback Response Time The following diagram shows the response time from the command transmission until the echo back Stop bit Command te High impedance High impedance Echoback 2 p p Start bit Pn800 Pro
51. Data Format Display Method 5 digit Decimal Example 12 345 4 digit Hexadecimal nied 8 digit Decimal Example 12 345 678 Xl 7 lcd JIN Upper 3 digits 8 digit Signed Decimal Example 12 345 678 HH i 4 Upper 3 digits 1N 7 9 Example 1 234 Hexadecimal N17 this display is used for parameters that are set digit by digit For example the expression Pn000 0 indicates the TIN lowest digit setting of PnOOO 45698 Press the Left or Right Key to display the upper 3 digits e Lower 5 digits or lower 5 digits 1 45648 JIN Lower 5 digits Press the Left or Right Key to display the upper 3 digits or lower 5 digits 7 Using the Digital Operator 7 6 Operation during Monitor Display The Monitor Display can be used for monitoring the reference values I O signal status and SERVOPACK internal status I Hano Use these keys to select lt gt IA N the monitor number JAROA Press the DATA ENTER Key to display the monitored value T DU Bd Press the DATA ENTER Key to return to the monitor number display There may be additional operations depending on the monitor number selected Refer to the fol lowing description of each monitor number for details 7 10 7 6 Operation during Monitor Display B Contents of the Monitor Display The following table shows contents of the monitor display Monitor Num
52. Keys to change the setting a T cursor R ACC Accleration This parameter sets the acceleration ACESS Press the DATA ENTER Key to display the Acceleration Edit display Press the DATA ENTER Key again to return to the program table number display Example 12 345 678 Upper 3 digits Lower 5 digits l lad HEEAE Move ZAN cursor ZAN Use the Up and Down Keys to change the setting will be displayed if the value is smaller than 1 This function is supported for version 4 or later INFO LU 7 56 7 8 Operations during Program Table Editing Display R DEC Deceleration This parameter sets the deceleration JEGSA Press the DATA ENTER Key to display the Deceleration Edit display Press the DATA ENTER Key again to return to the program table number display Example 12 345 678 Upper 3 digits Lower 5 digits Xl 7 I aq lt 2 Hanan ZAIN cursor ZAIN y Use the Up and Down Keys l to change the setting will be displayed if the value is smaller than 1 N This function is supported for version 4 or later INFO J 7 57 7 Using the Digital Operator R POUT Programmable Output Signals This parameter sets the usage of the programmable output signals aneza Press the DATA ENTER Key to display the Editing display Press the DATA ENTER Key again to return to the program table number display Example I lt gt Use the Up and Down Keys L LUIT LT L
53. L to change the setting akon ZIN Changing the Programmable Output Signal Setting Set to Set to Z Set to A gt gt DH gt nU lt gt gt gt lt K Set to n 7 58 7 8 Operations during Program Table Editing Display R EVENT Pass Condition This parameter sets the pass condition FUESS Press the DATA ENTER Key to display the Editing display Press the DATA ENTER Key again to return to the program table number display Example 7 59 7 Using the Digital Operator oe cursor paana lt 2 anaki Ie IRE lt gt Move cursor aa 22 Move cursor JO lt lt Move cursor 7 60 Changing the EVENT Setting lt gt Hoong DD DD DD Example Set to SELOTO0000 Example Set to DTO0000 Example Set to NTO0000 Example Set to ITO0000 Example Set to T00000 N INFO Tro 7 8 Operations during Program Table Editing Display R LOOP Number of Executions This parameter sets the number of executions repetitions HGE Press the DATA ENTER Key to display the Editing display ENTER Press the DATA ENTER Key again to return to the program table number display Example 1 0 0 o g i Use the Left and Right Keys to move the cursor ZIN Use the Up and Down Keys to change the setting E NEXT PGMSTEP to be Executed Next This parameter sets the PGMSTEP number that will be executed next ABES Press
54. Modes B 2 B 2 Auxiliary Functions B 4 Appendix C List of Serial Commands C 1 Alphabetical List of Serial Commands C 2 Index xvii Checking Products and Part Names This chapter describes the procedure for checking products upon delivery of the NS600 as well as the product parts and installation method 1 1 Checking Products on Delivery 1 2 1 1 1 External Appearance and Nameplate Examples 1 2 1 1 2 Model Number 1 3 1 1 3 Version Information 1 3 1 2 Product Part Names lt lt lt lt lt lt lt lt lt c c creer eee 1 4 1 3 Installing the Application Module 1 6 1 Checking Products and Part Names 1 1 1 External Appearance and Nameplate Examples 1 1 Checking Products on Delivery The following procedure is used to check the NS600 upon delivery Check the following items when the NS600 is delivered Are the delivered products the ones that were ordered Is there any damage Can the SERVOPACK be used with the NS600 Check the model number marked on the NS600 s nameplate Refer to the descriptions of model numbers on following pages Check the overall appearance and check for dam age or scratches that may have occurred during shipping Check the model number marked
55. POUT4 will be inactive after the control power supply is turned ON or a reset is performed Parame Name Unit Settings Factory ter Setting Pn835 ZONE 0 POUTO to POUT4 will be inactive after Signal the control power supply is turned ON or Setting after resetting 1 POUTO to POUT4 are operated as ZONE signals when the control power supply is turned ON or after resetting 5 61 5 Parameter Settings and Functions 5 8 1 Mode Switch Signal MODE 0 1 5 8 Homing Jog Speed Table Mode 5 8 1 Mode Switch Signal MODE 0 1 If the MODE 0 1 input signal is inactive the mode is set to Mode 1 homing jog speed table operation mode Parameter Pn803 sets the relationship between the signal s ON OFF status and its active inactive status Parameter Signal Pin No Settings Factory Setting Pn803 IMODE 0 CN4 3 0 Photocoupler OFF Mode 1 1 1 Photocoupler ON Mode 1 2 Always Mode 0 3 Always Mode 1 lt q EXAMPLE gt e Pn803 1 DC 24V Sonat jefe oe MODE 0n Lcna 3 Input signal closed Mode 1 i Input signal open Mode 0 i e Pn803 0 NS600 DC 24 V SEMI a a A gt MODE 0 1 lt Input signal open Mode 1 Input signal closed Mode 0 5 62 5 8 Homing Jog Speed Table Mode 5 8 2 Homing Jog Speed Table Input Signals The input signals are set with the parameters shown in the following table Param Signal Pin No Settings Factory eter Setti
56. Photocoupler OFF 1 Photocoupler ON Bit 0 S ON Bit 1 SEL5 Bit 2 P OT Bit 3 N OT Bit 4 DEC Bit 5 SEL6 Bit 6 RGRT Bit 7 Always 0 6 33 6 Serial Command Communications 6 7 8 Monitor and Auxiliary Function Commands Table 6 8 Monitor and Auxiliary Function Commands cont d NS600 Input Signal Monitor IN2 01010101 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 IN2TESTbbbbbbbb NS600 Input Signal Reservation 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 Bit 7 SEL4 JOG3 IN2TESTEND Return to actual signal status Note 1 Error E56E will occur if fewer than 8 digits bbbbbbbb are specified in the command 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 opera tion mode MODEO0 1 must be set to 0 before HOME JOGP or JOGN is set t
57. Pn81B and Pn81C e Check the moving method rotary or linear set in Pn81A A E51E Target Position Unspeci Even though the target position wasn t Specify a target position witha A fied Error specified even once there was a request by command such as the POS com the ST command to start positioning ora mand STnnnnnnnn command A request by the RS command to start regis or RSnnnnnnnn command tration positioning E52E Registration Distance Even though the registration distance Specify a registration distance Unspecified Error wasn t specified even once there was a with the RDST command request by the RS command to start regis tration positioning E53E Move Reference Dupli There was anew move reference requested Send the next move reference A cation Error even though the system was already mov request only after the current ing in a positioning operation or other trav movement operation is com elling operation pleted Position reference dis tribution is completed e A movement operation can be interrupted or cancelled with the HOLD or SKIP serial commands Also STOP can be specified in the target position reserva tion POS with the program table 9 16 OF OF OF OF E54E E55E E56E E57E E58E Servo ON Incomplete Error Servo ON Failure Error Undefined Serial Com mand Error Address Out of range Error Data Out of range Error 9 2 NS600 Troubleshooting Table 9 5
58. RS nnnnnnnn RSA nnnnnnnn The sign can be omitted RSI nnnnnnnn The sign can be omitted JOGPnnnnnnnn JOGNnoannnnnnn Positioning Start with Registration Absolute Position Setting range 99 999 999 lt nnnnnnnn lt 99 999 999 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 Speed Reservation RDSTnnnnnnnn Registration Distance Reservation RSPDnnnnnnmn Registration Speed Reservation RSA nnnnnnnn Target Position Reservation and Positioning Start with Registration Jog Forward Reverse Setting range 1 lt nnnnnnnn lt 99 999 999 x1 000 reference units min Starts jog forward or jog reverse operation at the speed specified in nnnnnnnn JOGPnonnnnnnn Forward JOGNnnnnnnnn Reverse The specified speed and jog direction can be changed while jogging is in progress Speed e SKIP e JOGPx y e JOGNy eJOGNz JOGPx N L Positioning Start with Registration Relative Distance Setting range 99 999 999 lt nnnnnnnn lt 99 999 999 Reference units Specifies the relative distance nnnnnnnn as the target position and starts registration positioning at the same time This command is equivalent to the following combination POSI nnnnnnnn RS Example SPDnnnnnnnn Speed Reservation RDSTnnnn
59. Reverse Rotation Mode Forward Encoder output Encoder output Reference Ca cew from SERVOPACK from SERVOPACK PAO phase A PAO phase A SW eo TUUL PBO phase B Reverse Refi ui Encoder output Encoder output eIerenice Cc from SERVOPACK from SERVOPACK PAO phase A PAO phase A eet AA aa SUL PBO phase B PBO phase B E Setting Reverse Rotation Mode Use parameter Pn000 0 Pn000 0 Direction Selection Factory Setting 0 Use the following settings to select the direction of servomotor rotation Forward rotation is defined as counterclock Standard setting wise CCW rotation as viewed from the load 1 Forward rotation is defined as clockwise Reverse Rotation Mode CW rotation as viewed from the load Q GENER 5 26 5 4 Settings According to Device Characteristics 5 4 2 Setting the Overtravel Limit Function The overtravel limit function forces movable equipment parts to stop if they exceed the allowable range of motion R Using the Overtravel Function To use the overtravel function connect the overtravel limit switch input signal terminals shown below to the correct pins of the SERVOPACK CN1 connector Input P OT CN1 42 Forward Run Prohibited Forward Overtravel Input N OT CN1 43 Reverse Run Prohibited Reverse Overtravel Connect limit switches as shown below to prevent damage to the devices during linear motion Reverse Forward rotation rotation en
60. Support Software ON Mode 0 S CN4 19 lt INPOSITION vy S a OFF Mode 1 nae H IMODE 0 1 T ad N 59 J INPOSITION 21 lt POUTO START STOP IHOME Avs t gt vw 22 lt POUTO 23 lt POUT1 vv La ka l sV PGMRES JOGP A Y3 k kad i yt 24 lt POUT1 25 lt POUT2 kd ISELO JOGN A YS n 26 POUT2 S 27 lt POUT3 vw L kad ISEL1 JOGO 1 T L si gt e ISEL2 JOG1 ki E lt L Sy gt 28 lt IPOUT3 29 4 POUT4 N 30 POUT4 vy E Photocoupler outputs T Max voltage 30 VDC ISELS JOG2 AYS he Max current 50 mA DC gt CN6 Serial command T communications ay ISEL4 IJOG3 AV L L d NS600 Note When two signal names are listed the first set of signals START STOP PGMRES SELO SEL1 SEL2 SEL3 and SEL4 is valid when Mode 0 is set The second set of signals HOME JOGP JOGN JOGO JOG1 JOG2 and JOG3 is valid when Mode 1 is set Fig 3 2 Example Connections to I O Signal Connector CN4 3 3 3 Connector Wiring 3 1 2 Terminal Layout on I O Signal Connectors CN1 and CN4 3 1 2 Terminal Layout on I O Signal Connect
61. Un805 Current motor position monitor 7 14 Un806 Target position monitor 7 15 Un807 Target distance monitor 7 15 Un808 Registration target position monitor 7 15 Un809 Registration distance monitor 7 15 Un80A Program step monitor 7 15 Un80B Program event time progress monitor 7 15 Un80C Program loop progress monitor 7 15 Un80D Serial command received character trace 7 16 Un80E Serial command received character count 7 16 Un80F Serial command received error character count 7 16 Un810 Serial command transmitted character trace 7 17 Un811 Serial command transmitted character count 7 17 7 7 Operations during Auxiliary Function Display 7 18 Fn000 Alarm Traceback Data Display 7 20 Fn001 Rigidity Setting during Online Autotuning 7 21 Fn002 JOG Mode Operation 7 22 Fn003 Zero point Search 7 24 Fn005 Parameter Settings Initialization 7 26 Fn006 Alarm Traceback Data Clear 7 28 Fn007 Write Inertia Ratio Data
62. Use this key for operations such as inputting numerical values Use these keys for operations such as incrementing and decrementing numerical values DOWN LEFT Use these keys for operations such as moving the cursor RIGHT JOG SVON Press this key to switch between Servo ON and Servo OFF status during JOG operation 7 4 7 3 Status Display 7 3 Status Display On the Status Display bit data and codes are displayed to indicate the status of SERVOPACK Display Indicates Servo OFF status bb Base Block Indicates Servo ON status Indicates P OT status Rotation in the forward direction is prohibited by the P OT signal INPOSITION es ai P OT Positive side Over Travel Indicates N OT status Rotation in the reverse direction is prohibited by Lit when Servo OFF ig es the N OT signal Control power supply Main we ria N OT Negative side Over Travel pei Indicates P LS status Rotation in the forward direction is prohibited by the limit setting in parameter Pn81B P LS Positive side Limit Switch Indicates N LS status Rotation in the reverse direction is prohibited by the limit setting in parameter Pn81C N LS Negative side Limit Switch Indicates Alarm or Warning status A xx SERVOPACK alarm or warning code Indicates Alarm status ExxA NS600 s alarm code seconds when an error has occurred Indicates an error The error code is displayed for 2 L Code L 2 seconds ExxE Error code ExxE
63. WARN output and LED indicators will indicate that an error has occurred A stop bit detection error occurred with the serial command The command that caused this error will be discarded and no response will be returned There will be no response but the WARN output and LED indicators will indicate that an error has occurred Serial command reception failed e The hardware s reception buffer was overwritten with the subsequent data Normally data is read before it is over written so this error does not occur Travel in the forward direction was requested when P OT was in effect For ward movement is disabled when P OT positive overtravel is in effect Travel in the reverse direction was requested when N OT was in effect Reverse movement is disabled when N OT negative overtravel is in effect The specified target position exceeds the position reference forward limit set in Pn81B 9 15 e Check the serial communica tions protocol Pn800 and bit rate Pn801 settings e Check the wiring gt If noise may be causing the problem take steps to reduce noise such as using communi cations cables with ferrite cores e Check the serial communica tions protocol Pn800 and bit rate Pn801 settings e Check the wiring gt If noise may be causing the problem take steps to reduce noise such as using communi cations cables with ferrite cores Repair the hardware e When P OT is being u
64. are too far apart Reset the absolute encoder offset Fn008 and then try the execution again E61E Encoder Mis Execution is not possible because the match Error encoder is not an absolute encoder The operation was not executed correctly Try the operation again 7 51 7 Using the Digital Operator 7 8 Operations during Program Table Editing Display The program table can be edited during the program table editing display The following diagram shows the codes for each column of the program table Po F rd ra AC dE au EU Lo nE AC dE Se TT RSPD ACC DEC POUT EVENT LOOP NEXT POUT000 EVENT000 LOOP000 NEXTO00 POUT001 EVENT001 LOOP001 NEXT001 PGMSTE POS SPD RDST 0 POS000 SPD000 RDST000 RSPD000 Accoo0 DECOOO 1 POS001 SPD001 RDST001 RSPD001 ACC001 DEC001 127 POS127 SPD127 RDST127 RSPD127 ACC127 DEC127 POUT127 EVENT124LOOP127 NEXT127 ACC and DEC are supported from version 4 1 Use the l gt lt Iv ae Keys to move between columns and rows panay lt lt gt spog horizontally __o Posooo HTH eem seno00 M vertically I Poli 7 lY PGMSTEP POS SPD 0 SPDOOO _ 1 SPD001 _ 2 Press the Key to display the setting editing display Press the DATA ENTER Key again to return to the initial program table display ESEoP StoP 3
65. command e The servo can be turned ON and the program can be restarted with the START STOP signal or the START command Turn the servo ON when the motor is stopped e Check the main power supply e Check the serial command s character string e Use the Digital Operator s Serial Command Reception Character Trace function Un80D to check the charac ter string that the NS600 received e Check the address e Use the Digital Operator s Serial Command Reception Character Trace function Un80D to check the charac ter string that the NS600 received e Check the setting e Use the Digital Operator s Serial Command Reception Character Trace function Un80D to check the charac ter string that the NS600 received 9 Troubleshooting 9 2 3 Error Display Table Table 9 5 NS600 Error Displays cont d Error Error Name Details Remedy Panel Display Display 2 E59E Communication Failure e Communications between the NS600 e Connect the Digital Operator A 9F Error between NS600 and SERVOPACK failed when a Digital or computer to NS600 connec and SGDH Operator or computer was connected to tor CN7 SERVOPACK connector CN3 and the e Check the version of the SER SERVOPACK s parameter or monitor VOPACK read write command was sent gt An attempt was made to execute a func tion not supported by an older version of SERVOPACK A 9F E5AE Execution Disabled An auxiliary function such as Digital Execute aft
66. compensation Friction compensation Large Fixed parameter P to 3 Do not change Position Control i Se O Sneg I Nee E o Selection 2 Clear Operation 0 Clears error counter at the baseblock 0 fixed Switches 2 eee Clears error counter when an alarm occurs 3 Not Not used o Pn207 S Reva an S curve 1 oo Position Control Filter Selection Sark Notused e Not used Switches cal ne PG Divider fo Uses Pn201 For 16 bit or less a ae Pl Uses Pn212 and Pn213 For 17 bit or more a CO A 4 SERVOPACK Switches Table A 4 SERVOPACK Switches cont d Parameter Digit Name Setting Contents Factory Place Setting Pn408 Notch Filter Selection 0 Disabled Uses a notch filter for torque reference Torque Function oe o pews p e S S Switches i 2 Notch Filter 2 Selection 0 Disabled i Uses a notch filter for torque reference 1 1 This parameter is supported for SERVOPACK firmware version 32 or later 2 This parameter is supported for SERVOPACK firmware version 36 or later Appendix B Monitor Mode and Auxiliary Functions This appendix provides lists of monitor modes and auxiliary functions that can be used when the Digital Operator is connected to connector CN7 B 1 Monitor Modes B 2 B 2 Auxiliary Functions B 4 B 1 Appendix B Monitor Mode and Auxiliary Functions B 1 Monitor Modes The following table shows th
67. for X II series absolute detection system differs from that for conventional systems 15 bit encoder and 12 bit encoder Specially when Infinite length position ing system of conventional type is to be configured with x II series be sure to make the following system modification Absolute Output Range of Motion When Exceeds the Limit Encoder Type Multiturn Data Conventional 99 999 to 99 999 When exceeds the upper limit 99999 in the pos Types itive direction the multiturn data is 0 12 bit and 15 bit e When exceeds the lower limit 99999 in the neg ative direction the multiturn data is 0 II Series 32 768 to 32 767 lt When exceeds the upper limit 32767 in the pos 16 bit and 17 bit itive direction the multiturn data is 32768 e When exceeds the lower limit 32768 in the neg ative direction the multiturn data is 32767 When the multiturn limit setting Pn205 is changed the motion differs Refer to 5 3 5 Multiturn Limit Setting 5 20 5 3 Absolute Encoders 5 3 1 Interface Circuit The following diagram shows the standard connections for an absolute encoder mounted to a servomotor SERVOPACK CN1 CN2 1 amp H 1 2 8 to 4 5V 2 iP SQ gt Te sA 3 amp gis ie JP S gt 22 4 k P S 4 C 5 S 4P DIRT Connector shell i J lt 0 0 Shield wire shell Z P represents twisted pair wire 5 3 2 Selecting an A
68. gt 46698 cursor Example Target position set to 12 345 678 YABA cursor Example Target position set to A 12 345 678 N INFO wero 7 8 Operations during Program Table Editing Display B SPD Positioning Speed This parameter sets the positioning speed GPESS Press the DATA ENTER Key to display the Positioning Speed Edit display Press the DATA ENTER Key again to return to the program table number display Example 12 345 678 Upper 3 digits mi 5 digits Y EO jag lt gt 45698 IN cursor 71N Use the Up and Down Keys to change the setting B RDST Registration Distance This parameter sets the registration distance dE Press the DATA ENTER Key to display the Registration Distance Edit display Press the DATA ENTER Key again to return to the program table number display Example 12 345 678 Upper 3 digits Lower 5 digits XI 7 I 99 lt 2 456N8 ZIN Move ZIN cursor Use the Up and Down Keys to change the setting ce 99 If the registration distance is set to a negative value the setting will automatically be changed to 7 55 7 Using the Digital Operator B RSPD Registration Speed This parameter sets the registration speed CRE Press the DATA ENTER Key to display the Registration Speed Edit display Press the DATA ENTER Key again to return to the program table number display Example 12 345 678 Upper 3 eae a 5 digits Use the Up and Down
69. later 5 51 5 Parameter Settings and Functions 5 5 10 Program Table Examples PGMSTEP 1 q PGMSTEP 3 pi PGMSTEP 5 71 PGMSTEPO PGMSTEP2 PGMSTEP4 i PGMSTEP 0 Speed mee RS START STOP INPOSITION POUTO POUT1 POUT2 R Using a SELx Signal in an EVENT o avon smn Ta TTS TTT T SS TT ACC and DEC are supported for version 4 or later PGMSTEP 0 i PGMSTEP 1 PGMSTEP 1 PGMSTEP 0 LOOP 1 i LOOP 1 LOOP 2 i 2s 2s 2s m gt K gt e Speed T f ISTART STOP SELO SEL1 T L L INPOSITION 1 m m POUTO m POUT1 5 52 B Using a ZONE Table 5 5 Program Table o E S000 wm eer me a toon S000 wm eee of ACC and DEC are supported for version 4 or later PGMSTEP 0 PGMSTEP 1 PGMSTEP 0 PGMSTEP1 PGMSTEPO Speed ISTART STOP INPOSITION POUT1 S S POUTO M mo M mon l T POUT2 S S POUT3 POUT4 ZONE Table ZONEN 099995 199995 299995 ao Po e a S S Ta S L S R ee ee Cae po o U S 5 53 5 Parameter Settings and Functions 5 5 10 Program Table Examples R Using a Positioning Table
70. min MODEO 1 IJOGN i aE 4 ms min aK 0 ms min IHOME JOGP i i 5 IJOGN ae 4 ms min lt gt 4 ms min 5 69 6 Serial Command Communications This chapter explains the NS600 s serial command capabilities 6 1 CN6 Connector Specifications 6 2 6 2 Settings 6 3 6 2 1 Block Diagram 6 3 6 2 2 Setting the Axis Address 6 3 6 2 3 Parameters Related to Serial Communications 6 4 6 2 4 Monitors Related to Serial Communications 6 4 6 3 Command Response Format 6 5 6 4 Global Commands 6 6 6 5 Echoback Response Time 6 7 6 6 Response Data Details 6 8 6 6 1 Positive Responses 6 8 6 6 2 Negative Responses 6 8 6 7 Serial Commands 6 9 6 7 1 Basic Operation Commands 6 9 6 7 2 Control Commands 6 10 6 7 3 Parameter Edit Commands 6 24 6 7 4 Program Table Setup Commands 6 26 6 7 5 Program Table Operation Commands 6 30 6 7 6 Zone Table Setup Commands 6 31 6 7 7 Jog Sp
71. of pulses from the encoder s phase C 3 Indicates the percentage of the rated torque over a 10 second period 4 Indicates the percentage of the maximum regenerative power over a 10 second period 5 Indicates the percentage of the maximum DB power consumption over a 10 second period 6 These values are expressed in hexadecimal 7 These monitor modes are supported for NS600 firmware version 4 or later and SERVOPACK firmware version 32 or later B 3 Appendix B Monitor Mode B 2 Auxil Monitor Number Fn000 Fn001 Fn002 Fn003 Fn004 Fn005 Fn006 Fn007 Fn008 Fn009 Fn00A Fn00B Fn00C Fn00D Fn00E Fn0OF Fn010 Fn011 Fn012 Fn013 Fn014 Fn800 Fn801 Fn802 Fn803 Fn804 Fn805 Fn806 Fn807 Fn808 Fn809 This and Auxiliary Functions lary Functions The following table shows the auxiliary functions that can be used when the Digital Operator is connected to connector CN7 Table B 2 Usable Auxiliary Functions Function Serial Command Alarm traceback data display ALMO to ALM9 Rigidity setting during online autotuning STIFF STIFFd JOG mode operation Zz Zero point search C Parameter settings initialization Alarm traceback data clear Writing to EEPROM inertia ratio data obtained from online autotuning Absolute encoder reset Manual zero adjustment of analog monitor output C Manual gain adjustment of analog monitor output C Automatic offset adjustment of motor current detection signal
72. parameter Pn383 for linear motors and parameter Pn304 for other LC motors The factory default speed is 50 mm s for linear motors and 500 min l for other motors The acceleration and deceleration times can be changed with parameters Pn305 and Pn306 The fac tory default acceleration and deceleration times are 0 ms 7 22 7 7 Operations during Auxiliary Function Display Related Errors The following table shows the main errors related to JOG mode operation ESAE JOG operation cannot be executed while the Execution Disabled while Servo is ON Servo ON Error Switch the Servo OFF and try again ESCE JOG operation cannot be executed if the Execution Disabled while Main power supply is OFF Main Power OFF Error Turn ON the main power supply and try again ESEE JOG operation cannot be executed while Execution Disabled dur program operation is in progress or on hold ing Program Operation interrupted Error Reset program operation and try again 7 23 7 Using the Digital Operator R Fn003 Zero point Search This function operates the motor and searches for the encoder s phase C CAUTION s P OT N OT P LS and N LS are not effective during the Zero point Search operation These sig nals and parameter settings prohibit forward and reverse operation Fnfdd Press the DATA ENTER Key to display ENTER the Zero point Search display Press the JOG SVON Key to switch between Servo
73. power supply is turned ON or after resetting POUTO to POUT4 are operated as ZONE signals when the control power supply is turned ON or after resetting Pn836 Backlash Compensa Reference 1 000 to 1 000 tion 2 3 units 1 These are off line parameters Turn OFF the power after changing these parameters The new ZONE Signal Set 1 3 ting settings will become effective the next time that the power is turned ON or the RES serial command is executed 2 These are on line parameters The new settings become effective immediately 3 These parameters are supported for version 4 or later A 5 Appendix A List of Parameters A 2 SERVOPACK Parameters The following table shows the SERVOPACK s parameters Table A 2 SERVOPACK Parameters Function Pn000 Function Selection Basic Switches 7 Selection r Pn001 Function Selection Application Switches 1 3 Constants Fixed parameters Do not change Pn005 Gain Related Constants Unit Setting Range Factory Setting 0010 0000 0000 0002 lto 2 000 40 15 to 51 200 2 000 1to 2 000 40 0 to 20 000 1 to 2 000 15 to 51 200 1 to 2 000 0 to 450 40 2 000 40 0 01 ms 0 to 250 a 0 to 100 0 to 6 400 Pnl08 Bias Width Addition Reference units Pn109 Feed forward Y Pnl0A Feed forward Filter Time Constant 7 Pn106 Second Position Loop Gain Pn10B Gain related Application Switches 2 i 1 0 H 1 0 0 m Pn
74. side zone position limit Write Referee S GS GS S C S sas eas Co CA R C C r C C a C These serial commands are supported from version 4 C 4 Index Index global address 6 6 BK 3 2 5 8 5 10 DEC 3 2 5 6 5 64 5 65 6 18 6 19 HOME 3 3 5 7 5 65 5 69 INPOSITION 3 3 5 15 5 44 JOGO to JOG3 3 3 5 7 5 66 JOGN 3 3 5 7 5 65 5 66 5 69 JOGP 3 3 5 7 5 65 5 66 5 69 MODE 0 1 3 3 5 7 5 39 5 40 5 49 5 62 5 69 PGMRES 3 3 5 7 5 40 5 47 5 49 POUTO to POUT4 3 3 5 16 5 43 5 59 RGRT 3 2 5 6 5 55 5 56 5 57 6 14 6 17 SELO to SEL6 3 2 3 3 5 6 5 40 5 41 5 44 5 45 5 46 5 49 S ON 3 2 5 6 5 9 S RDY 3 2 5 8 5 13 START STOP 3 3 5 7 5 40 5 46 5 47 5 49 WARN 3 2 5 8 5 14 A absolute encoder 5 20 6 19 6 20 interface circuit 5 21 offset 5 25 7 49 reset 6 37 selecting usage
75. the INPOSITION Width with parameter Pn821 INPOSITION Width Unit Setting Factory Reference Range Setting units 0 to 1 99 999 This parameter sets the output timing between completion of motor positioning and the out put of the positioning completed output INPOSITION Input the set value in reference units The positioning completed width setting has no effect on final positioning accuracy 5 2 7 Using the Programmable Output Signals POUTO to POUT4 The basic use and wiring procedure for the Programmable Outputs POUT0 to POUT4 are given below The 5 Programmable Outputs can be changed by the user through the program table s POUT bits or the POUT serial command Power supply NS600 24V ov ES CN4 21 IPOUTO g a n e l 1 H gt Yok CN4 22 IPOUTO ke CN4 23 gI POUTI ev _ L 1 i gt Yoki omaa pour Photocoupler output per output CN4 25 POUT2 ener L Maximum operating voltage 30 V DC V E gt Maximum output current 50 mA DC Yk 1 CN4 26 POUT2 S L E CN4 27 g POUT3 5 L 1 i gt Yek CN4 28 POUTS S CN4 29 L POUT4 vg Yok CN4 30 POUTA Output gt POUTO CN4 21 Programmable Output 0 Output gt POUT1 CN4 23 Programmable Output 1 Output POUT2 CN4 25 Programmable Output 2 Output gt POUT3 CN4 27 Programmable Output 3 Output POUT4 CN4 29 Programmable Output 4
76. the ST command is executed Example 1 POSI nnnnnnnn Target Position Reservation SPDnnnnnnnn Speed Reservation ST Positioning Start ST Repeat Example 2 POSI nnnnnnnn Target Position Reservation ST Positioning Start using the speed specified in Pn81E Example 3 POSI nnnnnnnn Target Position Reservation ST Positioning Start HOLD Positioning Interruption ST Positioning Restart Clear Hold Note An E53E error will occur if a new travelling command such as the ST command is received while the motor is already travelling positioning or other travelling operation Execute a travelling command such as the ST command only after the previous travel ling operation has been completed 6 12 6 7 Serial Commands Table 6 2 Control Commands cont d Serial Command Function Positive ST nnnnnnnn Positioning Start Absolute Position STA nnnnnnnn The sign can Setting range 99 999 999 lt nnnnnnnn lt 99 999 999 Reference units be omitted 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 Speed Reservation STA nnnnnnnn Target Position Reservation and Positioning Start Speed A sppx e STy or STAy ar e STz or STAZ i gt a y Z Position When the target position is an absolute position the axis coordinate will not
77. the parameter number I Hab JIN Press the DATA ENTER Key to display the current value 1 DD0 UD JIN la K 1 gt AIM Use these keys to edit If the DATA ENTER Key is Ine parameter valie pressed before editing the display will return to the parameter number display v DDDDUG DATA Press the DATA ENTER Key to save the new setting in EEPROM N It 7 lt l l l l Wait until the display stops flashing 1 1 1 O Never turn OFF the control power supply while the display is flashing 4 N X Press the DATA ENTER Key to return to the parameter number display 1 A function that automatically keeps the displayed value within the allowed setting range has been added for parameters with numbers Pn800 and higher This function does not operate for parame ters with numbers lower than Pn800 If you attempt to change to a value outside of the allowed range the value will not change so keep the new values within range 2 Some parameters can be changed during operation online parameters and others cannot offline parameters When an offline parameter s setting has been changed the control power supply must be turned OFF and then ON again to enable the new setting 7 8 B Displaying Parameters 7 5 Operation during Parameter Editing Display This section explains how to display parameters The following table shows the 4 data for mats used for parameter settings
78. the reverse direc tion when this signal is ON The servomotor is in reverse overtravel status Reverse Run Prohibited when this signal is OFF S ON CN1 40 The servomotor is turned ON when this signal is ON Leave the servomotor OFF 24VIN CN1 47 Control power supply terminal for sequence signals 4 7 4 Trial Operation IMPORTANT 7 Check the CN4 input signals if CN4 input signals are being used Check the input signal wiring in Monitor Mode using the Digital Operator by monitor ing Un801 Refer to Chapter 7 Using the Digital Operator for details on using the Digi tal Operator Turn ON and OFF each signal line to see if the LED monitor bit display changes as shown below PGMRES JOGP SELO JOGN START STOP HOME MODEO 1 SEL1 JOGO ISEL2 JOG1 ISEL3 JOG2 SEL4 JOG3 Input Signal Status LED Display OFF high level Top LED indicators light ON low level Bottom LED indicators light The CN1 and CN4 input signals can also be monitored from CN6 connector using the IN1 and IN2 Serial Commands Refer to Chapter 6 Serial Command Communications for details on the Serial Com mands 8 Check the CN6 serial command communications if CN6 serial commands are being used Check the serial communications in Monitor Mode using the Digital Operator by monitoring Un80D through Un811 Refer to Chapter 7 Using the Digital Operator for details on using the Digital Operator Check the communica
79. the time elapsed in time progress the program table event 07000 ms Un80C Program loop Example repetition Indicates the program table s progress monitor loop execution progress repetitions 1 B 1 1 7 Using the Digital Operator Table 7 1 Monitor Displays cont d Monitor Monitored Value Display Explanation Number Serial command Displays a record of the char received acters received through serial character trace L L L 1 communications Use the Up and Down Keys to Received ASCII value scroll up and down between Aup a Reception Hexadecimal the 00T oldest character to the error from end of most recent character text string Example L z L 1 Reception error When reception errors have occurred the following codes are added to indicate which errors have occurred A blank The Up and Down Keys can space indicates that no errors be used to scroll up and down occurred from the 99th character 1 Overrun error 2 Framing error 4 Parity error For example a value of 6 1 U d indicates that a framing error and parity error occurred Serial command Example 5 characters Indicates the number of char received charac acters received through serial ter count B 1 1 L communications Serial command Example 1 character Indicates the number of char received error acters received through serial character count 1 1 0 1 communications that had reception errors 7
80. 10C Mode Switch Torque Reference h 0 to 800 Pnl0D Mode Switch Speed Reference min 0 to 10 000 0 to 3 000 Pn10E Mode Switch Acceleration Pn10F Mode Switch Error Pulse Reference units Pn110 Online Autotuning Switches 3 Speed Feedback Compensation fe Fixed parameters Do not change 0 to 10 000 0010 1 to 500 100 GS o 100 1 000 200 32 16 100 100 0 to 1 000 0 to 1 000 0 to 1 000 0 to 65 535 0 to 65 535 20 to 100 50 to 100 s 0 Z s in 0 0 in in l s 0 0 0 A 6 A 2 SERVOPACK Parameters Table A 2 SERVOPACK Parameters con d Category Parameter Name Unit Setting Factory Range Setting Gain Related Pn119 Fixed parameters Do not change lus 1 to 2 000 50 Constants Pal TA Tia 2 000 1 000 Contd pnl 1P S 0 to 150 100 Pnl24 Automatic Gain Switching Timer S 1 to 10 000 Pn125 Automatic Gain Switching Width 6 1 to 250 units Position Pn200 Position Control Reference Selection Switches 0000 Related 3 Constants Pn201 PG Divider 3 16 to 16 384 16 384 Pn202 Electronic Gear Ratio Numerator ee j 1 to 65 535 Pn203 Electronic Gear Ratio Denominator fe 1 1 to 65 535 a C CUS Pn205 Multiturn Limit Setting 3 0 to 65 535 65 535 Pn206 Fixed parameter Do not change 16 384 65 535 Pn207 e Pn207 Position Control Function Switches 7 Position Control Function Switches f o J o o 0001 Pn212 Lower 2 Bytes of PG Divider 7 le 0 to 65 536 2 048
81. 16 7 6 Operation during Monitor Display Table 7 1 Monitor Displays cont d Monitor Monitored Value Display Explanation Number Serial command Displays a record of the char transmitted acters transmitted through character trace z z 0 serial communications Use the Up and Down Keys to scroll up and down between the 39T oldest character to the most recent character Transmitted ASCII value Number of characters Hexadecimal from end of text string e ISS The Up and Down Keys can be used to scroll up and down from the 39th character IAM HHBE OM DU UY Serial command Example 17 characters Indicates the number of char transmitted char acters transmitted through acter count 1 1 1 serial communications 7 17 7 Using the Digital Operator 7 7 Operations during Auxiliary Function Display The various auxiliary functions such as jog operation or initialization of parameters can be executed during the auxiliary function display The following table shows the auxiliary function numbers and the corresponding auxiliary func Function No tions Write protection setting SERVOPACK firmware version display Fn013 Multiturn limit value setting change when a Multiturn Limit Disagreement Alarm A CC occurs This auxiliary function is supported from version 4 Fn005 Parameter settings initialization 7 18 7 7 Operations during Auxiliary Function Display The fo
82. 2 and L3 terminals Parameter Digit Name Setting Contents Place Pn003 Function Selection Application Switches Pn080 Function Selection Application for linear motors A 4 SERVOPACK Switches Table A 4 SERVOPACK Switches cont d Analog Monitor 1 Torque Reference Mon itor Analog Monitor 2 Speed Reference Moni tor 2 3 4 5 7 A C E F Hall Sensor Selection Motor Phase Sequence Selection 2 Hall Sensor Phase Error Handling Selection 0 1 1 E l 1 1 E l Settable Maximum Motor Speed Dividing Ratio Calculation Selection Calculated value given in Un010 Factory Setting Motor speed Linear motors 1 V 1000 mm s Other motors 1 V 1000 min Internal speed reference Linear motors 1 V 1000 mm s Other motors 1 V 1000 min Internal torque reference 1 V 100 Position error 0 05 V 1 reference unit Position error 0 05 V 100 reference units Position reference speed converted to min Linear motors 1 V 1000 mm s Other motors 1 V 1000 min Motor speed x 4 Linear motors 1 V 250 mm s Other motors 1 V 250 min Motor speed x 8 Linear motors 1 V 125 mm s Other motors 1 V 125 min Fixed parameters Do not change Hall sensor used Hall sensor not used Phase A advanced Phase order U V W Phase B advanced Phase order U V W Always detects hall sensor phase error Detects only initial hall sensor phase error Fixes the maximum motor s
83. 20 Bairro Saude Sao Paulo SP Brazil CEP 04304 000 Phone 55 11 5071 2552 Fax 55 11 5581 8795 YASKAWA ELECTRIC EUROPE GmbH Am Kronberger Hang 2 65824 Schwalbach Germany Phone 49 6196 569 300 Fax 49 6196 569 398 Motoman Robotics Europe AB Box 504 838525 Tors s Sweden Phone 46 486 48800 Fax 46 486 41410 Motoman Robotec GmbH KammerfeldstraZe 1 85391 Allershausen Germany hone 49 8166 90 100 Fax 49 8166 90 103 ASKAWA ELECTRIC UK LTD Hunt Hill Orchardton Woods Cumbernauld G68 9LF United Kingdom hone 44 1236 735000 Fax 44 1236 458182 ASKAWA ELECTRIC KOREA CORPORATION pa Bldg 1201 35 4 Youido dong Yeongdungpo Ku Seoul 150 010 Korea hone 82 2 784 7844 Fax 82 2 784 8495 ASKAWA ELECTRIC SINGAPORE PTE LTD 51 Lorong Chuan 04 01 New Tech Park Singapore 556741 Singapore hone 65 6282 3003 Fax 65 6289 3003 ASKAWA ELECTRIC SHANGHAI CO LTD 0 18 Xizang Zhong Road Room 1805 Harbour Ring Plaza Shanghai 20000 China hone 86 21 5385 2200 Fax 86 21 5385 3299 ATEC ENGINEERING CORPORATION F No 49 Wu Kong 6 Rd Wu Ku Industrial Park Taipei Taiwan hone 886 2 2298 3676 Fax 886 2 2298 3677 ASKAWA ELECTRIC HK COMPANY LIMITED m 2909 10 Hong Kong Plaza 186 191 Connaught Road West Hong Kong hone 852 2803 2385 Fax 852 2547 5773 BEIJING OFFICE Room No 301 Office Building of Beijing International Club 21 Jianguomenwai Avenue Beijing 100020 China Phone 86 10 6532 1850 Fax 86 10 6532 1851 TAIPEI OFFICE 9F 16 Nanki
84. 4 2ms min A A 4 ms min SEL5 SEL6 4 8 ms min lt gt 0 ms min e When SELO to SEL6 are specified in EVENT SELO to SEL4 SEL5 SEL6 q START STOP i 5 49 5 Parameter Settings and Functions 5 5 9 Response Times after Turning ON the START STOP Signal 5 5 9 Response Times after Turning ON the START STOP Signal The response times after turning ON the START STOP signal are shown below ISTART STOP _ Motor movement INPOSITION IPOUTO to 4 E X tu lt lt gt i a gt Special Conditions e Program is stopped due to error e Previous positioning was stopped e Previous external latch is on standby e Overtravel status exists 5 50 5 5 Program Table 5 5 10 Program Table Examples This section provides representative examples of program tables E Simple Round trip Operation U sem oon pra ran HHS SA H O ERE HHS ACC and DEC are supported for version 4 or later PGMSTEP 0 PGMSTEP 1 PGMSTEP 1 PGMSTEP 0 LOOP 1 LOOP lt 2 Speed gt START STOP INPOSITION POUTO POUT1 R Output POUTx Signal for 2 Seconds after Positioning Completed o avon sem roo pee a O OR NG EE pj L 9 S O pof o e pon wo o o o HE ACC and DEC are supported for version 4 or
85. 9 999 999 to Reference units Distance 99 999 999 After having completed homing the current position where homing stopped will be switched to the setting of Pn81D 5 64 5 9 Homing Operation 5 9 Homing Operation 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 operation is stopped homing will be restarted from the point where it was interrupted The homing operation will be cancelled 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 operation is stopped When parameter Pn823 0 No Homing homing will end as soon as the control power supply is turned ON or the RES command is executed The smaller of the settings in parameter Pn81F Acceleration and Pn820 Deceleration will be used as the homing acceleration and deceleration rate e Mode 1 Pn823 1 DEC and phase C Pn825 Homing Moving Speed Pn824 0 Forward N Pn826 Homing Approach Speed Pn827 Homing Creep Speed Pn828 Homing Final Move Distance HOME DEC Encoder s phase C went from inactive to active gt 4ms min Mode 2 Pn823 2 DEC only First phase C input after DEC signal Pn826 Homing Approach Speed Pn827 Homing Creep Speed Pn824 0
86. 999 999 Deceleration x 1 000 reference units min ms es Continue 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 Pn820 or the deceleration set with the DEC serial command will be used The factory setting is nnnnn n N A Z Ls Pouro N Inactive POUT1 A Active POUT2 Z ZONE signal ZONE table reference POUT3 POUT4 Continue specification used in the most previously executed program step When execution of a step is started the corresponding output signal POUTO to POUTA is output If you want to output the signal at the end of the step specify POUT as POS in the next step 5 43 5 Parameter Settings and Functions 5 5 4 Program Table Settings Table 5 2 Program Table Functions cont d EVENT Pass condition 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 INPOSI TION becomes active When the pass condition is met the PGMSTEP that was specified for NEXT will be executed if the number of execution times specified for LOOP has been reached If the number of exe cution times specified for LOOP has not been reached execution is repeated again Settings I INPOSITION N NEAR D Posi
87. A ENTER Key is pressed before executing the display will return to the function number setting page pata Press the DATA ENTER Key to save the setting to EEPROM The display will flash Settings 0001 Write protect data 0000 Clear write protection S I lt Z B O O H Wait until the display stops flashing l Never turn OFF the control power E supply while the display is flashing 7 It K The display will return to the 0 function number setting display Turn the control power supply OFF and then ON again End IMPORTANT For a function whose settings has been changed the control power supply must be turned OFF and then ON again to enable the new settings 7 37 7 Using the Digital Operator R Fn011 Motor Model Display This function displays the motor model code motor capacity encoder model code and the SERVOPACK special specification code Y specification code Fond Press the DATA ENTER Key to display the model code display Press the DATA ENTER Key again to return to the function number setting display Example F 0 0 1 The motor model code is displayed first e DSPL SET Example U 0 0 O The motor capacity is displayed e DSPL SET Example L 1 1 J The encoder model code is displayed e DSPL SET Example H 0 0 0 0 The SERVOPACK specification code is displayed DSPL SET INFON For details on the various codes displayed by this fu
88. Absolute Encoder Battery Battery voltage for the absolute encoder has Error dropped A84 84 A84 Encoder Data Error Data Error Encoder Data Error Petai in Data in the encoder is abnormal encoder is abnormal A 85 Encoder Overspeed eS encoder was rotating at high speed when OFF the power was turned ON A 86 Encoder Overheated The internal temperature of encoder is too high A b1 Reference Speed Input Read The A D converter for reference speed input Error is faulty A b2 Reference Torque Input The A D converter for reference torque input Read Error is faulty A b3 Current Detection Error 4 The current sensor is faulty or the servomo tor is disconnected System Alarm 2 A system error occurred in the SERVO PACK ACT C1 Servo Overrun Servo Overrun Detected The servomotor ran out of control servomotor ran out of control ee ee L a Act Seve Oven Bost Phase Detection Phase data exceeding 30 exists in the OFF ON Error serial encode data cycle Linear Motor Polarity Posi The pole position of a linear motor was not tion Error Detection detected correctly 9 3 9 Troubleshooting 9 1 1 Alarm Display Table Table 9 1 Alarm Displays and Outputs cont d Alarm Alarm Name Meaning ALM Output Alarm Code Outputs Displa Bead ALO1 ALO2 ALO3 E Absolute Encoder Clear The multiturn for the absolute encoder was OFF ON OFF ON Error and Multiturn Limit not properly cleared or set Setting Error
89. Acceleration Reservation OK Setting range 1 lt nnnnnnnn lt 99 999 999 x1 000 reference units min ms Speed reference V gt Time ta Aala V X1 000 reference units min cceleration t t ms anglais V x1 000 reference units min eceleration t t ms Note The acceleration setting in parameter Pn81F can also be used Executing the command ACCnnnnnnnn is the same as executing TRM81F nnnnnnnn DECnnnnnnnn Deceleration Reservation Setting range 1 lt nnnnnnnn lt 99 999 999 x1 000 reference units min ms Note The deceleration setting in parameter Pn820 can also be used Executing the command DECnnnnnnnn is the same as executing TRM820 nnnnnnnn 6 Serial Command Communications 6 7 2 Control Commands Table 6 2 Control Commands cont d Serial Command Function Positive Response Positioning Start OK Starts positioning with the speed specified by the SPD command and the target position speci fied by the POS POSA or POSI command The target position reservation and speed reservation can be omitted In this case the previous 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 Pn81E will be used When positioning has been stopped with the HOLD command the positioning will be restarted the hold will be cleared if
90. CURZERO Manual offset adjustment of motor current detection signal Write protection setting Motor models display MTTYPE MTSIZE PGTYPE SVYSPEC SERVOPACK firmware version display SVVER PGVER Multiturn limit value setting change when a Multiturn Limit Disagree MLTLIMSET ment Alarm A CC occurs Not used NS600 firmware version display NS600 model code 0600 Hex display NS600 Y spec number display Program table save Zone table save Jog speed table save Program table initialization Zone table initialization Jog speed table initialization Absolute encoder zero setting auxiliary function is supported from version 4 B 4 Appendix C List of Serial Commands This appendix provides a list of the serial commands in alphabetical order C 1 Alphabetical List of Serial Commands C 2 C 1 Appendix C List of Serial Commands C 1 Alphabetical List of Serial Commands The following table lists the usable serial commands in alphabetical order For more details on the serial commands see 6 7 Serial Commands Table C 1 Alphabetical List of Serial Commands Reference 6 7 8 6 7 2 6 7 4 6 7 4 6 7 8 6 7 8 6 7 8 6 7 1 Serial Command Function ABSPGRES ACCnnnnnnnn Acceleration Reservation ACCTsss Program Table ACC Read ACCTsss Program Table ACC Write Absolute Encoder Reset gt E Alarm or Warning Read ALMn ALMTRCCLR ARES CURZERO DBRMS DECnnnnnnnn DECTs
91. D l i L 07 RT ay o i 014 GND Shield wire Case FG aE al T F T Ta next axis Y YY Y Y Pini 2 3 4 14 Note 1 Cable length 50 m max 2 Connect short the RT and RXD pins in the last axis Fig 3 3 Full duplex Wiring 3 12 3 2 Serial Command Communications Connector CNG B Half duplex Wiring RS 485 port ae 7 a NS600 i TXD t o 3 RXD Twisted pair wire TXD o O 4 RXD m 10 RXD D 6 RXD 07 RT OV o e o 14 GND Shield wire l A Z FG o e Case FG EN Vv Y Y To next axis Pin 3 4 14 Note Connect short the RT and RXD pins in the last axis Fig 3 4 Half duplex Wiring B RS 232C Wiring RS 232C port NS600 RXD o 2 2 TXD TXD o Oo 4 RXD l OVo i 014 GND l CTS o a il l CD o Shield wire E FG o a Case FG DTR o DSR o _ Note Cable length 3 m max Fig 3 5 RS 232C Wiring 3 13 3 Connector Wiring 3 2 5 RS 422 RS 485 Interface 3 2 5 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 NS600 s communications circuits are not isolated 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
92. Divider Setting Set the PG Divider in the following parameter PG Divider Setting Factory Speed Torque Range Setting Control Posi 16 to 16 384 16 384 tion Control The number of output pulses per revolution is set at this parameter The setting range varies with the encoder used Setting Example Preset value 16 PAO JT un UUU U U PROT K One revolution Servomotor Model Resolution Number of Encoder Setting Range and Encoder Bits Pulses Per Revolution Specifications P R There are two phases the PAO and PBO phases and both phases are output at the PG divider so a resolution of the PG divider x 4 can be achieved if all of the edges of the PAO and PBO signals are counted For example 64 rising and falling edges can be counted if the PG divider is set to 16 pulses revolution 1 Turn the power OFF and then ON again after changing this parameter 2 A 13 bit encoder will run at 2048 P R even if the setting at Pn201 is set higher than 2049 5 19 5 Parameter Settings and Functions 5 3 Absolute Encoders If a motor with an absolute encoder is used operation can be restarted without performing the homing operation Motor SGMOH OOO1O With 16 bit absolute encoder SGMOH 00020 With 17 bit absolute encoder Always detects _ absolute position Hoping WARNING e The output range of multiturn data
93. E 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 Pn81E will be used for both the positioning speed and registration speed When registration positioning has been stopped with the HOLD command the registration positioning will be restarted the hold will be cleared if the RS command is executed Example 1 POSI nnnnnnnn Target Position Reservation SPDnnnnnnnn Speed Reservation RDSTnnnnnnnn Registration Distance Reservation RSPDnnnnnnnn Registration Speed Reservation RS Positioning Start with Registration RS Repeat Example 2 POSI nnnnnnnn Target Position Reservation RDSTnnnnnnnn Registration Distance Reservation RS Positioning Start with Registration using the speed specified in Pn81E for both the posi tioning and registration speeds Example 3 POSI nnnnnnnn Target Position Reservation RDSTnnnnnnnn Registration Distance Reservation Execute a travelling command such as the RS command only after the previous travel ling operation has been completed 6 15 6 Serial Command Communications 6 7 2 Control Commands Table 6 2 Control Commands cont d Serial Command Function Positive
94. F and then ON again to enable the new setting 5 32 5 4 Settings According to Device Characteristics B Electronic Gear Setting Examples The following examples show electronic gear settings for different load mechanisms Ball Screws Reference unit 0 001 mm Load shaft 6 mm rrr fr l Travel distance per load shaft revolution 5954 mm 9000 13 bit Ball screw pitch 6 mm 0 24 in i tal i _ B _ 2048 x4 x1 _ Pn202 Taen a Electronic gear ratio x 6000 x 1 Pn203 Preset Values Circular Tables Reference unit 0 1 Deceleration ratio 3 1 Travel distance per load shaft revolution 260 3600 Load shaft 0 1 Moorei Electronic gear ratio 2048 x4 x 3_ Pn202 encoder A 3600 x 1 P n203 Preset Values Pn202 24 576 Pn203 3 600 Belts and Pulleys Reference unit 0 02 mm 0 0008 in 3 14 x100 mm 15 700 Travel distance per load shaft revolution 0 02 mm Load shaft Electronic gear ratio R 16 384x 4 x 2_ Pn202 Pully diameter A 15 700 x 1 Pn203 6100 mm Deceleration ratio 2 1 131 072 _ 32 768 15 700 3925 Set a PG dividing ratio equivalent to 16 bit for the absolute encoder Preset Values Pn202 32 768 Pn203 3 925 5 33 5 Parameter Settings and Functions 5 4 3 Setting Reference Units E Setting the Speed Calculate the Positioning Speed lt EXAMPLE K e Reference unit 0 01 mm 0 0004 in e Desired P
95. Forward Pn828 Homing Final Move i Distance i vad HOME i DEC Encoder s phase C gt at 20 us min when Pn80E 0 l 200 us min when Pn80F 1 e Mode 3 Pn823 3 phase C only Pn826 Homing Approach Speed Pn827 Homing Creep Speed Pn824 0 Forward Pn828 Homing Final Move i Distance gt t HOME DEC Encoder s phase C 5 65 5 Parameter Settings and Functions 5 10 1 Example of Jog Speed Table Operation 5 10 Jog Speed Table Operation The JOGP signal selects forward operation and the JOGN signal selects reverse operation The JOGO to JOG3 signals select the speed 5 10 1 Example of Jog Speed Table Operation The following diagram shows an example of Jog Speed Table operation Speed joep IJOGN JOGO IJOG1 uos IJOG3 Fig 5 1 Jog Speed Table Operation 5 66 5 10 Jog Speed Table Operation 5 10 2 Jog Speed Table A total of 16 speeds can be set for JSPDO to JSPD15 If the edited jog table is saved to flash memory it will be saved even after the control power supply is turned OFF Execute one of the following methods to save the jog table to flash memory The JSPDSTORE serial command e Save Jog Speed Table from the support software e Digital Operation function Fn805 Co f C C E o C ooo G o E S C o G E e C E E E E S C ooo pe e e w e pe e E mw o pee e e Oor fee o pe pe E oe po
96. LO ae GS Active Active Active Active Active Active Active Active Active a E E CE Active E i e c ae e 1 e o ooo Active Active Active Active Active Active Active Active Active Active Note The symbols indicate an inactive input status and Active indi cates an active input status 5 41 5 Parameter Settings and Functions 5 5 4 Program Table Settings 5 5 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 Execute one of the following methods to save the program table to flash memory The PGMSTORE serial command e Save Program Table from the support software e Digital Operation function Fn803 B Program Table ACC and DEC are supported for version 4 or later R Program Table Functions The following table shows the various program table functions Table 5 2 Program Table Functions PGMSTEP Program step Number of usable program steps 128 0 to 127 The program step can be specified with NEXT Target position I 99 999 999 Relative position travel distance specification reference units A 99 999 999 Absolute position specification reference units INFINITE Jog forward operation See note INFINITE Jog reverse operation See note STO
97. N INFO TD 7 9 Operation during Zone Table Editing Display The Zone Table Save function Fn804 can be executed to save the new settings to flash memory Once saved to flash memory the data will be retained even if the control power supply goes OFF See page 7 44 for details AHBBY ARAHE 7 _1I_N StorE R ZONEP Forward Positive Zone Setting ZONEN Reverse Negative Zone Setting These parameters define the zones in the zone table CPE Peale pata Press the ey to display the Zone Setting Edit display bata Press the DATA ENTER Key to display the Zone Setting Edit displ ENTER Press the DATA ENTER Key again to return to the zone table number display Example 12 345 678 Upper 3 digits Lower 5 digits XL 7 I S g qe Moe 24 g b r H cursor Use the Up and Down Keys to change the setting R 7 63 7 Using the Digital Operator 7 10 Operation during Jog Speed Table Editing Display The jog speed table can be edited during the jog speed table editing display The following diagram shows the code for the column of the jog speed table ap JOG d Ne JSPD 0 JSPD000 1 JSPD001 15 JSPD015 1 Use the Keys to move between rows I cme A5806 J1N JOG d Ne JSPD 0 1 JSPD001 Move vertically g A g I7 ZIN JOG speed peed JSPD 0 PD000 1 JSPD001 2 Press the Key to display the setting editing display Press the DATA E
98. NS600 Error Displays contr d Error Error Name Details Remedy Panel Display Display 2 The servo is not ON e There was a positioning request or other move reference request in servo OFF status The servo went OFF during program table operation Program table operation will be inter rupted when just the step that was being executed is cancelled LOOP 1 and first LOOP The servo could not be turned ON within 2 s after turning ON the S ON signal or exe cuting the SVON command The motor is rotating during servo ON execution The main power supply went OFF dur ing servo ON execution Error E5BE will occur if there was an alarm when the servo ON request was sent using the SVON command Error ESCE will occur if the main power supply was OFF when the servo ON request was sent gt There was a syntax error in the serial command e There was a number in the serial com mand longer than 8 digits The specified address was incorrect for a parameter program table zone table jog speed table or alarm history in a monitor read write command The specified setting was incorrect in a parameter or program table write com mand 9 17 Send the move reference request only after turning the servo ON by turning ON the S ON signal setting Pn80B 2 so that the servo is always ON or executing the SVON command There are two possibilities gt The program can be cancelled with the PGMRES signal or PGMRES
99. NTER Key again to return to the initial jog speed table display Example 1 1 1 000 3 Edit the setting with the gt IT Keys 4 Press the Key to enter the new setting and return to the jog speed table number display 7 64 7 10 Operation during Jog Speed Table Editing Display IN FON The Jog Speed Table Save function Fn805 can be executed to save the new settings to flash memory LC Once saved to flash memory the data will be retained even if the control power supply goes OFF See page 7 45 for details RAADS SkarE StorE R JSPD Jog Speed Table This parameter sets the jog speed m m m Jog speed number Rah Lh ha Press the DATA ENTER Key to display the Jog Speed Setting Edit display Press the DATA ENTER Key again to return to the jog speed table number display Example 12 345 678 Upper 3 na Lower 5 digits I7 99 lt gt Y56980 7 Moe 71 cursor Use the Up and Down Keys to change the setting 7 65 8 Dimensions This chapter provides a dimensional drawing of the NS600 8 1 NS600 Dimensions 8 2 8 1 8 Dimensions 8 1 NS600 Dimensions The following diagram shows the external dimensions of the NS600 Unit mm in
100. NTER Key to enter ENTER the autotuning rigidity setting display Example Z l The current rigidity setting will be displayed e Use the Up and Down Keys to change the rigidity setting If the DATA ENTER Key is pressed before editing the display will return to the function number setting display ADO0S Press the DATA ENTER Key again to confirm the new autotuning rigidity setting Never turn OFF the control power supply L ___ Wait until the display stops flashing while the display is flashing The display will return to the function number setting display INFON For details on autotuning operations see 9 2 Online Autotuning in the X IT Series SGM OH SGDH User x Manual Manual No SIEPS80000005 7 21 7 Using the Digital Operator R Fn002 JOG Mode Operation This function performs JOG mode operation N CAUTION s P OT N OT P LS and N LS are not effective during JOG mode operation These signals and parameter settings prohibit forward and reverse operation Robe Press the DATA ENTER Key to display the JOG mode operation display ob Press the JOG SVON Key to switch between Servo ON and Servo OFF Press the DATA ENTER Key to return to the function number setting cee HD E 5 Press the Up Key to jog forward Press the Down Key to jog in reverse Press the DATA ENTER Key to return to the function number setting display INFO S The speed can be changed with
101. Nnnnnnnnn command the operation can be restarted by executing the RJOGNnnnnnnnn command again When the HOLD command has interrupted a homing operation 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 e SPDx Speed e POSly ST ST v2 0 yity2 y lt gt T Remaining dis tance put on hold When the HOLD command is executed after positioning is completed a remaining distance of zero is put on hold Speed A spp POSly ST If a new target position is specified while a positioning operation has been put on hold by the HOLD command the remaining distance recorded by the HOLD command is cancelled and the new target position is used instead A Speed SPDx HOLD POSly ST i i Remaining dis tance put on hold 6 21 6 Serial Command Communications 6 7 2 Control Commands Table 6 2 Control Commands cont d Serial Command Function Positive Response OK HOLD Even if a new target position is specified before the HOLD command is executed the remain ing distance will be cancelled and the new target position will be used instead Speed POSIz SPDx POSly HOLD ST i 2 E gt t Remaining dis tance put on hold When the speed setting has been changed the new setting will be us
102. ON and Servo OFF Press the DATA ENTER Key to return to the function number setting display lt L G L e C G The motor will rotate forward at 60 min when the Up Key is pressed Press the DATA ENTER The motor will rotate in reverse at 60 min Key to return to the when the Down Key is pressed function number setting display lI When the phase C is found the motor C will stop the display will flash e e 4 7 l N K ENTER Press the DATA ENTER Key to return to the function number setting display 7 24 7 7 Operations during Auxiliary Function Display Related Errors The following table shows the main errors related to the Zero point Search operation ESAE Zero point Search operation cannot be exe Execution Disabled while cuted while the Servo is ON Servo ON Error Switch the Servo OFF and try again ESCE Zero point Search operation cannot be exe Execution Disabled while cuted if the main power supply is OFF Main Power OFF Error Turn ON the main power supply and try again ESEE Zero point Search operation cannot be exe Execution Disabled dur cuted while program operation is in progress ing Program Operation or on hold interrupted Error Reset program operation and try again 7 25 7 Using the Digital Operator IMPORTANT IMPORTANT B Fn005 Parameter Settings Initialization This function returns the parameters to their factory default setti
103. P SP SP SP SP SP CR LF POST123 SP SP SP SP SP SP SP SP SP CR LF POSTsss nnnnnnnn Program Table POS Write Sets the POS value positioning target position sss Program step PGMSTEP Settings Annnnnnnn Absolute position Reference units 99 999 999 lt nnnnnnnn lt 99 999 999 Innnnnnnn Relative distance Reference units 99 999 999 lt nnnnnnnn lt 99 999 999 INFINITE or INFINITE Jog forward or Jog reverse STOP Stop No specification SPDTsss Program Table SPD Read SPDT123 12345678 CR LF Reads the SPD value positioning speed sss Program step PGMSTEP 6 26 Serial Command SPDTsss nnnnnnnn RDSTTsss RDSTTsss nnnnnnnn RSPDTsss RSPDTsss nnnnnnnn ACCTsss ACCTsss nnnnnnnn 6 7 Serial Commands Table 6 4 Program Table Setup Commands cont d Program Table SPD Write Sets the SPD value positioning speed sss Program step PGMSTEP Settings 1 lt nnnnnnnn lt 99 999 999 x1 000 reference units min Program Table RDST Read RDSTT123 12345678 CR LF RDSTT123 SP SP SP SP SP Reads the RDST value registration distance SP SP CR LF sss Program step PGMSTEP Program Table RDST Write Sets the RDST value registration distance sss Program step PGMSTEP Settings 0 lt nnnnnnnn lt 99 999 999 Registration distance Reference units No registration Program Table RS
104. P Stop for use with INFINITE operation No positioning specified for POUT only The factory setting is STOP Note The INFINITE and INFINITE settings can be used only when the rotary coordinates have been set Pn81A 1 2 or 3 or software limits are not being used Pn81B Pn81C 0 An error will occur if linear coordinates are being used or a software limit is enabled Positioning speed 1 to 99 999 999 Positioning speed x 1 000 reference units min The factory setting is 1 000 5 42 5 5 Program Table Table 5 2 Program Table Functions cont d Registration dis tance RSPD Registration speed Programmable out put signals 0 to 99 999 999 Registration distance reference units No registration ce 39 The factory setting is for no registration Note If the change of speed is performed using the INFINITE and INFI NITE settings registration cannot be done See note 2 1 to 99 999 999 Registration speed x 1 000 reference units min The factory setting is 1 000 1 to 99 999 999 Acceleration x 1 000 reference units min ms E Continue 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 Pn81F or the acceleration set with the ACC serial command will be used The factory setting is 1 to 99
105. P in Mode 0 or HOME in Mode 1 R Visual Aids The following aids are used to indicate certain types of information for easier reference IMPORTANT ne important eee that on be memorized including precautions such as alarm displays to avoid damaging the devices Indicates supplemental information 3 z Q 99 lt EXAMPLE K Indicates application examples TERMS Indicates definitions of difficult terms or terms that have not been previously explained in E this manual Related Manuals Refer to the following manuals as required Read this manual carefully to ensure the proper use of X II Series Servodrives Also keep this manual in a safe place so that it can be referred to whenever necessary II Series SGMOH SGDH SIEPS80000005 Provides detailed information on User s Manual selecting X II Series Servo drives Servomotors and capaci ties and detailed information on installation wiring trial opera tion using functions mainte nance and inspection D II Series SGDMOOODA SIEZS80000012 Provides detailed information on SGDHOOOE specifications and selection for SERVOPACK SUPPLEMENT SERVOPACKs conforming to For software version 32 or later II Series software version 32 or later Linear amp II Series SGLOD SIEZ S800 39 2 Provides detailed specifications SGDH User s Manual and application methods for X II Design and Maintenance Series Linear Servomotors Product Overview The NS600 Indexer Ap
106. PD Read RSPDT123 12345678 CR LF Reads the RSPD value registration speed sss Program step PGMSTEP Program Table RSPD Write Sets the RSPD value registration speed sss Program step PGMSTEP Settings 1 lt nnnnnnnn lt 99 999 999 x1 000 reference units min Program Table ACC Read ACCTsss 12345678 CR LF ACCTsss SP SP SP SP SP Reads the ACC value acceleration SP SP CR LF sss Program step PGMSTEP Program Table ACC Write Sets the ACC value acceleration sss Program step PGMSTEP Settings 1 lt nnnnnnnn lt 99 999 999 Acceleration x1 000 refer ence units min ms Continue the previously executed program step s specification 6 27 6 Serial Command Communications 6 7 4 Program Table Setup Commands Table 6 4 Program Table Setup Commands cont d DECTsss Program Table DEC Read DECTsss 12345678 CR LF DECTsss SP SP SP SP SP Reads the DEC value deceleration SP SP CR LF sss Program step PGMSTEP DECTsss nnnnnnnn _ Program Table DEC Write Sets the DEC value deceleration sss Program step PGMSTEP Settings 1 lt nnnnnnnn lt 99 999 999 Deceleration x1 000 refer ence units min ms Continues the previously executed program step s specification POUTTsss Program Table POUT Read POUTT123 ANANZ CR LF Reads the POUT settings programmable output signal specifications sss Progra
107. SERVOPACK for cooling by cooling fans or natural convection Side by side Installation When installing SERVOPACKs side by side as shown in the figure above allow at least 10 mm 0 39 in between and at least 50 mm 1 97 in above and below each SERVOPACK Install cooling fans above the SERVOPACKs to avoid excessive temperature rise and to maintain even temperature inside the control panel Environmental Conditions in the Control Panel e Ambient Temperature 0 to 55 C e Humidity 90 or less e Vibration 4 9 m s e Condensation and Freezing None e Ambient Temperature for Long term Reliability 45 C max 2 5 3 Connector Wiring This chapter explains how to connect to the connectors of an SGDH SERVO PACK with an NS600 installed 3 1 I O Signal Connections 3 2 3 1 1 Examples of I O Signal Connections to CN1 and CN4 3 2 3 1 2 Terminal Layout on I O Signal Connectors CN1 and CN4 3 4 3 1 3 I O Signal Names and Functions 3 6 3 1 4 Interface Circuits 3 8 3 2 Serial Command Communications Connector CN6 3 10 3 2 1 Communications Specifications 3 10 3 2 2 Communications Connector 3 11 3 2 3 Connector Signal Names 3 11 3 2 4 Connection Examples 3 12 3 2 5 RS 422 RS 485 Inter
108. SGDH Y Spec No Display SVYSPEC 12345678 CR LF SVVER SGDH Firmware Version Display SVVER 0000123 CR LF Displayed in hexadecimal MTTYPE Motor Type Display MTTYPE 00001234 CR LF Displayed in hexadecimal Voltage Motor model MTSIZE Motor Capacity Display 10 W MTSIZE 12345678 CR LF PGTYPE Encoder Model Code Display PGTYPE 00001234 CR LF Displayed in hexadecimal 000D 13 bit incremental encoder 0011 17 bit incremental encoder 0100 16 bit absolute encoder 0111 17 bit absolute encoder 0214 20 bit single turn data absolute encoder PGVER Encoder Firmware Version Display PGVER 00001234 CR LF Displayed in hexadecimal STIFF Rigidity Monitor STIFF 12345 CR LF STIFFd Rigidity Reservation 1 lt d lt 10 6 37 7 Using the Digital Operator This chapter explains how to connect the Digital Operator to the NS600 and how to use the Digital Operator s various functions All constant settings and motor operations can be performed by simple convenient operations Operate the Digital Operator as you read through this chapter 7 1 Connecting the Digital Operator 7 3 7 2 Digital Operator Functions 7 4 7 3 Status Display 7 5 7 4 Switching between Basic Displays 7 6 7 5 Operation during Parameter Editing Display 7 8 7 6 Operation during Monitor Display
109. Serial data Frequency C asc B ividing circuit p Phase C The output circuit is for line driver output Connect each signal line according to the follow ing circuit diagram SERVOPACK Host controller Ph A Line receiver ase CN1 33 ces lt Po 7 rag gt Ry 7 3__y Phase 2 TP A CN1 34 UO C a 1 CN1 35 T Phase B gt lt EEO tc gt R B B K Phase JP B CN1 36 PBO Y S4 7 Phase CL CN1 19 o lt PCO re gt R 1 n K Phase nN1 20 Jjeco wv Lt 9 i sl c Te Choke la coil ov cc G a 5V CN1 1 eo E lt gt L d OV Pre Sg Smoothing capacitor Connector shell Shield P represents twisted pair wires Applicable line receiver SN75175 manufactured by Texas Instruments Inc MC3486 or the equivalent R terminator 220 to 470 Q C decoupling capacitor 0 1 uF E O Signals T O signals are described below Output PAO CN1 33 Encoder Output Phase A Output gt PAO CN1 34 Encoder Output Phase A Output PBO CN1 35 Encoder Output Phase B Output PBO CN1 36 Output gt PCO CN1 19 Output PCO CN1 20 5 18 5 2 Sequence I O Signals Output Phase Form Forward rotation Reverse rotation m lt 90 KL A 90 Phase A Phase A Phase B Phase B Phase C Phase C gt t gt t PG
110. Signals Zero Point Return Deceleration Limit Switch Connects to the deceleration limit switch for homing Registration Latch This is a latch signal used for registration external positioning Power Supply for Sequence Signals Voltage range 11 V to 25 V These pins can be used to connect an absolute encoder s backup battery Connect to CNS or pins 21 and 22 of CN1 When Mode 0 has been set this pin functions as Program Table Select 5 When Mode 0 has been set this pin functions as Program Table Select 6 oe S ON Servo ON P OT N OT DEC RGRT 24VIN BAT BAT SEL5 SEL6 B CNT Output Signals When ON power is supplied to the motor When OFF power is not supplied to the motor game ALM Servo Alarm ALM Turns OFF when an error is detected IWARN Error Warning MWARN ON for 2 seconds when an error has occurred ON continuously while a warning is being detected BK Brake interlock controls the brake IBK ON when the brake is released S RDY S RDY ALO1 Alarm Code Outputs 3 bit alarm codes ALO2 38 Open collector 30 V and 20 mA rating maximum ALO3 39 1 Forward Run prohibited Overtravel prohibited Stops servomotor when movable Reverse Run prohibited part travels beyond the allowable range of motion Servo Ready ON when the control and main circuit power supplies are ON and a Servo Alarm has not occurred Ge T THE Note The pin number in parentheses indicates the signal ground
111. Speed Table Check sum Alarm Detected only when con trol power supply is turned ON or the RES command is executed Jog Speed Table Version Unmatched Detected only when con trol power supply is turned ON or the RES command is executed Jog Speed Table Out of range Alarm Detected only when con trol power supply is turned ON or the RES command is executed Insufficient Registration Distance Alarm Table 9 4 NS600 Alarm T Contd The firmware version is not compatible with the zone table version being used A value set in the zone table is not within the allowed set ting range The jog speed table stored in flash memory was not recorded properly This alarm can occur if the control power supply is turned OFF while the jog speed table is being saved or initialized The firmware version is not compatible with the jog speed table version being used A value set in the jog speed table is not within the allowed setting range The registration distance was shorter than the deceleration distance when the RGRT sig nal went ON to start registra tion operation The registration distance will be exceeded even if decelera tion begins immediately Replace the firmware or zone table Replace the firmware or zone table e Initialize the jog speed table with the JSPDINIT com mand or Fn808 function gt If the problem is not solved correct the jog speed table Replace the firmware or jog
112. UN When the P OT signal is being used move to a position where the P OT signal is ON When the P OT signal is not being used disable the signal by set ting Pn80C 3 Reverse Negative Over The N OT signal is the input signal for the reverse hardware limit BB or travel N OT switch This display indicates that the N OT signal is OFF RUN When the N OT signal is being used move to a position where the N OT signal is ON When the N OT signal is not being used disable the signal by set ting Pn80D 3 PLS Forward Positive Position This display indicates that the motor position exceeds the forward BB or Reference Limit P LS position reference limit setting a software setting RUN When the Moving Method is set to Linear Pn81A 0 the for ward position reference limit is set in Pn81B When the forward position reference limit is being used move to a position within the position reference limits When the position reference limits are not being used because the system is a rotary system set the moving method to Rotary by set ting Pn81A 1 2 or 3 When the system is a linear system but position reference limits are not being used disable the software limits by setting Pn81B Pn81C 0 Reverse Negative Position This display indicates that the motor position exceeds the reverse BB or Reference Limit N LS position reference limit setting a software setting RUN When the Moving Method is set to Linear Pn81A
113. VOPACK 5 9 5 Parameter Settings and Functions ee eee e 5 2 3 Brake Interlock Output Signal BK The use of the photocoupler output signals is described below Output ALM CN1 31 Servo Alarm Output Output gt ALM CN1 32 Signal Ground for Servo Alarm Output These alarms are output when a SERVOPACK alarm is detected SERVOPACK Alarm ALM output Turns OFF the main power supply Form an external circuit so this alarm output ALM turns the SERVOPACK OFF ON Circuit between CN1 31 and 32 is closed Normal state and CN1 31 is at low level OFF Circuit between CN1 31 and 32 is open and Alarm state CN1 31 is at high level Alarm codes ALO1 ALO2 and ALO3 are output to indicate each alarm type The uses of open collector output signals ALO1 ALO2 and ALO3 is described below Output ALO1 CN1 37 Alarm Code Output Output gt ALO2 CN1 38 Alarm Code Output Output ALO3 CN1 39 Alarm Code Output Output SG CN1 1 Signal Ground for Alarm Code Output These signals output alarm codes to indicate the type of alarm detected by the SERVOPACK Use these signals to display alarm codes at the host controller See 9 1 Alarm Display Table for more details on the relationship between NS600 alarm display and alarm code output See 9 2 2 Alarm Display Table for more details on the rela tionship between SERVOPACK alarm display and alarm code output 5 2 3 Brake Interlock Output Signal BK
114. X Series SGDH Indexer Application Module USER S MANUAL MODEL JUSP NS600 YASKAWA MANUAL NO SIE C718 9B Copyright 2002 YASKAWA ELECTRIC CORPORATION All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of Yaskawa No patent liability is assumed with respect to the use of the information contained herein Moreover because Yaskawa is con stantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless Yaskawa assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publication Overview E About this Manual This manual provides the following information for a X II Series SG MOH SGDH Servo drive that has an Indexer Application Module installed The Indexer Application Module is referred to as the NS600 in the remainder of this manual Procedures for installing and wiring the NS600 Procedures for trial operation of the NS600 Procedures for using digital I O signals Procedures and specifications for serial communications Procedures for using the Hand held Digital Operator Pro
115. _ RB Output Signal Connections SERVOPACK Photocouplers CNT ALM Power supply 244 OV t 31 S 50 mA max ALM atin r 1 1 25 IWARN Sea fe 1 an fe Si lt 26 lt ANARN ani t 2h BK t 1 Pa a eH N p e T 28 A BK Qe 29 S RDY l Pae E 1 1 wo CS n Ces T lt 30 S RDY lt ALO1 4 L L ALO2 lt ALO3 H y SG Host controller NS600 Photocouplers INPOSITION D INPOSITION U VY Power supply T 24V A OV IPOUTO ynne a POUTO JIPOUTI gig St POUTI e POUT2 26 ET POUT2 27 IPOUT3 ynne 28 lt POUT3 29 J POUTA 30 POUT4 lt Provide a separate external I O power supply the SERVOPACK and NS600 do not have an internal 24 V power supply Yaskawa recommends using the same type of external power supply as that used for input circuits 5 8 5 2 Sequence I O Signals 5 2 1 Using the Servo ON OFF Input Signal S ON SERVOPACK Photo coupler Power supply T 24V ae 3 3k 6 24 VIN J peo Host controller S ON X CN1 40 Vo V Input S ON CN1
116. a bits 7 bits ASCH Parity 1 bit even parity Stop bits 1 bit The TXD signal voltages output from the NS600 are the TTL levels 5 V maximum 3 10 3 2 Serial Command Communications Connector CNG 3 2 2 Communications Connector R Pin Layout R Connector Model NS600 side Applicable Receptacles Connector Solder Type Case Manufacturer 10214 52A2JL 10114 3000VE 10314 52A 0 008 Sumitomo 3M Co 14 p 3 2 3 Connector Signal Names Signal Name Signal Circuit Name Signal Direction No sono Siento CSS Ce mx Resi tia vere SiS 7 RT If RT and RXD are connected shorted the built in terminator 120 Q will be connected between RXD and RXD a o Transnicdanwrinered Posnalconpuer SERVOPACK Ce po nsnicdaa Gerad Poa compu SERVOPACK RR T oo ROL LT C R T G RR feo C The signal ground GND for pin number 5 is mounted from hardware version 04 or later This pin is open for hardware version 03 or earlier 3 Connector Wiring 3 2 4 Connection Examples uro The hardware version is given in the upper 2 digits of the VER number given on the nameplate on LC the side of the product VER 04004 Hardware version 3 2 4 Connection Examples B Full duplex Wiring RS 422 or RS 485 port ATR NS600 7 1 RXD o l o 1 TXD Twisted pair wire t i IRXD G LL 2 TD o 8 TXD m 9 MXD TXD O a ee i o 4 RXD 0 10 RXD 6 RX
117. able shows the basic operation commands Table 6 1 Basic Operation Commands Serial Command Positive Response Normal Response SVON SVOFF ARES Servo ON Supplies power to the motor OK This command is the same as turning ON the S ON signal Servo OFF OK Stops the power supply to the motor This command is the same as turning OFF the S ON signal Alarm Reset The response OK will be returned when the alarm has Clears the alarm been cleared The alarm code will be returned if the alarm remains uncleared ALM SP A xx SP CR LF The xx is the SGDH alarm code ALM SP E xxA SP CR LF The xx is the NS600 alarm code Reset This command is the same as turning the control power supply OFF and then ON again 6 9 6 Serial Command Communications 6 7 2 Control Commands 6 7 2 Control Commands The following table shows the control commands Table 6 2 Control Commands Serial Command Function Positive Response POS Target Position Reservation Absolute Position OK nnnannnann POSA Setting range 99 999 999 lt nnnnnnnn lt 99 999 999 Reference units nnnannnnn The sign can Speed SPDx be omitted D C oS or POSz or POSAy POSAz ST e ST ST Specifies the target position as an absolute position When the target position is an absolute position the axis will not travel if the same positioning is repeated with ST gt Z Y Positio
118. ad ZONEPT 123 12345678 CR LF Reads the ZONEP setting positive side zone boundary position zz Zone number ZONE ID ZONEPTzz nnnnnnnn Zone Table ZONEP Write Sets the ZONEP setting positive side zone boundary position zz Zone number ZONE ID Settings 99 999 999 lt nnnnnnnn lt 99 999 999 ZONENTzz Zone Table ZONEN Read ZONENT 123 12345678 CR LF Reads the ZONEN setting negative side zone boundary position zz Zone number ZONE ID ZONENTzz nnnnnnnn Zone Table ZONEN Write Sets the ZONEN setting negative side zone boundary position zz Zone number ZONE ID Settings 99 999 999 lt nnnnnnnn lt 99 999 999 6 31 6 Serial Command Communications 6 7 7 Jog Speed Table Setup Commands 6 7 7 Jog Speed Table Setup Commands The following table shows the Jog Speed Table Setup Commands Table 6 7 Jog Speed Table Setup Commands JSPDSTORE JOG Speed Table Save OK 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 or the RES command is executed Since the jog speed table is stored in flash memory this command must not be exe cuted frequently JSPDINIT JOG Speed Table Initialization Resets all values in the jog speed table to their factory default settings JSPDTdd JOG Speed Table Read JSPDT123 12345678 CR LF Reads the jog speed table setting for the specified numbe
119. am step sss 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 Clear Hold If program table operation was cancelled or ended the START command will start a new program table operation from the program step sss that was specified in the last STARTsss command i e START will repeat the last STARTsss command Program Table Operation Interruption Interrupts a program table operation When a positioning operation is in progress the remainder of the operation remaining distance is put on hold 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 operation 6 30 6 7 Serial Commands 6 7 6 Zone Table Setup Commands The following table shows the Zone Table Setup Commands Table 6 6 Zone Table Setup Commands OK 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 or the RES command is executed Since the zone table is stored in flash memory this command must not be exe cuted frequently ZONEINIT Zone Table Initialization OK Resets all values in the zone table to their factory default settings ZONEPTzz Zone Table ZONEP Re
120. arm can occur if the control power supply is turned OFF while the pro gram table is being saved or initialized The firmware version is not compatible with the program table version being used A value set in the program table is not within the allowed setting range The zone table stored in flash memory was not recorded properly This alarm can occur if the control power supply is turned OFF while the zone table is being saved or initial ized e Connect the Digital Operator to CN7 e Take steps to reduce noise in the system such as improv ing the frame ground Take steps to reduce noise in the system such as improving the frame ground e Initialize the program table with the PGMINIT com mand or Fn806 function gt If the problem is not solved correct the program table Replace the firmware or pro gram table Replace the firmware or pro gram table e Initialize the zone table with the ZONEINIT command or Fn807 function e If the problem is not solved correct the zone table 9 2 NS600 Troubleshooting 9 Troubleshooting 9 2 2 Alarm Display Table Alarm Alarm Name Details Display E1DA E1EA E1FA E21A E22A E23A Zone Table Version Unmatched Detected only when con trol power supply is turned ON or the RES command is executed Zone Table Out of range Alarm Detected only when con trol power supply is turned ON or the RES command is executed Jog
121. ation The drawings presented in this manual are sometimes shown without covers or protective guards Always replace the cover or protective guard as specified first and then operate the products in accordance with the manual The drawings presented in this manual are typical examples and may not match the product you received This manual is subject to change due to product improvement specification modification and manual improvement When this manual is revised the manual code is updated and the new manual is published as anext edition The edition number appears on the front and back covers If the manual must be ordered due to loss or damage inform your nearest Yaskawa representative or one of the offices listed on the back of this manual Yaskawa will not take responsibility for the results of unauthorized modifications of this product Yaskawa shall not be liable for any damages or troubles resulting from unauthorized modification xii CONTENTS Overview iii Related Manuals v Product Overview vi Differences between Firmware Version 3 and Version 4 viii Safety Information ix Safety Precautions x 1 Checking Products and Part Names 1 1 Checking Products on Delivery 1
122. ations for Applicable Receptacles SERVOPACK Solder Type Case Manufacturer Connectors 10250 52A2JL or 10150 3000VE 10350 52A0 008 Sumitomo 3M Co Equivalent 50 p Right Angle Plug R CN4 Terminal Layout 24V COM Power supply 19 INPOSI Positioning for sequence TION complete signals 2 output INPOSI Positioning TION complete MODE0 1 Mode select 21 POUTO Programma output input ble output 0 4 Programma ble output 0 START Start Stop 23 POUT1 Programma STOP Homing start ble output 1 HOME Programma ble output 1 PGMRES Program reset 25 POUT2 Programma JOGP JOG Forward ble output 2 input Programma ble output 2 Program select 27 POUT3 Programma 0 JOG Reverse ble output 3 input 10 Programma ble output 3 Program select 29 POUT4 Programma 1 JOG Select 0 ble output 4 input 12 Programma ble output 4 Program select 31 2 JOG Select 1 input 14 Program select 33 3 JOG Select 2 input 16 Program select 35 4 JOG Select 3 i ae B CN4 Specifications Specifications for Applicable Receptacles SERVOPACK Solder Type Case Manufacturer Connectors 10236 52A2JL or 10136 3000VE 10336 52A0 008 Sumitomo 3M Co Equivalent 36 p Right Angle Plug 3 5 3 Connector Wiring 3 1 3 I O Signal Names and Functions 3 1 3 I O Signal Names and Functions The following tables describe SERVOPACK I O signal names and functions R CN1 Input
123. ator E Fn008 Absolute Encoder Reset This function resets the absolute encoder and clears the recorded position information Execute this function in the following cases gt When starting up the machine for the first time gt When an Encoder Backup Alarm has occurred e When the encoder cable was disconnected Fold Press the DATA ENTER Key to display the Absolute Encoder Reset display POEL PGCL1 AN Press the Up Key several times to display PGCL5 PGCL5 DSPL Press the DSPL SET Key to SET execute the function If the DATA ENTER Key is pressed before executing the display will return to the function number setting display x Never turn OFF the control power supply while the display is flashing L A Wait until the display stops flashing The display will return to the 8 function number setting display Turn the control power supply OFF and then ON again End IMPORTANT For a function whose settings has been changed the control power supply must be turned OFF and then ON again to enable the new settings 7 30 7 7 Operations during Auxiliary Function Display Related Errors The following table shows the main errors related to the absolute encoder reset operation ESAE The absolute encoder reset operation cannot Execution Disabled while be executed while the Servo is ON Servo ON Error Switch the Servo OFF and try again E61E The function cannot be executed
124. be enabled from the next positioning operation When using an incremental encoder the final direction used in homing generally serves as the reference direction and backlash compensation is 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 actual monitor positions will be indi cated 5 37 5 Parameter Settings and Functions 5 4 6 Limiting Torques fF Pn836 gt 0 Pn836 lt 0 Positioning in Forward Direction Positioning in Reverse Direction lt gt Reverse Machine Forward Motor position Reference side Compensation applied gt Reverse Machine Forward Motor Reference position side Compensation not applied 5 4 6 Limiting Torques N INFO TD P Reverse Machine Motor position Reference side Compensation not applied ee Reverse Machine Motor position Reference side Compensation applied The SGDH SERVOPACK can limit the maximum output torque to protect the equipment or workpiece Maximum torque is limited to the values set in the following parameters Se
125. because the Encoder Mismatch Error encoder is not an absolute encoder The operation failed Try the operation again 7 31 7 Using the Digital Operator B Fn00C Manual Zero adjustment of Analog Monitor Output This function adjusts the analog monitor s zero setting offset voltage DB DDD Press the DATA ENTER Key to display the channel selection display 8886 HABBE Press DSPL SET Chis to select the channel CH2_o Press the Left or Right Key to display the lt OR gt adjustment display Press the Key again to return to the channel selection display Press the DATA ENTER Key to return to the function number setting display change the setting Example 0 0 0 The current zero adjust setting will be displayed Press the Up and Down Keys to Press the DATA ENTER Key to confirm the new setting and return to the function number setting display 7 32 7 7 Operations during Auxiliary Function Display B FnOOD Manual Gain adjustment of Analog Monitor Output This function adjusts the analog monitor s gain gt Fold Press the DATA ENTER Key to display the channel selection display Ea CHD gt CHESG ener DSPL SET cme to select the channel CH2_G k OR Press the Left or Right Key to display the adjustment display Press the Key again Press the DATA ENTER to return to the channel selection display Key to return to the function number setting displa
126. ber Un000 Actual motor speed min Un002 Internal torque reference Un003 Rotation angle pulses pulse Un004 Rotation angle electrical angle degrees Un005 SERVOPACK CN1 input signal monitor Un006 SERVOPACK CN1 output signal monitor Un007 Position refer ence speed min Table 7 1 Monitor Displays Example 3 000 min Example 100 Example 8 191 pulses Example 90 Example Not used ae SEL6 c Example ALO Example 3 000 min I nes 3000 OAOE HAHAH 0090 lt OFF HHHH os 8 ON SEL5 N i P OT IDE OT 4 OFF 4 ON ran WARN BK 2 ALO1 S RDY JOO Monitored Value Display Explanation Indicates the motor speed Indicates the torque The torque level is displayed as a percentage of the rated torque rated torque 100 Indicates the number of encoder phase C pulses counted since the start point Indicates the motor s electri cal angle Indicates the ON OFF status of each signal The ON OFF logic is the ON OFF status of the input pthoto coupler Indicates the ON OFF status of each signal The ON OFF logic is the ON OFF status of the output tran sistor Indicates the reference speed of the position reference 7 Using the Digital Operator Un008 Un009 Un00A Un00B Un00C Position error reference units Torque load ratio monitor Lal Regeneration load ratio moni tor
127. bsolute Encoder Select the absolute encoder usage with the following parameter eo Absolute Encoder Usage Factory Setting 0 0 in the following table must be set to enable the absolute encoder Pn002 2 Setting 1 Note This user definition goes into effect when the power is turned OFF after the change has been made 5 3 3 Handling Batteries In order for the absolute encoder to retain position data when the power is turned OFF the data must be backed up by a battery Provide the battery recommended below E Installing the Battery at the Host Device CN1 21 CN1 22 Lithium battery by Toshiba ER6VC3 3 6 V 2 000 mAh 5 21 5 Parameter Settings and Functions 5 3 4 Absolute Encoder Setup Initialization B Battery Provided for SERVOPACK CNB Lithium battery JZSP BAO1 includes battery and connector Battery Toshiba ER3 V 3 6 V 1 000 mAh Battery carrying space Battery connector CN8 E A v DATA lt CHARGE POWER olm LA S J a O PROHIBITED e Install the battery at either CN1 21 CN1 22 or CN8 It is dangerous to install batteries at both simultaneously because that sets up a loop circuit between the batteries 5 3 4 Absolute Encoder Setup Initialization Perform the setup operation for the absolute e
128. cedures for setting parameters and the program table Procedures for troubleshooting E Intended Audience This manual is intended for the following users Those designing X II Series Servodrive systems Those installing or wiring X II Series Servodrives Those performing trial operation or adjustments of X II Series Servodrives e Those maintaining or inspecting X II Series Servodrives E Description of Technical Terms In this manual the following terms are defined as follows e NS600 JUSP NS600 s Servomotor X II Series SGMAH SGMPH SGMGH or SGMSH servomotor e SERVOPACK X II Series SGDH SERVOPACK e Servodrive A set including a servomotor and Servo Amplifier e Servo System A servo control system that includes the combination of a Servodrive with a host computer and peripheral devices B Indication of Reverse Signals In this manual the names of reverse signals ones that are valid when low are written with a forward slash before the signal name as shown in the following examples s S ON S ON s RGRT RGRT E Indication of Dual Purpose Input Signals Some terminals have different functions input different signals depending on the mode set with the MODE 0 1 signal The two input signal names are separated by a semi colon with the Mode 0 signal name on the left and the Mode 1 signal name on the right s Example START STOP HOME START STOP HOME In the example above the input signal is START STO
129. circuit of the last NS600 in the line The NS600 has a built in terminator 120 Q 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 NS600 has a built in terminator 120 Q that is connected between the RXD and RXD pins when the RT and RXD pins are shorted The NS600 s transmission circuit is high impedance when it is not transmitting Pull up or pull down the host controller s reception circuit 3 14 3 3 Digital Operator or Support Software Connector CN7 3 3 Digital Operator or Support Software Connector CN7 A Digital Operator or a computer running the Support Software can be used for operations such as setting parameters and program tables monitoring and other functions Special cable ZO nae Digital Operator AROS RS 422 or RS 232C EZO CE CN Personal computer Sa with Support Software 3 3 1 Communications Specifications The following table shows the communications specifications of the CN7 connector RS 232C 3 m max Bit Rate 9 600 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 The TXD signal voltages output from the NS600 are the TTL leve
130. con trol power supply is turned ON or the RES command is executed Table 9 4 NS600 Alarm Displays Alarm Alarm Name Details Remedy Panel Alarm Display Display Reset A SERVOPACK alarm occurred The firmware processing time was too long The firmware and hardware are not compatible Incorrect or corrupted param eters are stored in EEPROM This alarm can occur if the control power supply is turned OFF while the param eters are being initialized or changed The firmware version is not compatible with the version of the parameters The moving method is set to a rotary method Pn81A 1 2 or 3 but the home position set in Pn81D exceeds the software position reference limits set in Pn81B and Pn81C 9 10 See 9 1 1 Alarm Display Table for details 00 SERVOPACK alarm code The firmware is not recorded Repair the firmware properly Memory device verification Repair the memory device failed The Digital Operator is faulty Replace the Digital Operator e Upgrade the firmware ver sion e Reduce the number of func tions being used Replace the firmware or the hardware e Initialize the parameters with the PRMINIT com mand or Fn005 function If the problem is not solved correct the parameters Replace the firmware or parameters Correct the home position set ting Pn81D or the software position reference limits Pn81B and Pn81C See 9 1 1 Pf A A A A
131. d Negative acknowledgments error responses to input signals serial commands or opera tions from the Digital Operator are known as errors The error status lasts only for the moment that the error occurred but the display and signal output will remain for 2 seconds The servo will not be turned OFF when an error occurs STS Status Indicator The Red LED flashes for just 2 seconds Digital Operator connected to CN7 The error code is displayed for just 2 seconds Response to the Alarm or Warning Read command No change ALM Response to the Most Recent Error Read command Error code the most recent error code ERR Panel Displays A 9F for just 2 seconds In some cases nothing is dis played WARN signal Active for just 2 seconds 9 8 9 2 NS600 Troubleshooting Displays when a Warning Occurred Minor errors that occur unexpectedly are known as warnings The servo will not be turned OFF when a warning occurs STS Status Indicator The Red LED flashes continuously Digital Operator connected to CN7 In Status Display Mode the warning code is displayed continu ously In other Modes the warning code is displayed for just 2 sec onds Response to the Alarm or Warning Read command Warning code ALM Response to the Most Recent Error Read command No change ERR Panel Displays the SERVOPACK warning code In some cases nothing is displayed ALM signal No change Normal Displays The displays a
132. d end Servomotor Limit Limit switch switch SERVOPACK Drive status with an input signal ON or OFF is shown in the following table P OT ON Normal operating status Input photocoupler ON Rotation allowed in both directions OFF Forward run prohibited Input photocoupler OFF Reverse rotation allowed ON Normal operating status _ photocoupler ON Rotation allowed in both directions Reverse run prohibited Sl photocoupler OFF Forward rotation allowed 5 27 5 Parameter Settings and Functions 5 4 2 Setting the Overtravel Limit Function B Changing the Input Signal Settings The overtravel input signal settings can be changed with parameters Pn80C and Pn80D jee Signal Pin No Settings Factory Setting Pn80C CN1 42 0 Photocoupler OFF Forward OT Status Forward run prohibited Photocoupler ON Forward OT Status Forward run prohibited Always Forward OT Status Forward run is always prohibited Forward run is always allowed and P OT is not used Pn80D CN1 43 0 Photocoupler OFF Reverse OT Status Reverse run prohibited Photocoupler ON Reverse OT Status Reverse run prohibited Always Reverse OT Status Reverse run is always prohibited Reverse run is always allowed and N OT is not used RB Servomotor Stop Mode for P OT and N OT Input Signals Set the following parameter to specify the Servomotor Stop Mode when P OT and N OT input signals are used Pn819 O
133. d it is not necessary to exe cute it again Each time that the command is executed the content of Pn81D are refreshed and stored in EEPROM so this command must not be executed repeatedly or too frequently Note When one of the Pn202 Pn203 Pn205 or Pn81A to Pn81D parameters has been changed enable the new setting by turning the control power supply OFF and then ON again or executing the RES command before executing the command 6 20 6 7 Serial Commands Table 6 2 Control Commands cont d Serial Command Function Positive HOLD Positioning Interruption Interrupts the current positioning operation The remainder of the positioning operation is put on hold When the HOLD command has interrupted a positioning operation initiated by an ST STnnnnnnnn STAnnnnnnnn or STInnnnnnnn command the positioning operation 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 opera tion 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 RJOG
134. de 0 No jog forward Mode 1 A 2 A 1 NS600 Parameters Table A 1 NS600 Parameters cont d SEL1 JOGO 7 7 7 I Pn80E DEC SEL2 JOG1 SEL3 JOG2 SEL4 JOG3 Pn80F RGRT Setting Range Factory Setting 0 Closed Program select Mode 0 Jog select Mode 1 1 Open Program select Mode 0 Jog select Mode 1 2 Always program select Mode 0 Always jog select Mode 1 3 No program select Mode 0 No jog select Mode 1 0 Closed Program select Mode 0 Jog select Mode 1 1 Open Program select Mode 0 Jog select Mode 1 2 Always program select Mode 0 Always jog select Mode 1 3 No program select Mode 0 No jog select Mode 1 0 Closed Program select Mode 0 Jog select Mode 1 1 Open Program select Mode 0 Jog select Mode 1 2 Always program select Mode 0 Always jog select Mode 1 3 No program select Mode 0 No jog select Mode 1 0 Closed Program select Mode 0 Jog select Mode 1 1 Open Program select Mode 0 Jog select Mode 1 2 Always program select Mode 0 Always jog select Mode 1 3 No program select Mode 0 No jog select Mode 1 0 Closed Servo ON 1 Open Servo ON 2 Always Servo ON 3 Always Servo OFF 0 Open Positive forward overtravel 1 Closed Positive forward overtravel 2 Always positive forward overtravel 3 Always movable 0 Open Negative reverse overtravel 1 Closed Negative r
135. e Unit Setting Factory Range Setting Function Function Selection Application Switches 0000 Selection Parameters Parameters Pn181 Mode Switch Speed Reference 0 to 5 000 fo Pn182 Mode Switch Acceleration 0 to 3 000 fo Position related Pn280 Linear Seale Pitch 0 to 65 535 Parameters Pn281 PG Divider pulses scale 1 to 255 pitch Pn280 G E ES Pn384 Maximum Motor Speed 7 100 mm s 1 to 100 Parameters Pn481 Pole Detection Speed Loop Gain Hz 1 to 200 Pn482 Pole Detection Speed Loop Integral Time Con 0 01 ms 15 to 51 200 3 000 stant 30 Pn483 Forward Thrust Limit Hz Pn484 Reverse Thrust Limit related lt Pn581 Movement Detection Level 1 to 5 000 Parameters es Pn583 Brake Reference Output Speed Level 0 to 5 000 Pn584 Motor Self propulsion Cooling Rate maxi 0 to 100 mum speed 1 After changing these parameters turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings 2 The factory default is 0 so an A 08 alarm will occur the first time the power supply is turned ON The alarm will not occur if this parameter is set to a correct value and the power supply is turned OFF and then back ON again 3 These parameters are set to small values to prevent dangerous situations when setting up the motor After completing the setup increase the settings to the thrust levels used in the appli cation 4 These parameters are support
136. e e e e E C E o C e E E e On C ee H pe e S S O fe ee e 78 pe e pe i ane 74 e oe e e e 75 ee oe oe e Rave Note 1 The symbols indicate inactive signal status 2 JSPD Jog speed number JOGO to JOG3 Selection signals Jog speed Speed setting Setting range 1 to 99 999 999 x1 000 Reference units min Factory setting 1 000 5 67 5 Parameter Settings and Functions 5 10 3 Input Conditions for Homing and Jog Speed Table Operation 5 10 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 table operation HOME JOGP JOGN Start or restart 4 i l homin S Inactive Inactive p Inactive oe l Jog forward Inactive Inactive Inactive E l E Jog reverse Inactive Inactive lt en Inactive Stop Inactive Inactive Inactive Active Active Stop Active Active Stop Inactive Active Active l Stop Inactive Active Active Active 5 68 5 10 Jog Speed Table Operation 5 10 4 Input Signal Timing Specifications for Homing and Jog Speed Table The following figures show the timing specifications of input signals for homing and jog speed table operation MODE0 1 HOME aE 4 ms min aK 0 ms min IMODEO1 OGP aE 4 ms min aK 0 ms
137. e encoder must be changed This setting can be changed with the Support Software Digital Operator function Fn013 the Auxiliary Func tion Mode or the MLTLIMSET serial command S The multiturn limit setting in the Encoder can be changed only when the Multiturn Limit Disagreement INFOQ alarm has occurred After changing the setting turn the power supply OFF and then back ON 5 24 5 3 Absolute Encoders 5 3 6 Absolute Encoder Zero Setting Set the offset between the reference coordinates and the position of the absolute encoder as the absolute encoder offset in parameter Pn81D Absolute Encoder Offset Reference Setting Factory Units Range Setting 99 999 999 0 to 99 999 999 This setting can be changed with the Support Software s Absolute Encoder Zero Setting ZSET serial command Digital Operator function Fn809 or by setting the value calculated with the following equation in Pn81D INFON gt The Support Software s Absolute Encoder Zero Setting and Digital Operator function Fn809 are supported only for version 4 or later gt Turn the power supply OFF and then ON again after changing this parameter After changing parameter Pn202 Pn203 Pn205 or Pn81A to Pn81D turn the control power OFF and then ON again to enable the new setting IMPORTANT The value for Pn81D can be calculated from the following equation Pn81D Current setting of Pn81D nnnnnnnn Un804 Pn81D Absolute Encoder Offset nnn
138. e monitor modes that can be used when the Digital Operator is connected to connector CN7 Table B 1 Monitor Modes Monitor Number Display Contents Unit Serial Command Un000 Actual motor speed Linear motor mm s Other min 1 Un002 Internal torque reference TREF Un003 Rotation angle pulses Un004 Rotation angle electrical angle Un005 SERVOPACK CN1 input signal monitor P INI Un006 SERVOPACK CN1 output signal monitor C OUTI Un007 Position reference speed Linear motor NREF mm s Other min 1 Encoder pulse counter hexadecimal Un010 Settable maximum motor speed or dividing ratio monitor 100 mm s or for linear motor pulses scale pitch Pn280 Un011 Hall sensor signal monitor for linear moto HALLSENS E GO w Un800 Last error most recent error code C Un801 NS600 CN4 input signal monitor C RR IN2 OUT2 STS FB OS DST P Un802 NS600 CN4 output signal monitor urgoR Program stp PGNSTER manfor C EVTME Serial command received character trace C B 2 B 1 Monitor Modes Table B 1 Monitor Modes cont d Monitor Number Display Contents Unit Serial Command Un80E Serial command received character count C Un80F Serial command received error character count P Un810 Serial command transmitted character trace C Un811 Serial command transmitted character count C 1 Indicates the percentage of the rated torque 100 is the rated torque 2 Indicates the number
139. e operation LOOP Program LOOP Pass Through Monitor LOOP 12345 CR LF MONn Monitor Read See following description of the responses for lt n lt 11 STS to RDST See following description of STS to RDST STS or MONG Status Flag Monitor STS 1010101 CR LF Bit 0 ON 1 when the INPOSITION posi tioning completed signal is active Bit 1 ON 1 when the NEAR positioning near signal is active Bit 2 ON 1 when the DEN positioning ref erence distribution signal is active Bit 3 ON 1 when positioning or program operation 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 6 36 6 7 Serial Commands Table 6 8 Monitor and Auxiliary Function Commands cont d HALLSENS Hall Sensor Monitor for Linear Motor HALLSENS 1 SP LLH CR LF A number between 0 and 7 and three charac ters that are either L or H Character 0 Status of phase W Character 1 Status of phase V Character 2 Status of phase U TYPE NS600 Type Code Display TYPE 00000600 CR LF Displayed in hexadecimal NS600 Type Code 0600 YSPEC NS600 Y Spec No Display YSPEC 12345678 CR LF VER NS600 Firmware Version Display VER 00001234 CR LF Displayed in hexadecimal SVTYPE SGDH Type Code Display SVTYPE 00000002 CR LF Displayed in hexadecimal SGDH Type Code 02 SVYSPEC
140. e slightly due to gravity depending on equipment configura tion and brake characteristics If this happens use this parameter to delay servo OFF timing This setting sets the brake ON timing when the servomotor is stopped Use Pn507 and Pn508 for brake ON timing during operation The servomotor will turn OFF immediately if an alarm occurs The equipment may move due to grav ity in the time it takes for the brake to operate Holding Brake Setting Set the following parameters to adjust brake ON timing so the holding brake is applied when the servomotor stops Brake Reference Output Speed Level Setting Factory i Range Setting 0 to 10 000 100 Timing for Brake Reference Output Setting Factory during Motor Operation Range Setting 0 to 100 50 5 12 5 2 Sequence I O Signals Set the brake timing used when the servo is turned OFF by input signal S ON CN1 40 or when an alarm occurs during servomotor with brake operation S ON input Power OFF by lt ON IS ON CN1 40 gt 22 Servo OFF input or alarm ners j Stop by dynamic brake or coast to a Motor speed h stop Pn001 0 min 1 E a B oes Pn 507 Release IBK output Brake Hold with brake l Pn508 l gt Brake ON timing when the servomotor stops must be adjusted properly because servomotor brakes are designed as holding brakes Adjust the parameter settings while observing equip ment operation
141. ecessary to set parameters related to speed control or torque control so those parameters should not be changed After the NS600 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 Table 5 1 Setting restricted Parameters Parame Digit Name Setting Description ter Axis Address Copies the address set on the NS600 s rotary switch Pn002 T REF Allocation Torque Limit Torque limit and torque feed forward cannot be input by Torque Feed forward analog voltage inputs Full Closed Loop Usage Full closed loop cannot be used EZ Pn200 Clear Operation Clears the position error when the servo is OFF Pn207 1 Position Control Option An analog voltage input cannot be used as a speed feed V REF as Speed Forward forward input Pn50A 0 Input Signal Mapping 1 Input signals can be allocated Position Reference Filter Selection 1 S shaped Curve 1 S ON ot used SIO is detected as S ON by the NS600 ae eae ve Pn205 Multiturn Limit Setting If a single turn data absolute encoder is used and Pn002 2 is set to 0 the Multiturn Limit Setting will automatically be set to 0 1 This parameter is automatically set only for version 4 or later It must be manually set for version 3 or earlier m TT ed 3 eal a Nowa Gs deads S a 7 zea GS ie a ed i N N f N 3 me o o Hanm
142. ed for SERVOPACK firmware version 32 or later Appendix A List of Parameters A 4 SERVOPACK Switches The following table shows the SERVOPACK s software switches Table A 4 SERVOPACK Switches Parameter Digit Name Setting Contents Factory Place Setting Pn000 Direction Selection Sets CCW as forward direction Function Selection Basic Switches fo ss CW as forward direction reverse rotation mode 1 Control Method Selec 1 Position control 1 fixed tion Axis Address OtoF Sets SERVOPACK axis address rotary switch ADRS Rotary Linear Startup 0 Starts as a rotary motor 0 asa Starts as a rotary motor 0 motor Selection when encoder is not con nected Servo OFF or Alarm Stops the motor by applying dynamic brake DB Stop ode 1 Stops the motor by applying dynamic brake DB and then releases DB Makes the motor coast to a stop state without es the dynamic brake DB fo Se as a linear motor Pn001 Function Selection Application Switches Applicable to DC power input Input DC power supply through 1 and terminals Warning Code Output ALO1 ALO2 and ALO3 output only alarm Selection codes ALO1 ALO2 and ALO3 output both alarm codes and warning codes While warning codes are out put ALM signal output remains ON normal state Pn002 Function Selection Application Switches Absolute Encoder AC DC Power Input L to DC power input Input AC Selection power supply through L1 L
143. ed when positioning is restarted Example 1 Speed SOB SPDz ST HOLD l L Wys y Example 2 Speed 4 SPDX POSIy ST e HOLD Positioning Stop Stops the current positioning operation The remainder of the positioning operation is cancelled SPDx e POSIy ST SKIP Remaining ieee y distance N i cancelled y 6 22 6 7 Serial Commands Table 6 2 Control Commands cont d Serial Command Function Positive POUTnnnnn POUT Reservation Specifies the operation of programmable output signals POUTO to POUT4 Settings N Inactive A Active Z Zone table Continue 6 23 6 Serial Command Communications 6 7 3 Parameter Edit Commands 6 7 3 Parameter Edit Commands The following table shows the Parameter Edit Commands Table 6 3 Parameter Edit Commands PRMppp Parameter Read An 8 digit signed decimal value is returned for commands PRM81B PRM81C Reads a parameter PRM81D and PRM828 ppp Parameter number Pn number Example PRM81B 12345678 CR LF Example Reading Pn800 An 8 digit hexadecimal value is returned for Command 1PRM800 CR commands PRM000 to PRM005 PRM080 Response 1PRM800 00000001 CR LF PRM10B PRM110 PRM200 PRM207 PRM218 PRM408 and PRMS0A to PRMS13 Example PRM000 00001234 CR LF An 8 digit unsigned decimal value is returned for all other parameters Example PRM800 12345678 CR LF PRMppp
144. eed Table Setup Commands 6 32 6 7 8 Monitor and Auxiliary Function Commands 6 33 6 1 6 Serial Command Communications 6 1 CN6 Connector Specifications The following table shows the specifications of the CN6 connector Interface Full duplex RS 422 RS 485 or RS 232C or half duplex RS 485 Set the appropriate wiring method with parameter Pn800 Synchronization Start stop synchronization ASYNC Bit Rate 9 600 19 200 or 38 400 bps Selectable with parameter Pn801 Data Bits 7 bits ASCII Echoback Each character Each command or None Selectable with parameter Pn800 The TXD signal voltages output from the NS600 are the TTL levels 5 V maximum Data Configuration Character string 00101011 0 1 lt Stop bit Start bit _4 __ Data Even parity 6 2 6 2 Settings 6 2 Settings This section explains the settings for the NS600 s serial commands 6 2 1 Block Diagram The following block diagram shows the basic connections for multi axis control Hot controller SGDH SGDH CNG CN6 R Le Up to 16 axes can be connected For details on wiring see 3 2 Serial Command Communications Connector CN6 Initial Settings e Axis address s Protocol e Bit rate 6 2 2 Setting the Axis Address Set the axis number
145. eed from the position where the RGRT signal is latched Speed aaa ai Registration Registration speed distance RGRT 5 6 1 Registration Timing Specifications The following figure shows the latch timing specifications 30 us max 20 us min when Pn80F 0 mers 200 us min when Pn80F 1 RGRT Latch operation H e Shifting to Registration Operation 8 Speed T ae RGRT M 5 6 2 Registration Input Setting Parameter Pn80F sets the logic for the RGRT Registration Latch Signal ter Pn80F RGRT CN1 46 0 Photocoupler ON Latch 1 Photocoupler OFF Latch 5 56 5 6 Registration 5 6 3 Registration Operation If the RGRT signal becomes active latches during positioning operation will proceed from the latch position to the registration distance only The registration distance is specified in RDST Speed START STOP RGRT F Alarm E23E will occur when the registration distance is too short i e when positioning will move too far even if deceleration begins immediately When alarm E23E occurs the servo will go OFF and the program will stop Speed Servo turned OFF by alarm gt t START STOP RGRT ALM The second and later latch signals are ignored Speed gt t START STOP IRGRT R 5 57 5 Parameter Settings and Functions 5 6 3 Registration Operati
146. eing used Error E61E will occur if the ZRN command is executed and an absolute encoder is being used 6 19 6 Serial Command Communications 6 7 2 Control Commands Table 6 2 Control Commands cont d Serial Command Function Positive Response ZSET Coordinates Setting OK nnnnannnn Note It can be dangerous to execute this command carelessly to switch the coordinates of the position reference After executing this command confirm that the position reference and the new coordinates are in agreement before starting operation Setting range 99 999 999 lt nnnnnnnn lt 99 999 999 Reference units e With an Incremental Encoder Replaces the home position with nnnnnnnn Homing will be completed and the software position reference limits Pn81B and Pn81C will be enabled This Coordinates Setting will be cleared when the control power supply is turned OFF or the RES command is executed Note Parameter Pn81D will not be refreshed Pn81D will be used as the homing position when the control power supply is turned ON or the RES command is executed and homing is completed e With an Absolute Encoder Switches the current position to nnnnnnnn and refreshes Pn81D with the absolute position offset so that the home position becomes nnnnnnnn The Coordinates Setting will remain effective after the control power supply is turned OFF or the RES command is executed Normally this command is executed once during system setup an
147. ence monitor reference units Un805 Current motor position monitor reference units Table 7 1 Monitor Displays cont d Monitor Monitored Value Display Explanation Number HAHAHA SHEA x lt ON SEL3 JOG2 e C START HOME Example SEL4 JOG3 SEL2 JOG1 SEL1 JOGO SELO JOGN Example H POUT4 ag Example Main power supply MODEO 1 PGMRES JOGP lt OFF lt ON INPOSITION POUTO POUT2 POUT1 lt lt Active lt Inactive NEAR Torque control Program executing as or positioning interrupted Example 12 345 678 reference units pagg lt gggag a Upper 3 digits Press the Left or Right Key Lower 5 digits to display the upper 3 digits or lower 5 digits Example 12 345 678 reference units jag lt 2 g5690 Upper 3 digits Press the Left or Right Key to display the upper 3 digits or lower 5 digits 7 14 A Ee INPOSITION Lower 5 digits Indicates the ON OFF status of each signal The ON OFF logic is the ON OFF status of the input photo coupler Indicates the ON OFF status of each signal The ON OFF logic is the ON OFF status of the output photo coupler Displays the flags that indicate status Indicates the current position of the position reference Indicates the current motor position 7 6 Operation during Monitor Display Table 7 1 Monitor Displays cont d Monitor Monitored Va
148. ent e Servo alarm occurs e The main power is turned OFF Specify the Stop Mode if any of these occurs during operation Pn001 0 Servo OFF or Alarm Stop Factory Setting Mode 0 Servo OFF After stopping Bains 2i Hold with The dynamic brake electrically applies Pn001 0 0 or 1 earn dynamic brake brake by using a resistor to consume 5 Op bY servomotor rotation energy dynamic brake 1 Coast status Pn001 0 2 m Coast to a stop Coast status Pn001 0 Uses the dynamic brake to stop the servomotor and maintains dynamic ees brake status after stopping setting 1 Uses the dynamic brake to stop the servomotor and cancels dynamic brake status after stopping to go into coast status 2 Coasts the servomotor to a stop The servomotor is turned OFF and stops due to equipment friction Note If the servomotor is stopped or rotating at extremely low speed when the items above are set at 0 dynamic brake status after stopping with the dynamic brake then braking power is not generated and the ser vomotor will stop the same as in coast status 5 29 5 Parameter Settings and Functions 5 4 3 Setting Reference Units 5 4 3 Setting Reference Units Reference units are the position and distance units that are used between the host controller and NS600 A reference unit is the minimum unit for positioning The electronic gear ratio converts between reference
149. entence Revision Program table Addition Program table functions ACC and DEC Revision Program table figure ae Revision Software version changed to firmware version Addition Fn809 Absolute encoder zero setting 9 Revision Sentence Addition A 09 A OA A 55 A B3 A F6 A C2 A C5 A d2 A 90 Revision A 04 A 51 Addition Pn829 Pn830 Pn831 Pn832 Pn833 Pn834 Pn835 Pn836 Revision Pn81B Pn81C Pn81D A Revision Sentence Revision Pn104 Pn105 Pn106 Pn201 Pn208 Addition Pn124 Pn125 Pn212 Pn213 Pn217 Pn218 Pn309 Pn40A Pn40B Pn40C Pn513 Pn51A Pn51B Pn51C Pns lE Addition Section on parameters used for SERVOPACK linear motors A Revision Pn000 3 Pn0003 0 Pn0003 1 Pn10B 0 Pn10B 2 Pn207 2 Pn408 2 Addition Pn008 Date of Printing Revised Content October 2003 amp B 2 Revision Sentence Addition Fn809 C 1 Revision Sentence Addition Serial command ACCTsss ACCTsss DECTsss DECTsss HALLSENS 2 I Series SGDH Indexer Application Module USER S MANUAL IRUMA BUSINESS CENTER 480 Kamifujisawa Iruma Saitama 358 8555 Japan Phone 81 42 962 5696 Fax 81 42 962 6138 YASKAWA ELECTRIC AMERICA INC 2121 Norman Drive South Waukegan IL 60085 U S A Phone 1 847 887 7000 Fax 1 847 887 7370 MOTOMAN INC HEADQUARTERS 805 Liberty Lane West Carrollton OH 45449 U S A hone 1 937 847 6200 Fax 1 937 847 6277 PI YASKAWA ELETRICO DO BRASIL COMERCIO LTD A Avenida Fagundes Filho 6
150. er pulses Example 89ABCDEF pulses hexadecimal HBSAB Upper 2 bytes MIA HABE Lower 2 bytes The counter can be cleared by pressing the Up and Down Keys together Maximum speed K Example 50 x 100 mm s for linear motor x100 mm s G 1 l Maximum motor speed or Maximum PG divider pulses pSpL Press the DSPL SET Key to SET j switch the display Example 20 pulses scale pitch scale pitch H 1 1 Dividing ratio e Example LLH tne Phase V Phase U Press the Up or Down Key to display the upper 2 bytes or lower 2 bytes Hall sensor for linear motor Signal pattern Last error Example E4BE EHBE nnz nonE 7 13 Displays an encoder pulse counter for monitoring Displays the setting of the maximum motor speed Pn384 and the maximum possible setting for the PG divider Pn281 if Pn080 3 0 Displays the maximum setting for the maximum motor speed Pn384 and for the PG divider Pn281 if Pn080 3 1 Displays the phase U phase V and phase W signals of the hall sensor as L low and H high and a signal pattern from 0 to 7 for the combination of L s and H s Displays the error code of the most recent error If no errors have occurred nonE will be displayed 7 Using the Digital Operator Un801 NS600 CN4 input signal mon itor Un802 NS600 CN4 output signal monitor Un803 Status flag monitor Un804 Current position refer
151. er 2 048 Single turn data abso 20 bit 262 144 lute encoder 5 30 5 4 Settings According to Device Characteristics 3 Determine the reference unit to be used To move table in 0 001 mm units Reference unit 0 001 mm t AE Determine the reference unit according to equipment specifications and positioning accuracy lt EXAMPLE K 0 01 mm 0 0004 in 0 001 mm 0 1 or 0 01 inch A reference unit of one pulse moves the load by one reference unit e When the reference unit is 1 um If a reference of 50 000 pulses is input the load moves 50 mm 1 97 in 50 000 x 1 um 4 Determine the load travel distance per load shaft revolution in reference units Travel distance per load shaft revolution Travel distance per load shaft revolution reference unit Ref eference uni lt EXAMPLE K e When the ball screw pitch is 5 mm 0 20 in and the reference unit is 0 001 mm 5000 reference unit Ball Screw Disc Table Belt and Pulley Load shaft lt p Load shaft 2D 9 Z X LI TE S T y P Pitch A Load shaft D Pulley diameter nD 1 revolution P 360 S 1 revolution _ 1 revolution Reference unit Reference unit Reference unit Padani B 5 Electronic gear ratio is given as 2 If the decelerator ratio of the motor and the load shaft is given as es where m is the rotation o
152. er setting display 7 34 7 7 Operations during Auxiliary Function Display Related Errors The following table shows the main errors related to the Automatic Offset adjustment of the Motor Current Detection Signal operation ESAE The offset adjustment cannot be executed L C H F Execution Disabled while while the Servo is ON Servo ON Error Switch the Servo OFF and try again E5CE The offset adjustment cannot be executed if L C C F Execution Disabled while the main power supply is OFF Main Power OFF Error Turn ON the main power supply and try again 7 35 7 Using the Digital Operator IMPORTANT B FnOOF Manual Offset adjustment of Motor Current Detection Signal This function manually adjusts the motor current s zero setting offset current The motor current detection offset is adjusted at Yaskawa before shipping Normally the user does not have to perform this adjustment Perform this adjustment only if you require even higher accuracy because the torque ripple caused by current offset is causing unaccept able errors and you want to reduce the torque ripple even more 1 If this function is executed carelessly it may worsen the characteristics When the generated torque ripple is clearly high compared to other SERVOPACKs execute the automatic offset adjustment function function number Fn00E 2 When making manual adjustments run the motor at a speed of approximately 100 min and adjust t
153. er turning the servo while Servo ON Error Operator jog operation or parameter ini OFF tialization was requested when the servo was ON For safety these functions cannot be exe cuted with the servo ON Disabled Auxiliary Functions Digital Operator jog operation home posi tion search parameter initialization abso lute encoder reset motor current automatic zero adjustment precision off line auto tuning E5BE Execution Disabled Servo ON was requested the SVON com Turn the servo ON after elimi while Alarm Activated mand was executed while there was an nating the cause of the alarm and Error alarm clearing the alarm E5CE Execution Disabled Servo ON was requested the SVON com Turn the servo ON after turning while Main Power OFF mand was executed while the main power ON the main power supply Error supply was OFF E5DE Homing Method The homing method is not specified Specify the homing method in Unspecified Error e Homing Start was requested HOME Pn823 signal was turned ON or ZRN command was executed without setting the hom ing method E5EE Execution Disabled dur There was a request to execute a process Request execution of the process ing Program Operation that is not allowed during program table again after cancelling program Error operation while program table operation table operation with the was in progress or on hold PGMRES signal or RES com e There was an attempt to change the pro
154. ere is no response Structure of the Response OK OK SP SP SP SP SP SP SP SP SP CR LF Note The ASCII values for these special characters are 20 Hex for SP OD Hex for CR and 0A Hex for LF 6 6 2 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 Furthermore 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 ES6E 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 Other Errors ExxE SP SP SP SP SP SP SP CR LF The xx is the error number Note The ASCII values for these special characters are 20 Hex for SP OD Hex for CR and 0A Hex for LF 6 8 6 7 Serial Commands 6 7 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 sign and the number of digits are correct in the numerical data shown in these examples but the sign and number of digits will vary in actual applications 6 7 1 Basic Operation Commands The following t
155. ervodrive problems 9 1 1 Alarm Display Table The following table shows the alarm displays and meaning of the alarms Table 9 1 Alarm Displays and Outputs Alarm Alarm Name Meaning ALM Output Alarm Code Outputs Displa ae ALO1 ALO2 ALOS Parameter Breakdown 2 ey data of SERVOPACK is abnor OFF OFF Ao A 03 Main Circuit Encoder Error Detection data for power circuit is abnormal A 04 Parameter Setting Error The parameter setting is outside the allow able setting range e Pn080 0 was set to 1 when using a linear motor with a hall sensor or Pn080 0 was set to 0 when using a motor without a hall sensor Combination Error SERVOPACK and servomotor Eat eee do not match Eat eee other FF Linear Scale Pitch Setting Pn280 is still set to the foe default Pe OFF Error FF F F Dividing Ratio Setting The setting of the E ratio Pn212 is hail O Erro not acceptable out of fixed increments or exceeds the value for the connected encoder resolution With a linear motor connected Pn281 was set to a division ratio that exceeds the maxi mum value obtained from the maximum speed of the linear motor FF FF FF FF A 0A Encoder Model Unmatched The mounted serial encoder is not supported OFF by X II series SERVOPACK Overcurrent or Heat Sink An overcurrent flowed through the IGBT Overheated 2 Heat sink of the SERVOPACK was over heated Regeneration Error Detected Regenerative circuit is faul
156. etween Basic Displays Status Display Indicates the status with codes such as bb and run Refer to 7 3 Status Display for details on codes The display changes each time the DSPL SET is pressed Auxiliary Function Display Indicates Fn and the selected function number Refer to 7 7 Operations during Auxiliary Function Display for details Parameter Editing Display Indicates Pn and the selected parameter number Refer to 7 5 Operation during Parameter Editing Display for details Monitor Display Indicates Un and the selected monitor number Refer to 7 6 Operation during Monitor Display for details Program Table Editing Display Indicates the mode such as Po or SP and the selected program step number Refer to 7 8 Operations during Program Table Editing Display for details Zone Table Editing Display Indicates the mode i e ZP or Zn and the selected zone number Refer to 7 9 Operation during Zone Table Editing Display for details Jog Speed Table Editing Display Indicates JS and the selected jog speed number Refer to 7 10 Operation during Jog Speed Table Editing Display for details 7 Using the Digital Operator 7 5 Operation during Parameter Editing Display IMPORTANT Functions can be selected or adjusted by setting parameters Refer to Appendix A List of Param eters for a list of parameters 1 Poli ZIN Use these keys to select gt y lt J gt IN N
157. everse overtravel 2 Always negative reverse overtravel 3 Always movable 0 Open Homing Deceleration LS ON 1 Closed Homing Deceleration LS ON 2 Homing Deceleration LS Always ON 3 Homing Deceleration LS Always OFF 0 Closed Registration Start 1 Open Registration Start A 3 Appendix A List of Parameters Parameter Overtravel OT Stop Method Pn810 Pn811 Pn812 Pn813 Pn814 Pn815 Pn816 Pn817 Pn818 Pn819 Moving Mode Linear Moving Method Pn81A 0 Forward Software Limit P LS Rotary Moving Method Pn81A 0 End Point of Rotational Coordinates Linear Moving Method Pn81A 0 Reverse Software Limit N LS Rotary Moving Method Pn81A 0 Starting Point of the Rotational Coordinates Incremental Encoder Home Position Absolute Encoder Absolute Encoder Off set Positioning Registration Speed l Table A 1 NS600 Parameters contd Unit Setting Range Factory Setting 0 Closed Positioning complete 1 Open Positioning complete 0 Closed Active 1 Open Active 0 Closed Active 1 Open Active 0 Closed Active 1 Open Active 0 Closed Active 1 Open Active 0 Closed Active 1 Open Active 0 Closed Error Warning status 1 Open Error Warning status 0 Closed Brake release 1 Open Brake release 0 Closed Servo ready 1 Open Servo ready 0 Servo OFF same as Pn001 0 setti
158. executions 5 44 O OK 6 4 6 8 structure of OK response 6 8 online autotuning rigidity setting 7 21 7 29 open collector output circuits C 3 9 output circuits interfaces 3 9 output signals 3 6 3 7 overrun error 6 8 overtravel 5 28 6 19 9 20 overtravel limit function 5 27 P PAO 3 2 parameters for NS600 A 2 for SERVOPACK A 6 A 11 offline A 5 online A 5 parameter edit commands 6 24 restrictions 5 4 parity 6 2 parity error 6 8 PBO 3 2 PCO 3 2 PG divider 5 19 PGMSTEP 5 41 5 42 5 44 5 46 photocoupler output circuit 3 9 P LS
159. f the motor and n is the rotation of the load shaft No of encoder pulses x 4 F n B Electronic gear ratio A Travel distance per load shaft revolution n reference unit Make sure the electronic gear ratio satisfies the following condition IMPORTANT S S B 0 01 lt Electronic gear ratio 2 lt 100 The SERVOPACK will not work properly if the electronic gear ratio is outside this range In this case modify the load configuration or reference unit 6 Set the parameters 5 31 5 Parameter Settings and Functions 5 4 3 Setting Reference Units Reduce the electronic gear ratio 7X gers smaller than 65 535 then set A and B in the respective parameters Pn202 Electronic gear ratio E eas Numerator B Electronic gear ratio ee Prao Denominator This concludes the electronic gear ratio setting procedure Setting Range 1 to 65 535 Setting Range 1 to 65 535 Electronic Gear Ratio Numerator Electronic Gear Ratio Denominator Set the electronic gear ratio according to equipment specifications Electronic gear ratio 2 Pn202 A Pn203 x B Number of encoder pulses x 4 x motor speed B D to the lower terms so that both A and B are inte Factory Setting 4 Factory Setting 1 s A Reference units travel distance per load shaft revolution x load shaft revolution speed INFON After changing parameter Pn202 or Pn203 turn the power OF
160. face 3 14 3 3 Digital Operator or Support Software Connector CN7 3 15 3 3 1 Communications Specifications 3 15 3 3 2 Communications Connector 3 16 3 3 3 Connector Signal Names 3 16 3 3 4 Connection Examples 3 17 3 3 5 RS 422 Interface 3 18 3 4 Power Loss in the NS600 3 19 3 1 3 Connector Wiring 3 1 1 Examples of I O Signal Connections to CN1 and CN4 3 1 I O Signal Connections This section describes I O signal connections for an SGDH SERVOPACK with an NS600 installed 3 1 1 Examples of I O Signal Connections to CN1 and CN4 The following diagram shows a typical example of I O signal connections O Ou i Servomotor A 1 U l SGDHSERVOPACK v lt r T O LIC wd c EP 1 L ol D S 1 Optical 2 encoder oO CN2 FG o a o a o CNT 25 lp Error Warning KC a warn ON for an Error Warning Bye paria A 1 27 amp IBK Brake interlock Backup battery a x IBK ON when brake is released 2 8 to 4 5 V L BAT c 29 ISRDY Servo ready Sinking or sourcing fay 24V 3 310 K so ean ON w
161. firmware version 3 and version 4 viii Index WwW warnings warning display 9 9 warning display table 9 5 9 19 warning output signal 5 14 X X ON X OFF control 6 2 Z ZONE ZONE signal 5 43 5 59 ZONE table 5 43 5 53 5 59 6 23 ZONE table settings 5 59 ZONE table setup commands 6 31 Index 4 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover MANUAL NO SIE C718 9B Printed in Japan October 2003 02 1 Revision number Date of Date of original printing publication Date of Printing Revised Content January 2003 Correction Clerial error October 2003 es Preface Revision Sentence and Table Addition Differences between firmware version 3 and version 4 Revision Related manuals Revision Model number of support software Addition Pn205 5 4 4 Deletion Section on software position limit settings and the moving method Addition Section on moving method and coordinate settings Addition Section on backlash compensation 3 151 Addition Setting the initial status programmable output signals POUTO to POUT4 Addition Section on absolute encoder zero setting 7 1 1 l 2 3 A 5 5 4 Revision S
162. flow in the reception buffer used for serial commands An error will occur if too many serial commands are sent consecutively with out waiting for the responses Normally the reception buffer will not overflow if there is command response handshaking e When an overflow has occurred error code E47E will be returned and all of the data that has accumulated in the recep tion buffer will be discarded 9 14 Repair the hardware Repair the hardware Repair the hardware A A When program table operation is A being used the cause of the alarm must be eliminated When jog speed table operation A is being used the cause of the alarm must be eliminated Wait for a response to be A received before sending the next command The reception buffer can contain up to 100 commands 9 2 NS600 Troubleshooting Serial Communications Parity Error E48E E49E E4AE E4BE E4CE E4DE Serial Communications Framing Error Serial Communications Overrun Error Moving Disabled Error due to P OT Moving Disabled Error due to N OT Moving Disabled Error due to P LS Table 9 5 NS600 Error Displays cont d Error Error Name Details Remedy Panel Display Display 2 A parity check error occurred with the serial command e This error will occur if even parity is not being used The command that caused this error will be discarded and no response will be returned e There will be no response but the
163. g a jog speed table homing jog speed with up to 16 speed levels can be performed table Mode 1 Serial commands Positioning can be controlled by ASCII command strings received through RS 232C RS 422 or RS 485 communications Up to 16 axes can be con nected ASCII commands can also be used to operate using a program table Registration Both the program table and serial commands are equipped with registration functions for external positioning Programmable There are 5 output signals POUTO to POUT4 for which the output status output signals can be specified Zone signals and The programmable output signals POUTO to POUT4 can also be used as zone table zone signals Up to 32 zones can be specified in the zone table Profiler operation Local I O Current control Speed control Position control Dual port RAM Counter ee eee ee ee ee ee D RS 422 485 Block Diagram vii Differences between Firmware Version 3 and Version 4 The differences between firmware version 3 and version 4 are shown in the following table Several functions have been added to version 3 to create version 4 and the versions are upwardly compatible IMPORTANT Use SigmaWin Indexer Component Version 2 1x or later SigmaWin Indexer Component Version 2 0x or earlier and SigmalIndexer do not support firmware version 4 and cannot edit or download the program table Program Table Setting S Target position Target pos
164. gnal are given below The warning output is composed from the following WARN signals NS600 Error Over load Warning Regenerative Overload Warning and Low Battery Voltage Warning Power supply SERVOPACK AU AOV CN1 25 WARN o Photocoupler output per output Ear i S ky Maximum operating voltage 30 V DC l BN 1 CN1 26 WARN Maximum output current 50 mA DC SI lt Ol it EN NONA N VWarning Output Signal This output signal indicates an error or warning has occurred If an error occurred the output will last for 2 seconds if a warning occurred the output will remain until the cause of the warning has been eliminated Closed or low level Error or warning status Overload Regenerative Overload Low Battery Voltage or NS600 Error The WARN output setting can be changed with parameter Pn816 Parame Signal Pin No Settings Factory ter Setting Pn816 WARN CN1 25 0 Output closed Error or warning CN1 26 1 Output open Error or warning The following parameter is used to output warning details with an alarm code ome Warning Code Output Selection Factory Setting 0 5 14 5 2 Sequence I O Signals Pn001 3 Description Setting fF E Outputs alarm codes alone for alarm codes ALO1 ALO2 and ALO3 1 Outputs both alarm and warning codes for alarm codes ALO1 ALO2 and ALO3 and outputs an alarm code when an alarm occurs The following warning codes are
165. gs According to Device Characteristics Speed reference before S curve filtering Speed pa a reference Speed reference reference Mp ss X after S curve filtering a ti t2 ts ta Time th te ts ts ta te Time V x1 000 reference units min Acceleration t2 t1 ms D celeration V x1 000 reference units min t ts ms S curve time ts t2 te t4 5 4 4 Moving Mode and Coordinate Settings Use the following parameters to set the moving mode and coordinates Parameter Name Unit Setting range Factory Setting Pn81A Moving Mode 0 Linear 1 Rotary shortest path 2 Rotary forward 3 Rotary reverse Linear Moving Method Pn81A 0 Reference 99 999 999 to 99 999 999 99 999 999 Forward Software Limit P LS units Rotary Moving Method Pn81A 0 End point of Rotational Coordinates Linear Moving Method Pn81A 0 Reference 99 999 999 to 99 999 999 99 999 999 Reverse Software Limit N LS units Rotary Moving Method Pn81A 0 Starting point of Rotational Coordinates Incremental Encoder Reference 99 999 999 to 99 999 999 Home Position When homing has been com units pleted the current position where the homing operation stopped is changed to the position set here Absolute Encoder Absolute Encoder Offset Refer to 5 3 6 Absolute Encoder Zero Setting E Linear Moving Method When using the linear moving method such as with a ball screw set Pn81A to 0 and set the
166. hat has the NS600 installed YASKAWA SERVOPACK SGDH 88 18 18 Y OJS Not used J CHARGE S S OO DAW O POWE L1 L2 1 2 Y ozo S 7 S REJ NDI NS600 lt a NS600 lt STS Status Indicator green or red d and e CN7 Digital Operator Support Software connector for setup maintenance and inspection lt Rotary switch for axis address setting A Lic L2c B1 B2 0071 ococojo o o o o El U U C OOO W SI S HIS aiei A AZO Not used Do not connect anything here b CN4 I O Signal Connector Connect sequence O signals here A H H A CH Jio pI A oJ Eo ozo J c CN1 I O Signal Connector Connect sequence lO signals here lt d CNG Signal Command Connector Note Refer to Table1 1 below for details on components a through e Indexer I O Cables Serial Communi cations Cables Table 1 1 Model Numbers Z 600 S DL OI Ol OO OOO Ol O Q Q with 9 pin D SUB connector 2 0m JUSP NS600 N4 I O Cable loose wires
167. he offset until the torque monitor ripple is minimized It is necessary to adjust the motor s phase U and phase V offsets alternately several times until these offsets are well balanced RAODF Press the DATA ENTER Key to display the channel selection display Phase U Phase V A0088 7 08890 Cu1_o Press DSPL SET Cu2 0 to select the channel OR Press the Left or Right Key to display the ENTER adjustment display Press the Key again If the DATA ENTER Key to return to the channel selection display is pressed before executing the display will return to the function number setting display play Example 1 AA The current offset setting will be displayed Press the Up and Down Keys to change the motor current offset setting Press the DATA ENTER Key to confirm the new setting and return to the function number setting display 7 36 7 7 Operations during Auxiliary Function Display B Fn010 Write protection Setting This function sets write protection for various data If data is write protected it will not be possible to change the program table zone table jog speed table or parameters Some auxiliary functions will also be disabled bnU 1 Press the DATA ENTER Key to display the write protection setting display XI 7 H The current write protection setting L will be displayed ZAIN ENTER Press the Up or Down Key to change E the write protection setting If the DAT
168. hen ready eon when ON o AYR S L Alarm OFF for an Alarm Forward run prohibited P OT O L lt A Photocoupler output Prohibited when OFF T N Max voltage 30 VDC Reverse run prohibited L N OT L ZL Max output current 50 mA DC Prohibited when OFF aes rea 37 KALO Alarm code outputs Zero point return deceleration LS 5a sl Max voltage 30 VDC Deceleration when ON ol TR C ax output current 20 m RTS latch l RGRT L SEE K4 39 L aos M tput t 20 mA DC Latch when OFF gt ON L l Program table select signal5 4 S55 y ZL I 33 T Bit 5 1 when ON i gs E ona Program table select signal 6 4 2 e PG divided outputs Applicable line receiver SN75175 manufactured by T I or the equivalent Bit 6 1 when ON 4 pe PBO T PCO IPCO pao Phase S serial data output C L Applicable line receiver PSO SN75175 manufactured by T I G or the equivalent T sb IR le g g n j je jo G jo ee G NE Not used Do not connect to anything A Digital Operator or computer running Sup CN10 NS600 port Software can be connected to CN7 1 represents twisted pair wires 2 Connect only when an absolute encoder is being used and a battery is not connected to CN8 Fig 3 1 Example Connections to I O Signal Connector CN1 3 2 2 1 lO Signal Connections SGDH SERVOPACK CN10 CN7 re CN4 Digital Operator or Sinking or a gt lt gt
169. in Program Table Operation There are three different states 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 R E topped lt I Hor Operating gt START STOP active restart 5 47 5 Parameter Settings and Functions 5 5 7 Status Changes in Program Table Operation The following table shows the status changes that can occur during program table operation Cancelled Active Start or Latch specified signal Inactive Inactive between SELO and SEL6 Operating l Active Stop Started or restarted or Inactive Inactive Stopped Cancel Inactive Inactive Active Restart or 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 PGM STEP specified by NEXT If the number of executions specified for LOOP has not been reached the LOOP will be executed again 5 48 5 5 Program Table 5 5 8 Input Signal Timing Specifications for Program Table Operation The following figures show the timing specifications of program table input signals MODE0 1 4 START STOP PGMRES ISTART STOP START STOP SELO to SEL
170. ine whether a parameter is an online or offline parame ter PRMINIT Parameter Initialization Resets all parameters to their factory default settings After executing PRMINIT turn the control power supply OFF and ON or execute the RES command 6 25 6 Serial Command Communications 6 7 4 Program Table Setup Commands 6 7 4 Program Table Setup Commands The following table shows the Program Table Setup Commands Table 6 4 Program Table Setup Commands 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 or the RES command is executed Since the program table is stored in flash memory this command must not be exe cuted frequently Note Do not turn OFF the control power supply while PGMSTORE is being executed Execution can take slightly longer than 10 seconds The green LED will flash during execution PGMINIT Program Initialization Resets all values in the program table to their factory default settings Note Do not turn OFF the control power supply while PGMINIT is being executed Execution can take slightly longer than 10 seconds The green LED will flash during execution POSTsss Program Table POS Read POST123 A 12345678 CR LF POST123 I 12345678 CR LF Reads the POS value positioning target position POST 123 INFINITE SP CR LF sss Program step PGMSTEP POST 123 STOP S
171. ing parameters Parame Signal Pin No Settings Factory ter Setting Pn804 ISTART STOP CN4 5 0 Photocoupler ON Program table operation start Photocoupler OFF Program table operation stop 1 Photocoupler OFF Program table operation start Photocoupler ON Program table operation stop 2 or 3 Do not start program Pn805 PGMRES CN4 7 0 Photocoupler OFF to ON Cancel program 1 Photocoupler ON to OFF Cancel program 2 or 3 Do not cancel program Pn807 SEL1 CN4 11 1 Photocoupler OFF Active Pn808 SEL2 FER eee 3 Always Inactive Pn809 SEL3 CN4 15 Pn80A SEL4 CN4 17 Pn833 SEL5 CN4 41 Pn834 SEL6 CN4 45 uro The wiring and parameter settings described in the table above are not necessary when pro C Pn806 SELO CN4 9 0 Photocoupler ON Active 7 gram table operations are performed with serial commands The following table shows which serial commands correspond to the various input signals Signal Corresponding Serial Command MODE 0 1 None Mode switching is not necessary START STOP Start START OOO command DDD 000 to 127 SELO to SEL6 Stop STOP command Restart START command PGMRES PGMRES command 5 40 5 5 3 Program Table Step Selection 5 5 Program Table Use the 7 bit selection signals SELO to SEL6 to specify PGMSTEP 0 to 127 ISEL5 PGMSTEP Te E L L 7 2 _ E _ _ a ee ee ee oe oe e E ae ee ee Selection Signal Status SE
172. ions will be detected resulting a dangerous situation where the machine will move to unexpected positions Fond Press the DATA ENTER Key to display the multiturn limit setting display HRABE PGSEt eae DSPL_ Press the DSPL SET Key to SET execute the function If the DATA ENTER Key is pressed before executing the display will return to the function number q setting display P 1 9 Never turn OFF the control power supply while the display is flashing r k Wait until the display stops flashing 7 E dane The display will return to the 8 function number setting display Turn the control power supply OFF and then ON again End 7 40 N r IMPORTANT 7 7 Operations during Auxiliary Function Display For details on the multiturn limit setting see 5 3 5 Multiturn Limit Setting For a function whose settings has been changed the control power supply must be turned OFF and then ON again to enable the new settings Related Errors The following table shows the main errors related to the change multiturn limit value setting operation E61E The function cannot be executed because the L H L Encoder Mismatch Error encoder is not an absolute encoder E62E The function cannot be executed if an A CC No A CC Alarm alarm has not occurred L L z F Occurred Error Alarm A CC occurs only when the setting stored in the encoder does not match the set ting in paramete
173. irectio Multiturn data 32768 No of rotations gt Variation of multiturn data when the multiturn limit value is other than 65 535 fac tory setting Positive Pn205 a direction Negative T set value direction Multiturn data No of rotations gt If the servomotor rotates in the negative direction from 0 the multiturn data will change to the value set for Pn205 If the servomotor rotates in the positive direction from the value set in Pn205 the multiturn data will change to 0 Set Pn205 to m 1 Turn the power OFF and then back ON after changing the setting of parameter Pn002 2 or Pn205 The multiturn limit value in the Encoder is factory set to 65 535 the same as the SERVOPACK If the multiturn limit value in the SERVOPACK is changed with Pn205 and TERMS 1 Multiturn Limit The multiturn limit is the upper limit of the multiturn data If Pn002 2 0 the multiturn data will vary between 0 and the value set for Pn205 Multiturn Limit Setting 5 23 5 Parameter Settings and Functions 5 3 5 Multiturn Limit Setting then the SERVOPACK power is turned OFF and ON the following alarm will occur Alarm Name Multiturn Limit Disagreement Alarm Alarm Code Outputs Meaning of Alarm A CC ON OFF ON The multiturn limit value is different in the Encoder and SERVOPACK Note ON signals are low level OFF signals are high level If this alarm occurs the multiturn limit in th
174. ition Items Positioning speed Positioning speed Registration distance Registration distance Registration speed Registration speed Programmable Acceleration output signals Deceleration Pass condition Programmable output Number of executions signals PGMSTEP to be Pass condition executed next Number of executions PGMSTEP to be executed next ZONE Signal Setting ot supported Supported Parameter Pn835 N S Backlash Compensation Not supported Supported Parameter Pn836 Absolute Encoder Zero Not supported Supported Setting Parameter Pn809 Automatic Setting of Not supported Supported Multiturn Limit for a Single turn Absolute Encoder Parameter Pn205 Firmware Version 0003 0004 Indication Serial Command VER Digital Operator Fn800 SigmaWin Product Information Window R Nameplate Information The firmware version is given in the lower 2 digits of the VER number given on the name plate on the side of the product VER 04004 Firmware version viii Safety Information The following conventions are used to indicate precautions in this manual Failure to heed precautions provided in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems A WARNING Indicates precautions that if not heeded could possibly result in loss of life or serious injury A CAUTION Indicates precautions that if not heeded could resu
175. l be stopped 5 45 5 Parameter Settings and Functions 5 5 6 Program Table Operation 5 5 6 Program Table Operation E Starting and Stopping the Program If the START STOP signal becomes active when program table operation has been can celed SELO to SEL6 will be latched and the program will be executed from the PGM STEP specified with SELO to SEL6 Speed gt t START STOP Canceled Operating Latched SELO to SEL6 If the START STOP returns to inactive status the program will be stopped and the motor will stop positioning will be stopped Speed Canceled Operating Stopped START STOP If the START STOP becomes active again while the program is stopped the program posi tioning will be restarted SELO to SEL6 will not be latched at this time Speed START STOP Canceled Opera Stopped Operating 1 ting i Latched Not latched HEE HT SELO to SEL6 5 46 5 5 Program Table The program will be restarted even if the motor is decelerating Speed START STOP Canceled Operat Stopped Operating ing B Resetting the Program The program will be cancelled 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 Canceled PGMRES Rising edge 5 5 7 Status Changes
176. l check Clean dust and oil from motor surface Overloaded Run under no load Reduce load or replace with larger capacity servomotor Abnormal Noise Mechanical mounting incorrect Servomotor mounting screws Tighten mounting screws loose Coupling not centered Center coupling Coupling unbalanced Balance coupling Bearing defective Check noise and vibration near Consult your Yaskawa repre bearing sentative if defective Machine causing vibrations Foreign object intrusion dam Consult with machine manu age or deformation of sliding facturer parts of machine 9 7 9 Troubleshooting 9 2 1 Status Displays 9 2 NS600 Troubleshooting This section explains how to troubleshoot and correct NS600 problems 9 2 1 Status Displays Displays when an Alarm Occurred Serious errors that occur unexpectedly are known as alarms When an alarm occurs the servo will be forced OFF Display or Signal P Content SE STS Status Indicator Green LED OUO OFF Red LED Continuously Lit Digital Operator connected to CN7 In Status Display Mode the alarm code is displayed continuously In other Modes the alarm code is displayed for just 2 seconds Response to the Alarm or Warning Read command Alarm code ALM Response to the Most Recent Error Read command No change ERR Panel Displays A EF or the SERVOPACK alarm code In some cases nothing is displayed ALM signal Active photocoupler OFF Displays when an Error Occurre
177. llowing example shows how to select and execute an auxiliary function RADOR K l lt gt ININ Use these keys to select the auxiliary function number BAHOE Press the DATA ENTER Key to enter ENTER the selected auxiliary function number coms GEBRE Press the DATA ENTER Key again to return to the auxiliary function number display The actual function displays and operations vary depending on the function selected Refer to the description of each function for details 7 19 7 Using the Digital Operator R Fn000 Alarm Traceback Data Display This function displays the last ten alarms that have occurred End Press the DATA ENTER Key once to enter ENTER alarm traceback display Press the DATA ENTER Key again to return to the auxiliary function number display BARRE law Use the Up and Down Keys to scroll through the last 10 alarms numbered 0 to 9 IAN HABE IAM D HC 7 Note The following diagram shows the content of the alarm traceback dis play If no alarms have occurred nonE will be displayed 9 051 AGRE Alarm code Alarm record number Alarm 0 is the most recent 7 20 7 7 Operations during Auxiliary Function Display B Fn001 Rigidity Setting during Online Autotuning This function sets the machine rigidity When this function is executed parameters Pn100 Pn101 Pn102 and Pn401 will be refreshed and saved to EEPROM G nU Press the DATA E
178. lowing procedure to connect the CN1 CN4 and CN6 connectors if these connectors are being used The Digital Operator can remain connected a Turn OFF power b Connect the CN1 CN4 and CN6 connectors c Turn ON power again 6 Check the CN1 input signals if CN1 input signals are being used Check the input signal wiring in Monitor Mode using the Digital Operator by monitor ing Un005 the input signal monitor Refer to Chapter 7 Using the Digital Operator for details on using the Digital Operator 4 6 4 2 Step 1 Trial Operation for Servomotor without Load Turn ON and OFF each signal line to see if the LED monitor bit display changes as shown below Input signal LED display lt 4 Top lights when OFF high level lt q Bottom lights when ON low level SEL6 RGRT Not used Always ON Input Signal Status LED Display OFF high level Top LED indicators light ON low level Bottom LED indicators light IMPORTANT The servomotor will not operate properly if the following signal lines are not wired correctly Short the signal lines if they will not be used The input signal selections parameters Pn803 to Pn80F can be used to eliminate the need for external short circuiting P OT CN1 42 The servomotor can rotate in the forward direction when this signal is ON The servomotor is in forward overtravel status Forward Run Prohibited when this signal is OFF N OT CN1 43 The servomotor can rotate in
179. ls 5 V maximum 3 15 3 Connector Wiring 3 3 2 Communications Connector 3 3 2 Communications Connector R Pin Layout R Connector Model NS600 side Applicable Receptacles Connector Solder Type Case Manufacturer 10214 52A2JL 10114 3000VE 10314 52A0 008 Sumitomo 3M Co 14 p 3 3 3 Connector Signal Names Receive data inverted Personal computer gt SERVOPACK fRemedpn C If RT and RXD are connected shorted the built in terminator 120 Q will be connected between RXD and RXD RD 3 16 3 3 Digital Operator or Support Software Connector CN7 3 3 4 Connection Examples R Using RS 422 Cable RS 422 RS 485 port 2 Sa NS600 I RXD o o 1 TXD Twisted pair wire RXDo T O 2 TXD o 8 TXD o 9 TXD TXD U l t o 3 RXD TXD O o 4 RXD mo 10 RXD r 6 RXD l 7 RT OVo o 14 GND Shield wire E Q 6 Case FG ad al Y y Y Y y To next axis 2 3 4 Note 1 Cable length 50 m max 2 Connect short the RT and RXD pins in the last axis Fig 3 6 Wiring with RS 422 Cable R Using RS 232C Cable RS 232C port NS600 RXD o A N o 2 TXD TXD o o 4 RXD OVO i 014 GND l RTS o i i pel CTS Shield wire i CD o a FGo lt O Case FG DTR O _ DSR o Note Cable length 3 m max Fig 3 7 Wiring with RS 232C Cable 3 17 3 Connector Wiring 3 3 5 RS 422 Interface 3 3 5 RS
180. lt 99 999 SELxnnnnn Time elapsed ms after the SEL input signal became active x 0 to 6 0 lt nnnnn lt 99 999 Continue the specification used in the program step that was executed last LOOPTsss Program Table LOOP Read LOOPT123 12345 CR LF Reads the LOOP setting number of repetitions sss Program step PGMSTEP LOOPTsss nnnnn Program Table LOOP Write Sets the LOOP setting number of repetitions sss Program step PGMSTEP Setting 1 lt nnnnn lt 99 999 NEXTTsss Program Table NEXT Read NEXTT123 12345 CR LF NEXTT123 END SP SP CR LF Reads the NEXT setting link destination sss Program step PGMSTEP NEXTTsss nnn Program Table NEXT Write Sets the NEXT setting link destination sss Program step PGMSTEP Settings 0 lt nnn lt 127 Program step PGMSTEP END End 6 29 6 Serial Command Communications 6 7 5 Program Table Operation Commands 6 7 5 Program Table Operation Commands STARTsss START STOP PGMRES The following table shows the Program Table Operation Commands Table 6 5 Program Table Operation Commands 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 com mand can be executed to cancel that operation and simul taneously start a new program table operation from progr
181. lt in relatively serious or minor injury damage to the product or faulty operation In some situations the precautions indicated could have serious consequences if not heeded D PROHIBITED Indicates prohibited actions that must not be performed For example this symbol would be used as follows to indicate that fire is prohibited K Q MANDATORY Indicates compulsory actions that must be performed For example this symbol would be used as follows to indicate that grounding is compulsory D Safety Precautions The following precautions are for checking products upon delivery installation wiring operation maintenance and inspections B Checking Products upon Delivery A CAUTION e Always use the servomotor and SERVOPACK in one of the specified combinations Not doing so may cause fire or malfunction E Installation A CAUTION e Never use the products in an environment subject to water corrosive gases inflammable gases or combustibles Doing so may result in electric shock or fire B Wiring A WARNING Connect the ground terminal to electrical codes ground resistance 100 Q or less Improper grounding may result in electric shock or fire Zh CAUTION gt Do not connect a three phase power supply to the SERVOPACK s U V or W output terminals Doing so may result in injury or fire e Securely fasten the power supply terminal screws and motor output terminal screws Not doing so ma
182. lue Display Explanation Number Un806 Target position Example 12 345 678 reference units Indicates the target position for monitor positioning reference units HHA HAAG it Upper 3 digits press the Left or Right Key Lower 5 digits to display the upper 3 digits or lower 5 digits Un807 Target distance Example 12 345 678 reference units Indicates the distance from the monitor positioning start position to the reference units target position 7424 45698 Upper 3 digits Lower 5 digits Press the Left or Right Key to display the upper 3 digits or lower 5 digits Un808 Registration Example 12 345 678 reference units Indicates the registration target target position position that was determined monitor when the registration signal reference units L 4 U D Fy H latched Upper 3 digits press the Left or Right Key Lower 5 digits to display the upper 3 digits or lower 5 digits Un809 Registration Example 12 345 678 reference units Indicates the registration dis distance monitor tance reference units K H jag gt 45698 Mm Upper 3 digits press the Left or Right Key Lower 5 digits g to display the upper 3 digits or lower 5 digits Un80A Program step Example 127 Indicates the program step that monitor is being executed If the program is not being 1 1 r F lM d executed End will be dis End played Un80B Program event Example 1 000 ms Indicates
183. m mand is executed again The specified speed and direction cannot be changed while jogging is in progress Error E53E will occur if the speed or direction is changed during operation Speed RDSTa a RSPDb e RJOGPx RJOGNy 6 17 6 Serial Command Communications 6 7 2 Control Commands Table 6 2 Control Commands cont d Serial Command Function Positive Response ZRN Homing Start OK Starts homing operation When homing has been stopped with the HOLD command homing will be restarted the hold will be cleared when the ZRN command is executed again The parameters for homing are specified in parameters Pn823 to Pn828 Pn823 Pn824 Pn825 to Pn828 Homing Method Homing Direction Pn823 0 No homing Homing ends when the control power supply is turned ON or the RES command is executed Pn823 1 Pn824 0 Forward Use the DEC signal and Pn824 1 Reverse Moving speed gt Pn825 Approach Creep the encoder s phase C speed speed Pn826 __ Pn827 Final Move Distance i Pn828 DEC Encoder phase C INN T H First encoder phase C signal after the DEC signal went from OFF to ON Pn823 2 Use the DEC signal only Approa spee Creep Pn826 _ speed Pn827 E Final Move Dis tance Pn828 LI Pn823 3 Approach Use the encoder s phase C speed Creep Pn826 only speed Pn827 Final Move Di
184. m step PGMSTEP POUTTsss nnnnn Program Table POUT Write Sets the POUT settings programmable output signal specifications sss Program step PGMSTEP Settings N Inactive A Active Z Zone table Continue the POUT specifications used in the pro gram step that was executed last EVENTTsss Program Table EVENT Read EVENTT123 T12345 SP SP SP SP CR LF Reads the EVENT value pass condition EVENTT123 IT12345 SP SP SP sss Program step PGMSTEP CR LF EVENTT 123 NT12345 SP SP SP CR LF EVENTT123 DT12345 SP SP SP CR LF EVENTT123 SEL1T12345 CR LF EVENTT123 SP SP SP SP SP SP SP SP SP CR LF 6 28 6 7 Serial Commands Table 6 4 Program Table Setup Commands cont d EVENTTsss nnnnnnnn Program Table EVENT Write Sets the EVENT value pass condition sss Program step PGMSTEP Settings I INPOSITION positioning completed active N NEAR positioning near active D DEN positioning reference distribution active SELx SEL input signal active x 0 to 4 Tnnnnn Time elapsed ms since the program step started 0 lt nnnnn lt 99 999 ITnnnnn Time elapsed ms after the INPOSITION signal became active 0 lt nnnnn lt 99 999 NTnnnnn Time elapsed ms after the NEAR signal became active 0 lt nnnnn lt 99 999 DTnnnnn Time elapsed ms after the DEN signal became active 0 lt nnnnn
185. mable output signals POUTO to POUT4 are specified as ZONE signals POUTO Z0 POUT1 Z1 POUT2 Z2 POUT3 Z3 and POUT4 ZA 3 The status of outputs Z0 to Z4 is determined by the ZONE ID 4 The programmable output signals POUTO to POUT4 must be specified as ZONE sig nals Z For example if POUT ZAZZN then signals Z1 Z2 and Z4 will be output from programmable outputs POUT1 POUT2 and POUT4 ZONE Signal Conditions s When ZONEN lt ZONEFP the motor position is within range when ZONEN lt motor position lt ZONEP s When ZONEN gt ZONEP the motor position is within range when the motor position ZONEN or the motor position lt ZONEP lt q EXAMPLE gt ZONEN 11000 _ 0 ZONEP 1000 WV ay e When the motor position is within range for two or more zones only the lowest ZONE ID will be effective Ifthe motor position is not within range of any zones signals Z0 to Z4 will all be inac tive s A ZONE ID will be disabled if ZONEN ZONEP 0 is set for that zone 5 60 5 7 ZONE Table Settings E Setting the Initial Status of Programmable Output Signals POUTO to POUT4 The following parameter can be set to use ZONE signals as the initial status i e the status when the control power supply is turned ON or after resetting of the programmable output signals POUTO to POUT4 INFON This function is supported for version 4 or later For version 3 or earlier POUTO to
186. n coordinate Note If a new target position is specified during positioning the new target position will be used in the next ST command POSI Target Position Reservation Relative Position nNNNNNNN The sign can Setting range 99 999 999 lt nnnnnnnn lt 99 999 999 Reference units be omitted Specifies the target position as a relative distance Speed cpp POSly ST BT STT a The same positioning is repeated with ST Jol fol a i re ii b b y 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 6 10 6 7 Serial Commands Table 6 2 Control Commands cont d Serial Command Function Positive Response OK SPDnnnnnnnn Positioning Speed Reservation Setting range 1 lt nnnnnnnn lt 99 999 999 x1 000 reference units min Specifies the positioning speed After the control power supply is turned ON or the RES command is executed the position ing speed set in parameter Pn81E 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 1500 mm min 0 01 mm 1 500 000 references units min 1500 x1 000 reference units min SPD1500 Note If a new positioning speed is specified during positioning the new speed will not become effective until the next positioning operation ACCnnnnnnnn
187. ncoder in the following circumstances gt When starting the machine for the first time e When an encoder backup alarm is generated s When the SERVOPACK s power supply is turned OFF and the encoder s cable is removed The absolute encoder can be set up using the Support Software Digital Operator function Fn008 in the Auxiliary Function Mode or the ABSPGRES serial command For more details refer to B 2 Auxiliary Functions INFON The absolute encoder setup operation is only possible when the servo is OFF After the setup process ing is finished turn the power back ON again 5 22 5 3 Absolute Encoders 5 3 5 Multiturn Limit Setting N INFO J nro When using an absolute encoder for a rotary system such as for a disc table set the multi turn limit The multiturn limit is set in the SERVOPACK using the following parameter Multiturn Limit Setting Setting Factory Range Setting 0 to 65 535 65 535 For a machine that turns n times in response to m turns in the motor set the value m 1 in Pn205 The following equation however must be true m 1 lt 65 534 If the Multiturn Limit Setting is set to 65 535 factory setting the multiturn data will vary from 32 768 to 32 767 If any other value is set the multiturn data will vary from 0 to the setting of Pn205 e Variation of multiturn data when the multiturn limit value is 65 535 factory setting 32767 ositive Negative direction d
188. nction see 7 2 9 Motor Models Display in the C Series SGMOH SGDH User x Manual Manual No SIEPS80000005 7 38 7 7 Operations during Auxiliary Function Display B Fn012 SERVOPACK Firmware Version Display This function displays the SERVOPACK and encoder firmware version Cn 10 Press the DATA ENTER Key to display the firmware version display Press the DATA ENTER Key again to return to the function number setting display Example l aa l P The SERVOPACK s firmware version is displayed first DSPL SET Example EG 1 p The encoder s firmware version is displayed DSPL SET 7 39 7 Using the Digital Operator B Fn013 Change Multiturn Limit Value Setting This function sets the multiturn limit value When this function is executed the maximum multiturn value set in the absolute encoder is refreshed with the value in parameter Pn205 This operation clears alarm A CC the Multiturn Limit Disagreement alarm WARNING The multiturn limit value must be changed only for special applications Changing it inappropriately or unintentionally can be dangerous If a Multiturn Limit Disagreement alarm occurs check the setting of parameter Pn205 in the SER VOPACK first to confirm that it is correct If Fn013 is executed when an incorrect value is set in Pn205 an incorrect value will be set in the Encoder The alarm will disappear even if an incorrect value is set but incorrect posit
189. nd signals are normal when no alarms errors or warnings have occurred STS Status Indicator Green LED Continuously Lit Red LED Continuously OFF Digital Operator connected to CN7 In Status Display Mode the display shows the status such as POT BB or RUN Response to the Alarm or Warning Read command Returns BB COIN HOLD P OT etc ALM Response to the Most Recent Error Read command Error code the most recent error code ERR Displays BB or RUN In some cases nothing is displayed ALM signal Inactive photocoupler ON 9 9 9 Troubleshooting 9 2 2 Alarm Display Table 9 2 2 Alarm Display Table CPFO0O E12A E13A E14A E15A E16A Refer to the following table to identify the cause of a problem and take the remedy described Contact your Yaskawa representative if the problem cannot be solved by the described pro cedures SGDH Alarm Activation Alarm System Alarm Detected only when con trol power supply is turned ON or the RES command is executed Firmware Execution Alarm Firmware Version Unmatched Detected only when con trol power supply is turned ON or the RES command is executed Parameter Checksum Alarm Detected only when con trol power supply is turned ON or the RES command is executed Parameter Version Unmatched Detected only when con trol power supply is turned ON or the RES command is executed Parameter Out of range Alarm Detected only when
190. ng Pn804 HOME CN4 5 Pn80E DEC CN 1 44 Pn805 JOGP CN4 7 Pn806 JOGN CN4 9 Pn809 JOG2 CN4 15 Ts woe ones 5 63 0 Photocoupler ON Homing Start 1 Photocoupler OFF Homing Start 2 Always active 3 Always inactive 0 Photocoupler ON Homing Deceleration Start 1 Photocoupler OFF Homing Deceleration Start 2 Always homing Deceleration 3 No homing Deceleration 0 Photocoupler ON Jog Forward 1 Photocoupler OFF Jog Forward 2 Always active 3 Always inactive oe oz A ae 0 Photocoupler ON Jog Reverse 1 Photocoupler OFF Jog Reverse 2 Always active 3 Always inactive 0 Photocoupler ON Active 1 Photocoupler OFF Active 2 Always active 3 Always inactive 5 Parameter Settings and Functions 5 8 3 Parameters Related to Homing 5 8 3 Parameters Related to Homing Set the homing parameters with the parameters listed in the following table Parame Name Settings Unit Factory ter Setting Pn81D Home Position 99 999 999 to Reference units 99 999 999 Pn823 Homing Method 0 No Homing 1 DEC and phase C 2 DEC only 3 Phase C only Pn824 Homing Direction 0 Forward 1 Reverse Pn825 Homing Moving Speed 0 to 99 999 999 x1 000 Reference 1 000 units min Pn826 Homing Approach Speed 0 to 99 999 999 x1 000 Reference 1 000 units min Pn827 Homing Creep Speed 0 to 99 999 999 x1 000 Reference 1 000 units min Pn828 Homing Final Moving 9
191. ng 1 Emergency stop 2 Deceleration stop 0 Linear 1 Rotary shortest path 2 Rotary forward 3 Rotary reverse 99 999 999 to 99 999 999 99 999 999 99 999 999 x1 000 refer 1 to 99 999 999 1 000 ence units min A 4 Reference units Reference units 99 999 999 to 99 999 999 Reference units 99 999 999 to 99 999 999 A 1 NS600 Parameters Table A 1 NS600 Parameters cont d Parameter Name Unit Setting Range Factory Setting Pn81F Acceleration x1 000 refer 1 to 99 999 999 1 000 ence units min ms Pn820 Deceleration 2 x1 000 refer 1 to 99 999 999 ence units min ms Pn822 Near Width Pn823 Homing Method 2 0 No Homing 1 DEC and phase C 2 DEC only 3 Phase C only 0 Forward 1 Reverse Pn825 Homing Moving x1 000 refer 1 to 99 999 999 Speed ence units min Pn826 Homing Approach x1 000 refer 1 to 99 999 999 Speed ence units min Pn827 Homing Creep Speed 1 000 refer 1 to 99 999 999 ence units min Pn828 Homing Final Move Dis Reference 99 999 999 to 99 999 999 tance 2 units Pn829 to Reserved setup infor Do not change Pn832 mation Pn833 SEL5 Closed Program select E E Open Program select Always program select Always no program select Closed Program select Open Program select Always program select Always no program select POUTO to POUT4 will be inactive after the con trol
192. ng E Rd Sec 3 Taipei Taiwan hone 886 2 2502 5003 Fax 886 2 2505 1280 PI SHANGHAI YASKAWA TONGUJI M amp E CO LTD 27 Hui He Road Shanghai China 200437 hone 86 21 6553 6060 Fax 86 21 5588 1190 PI BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO LTD 30 Xue Yuan Road Haidian Beijing P R China Post Code 100083 hone 86 10 6233 2782 Fax 86 10 6232 1536 PI SHOUGANG MOTOMAN ROBOT CO LTD 7 Yongchang North Street Beijing Economic Technological Investment amp Development Area A lt Z UH lt VAK V lt I 9 D amp I eijing 100076 P R China hone 86 10 6788 0551 Fax 86 10 6788 2878 B P YASKAWA ELECTRIC CORPORATION YASKAWA In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations Therefore be sure to follow all procedures and submit all relevant documentation according to any and all rules regulations and laws that may apply Specifications are subject to change without notice MANUAL NO SIE C718 9B for ongoing product modifications and improvements Printed in Japan October 2003 02 1 D 2002 2003 YASKAWA ELECTRIC CORPORATION All rights reserved 03 4 00 71066
193. ng have been tested completely After step 1 has been completed proceed to step 2 for trial operation with the servomotor con nected to the equipment The purpose of step 2 is to adjust the SERVOPACK according to equipment characteristics e Use autotuning to match the SERVOPACK to equipment characteristics e Match the direction of rotation and speed to equipment specifications e Check the final control form Connect to the machine Follow the procedures below to perform the trial operation 1 Make sure power is OFF 2 Connect the servomotor to the equipment See 3 8 Mechanical Specifications of Servomotors in the X I Series SGM OH SGDH User s Manual Manual No SIEPS80000005 for more details on connecting the ser vomotor 3 Use autotuning to match the SERVOPACK to equipment characteristics See 9 1 2 Autotuning Functions in the SGMMQH SGDH Users Manual Manual No SIEPS80000005 for details 4 Operate the servomotor with Digital I O or Serial Mode operation See Chapter 5 Parameter Settings and Functions and Chapter 6 Serial Command Com munications for details 5 Set and record parameters Set parameters as required and record all settings for use later in maintenance This completes the trial operation procedure 4 10 4 3 Step 2 Trial Operation with the Servomotor Connected to the Machine A WARNING The servomotor will not be broken in completely during the trial operation Therefore let it the sy
194. ngs The Servo must be OFF when this function is executed gt abs Press the DATA ENTER Key to display ENTER the Parameter Initialization display Pine P Init DSPL_ Press the DSPL SET Key to SET execute the function If the DATA ENTER Key is pressed before executing the display will return to the function number pi display x I p Wait until the display stops flashing Never turn OFF the control power lt supply while the display is flashing IH 7 IdonE i donE U The display will return to the function 0 number setting display Turn the control power supply OFF and then ON again k End For a function whose settings has been changed the control power supply must be turned OFF and then ON again to enable the new settings 7 26 7 7 Operations during Auxiliary Function Display Related Errors The following table shows the main errors related to the initialize parameter settings opera tion ESAE The parameter settings initialization opera L C H L Execution Disabled while tion cannot be executed while the Servo is Servo ON Error ON Switch the Servo OFF and try again 7 27 7 Using the Digital Operator R Fn006 Alarm Traceback Data Clear This function clears the record of alarms that have occurred nU UD Press the DATA ENTER Key to display the Alarm Traceback Data Clear display Gr LL r trCLr Tm 089 T Press
195. nnnn Registration Distance Reservation RSPDnnnnnnmn Registration Speed Reservation RSI nnnnnnnn Relative Position Reservation and Positioning Start with Registration 6 16 6 7 Serial Commands Table 6 2 Control Commands cont d Serial Command Function Positive Response RJOGPnnnnnnnn Jog Forward Reverse with Registration OK RJOGNnnnnnnnn Setting range 1 lt nnnnnnnn lt 99 999 999 x1 000 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 from 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 RJOGP RJOGNnnnnnnnn command is executed but the registra tion distance hasn t been specified even once If the RJOGP RJOGNnnnnnnnn command is executed but the registration speed hasn t been specified even once the speed specified in parameter Pn81E 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 co
196. nnnnn Desired position Usually zero Un804 Current position reference monitor When using the linear moving method Pn81A 0 set the calculated value in Pn81D When using a rotary moving method Pn81A 0 set the results in Pn81D after performing the following calculations so that the following relationships are satisfied Pn81C lt Pn81D lt Pn81B e Ifthe results is smaller than Pn81C the start limit of the rotational coordinates add the width of the coordinates Pn81B Pn81C 1 e Ifthe results is larger than Pn81C the end limit of the rotational coordinates subtract the width of the coordinates Pn81B Pn81C 1 Making the above setting will change the current position of the machine to nnnnnnnn 5 25 5 Parameter Settings and Functions 5 4 1 Switching Servomotor Rotation Direction 5 4 Settings According to Device Characteristics This section describes the procedure for setting parameters according to the dimensions and per formance of the equipment used 5 4 1 Switching Servomotor Rotation Direction The SERVOPACK has a Reverse Rotation Mode that reverses the direction of servomotor rotation without rewiring Forward rotation in the standard setting is defined as counter clockwise as viewed from the load With the Reverse Rotation Mode the direction of servomotor rotation can be reversed with out changing other items The direction of shaft motion is reversed Ps Standard Setting
197. nnnnn POSA nnnnnnnn POS or MON8 POSI nnnnnnnn POSTsss POSTsss POUT POUTnnnnn POUTTsss POUTTsss PRMINIT PRMppp PRMppp PUN or MON1 RDST or MON11 RDSTnnnnnnnn RDSTTsss RDSTTsss RES RGRMS RPOS or MON10 S RS nnnnnnnn RSA nnnnnnnn RSI nnnnnnnn Motor Type Display Program Table NEXT Read Program Table NEXT Write Motor Speed Monitor Speed Reference Monitor SGDH Output Signal Monitor CN1 NS600 Output Signal Monitor CN4 NS600 Output Signal Reservation CN4 Position Error Monitor Current actual Motor Position Monitor Program Initialization Program Table Operation Reset Program PGMSTEP Pass Through Monitor Program Table Save Encoder Type Display Encoder Firmware Version Display Reference 6 7 8 6 7 4 6 7 4 6 7 8 6 7 8 6 7 8 6 7 8 6 7 8 6 7 8 6 7 8 6 7 4 6 7 5 6 7 8 6 7 4 6 7 8 6 7 8 Target Position Reservation Absolute Position 6 7 2 Registration Distance Reservation Program Table RDST Read Program Table RDST Write Reset Regeneration Load Ratio Monitor Registration Target Position Monitor Positioning Start with Registration Positioning Start with Registration Absolute Position 6 7 2 6 7 4 6 7 4 6 7 1 6 7 8 6 7 8 6 7 2 6 7 2 Positioning Start with Registration Relative Distance 6 7 2 C 3 Appendix C List of Serial Commands Table C 1 Alphabetical List of Serial Commands cont d Reference 6 7 2 6 7 4 6 7 4 6 7 2 6 7 2
198. ns Specifications 3 15 3 3 2 Communications Connector 3 16 3 3 3 Connector Signal Names 3 16 3 3 4 Connection Examples 3 17 3 3 5 RS 422 Interface 3 18 3 4 Power Loss in the NS600 3 19 xiii 4 Trial Operation 4 1 Two step Trial Operation 4 2 4 2 Step 1 Trial Operation for Servomotor without Load 4 3 4 3 Step 2 Trial Operation with the Servomotor Connected to the Machine 4 10 5 Parameter Settings and Functions 5 1 Restrictions on SGDH SERVOPACK Parameters 5 4 5 2 Sequence I O Signals 5 6 5 2 1 Using the Servo ON OFF Input Signal S ON 5 9 5 2 2 Using Servo Alarm and Alarm Code Outputs ALM ALO1 to ALO3 5 9 5 2 3 Brake Interlock Output Signal BK 5 10 5 2 4 Using the Servo Ready Output Signal S RDY 5 13 5 2 5 Using the Error Warning Output Signal WARN 5 14 5 2 6 Using the Positioning Completed Output Signal INPOSITION 5 15 5 2 7 Using the Programmable Output Signals POUTO to POUT4 5 16 5 2 8 Encoder Signal Outputs 5 18 5 3 Absolute Encoders
199. nstants ity Pn601 Fixed parameter Do not change Poe ity 5 1 The multiturn limit must be changed only for special applications Changing this limit inap propriate or unintentionally can be dangerous 2 The setting of parameter Pn111 is valid only when parameter Pn110 1 is set to 0 3 After changing these parameters turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings Pn110 1 and Pn110 2 are on line param eters and become effective immediately 4 Normally set to 0 When using an External Regenerative Resistor set the capacity W of the regenerative resistor 5 The upper limit is the maximum output capacity W of the SERVOPACK 6 This parameter is supported for SERVOPACK firmware version 32 or later A 9 Appendix A List of Parameters 7 Change the set value to hexadecimal and then convert the lower 2 bytes and upper 2 bytes to decimal values Set the decimal equivalent of the lower 2 bytes in Pn212 and the decimal equivalent of the upper 2 bytes in Pn213 Example If the set value is 131088 set the following 131088 0x00020010 Pn212 Lower 2 bytes 0x0010 16 Pn213 Upper 2 bytes 0x0002 2 A 3 Parameters Used for SERVOPACK Linear Motors A 3 Parameters Used for SERVOPACK Linear Motors The following table lists the SERVOPACK linear motors Table A 3 Parameters Used for SERVOPACK Linear Motors Category Parameter Nam
200. o 1 6 34 6 7 Serial Commands Table 6 8 Monitor and Auxiliary Function Commands cont d Serial Command OUT1 SGDH Output Signal Monitor NS600 Output Signal Monitor OUT2TESTbbbbbb NS600 Output Signal Reservation Forcibly sets the output signals to the specified sta tus This command is used to check wiring Photocoupler OFF Photocoupler ON INPOSITION POUTO POUT1 POUT2 POUT3 POUT4 Always 0 Always 0 OUT2TESTEND Clears the forced signal status Note Error E56E will occur if fewer than 6 digits bbbbbb are specified in the command 6 35 OUTI 01010101 CR LF 0 Photocoupler OFF 1 Photocoupler ON Bit 0 ALM Bit 1 WRN Bit 2 BK Bit 3 S RDY Bit 4 ALO Bit 5 ALO2 Bit 6 ALO3 Bit 7 Always 0 OUT2 01010101 CR LF 0 Photocoupler OFF 1 Photocoupler ON Bit 0 INPOSITION Bit 1 POUTO Bit 2 POUT1 Bit 3 POUT2 Bit 4 POUT3 Bit 5 POUT4 Bit 6 Always 0 Bit 7 Always 0 6 Serial Command Communications 6 7 8 Monitor and Auxiliary Function Commands Table 6 8 Monitor and Auxiliary Function Commands cont d POUT POUT Monitor POUT SP ANANZ CR LF Bit 0 POUTO Bit 1 POUT1 Bit 2 POUT2 Bit 3 POUT3 Bit 4 POUT4 PGMSTEP Program PGMSTEP Pass Through Monitor PGMSTEP 12345 CR LF EVTIME Program EVENT Elapsed Time Monitor EVTIME 12345 CR LF Monitors time elapsed ms for an event in program tabl
201. o display the Program Table Save display SEorck StorE L DSPL Press the DSPL SET Key to SET execute the function If the DATA ENTER Key is pressed before executing the display will return to the function number setting l display 560 l 1 x Wait until the display stops flashing Never turn OFF the control power supply while the display is flashing E A N 7 X 00 7 l don The display will return to the function number setting display 7 43 7 Using the Digital Operator R Fn804 Zone Table Save This function saves the zone table to flash memory When this function is executed the zone table in RAM is saved to flash memory Data saved in flash memory is retained even when the control power supply is turned OFF Foy Press the DATA ENTER Key to display the Zone Table Save display Enr L StorE ENTER If the DATA ENTER Key is pressed before executing the display will return to the function number setting display DSPL Press the DSPL SET Key to SET execute the function 7 S X 12 E U U E Wait until the display stops flashing N 7 l Never turn OFF the control power lt supply while the display is flashing The display will return to the function number setting display 7 44 7 7 Operations during Auxiliary Function Display B Fn805 Jog Speed Table Save This function saves the jog speed table t
202. o flash memory When this function is executed the jog speed table in RAM is saved to flash memory Data saved in flash memory is retained even when the control power supply is turned OFF En US Press the DATA ENTER Key to display NTER the Jog Speed Table Save display HHG QH StorE DSPL_ Press the DSPL SET Key to SET execute the function If the DATA ENTER Key is pressed before executing the display will return to the function number s setting display N Wait until the display stops flashing Never turn OFF the control power E 4 supply while the display is flashing The display will return to the function number setting display 7 45 7 Using the Digital Operator B Fn806 Program Table Initialization This function initializes the program table i e returns the program table settings to their factory default settings Robb Press the DATA ENTER Key to display the Program Table Initialization display lo dE Init L DSPL_ Press the DSPL SET Key to ENTER SET execute the function If the DATA ENTER Key is pressed before executing the display will return to the function number setting display k 7 F U E Wait until the display stops flashing 7 l Never turn OFF the control power l supply while the display is flashing l donE The display will return to the function number setting display Related E
203. oltage and current capacities for open collector output circuits are as follows e Voltage 30 VDC max e Current 20 mA DC max Connecting to a Photocoupler Output Circuit Connect a photocoupler output circuit through a relay or line receiver circuit 5to24VDC Rel 5 to 12 VDC a Ney SERVOPACK TRT ROTI H ov L end Note The maximum allowable voltage and current capacities for photocoupler output circuits are as follows e Voltage 30 VDC max e Current 50 mA DC max 3 9 3 Connector Wiring 3 2 1 Communications Specifications 3 2 Serial Command Communications Connector CN6 Serial commands can be used to perform operations such as positioning setting parameters and program tables monitoring and other operations RS 422 RS 485 or RS 232C gt Host controller 3 2 1 Communications Specifications The following table shows the communications specifications of the CN6 connector Item Specification Interface Full duplex RS 422 RS 485 or RS 232C or half duplex RS 485 Selectable with parameter Pn800 Total Cable Length RS 422 RS 485 50 m max RS 232C 3 m max Bit Rate 9 600 19 200 or 38 400 bps Selectable with parameter Pn801 Factory setting 9 600 bps Synchronization Start stop synchronization Data Format Start bits 1 bit Dat
204. on The RGRT latch signal can be input while the program is stopped Speed Registration targent position gt t ISTART j STOP RGRT The program can be stopped during Registration operation The Registration operation will be restarted if the program is restarted Speed Registration target position l START STOP RGRT 5 58 5 7 ZONE Table Settings 5 7 ZONE Table Settings ZONE signals are signals that indicate regions defined in the ZONE table Outputs POUTO0 to POUT4 must be specified 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 Execute one of the following methods to save the ZONE table to flash memory s The ZONESTORE serial command e Save ZONE Table from the support software e Digital Operation function Fn804 Table 5 3 ZONE Table eel 5 59 Z1 Active Active Active Active Active Active Active Active Active Active Active Active Active Active 5 Parameter Settings and Functions Table 5 3 ZONE Table cont d Sn e aie fae Fae le se ee Note 1 The symbols indicate 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 program
205. on other end 36 pins 1 0 m N4 I O Cable loose wires on other end 36 pins 2 0 m N4 I O Cable loose wires on other end 36 pins 3 0 m N4 I O Cable terminal block on other end 36 pins 0 5 m N1 I O Cable loose wires on other end 50 pins 1 0 m N1 I O Cable loose wires on other end 50 pins 2 0 m N1 I O Cable loose wires on other end 50 pins 3 0 m N1 I O Cable terminal block on other end 50 pins 0 5 m N6 Cable for RS 422 or RS 485 connections Np Cable for personal computer connection RS 232C Cable JZSP CMS02 ith 9 pin D SUB connector 2 0 m N7 Cable for RS 422 connection N7 Cable for personal computer connection RS 232C Cable JZSP CMS02 Prepared by user Prepared by user 1 2 Product Part Names Table 1 1 Model Numbers cont d Component Model Number Accessories fb CN4 Connector with case 36 pins DP9420007 CN1 Connector with case 50 pins JZSP CK19 Digital Operators Digital Operator with 1 m cable JUSP OP02A 2 Digital Operator Cable 1 m JZSP CMS00 1 Digital Operator Cable 1 5 m JZSP CMS00 2 Digital Operator Cable 2 m JZSP CMS00 3 Support Software o SigmaWin Japanese language version English language ver JZSP WP001 sion Note Refer to the X I Series SGM LOIH SGDH User xY Manual Manual No SIEPS80000005 for part numbers and additional information on Servomotors SERVOPACKs Power Supply Cables Encoder Cables and accessories 1 5 1 Checking Products and Pa
206. on the ADRS rotary switch Up to 16 axes can be connected 0 to 9 and 6 A to F SERVOPACK SGDH YASKAWA 8 818 818 0000 MODEK Y DMa CHARGE power uo ee S 7 Y oec 7 I esi aa l FEC B lt ADRS E l y 20 oooolo ooo oog gt ZO aras amp amp 89 Sk se j Tp NIJI 6 3 6 Serial Command Communications 6 2 3 Parameters Related to Serial Communications 6 2 3 Parameters Related to Serial Communications The following table shows the parameters that set the communications protocol bit rate and OK response d ea Function Settings Factory z Pn800 Protocol 0 Full duplex wiring 1 Full duplex wiring Echoback each character 2 Half duplex wiring delimiter CR 3 Half duplex wiring delimiter CR Echoback each char acter 4 Half duplex wiring delimiter CR Echoback each com mand 5 Half duplex wiring delimiter CR LF 6 Half duplex wiring delimiter CR LF Echoback each character 7 Half duplex wiring delimiter CR LF Echoback each command Pn801 Bit rate 0 9 600 bps 1 19 200 bps 2 38 400 bps Pn802 Response 0 Disables response OK OK 1 Enables response OK
207. on the SERVO PACK s nameplate SERVOPACK model number SGDH OOOE O0 D 2 1 First part must be SGDR 2 Middle part must end with an E If any of the above items are faulty or incorrect contact your Yaskawa sales representative or the dealer from whom you purchased the products 1 1 1 External Appearance and Nameplate Examples S S S S S EEE Ako _ 0a J 0 4 oCo Fig 1 1 External Appearance of the NS600 1 1 Checking Products on Delivery Application Module model number Name SERVOPACK IP1X INDEXER OPTION UNIT MODEL JUSP NS600 VER 01000 0 N OP0210 3 1 S N D00081703490001 4 US Use with SGDH LISTED SERVOPACK only IND CONT EQ YASKAWA ELECTRIC MADE IN JAPAN MLI I Manufacturing number Version Fig 1 2 Example Nameplate 1 1 2 Model Number NS600 JUSP NS60 0 SERVOPACK Peripheral Device O L Design Revision Order Unit Identifier NS60 Idenxer Application Module 1 1 3 Version Information VER 04004 VER 04 0 04 L Firmware version Parameter version Hardware version Note Unless otherwise specified any version given in this manual is the firmware version 1 Checking Products and Part Names 1 2 Product Part Names Do not use a Built in Panel Operator Use a Hand held Digital Operator instead The figure below shows the part names of a SERVOPACK t
208. onitor 7 14 Un803 Status flag monitor 7 14 Un804 Current position reference monitor 7 14 Un805 Current motor position monitor 7 14 Un806 Target position monitor 7 15 Un807 Target distance monitor 7 15 Un808 Registration target position monitor 7 15 Un809 Registration distance monitor 7 15 Un80A Program step monitor 7 15 Un80B Program event time progress monitor 7 15 Un80C Program loop progress monitor 7 15 Un80D Serial command received character trace 7 16 Un80E Serial command received character count 7 16 Un80F Serial command received error character count 7 16 Un810 Serial command transmitted character trace 7 17 Un811 Serial command transmitted character count 7 17 7 7 Operations during Auxiliary Function Display 7 18 Fn000 Alarm Traceback Data Display 7 20 Fn001 Rigidity Setting during Online Autotuning 7 21 Fn002 JOG Mode Operation 7 22 Fn003 Zero point Search
209. ors CN1 and CN4 The following diagrams show the layout and specifications of CN1 and CN4 terminals WARN Servo warning output BK Brake interlock output S RDY Servo ready out put ALM Servo alarm out put PAO PG divided out put phase A PBO PG divided out put phase B ALO2 Alarm code out put S ON Servo ON input P OT Forward over travel input DEC Zero point return deceleration LS input RGRT Registration latch Phase S output R CN1 Terminal Layout 27 BK Brake inter lock output 3 29 S RDY Servo ready N oo output Ww Alarm output 5 U U N output phase A U A 35 PG divided output Ww nN phase B 37 ALOI Alarm code outputs ALO3 41 SEL5 Program table select signal 5 3 PCO PG divided output 1 ALM 33 SE PG divided 4 Reverse over travel input phase C 45 SEL6 Program table select signal 6 BAT Battery 47 24VIN Power supply for sequence da nN PCO output phase C BAT Battery 25 WARN Error Warn ing output Note 1 Do not use unused terminals for relays E oo A w N A N oo ey 49 Phase S out put nN 2 Connect the shield of the I O signal cable to the connector shell Connect to the FG frame ground at the SERVOPACK end connector 3 4 3 1 lO Signal Connections R CN1 Specifications Specific
210. ositioning Speed 15 m min 15 000 mm min 1 500 000 reference units min 0 01 mm Thus the Positioning Speed setting is 1 500 x 1 000 reference units min Specify the Positioning Speed and 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 com mands The SPD and RSPD commands can be omitted in this case the setting in the follow ing parameter will be used Positioning Registration Setting Range Speed 1 to 99 999 999 x 1 000 reference units min E Setting the Acceleration Deceleration and S curve Time Calculate the Acceleration Deceleration lt EXAMPLE K Reference unit 0 01 mm 0 0004 in e Acceleration rate from 0 m min to 15 m min 100 ms 15 000 mm min 1 500 000 reference units min 0 01 mm 1 500 000 reference units min 15 000 reference units min ms 100 ms Thus the Acceleration setting is 15 x 1 000 reference units min ms Use the parameters listed in the following table to set the acceleration rate deceleration rate and S curve time Acceleration Setting Range Factory 1 to 99 999 999 Setting x1 000 reference units min ms 1 000 Pn820 Deceleration Setting Range Factory 1 to 99 999 999 Setting x1 000 reference units min ms 1 000 Pn208 S curve Time Setting Range Factory 0 to 6 400 0 01 ms Setting 0 5 34 5 4 Settin
211. otor position and limit P LS or N LS is ON the position reference limit set tings Pn81B and Pn81C If necessary move within the software position reference limits There is no position reference Check for NS600 errors Set the program table correctly or it is incorrect Servomotor Moves Servomotor or encoder wiring Refer to Chapter 3 Wiring in Instantaneously then incorrect the amp Series SGM H Stops SGDH User s Manual Design and Maintenance Manual Number SIE S800 32 2 and correct the wiring Servomotor Speed Wiring connection to motor Check connection of power Tighten any loose terminals or Unstable defective lead phases U V and W connectors and encoder connectors Servomotor Vibrates at Speed loop gain value too high Reduce speed loop gain Approximately 200 to Pn100 preset value 400 Hz 9 6 9 1 Servodrive Troubleshooting Table 9 3 Troubleshooting Table with No Alarm Display cont d High Rotation Speed Speed loop gain value too high Reduce speed loop gain Overshoot on Starting Pn100 preset value and Stopping Increase integration time con stant Pn101 Speed loop gain is too low Increase the value of parameter compared to position loop gain Pn100 speed loop gain Reduce the integration time constant Pn101 Servomotor Overheated Ambient temperature too high Measure servomotor ambient Reduce ambient temperature to temperature 40 C max Servomotor surface dirty Visua
212. output in 3 bits Warning Warning Code Output Warning Description ALO1 ALO2 ALO3 A 91 ON signal OFF signal OFF signal Overload low level high level high level A 92 OFF signal ON signal OFF signal Regenerative overload high level low level high level ON signal ON signal OFF signal Low battery voltage low level low level high level 5 2 6 Using the Positioning Completed Output Signal INPOSITION Power supply NS600 24V OV Photocoupler output per output ais CN4 19 ea Maximum operating voltage 30 V DC Ibe i t Maximum output current 50 mA DC IY ZR E CN4 20 INPOSITION l Oio T NONON ey L PR Helv 1 Positioning Completed Output Signal This signal indicates that servomotor movement has been completed If positioning is canceled this signal will be output when the motor stops even if the motor does not reach the target position Reference speed a Motor speed Position error INPOSITION J ON Circuit between CN4 19 and CN4 20 is Positioning is completed Position error is closed below the setting OFF Circuit between CN4 19 and CN4 20 is Positioning is not completed Position error open is above the setting 5 15 5 Parameter Settings and Functions 5 2 7 Using the Programmable Output Signals POUTO to POUT4 The timing for output of the Positioning Completed Output can be adjusted by adjusting
213. owing table to identify the cause of a problem and take the remedy described Program Table Save Failure Error Zone Table Save Failure Error Jog Speed Table Save Failure Error Program Table Check sum Error Jog Speed Table Check sum Error Serial Communications Receiving Buffer Over flow Error Table 9 5 NS600 Error Displays Error Error Name Details Remedy Panel Display Display 2 OF OF OF OF OF The flash memory write process failed dur ing a program table save operation execu tion of the PGMSTORE command or Fn803 or program table initialization operation execution of the PGMINIT command or Fn806 The flash memory write process failed dur ing a zone table save operation execution of the ZONESTORE command or Fn804 or zone table initialization operation exe cution of the ZONEINIT command or Fn807 The flash memory write process failed dur ing a jog speed table save operation exe cution of the JSPDSTORE command or Fn805 or jog speed table initialization operation execution of the JSPDINIT command or Fn808 There was a request to start program table operation even though an E19A E1AA or E1BA alarm occurred when the control power supply was turned ON or the RES command was executed There was a request to start jog speed table operation even though an E1FA E20A or E21A alarm occurred when the control power supply was turned ON or the RES command was executed There was an over
214. peed and calculates settable dividing ratio Fixes the dividing ratio and calculates settable maximum motor speed Appendix A List of Parameters Table A 4 SERVOPACK Switches cont d Parameter Digit Name Setting Contents Factory Place Setting Pn10B Mode Switch Selection Pn110 Online Autotuning Switches Level setting Pn10C Uses speed reference as the condition Level setting Pn10D For linear motor Pn181 Uses acceleration as the condition Level setting Pn10E For linear motor Pn182 ye ses internal torque reference as the condition Uses error pulse as the condition Level setting Pn10F 4 No mode switch function available 0 No mode switch function available switch function available PI control IP control Speed Loop Control Method Automatic Gain Switching Selection S Does not use automatic Does not use automatic gain switching Does not use automatic gain switching Position references only Position error only Position Position references and position error and os error Fixed 0 to2 Do not Online Autotuning a Tunes only at Tunes only at the beginning of operation beginning of operation Method pamm Always tunes Does not perform autotuning Speed Feedback Com Eem Enabled S Selection Disabled Friction Compensation fo Friction compensation Disabled Selection Friction compensation Small 2 Friction compensation Large
215. plication Module is a single axis positioning device that is equipped with a program table operation function The NS600 is mounted to the side of the SERVO PACK The NS600 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 NS600 through RS 232C RS 422 or RS 485 wiring and these commands are interpreted and executed immediately The SigmaWin Support Software can be used to easily set program tables and parameters or to perform monitoring operations These same operations can also be performed using a Digital Operator or serial commands x Il Series SGDH SERVOPACK with NS600 installed vi NS600 Functions Digital I O The program step selection input signals binary format are used to select program table the desired positioning data from the program table stored in the NS600 Mode 0 The NS600 can store up to 128 program steps The program steps can be linked to create combinations that perform more complex motions Digital 1 0 Homing using an incremental encoder and operation usin
216. r dd Jog speed number 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 99 999 999 6 32 6 7 Serial Commands 6 7 8 Monitor and Auxiliary Function Commands The following table shows the Monitor and Auxiliary Function Commands Table 6 8 Monitor and Auxiliary Function Commands Alarm or Warning Read One of the following responses is returned depending on the status ALM SP A xx SP CR LF The xx is the SERVOPACK s alarm warning code ALM SP ExxA SP CR LF ExxA is the NS600 s alarm code ALM SP P OT SP CR LF ALM SP N OT SP CR LF ALM SP P LS SP CR LF e 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 e ALM SP RUN SP SP CR LF e ALM SP SP SP SP SP CR LF Alarm History Read One of the following responses is returned O lt n lt 9 depending on the status no alarm SERVOPACK alarm or NS600 alarm e ALM1 NONE CR LF e ALM A xx CR LF e ALMI ExxA CR LF Most Recent Error Read One of the following responses is returned A response of NONE indicates that no errors have occurred ERR SP NONE SP CR LF ERR SP ExxE SP CR LF SGDH Input Signal Monitor IN1 01010101 CR LF 0
217. r Pn205 7 41 7 Using the Digital Operator R Fn800 NS600 Firmware Version Display This function displays the NS600 s firmware version Fo Od Press the DATA ENTER Key to display the firmware version display Press the DATA ENTER Key again to return to the function number setting display Fxamplg C 0 0 0 The NS600 s firmware version is displayed L B Fn801 NS600 Model Code Display This function displays the NS600 s model code Foi Press the DATA ENTER Key to display the model code display Press the DATA ENTER Key again to return to the function number setting display 1 H 1 1 The NS600 s model code is displayed B Fn802 NS600 Y Specification Number Display This function displays the NS600 s Y specification code Fable pata Press the ey to display the specification P the DATA ENTER Key to display the NS600 Y ificati ENTER code display Press the ey again to return to the ENTER de displ P the DATA ENTER K in to return to th function number setting display example H 0 1 1 B The NS600 s Y specification code is displayed 7 42 7 7 Operations during Auxiliary Function Display B Fn803 Program Table Save This function saves the program table to flash memory When this function is executed the program table in RAM is saved to flash memory Data saved in flash memory is retained even when the control power supply is turned OFF Roba Press the DATA ENTER Key t
218. ransistor is ON low This warning is supported for SERVOPACK firmware version 32 or later 9 5 9 Troubleshooting 9 1 3 Troubleshooting Problems with No Alarm Display 9 1 3 Troubleshooting Problems with No Alarm Display Refer to the tables below to identify the cause of a problem that causes no alarm display and take the remedy described Turn OFF the servo system power supply before starting the shaded procedures Contact your Yaskawa representative if the problem cannot be solved by the described pro cedures Table 9 3 Troubleshooting Table with No Alarm Display Servomotor Does Not Power not connected Check voltage between power Correct the power circuit Start supply terminals Loose connection Check terminals of connectors Tighten any loose parts CN1 CN2 CN4 and CN6 Connector CN1 CN4 or Check connector CN1 CN4 Refer to connection diagram CN6 external wiring incorrect and CN6 external wiring and correct wiring Servomotor or encoder wiring Reconnect wiring disconnected Overloaded Run under no load Reduce load or replace with larger capacity servomotor S ON is turned OFF Turn S ON input ON execute the SVON command or set parameter Pn80B 2 so that the servo is always ON P OT and N OT inputs are Refer to 5 4 2 Setting the Over Turn P OT and N OT input turned OFF travel Limit Function for signals ON details A software position reference Check for NS600 errors Check the m
219. re base mounted servoamps Incorrect installation will cause problems Always observe the installation instructions described in this chapter 2 1 Storage Conditions 2 2 2 2 Installation Site 2 3 2 3 Orientation 2 4 2 4 Installation 2 5 2 1 2 Installation 2 1 Storage Conditions Store the SERVOPACK within the following temperature range if it is stored with the power cable disconnected Temperature Range 20 to 85 C x ll Series SGDH SERVOPACK with NS600 installed 2 2 Installation Site 2 2 Installation Site Take the following precautions at the installation site Installation in a Control Panel Design the control panel size unit layout and cooling method so the temperature around the SERVOPACK does not exceed 55 C Installation Near a Heating Unit Minimize heat radiated from the heating unit as well as any temperature rise caused by natural convection so the temper ature around the SERVOPACK does not exceed 55 C Installation Near a Source of Install a vibration isolator beneath the SERVOPACK to avoid Vibration subjecting it to vibration Installation at a Site Exposed to Corrosive gas does not have an immediate effect on the SER Corrosive Gas VOPACK but will event
220. reverse when the target position is specified as an absolute position If Pn81A 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 Pn81A 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 regardless of the setting of Pn81A s Pn81B 3599 Pn81C 0 s Pn81B 4999 Pn81C 5000 Pn81B 3599 Pn81C 0 Pn81B 4999 Pn81C 5000 Starting Starting point point When using both a rotary moving method and absolute encoder set the Multiturn Limit Pn205 Refer to 5 3 5 Multiturn Limit Setting 5 36 5 4 Settings According to Device Characteristics 5 4 5 Backlash Compensation This parameter can be set to compensate for positioning offset caused by the backlash of gears This function is supported for version 4 or later Backlash Compensation Unit Setting Factory Reference Range Setting units 1 000 to 0 1 000 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 posi tioning If the sign is negative compensation will be applied for reverse positioning If the setting is changed the new setting will
221. rly as shown below Incorrect wiring is generally the reason why servomotors fail to operate properly during trial operation e Check main power supply circuit wiring e Check servomotor wiring e Check I O signal wiring CN1 and or CN4 if these connectors are being used e Check Serial Command Communications wiring CN6 if this connector is being used Make sure that adjustments in the host controller and other adjustments are completed as much as possible in step 1 prior to connecting the servomotor to equipment poll B EL BSE T Check wiring Do not connect to the equipment Check the items on the following pages in the order given during the servomotor trial operation IMPORTANT RES S p See 5 2 3 Brake Interlock Output Signal BK if you are using a servomotor with brakes 4 3 4 Trial Operation 1 Secure the servomotor Secure the mounting plate of the servomotor to the equipment Do not connect anything to the shaft a No load condition Secure the servomotor mounting plate to the equipment in order to prevent the servomo tor from moving during operation 2 Check the wiring Digital 7 A Operator fA EY I Ong Malar ys L 900 JME Oae TE A u 0 S Zale gt af a8 el I a Disconnect the CN1 CN4 and CN6 connector
222. rred not match the setting in the encoder after the multiturn limit setting in Pn205 was changed and the control power supply was turned OFF and ON 1 This is the error code displayed on the Digital Operator when it is connected to CN7 This same code is also used in the response to the ERR command and error responses 2 The panel display may be OFF depending on communications between the NS600 and the SERVOPACK 9 2 4 Warning Display Table Refer to the following table to identify the cause of a problem and take the remedy described Warning Error Name Details Remedy Panel Display Display 2 SGDH SERVOPACK A SERVOPACK warning occurred See 9 1 2 Warning Display Table for details The 90 is the SERVOPACK s warning code Warning 1 This is the warning code displayed on the Digital Operator when it is connected to CN7 This same code is also used in the response to the ALM command 2 The panel display may be OFF depending on communications between the NS600 and the SERVOPACK 9 19 9 Troubleshooting 9 2 5 Normal Display Table 9 2 5 Normal Display Table The following table shows the NS600 s normal status displays Table 9 6 NS600 Normal Displays Digital Operator Name Description Panel Display Display POT Forward Positive Over The P OT signal is the input signal for the forward hardware limit BB or travel P OT switch This display indicates that the P OT signal is OFF R
223. rrors The following table shows the main errors related to program table initialization ESEE The program table cannot be initialized L C L L Execution Disabled dur while program operation is in progress or on ing Program Operation hold interrupted Error Reset program operation and try again 7 46 7 7 Operations during Auxiliary Function Display R Fn807 Zone Table Initialization This function initializes the zone table i e returns the zone table settings to their factory default settings Fob Press the DATA ENTER Key to display ENTE R the Zone Table Initialization display IGE Init P _DSPL_ Press the DSPL SET Key to SET execute the function If the DATA ENTER Key is pressed before executing the display will return to the function number setting display 2 g l S B N Wait until the display stops flashing Never turn OFF the control power S g Z supply while the display is flashing 4 N l donE The display will return to the function number setting display 7 47 7 Using the Digital Operator B Fn808 Jog Speed Table Initialization This function initializes the jog speed table i e returns the jog speed table settings to their factory default settings Angga Press the DATA ENTER Key to display the Jog Speed Table Initialization display Inde Init E DSPL Press the DSPL SET Key to SET execute the function
224. rt Names 1 3 Installing the Application Module Use the following procedure to mount an NS600 to an SGDH SERVOPACK A screw is needed to connect the ground wire use the screw listed in the following table Screw Comments SERVOPACK Model SGDH A3 to 02BE SGDH A3 to 10AE SGDH 15 to 50AE SGDH 05 to 50DE SGDH 60 to 1EAE SGDH 60 to 1EDE SGDH A3 to 02BE R SGDH A3 to 50AE R SGDH 05 to 50DE R Rack mounting models M3x10 round head screw Attachments with split lock and plain washers M4x10 round head screw Attachments with split lock and plain washers M4x8 round head screw Use the screw on the front with split lock and plain washers panel M4x6 round head screw Attachments with split lock and plain washers 1 Remove the connector cover attached to the SERVOPACK s CN10 Connector E YASKAWA SERVOPACK 200v SGDH elelele e Q000 ES A nne O ma we CN10 Connector cover 2 Insert the two tabs on the bottom of the NS600 into the holes on the lower right side of the SERVOPACK 1 6 1 3 Installing the Application Module SERVOPACK SGDH YASKAWA alelelale 0000 MODESET O CHARGE power O ul k 3 H E 1 PEPE 150 0 0 B e O00O O O GO GQ EI ala J Fo of Be OO 2 o 3 P
225. s 6 5 6 6 6 7 6 8 command response format 6 5 communications protocol 6 4 connectors Digital Operator or Support Software connector CN7 3 15 UO signal connections 3 2 serial command communications connector CN6 3 10 wiring 3 1 coordinates moving method and coordinate settings 5 35 setting 6 19 6 20 D DEC 5 43 deceleration 5 34 5 43 6 11 deceleration ratio 5 30 delimiter 6 4 6 5 6 6 6 9 DEN 5 45 differences between firmware version 3 and version 4 viii Digital Operator 7 1 available models 1 4 1 5 dimensions 8 1 display alarm display table 9 2 9 10 error display table 9 14 for alarms 9 8 for errors 9 8 Index for warnings 9 9 normal display 9 9 normal display table
226. s Disconnect the CN1 CN4 and CN6 connectors and check servomotor wiring in the power supply circuit The I O signals CN1 and CN4 and Serial Command Signals CN6 are not used Connect the Digital Operator to the CN7 connector 3 Turn ON power Normal displays blb OR bal STATUS Indicator Lit green Example of alarm display H Eli STATUS Indicator Lit red Turn ON SERVOPACK power If the SERVOPACK has turned ON normally the Digi tal Operator s display will appear as shown above Power is not supplied to the servo motor because the servo is OFF If an alarm display appears on the LED indicator as shown above the power supply cir cuit servomotor wiring or encoder wiring is incorrect In this case turn OFF power and take appropriate action See Chapter 9 Troubleshooting 4 4 4 2 Step 1 Trial Operation for Servomotor without Load INFON If an absolute encoder is used it must be set up Refer to 5 3 4 Absolute Encoder Setup Initialization 4 Operate with Digital Operator Operate the servomotor using the Digital Operator Check to see if the servomotor runs normally Use the following procedure to operate the servomotor with the Digital Operator Refer to Chapter 7 Using the Digital Operator for details on using the Digital Operator a Press the DSPL SET Key to select Fn002 in the auxiliary function mode FAI LIL b Press the DATA ENTER Key to select
227. s tem run for a sufficient amount of additional time to ensure that it is properly broken in 5 Parameter Settings and Functions This chapter describes the procedure for setting and applying parameters 5 1 Restrictions on SGDH SERVOPACK Parameters 5 4 5 2 Sequence I O Signals 5 6 5 2 1 Using the Servo ON OFF Input Signal S ON 5 9 5 2 2 Using Servo Alarm and Alarm Code Outputs ALM ALO1 to ALO3 5 9 5 2 3 Brake Interlock Output Signal BK 5 10 5 2 4 Using the Servo Ready Output Signal S RDY 5 13 5 2 5 Using the Error Warning Output Signal WARN 5 14 5 2 6 Using the Positioning Completed Output Signal INPOSITION 5 15 5 2 7 Using the Programmable Output Signals POUTO to POUT4 5 16 5 2 8 Encoder Signal Outputs 5 18 5 3 Absolute Encoders 5 20 5 3 1 Interface Circuit 5 21 5 3 2 Selecting an Absolute Encoder 5 21 5 3 3 Handling Batteries 5 21 5 3 4 Absolute Encoder Setup Initialization 5 22 5 3 5 Multiturn Limit Setting 5 23 5 3 6 Absolute Encoder Zero Setting 5 25 5 4 Settings According to Device Characteristics
228. s Encoder tance Pn828 phase C The home position when homing is completed is specified in Pn81D When the control power supply is turned ON or the RES command is executed and hom ing is completed the home position is replaced with the value in Pn81D 6 18 6 7 Serial Commands Table 6 2 Control Commands cont d Serial Command Function Positive Response K ZRN O Pn81D Home Position 99 999 999 to 99 999 999 Reference units Pn823 Homing Method 0 No Homing 1 DEC and Encoder phase C 2 DEC signal only 3 Encoder phase C only Pn824 Homing Direction 0 Forward 1 Reverse Pn825 Homing Moving Speed 1 to 99 999 999 x1 000 reference units min Pn826 Homing Approach Speed 1 to 99 999 999 x1 000 reference units min Pn827 Homing Creep Speed 1 to 99 999 999 x1 000 reference units min Pn828 Homing Final Move Distance 99 999 999 to 99 999 999 Reference units Note 1 The software position reference limits Pn81B and Pn81C are disabled until homing is completed They are effective after homing is completed On the other hand the overtravel signals P OT and N OT signals are effective before homing is com pleted 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 Pn823 0 4 Homing can be performed only when an incremental encoder is b
229. sed move to a position where the P OT is not in effect e When P OT is not being used disable P OT in the parameter Pn80C 3 e When N OT is being used move to a position where the N OT is not in effect e When N OT is not being used disable N OT in the parameter Pn80D 3 e Check the target position spec ification e Check the forward limit in Pn81B e Check the moving method rotary or linear set in Pn81A gt If software position limits are not being used either select a rotary moving method in Pn81A or disable the limits by setting Pn81B Pn81C 0 9 Troubleshooting 9 2 3 Error Display Table Table 9 5 NS600 Error Displays cont d Error Error Name Details Remedy Panel Display Display 2 E4EE Moving Disabled Error The specified target position exceeds the e Check the target position spec A 9F due to N LS position reference reverse limit set in ification Pn8 IC e Check the reverse limit in Pn81C e Check the moving method rotary or linear set in Pn81A gt If software position limits are not being used either select a rotary moving method in Pn81A or disable the limits by setting Pn81B Pn81C 0 E4FE Position Reference Out The moving method is set to rotary e Check the target position spec of range Error Pn81A 1 2 or 3 and the target position ification specification exceeds the position refer Check the positioning range ence limits in Pn81B and Pn81C set with
230. signal connection to the host controller E Interfaces with Sequence Input Circuits The sequence input circuit interface connects through a relay or open collector transistor cir cuit Select a low current relay otherwise a faulty contact will result NS600 and SERVOPACK NS600 and SERVOPACK 24 VDC 24 VICOM 24 VDC 24 VICOM 50 mAmin 3 3kO 50 mA min y 33ko Haee fa 6 tL AN ZL La AY SKI CN1 0 CN1 0 CN4 O START STOP GND START STOP HOME etc HOME etc Alternative configurations NS600 and SERVOPACK NS600 and SERVOPACK 24 VDC 24 VICOM 24 VICOM 50 mA min 3 3kQ J 3 3kO B ER Ko a R i K START STOP START STOP HOME etc le HOME etc 24 VDC 50 mA min 3 8 3 1 lO Signal Connections E Interfaces with Output Circuits Any of the following two types of SERVOPACK output circuits can be used Form an input circuit at the host controller that matches one of two types e Connecting to an Open collector Output Circuit Alarm code signals are output from open collector transistor output circuits Connect an open collector output circuit through a photocoupler relay or line receiver circuit 5 to 12 VDC Photocoupler 5 to 24 VDC SERVOPACK reah S SERVOPAC Relay end AY 3K end 3K 5 to 12 VDC SERVOPACK end Note The maximum allowable v
231. ss DECTsss DST or MONQ R EVENTTsss EVENTsss EVTIME HALLSENS HOLD Positioning Interruption or Jog Stop N SGDH Input Signal Monitor CN1 IN2 NS600 Input Signal Monitor CN4 IN2TESTbbbbbbbb NS600 Input Signal Reservation CN4 INERTIA JOGPnnnnnnnn Alarm History Read Alarm Trace Clear Alarm Reset Motor Current Zero Adjustment Dynamic Brake Load Ratio Monitor Deceleration Reservation Program Table DEC Read Program Table DEC Write Target Distance Monitor A Most Recent Error Read Program Table EVENT Read Program Table EVENT Write Program EVENT Elapsed Time Monitor Hall Sensor Monitor for Linear Motor Auto tuning Inertia Display Motor Forward Motor Reverse JOG Speed Table Initialization JOG Speed Table Save JOG Speed Table JSPD jog speed reservation Read JOG Speed Table Write Program LOOP Pass Through Monitor Program Table LOOP Read Program Table LOOP Write Multiturn Limit Setting JOGNnnnnnnnn JSPDINIT JSPDSTORE JSPDTdd JSPDTdd LOOP LOOPTsss LOOPTsss MLTLIMSET MONn MTSIZE Monitor Read Monitor Capacity Display Reference fers Co ana aaa Co Co Coe ear ena aaa eas Co ers C 2 C 1 Alphabetical List of Serial Commands Table C 1 Alphabetical List of Serial Commands cont d MTTYPE NEXTTsss NEXTTsss NFB or MON3 NREF or MON4 OUT1 OUT2 OUT2TESTbbbbbb PER or MON2 PFB or MON7 PGMINIT PGMRES PGMSTEP PGMSTORE PGTYPE PGVER POS nnn
232. supported for SERVOPACK firmware version 32 or later 5 The factory default is 0 so an A 08 alarm will occur the first time the power supply is turned ON The alarm will not occur if this parameter is set to a correct value and the power supply is turned OFF and then ON again 9 4 9 1 Servodrive Troubleshooting 9 1 2 Warning Display Table The following table shows the warning displays status of the alarm code outputs and mean ing of the warnings Table 9 2 Warning Displays and Outputs Warning Warning Name Meaning Warning Code Outputs Code Outputs Displa S or or or Excessive Position Error The position error exceeded the setting in Pn51E Warning Overload This warning occurs before the overload alarms A 71 or A 72 occur If the warning is ignored and operation con tinues an overload alarm may occur Regenerative Overload This warning occurs before the regenerative overload alarm A 32 occurs If the warning is ignored and opera tion continues a regenerative overload alarm may occur Absolute Encoder Battery This warning indicates that the absolute encoder s battery ON ON OFF Warning voltage has dropped If the warning is ignored and opera tion continues an absolute encoder battery alarm may occur A 9F NS600 Error This warning indicates that some kind of error occurred in ON ON ON the NS600 Check the NS600 Error Display for details Note OFF Output transistor is OFF high ON Output t
233. t the torque lim its as a percentage of the rated torque Forward Torque Limit Setting Range Factory Setting 0 to 800 800 Reverse Torque Limit 1 If the torque limit is set higher than the maximum torque of the servomotor the maximum torque of the servomotor is the limit Setting Range Factory Setting 0 to 800 800 2 The external torque limits P CL and N CL cannot be used when an NS600 is installed on an SGDH SERVOPACK 5 38 5 5 Program Table 5 5 Program Table 5 5 1 Mode Switch Signal MODE 0 1 If the MODE 0 1 input signal is active the mode is set to program table operation mode Mode 0 Parameter Pn803 sets the relationship between the signal s ON OFF status and its active inactive status Parame Signal Pin No Settings Factory ter Setting Pn803 IMODE 0 1 CN4 3 0 Photocoupler ON Mode 0 1 Photocoupler OFF Mode 0 2 Always Mode 0 3 Always Mode 1 lt q EXAMPLE E e Pn803 0 194 N DC ONG ete ee H KL _IMODE 01 on T YAS ee Input signal closed Mode 0 E Input signal open Mode 1 e Pn803 1 24V DC L 1 gt Lona if Yi gt K Input signal open Mode 0 MODE 0 1 Input signal closed Mode 1 5 39 5 Parameter Settings and Functions 5 5 2 Input Signals for Program Table Operation 5 5 2 Input Signals for Program Table Operation Set input signals with the follow
234. the DATA ENTER Key to display the Editing display Press the DATA ENTER Key again to return to the program table number display Example 1 A A A g T Use the Left and Right Keys to move the cursor TIN Use the Up and Down Keys to change the setting If the NEXT parameter is set to a negative value the setting will automatically be changed to End End 7 61 7 Using the Digital Operator 7 9 Operation during Zone Table Editing Display The zone table can be edited during the zone table editing display The following diagram shows the codes for each column of the zone table EP co ZONE No ZONEP ZONEN 0 ZONEP000 ZONENOO0 1 ZONEP001 ZONENO01 31 ZONEP031 ZONENO31 om Jse the gt N lt Iv sane Keys to move between columns and rows aragi lt gt gt Banoo horizontally ZONE No ZONEP ZONEN ZONE No 0 IZONENO00 ZONEP000 1 ZONEP001 ZONENO01 1 ZONEP001 ZONENO01 Move WW vertically epag4 ZAIN ZONE No ZONEP ZONEN 0 ONEPOOO ZONENOOO 1 IZONEP0O01 ZONENO01 2 Press the Key to display the setting editing display Press the DATA ENTER Key again to return to the initial zone table display OHDAB 000 3 Edit the setting with the gt A 7 Keys 4 Press the Key to enter the new setting and return to the zone table number display 7 62
235. the DSPL SET Key to SET execute the function If the DATA ENTER Key is pressed before executing the display will return to the function number y 7 lt setting display L E L p C C Wait until the display stops flashing l Never turn OFF the control power I 7 supply while the display is flashing S donE The display will return to the function number setting display 7 28 7 7 Operations during Auxiliary Function Display R Fn007 Write Inertia Ratio Data This function writes the inertia ratio calculated by online autotuning to the parameter When this function is executed parameter Pn103 is refreshed with the new inertia ratio data and saved in EEPROM nU UT Press the DATA ENTER Key to display the Write Inertia Ratio Data display Example d 1 J 1 1 The calculated inertia ratio will be displayed P DATA ENTER If the DATA ENTER Key is pressed before executing the display will return to the function number setting display N DSPL Press the DSPL SET Key to SET execute the function N Never turn OFF the control power supply while the display is flashing 1 1 Wait until the display stops flashing E lt The display will return to the function number setting display INFON For details on autotuning operations see 9 2 Online Autotuning in the X IT Series SGM OH SGDH User x Manual Manual No SIEPS80000005 7 29 7 Using the Digital Oper
236. the Digital Operator operation mode Opera tion is now possible using the Digital Operator IIS UD c Press the SVON Key to set to servo ON state with motor power turned ON rn ERTEN d Press the Up Cursor Key or Down Cursor Key to operate the motor The motor keeps C operating while the key is pressed Down Cursor Key Up Cursor Key Motor reverse rotation Motor forward rotation e Press the DATA ENTER Key and the display will revert to Fn002 This sets to the servo OFF state with motor power turned OFF Alternatively press the SVON Key to set to the servo OFF state Elicia This disables operation under the Digital Operator control 4 5 4 Trial Operation Use the following parameter to set or modify motor speed when operating the servomotor from the Digital Operator JOG speed Initial setting 500 min 50 mm s for linear motors Soft Start Acceleration Time Initial setting 0 ms Soft Start Deceleration Time Initial setting 0 ms uro The rotation direction of the servomotor depends on the setting of parameter Pn000 0 Rotation Direc L l S C tion The above example applies when Pn000 0 is set to 0 the factory setting 5 Connect the signal lines Digital Operator Connect the CN1 CN4 and CN6 connectors Use the fol
237. the control power supply is turned ON or the RES command is executed the position ing speed set in parameter Pn81E will be used until the speed is specified with this command Note Ifa new registration speed is specified during registration operation the new speed will not become effective until the next registration operation 6 14 6 7 Serial Commands Table 6 2 Control Commands cont d Serial Command Function Positive RS Positioning Start with Registration HOLD Positioning Interruption RS Positioning Restart Clear Hold Note Error E53E will occur if a new travelling command such as the RS command is received while the motor is already travelling positioning or other travelling operation 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 operation uses the registration distance specified by the RDST command and the registration speed specified by the RSPD command The target position reservation positioning speed reservation registration distance reservation and registration speed reservation can be omitted In this case the positioning performed in the previous registration operation will be repeated Error E51
238. tion reference distribution completed SELx x 0 to 6 Input signal SELO to SEL6 active Note Level detection is used not edge detection Tn n 0 to 99 999 Time elapsed ms since the program step started Continue the previously executed program step s specification The I N D and SELx parameters can be combined with Tn Ifn 0 then including Tn will not change the results 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 SEL x Tn Waits for n ms after SELx becomes active The factory setting is ITO Refer to 5 5 5 Examples of EVENT Conditions if necessary The following parameters set the INPOSITION and NEAR detection widths Pn821 INPOSITION Width Setting Factory Setting A Range 1 Number of execu Specifies the number of execution of the program step tions Setting range 1 to 99 999 The factory setting is 1 Note The NEXT parameter is referenced after the number of LOOP repetitions are completed The LOOP specification cannot apply to more than one PGMSTEP PGMSTEP to be 0 to 127 Jump to the specified PGMSTEP executed next END End program table operation Program table operation will be can celed The factory setting is END ACC and DEC are supported from version 4 Note 1 An error E53E will occur and program table operation will be stopped if a new position ing command is received d
239. tions protocol and bit rate set in parameters Pn800 and Pn801 Change the settings if necessary If the settings are changed the new settings is enabled by turning the control power supply OFF and then ON again Refer to Chapter 7 Using the Digital Operator for the procedure to use when editing parameters Once serial communications have been established serial communications can be used for operations such as editing parameters and monitoring 4 8 4 2 Step 1 Trial Operation for Servomotor without Load 9 Turn ON the servo with S ON or the SVON serial command SERVOPACK SERVOPACK Servomotor Servomotor Serial command OR SVON S ON OV Turn ON S ON Display when servo is ON If the system is setup correctly the servomotor will turn ON and the Digital Operator display shown above will appear If an alarm display appears take appropriate action as described in Chapter 9 Troubleshooting 4 9 4 Trial Operation 4 3 Step 2 Trial Operation with the Servomotor Connected to the Machine N WARNING e Follow the procedure below for step 2 trial operation precisely as given Malfunctions that occur after the servomotor is connected to the equipment may not only damage the equip ment but may also cause an accident resulting death or injury Before proceeding to step 2 repeat step 1 servomotor trial operation without a load until you are fully satisfied that all items including parameters and wiri
240. tocol Settings 1 Full duplex wiring Echoback each character 100 us Bitrate x2 Bit rate x 2 Centered at the command stop bit 3 Half duplex wiring delimiter CR Echoback each 1 1 character 250 us Bit rate x 2 GUU uSp Bit rate x 2 4 Half duplex wiring delimiter CR Echoback each command 6 Half duplex wiring delimiter CR LF Echoback each character 7 Half duplex wiring delimiter CR LF Echoback each command lt EXAMPLE gt e Echoback response time when Pn800 1 9 600 bps n 1 _ 1 _ tg min Bit rate x2 9 600 X2 52 us When using half duplex wiring the host controller must set the line driver to high impedance within IMPORTANT ee di the tg min response time 6 7 6 Serial Command Communications 6 6 1 Positive Responses 6 6 Response Data Details There are positive responses and negative responses The positive response indicates normal operation and the negative response indicates an error 6 6 1 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 see the description of the individual com mand for details on the structure of the response s character string For commands that do not require data to be returned the positive response is OK unless parameter Pn802 is set to 0 If Pn802 0 th
241. travel if the same positioning is repeated with ST STI nnnnnnnn Positioning Start Relative Position The sign can be omitted Setting range 99 999 999 lt nnnnnnnn lt 99 999 999 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 Speed Reservation STI nnnnnnnn Target Position Reservation and Positioning Start Speed 4 SPDx The same position ing is repeated with ST gt Position coordinate 6 13 6 Serial Command Communications 6 7 2 Control Commands Table 6 2 Control Commands cont d Serial Command Function Positive RDSTnnnnnnnn Registration Distance Reservation Setting range 0 lt nnnnnnnn lt 99 999 999 Reference units Specifies the registration distance that is used in the RS RSnnnnnnnn RSAnnnnnnnn and RSInnnnnnnn commands POSa EP Speed I RSPDy L RGRT i Note Alarm E23A will occur the motor Servo will go OFF if the RGRT signal latched but the registration distance is longer than the deceleration distance i e the registration dis tance will be exceeded even if deceleration begins immediately RSPDnnnnnnnn Registration Speed Reservation Setting range 1 lt nnnnnnnn lt 99 999 999 x1 000 reference units min Specifies the registration speed After
242. ty e Regenerative resistor is faulty Regenerative Overload Regenerative energy exceeds regenerative resistor capacity A 40 Main circuit DC voltage is excessively high OFF A 41 Undervoltage Main circuit DC voltage is excessively low A 51 Overspeed e Rotational speed of the motor is exces sively high The divided pulse output frequency exceeded 15 Mbps gt S 9 2 9 1 Servodrive Troubleshooting Table 9 1 Alarm Displays and Outputs cont d Alarm Alarm Name Meaning ALM Output Alarm Code Outputs Displa pay ALO1 ALO2 ALO3 Linear Motor Maximum With a linear motor connected Pn384 was OFF ON OFF Speed Setting Error set to a speed higher than the maximum lin ear motor speed Overload High Load The motor was operating for several seconds OFF to several tens of seconds under a torque largely exceeding ratings Overload Low Load The motor was operating continuously under a torque largely exceeding ratings Dynamic Brake Overload When the dynamic brake was applied rota tional energy exceeded the capacity of dynamic brake resistor A 74 Overload of Surge Current The main circuit power was frequently Limit Resistor turned ON and OFF Heat Sink Overheated The heat sink of SERVOPACK overheated Encoder Backup Error All the power supplies for the absolute encoder have failed and position data was cleared A 82 Encoder Checksum Error 2 The checksum results of encoder memory is abnormal
243. ually cause electronic components and contactor related devices to malfunction Take appropri ate action to avoid corrosive gas Other Situations Do not install the SERVOPACK in hot and humid locations or locations subject to excessive dust or iron powder in the air 2 3 2 Installation 2 3 Orientation Install the SERVOPACK perpendicular to the wall as shown in the figure The SERVOPACK must be oriented this way because it is designed to be cooled by natural convection or cooling fan Secure the SERVOPACK using 2 to 4 mounting holes The number of holes depends on the 4 yo wll L C L capacity ti H j T Wall L i Ss T M S S 1 P H Mi 2 4 Installation 2 4 Installation Use the following layout side by side installation when installing two or more SERVOPACKs side by side in a control panel Cooling fan Cooling fan K T x T 50 mm 1 97 in min IN o5 bz g l 1 L 10 mm 0 39 in min 50 mm 1 97 in min 10 mm 0 39 in min SERVOPACK Orientation Install the SERVOPACK perpendicular to the wall so the front panel containing connectors faces outward toward the user Cooling As shown in the figure above allow sufficient space around each
244. units and encoder pulses When the Electronic Gear When the Electronic Gear Function is Not Used Function is Used Workpiece Workpiece Reference unit 1 um N A TT ye A TITTTTA LILII o of encoder pulses 2 048 Ball screw pitch E Ball screw pitch 6 mm 0 24 in de 6 mm 0 24 in To move a workpiece 10 mm 0 39 in To move a workpiece 10 mm 0 39 in One revolution is 6 mm Therefore Equipment conditions and reference units 10 6 1 6666 revolutions _ must be defined for the electronic gear function 2 048 x 4 pulses in one revolution beforehand Therefore unit i 1 6666 2 048 x 4 13 653 pulses Reference unit is 1 um Therefore 13 653 pulses are input as references 10mm _ The equation must be calculated at the host 1e MOOR pulses controller E Setting Procedure of the Reference Unit Calculate the electronic gear ratio B A using the following procedure and set the values in parameters Pn202 and Pn203 1 Check equipment specifications Items related to the electronic gear s Deceleration ratio e Ball screw pitch e Pulley diameter Ball screw pitch Deceleration ratio 2 Check the number of encoder pulses Servomotor Model Encoder Type Number of Encoder Pulses Per Revolution and Encoder P R Specifications Incremental encod
245. uring 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 and INFINITE and the registration dis tance RDST is the PGMSTEP can be switched to change the speed In this case the motor will shift to the new speed In all other cases PGMSTEP cannot be switched to change the speed and an error will occur E53E if an attempt is made to do so 5 44 5 5 Program Table 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 5 5 5 Examples of EVENT Conditions The following figures show examples of EVENT conditions d Reference speed Speed Motor speed m ON INPOSITION N Reference speed Speed X T T Motor speed SELO Speed AA SELO T2000 Speed ah gt a o t 2 000 ms 1T2000 Speed INPOSITION t Dig NTn t 2 000 ms Speed S N Z N gt t NEAR DT2000 t 2 000 ms Speed DEN aK SELOT2000 t 2 000 ms Speed C t ISELO t 2 000 ms Note Ift lt t an error E53E will occur and program table operation wil
246. ush the NS600 until the two tabs on the top of the NS600 are fully inserted into the two holes on the upper right side of the SERVOPACK as shown in the diagram above 4 Connect the NS600 s ground wire to the SERVOPACK s G terminal and tighten the screw Ground wire G YW vaskawa SERVOPACK SGDH 888 88 oQ O ms we O Ground on 30 W to 50 kW SERVOPACKs US Ground wire YY YASKAWA senvopack zov saor DE LU Ground on 6 0 kW to 15 kW SERVOPACKs 1 Checking Products and Part Names 1 1 3 Version Information G Ground wire SERVOPACK SGDH YASKAWA alelelela G g S gt 4 S A cHarce Power C PEII 169 B 0 G g dloood 6 ooog Ip Cl oo OO c Ground on Rack mounting SERVOPACKs The following diagram shows a SERVOPACK with an NS600 installed correctly Ipin 0000 MODESET A DAK nan owe En O ex O e e 9 wzo J o y 20 O SI 2 Installation This chapter describes precautions for X II Series installation The SGDH SERVOPACKs a
247. veral times until ZSEt5 is set HORES m If the DATA ENTER psPL_ Press the DSPL SET Key to display the desired Key is pressed before SET _ position input display executing the display will return to the function number setting display Upper 3 digits Lower 5 digits Example lt gt 12345678 Move Set the desired position ZAIN cursor J N AIM AY Use the Up and Down Keys Use the Up and Down Keys to change the setting to change the setting Press the DATA ENTER Key to execute NTER the function Wait until the display stops flashing i 7 E Q L H Never turn OFF the control power supply Z iN N while the display is flashing The display will return to the function number R Setting display Confirm that the current position reference monitor Un804 and the current motor position monitor Un805 have changed to the desired position v End 7 50 IMPORTANT 7 7 Operations during Auxiliary Function Display Do not rewrite this value until the absolute encoder offset has been stored in parameter Pn81D Related Errors The following table shows the main errors related to the absolute encoder zero setting E53E Move Reference Execution is not possible because the system Duplication Error is already moving ES8E Data Out of range The calculated value of the absolute encoder Error offset exceeds the setting range of Pn81D The desired position and the position of the absolute encoder
248. vertravel Stop Mode Factory Setting 0 After stopping Stop Mode 0 asip Overtravel dynamic brake Pn001 0 0 or 1 oe by r 4 namic brake Pn819 0 c Coast status S S toa Coast status Pn819 1 oe Servo lock Pn819 2 Decelerate to a stop Servo lock Parame Name Setting Description ter Pn819 Overtravel Stop Stops the servomotor the same way as turning Mode the servo OFF according to Pn001 0 Stop the servomotor by emergency stop and locks the servomotor Decelerates the servomotor to a stop and locks the servomotor Deceleration setting in parameter Pn820 Set the deceleration rate with the deceleration time setting in Pn820 Pn820 Decelera Unit Setting Factory Enabled tion x1 000 Reference Range Setting when Pn819 units min ms 1 to 1 000 2 99 999 999 5 28 IMPORTANT 5 4 Settings According to Device Characteristics If the Servo turns OFF due to overtravel the Servo will not turn 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 Pn80B is set to 2 to keep the Servo always ON turn the power supply OFF and then ON again R Servo OFF Stop Mode Selection The SGDH SERVOPACK turns OFF under the following conditions e Servo ON input signal S ON is turned OFF or a Servo OFF command SVOFF is s
249. y Example 1 A 1 ve The current gain setting will be displayed VV Press the Up and Down Keys to change the setting Press the DATA ENTER Key to confirm the new setting and return to the function number setting display 7 33 7 Using the Digital Operator IMPORTANT B FnOOE Automatic Offset adjustment of Motor Current Detection Sig nal This function automatically adjusts the motor current s zero setting offset current The motor current detection offset is adjusted at Yaskawa before shipping Normally the user does not have to perform this adjustment Perform this adjustment only if you require even higher accuracy because the torque ripple caused by current offset is causing unaccept able errors and you want to reduce the torque ripple even more If this function is executed carelessly it may worsen the characteristics Execute this function only when the generated torque ripple is clearly high compared to other SERVOPACKs nD UE Press the DATA ENTER Key to display the Automatic Motor Current Offset Adjustment display COP 9 Cur_o p DSPL_ Press the DSPL SET Key to SET execute the function If the DATA ENTER Key is pressed before executing the display will return to the function number setting display Q Wait until the display stops flashing Never turn OFF the control power 7 supply while the display is flashing The display will return to the function numb
250. y result in fire RB Operation A WARNING Never touch any rotating motor parts while the motor is running Doing so may result in injury A WARNING Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to avoid any unexpected accidents Not doing so may result in injury Before starting operation with a machine connected change the settings to match the parameters of the machine Starting operation without matching the proper settings may cause the machine to run out of control or mal function Before starting operation with a machine connected make sure that an emergency stop can be applied at any time Not doing so may result in injury Do not touch the heat sinks during operation Doing so may result in burns due to high temperatures R Maintenance and Inspection A WARNING s Never touch the inside of the SERVOPACKs Doing so may result in electric shock gt Do not remove the panel cover while the power is ON Doing so may result in electric shock s Do not touch terminals for five minutes after the power is turned OFF Residual voltage may cause electric shock xi A CAUTION s Do not disassemble the servomotor Doing so may result in electric shock or injury gt Do not attempt to change wiring while the power is ON Doing so may result in electric shock or injury E General Precautions Note the following to ensure safe applic

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