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Sigma-II Series SGDH PROFIBUS-DP INTERFACE UNIT

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1. x 10 x1 Station Address x 10 x1 Station Address x 10 x1 Station Address Decimal in Decimal in Decimal in 0 0 0 2 A 2A 42 5 4 54 84 1 1 B 2B 43 5 55 85 2 2 C 2C 44 6 56 86 3 3 D 2D 45 7 57 87 4 4 E 2E 46 8 58 88 5 5 F 2F 47 9 59 89 6 6 3 0 30 48 A 5A 90 7 7 1 31 49 B 5B 91 8 8 2 32 50 C 5C 92 9 9 3 33 51 D 5D 93 A A 10 4 34 52 E 5E 94 B B 11 5 35 53 F 5F 95 C C 12 6 36 54 6 0 60 96 D D 13 7 37 55 1 61 97 E E 14 8 38 56 2 62 98 F F 15 9 39 57 3 63 99 1 0 10 16 A 3A 58 4 64 100 1 11 17 B 3B 59 5 65 101 2 12 18 C 3C 60 6 66 102 3 13 19 D 3D 61 7 67 103 4 14 20 E 3E 62 8 68 104 5 15 21 F 3F 63 9 69 105 6 16 22 4 0 40 64 A 6A 106 7 17 23 1 41 65 B 6B 107 8 18 24 2 42 66 C 6C 108 9 19 25 3 43 67 D 6D 109 A 1A 26 4 44 68 E 6E 110 B 1B 27 5 45 69 F 6F 111 C 1C 28 6 46 70 7 0 70 112 D 1D 29 7 47 71 1 71 113 E 1E 30 8 48 72 2 72 114 F 1F 31 9 49 73 3 73 115 2 0 20 32 A 4A 74 4 74 116 1 21 33 B 4B 75 5 75 117 2 22 34 C 4C 76 6 76 118 3 23 35 D 4D 77 7 TT 119
2. Y l TITS C9 96 o o o E z3 no A no A Do J Do J DO Dno Ep B2 Do 00 co A oo A ooj J Es J s 9 9 9 2 10mm 0 4in or more ee 2in or more Install the SERVOPACK perpendicular to the wall so that the front panel containing connectors 30mm 1 2in or more SERVOPACK Orientation faces outward Cooling As shown in the figure above provide sufficient space around each 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 provide at least 10 mm 0 39 in between and at least 50 mm 1 97 in above and below each SERVOPACK Install cool ing fans above the SERVOPACKs to avoid excessive temperature rise and to maintain even tem perature inside the control panel Environmental Conditions in the Control Panel Ambient Temperature 0 to 55 C e Humidity 9046 or less Vibration 4 9 m s Condensation and Freezing None Ambient Temperature for Long term Reliability 45 C max Connectors This chapter describes the procedure used to connect 2 II Series products to peripheral devices when NS500 Unit is mounted and gives typical exam ples of I O signal connections 3 1 Connecting to Peripheral Devices 3 1 1 Single p
3. Alarm Alarm Code Out ALM Alarm Name Description Display puts Output ALO ALO ALO 1 2 3 A 02 OFF OFF OFF OFF Parameter Breakdown 2 EEPROM data of SERVOPACK is abnormal A 03 Main Circuit Encoder Error Detection data for power circuit is abnormal A 04 Parameter Setting Error The parameter setting is out of the allowable set ting range A 05 Combination Error SERVOPACK and servomotor capacities do not match each other A 10 ON OFF OFF OFF Overcurrent or Heat Sink An overcurrent flowed through the IGBT 2 Overheated Heat sink of SERVOPACK was overheated A 30 ON ON OFF OFF Regeneration Error Regenerative resistor is defective Regenerative transistor is defective A 32 Regenerative Overload Regenerative energy exceeds regenerative resistor capacity A 40 OFF OFF ON OFF Overvoltage 3 Main circuit DC voltage is excessively high A 41 Undervoltage 3 Main circuit DC voltage is excessively low A 51 ON OFF ON OFF Overspeed Rotational speed of the motor is excessively high A 71 ON ON ON OFF Overload for Instantaneous The motor was operating for several seconds to Maximum Load several tens of seconds under a torque largely exceeding ratings A 72 Overload for Continuous The motor was operating continuously under a Maximum Load torque largely exceeding rating A 73 Dynamic Brake Overload When the dynamic brake was applied
4. Table 5 4 Set Read Commands Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 1 0 ALRST ESTP 0 0 SVON C STRT 1 Command code 2 Command number 3 4 Command data 5 6 7 5 20 5 3 Command Response Format Command Codes A list of command codes is shown in the following table Set No operation for commands that will not be executed The command codes in the response datas will basically be a copy of the command codes in the command datas A warning for parameter setting error will be returned when the parameter number is different or the data is outside the setting range for the parameter Table 5 5 Command Codes Command Code Description 0000 No operation 1000 Read parameter 1001 Write parameter 1010 Set current position 1011 Set zero point 1100 Read alarm 1110 Reset Module E response datas Details on bytes 1 to 7 of the response datas for set read commands MOD 1 are shown be low Table 5 6 Responses for Set Read Commands Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 1 READY PWRON ESTP R ALRM WARN SVON R C STRT R 0 Command code Command number Response data 5 21 PROFIBUS DP Communications 5 83 4 Set Read command datas B Parameter Read Command The Parameter Read Command reads SGDH and NS500 Unit parameters To use the Parameter Read Command make the
5. Pn No Digit Parameter Name Set Value Description Pnooo 1 Select control method 1 Position control Pn004 1 Reserved 0 Pn200 2 Clear signal status 1 Error counter is not cleared Pn202 Electronic Gear Ratio 1 Electronic gear on SGDH Numerator SERVOPACK is not used Pn203 Electronic Gear Ratio 1 Electronic gear on SGDH Denominator SERVOPACK is not used Pn204 Position command accel 0 Time constant 0 eration deceleration time constant Pn207 1 Select position command 0 Uses the position com filter mand acceleration decel eration filter Pn50A i Select input signal 1 8881 Not used Pn50B i Select input signal 2 81 Not used Pn50C Select input signal 3 8888 Not used Pn50D Select input signal 4 8888 Not used Pn511 0 Select input signal 5 8 Not used nro D set 6 3 These parameters are set automatically the first time the power to the SERVOPACK is turned ON after the NS500 Unit has been mounted Startup will take approximately 6 seconds when these parameters are being Parameter Settings 6 1 2 Standard Settings for CN1 I O Signals 6 1 2 Standard Settings for CN1 I O Signals The standards settings for CN1 I O signals when the NS500 Unit is mounted are described below To use the standard settings change the parameters to the standard setting as shown below The input signal setting from the NS500 Unit will be force changed so the user cannot change this
6. Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Not specified Status and Remedy for Alarm During operation A B C D Cause Remedy A Cable defective or poor contact between Check connector connections Digital Operator and SERVOPACK Replace the cable B Malfunction due to external noise Separate Digital Operator and cable from noise source C Digital Operator is defective Replace the Digital Operator D SERVOPACK is defective Replace the SERVOPACK A A Normal Operation This is not an alarm display Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF OFF ON Note OFF Output transistor is OFF alarm state ON Output transistor is ON 9 37 Error Diagnosis and Troubleshooting 9 2 Troubleshooting Problems with No Alarm Display Refer to the tables below to identify the cause of a problem which causes no alarm display and take the remedy described Turn OFF the servo system power supply before commencing the shaded procedures Contact your Yaskawa representative if the problem cannot be solved by the described proce dures Table 9 1 Troubleshooting Table with No Alarm Display Symptom Cause Inspection Remedy Servomotor does not start Power not connected Check voltage between power supply terminals Correct the power circuit Loose c
7. 6 4 Setting Up the SERVOPACK esseeeeeeeeee 6 4 1 Parameters 6 4 2 Input Circuit Signal Allocation 0 cece eee eens 6 4 3 Output Circuit Signal Allocations 0 cece eee eee 6 4 4 Analog Monitors 6 5 Setting Stop Functions 00 cece eee eee eens 6 5 1 Using the Dynamic Brake cece eet ees 6 5 2 Using the Holding Brake 6 6 Absolute Encoders 6 6 1 Selecting an Absolute Encoder 0 6 6 2 Absolute Encoder Setup 6 6 3 Multiturn Limit Setting 6 7 Digital Operator 6 7 1 Connecting the Digital Operator 0 eee 6 7 2 Limitations in Using a Hand held Digital Operator 0008 6 7 3 Panel Operator Indicators 0 ccc eee tenes Using the NSxxx Setup Tool 7 1 Connection and Installation 000 cece eee eee 7 1 1 Connecting the NS500 Unit 0 teens 7 1 2 Installing the Software 7 2 Howto Use 7 2 1 Screen Configuration at Startup 0 ete eae 7 2 2 Functions Configuration 7 2 7 3 7 3 7 6 8 Ratings Specifications and Dimensions 8 1 8 1 Ratings and Specifications 00 cece eee eee eee 8 2 8 2 Dimensional Drawings ce eee eee eee eee eens 8 4 821 NSSOQUIE e oer kieran e reed mange nena aded vs qu Aye 8 4 9 Error Diagnosis and Troubleshooting 9 1 9 1 Troubleshooting with A
8. 4 5 4 2 4 Speed Acceleration and Deceleration Parameters 4 6 4 2 5 Positioning Parameters 0000 4 8 4 2 6 Multi speed Positioning Parameters 4 9 4 2 7 Notch Output Parameters 000 4 10 4 3 Parameter Details 2 0 02005 4 11 4 3 1 Unit Parameters 0 cece eee eee 4 11 4 3 2 Zero Point Return Parameters 4 14 4 3 3 Machine System and Peripheral Devices 4 19 4 3 4 Speed Acceleration and Deceleration 4 21 4 3 5 Positioning Parameters 0005 4 33 4 3 6 Multi speed Positioning sss 4 35 4 3 7 Notch Signal Output Positioning 4 36 Parameter Settings 4 1 2 Parameter Types 4 1 Parameters 4 1 1 Outline of Parameters Parameters is the name given to the user constants that are required as the settings used to oper ate the NS500 Unit You must set the optimum values for parameters according to the NS500 Unit and the machine to which the SGDH is mounted You can edit the NS500 Unit parameters using the NSxxx Setup Tool or host controller For parameters refer to Chapter 6 Parameter Settings or the 2 II Series SGM Manual Design and Maintenance SIE S800 32 2 4 1 2 Parameter Types Parameters are classified depending on their purpose as follows Unit parameters Zero Point Return parameters Machine system and peripheral device parameters Speed
9. Connectors 3 3 4 Interface Circuits 3 3 4 Interface Circuits The following diagram shows an example of connections between a host controller and the I O signal for a SERVOPACK mM Sequence Input Circuit Interface The sequence input circuit interface connects through a relay or open collector transistor circuit Select a low current relay otherwise a faulty contact will result SERVOPACK SERVOPACK 24 VDC 50 mA min Ce ER Sequence Output Circuit Interface Any of the following two types of SERVOPACK output circuits can be used Form an input cir cuit at the host controller that matches one of these types Connecting to an Open collector Output Circuit Alarm code signals are output from open collector transistor output circuits Connect an open collector output circuit through a photocoupler relay or line receiver cir cuit 5 to 12 VDC photocoupler 510 24 VDC Relay SERVOPACK SERVOPACK o end y end I i l ov ov 4 ov ov 5 to 12 VDC SERVOPACK end i Note The maximum allowable voltage and current capaci 1 ties for open collector output circuits are as follows ov f w Voltage 30 VDC max Current 20 mA DC max 3 10 3 3 1 0 Signals Connecting to a Photocoupler Output Circuit Photocoupler output circuits are used for servo alarm servo ready and other sequence out put signal circuits Connect a photocoupler output circuit through a relay or line receiver
10. The output signal in the following parameter must be selected when the BK signal is used Pn50F Output Signal Selection 2 Factory Position Control Setting 0000 Pn50F 2 0 Input terminals BK CN1 25 26 SO1 Brake interlock CN1 27 28 SO2 output CN1 29 30 SO3 Select the BK output terminal Parameter Setting Output Terminal CN1 1 2 Pn50F 2 0 z 1 25 26 2 27 28 3 29 30 Note Signals are output with OR logic when multiple signals are allocated to the same output circuit Set other output signals to a value other than that allocated to the BK signal in order to output the BK signal alone Refer to 6 4 3 Output Circuit Signal Allocation 6 5 Setting Stop Functions B Brake Operation Set whether the brake is applied using the SERVOPACK parameter Pn005 0 Brake Operation Factory Position Control Setting 0 Pn005 0 Setting Description 0 Performs brake operation using the SERVOPACK parameter 1 Does not perform brake operation using the SERVOPACK parameter IMPORTANT When setting the Pn005 0 to 1 the SERVOPACK s parameters Pn506 Pn507 Pn508 settings will be ignored B Brake ON Timing If the equipment moves slightly due to gravity when the brake is applied set the following pa rameter to adjust brake ON timing Pn506 Time Delay from Brake Unit Set
11. 0000005 4 2 5 Positioning Parameters 0 cece e 4 2 6 Multi speed Positioning Parameters 0 cece ete eee 4 2 7 Notch Output Parameters 0 eee eh 4 3 Parameter Details 1 vll leer hone AREE RS 4 3 1 Unit Parameters cot p one ete ee eee Oa ee 4 3 2 Zero Point Return Parameters sssee eee 4 3 3 Machine System and Peripheral Devices 0 4 3 4 Speed Acceleration and Deceleration 000 0c cece eee eens 4 3 5 Positioning Parameters nare tiisna mete ee eb prier Rn ied ls da 4 3 6 Multi speed Positioning sssssese III 4 3 7 Notch Signal Output Positioning 0 cece eee PROFIBUS DP Communications 5 1 Specifications and Configuration usseseee 53 1 Specificatlons nega esto ssepe gr bhem sup WV EAMhTITPIEI SD 5 1 2 Control Configuration sssssesssssssses n 5 2 PROFIBUS DP Communications Setting Switches 5 2 1 Rotary Switch Settings for Setting Station Address 5 2 2 LED Indicators ecran ee ee he den Gad ERAS UE 5 3 Command Response Format Lseuues 5 3 1 Command Format 0000 ccc ence rns 5 3 2 General Command Bits and Status 0 0 ccc eee eens 5 3 3 Move command datas nsaan anaran raae 5 3 4 Set Read command datas ununa naana annann ees 5 4 Motion Command Methods ee
12. Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm At power ON A During PROFIBUS DP B communications Cause Remedy A SERVOPACK is defective Replace the SERVOPACK PROFIBUS DP communications interrupted Turn the power ON again 9 33 Error Diagnosis and Troubleshooting E A ED A ED NS500 Unit Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF ON ON OFF Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm During PROFIBUS DP communications Cause Remedy A Command was interrupted Do not connect a Hand held Digital Operator or start communications with a personal com puter during command execution 9 34 B A Fi A F1 Power Line Open Phase Display and Outputs 9 1 Troubleshooting with Alarm Displays Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 n OFF ON OFF OFF Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm At main circuit power supply Occurred when the control ON power turned ON C Cause Remedy A One phase L1 L2 or L3 of the main circuit Check power supply power supply is disconnected Check wiring of the
13. W YASKAWA senvoPACK 200v H B f Lic iB For SERVOPACK 6 0 kW to 7 5 kW 1 3 Mounting the NS500 Unit When the NS500 Unit has been mounted correctly the SERVOPACK will appear as shown in the following diagram COG Ounce Installation This chapter describes precautions for X II Series product installation The SGDH SERVOPACKs are base mounted servo amplifiers Incorrect installation will cause problems Always observe the installation precau tions shown in this chapter 2 1 Storage Conditions 2 2 2 2 Installation Silg osu hues Et Ee vee huis 2 2 2 5 Orientation 4 oot wire eet shh es 2 3 2 4 Installation vc 7 2 ca eee ee eee Seow ees 2 4 Installation 2 1 Storage Conditions Store the SERVOPACK within the following temperature range when it is stored with the power cable disconnected Temperature range 20 to 85 C z II Series SGDH SERVOPACK with NS500 Unit mounted 2 2 Installation Site Take the following precautions at the installation site Situation Installation Precaution Installation in a Control Design the control panel size unit layout and cooling method so that Panel the tempe
14. IMPORTANT If the following absolute encoder alarms are displayed the alarms must be cleared using the method described above for the setup operation They cannot be cleared using the Alarm Reset Command Encoder backup alarm A 81 Encoder checksum alarm A 82 In addition if a monitoring alarm is generated in the encoder release the alarm by turning OFF the power 6 6 3 Multiturn Limit Setting When implementing absolute position detection systems for machines that turn m times in re sponse to n turns in the load shaft such as round tables it is convenient to reset the multiturn data from the encoder to 0 every m turns The Multiturn Limit Setting allows the value m to be set for the encoder Select the absolute encoder usage with the following parameter Pn002 2 Absolute Encoder Usage Factory Setting Position Conirol 0 Set Pn002 2 to 0 to enable the absolute encoder Pn002 2 Setting Description 0 Uses the absolute encoder as an absolute encoder 1 Uses the absolute encoder as an incremental encoder Multiturn limit The upper limit of multiturn data The multiturn data will vary between 0 and the value of Pn205 multiturn limit setting when Pn002 2 is set to 0 6 22 6 6 Absolute Encoders The multiturn limit is set in the SERVOPACK using the following parameter Pn205 Multiturn Limit Setting Unit Setting Factory Position Control
15. Lssuuuus 5 3 5 2 1 Rotary Switch Settings for Setting Station Address 5 3 5 2 2 LED Indicators 24 oia a pe eee o 5 4 5 8 Command Response Format 5 6 5 3 1 Command Format 0c cece eee 5 6 5 3 2 General Command Bits and Status 5 7 5 3 3 Move command datas 00000040 5 11 5 3 4 Set Read command datas Lue 5 20 5 4 Motion Command Methods 5 27 5 4 1 Constant Feed Command 5 27 5 4 2 Step Command ssueuusssss 5 29 5 4 3 Station Command cece eee 5 31 5 4 4 Point Table Command 00 eee eee eee 5 33 5 4 5 Zero Point Return Command 5 34 5 4 6 Positioning Command 0e eee eee 5 36 5 4 7 External Positioning sees 5 38 5 4 8 Notch Output Positioning Command 5 40 5 4 9 Multi speed Positioning Command 5 41 5 5 Commands from the Host Controller 5 45 5 5 1 Basic Sequence cece eee ees 5 45 5 5 2 Command Method ssuuueuusssss 5 46 5 1 PROFIBUS DP Communications 5 1 2 Control Configuration 5 1 Specifications and Configuration 5 1 1 Specifications The NS500 Unit is classified as a PROFIBUS DP slave device and can be controlled from dif ferent types of PROFIBUS DP Master Module as a general purpose I O Module with 64 inputs and 64 outputs Communications with the Master Module are cy
16. Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF ON ON OFF Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm NS500 Unit detection error A B Cause Remedy A The NS500 Unit is not mounted properly Check that NS500 Unit mounted correctly The NS500 Unit is not mounted Execute Fn014 from Digital Operator 9 31 Error Diagnosis and Troubleshooting BH A EA A EA SERVOPACK Malfunction Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF ON ON OFF Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm Cause Remedy A SERVOPACK is defective Replace the SERVOPACK E A EB A EB SERVOPACK Initial Access Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF ON ON OFF Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm A Cause Remedy A SERVOPACK is defective Replace the SERVOPACK 9 32 9 1 Troubleshooting with Alarm Displays B A EC A EC SERVOPACK WDC Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF ON ON OFF
17. E Command Method 1 Set the command code byte 1 bits 0 to 3 to no operation 0 if it is not already set to 0 2 Set the Servo ON Command byte 0 bit 1 to 1 3 Set absolute incremental byte 3 bit 0 If an incremental position has been specified the target position will be current position position specified from bytes 4 to 7 4 Set the target position in the command data bytes 4 to 7 5 Set multi speed positioning 4 in the command code byte 1 bits 0 to 3 6 Change the Command Start Command byte 0 bit 0 from 0 to 1 Byte Bit 7 Bit 6 Bit 5 Bit4 Bit 3 Bit 2 Bit 1 Bit 0 0 0 0 0 1 0 0 1 1 1 Response type 00h 2 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 4 Target position data 5 6 7 5 44 5 5 Commands from the Host Controller 5 5 Commands from the Host Controller 5 5 1 Basic Sequence Some examples of basic command sequences for the NS500 Unit are shown below B Move Commands Using Command Bit 1 Confirm the following conditions in the response data READY 1 ESTP R 1 ALRM 0 WARN 0 2 Confirm the following conditions in the response data SVON_R 1 PRGS 0 INPOS 1 and the move command bit 0 3 Set the command bit and command data for the move command 4 Check command completion using the specified position or station number or point table number and by confirming that PRGS 0 and INPOS 1 5 Set the move command bit to 0 B Move Commands Using Command Code
18. Not doing so may cause fire or malfunction B 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 e Connect the SERVOPACK ground terminal effectively to a system grounding conductor or grounding electrode 100 Q or less Improper grounding may result in electric shock or fire A CAUTION e Do not connect a three phase power supply to SERVOPACK 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 may result in fire xiii E Operation A WARNING Never touch any rotating motor parts while the motor is running Doing so may result in injury A CAUTION Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to avoid any unexpected accidents Not doing so may result in injury Before starting operation with a machine connected change the settings to match the parameters of the machine Starting operation without matching the proper settings may cause the machine to run out of control or mal function Before starting operation with a machine connected make sure that an emergency stop can be applied at any time Not doing so may result i
19. T Range Setting 0 to 65535 65535 If the Multiturn Limit Setting is set to 65535 factory setting the multiturn data will vary from 32768 to 32767 If any other value is set the multiturn data will vary from 0 to the setting of Pn205 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 INFO Turn the power OFF and then ON after changing the setting of parameter Pn002 2 or Pn205 The multiturn limit value in the encoder is factory set to 65535 the same as the SERVOPACK If the multiturn limit value in the SERVOPACK is changed with Pn205 and then the SERVO PACK power is turned OFF and ON the following alarm will occur Alarm Name Multiturn Limit Disagreement Alarm Alarm Code Outputs Description of Alarm Display ALO1 ALO2 ALO3 A CC ON OFF ON The multiturn limit value is different in the en coder and SERVOPACK Note ON signals are low level OFF signals are high level When this alarm occurs the multiturn limit in the encoder must be changed This operation is performed in one of the following ways Refer to the X I Series SGMLIH SGDH User s Manual Design and Maintenance SIE 800 32 2 for details on changing the multiturn limit setting Fn
20. The MS indicator is the module status the NS indicator is the network status The required indica tor responses are shown in the table The alarm codes are shown below Table A 1 Alarm Codes Code MS NS Alarm Name Description A 02 Flashes Red Parameter Breakdown EEPROM data of SERVOPACK is abnormal A 03 Lit Red E Main Circuit Encoder Error Detection data for power circuit is abnormal A 04 Flashes Red Parameter Setting Error The parameter setting is out of the allowable set ting range A 05 Flashes Red Combination Error SERVOPACK and servomotor capacities do not match each other A 10 Flashes Red Overcurrent or Heat Sink Overheated An overcurrent flowed through the IGBT Heat sink of SERVOPACK was overheated A 30 Lit Red Regeneration Error e Regenerative resistor is defective Regenerative transistor is defective A 32 Flashes Red Regenerative Overload Regenerative energy exceeds regenerative resistor capacity A 40 Flashes Red Overvoltage Main circuit DC voltage is excessively high A 41 Flashes Red Undervoltage Main circuit DC voltage is excessively low A 51 Flashes Red Overspeed Rotational speed of the motor is excessively high A 71 Flashes Red Overload for Instantaneous The motor was operating for several seconds to Maximum Load several tens of seconds under a torque largely exceeding ratings A 72 Flashes Red Overl
21. 28 B A EO A E0 No NS500 Unit Display and Outputs 9 1 Troubleshooting with Alarm Displays Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF ON ON OFF Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm Cause Remedy A The NS500 Unit is defective Replace the NS500 Unit B A E1 A E1 NS500 Unit Timeout Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF ON ON OFF Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm Cause Remedy A The NS500 Unit is defective Replace the NS500 Unit 9 29 Error Diagnosis and Troubleshooting E A E2 A E2 Watchdog Counter Error in NS500 Unit Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF ON ON OFF Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm Cause Remedy A The NS500 Unit is defective Replace the NS500 Unit 9 30 9 1 Troubleshooting with Alarm Displays B A E7 A E7 NS500 Unit Detection Error when SGDH power is ON A E7 occurs when the SGDH is used without the NS500 Unit after it has been used with the NS500 Unit Display and Outputs
22. 4 24 36 E 4E 78 8 78 120 5 25 37 F 4F 79 9 79 121 6 26 38 5 0 50 80 A 7A 122 7 27 39 1 51 81 B 7B 123 8 28 40 2 52 82 C 7C 124 9 29 41 3 53 83 D 7D 125 E 7E 126 Note Setting a value of 7F or more will result in an error A E8 The setting 7E 126 is used by the manufacturer for setup pur poses Set station addresses in the range 0 to 125 5 2 2 LED Indicators NS500 Units are equipped with two LED indicators the Module Error indicator ERR to indi cate the Unit status and the Communications Status indicator COMM to indicate the PROFI BUS DP communications status 5 4 5 2 PROFIBUS DP Communications Setting Switches B Module Error Indicator ERR The Module Error indicator is a red LED that lights when a communications error occurs It turns OFF while communications data is being exchanged i e during normal operation It lights at other times The current status of the NS500 Unit is indicated together with the Com munications Status indicator COMM in the way shown in the table below B Communications Status Indicator COMM The Communications Status indicator is a red and green dual display LED and indicates PRO FIBUS DP communications errors The current status of the NS500 Unit is indicated together with the Module Error indicator ERR in the way shown in the table below Indicator Status Cause ERR COMM ON Lights red and e Perform
23. Notch Signal Output Setting Pn891 Use the Notch Signal Output Setting to set the polarity of the notch signal output Table 4 12 Notch Signal Output Setting Setting Description 0 Sets NOTCH 1 signal 1 Sets NOTCH 2 signal Table 4 13 Bit Meanings Bit 0 Bit 1 Description 0 Normally OFF When passed ON 1 Normally ON When passed OFF Notch 1 Output Position Lower Limit Pn892 Notch 1 Output Position Upper Limit Pn893 Use the Notch 1 Output Position Upper Lower Limits to set the output position range for notch signal NOTCH 1 When the current position is inside this range the status of the NOTCH 1 signal output is reversed based on the notch signal output setting Notch 2 Output Position Lower Limit Pn894 Notch 2 Output Position Upper Limit Pn895 Use the Notch 2 Output Position Upper Lower Limits to set the output position range for notch signal NOTCH 2 When the current position is inside this range the status of the NOTCH 2 signal output is reversed based on the notch signal output setting 4 37 PROFIBUS DP Communications This chapter explains about using PROFIBUS DP communications to execute commands and editing parameters for an NS500 Unit 5 1 Specifications and Configuration 5 2 5 1 1 Specifications 00 eee ee 5 2 5 1 2 Control Configuration sssuuussss 5 2 5 2 PROFIBUS DP Communications Setting Switches
24. acceleration and deceleration parameters Positioning parameters Multi speed positioning parameters Notch output positioning parameters SGDH User s Parameters are further classified according to the priority of the setting as shown below Table 4 1 Parameter Types Type Meaning A Parameters that must be set even when using the NS500 Unit in standard mode B Parameters that must be set when using the NS500 Unit in special mode C Parameters whose settings hardly ever need to be changed 4 1 3 Editing Parameters You can edit parameters using the following methods Table 4 2 Methods of Editing Parameters 4 1 Parameters Tools Methods Remarks NSxxx Setup Tool Select Option Parameter List from the Parameter Menu to read all the NS500 Unit parameters After the parameters have been displayed select the parame ters you want to edit and click the Edit Button to edit the parameters All changed parameters are stored in RAM so they are erased when the power is turned OFF Use the Module Reset Command to write the parameter data in RAM to the flash ROM Master Device You can edit using 8 bytes commands All changed parameters are stored in from the Master Device RAM so they are erased when the power is turned OFF Execute the Reset Service for the Identity Object to write the parameter data in RAM to the flash ROM Param
25. setting SGDH SERVOPACK CN1 Not used 40 SIO 2 COIN DEC COIN EA CICONE P OT 4 BK N OT BK ENO y ae EXTP 5 S RDY ZERO gt 30 4 S RDY Not used Figure 6 1 Standard CN1 I O Signal Settings Table 6 1 Factory Settings and Standard Settings for I O Signals Parameter Description Factory Standard Setting Setting Pn50E Output signal selections 1 3211 3001 Pn50F Output signal selections 2 0000 0200 Pn510 Output signal selections 3 0000 0000 6 2 Settings According to Equipment Characteristics 6 2 Settings According to Equipment Characteristics This section describes the procedure for setting parameters according to the dimensions and perfor mance of the equipment used 6 2 14 Switching Servomotor Rotation Direction The SERVOPACK has a Reverse Rotation Mode that reverses the direction of servomotor rota tion without rewiring Forward rotation in the standard setting is defined as counterclockwise as viewed from the load With the Reverse Rotation Mode the direction of servomotor rotation can be reversed without changing other items The direction of shaft motion is reversed There are no other changes Standard Setting Reverse Rotation Mode Forward Position data from ow Position data from Reference SERVOPACK c SERVOPACK E directi Hik direction ta direction pe Reverse ev Position data from Position data from Reference Cl
26. 0 Forward Reverse PROFIBUS DP Communications 5 3 3 Move command datas B response datas The response datas for move commands are shown below Table 5 3 Responses for Move Commands Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 0 READY PWRON ESTP R ALRM WARN SVONR C_STRT_R 1 Response type Command code 2 HOME R PTBL_R STN_R STEP_R FEED_R 0 HOLD_R PRGS 3 POT NOT INPOS NEAR HOME P 0 DIR R INC R 4 command data 5 6 7 Progressing Flag PRGS The PRGS bit is set to 1 during the execution of a command For move commands this flag will be set to 1 while outputting to the SGDH When command execution has been completed or when a Cancel Command or other stop com mand has been received the Progressing Flag is set to 0 0 Command execution completed 1 During command execution Holding Flag HOLD R The HOLD R bit is set to 1 when a Hold Command is received from the host device and for the duration of the hold The host device can confirm that the NS500 Unit correctly received the Hold Command by checking that the Holding Flag is set to 1 0 Hold Command not received 1 Hold Command received Constant Feed Flag FEED R The FEED R bit is set to 1 when a Constant Feed Command is received from the host device and while constant feeding is being executed When the Constant Feed Command is set to 0 this flag is also set to 0 The host devi
27. 1 Confirm the following conditions in the response data READY 1 ESTP_R 1 ALRM 0 WARN 0 2 Confirm the following conditions in the response data SVON_R 1 PRGS 0 INPOS 1 C_START 0 and the command code 0 3 Set the command data and command code for the move command and set C_START to 1 4 Check command completion using the specified position or station number or point table number and by confirming that PRGS 0 and INPOS 1 5 Set the command code and C START to 0 B Set Read Commands Confirm that READY 1 in the response data Confirm that the command code 0 Set the setting data and the command code BS epis EX Des Check command completion using the setting data and the command code and by con firming that C START R 1 and READY 1 5 Set the command code and C START to 0 Bi Holding Move Commands 1 Set HOLD to 1 5 45 PROFIBUS DP Communications 5 5 2 Command Method 2 Check hold status by confirming that HOLD_R 1 and INPOS 1 in the response data 3 Release the hold status by setting HOLD to 0 Mm Cancelling Move Commands 1 Set CANCEL to 1 or set the move command bit to 0 2 Check that the command has been cancelled by confirming that PRGS 0 and INPOS 1 3 Set the move command bit and CANCEL to 0 HM Operating Sequences for Alarms 1 If an alarm is detected i e ALRM 1 set SVON to 0 and CANCEL to 1 or clear the move command 2 Re
28. 4 Bit 3 Bit 2 Bit 1 Bit 0 0 0 0 0 1 0 0 1 1 1 Response type 00h 2 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 4 Target position data 5 6 7 5 39 PROFIBUS DP Communications 5 4 8 Notch Output Positioning Command 5 4 8 Notch Output Positioning Command B Function The Notch Output Positioning Command performs positioning to the specified position If a specified position is passed during the positioning a notch output signal notch signal will be Two notch signals can be used in the NS500 Unit B Related Parameters output Notch output 1 position upper limit Notch output 1 position lower limit 5 40 No Name Setting Unit Effective Factory Type Range Timing Setting Pn890 Notch Signal Output 0 1 i Immediate 0 C Position Setting Pn891 Notch Signal Output 0to03 Immediate 0 C Setting Pn892 Notch 1 Output Posi 299 999 999 Steps Immediate 0 C tion Lower Limit Pn893 Notch 1 Output Posi 299 999 999 Steps Immediate 0 C tion Upper Limit Pn894 Notch 2 Output Posi 299 999 999 Steps Immediate 0 C tion Lower Limit Pn895 Notch 2 Output Posi 299 999 999 Steps Immediate 0 C tion Upper Limit E Operation Speed Time 1 C STRT 0 NOTCH1 5 4 Motion Command Methods NE Command Method 1 Set the command code byte 1 bits 0 to 3 to no operation 0 if it is not already set to 0 2 Set the Servo ON Command byte 0 bit 1 to 1 3
29. 6 3 1 Sequence I O Signals 6 3 Settings According to Host Controller This section describes the procedure for connecting the SERVOPACK to the host controller and pro vides details on related parameters 6 3 1 BSequence l O Signals Sequence I O signals are used to control SERVOPACK operation Connect these signal terminals as required B input Signal Connections Connect the sequence input signals as shown below standard settings SERVOPACK 1 O power supply 24V 24VIN Host controller EMSTOP IMPORTANT Provide an external input power supply the SERVOPACK does not have an internal 24 V power supply Sequence input signal power supply specifications 24 1 VDC 50 mA min Yaskawa recommends using the same external power supply as that used for output circuits The allowable voltage range for the 24 V sequence input circuit power supply is 11 to 25 V Although a 12 V power supply can be used contact faults can easily occur for relays and other mechanical contacts under low currents Con firm the characteristics of relays and other mechanical contacts before using a 12 V power supply 6 3 JSettings According to Host Controller Input 24V IN CN1 47 24 V External I O Power Supply Input Position Control The external power supply input terminal is common to sequence input signals I O power supply SERVOPACK CN1 47 Connect an external I O pow
30. Accel Decel Time for Constant Feed Second Accel Decel Pn835 Use the Acceleration Deceleration Time for Constant Feed Second Acceleration Deceleration to set the second acceleration deceleration time when using double step linear acceleration and deceleration with the constant feed operation The setting unit is ms This parameter is enabled only when the Acceleration Deceleration Type for Constant Feed Pn836 is set to double step linear acceleration and deceleration Acceleration Deceleration Type for Constant Feed Pn836 Use the Acceleration Deceleration Type for Constant Feed to set the acceleration and decelera tion type with the constant feed operation You can set eight different acceleration and deceleration patterns using different combinations of Acceleration Deceleration Type for Constant Feed and Filter Selection Pn829 Setting Description 0 None 1 Single Step Linear 2 Double Step Linear 3 Asymmetric Time Constant for Exponential Acceleration Deceleration Pn840 Use the Time Constant for Exponential Acceleration Deceleration to set the time constant when using exponential acceleration and deceleration This parameter is used in common by the positioning and the continuous rotary operation The setting unit is ms Bias Speed for Exponential Acceleration Deceleration Pn841 Use the Bias Speed for Exponential Acceleration Deceleration to set the bias speed of the ex ponential a
31. After replacement turn the power OFF and ON C Circuit board 1 PWB is defective Replace the SERVOPACK Note No alarm will occur at the SERVOPACK if the battery error occurs during operation 9 1 Troubleshooting with Alarm Displays B A 84 A 84 Encoder Data Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm At power ON A During operation B Cause Remedy A Encoder is defective Replace the servomotor if the error occurs frequently B Operational error in encoder caused by exter Check and correct wiring around the encoder nal noise as follows e Grounding of the servomotor Separation between the encoder cable and the servomotor power cable nsertion of toroidal cores onto cables Error Diagnosis and Troubleshooting B A 85 A 85 Absolute Encoder Overspeed Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm At power ON A B At SENS_ON command A B Cause Remedy A Absolute encoder turned ON at a speed ex ceeding 200 min Turn ON power supply again with the servo motor stopped B Circuit board
32. CN4 3 12 3 5 Connectors for PROFIBUS DP Communications 3 15 Parameter Settings seuuues 4 1 4 1 Parameters sssssssssseseeee tees 4 2 4 2 Parameter Tables 0000 cece eee eee eee 4 4 4 3 Parameter Details 0 000 c cece eee 4 11 PROFIBUS DP Communications 5 1 5 1 Specifications and Configuration 0 eee eee eee 5 2 5 2 PROFIBUS DP Communications Setting Switches 5 3 5 8 Command Response Format 00 cece ee eee eee 5 6 5 4 Motion Command Methods sssssssssssssss 5 27 5 5 Commands from the Host Controller 00 ee eee 5 45 Parameter Settings seeuuee 6 1 6 1 Parameters and Standard Settings for NS500 Units 6 3 6 2 Settings According to Equipment Characteristics 6 5 6 3 Settings According to Host Controller 00 eee 6 10 6 4 Setting Up the SERVOPACK sssssssssssseeseee 6 12 6 5 Setting Stop Functions 0 00 sees 6 16 6 6 Absolute Encoders ide i a or wad eA Mead eG 6 21 6 7 Digital Operator ssssssssssseee eh 6 24 7 Using the NSxxx Setup Tool 7 1 Connection and Installation 7 2 How to Use 8 Ratings Specifications 8 1 Ratings and Specifications 8 2 Dimensional Drawings 9 1 Troubleshooting with Alarm and Dimensions Error Diagnosis and T
33. Coast status Pn001 0 0 Factory 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 item above is set to 0 dynamic brake status after stopping with the dynamic brake then braking power is not generated and the servomotor will coast to a stop the same as in coast status SERVOPACK Servomotor amp Dynamic brake DB E The dynamic brake is a common way of suddenly stopping a servomotor Built into the SERVOPACK the dynamic brake suddenly stops a servo motor by electrically shorting its electrical circuit E O 6 6 6 2 Settings According to Equipment Characteristics 6 2 3 Fully Closed Control A fully closed loop can be formed using the parameter settings on the SGDH SERVOPACK In previous SERVOPACKs a semi closed method was used to control the motor but with this func tion even more precise control is achieved because control involves the detection of the position and speed of actual machine operation Fully closed control Torque Mechanism in Speed and Servomotor cluding back control at the lash and friction Power machine end Load torque S
34. Description Code Alarm ALO1 ALO2 ALO3 Output A 91 OFF ON ON ON Overload This warning occurs before the overload alarms A 71 or A 72 occur If the warning is ignored and operation continues an overload alarm may occur A 92 ON OFF ON ON Regenerative Overload This warning occurs before the regenerative over load alarm A 32 occurs If the warning is ig nored and operation continues a regenerative overload alarm may occur A 94 ON ON OFF ON Parameter Setting A value outside the setting range was set using Warning DeviceNet communications A 95 OFF ON OFF ON Command Warning A command not supported in the product specifi cations was issued The command reception conditions were not met A 98 ON ON ON ON Main Power OFF The main power supply is not being supplied AIA ON OFF ON ON Positioning Completed Positioning was not completed within the set time Timeout Note OFF Output transistor is OFF high ON Output transistor is ON low 9 43 Alarm and Warning Codes This appendix lists the alarm and warning codes within DeviceNet Act Alarm Codes october tei ws A 2 A 2 Warning Codes 2 6 o E RE EE A 4 A 1 Alarm and Warning Codes A 1 Alarm Codes Alarm codes are displayed on the front of the SGDH and at the same time can also be read as re sponse data at the host device connected via PROFIBUS DP Alarms are also displayed using the MS and NS indicators on the NS500 Unit
35. Device Net commands is used to set parameters FE ERI 9 ae e Parameters are divided into the following three groups Parameter Function Pn000 to Pn819 Specify SERVOPACK functions set servo gains etc Fn000 to Fn013 Execute auxiliary functions such as FEED operations and zero point searches Un000 to UnOOD Monitor the motor speed and torque reference value on the panel display 6 4 2 Input Circuit Signal Allocation The allocation of the sequence input signal circuit when the NS500 Unit is mounted on the SGDH SERVOPACK is not changed It will be as follows Terminal Input Terminal Symbol Name Numbers Name 40 SIO E 41 SI1 DEC Deceleration limit switch 42 SI2 P OT Forward run prohibited 43 SI3 N OT Reverse run prohibited 44 SI4 EXTP External signal positioning 45 SI5 ZERO Zero point signal 46 SI6 2 6 4 JSetting Up the SERVOPACK 6 4 3 Output Circuit Signal Allocations Output signal functions can be allocated to the sequence signal output circuits shown below In general allocate signals according to the standard settings in the following table CN1 Output Factory Setting Standard Setting Connector Terminal Terminal Name Symbol Name Symbol Name Numbers 25 Sol COIN Positioning COIN Positioning completed completed 26 COIN COIN 27 S02 TGON Rotation BK Brake interlock detection
36. MOD R bit specifies the data format of bytes 1 to 7 This bit will be the same as the mode given in the command data 0 Response format for move commands 1 Response format for set read commands Module Ready READY The READY bit will be set to 1 when the NS500 Unit is ready to receive commands from the host device The READY status will be 0 when the power is turned ON and when the Module Reset Command in the command data has been received and the NS500 Unit is initializing 5 8 5 3 Command Response Format 0 Not ready to receive commands 1 Ready to receive commands Main Power Supply Status PWRON The PWRON bit will be set to 1 when the SGDH main power supply is turned ON If the main power supply is turned OFF the bit will be 0 and the Servo ON and other commands cannot be executed 0 Main power supply OFF 1 Main power supply ON Emergency Stop ESTP R The ESTP R bit will be set to 0 when the Emergency Stop Command in the command data has been set to 0 and the NS500 Unit is in emergency stop status Set the Emergency Stop Com mand in the command data to 1 to clear the emergency stop status and this bit will change to 1 This status has negative logic 0 Emergency stop status 1 Not in emergency stop status Alarm ALRM The ALRM bit will be set to 1 when the NS500 Unit has detected an alarm When all alarms have been cleared by the Alarm Reset Command in the command d
37. Pn825 Accel Decel Time for Positioning Second 1 to 10 000 ms Immediate 200 B Accel Decel Pn826 Accel Decel Type for Positioning 0 1 2 3 Immediate 0 B Pn829 Filter Selection 0 1 2 3 Immediate 0 B Pn840 Time Constant for Exponential Accel Decel 4 to 1 000 ms Immediate 25 C Pn841 Bias Speed for Exponential Accel Decel 1 to 240 000 1000 Immediate 0 C steps min Pn842 Time Constant of Travelling Average 4 to 10 000 ms Immediate 25 Pn843 Maximum Feed Speed 1 to 240 000 1000 Immediate 24 000 steps min Bl Operation NE Command Method 1 Set the command code byte 1 bits 0 to 3 to no operation 0 if it is not already set to 0 2 Set the Servo ON Command byte 0 bit 1 to 1 3 Set absolute incremental byte 3 bit 0 If an incremental position has been specified the target position will be current position position specified from bytes 4 to 7 5 37 PROFIBUS DP Communications 5 4 7 External Positioning 4 Set the target position in the command data bytes 4 to 7 5 Set simple positioning 1 in the command code byte 1 bits 0 to 3 6 Change the Command Start Command byte 0 bit 0 from 0 to 1 Byte Bit 7 Bit 6 Bit 5 Bit4 Bit 3 Bit 2 Bit 1 Bit 0 0 0 0 0 1 0 0 1 1 1 Response type 00h 2 0 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 0 4 Target position data 5 6 7 5 4 7 External Positioning Function The E
38. SERVOPACK Cas SERVOPACK direction 7 directi etj pa direction E Setting Reverse Rotation Mode Use parameter Pn000 0 Pn000 0 Direction Selection Factory Position Control Setting 0 Use the following settings to select the direction of servomotor rotation Setting Description 0 Forward rotation is defined as counterclockwise Standard setting CCW rotation as viewed from the load 1 Forward rotation is defined as clockwise CW Reverse Rotation rotation as viewed from the load Mode 6 5 Parameter Settings 6 2 2 Stop Mode Selection at Servo OFF 6 2 2 Stop Mode Selection at Servo OFF The SGDH SERVOPACK turns OFF under the following conditions The SV_OFF command is transmitted A servo alarm occurs Power is turned OFF Specify the Stop Mode if any of these occurs during servomotor operation Pn001 0 Servo OFF Stop Mode Factory Position Control Setting 0 Stop Mode After stopping Hold with dynamic brake Stop by dynamic brake Coast to a stop Parameter Setting Item Uses the dynamic brake to stop the servomotor and maintains dynamic brake status after stopping The dynamic brake electrically applies a brake by using a resistor to consume servomotor rotation energy Refer to 6 5 1 Using the Dynamic Brake Pn001 0 0 or 1 Coast status Pn001 0 2
39. Set absolute incremental byte 3 bit 0 If an incremental position has been specified the target position will be current position position specified from bytes 4 to 7 4 Set the target position in the command data bytes 4 to 7 5 Set positioning with notch signal output 23 in the command code byte 1 bits 0 to 3 6 Change the Command Start Command byte 0 bit 0 from 0 to 1 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 0 0 1 0 0 1 1 Response type 00h 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Target position data 5 4 9 Multi speed Positioning Command B Function The Multi speed Positioning Command changes the speed in stages and performs positioning to specified positions When the positions specified in the parameters are reached during axis travel the axis switches to the next set speed and travels to the position specified in the next stage Up to 16 speed switching positions can be set 5 41 PROFIBUS DP Communications 5 4 9 Multi speed Positioning Command B Related Parameters No Name Setting Unit Effective Factory Type Range Timing Setting Pn860 Speed Switching Position Setting x Immediate 0 C Pn861 Number of Points for Speed Switching Immediate 0 C Pn862 Initial Feed Speed for Multi speed Posi 1 to 240 000 1000 Immediate 0 C tioning ste
40. Steps Immediate 0 Pn806 Output Width for Zero Point Return 0 to 32 767 Steps Immediate 100 Pn809 Zero Point Offset 99 999 999 to Steps Immediate 0 99 999 999 Pn80A Accel Decel Time for Zero Point Return 1 to 10 000 ms Immediate 100 B Bl Operation The Zero Point Return Command performs zero point return based on each zero point return mode Speed HOME External signal DEC External signal Encoder phase C PROFIBUS DP Communications 5 4 6 Positioning Command E Command Method Set the Servo ON Command byte 0 bit 1 to 1 Set the Zero Point Return Command byte 2 bit 7 to 1 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 0 0 1 0 0 1 0 1 Response type 00h 2 0 0 0 0 0 0 0 3 0 0 0 0 0 0 0 4 5 6 7 B Function The Positioning Command performs positioning to the specified target position 5 4 6 Positioning Command B Related Parameters 5 4 Motion Command Methods No Name Setting Unit Effective Factory Type Range Timing Setting Pn821 Feed Speed for Positioning 1 to 240 000 1000 Immediate 24 000 B steps min Pn822 Acceleration Time for Positioning 1 to 10 000 ms Immediate 100 B Pn823 Deceleration Time for Positioning 1 to 10 000 ms Immediate 100 Pn824 Switch Speed for Positioning Second Accel 1 to 240 000 1000 Immediate 24 000 C Decel steps min
41. Stop Mode Factory Position Control Setting 0 The SERVOPACK turns OFF under the following conditions When the SV OFF command is sent A servo alarm occurs Power is turned OFF Stop mode After stopping Hold dynamic brake ke st cere ee stop Specify the Stop Mode if any of these occurs during servomotor operation Pn001 0 Setting Description 0 Uses the dynamic brake to stop the servomotor Maintains dynamic brake after the servomotor stops 1 Uses the dynamic brake to stop the servomotor Releases dynamic brake after the servomotor stops and the servomotor coasts to a stop 2 Coasts the servomotor to a stop 2 The servomotor is turned OFF and stops due to equipment friction 1 If the servomotor is stopped or moving at extremely low speed it will coast to a stop 2 A dynamic brake is used when the control power and main power are turned OFF IMPORTANT The dynamic brake is an emergency stop function Do not repeatedly start and stop the servomotor using the SV ON SV OFF command or by repeatedly turning power ON and OFF 6 5 Setting Stop Functions 6 5 2 Using the Holding Brake The holding brake is used when a Servodrive controls a vertical axis In other words a servomo tor with brake prevents the movable part from shifting due to gravity when system power goes OFF Servomotor a Holding
42. and Maintenance xi Using This Manual H Intended Audience This manual is intended for the following users Those designing Servodrive systems using PROFIBUS DP Those designing X II Series Servodrive systems Those installing or wiring X II Series Servodrives Those performing trial operation or adjustments of X II Series Servodrives Those maintaining or inspecting X I Series Servodrives ll Description of Technical Terms In this manual the following terms are defined as follows NS500 Unit JUSP NS500 Servomotor X II Series SGMAH SGMPH SGMGH SGMSH SGMDH or SGMUH servo motor e SERVOPACK XII Series SGDH E SERVOPACK Servodrive A set including a servomotor and Servo Amplifier Servo System A servo control system that includes the combination of a Servodrive with a host computer and peripheral devices E 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 e S ON P CON Safety Precautions Safety Precautions The following precautions are for checking products upon delivery installation wiring operation maintenance and inspections E Checking Products upon Delivery A CAUTION e Always use the servomotor and SERVOPACK in one of the specified combinations
43. byte 0 bit 1 to 1 2 Set absolute incremental byte 3 bit 0 If an incremental position has been specified the target position will be current position position stored in point table 3 Set the point table number to be specified 4 Set the Point Table Command byte 2 bit 6 to 1 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 0 0 0 1 0 0 1 0 1 Response type 00h 2 0 1 0 0 0 0 0 0 3 0 0 0 0 0 0 DIR INC 4 Point table number to be specified 5 6 7 5 4 5 Zero Point Return Command B Function The Zero Point Return Command moves the axis in the specified direction and sets the zero point based on the specified zero point return mode 5 34 5 4 Motion Command Methods When an absolute position detection system has been selected the positioning will be per formed to the zero point B Related Parameters No Name Setting Unit Effective Factory Type Range Timing Setting Pn800 Zero Point Return Mode 0 to 3 Immediate 0 Pn801 Zero Point Return Function Selection 0 to 7 Power up 1 Pn802 Feed Speed for Zero Point Return 1 to 240 000 1000 Immediate 10 000 B steps min Pn803 Approach Speed for Zero Point Return 1 to 240 000 1000 Immediate 1 000 B steps min Pn804 Creep Speed for Zero Point Return 1 to 240 000 1000 Immediate 500 B steps min Pn805 Final Travel Distance for Zero Point Return 0 to 99 999 999
44. control A C6 Fully closed Loop Phase A B Phase A or B of the fully closed encoder was dis Disconnected connected A C7 Fully closed Loop Phase C Phase C of the fully closed encoder was discon Disconnected nected A C8 Absolute Encoder Clear Error The multi turn for the absolute encoder was not and Multi turn Limit Setting properly cleared or set Error A C9 Encoder Communications Communications between SERVOPACK and Error 2 encoder is not possible A CA Encoder Parameter Error Encoder parameters are incorrect A Cb Encoder Echoback Error Contents of communications with encoder are incorrect A CC Multi turn Limit Different multi turn limits have been set in the Disagreement encoder and SERVOPACK A d0 ON ON OFF OFF Position Error Pulse Position error pulse exceeded parameter Pn505 Overflow 9 41 Error Diagnosis and Troubleshooting Alarm Alarm Code Out ALM Alarm Name Description Display puts Output ALO ALO ALO 1 2 3 A E0 OFF ON ON OFF NoNS500 Unit No NS500 Unit installed A E1 NS500 Unit Timeout No response from the NS500 Unit A E2 Watchdog Counter Error of WDC error in the NS500 Unit NS500 Unit 2 A E7 NS500 Unit Detection Error No NS500 Unit was detected when was power supplied to the SGDH A EA SERVOPACK Malfunction SERVOPACK is defective A EB S
45. main circuit power supply Check OF noise filter magnetic contactor B There is one phase where the line voltage is Check power supply low C SERVOPACK is defective Replace the SERVOPACK Note A and B tend to occur in a SERVOPACK with a capacity of 500 W or higher Error Diagnosis and Troubleshooting B CPFOO CPF00 Digital Operator Transmission Error 1 This alarm is not stored in the alarm trace back function memory Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Not specified Status and Remedy for Alarm ital Operator and SERVOPACK At power ON Digital Digital Operator Operator connected before _ connected to e SERVOPACK power turned A B C D SERVOPACK while A B C D ON power turned ON Cause Remedy A Cable defective or poor contact between Dig Check connector connections Replace the cable Malfunction due to external noise Separate Digital Operator and cable from noise source Digital Operator is defective Replace the Digital Operator SERVOPACK is defective Replace the SERVOPACK 9 36 CPFO1 CPFO1 Digital Operator Transmission Error 2 9 1 Troubleshooting with Alarm Displays This alarm is not stored in the alarm trace back function memory Display and Outputs Alarm Outputs
46. of Travelling Average 4 to 10 000 ms Immediate 25 Pn843 Maximum Feed Speed 1 to 240 000 1000 Immediate 24 000 steps min Pn844 Step Distance 1 99 999 999 Steps Immediate 1 B Pn845 Step Distance 2 99 999 999 Steps Immediate 10 B Pn846 Step Distance 3 99 999 999 Steps Immediate 100 B Pn847 Step Distance 4 99 999 999 Steps Immediate 1 000 B 5 29 PROFIBUS DP Communications 5 4 2 Step Command E Operation Speed Pn844 to Pn847 1 STEP 0 DIR NE Command Method 1 Set the Servo ON Command byte 0 bit 1 to 1 2 Set the movement direction byte 3 bit 1 3 Select the travel distance to be used for step operation from within the range from Pn844 0 to Pn847 23 4 Set the Step Command byte 2 bit 4 to 1 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 0 0 0 1 0 0 1 0 1 Response type 00h 2 0 0 0 1 0 0 0 0 3 0 0 0 0 0 0 DIR 0 4 Step travel distance selection 0 to 3 5 6 7 5 30 5 4 Motion Command Methods 5 4 3 Station Command B Function The Station Command can be used when the NS500 Unit is used in a rotating system One rotation of the servomotor is divided into a specified number of stations and station num bers are allocated When a station number is specified the axis travels in the specified direction to specified posi tion B Related Parameters The same speed a
47. rotary axis If this param eter is not set correctly when the machine performs a 360 rotation the current position will not be reset to 0 so be careful The setting unit is steps The initial value is 360 000 Backlash Compensation Pn814 Use the Backlash Compensation to set the amount of compensation when backlash compensa tion is used The setting unit is steps Backlash Compensation Direction Pn815 Use the Backlash Compensation Direction to set the direction of the backlash compensation Normally set this parameter in the opposite direction to the zero point direction Pn815 Description 0 Positive Direction 1 Negative Direction Positive Software Limit Pn816 Use the Positive Software Limit to set the software limit in the positive direction The setting unit is reference unit Make the setting between 99 999 999 and 99 999 999 Negative Software Limit Pn817 Use the Negative Software Limit to set the software limit in the negative direction The setting unit is reference unit Make the setting between 99 999 999 and 99 999 999 4 19 Parameter Settings 4 3 3 Machine System and Peripheral Devices Machine Function Selection Pn818 Use the Machine Function Selection to set whether or not to use the software limit functions and the backlash compensation functions Bit Description 0 0 Software Limit is disabled 1 Software Limit is enabled 1 0 Backl
48. rotational energy exceeded the capacity of dynamic brake resistor A 74 Overload of Surge Current The main circuit power was frequently turned Limit Resistor ON and OFF ACTA Heat Sink Overheated The heat sink of SERVOPACK is overheated 9 40 9 3 Alarm Display Table Alarm Alarm Code Out ALM Alarm Name Description Display puts Output ALO ALO ALO 1 2 3 A 81 OFF OFF OFF OFF Absolute Encoder Backup All the power supplies for the absolute encoder Error have failed and position data was cleared A 82 Absolute Encoder Checksum The checksum results of the absolute encoder Error memory are abnormal A 83 Absolute Encoder Battery Battery voltage for the absolute encoder has Error dropped A 84 Encoder Data Error Data in the encoder is abnormal A 85 Absolute Encoder Overspeed The absolute encoder was rotating at high speed when 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 is Error defective A b2 Reference Torque Input Read The A D converter for reference torque input is Error defective A b6 Gate Array Error Communications LSI error A bF System Alarm A system error occurred in the SERVOPACK A C1 ON OFF ON OFF Servo Overrun Detected The servomotor ran out of
49. set to 0 To release the emergency stop status set the bit to 1 To turn ON the servo after releasing an emergency stop set the Servo ON Command bit to 0 and then set it to 1 5 7 PROFIBUS DP Communications 5 3 2 General Command Bits and Status 0 Emergency stop request 1 Emergency stop release Servo ON Command SVON Set the SVON bit to 1 to turn ON the SGDH servo When the leading edge of the bit is detected the SGDH servo is turned ON and remains ON while the command bit is set to 1 When the command bit setting changes to 0 the servo is turned OFF If an alarm turns OFF the SGDH servo the command bit must be set to 0 and then set to 1 again 0 Servo OFF request request not to supply power to motor 1 Servo ON request request to supply power to motor Command Start Command C STRT Set the C STRT bit to 1 to start execution of the command specified by the command code Always set the command code and command area data before or at the same time as setting the C STRT bit to 1 Refer to 5 3 3 Move command datas and 5 3 4 Set Read command datas for details on using command codes 0 Normal operation 1 Request to start command B General Status Details on the general status area are shown below Table 5 2 General Status Bits Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 MOD_R READY PWRON ESTP_R ALRM WARN SVONR C STRT R Mode MOD_R The
50. signal Signal used for external positioning connected ZERO 45 Zero point 24VIN 47 Control power supply input for sequence signals Users must provide the 24 V power sup ply Allowable voltage fluctuation range 11 to 25 V BAT 21 Connecting pin for the absolute encoder backup battery BAT 22 Connect to either CN8 or CN1 Bl Output Signals Signal Name Pin No Function Common ALM 31 Servo alarm Turns OFF when an error is detected ALM 32 BK 27 Brake interlock Output that controls the brake The brake is released when this signal is ON BK 28 S RDY 29 Servo ready Turns ON if there is no servo alarm when the control main circuit power sup S RDY 30 ply is turned ON ALO1 37 Alarm code output Outputs 3 bit alarm codes ALO2 38 Open collector 30 V and 20 mA rating maximum ALO3 39 1 FG Shell Connected to frame ground if the shield wire of the I O signal cable is connected to the con nector shell Position COIN 25 Positioning completed output in Position Control Mode Turns ON when the number of COIN 26 error pulses reaches the set value The setting is the number of error pulses set in reference units input pulse units defined by the electronic gear Note 1 Pin numbers in parenthesis indicate signal grounds 2 The functions allocated to BK S RDY and COIN can be changed via parameters The BK S RDY and COIN output signals can be changed to CLT VLT TGON WARN or NEAR signals 3 9
51. supply supplied from SERVO PACK Battery Follow absolute encoder set up procedure B Absolute encoder malfunctioned Replace the servomotor C Circuit board 1PWB is defective Replace the SERVOPACK 9 1 Troubleshooting with Alarm Displays B A 82 A 82 Absolute Encoder Checksum Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm At power ON A B During operation At SENS ON command B Cause Remedy A Error during encoder memory check Follow absolute encoder setup procedure Replace servomotor if error occurs fre quently B Circuit board 1PWB is defective Replace the SERVOPACK Error Diagnosis and Troubleshooting B A 83 A 83 Absolute Encoder Battery Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm At power ON At SENS_ON command C Pn002 2 0 A B C e Cause Remedy A Battery is not connected Check and correct battery connection Battery connection is defective B Battery voltage below specified value Install a new battery while the control power Specified value 2 7 V to SERVOPACK is ON
52. that the Station Flag is set to 1 This flag is set to 1 even if the station operation cannot be executed because of a Servo OFF status for example The user must monitor for alarms during station operation 0 Station Command not received 1 Station Command received Point Table Flag PTBL R The PTBL R bit is set to 1 when a Point Table Command has been received from the host de vice and during point table operation This flag is set to 0 when the point table operation has been completed normally or cancelled The host device can confirm that the NS500 Unit cor rectly received the Point Table Command by checking that the Point Table Flag is set to 1 This flag is set to 1 even if the point table operation cannot be executed because of a Servo OFF status for example The user must monitor for alarms during point table operation 0 Point Table Command not received 1 Point Table Command received 5 17 PROFIBUS DP Communications 5 3 3 Move command datas Zero Point Return Flag HOME R The HOME R bit is set to 1 when a Zero Point Return Command has been received from the host device and during zero point return This flag is set to 0 when the zero point return has been completed normally or cancelled The host device can confirm that the NS500 Unit cor rectly received the Zero Point Return Command by checking that the Zero Point Return Flag is set to 1 This flag is set to 1 even if the zero point
53. 000 1000 Immediate 24 000 C steps min Pn875 Switching Speed 3 1 to 240 000 1000 Immediate 24 000 C steps min Pn876 Switching Speed 4 1 to 240 000 1000 Immediate 24 000 C steps min Pn877 Switching Speed 5 1 to 240 000 1000 Immediate 24 000 C steps min Pn878 Switching Speed 6 1 to 240 000 1000 Immediate 24 000 C steps min 4 9 Parameter Settings 4 2 7 Notch Output Parameters No Name Range Units Effective Default Type Timing Value Pn879 Switching Speed 7 1 to 240 000 1000 Immediate 24 000 C steps min Pn87A Switching Speed 8 1 to 240 000 1000 Immediate 24 000 C steps min Pn87B Switching Speed 9 1 to 240 000 1000 Immediate 24 000 C steps min Pn87C Switching Speed 10 1 to 240 000 1000 Immediate 24 000 C steps min Pn87D Switching Speed 11 1 to 240 000 1000 Immediate 24 000 C steps min Pn87E Switching Speed 12 1 to 240 000 1000 Immediate 24 000 C steps min Pn87F Switching Speed 13 1 to 240 000 1000 Immediate 24 000 C steps min Pn880 Switching Speed 14 1 to 240 000 1000 Immediate 24 000 C steps min Pn881 Switching Speed 15 1 to 240 000 1000 Immediate 24 000 C steps min Pn882 Switching Speed 16 1 to 240 000 1000 Immediate 24 000 C steps min Note 1 Steps means reference unit For reference unit details refer to 4 3 7 Unit Parameters 2 If you set the reference unit to 0 001 mm 1 000 steps min becomes mm min 4 2 7 Notch
54. 01 By storing the value of A in Pn811 and the value of B in Pn810 you can use the Electronic Gear function These parameters are enabled when the power is turned ON After you have changed the parameter execute the Module Reset Command or the Reset Service to the Identity Object Setting B A outside the range 0 01 to 100 may result in a misoperation Make sure to set B and A within this range IMPORTANT 4 3 Parameter Details Bi Electronic Gear Settings when Using a Rotary Table If using a rotary table first check the following specifications Number of Encoder pulses Gear ratio System Example The following system example shows the formulas when the reference unit is set to 0 001 SGDH NS500 3 revolutions No of Encoder pulses 1 revolution 2048 x4 Rotating load 360 revolution e REV 360 0 001 36000 A REV x Gear Ratio load rev 36000 x 1 36000 B Encoder pulses x Pulse multiplier x Gear ratio motor rev 2048 x 4 x 3 24576 Data ranges are shown below A A 10 000 000 e B 10 000 000 e 1002 B A Z 0 01 By storing the value of A in Pn811 and the value of B in Pn810 you can use the Electronic Gear function These parameters are enabled when the power is turned ON After you have changed the parameter execute the Module Reset Command or the Reset Service to the Identity Object Setting B A outside the range 0 01 to 100 may result in a m
55. 013 using a Digital Opera tor Setup can also be performed using the personal computer monitor software 0 INFO D The multiturn limit setting in the encoder can be changed only when the Multiturn Limit Disagreement alarm T has occurred After changing the setting turn the power supply OFF and then ON Z N WARNING The multiturn limit value must be changed only for special applications Changing it inappropriately or unintentionally can be dangerous Z N WARNING If the Multiturn Limit Disagreement alarm occurs check the setting of parameter Pn205 in the SERVOPACK to be sure that it is correct If Fn013 is executed when an incorrect value is set in Pn205 an incorrect value will be set in the encoder The alarm will disappear even if an incorrect value is set but incorrect positions will be detected resulting in a dangerous situation where the machine will move to unexpected positions 6 23 SGDH Parameters 6 7 3 Panel Operator Indicators 6 7 Digital Operator 6 7 1 Connecting the Digital Operator There are two types of Digital Operator One isa built in operator incorporating a panel indicator and switches located on the front panel of the SERVOPACK This type of Digital Operator is also called a Panel Operator The other one is a Hand held Digital Operator i e the JUSP OP02A 2 Digital Operator which can be connected to the SERVOPACK through connector CN3 of the SERVOPACK There is no need to turn OFF t
56. 1 Parameters sieisen chica needa es 6 12 6 4 2 Input Circuit Signal Allocation 6 12 6 4 3 Output Circuit Signal Allocations 6 13 6 4 4 Analog Monitors 2 cee eee eee 6 15 6 5 Setting Stop Functions 6 16 6 5 1 Using the Dynamic Brake 6 16 6 5 2 Using the Holding Brake 05 6 17 Parameter Settings 6 6 Absolute Encoders Liisuus 6 21 6 6 1 Selecting an Absolute Encoder 6 21 6 6 2 Absolute Encoder Setup 0000000ee 6 22 6 6 3 Multiturn Limit Setting 0 00000 6 22 6 7 Digital Operator LLss 6 24 6 7 1 Connecting the Digital Operator 6 24 6 7 2 Limitations in Using a Hand held Digital Operator 6 24 6 7 3 Panel Operator Indicators 6 24 6 1 Parameters and Standard Settings for NS500 Units 6 1 Parameters and Standard Settings for NS500 Units 6 1 1 Automatically Set Parameters When an NS500 Unit is mounted on an SGDH SERVOPACK and it is used for DeviceNet com munications the following parameters are automatically set The following parameters will be treated as reserved for system use so do not change them The SGDH SERVOPACK will be set for position control It is not necessary to set parameters for speed and torque control so do not change the settings
57. 1PWB is defective Replace the SERVOPACK 9 1 Troubleshooting with Alarm Displays B A 86 A 86 Absolute Encoder Overheated Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm During servomotor At power ON g A B p operation Cause Remedy A The ambient temperature of the servomotor Alter conditions so that the ambient temperature is high goes below 40 C B _ Servomotor is operating under overload Reduce load C Circuit board 1PWB is defective Replace the SERVOPACK D Encoder is defective Replace the servomotor B A 94 A 94 Parameter Setting Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 ON ON OFF ON Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm When the command was sent A Cause Remedy A value outside the PROFIBUS DP com Reset correctly munications setting range was set Error Diagnosis and Troubleshooting B A 95 A 95 Command Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF ON OFF ON Note OFF Output transistor is OFF alarm state O
58. 28 TGON BK 29 SO3 S RDY Servo ready S RDY Servo ready 30 S RDY S RDY The following table shows the output signal selection parameters and their factory settings and standard settings Pn50E Output Signal Selections 1 Factory Standard Setting Setting 3211 3001 Pn50F Output Signal Selections 2 Factory Standard Setting Setting 0000 0200 Pn510 Output Signal Selections 3 Factory Standard Setting Setting 0000 0000 Select the CN1 connector terminals that will output the signals Pn50E 0 to Pnd510 0 Output SO1 CN1 25 26 SO2 CN1 27 28 SO3 CN1 29 30 signal Output Signal Parameter Description Number Setting Positioning Pn50E 0 0 Disabled Not used for the output signal on the left Completed i COIN 1 Outputs the signal on the left from the SO1 CN1 25 and 26 output terminal 2 Outputs the signal on the left from the SO2 CN1 27 and 28 output terminal 3 Outputs the signal on the left from the SO3 CN1 29 and 30 output terminal SGDH Parameters 6 4 3 JOutput Circuit Signal Allocations Output Signal Parameter Description Number Setting Speed Pn50E 1 0 to 3 Same as Pn50E 0 Coincidence Detection V CMP Rotation Pn50E 2 0 to 3 Same as Pn50E 0 Detection TGON Servo Ready Pn50E 3 0 to 3 Same as Pn50E 0 S RDY Torque Limit Pn50F 0 0 to3 Same as Pn50E 0 Detect
59. 5 11 B Alarm code 36 E z 12 37 ALO1 out put Alarm code B E open collec 40 A102 output 14 39 ALO3 tor output 15 40 Zero point re 16 41 DEC turn decelera tion LS input Forward drive 17 42 P OT prohibited Reverse run input 18 43 N OT prohibited 19 E input 44 EXTP External posi tioning signal Wb 45 zero 2 10 point signal 21 BAT Battery External 46 be 22 BAT Battery 47 24VIN _ power supply 23 i input 48 i 24 E Positioning 49 E 25 COIN complete 50 output 3 Make signal allocations using parameters Refer to 6 1 2 Standard Settings for CN1 I O Signals B CN1 Specifications Specifications for Applicable Receptacles SERVOPACK Connectors Soldered Case Manufacturer 10250 52A2JL 50 p 10150 3000VE 10350 52A0 008 Sumitomo 3M Ltd Right Angle Plug 3 8 3 3 1 0 Signals 3 3 3 I O Signal Names and Functions The following section describes SERVOPACK I O signal names and functions B input Signals Signal Name Pin No Function Common DEC 41 Zero point return deceleration NS Deceleration LS for zero point return connected P OT 42 Forward run prohibited Overtravel prohibited Stops servomotor when movable part travels N OT 43 Reverse run prohibited beyond the allowable range of motion EXTP 44 External positioning
60. 874 Switching Speed 2 1 to 240 000 1000 Immediate 24 000 C steps min Pn875 Switching Speed 3 1 to 240 000 1000 Immediate 24 000 C steps min Pn876 Switching Speed 4 1 to 240 000 1000 Immediate 24 000 C steps min Pn877 Switching Speed 5 1 to 240 000 1000 Immediate 24 000 C steps min Pn878 Switching Speed 6 1 to 240 000 1000 Immediate 24 000 C steps min Pn879 Switching Speed 7 1 to 240 000 1000 Immediate 24 000 C steps min Pn87A Switching Speed 8 1 to 240 000 1000 Immediate 24 000 C steps min Pn87B Switching Speed 9 1 to 240 000 1000 Immediate 24 000 C steps min Pn87C Switching Speed 10 1 to 240 000 1000 Immediate 24 000 C steps min Pn87D Switching Speed 11 1 to 240 000 1000 Immediate 24 000 C steps min Pn87E Switching Speed 12 1 to 240 000 1000 Immediate 24 000 C steps min Pn87F Switching Speed 13 1 to 240 000 1000 Immediate 24 000 C steps min Pn880 Switching Speed 14 1 to 240 000 1000 Immediate 24 000 C steps min Pn881 Switching Speed 15 1 to 240 000 1000 Immediate 24 000 C steps min Pn882 Switching Speed 16 1 to 240 000 1000 Immediate 24 000 C steps min 5 43 PROFIBUS DP Communications 5 4 9 Multi speed Positioning Command Bi Operation Speed Switching speed 2 Switching speed 1 Feed speed Switching speed 3 Time i C_STRT 0 Speed switching position 3 Speed switching position 2 Speed switching position 1
61. ERVOPACK Initial Access Initial processing failed Error 2 A EC SERVOPACK WDC Error SERVOPACK WDC error A ED NS500 Unit Error Command was interrupted A F1 OFF ON OFF OFF Power Line Open Phase One phase in the 3 phase main power supply is not connected CPF00 Not specified Hand held Digital Operator Communications not possible between Hand Transmission Error held Digital Operator JUSP OP02A 2 and the CPF01 SERVOPACK CPU error A OFF OFF OFF ON Not an error Normal operation status Note OFF Output transistor is OFF high ON Output transistor is ON low This alarm display appears only within the range of 30 W to 1 000 W 2 These alarms are not reset for the Alarm Reset Command Eliminate the cause ofthe alarm and then turn OFF the power supply to reset the alarms 3 For SERVOPACKs with a capacity of 6 0 kw or more A 40 indicates a main circuit voltage error alarm This means that either an overvoltage or an undervoltage has occurred at some stage 9 42 9 4 Warning Codes 9 4 Warning Codes The warning codes and the relationship between ON OFF warning code outputs are shown on the following table Normally warning codes are not output However if the parameters are set for warning codes to be output those outputs will be as indicated in table 9 3 Table 9 3 Warning Codes and Warning Code Outputs Warning Warning Code Output Servo Warning Name
62. Feed Speed for Positioning Pn842 Time Constant of Travelling Average Speed Time Figure 4 6 Single step Linear Acceleration Deceleration with Constant Acceleration Deceleration Time 4 27 Parameter Settings 4 3 4 Speed Acceleration and Deceleration S curve Acceleration Deceleration with Constant Acceleration Deceleration Table 4 10 Related Parameters Pn Name Pn826 Acceleration Deceleration Type for Positioning E1 Pn829 Filter Selection 3 Pn821 Feed Speed for Positioning Pn822 Acceleration Time for Positioning Pn842 Time Constant of Travelling Average Pn843 Maximum Feed Speed Speed Time Figure 4 7 S curve Acceleration Deceleration with Constant Acceleration Deceleration 4 28 4 3 Parameter Details Asymmetric S curve Acceleration Deceleration with Constant Acceleration Deceleration Table 4 11 Related Parameters Pn Name Pn826 Acceleration Deceleration Type for Positioning Pn829 Filter Selection Pn821 Feed Speed for Positioning mm min Pn822 Acceleration Time for Positioning Pn823 Deceleration Time for Positioning Pn842 Time Constant for Travelling Average Pn843 Maximum Feed Speed Time Figure 4 8 Asymmetric S curve Acceleration Deceleration with Constant Acceleration Deceleration 4 29 Parameter Settings 4 3 4 Speed Acceleration and Dece
63. If any ofthe above items are faulty or incorrect contact your Yaskawa sales representative or the deal er from whom you purchased the products B External Appearance and Nameplate Example Option unit type Option unit name SERVOPACK PROFIBUS DP I F UNIT MODEL JUSP NS500 VER 000000 S N V81003 69 YASKAWA ELECTRIC MADE IN JAPAN Version number Serial number NS500 Unit 1 1 Checking Products on Delivery B Model Number NS500 Unit JUSP NS50 0 SERVOPACK Peripheral Device o a Type of device NS50 PROFIBUS DP Interface Unit Design Revision Order Checking Products and Part Names 1 2 Product Part Names The following diagram illustrates the part names of the NS500 Unit Ground wire Connected to the terminal marked G on the SGDH SERVOPACK Rotary switches X1 X10 Used to set the PROFIBUS DP station address RS 232C Communications Connector CN11 Used to communicate with the Setup Tool LED COMM Communication Status LED for PROFIBUS DP LED ERR Module Error Status LED PROFIBUS DP Communications Connector CN6 Connector for PROFIBUS DP Communications External I O Connector CN4 Connector for external I O signals and fully closed encoder signals Figure 1 1 NS500 Unit 14 1 3 Mounting the NS500 Unit 1 3 Mounting the NS500 Unit This section describes how to mount a NS500 Unit on
64. N Output transistor is ON Status and Remedy for Alarm When the command was sent A B Cause Remedy has been sent Presently unable to receive the command that Adjust conditions to match the command Refer to the specifications for each command B Unsupported command Do not send unsupported commands 9 20 9 1 Troubleshooting with Alarm Displays B A 98 A 98 Main Power OFF Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 ON ON ON ON Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm When main power supply OFF A B Cause Remedy A Contact between the power supply cable and Correct the connector wiring the connector is faulty B Power Supply Unit is defective Check the Power Supply Unit 9 21 Error Diagnosis and Troubleshooting B ASA A 9A Positioning Completed Timeout Not Completed within the Time Set in Pn851 Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 ON OFF ON ON Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm During positioning A B C D E When positioning distance was short C D Cause Remedy A Positioning Completed Timeout setting Correct the Positio
65. Output Parameters The notch output parameter table is shown below No Name Range Units Effective Default Type Timing Value Pn890 Notch Signal Output 0 1 Immediate 0 C Position Setting Pn891 Notch Signal Output 0 to 3 Immediate 0 C Setting Pn892 Notch 1 Output 99 999 999 Steps Immediate 0 C Position Lower Limit Pn893 Notch 1 Output 99 999 999 Steps Immediate 0 C Position Upper Limit Pn894 Notch 2 Output 99 999 999 Steps Immediate 0 C Position Lower Limit Pn895 Notch 2 Output 99 999 999 Steps Immediate 0 C Position Upper Limit Note 1 Steps means reference uni 2 If you set the reference unit to 0 001 mm 1 000 steps min becomes mm min 4 10 For reference unit details refer to 4 3 7 Unit Parameters 4 3 Parameter Details 4 3 Parameter Details 4 3 1 Unit Parameters The unit for performing positioning using a NS500 Unit is determined by the following two parameters No Name Range Units Effective Default Type Timing Value Pn810 Electronic gear numerator 1 to 10 000 000 Power up 1 B Pn811 Electronic gear 1 to 10 000 000 Power up 1 B denominator The electronic gear function can be used to set the position command units equal to the amount of encoder pulses The host controller can generate position commands in more familiar user defined units such as millimeters or inches Bi Not Using the Electronic Gear If not usi
66. PACK 9 1 Troubleshooting with Alarm Displays B A 7A A 7A Heat Sink Overheated Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 ON ON ON OFF Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm During servomotor When control power operation A B C D turned ON E Cause Remedy A The ambient temperature of the SERVOPACK Alter conditions so that the ambient temper exceeds 55 C ature goes below 55 C B The air flow around the heat sink is bad Follow installation method and provide suf ficient surrounding space as specified C Fanstopped Replace the SERVOPACK D SERVOPACK is operating under overload Reduce load E SERVOPACK is defective Replace the SERVOPACK Note This alarm display tends to occur only with a SERVOPACK of 30 W to 1 000 W Error Diagnosis and Troubleshooting B A 81 A 81 Absolute Encoder Backup Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm At power ON Pn002 2 0 A B C Pn002 2 1 C At SENS ON command Cause Remedy A The following power supplies to the absolute encoder all failed 5 V
67. PWRON ESTP R ALRM WARN SVONR C_STRT_R 1 0 12 decimal 2 0 3 4 Last alarm code 5 Second last alarm code 6 Third last alarm code 7 Fourth last alarm code 5 25 PROFIBUS DP Communications 5 83 4 Set Read command datas B Module Reset Command The Module Reset Command restarts the SGDH and NS500 Unit software When this com mand is executed the NS500 Unit parameters are stored in flash ROM and then the NS500 Unit is restarted To use the Module Reset Command make the command code settings and then change the Command Start Command from 0 to 1 When the NS500 Unit is executing Module Reset the Unit Ready Flag is set to 0 When the reset has been completed the flag is set to 1 Table 5 15 Unit Reset Command Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 1 0 ALRST ESTP 0 0 SVON C_STRT 1 0 14 decimal 2 0 3 4 0 5 6 7 Table 5 16 Response for Unit Reset Command Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 1 READY PWRON ESTP R ALRM WARN SVONR C STRT R 1 14 decimal 2 3 4 5 6 7 5 26 5 4 Motion Command Methods 5 4 Motion Command Methods 5 4 1 Constant Feed Command B Function While the Constant Feed Command is set to 1 the axis travels in the direction specified as the movement direction at the speed specified in the parameters Parameter settings are used for acceleration deceleration s
68. Point Flag HOME P is 0 When the zero point return has been completed the Zero Point Flag changes to 1 Using an Absolute Value Detection System When the Zero Point Return Command is changed from 0 to 1 the zero point return is not per formed but the axis is positioned to the machine coordinate zero point based on the zero point return feed speed parameter HOME HOME R T 2 T ees d Ls HOME P RSS Figure 5 6 Zero Point Return Command 5 49 PROFIBUS DP Communications 5 5 2 Command Method Positioning Command When the Command Start Command C_STRT is changed from 0 to 1 positioning starts ac cording to the command code If the Hold Command HOLD is changed from 0 to 1 during execution of positioning axis travel is held Confirm that the Hold Command has been received by checking that the Holding Flag HOLD_R is set to 1 Change the Hold Command from 1 to 0 to restart the remaining axis travel If the Cancel Command CANCEL is changed from 0 to 1 during execution of the positioning the moving axis decelerates to stop and the remaining travel distance is discarded Confirm that the Cancel Command has been received by checking that the Progressing Flag PRGS has changed from 1 to 0 csr LJ pres C STRT R Le INPOS u Ge e eee Figure 5 7 Positioning Command Module Reset Command The Unit is reset by setting the Module Reset Command an
69. YASKAWA Y I Series SGDH PROFIBUS DP INTERFACE UNIT USER S MANUAL MODEL JUSP NS500 7 YASKAWA MANUAL NO SIE C718 8 Safety Information Safety Information The following conventions are used to indicate precautions in this manual Failure to heed precau tions provided in this manual can result in serious or possibly even fatal injury or damage to the prod ucts or to related equipment and systems Z N WARNING Indicates precautions that if not heeded could possibly result in loss of life or serious injury Caution Indicates precautions that if not heeded could result in relatively serious or minor injury damage to the product or faulty operation Yaskawa 2001 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 constantly 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 as sumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publ
70. Zero point area Type 1 This zero point return type returns to the zero point using the zero point signal ZERO signal The outline of the operation is as follows 1 The axis travels in the direction specified as the zero point direction in the Zero Point Return Function Selection Pn801 at the Zero Point Return Approach Speed Pn803 2 When the zero point signal status changes the axis decelerates and travels at the Zero Point Return Creep Speed Pn804 4 14 4 3 Parameter Details 3 The axis travels the Zero Point Return Final Travel Distance Pn805 from the position that the zero point signal status changed and that position becomes the zero point Zero point return approach speed Speed Pn803 Zero point return creep speed Pn804 Zero point return final travel distance Pn805 Time Zero point signal j Machine coordinate system zero point Zero point area Type 2 This zero point return type returns to the zero point using the deceleration limit switch DEC signal and the zero point signal ZERO signal The outline of the operation is as follows 1 The axis travels in the direction specified as zero point direction in the Zero Point Return Function Selection Pn801 at the Zero Point Return Feed Speed Pn802 2 When the deceleration limit switch status changes the axis decelerates and travels at the Zero Point Return Approach Speed Pn803 3 When the zero point s
71. ad the alarm code and remove the cause of the alarm 3 If the move command has not been cleared clear the move command and set CANCEL to 0 4 Set ALRST to 1 and confirm that ALRM 0 5 Before resuming operation set SVON to 1 and confirm that SVON_R 1 B Emergency Stop 5 1 ESTP can be executed at any time while READY 1 except during Module Reset 2 To clear the stopped status change SVON from 0 to 1 and check that SVON R 1 before resuming operation 5 5 2 Command Method For the following commands that involve movement always wait until one command has been completed before executing another command If commands are executed simultaneously or while the axis is travelling a command error warning will occur A 95 Feed Command Step Command Station Command Point Table Command Zero Point Return Command Move command based on a Command Start Command The Emergency Stop Servo ON Cancel and Hold Commands are effective any time B Servo ON OFF Command When the Servo ON Command SVON is changed from 0 to 1 current is supplied to the SGDH When it is changed from 1 to 0 the current is not supplied 5 46 5 5 Commands from the Host Controller If a PROFIBUS DP communications error occurs the NS500 Unit automatically enters Servo OFF status To restart communications the Servo ON Command must be changed from 0 to 1 son Os LE See eee Figure 5 1 Servo ON OFF Signal E Emer
72. as Details on command datas for move commands are shown below Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 0 0 ALRST ESTP 0 0 SVON C_STRT 1 Response type Command code 2 HOME PTBL STN STEP FEED 0 HOLD CANCEL 3 0 0 0 0 0 0 DIR INC 4 Command data 5 6 7 Command Codes Command codes are used to specify positioning and other commands To start execution of a command set the command code and command data first or at the same time and then change the Command Start Command from 0 to 1 Command Codes Description 0000 No operation 0001 Simple positioning 0010 External positioning 0011 Positioning with notch signal outputs 0100 Multi speed positioning PROFIBUS DP Communications 5 3 3 Move command datas Response Types The response type in the command data specifies the type of data that will be stored as the re sponse data in the response data The NS500 Unit creates response data in the response datas based on the specified response type Response Type Response Data 0000 Command position reference units 0001 Current position reference units 0010 Position error reference units 0011 Command speed 1000 reference units min 0100 Current speed 1000 reference units min 0101 Torque 26 1010 Station number 1011 Point table number Cancel Command CANCEL If the Cancel Command is set t
73. ase circuit breaker Noise Filter Used to eliminate external noise from the power line JUSP OP02A 2 Allows the user to set parameters or opera tion references and to display operation or Noise filter alarm status HI Series Turns the servo J Encoder ON and OFF Install a surge Cable suppressor on thel Encoder magnetic contac Connector tor Magnetic contactor Power Supply for Brake Used for a servomotor with a brake Brake power Regenerative resistor o option Regenerative Resistor Connect an external regenerative resistor to terminals B1 and B2 if the regenerative capacity is insufficient Note Used for maintenance Be sure to coordinate operation from these devices with controls ex erted by the host controller 3 3 Connectors 3 1 2 Three phase 200 V Main Circuit Specifications 3 1 2 Three phase 200 V Main Circuit Specifications Host Controller Power supply g Three phase 200 VAC P Can be connected to PROFIBUS DP Master RST 7 Molded case Circuit 7 Breaker MCCB ye VA 7 ili Protects the pow N lj 7 er line by shutting e 4 the circuit OFF 7 when over
74. ash Compensation is disabled 1 Backlash Compensation is enabled Hardware Limit Signal Function Selection Pn819 Use the Hardware Limit Signal Function Selection to set whether or not to use the hardware limit and to set the signal polarity Bit Name Description 0 Enable Disable Hardware LImit 0 Enabled 1 Disabled 1 Hardware Limit Signal Polarity 0 Enabled on Low 1 Enabled on High 2to 15 Reserved Hardware Limit Action Pn81A Use the Hardware Limit Action to set the operation of the NS500 Unit when a hardware limit is detected Pn81A Description 0 Servo OFF 1 Hard Stop Stops at the specified maximum torque 2 Deceleration to a Stop Stops according to the speci fied deceleration curve 3 to 255 Reserved 4 20 4 3 Parameter Details Emergency Stop Signal Function Selection Pn81B Use the Emergency Stop Signal Function Selection to set whether or not to use the emergency stop function and to set the polarity of the signal Bit Name Description 0 Enable disable 0 Disabled Emergency Stop 1 Enabled 1 Emergency Stop 0 Disabled on Low Signal Polarity 1 Enabled on High 2to 15 Reserved 4 3 4 Speed Acceleration and Deceleration Acceleration and Deceleration Patterns The following acceleration and deceleration patterns are possible by combining acceleration deceleration types Pn826 or Pn836 and
75. ata this bit will change to 0 0 Normal operation 1 Alarm has occurred Warning WARN The WARN bit will be set to 1 when the NS500 Unit has detected a warning When all warnings have been cleared by the Alarm Reset Command in the command data this bit will change to 0 When a warning has occurred the command that generated the warning and commands other than data setting commands can still be executed normally 0 Normal operation 1 Warning has occurred Servo ON SVON R The SVON R bit will be set to 1 when the Servo ON Command in the command data is set to 1 and the SGDH servo is ON 5 9 PROFIBUS DP Communications 5 3 2 General Command Bits and Status 0 Servo OFF power not supplied to motor 1 Servo ON power supplied to motor The SVON R bit will be O in the following circumstances When the Servo ON Command in the command data has been set to 0 When the Emergency Stop Command has been set to 0 When the Module Reset Command has been set to 1 When an alarm has occurred Command Start Response C STRT R The C STRT R bit will be set to 1 when the Command Start Command in the command data has been set to 1 The host device can recognize that the NS500 Unit has received a command from the host device by checking that this bit is 1 0 C STRT not received 1 C STRT received 5 10 5 3 Command Response Format 5 3 3 Move command datas NE command dat
76. ble Rosttioning Point Table Positioning Station Positioning Station Positioning External Positioning External Positioning Multi speed Positioning Multi speed Positioning Zone signal Output Positioning Zone signal Output Positioning Homing Operation Homing Operation Signal Servo ON OFF Servo ON OFF Brake ON OFF Brake ON OFF Point Table List Point Table List Edi Edit Point Table Parameter Servo Parameter List Servo Parameter List Option Parameter List Option Parameter List Monitor Motion Status Monitoring Motion Status Input Signal Monitoring Input Signal Output Signal Monitoring Output Signal Current Position a Monitoring Position Alarm Alarm Alarm History Alarm History System Reset Module Reser Module Read ID Identity Information Help Version Version 7 6 7 2 How to Use B File Menu 1 Connect to NSxxx Starts communications with the NS500 Unit 2 Load to NSxxx Loads to the NS500 Unit the parameter file stored in the personal computer 3 Save from NSxxx Saves to the personal computer the parameter data or point table data within the NS500 Unit 4 Verify Compares the data stored in the personal computer and the data in the NS500 Unit 5 Configuration Sets the units etc Bl Operate Menu 1 Constant Feed Performs constant feed speed 2 STEP Performs step operation 3 Positioning Sets the target position and performs pos
77. brake Prevents the movable part from shifting due to gravity when system power goes OFF IMPORTANT The brake built into the SGML lH 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 servomotor torque B Wiring Example Use the SERVOPACK sequence output signal BK and the brake power supply to form a brake ON OFF circuit The following diagram shows a standard wiring example Servomotor SERVOPACK with brake Power supply BK RY Blue or yellow Brake power supply BK RY Brake control relay 1 The output terminal signal is allocated with Pn50F 2 2 Brake power supplies are available in 200 V and 100 V models SGDH Parameters 6 5 2 Using the Holding Brake Output to BK Brake Interlock Output Position Control This output signal controls the brake when using a servomotor with a brake and does not have to be connected when using a servomotor without a brake ON Closed or low level Releases the brake OFF Open or high level Applies the brake Related Parameters Pn005 Brake operation 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
78. cceleration and deceleration The setting unit is 1 000 steps min Time Constant of Travelling Average Pn842 Use the Time Constant of Travelling Average to set the time constant of the average travel speed of the acceleration and deceleration This parameter is used in common by the position ing and the continuous rotary operation The setting unit is ms 4 32 4 3 Parameter Details Maximum Feed Speed Pn843 Use the Maximum Feed Speed to set the maximum feed speed of the positioning FEED and zero point return operations The acceleration and deceleration data is calculated from this data and the time constants The setting unit is 1 000 steps min Step Distance 1 Pn844 Use the Step Distance 1 to set the amount of travel when executing step operation This value is used when the 0 has been specified as the command data in a command data The setting unit is steps Step Distance 2 Pn845 Use the Step Distance 2 to set the amount of travel when executing step operation This value is used when the 1 has been specified as the command data in a command data The setting unit is steps Step Distance 3 Pn846 Use the Step Distance 3 to set the amount of travel when executing step operation This value is used when the 2 has been specified as the command data in a command data The setting unit is steps Step Distance 4 Pn847 Use the Step Distance 4 to set the amount of travel when executing step opera
79. ce can confirm that the NS500 Unit correctly received the Constant Feed Command by checking that the Feed Flag is set to 1 5 16 5 3 Command Response Format This flag is set to 1 even if constant feeding cannot be executed because of a Servo OFF status for example The user must monitor for alarms during constant feeding for the Constant Feed Command The movement direction during constant feeding can be checked using the Movement Direc tion Flag DIR_R 0 Constant Feed Command not received 1 Constant Feed Command received Step Flag STEP R The STEP R bit is set to 1 when a Step Command has been received from the host device and during step operation This flag is set to 0 when the step operation has been completed normally or cancelled The host device can confirm that the NS500 Unit correctly received the Step Command by checking that the Step Flag is set to 1 This flag is set to 1 even if the step operation cannot be executed because of a Servo OFF status for example The user must monitor for alarms during step operation 0 Step Command not received 1 Step Command received Station Flag STN R The STN R bit is set to 1 when a Station Command has been received from the host device and during station operation This flag is set to 0 when the station operation has been completed normally or cancelled The host device can confirm that the NS500 Unit correctly received the Station Command by checking
80. cel Decel Time for 1 to 10 000 ms Immediate 200 Second Accel Decel for Positioning Pn826 Accel Decel Type for 0 to3 Immediate 0 Positioning Pn827 Feed Speed for External 1 to 240 000 1000 Immediate 24 000 Positioning steps min Pn829 Filter Selection 0 to 3 Immediate 0 Pn830 Constant Feed Reference 0 1 Immediate 0 Unit Selection Pn831 Constant Feed Speed 1 to 240 000 1000 Immediate 24 000 steps min Pn832 Acceleration Time for 1 to 10 000 ms Immediate 100 Constant Feed Pn833 Deceleration Time for 1 to 10 000 ms Immediate 100 Constant Feed Pn834 Switch Speed for Constant 1 to 240 000 1000 Immediate 24 000 Feed Second Accel Decel steps min Pn835 Accel Decel Time for 1 to 10 000 ms Immediate 200 Constant Feed Second Accel Decel 4 6 4 2 Parameter Tables No Name Range Units Effective Default Type Timing Value Pn836 Accel Decel Type for 0 1 2 3 Immediate 0 Constant Feed Pn840 Time Constant for 4 to 10 000 ms Immediate 25 Exponential Accel Decel Pn841 Bias Speed for Exponential 1 to 240 000 1000 Immediate 0 Accel Decel steps min Pn842 Time Constant of Travelling 4 to 10 000 ms Immediate 25 Average Pn843 Maximum Feed Speed 1 to 240 000 1000 Immediate 24 000 steps min Pn844 Step Distance 1 0 to 99 999 999 Steps Immediate 1 Pn845 Step Distance 2 0 to 99 999 999 Steps Immediate 10 Pn846 Step Distance 3 0 to 99 999 999 Steps Immediate 100 Pn847 Step Dis
81. celeration 4 24 4 3 Parameter Details Exponential Acceleration Deceleration with Constant Acceleration Deceleration Time Table 4 7 Related Parameters Pn Name Pn826 Acceleration Deceleration Type for Positioning 0 Pn829 Filter Selection 1 Pn821 Feed Speed for Positioning Pn840 Time Constant for Exponential Acceleration Deceleration Speed Time Figure 4 4 Exponential Acceleration Deceleration with Constant Acceleration Deceleration Time 4 25 Parameter Settings 4 3 4 Speed Acceleration and Deceleration Exponential Acceleration Deceleration with Bias with Constant Acceleration Deceleration Time Table 4 8 Related Parameters Pn Name Pn826 Acceleration Deceleration Type for Positioning 0 Pn829 Filter Selection 2 Pn821 Feed Speed for Positioning Pn840 Time Constant for Exponential Acceleration Deceleration Pn841 Bias Speed for Exponential Acceleration Deceleration Speed Time Figure 4 5 Exponential Acceleration Deceleration with Bias with Constant Acceleration Deceleration Time 4 26 4 3 Parameter Details Single step Linear Acceleration Deceleration with Constant Acceleration Deceleration Time Table 4 9 Related Parameters Pn Name Pn826 Acceleration Deceleration Type for Positioning 0 Pn829 Filter Selection 3 Pn821
82. circuit 5 to 24 VDC 510 12 VDC SERVOPACK end Note Themaximum allowable voltage and current capacities for photocoupler output circuits are as follows Voltage 30 VDC max Current 50 mA DC max Connectors 3 4 1 Connection Terminal Layout 3 4 I O Signal Connections for NS500 Units CN4 The CN4 on an NS500 Unit is used for I O signal and fully closed encoder signal connections 3 4 1 Connection Terminal Layout The terminal layout and specifications for the CN4 are outlined below B CN4 Terminal Layout Pin No Signal Description Pin No Signal Description 1 PG OV Signal ground 11 24VIN 24 V common terminal for external input 2 PG OV Signal ground 12 NOTCH1 Notch output 1 3 PG OV Signal ground 13 NOTCH1 4 14 PC Phase C input 5 15 PC 6 16 PA Phase A input 7 17 PA 8 i 18 PB Phase B input 9 EMSTOP Emergency stop input 19 PB 10 NOTCH2 Notch output 2 20 NOTCH2 Notch output 2 Note 1 The PG power supply and battery must be supplied externally 2 The FG is connected to the connector shell Bl Connector Specifications Part Signal Manufacturer Connector 10120 3000VE 20P Sumitomo 3M Ltd Connector shell 10320 52A0 008 3 4 O Signal Connections for NS500 Units CN4 3 4 2 1 O Signal Interface Circuits The following diagram shows an example of connections between a hos
83. clic command datas are re ceived cyclically from the Master Module and response datas are returned 5 1 2 Control Configuration An outline of the control configuration is shown below A maximum of 32 NS500 Units or other slave devices can be connected to one PROFIBUS DP Master The configuration can be ex panded to include up to 126 stations using repeaters PROFIBUS DP Master Module PLC or personal computer 32 stations max Using repeaters up to 126 stations can be connected o 9 9 9 9 c 9 9 o 9 BC MISC Lp IL p JL p 1 SERVOPACK SERVOPACK Inverter Machine I O signals 5 2 PROFIBUS DP Communications Setting Switches 5 2 PROFIBUS DP Communications Setting Switches This section explains the switch settings required for PROFIBUS DP communications 5 2 1 Rotary Switch Settings for Setting Station Address Use the rotary switches x1 x10 to set the PROFIBUS DP station address After making the settings cycle the communications power to enable the settings The station address can be set between 0 and 125 If you make a setting outside this range a setting error will occur Select the station address of the NS500 Unit using the switch settings as shown in the following table 5 3 PROFIBUS DP Communications 5 2 2 LED Indicators
84. cted to the CN1 port on the SGDH and the CN4 port on the NS500 Unit Current Position Displays the current position of the servomotor in reference units Alarm Displays any alarms that are currently occurring You can also clear the alarms using this function Alarm History Displays to a maximum of 10 the most recent alarms that have occur You can also clear the alarm history using this function 7 8 7 2 How to Use System Menu 1 Reset Module Resets the NS500 Unit and the SGDH When you reset the Unit the parameters that have been changed will be stored in flash ROM 2 Read ID Displays version information for the NS500 Unit and SGDH etc Help Menu Version Displays version information for the Setup Tool 7 9 Ratings Specifications and Dimensions This chapter provides the ratings specifications and dimensions of SGDH SERVOPACKs 8 1 Ratings and Specifications 8 2 8 2 Dimensional Drawings 8 4 8 2 1 NS500 Unit os Laer Aq etat ue d be bdo 8 4 Ratings Specifications and Dimensions 8 1 Ratings and Specifications The following table lists the rating and specifications of NS500 Unit Table 8 1 NS500 Unit Ratings and Specifications Item Details Applicable SERVOPACK All SGDH E models Installation Method Mounted on the SGDH SERVOPACK Basic Specifications Power Supply Supplied from the SGDH c
85. current 9 7 is detected Molded case circuit breaker Personal Computer See note MAJA Noise Filter Used to eliminate external noise from the power line Noise filter i ET NO JUSP OP02A 2 Allows the user to set parameters or opera d HSA tion references and to HI Series display operation or pee Ts alarm status Turns the servo ON and OFF Install a surge suppressor on the magnetic contac tor ae 4 Encoder oe 0 Cable Encoder Connector I Magnetic APER contactor j Magnetic contactor power supply ground line Regenerative resistor option Used for a servomotor with a brake Regenerative Resistor If the capacity of the internal regenerative resistor is insufficient remove the wire between terminals B2 and B3 and connect an external regenerative resistor to terminals B1 and B2 SE 3 4 Note Used for maintenance Be sure to coordinate operation from these devices with controls exerted by the host controller 3 1 Connecting to Peripheral Devices 3 1 3 Three phase 400 V Main Circuit Specifications Host Controller Can be connected to PROFIBUS DP Master Brake Power Supply 100 VAC or 200 VAC power supply 24 VDC power supply for servomo tors with 24 VDC brakes Molded case Circuit Power supply Three phase 400 VAC Breaker MCCB PST Protects the pow er line by shutting the circuit OFF when overcu
86. d Troubleshooting B A Ci A C1 Servo Overrun Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 p ON OFF ON OFF Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm At power ON Parameter Pn50A 1 7 Occurred 1 to 3 seconds after power ON Parameter Pn50A 1 Other than 7 When servo ON S ON signal turned ON A B C D On speed reference input A B C A B C D Cause Remedy A Servomotor wiring incorrect or disconnected Check the wiring and connectors at servomo tor Encoder wiring incorrect or disconnected Check the wiring and connectors at encoder Encoder is defective Replace the servomotor D Circuit board 1PWB is defective Replace the SERVOPACK 9 24 9 1 Troubleshooting with Alarm Displays B A C6 A C6 Fully closed Encoder Phase A B Disconnection Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 ON OFF ON OFF Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm 1 to 3 seconds after power At power ON A ON A B C D During servomotor operation A B C D Cause Remedy A Circuit board 1PWB is defective Replace the SERVOPACK Encoder w
87. d changing the Command Start Command C_STRT from 0 to 1 When the Module Reset Command is executed the Unit Ready Flag READY is changed from 1 to 0 When NS500 Unit and SGDH reset processing has been completed the Unit Ready Flag changes from 0 to 1 The Unit reset operation process is outlined below If the axis is travelling it decelerates to stop and the remaining travel distance is discarded If the current status is servo ON it changes to servo OFF If an alarm has occurred the alarm is reset All of the latest NS500 Unit parameters are stored in flash memory 5 50 Parameter Settings This chapter describes parameters and standard settings for I O signals CN1 when an NS500 Unit is mounted 6 1 Parameters and Standard Settings for NS500 Units i fees csc cae weirs a s 6 3 6 1 1 Automatically Set Parameters 6 3 6 1 2 Standard Settings for CN1 I O Signals 6 4 6 2 Settings According to Equipment Characteristics 65 6 2 1 Switching Servomotor Rotation Direction 6 5 6 2 2 Stop Mode Selection at Servo OFF 6 6 6 2 3 Fully Closed Control 0 cee eee eee 6 7 6 2 4 Fully Closed System Specifications 6 7 6 2 5 Parameter Settings ununun neunana 6 8 6 3 Settings According to Host Controller 6 10 6 3 1 Sequence I O Signals 0c eee eee 6 10 6 4 Setting Up the SERVOPACK 6 12 6 4
88. d data 6 Response data 7 5 3 2 General Command Bits and Status B General Command Bits The general command bit area is detailed below 5 3 Command Response Format Table 5 1 General Command Bits Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 MOD 0 ALRST ESTP 0 0 SVON C STRT Mode MOD Use the MOD bit to specify the data format for bytes 1 to 7 0 Move command format 1 Set read command format inro 5 The MOD bit alters the data format for bytes 1 to 7 Set it carefully Alarm Reset Command ALRST Set the ALRST bit to 1 to reset the current alarm warning When an alarm or warning occurs in the NS500 Unit or SGDH remove the cause of the alarm before setting this bit to 1 The alarm warming will be cleared Always make sure this bit is set to 0 during normal operation and after an alarm has been cleared 0 Normal operation 1 Alarm reset request Emergency Stop Command ESTP When the ESTP bit is changed from 1 to 0 a move command is canceled and the SGDH servo is turned OFF If the axis is travelling axis travel is stopped immediately and the SGDH servo is turned OFF as soon as the servomotor stops The ESTP Command has negative logic to confirm that PROFIBUS DP communications have been established Therefore set the bit to 1 for normal operation and set it to 0 for emergency Stops The emergency stop status will continue while this bit is
89. de will be set as a ratio or as a speed 1000 steps min Setthe Feed Command byte 2 bit 3 to 1 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 0 0 0 1 0 0 1 0 1 Response type 00h 2 0 0 0 0 1 0 0 0 3 0 0 0 0 0 0 DIR 0 4 Override value 76 or 1000 steps min 5 6 7 5 4 Motion Command Methods 5 4 2 Step Command B Function When the Step Command is set to 1 the axis will travel in the set direction for the set travel distance and then stop The travel distance can be selected from four parameters B Related Parameters No Name Setting Unit Effective Factory Type Range Timing Setting Pn821 Feed Speed for Positioning 1 to 240 000 1000 Immediate 24 000 B steps min Pn822 Acceleration Time for Positioning 1 to 10 000 ms Immediate 100 B Pn823 Deceleration Time for Positioning 1 to 10 000 ms Immediate 100 C Pn824 Switch Speed for Positioning Second 1 to 240 000 1000 Immediate 24 000 C Accel Decel steps min Pn825 Accel Decel Time for Positioning Second 1 to 10 000 ms Immediate 200 B Accel Decel Pn826 Accel Decel Type for Positioning 0 1 2 3 Immediate 0 B Pn829 Filter Selection 0 1 2 3 Immediate 0 B Pn840 Time Constant for Exponential Accel Decel 4 to 1 000 ms Immediate 25 C Pn841 Bias Speed for Exponential Accel Decel 1 to 240 000 1000 Immediate 0 C steps min Pn842 Time Constant
90. e On target position range When the current position is outside the On target position range the flag is set to 0 The On target position range is set in Pn852 Positioning Proximity Detection Width 5 18 5 3 Command Response Format 0 Outside On target position range 1 Within On target position range In position Flag INPOS The INPOS bit is set to 1 when the current position is within the positioning completed range of the target position The flag is set to 0 when the current position is outside the positioning completed range The On target position range is set in Pn850 Positioning Deadband 0 Outside positioning completed range e 1 Within positioning completed range Negative Overtravel Flag NOT The NOT bit indicates the status of the negative overtravel signal for the external input con nected to CN1 on the SGDH 0 Negative overtravel signal OFF 1 Negative overtravel signal ON Positive Overtravel Flag POT The POT bit indicates the status of the positive overtravel signal for the external input con nected to CN1 on the SGDH 0 Positive overtravel signal OFF 1 Positive overtravel signal ON PROFIBUS DP Communications 5 83 4 Set Read command datas 5 3 4 Set Read command datas NE command datas Details on bytes 1 to 7 of the command datas for set read commands MOD 1 are shown below The response type does not need to be specified for set read commands
91. e is received Lights red NS500 Unit system Error detected by self diagnosis SHOD The system is not operating at all 5 5 PROFIBUS DP Communications 5 83 1 Command Format 5 3 Command Response Format This section explains command sent to an NS500 Unit from the Master and the response sent from the NS500 Unit 5 3 1 Command Format 0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7 This section explains the basic format of command sent to an NS500 Unit from the master de vice and the response sent from the NS500 Unit to the master device Command and response are in an 8 byte data format Command Response 0 1 2 3 Command dependant data 4 Command dependant data 5 6 7 Both command and response are separated into two sections Byte 0 is a general area and bytes 1to 7 make up the command dependant data area The command dependant data area can con tain one oftwo types of commands move commands and set read commands The type of com mand is defined by the most significant bit MSB of byte 0 Format for Move Commands Command Response 9 esnea commandos 0 9 Geneasaus Response ype 1 Response ype 2 omo 4 5 Command data 6 Response data 7 Format for Set Read Commands Command Response 9 commice m 6 Command coss 2 omm 4 5 Comman
92. ed The maximum cable lengths when using type A cables are given in the table below Baud rate 9 6 19 2 93 75 187 5 500 1500 1200 kbps Maximum 1200 1200 1200 1000 400 200 100 cable length m The specifications for type A cables are given in the table below Item Specifications Impedance 135 to 165 Q Capacitance per Unit lt 30 pF m Loop resistance 110 Q m Core diameter 0 64 mm Core cross sectional area gt 0 34 mm 15 Connectors Terminating resistances are required at both ends of the bus line as shown below VP 6 O Data line Suo RXD TXD P 3 220 Q Data line RXD TXD N 8 390 Q O DGND 5 The NS500 Unit does not have terminating resistance Use the terminating resistance in the bus plug connector on the cable side for the NS500 Unit Parameter Settings This chapter provides an outline and details of NS500 parameters 4 1 Parameters uiae mace parcctnns e cata 4 2 4 1 1 Outline of Parameters 0 0 eee 4 2 4 1 2 Parameter Types 0 eee eee eee 4 2 4 1 3 Editing Parameters esses 4 3 4 1 4 Effective Timing 0 cece eee 4 3 4 2 Parameter Tables 5 vxo cake dane aves 4 4 4 2 1 Unit Parameters 0 0 e eee eee 4 4 4 2 2 Zero Point Return Parameters 4 4 4 2 3 Machine System and Peripheral Device Parameters
93. edy A The power supply voltage is not within the range of specifications Check power supply B Load exceeds capacity of the Regenerative Check specifications of load inertia moment Unit and overhanging load C Regenerative transistor is abnormal Replace the SERVOPACK D Rectifying diode is defective E SERVOPACK is defective 9 8 9 1 Troubleshooting with Alarm Displays B A 41 A 41 Main Circuit Voltage Error Detected Undervoltage Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF ON OFF Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm Occurred when the During servomotor i ntrol power turn operation A B C ai ol powe ed D Occurred when main circuit power turned ON A B C Cause Remedy A The power supply voltage is not within the Check power supply voltage range of specifications B Fuse blown Replace the SERVOPACK D Rectifying diode is defective E SERVOPACK is defective 9 9 Error Diagnosis and Troubleshooting B A 51 A 51 Overspeed Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 ON OFF ON OFF Note OFF Output transistor is OFF alarm state ON Output trans
94. ent protector e pe Voltage sensor For battery connection Current sensor CN8 CN1 Power Power BBBBB OFF ON amc Lg roy position and speed 1MC p i Surge calculation 1 0 Sequence I O MERERI CN10 suppressor Z2 bis CN5 CN3 Open during L ed for supervision personal computer CN10 CN6 PROFIBUS DP L c SU Master node a communications S cepe p interface CN4 ES 24 V communications L TORY S 5V CPU T A positi d position commands VH N command interpretation arithmetic processing SW1 Sw2 etc 5V SWS I I U 3 6 3 3 1 0 Signals 3 3 1 0 Signals This section describes I O signals for the SERVOPACK with the NS500 Unit 3 3 1 Connection Example of I O Signal Connector CN1 The following diagram shows a typical example of I O signal connections SGDH SERVOPACK BAT CN1 Backup battery 28t045V2 8 to 4 5 BAT Maximum operating e ALOS voltage 30 VDC Maximum operating ADOS current 20 mA DC 3 E 24VIN 47 wt LI Ex FE Ed d Not used 4 COIN Positioning completed ON when positioning COIN has been completed lt Zero point return deceleration LS LS enabled when ON Forward run prohibited Prohibited when OFF BK c Brake output 3 ON when brake lt BK released Reverse run prohibited Pr
95. equally divided stations are numbered in order from 0 and positioning is performed by specifying a station number Station 0 m Station 1 Station n 4 3 6 Multi speed Positioning By using multi speed positioning the speed can be changed in stages during positioning Up to 16 speed change stages are possible When the axis reaches a specified position the speed switches to the speed for the next stage and the axis travels to the specified position in that next stage Time Speed switching position 3 Speed 2 RUN OE ad Pn865 Pn874 Speed 1 Pn873 5iizoo ibi ius Speed switching position 2 Feed speed Pn864 Pn862 Speed switching position 1 Pn863 Speed 3 J e eee ee eee eee eee eee eee eee eee Pn875 Speed B Parameter Details Number of Points for Speed Switching Pn861 Use the Number of Points for Speed Switching to set the number of points at which the speed will be switched If for example the parameters for speed switching positions were set from 1 to 16 but this setting for the number of points was set to 3 the speed switching would be en abled for 3 points only 4 35 Parameter Settings 4 3 7 Notch Signal Output Positioning Initial Feed Speed for Multi speed Positioning Pn862 Use the Initial Feed Speed for Multi speed Positioning to set the initial feed speed when per forming speed multi step positioning This speed will be enabled until the posit
96. er supply Contact input signals DEC CN1 41 P OT CN1 42 N OT CN1 43 EXTP CN1 44 ZERO CN1 45 Bl Output Signal Connections Connect the sequence output signals as shown in the following figure standard settings I O power suppl SERVOPACK Sequence output signals are used to indicate SER VOPACK operating status Photocoupler 31 Photocoupler output per output Maximum operating voltage 30 VDC Maximum output current 50 mA DC Open collector output per output Maximum operating voltage 30 VDC Maximum output current 20 mA DC Host controller Provide a separate external I O power supply the SERVOPACK does not have an internal 24 V power supply Yaskawa recommends using the same type of external power supply as that used for input circuits IMPORTANT Function allocations for some sequence output signal circuits can be changed Refer to 6 4 3 Output Circuit Signal Allocations for more details 6 11 SGDH Parameters 6 4 2 Input Circuit Signal Allocation 6 4 Setting Up the SERVOPACK This section describes the procedure for setting parameters to operate the SERVOPACK 6 4 1 Parameters The X II Series SERVOPACK provides many functions and has parameters that allow the user to specify functions and perform fine adjustments SERVOPACK Parameters 9 9 b gt o ki D s zi 38389 oO A Panel Operator hand held Digital Operator or
97. er up 1 Numerator Pn811 Electronic Gear Ratio 1 to 10 000 000 Power up 1 Denominator 4 2 2 Zero Point Return Parameters The table of zero point return parameters are shown below No Name Range Units Effective Default Type Timing Value Pn800 Zero Point Return Mode 0 to 3 Immediate 0 Pn801 Zero Point Return Function 0to 7 Power up 1 Selection Pn802 Feed Speed for Zero Point 1 to 240 000 1000 steps Immediate 10 000 Return min Pn803 Approach Speed for Zero 1 to 240 000 1000 steps Immediate 1 000 Point Return min Pn804 Creep Speed for Zero Point 1 to 240 000 1000 steps Immediate 500 Return min Pn805 Final Travel Distance for 0 to 99 999 999 Steps Immediate 0 Zero Point Return Pn806 Output Width for Zero Point 0 to 32 767 Steps Immediate 100 Return Pn809 Zero Point Offset 99 999 999 to Steps Immediate 0 99 999 999 Pn80A Accel Decel Time for Zero 1 to 10 000 ms Immediate 100 Point Return Note 1 Steps means reference unit For reference unit details refer to 4 3 1 Unit Parameters 2 If you set the reference unit to 0 001 mm 1 000 steps min becomes mm min 4 4 4 2 Parameter Tables 4 2 3 Machine System and Peripheral Device Parameters The machine system and peripheral device parameter table is shown below No Name Range Units Effective Default Type Timing Value Pn812 Coordinate Type 0 1 Immediate 0 C Pn813 Re
98. eters changed from each setting device are stored in RAM IMPORTANT To save parameters in flash ROM after adjustments have been completed execute the Module Reset Command in the NSxxx Setup Tool or execute the Reset Service to the Identity Object via DeviceNet 4 1 4 Effective Timing Not all parameters edited from the NSxxx Setup Tool or Master Device are effective immedi ately Changed parameters are effective at one of the following two times Table 4 3 Effective Timing for Parameters Timing Control or Processing Power up The values of all parameters are made effective at the following times 1 When power is turned ON 2 When the Module is reset from the NSxxx Setup Tool or via a command data Immediate The values of changed parameters are made effective immediately However parameters will be stored in the Flash ROM at the following times When the Module is reset from the NSxxx Setup Tool or via a command data 4 3 Parameter Settings 4 2 2 Zero Point Return Parameters 4 2 Parameter Tables The following tables list the parameters If using the NSxxx Setup Tool or reading writing using a command data edit parameters using Pn 4 2 1 Unit Parameters The unit parameter table is shown below No Name Range Units Effective Default Type Timing Value Pn810 Electronic Gear Ratio 1 to 10 000 000 Pow
99. ference units per Machine 1 to 1 500 000 Immediate 360 000 C Rotation Pn814 Backlash Compensation 0 to 32 767 Steps Immediate 0 C Pn815 Backlash Direction 0 1 Steps Immediate 0 C Pn816 Positive Software Limit 99 999 999 Power up 99999999 B Pn817 Negative Software Limit 99 999 999 Steps Power up 99999999 B Pn818 Machine Function Selection 0 to 3 Immediate 0 B Pn819 Hardware Limit Signal 0 to 3 Immediate 1 B Function Selection Pn81A Hardware Limit Action 0 1 2 Immediate 0 B Selection Pn81B Emergency Stop Signal 0 to 3 i Immediate 1 B Function Selection Note 1 Steps means reference unit For reference unit details refer to 4 3 7 Unit Parameters 2 If you set the reference unit to 0 001 mm 1 000 steps min becomes mm min 4 5 Parameter Settings 4 2 4 Speed Acceleration and Deceleration Parameters 4 2 4 Speed Acceleration and Deceleration Parameters A table of speed acceleration and deceleration parameters is shown below No Name Range Units Effective Default Type Timing Value Pn821 Feed Speed for Positioning 1 to 240 000 1000 Immediate 24 000 steps min Pn822 Acceleration Time for 1 to 10 000 ms Immediate 100 Positioning Pn823 Deceleration Time for 1 to 10 000 ms Immediate 100 Positioning Pn824 Switch Speed for Second 1 to 240 000 1000 Immediate 24 000 Accel Decel for Positioning steps min Pn825 Ac
100. filters Pn829 Acceleration Deceleration Type Pn826 or Pn836 Filter Selec tion Pn829 0 None 1 Single step 2 Double step 3 Asymmetric Linear Linear 0 None No acceleration and Single step Linear Double step Linear Asymmetric Linear deceleration Accel Decel Accel Decel Accel Decel Constant Accel Decel Constant Accel Decel Constant Accel Decel 1 Exponent Exponential E B Accel Decel Constant Accel Decel time 2 2 Exponent Exponential Accel De with Bias cel with Bias Constant Accel Decel time 2 3 Travelling Single step Linear S curve Accel Decel Asymmetric S curve Average Accel Decel Time Accel Decel Constant Accel Decel Constant Accel Decel Constant Accel Decel time 2 1 With Constant Accel Decel the time required for acceleration and deceleration changes with the feed speed changes 2 With Constant Accel Decel time the time required for acceleration and deceleration does not change even if the feed speed changes Note Combinations other than those given above may result in incorrect acceleration and deceleration 4 21 Parameter Settings 4 3 4 Speed Acceleration and Deceleration Single step Linear Acceleration Deceleration with Constant Acceleration Deceleration Table 4 4 Related Parameters Pn Name Pn826 Acceleration Deceleration Type for Positioning E1 Pn829 Filter Selectio
101. following settings and then change the Com mand Start Command from 0 to 1 Command code Parameter number Table 5 7 Parameter Read Command Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 1 0 ALRST ESTP 0 0 SVON C STRT 1 0 8 2 Parameter number 3 4 0 5 6 7 Table 5 8 Response for Parameter Read Command Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 1 READY PWRON ESTP R ALRM WARN SVONR C_STRT_R 1 0 8 2 Parameter number 3 4 Parameter data 5 6 7 5 22 5 3 Command Response Format Parameter Write Command The Parameter Write Command writes SGDH and NS500 Unit parameters To use the Parameter Write Command make the following settings and then change the Com mand Start Command from 0 to 1 Command code Parameter number Parameter data Table 5 9 Parameter Write Command Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 1 0 ALRST ESTP 0 0 SVON C STRT 1 2 Parameter number 3 4 Parameter data 5 6 7 Table 5 10 Response for Parameter Write Command Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 1 READY PWRON ESTP R ALRM WARN SVONR C_STRT_R 1 2 Parameter number 3 4 Parameter data 5 6 7 5 23 PROFIBUS DP Communications 5 83 4 Set Read command datas Bl Curren
102. for this command in the command data area The override can be from 0 to 200 of the parameter speed or a specific speed can be set in the command data Which method is used depends on Pn830 Constant Feed Reference Unit Selection Settings Data Description Area Movement 0 Forward 1 Reverse direction Command data When Pn830 0 Set an override value 0 to 200 Set to 100 when not using the override function When Pn830 1 Set the feed speed 0 Feed operation stop 1 Feed operation request Step Command STEP The NS500 Unit will start step operation when it detects the leading edge of the STEP bit While the STEP bit is set to 1 the axis will travel only the distance set in the specified parame ter If the STEP bit is set to 0 during step operation the servomotor will decelerate to a stop and the step operation will end The remaining travel distance will be canceled The direction of movement for step operations is determined by the Movement Direction set in the command data area The number of the step travel distance 0 to 3 is also set in the com mand data area The parameter data set in Pn844 to Pn847 will be used for the step travel dis tance PROFIBUS DP Communications 5 3 3 Move command datas Settings Data Description Area Movement 0 Forward 1 Reverse direction Command data Set the selection number for step travel distance 0 Uses Pn844 data 1 U
103. function SERVOPACK is defective A EB Flashes Red SERVOPACK Initial Access Error _ Initial processing failed A EC Flashes Red SERVOPACK WDC Error SERVOPACK WDC error A ED Lit Red NS500 Unit Error Command was interrupted A EE Flashes Red NS500 Unit s Parameter Error The parameters of the NS500 Unit contain abnor malities A F1 Flashes Red Power Line Open Phase One phase in the 3 phase main power supply is not connected Alarm and Warning Codes A 2 Warning Codes The warning codes are shown below Warning MS LED NS LED Warning Name Description Code A 91 Flashes Red Overload This warning occurs before the overload alarms A 71 or A 72 occur If the warning is ignored and operation continues an overload alarm may occur A 92 Flashes Red Regenerative Overload This warning occurs before the regenerative overload alarm A 32 occurs If the warning is ignored and operation continues a regenerative overload alarm may occur A 94 Flashes Red Parameter Setting Warning A value outside the setting range was set using PROFIBUS DP communications A 95 Flashes Red Command Warning A command not supported in the product spec ifications was issued The command reception conditions were not met A 98 Flashes Red Main Power OFF The main power supply is not being supplied A 9A Flashes Red Positioning Completed Timeout Positioning was not completed
104. g during Motor Operation 10m mring P 10 to 100 50 Set the brake timing used when the servo is turned OFF by the SV OFF command or when an alarm occurs during servomotor with brake operation SV OFF command Servo ON Servo OFF i Motor speed min Stop by dynamic brake or coast to a stop EDS Pn 507 i Release ee ota win brake i l 1 Pn508 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 equipment operation BK Signal Output Conditions During Servomotor Operation The circuit is open under either of the following conditions 1 Motor speed drops below the setting at Pn507 after servo OFF 2 The time set at Pn508 has elapsed since servo OFF The actual setting will be the maximum speed if Pn507 is set higher than the maximum speed 6 20 6 6 Absolute Encoders 6 6 Absolute Encoders If a servomotor with an absolute encoder is used a system to detect the absolute position can be made in the host controller Consequently operation can be performed without performing a zero point re turn immediately after the power is turned ON Motor SGMLJH 1L With 16 bit absolute encoder SGML DH 2L With 17 bit absolute encoder Always detects absolute position Zero pgi t
105. ge Units Effective Default Type Timing Value Pn861 Number of Points for Speed Switching 0 to 16 Immediate 0 Pn862 Initial Feed Speed for Multi speed Positioning 1 to 240 000 1000 Immediate 24 000 C steps min Pn863 Speed Switching Position 1 0 to 99 999 999 Steps Immediate 0 C Pn864 Speed Switching Position 2 0 to 99 999 999 Steps Immediate 0 C Pn865 Speed Switching Position 3 0 to 99 999 999 Steps Immediate 0 C Pn866 Speed Switching Position 4 0 to 99 999 999 Steps Immediate 0 C Pn867 Speed Switching Position 5 0 to 99 999 999 Steps Immediate 0 C Pn868 Speed Switching Position 6 0 to 99 999 999 Steps Immediate 0 C Pn869 Speed Switching Position 7 0 to 99 999 999 Steps Immediate 0 C Pn86A Speed Switching Position 8 0 to 99 999 999 Steps Immediate 0 C Pn86B Speed Switching Position 9 0 to 99 999 999 Steps Immediate 0 C Pn86C Speed Switching Position 10 0 to 99 999 999 Steps Immediate 0 C Pn86D Speed Switching Position 11 0 to 99 999 999 Steps Immediate 0 C Pn86E Speed Switching Position 12 0 to 99 999 999 Steps Immediate 0 C Pn86F Speed Switching Position 13 0 to 99 999 999 Steps Immediate 0 C Pn870 Speed Switching Position 14 0 to 99 999 999 Steps Immediate 0 C Pn871 Speed Switching Position 15 0 to 99 999 999 Steps Immediate 0 C Pn872 Speed Switching Position 16 0 to 99 999 999 Steps Immediate C Pn873 Switching Speed 1 1 to 240 000 1000 Immediate 24 000 C steps min Pn874 Switching Speed 2 1 to 240
106. gency Stop Command While the Emergency Stop Command ESTP is set to 0 the SGDH is in emergency stop sta tus During this status the Emergency Stop Flag ESTP R is 0 The emergency stop status can be released by setting the Emergency Stop Command ESTP to 1 and changing the Servo ON Command SVON from 0 to 1 ESTP j nn SVON RS SVON_R Figure 5 2 Emergency Stop Command m Alarm Reset Command When an alarm occurs use the following procedure to restart the NS500 Unit Set the Servo ON Command SVON to 0 and set the Cancel Command CANCEL to 1 Remove the cause of the alarm 1 2 3 Clear any move commands that have been set 4 Execute the Alarm Reset Command 5 Check that the Alarm Flag ALRM is 0 Alarm reset is executed by changing the Alarm Reset Command ALRST from 0 to 1 When execution of the alarm reset has been completed and all alarms have been cleared the alarm bit ALRM will change to 0 amr l ALRM S va Figure 5 3 Alarm Rest Command 5 47 PROFIBUS DP Communications 5 5 2 Command Method B Constant Feed Command While the Constant Feed Command FEED is set to 1 the axis travels in the direction specified as the movement direction DIR at the feed speed FEED foe Figure 5 4 Constant Feed Command B Step Command While the Step Command STEP is set to 1 the axis travels in the direction specified as the movement direction DIR at the feed speed for
107. hase 100 V or 200 V Main Circuit Specifications 3 1 2 Three phase 200 V Main Circuit Specifications 3 1 3 Three phase 400 V Main Circuit Specifications 3 2 SERVOPACK Internal Block Diagrams 3 39 Signal soroas aoe we RP e vee ewes 3 3 1 Connection Example of I O Signal Connector CN1 0045 3 3 2 I O Signals Connector CN1 ssse 3 3 3 I O Signal Names and Functions 3 3 4 Interface Circuits 0 cece eee 3 4 I O Signal Connections for NS500 Units CN4 3 4 1 Connection Terminal Layout 3 4 2 O Signal Interface Circuits 3 4 3 Fully closed Encoder Connection Example 3 5 Connectors for PROFIBUS DP Communications 3 12 3 12 3 13 3 14 Connectors 3 1 Connecting to Peripheral Devices This section provides examples of standard X II Series product connections to peripheral devices It also briefly explains how to connect each peripheral device 3 1 Connecting to Peripheral Devices 3 1 1 Single phase 100 V or 200 V Main Circuit Specifications Host Controller Can be connected to PROFIBUS DP Master Power supply Single phase 200 VAC Molded case Circuit Breaker MCCB Protects the pow er line by shutting the circuit OFF when overcurrent is detected Molded c
108. he SERVOPACK to connect the Hand held Digital Operator to the SERVOPACK For details on how to use the Hand held Digital Operator refer to the X I Series SGML H SGDH User s Manual Design and Maintenance SIE S800 32 2 6 7 2 Limitations in Using a Hand held Digital Operator When an NS500 Unit is mounted the Hand held Digital Operator has the following limitations 0 INFO Be Turn the power OFF and then ON after changing the setting of parameter the Pn002 2 or Pn205 Normal Operation The following commands are not supported when sent via PROFIBUS DP if a Hand held Digital Operator is connected or communications with a personal computer are started during normal operation e Writing SGDH parameters 6 7 3 Panel Operator Indicators The Panel Operator indicators LED will not be lit in any of the following circumstances 1 The indicators will not be lit for approximately 3 seconds when the power is turned ON 2 The indicator will not be lit when the Hand held Digital Operator is connected It will be lit when the Hand held Digital Operator is disconnected 3 The indicator will not be lit momentarily when the following commands are received via PROFIBUS DP or from a setup tool Writing SGDH parameters Reading SGDH parameters 6 24 Using the NSxxx Setup Tool This chapter describes how to set parameters and monitor basic operation of the NS500 Unit using the NSxxx Setup Tool 7 1 Connection and In
109. he setting of the Multiturn Limit Setting Change parameter Pn205 Pn205 parameter in the SERVOPACK is in correct B The multiturn limit has not been set in the en Check that the Multiturn Limit Setting coder Pn205 parameter in the SERVOPACK is correct and then execute the encoder multi turn limit setting change Fn013 when a Multiturn Limit Disagreement A CC oc curs Error Diagnosis and Troubleshooting B A dO A d0 Position Error Pulse Overflow Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 ON ON OFF OFF Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm During servomotor operation At power ON E Overflow during high speed L A rotation Operation is normal but overflow occurs B C D when long reference is input Cause Remedy A Servomotor wiring is incorrect or connection Check wiring at servomotor is poor B SERVOPACK was not correctly adjusted Increase speed loop gain Pn100 and posi tion loop gain Pn102 C Motor load was excessive Reduce load torque or moment of inertia If problem not corrected replace with a motor with larger capacity D Position reference is too high Reduce the acceleration deceleration rate Change electronic gear ratio 9
110. ication iii Visual Aids The following aids are used to indicate certain types of information for easier reference EXAMPLE Indicates application examples 8 mro D Indicates supplemental information IMPORTANT Indicates important information that should be memorized Explains difficult to understand terms and terms that have not been explained before OVERVIEW OVERVIEW Safety Information 0 00 eee ees iii MiSUALAIGS 3 secon fate EEE E EEE EET iv TABLE OF CONTENTS 0 cece eee cnet eee eee vii OVEIVICW d otis cease dhe a H nike ovine Ue o Whine ORA Ahn R OR xi Using This Manual ssseesseensee e xii Safety Precautions sirais enn Ee nain ees xiii Checking Products and Part Names 1 1 1 1 Checking Products on Delivery 0 0200 cee ee eeee 1 2 1 2 Product Part Names 0 0 e eee eee 1 4 1 3 Mounting the NS500 Unit 0 00 1 5 Installation 5 err RII 2 1 2 1 Storage Conditions 6 6 2 2 2 2 Installation Site 2 6 eee 2 2 2 3 Orientation A anna RR ERR ER ER RR HR RE Rer IRIS EIE 2 3 2 4 Installati n 2st ERR REP ERREUR 2 4 Connectors ole e pw ry ees ns 3 1 3 1 Connecting to Peripheral Devices ssseesesss 3 2 3 2 SERVOPACK Internal Block Diagrams ssss 3 6 3 9 VO Signals s es So bete ERE RE eR Pel Ag Rus E 3 7 3 4 I O Signal Connections for NS500 Units
111. ications errors etc LED Indicators ERR Module Error COMM Communications Status Error The allocation of the following output signals can be changed using parameter settings Brake interlock servo ready positioning completion 8 3 Ratings Specifications and Dimensions 8 2 1 NS500 Unit 8 2 Dimensional Drawings Dimensional drawings of the NS500 Unit and SERVOPACKs are shown below 8 2 1 NS500 Unit Dimensions of the NS500 Unit are shown below FG terminal M4 Nameplate Approx mass 0 2 kg 0 661 Ib Error Diagnosis and Troubleshooting This chapter describes error diagnosis and troubleshooting In addition troubleshooting procedures are described for problems which cause an alarm display and for problems which result in no alarm display 9 1 Troubleshooting with Alarm Displays 9 2 9 2 Troubleshooting Problems with No Alarm Display 9 38 9 3 Alarm Display Table 9 40 9 4 Warning Codes suusssusuuss 9 43 Error Diagnosis and Troubleshooting 9 1 Troubleshooting with Alarm Displays Problems that occur in the Servodrives are displayed on the panel operator as A LILI or CPF cause of an alarm and the action to be taken 7 A however does not indicate an alarm Refer to the following sections to identify the Contact your Yaskawa representative if the prob
112. ignal changes the axis decelerates further and travels at the Zero Point Return Creep Speed Pn804 4 The axis travels the Zero Point Return Final Travel Distance Pn805 from the position where the zero point signal changed and that position becomes the zero point Zero point return feed speed Pn802 Zero point return approach speed Speed Pn803 Zero point return creep speed Pn804 Zero point return final travel distance Pn805 Time Dog width Deceleration limit switch j signal A ecce e Zero point signal Ui Machine coordinate system i zero point Zero point area Parameter Settings 4 3 2 Zero Point Return Parameters Type 3 This zero point return type returns to the zero point using the phase C pulse of the encoder only The outline of the operation is as follows 1 The axis travels in the direction specified as zero point direction in the Zero Point Return Function Selection Pn801 at the Zero Point Return Approach Speed Pn803 2 When the first phase C pulse of the encoder is detected the axis decelerates and travels at the Zero Point Return Creep Speed Pn804 3 The axis travels the Zero Point Return Final Travel Distance Pn805 from the position where the phase C pulse was detected and that position becomes the zero point Zero point return approach speed Pn803 Speed Zero point return creep speed Pn804 Zero point return final travel di
113. in value is too high Reduce speed loop gain Pn100 preset value High rotation speed over shoot on starting and stop ping Speed loop gain value is too high Reduce speed loop gain Pn100 preset value Increase integration time constant Pn101 Speed loop gain value too low compared to position loop gain value Increase speed loop gain Pn100 preset value Reduce the integration time constant Pn101 Servomotor overheated Ambient temperature is too high Measure servomotor ambient temperature Reduce ambient temperature to 40 C max Servomotor surface is dirty Visual check Clean dust and oil from motor surface Overloaded Run under no load Reduce load or replace with larger capacity servomotor Abnormal noise Mechanical mounting is incor rect Check if servomotor mounting screws loose Tighten mounting screws Check if coupling not centered Center coupling Check if coupling unbalanced Balance coupling Bearing is defective Check noise and vibration near bearing Consult your Yaskawa repre sentative if defective Machine causing vibrations Check foreign object intrusion damage or deformation of driv ing parts of machine Consult with machine manufacturer if defective Error Diagnosis and Troubleshooting 9 3 Alarm Display Table Table 9 2 Alarm Display Table
114. ing self The NS500 Unit performs self diagnosis for approx 2 se green alternately diagnosis conds after power is turned ON nvalid station A station address is set to 7F 127 or more address setting Flashes green slow Waiting for a pa e At startup the Master has not yet sent a parameter message ly flashing cycle rameter message The NS500 Unit is waiting for a parameter message sent from approx 0 5 Hz from the Master the Master Flashes green Waiting fora con The NS500 Unit has received a valid parameter message and is flashing cycle figuration message waiting for a configuration message 3 Hz from the Master n Normal start sequence The NS500 Unit is in an extremely short intermediate state Error status A parameter message was received from the Mas ter but a configuration message has not been received OFF Lights green Exchanging data Data is being exchanged between the Master and the Slave nor mal operation ON Flashes red slowly Communications The NS500 Unit has not detected the baud rate flashing cycle not established The communications cable is not connected properly or is approx 0 5 Hz ie defective The Master changed the baud rate The Master s power supply has dropped Flashes red flash PROFIBUS DP A message could not be received within the previously set bus ing cycle 3 Hz watchdog timeout communications time The status is held until a new parame ter messag
115. ion CLT Speed Limit Pn50F 1 0 to 3 Same as Pn50E 0 Detection VLT Brake Interlock Pn50F 2 0 to 3 Same as Pn50E 0 BK Warning Pn50F 3 0 to 3 Same as Pn50E 0 NARN Near Pn510 0 0 to 3 Same as Pn50E 0 NEAR Phase C Pn510 1 0 to 3 Same as Pn50E 0 Detection C PULS Always OFF when an NS500 Unit is mounted Note Same as Pn50E 0 means output signals are disabled or allocated to output terminals SO1 to SO3 through parameter settings 0 to 3 INFO Signals are output with OR logic when multiple signals are allocated to the same output circuit Signals that T are not detected are invalid Output Signal Reversal The following parameter can be used to reverse the signals output on output terminals SO1 to SO3 Pn512 Output Signal Reversal Settings Factory Position Control Setting 0000 The settings specify which of the connector CN1 output signals are to be reversed 6 14 Mineo D Refer to 6 5 Analog Monitors in the X II Series SGM 6 4 Setting Up the SERVOPACK Output Terminals Parameter Description Number Setting SO1 CN1 25 26 Pn512 0 0 Output signal not reversed 1 Output signal reversed SO2 CN1 27 28 Pn512 1 0 Output signal not reversed 1 Output signal reversed SO3 CN1 29 30 Pn512 2 0 Output signal not reversed 1 Output signal reversed Reserved Pn512 3 6 4 4 A
116. ion The setting unit is ms This parameter is enabled only when the Acceleration Deceleration Type for Positioning Pn826 is set to double step linear acceleration and deceleration Acceleration Deceleration Type for Positioning Pn826 Use the Acceleration Deceleration Type for Positioning to set the type of acceleration and de celeration for the positioning You can set eight different acceleration and deceleration patterns using different combinations of Acceleration Deceleration Type for Positioning and Filter Selection Pn829 Setting Description 0 None 1 Single Step Linear 4 30 4 3 Parameter Details Setting Description 2 Double Step Linear 3 Asymmetric External Positioning Feed Speed Pn827 Use the External Positioning Feed Speed to set the feed speed for external positioning The setting unit is 1 000 steps min Filter Selection Pn829 Use the Filter Selection to set the acceleration and deceleration filter type This parameter is used in common by the positioning constant feeding and zero point return operations Setting Description 0 None 1 Exponential 2 Exponential with Bias 3 Travelling Average Constant Feed Reference Unit Selection Pn830 Use the Constant Feed Reference Unit Selection to set the reference unit for the speed setting for a constant feed command data Setting Description 0 Sets an o
117. ion in the speed switching position 1 parameter is reached The setting unit is 1 000 steps min Speed Switching Positions 1 to 16 Pn872 Use the Speed Switching Position to set the position at which the speed is to change at a position relative to the start position The speed switching position xx and switching speed xx are used together For example the axis will travel from speed switching position 1 to speed switching position 2 at speed 1 The setting unit is steps Switching Speeds 1 to 16 Pn873 to Pn882 Use the Switching Speed to set the feed speed between specified speed switching positions For example the axis will travel at speed 2 between speed switching position 2 and speed switching position 3 The setting unit is 1 000 steps min 4 3 7 Notch Signal Output Positioning During the positioning notch signals NOTCH 1 and NOTCH 2 are output when specified points are passed Two notch signals NOTCH 1 and NOTCH 2 can be output Notch output 1 position lower limit Pn892 Notch output 1 position upper limit Pn893 Time 1 NOTCH 1 signal 4 36 4 3 Parameter Details B Parameter Details Notch Signal Output Position Setting Pn890 Use the Notch Signal Output Position Setting to set whether absolute or relative positions are set for the notch signal output position parameters Setting Description 0 Setting absolute position 1 Specifies relative position
118. iring error or faulty contact Check the wiring and check that the connector is fully inserted on the encoder C There is noise in the encoder wiring Separate the encoder wiring from the main circuit D Encoder is defective Replace the servomotor Error Diagnosis and Troubleshooting B A C7 A C7 Fully closed Encoder Phase C Disconnection Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 ON OFF ON OFF Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm At power ON A Sud ON after A B C D During servomotor operation A B C D Cause Remedy A Circuit board 1PWB is defective Replace the SERVOPACK Encoder wiring error or faulty contact Check the wiring and check that the connector is fully inserted on the encoder C There is noise in the encoder wiring Separate the encoder wiring from the main circuit D Encoder is defective Replace the servomotor 9 26 9 1 Troubleshooting with Alarm Displays B A CC A CC Multiturn Limit Disagreement Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 ON OFF ON OFF Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm At power ON A B Cause Remedy A T
119. isoperation Make sure to set B and A within this range Parameter Settings 4 3 2 Zero Point Return Parameters 4 3 2 Zero Point Return Parameters Bl Zero Point Return Types The following four types of zero point return are supported Type 0 This zero point return type returns to the zero point using the deceleration limit switch signal DEC signal and the phase C pulse of the encoder The outline of the operation is as follows 1 The axis travels in the direction specified as the zero point direction in the Zero Point Return Function Selection Pn801 at the Zero Point Return Feed Speed Pn802 2 When the deceleration limit switch status changes the axis decelerates and travels at the Zero Point Return Approach Speed Pn803 3 When the deceleration limit switch status changes again the axis decelerates further when the first encoder phase C pulse is detected and then travels at the Zero Point Return Creep Speed Pn804 4 The axis travels the Zero Point Return Final Travel Distance Pn805 from the position where the phase C was detected and that position becomes the zero point Zero point return feed speed Pn802 Zero point return approach speed Speed Pn803 Zero point return creep speed Pn804 Zero point return final travel distance Pn805 i Time Dog width Deceleration limit j switch signal Em he Machine coordinate Phase C system zero point 4
120. istor is ON Status and Remedy for Alarm When servo ON S ON signal turned ON A At power ON D During high speed servomotor rotation B C after reference input Cause Remedy A Servomotor wiring is incorrect Check and correct wiring Check phase U V and W motor wiring errors B Position or speed reference input is too large Lower the reference input values C Incorrect reference input gain settings Check and correct the parameter settings D Circuit board 1PWB is defective Replace the SERVOPACK 9 10 B A 71 A 71 Overload Instantaneous Maximum Load 9 1 Troubleshooting with Alarm Displays The alarm output the status when LEDs are lit and the remedy procedure are identical to those of A 72 below B A 72 A 72 Overload Continuous Maximum Load Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALOS3 ON ON ON OFF Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm When servo ON S ON signal turned ON A At power ON C When speed reference input No servomotor B rotation During normal B operation Cause Remedy A Servomotor wiring is incorrect or discon Check wiring and connectors at servomotor nected B Load greatly exceeds rated torque Reduce load torque and moment of inertia Otherwise rep
121. it Specifications 0 eee eee 3 2 SERVOPACK Internal Block Diagrams 3 8 VO Signals sonore uera eie Derim Te C NER OMIT 3 3 1 Connection Example of I O Signal Connector CN1 sssusuee 3 3 2 I O Signals Connector CN1 sssssseeseeees 3 3 3 I O Signal Names and Functions 000s cece ete ees 39 4 Interface Circuits 1e eer Aare tend fae cee ra nel ne Id ote ed 3 4 I O Signal Connections for NS500 Units CN4 3 4 1 Connection Terminal Layout 0 cece cece 3 4 2 I O Signal Interface Circuits 3 4 3 Fully closed Encoder Connection Example 0 00 eee ee ee eens 3 5 Connectors for PROFIBUS DP Communications iii iv xi xii xiii 4 5 Parameter Settings Llseueese 4 1 Parameters seeen enhn nnn ann 4 1 1 Outline of Parameters ssssssssseeeesse 4 12 Parameter Types eer tede ee HEURE NERA IE T bete o 4 1 3 Editing Parameters scu de e nh m ERR 41 4 Effective TIMING cie oi Sco e Ea gr m p Toe tien er te p c LU p M i 4 2 Parameter Tables 5 2 nil fua ect a os wes Urbe po ROAD 4 2 1 Unit Parameters 51th d athe eid ERU Pd ERREUR EA ERE 4 2 2 Zero Point Return Parameters 0 cece eee eee eee 4 2 3 Machine System and Peripheral Device Parameters seus 4 2 4 Speed Acceleration and Deceleration Parameters
122. itch Signal 0 Enabled on Low Setting 1 Enabled on High 2 Zero Point Signal Setting 0 Enabled on leading edge 1 Enabled on trailing edge 3 to 15 Reserved Zero Point Return Feed Speed Pn802 Use the Zero Point Return Feed Speed to set the initial feed speed for 3 step deceleration zero point return The setting unit is 1 000 steps min Zero Point Return Approach Speed Pn803 Use the Zero Point Return Approach Speed to set the approach speed for zero point return The setting unit is 1 000 steps min Zero Point Return Creep Speed Pn804 Use the Zero Point Return Creep Speed to set the creep speed for zero point return The setting unit is 1 000 steps min Parameter Settings 4 3 2 Zero Point Return Parameters Zero Point Return Final Travel Distance Pn805 Use the Zero Point Return Final Travel Distance to set the distance from the position where the encoder phase C and zero point signal were detected to the machine zero point The setting unit is steps Zero Point Output Width Pn806 Use the Zero Point Output Width to set the area that will be regarded as the zero point The setting unit is steps In the following diagram if the conditions outlined below are met the Zero Point Flag in the response data will be set to 1 e X Zero point Current position Pn806 is Zero point Current position P gq Pn806 Pn806 X Zero Point Offset Pn809 The sys
123. itioning 4 Point Table Positioning Performs positioning based on the specified data in the point table 5 Station Positioning Performs positioning to the specified station 6 External Positioning Sets the target position and performs positioning If the external signal changes the axis moves the distance set in the parameter and then stops 7 Multi speed Positioning Performs multi speed positioning based on the set parameters 8 Zone signal Output Positioning Performs positioning while making notch outputs based on the set parameters 9 Homing Operation Performs the zero point return 7 7 Using the NSxxx Setup Tool 7 2 2 Functions Configuration B Signal Menu Servo ON OFF Turns ON and OFF the SGDH servo Brake ON OFF Turns ON and OFF the SGDH brake signal BE Point Table Menu List Displays a list of the point table currently registered Edit Edits the point table B Parameter Menu Servo Parameter List Displays a table of SGDH parameters which can be edited using the cursor Option Parameter List Displays a table of NS500 Unit parameters which can be edited using the cursor B Monitor Menu Motion Status Displays the current execution status Input Signal Displays the status of the external input signals connected to the CN1 port on the SGDH and the CN4 port on the NS500 Unit Output Signal Displays the status of the external output signals conne
124. lace with larger capacity servo motor c Circuit board 1PWB is defective Replace the SERVOPACK Error Diagnosis and Troubleshooting B A 73 A 73 Dynamic Brake Overload Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 ON ON ON OFF Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm When servo OFF signal turned ON A At power ON B Cause Remedy The product of the square of rotational motor speed and the combined moment of inertia of the motor and load rotation energy exceeds the capacity of the dynamic brake resistor built into SERVOPACK Lower the rotational speed Lower the load moment of inertia Do not frequently use dynamic braking B Circuit board 1PWB is defective Replace the SERVOPACK A 74 A 74 Overload of Surge Current Limit Resistor Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 ON ON ON OFF Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm When main circuit power turned ON or OFF A PERDONO B Cause Remedy Frequently turning the main circuit power ON OFF Do not repeatedly turn ON OFF the main cir cuit power B Circuit board 1PWB is defective Replace the SERVO
125. larm Displays 9 2 9 2 Troubleshooting Problems with No Alarm Display 9 38 9 3 Alarm Display Table iiir eset ERR RR ERR eee 9 40 9 4 Warning Codes 0 cece cece eee eee eee nnn nnne 9 43 A Alarm and Warning Codes A 1 AA Alarm Codes ooa ER eee eee ee ee es Pee eee A 2 A2 Warning Codes isses Rte eS here En ma Ee RM SE Rs EIUS A 4 Overview Overview E About this Manual This manual provides the following information for the X II Series SGMI H SGDH Servodrives with a JUSP NS500 PROFIBUS DP Interface Unit hereafter called the NS500 Unit mounted The NS500 Unit is an Option Unit Procedures for installing and wiring the NS500 Unit Specifications and methods for SERVOPACK PROFIBUS DP communications Procedures for setting parameters Information on the NSxxx Setup Tool Troubleshooting procedures E 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 manu al in a safe place so that it can be referred to whenever necessary Manual Number E II Series SGMI IH SGDH SIE S800 32 1 Describes the procedure used to select User s Manual II Series Servodrives and capacities Servo Selection and Data Sheets X II Series SGMLJH SGDH SIE S800 32 2 Provides detailed information on SGDH User s Manual SERVOPACKs Design
126. lem cannot be solved by the described procedures B A 02 A 02 Parameter Breakdown Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm At power ON m A B C Cause Remedy A Power turned OFF during parameter write Initialize parameters using Fn005 and rein Alarm occurred at the next power ON put user settings Replace the SERVOPACK B Circuit board 1PWB is defective Replace the SERVOPACK Cc The NS500 Unit is defective Replace the NS500 Unit 9 1 Troubleshooting with Alarm Displays B A 03 A 03 Main Circuit Encoder Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm At power ON A Cause Remedy A Circuit board IPWB or 2PWB is defective Replace the SERVOPACK B A 04 A 04 Parameter Setting Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm At power ON A B C Cause Remedy A An out of range parameter was
127. leration B Parameter Details Feed Speed for Positioning Pn821 Use the Feed Speed for Positioning to set the feed speed of the positioning The setting unit is 1 000 steps min Acceleration Time for Positioning Pn822 Use the Acceleration Time for Positioning to set the acceleration time for the positioning The setting unit is ms Deceleration Time for Positioning Pn823 Use the Deceleration Time for Positioning to set the deceleration time for positioning The set ting unit is ms This parameter is enabled only when the Acceleration Deceleration Type for Positioning Pn826 is set to the asymmetrical linear acceleration and deceleration Switch Speed for Second Acceleration Deceleration for Positioning Pn824 Use the Switch Speed for Second Acceleration Deceleration for Positioning to set the switch ing speed to acceleration and deceleration of the second step when using double step linear acceleration and deceleration The setting unit is 1 000 step min This parameter is enabled only when the Acceleration Deceleration Type for Positioning Pn826 is set to double step linear acceleration and deceleration Acceleration Deceleration Time for Second Acceleration Deceleration for Positioning Pn825 Use the Acceleration Deceleration Time for Second Acceleration Deceleration for Position ing to set the acceleration and deceleration time for the second step when using double step linear acceleration and decelerat
128. losed Encoder Usage Method Factory Setting 0 Position Control The setting details are as follows Parameter Setting Meaning Pn002 3 0 Factory setting Fully closed encoder is not used 1 Fully closed encoder is used without phase C 2 Fully closed encoder is used with phase C 3 Fully closed encoder is used in Reverse Rotation Mode without phase C 4 Fully closed encoder is used in Reverse Rotation Mode with phase C When changes have been made to this parameter turn OFF the power once The set value will become effective when the power is turned ON again 6 2 Settings According to Equipment Characteristics Number of Fully Closed Encoder Pulses Set the number of fully closed encoder pulses for each motor rotation When the number of fully closed encoder pulses per motor rotation is not an integer set the clos est integer Error will occur in the speed monitor for position loop gain feed forward and reference pulse but no position displacement will occur Set the number of pulses with a multiplication factor of 1 Pn206 Number of Fully Closed Unit Setting Factory Position Encoder Pulses P R Range Setting Control 513 to 32768 16384 When changes have been made to this parameter turn OFF the power once The set value will become effective when the power is turned ON again 6 9 SGDH Parameters
129. n 0 Pn821 Feed Speed for Positioning Pn822 Acceleration Time for Positioning Pn843 Maximum Feed Speed Speed Time Figure 4 1 Single step Linear Acceleration Deceleration with Constant Acceleration Deceleration 4 22 4 3 Parameter Details Double step Linear Acceleration Deceleration with Constant Acceleration Deceleration Table 4 5 Related Parameters Pn Name Pn826 Acceleration Deceleration Type for Positioning 2 Pn829 Filter Selection 0 Pn821 Feed Speed for Positioning Pn822 Acceleration Time Constant for Positioning Pn824 Switch Speed for Second Accel Decel Pn825 Accel Decel Time Constant of Second Accel Decel Pn843 Maximum Feed Speed Speed Time Figure 4 2 Double step Linear Acceleration Deceleration with Constant Acceleration Deceleration 4 23 Parameter Settings 4 3 4 Speed Acceleration and Deceleration Asymmetric Linear Acceleration Deceleration with Constant Acceleration Deceleration Table 4 6 Related Parameters Pn Name Pn826 Acceleration Deceleration Type for Positioning 3 Pn829 Filter Selection 0 Pn821 Feed Speed for Positioning Pn822 Acceleration Time for Positioning Pn823 Deceleration Time for Positioning Pn843 Maximum Feed Speed Speed Time Figure 4 8 Asymmetric Linear Acceleration Deceleration with Constant Acceleration De
130. n injury Do not touch the heat sinks during operation Doing so may result in burns due to high temperatures il Maintenance and Inspection A WARNING Never touch the inside of the SERVOPACKs Doing so may result in electric shock Do not remove the panel cover while the power is ON Doing so may result in electric shock Do not touch terminals for five minutes after the power is turned OFF Residual voltage may cause electric shock A CAUTION Do not disassemble the servomotor Doing so may result in electric shock or injury Do not attempt to change wiring while the power is ON Doing so may result in electric shock or injury xiv Safety Precautions Bl General Precautions Note the following to ensure safe application The drawings presented in this manual are sometimes shown without covers or protective guards Always replace the cover or protective guard as specified first and then operate the products in accordance with the manual The drawings presented in this manual are typical examples and may not match the product you received This manual is subject to change due to product improvement specification modification and manual improvement When this manual is revised the manual code is updated and the new manual is published as a next edition The edition number appears on the front and back covers If the manual must be ordered due to loss or damage i
131. n nnn 5 4 1 Constant Feed Command ssssssssssseeeee eens 5 4 2 Step Commahd sr pic 2 etal dae daga eie da 3 GAv I ew pa eds HIE Y Dua 5 4 3 Station Command sssssssseesseesse e nn 5 4 4 Point Table Command sssssssssesese n 5 4 5 Zero Point Return Command 00 eee 5 4 6 Positioning Command ssssssssseese nn 5 4 7 External Positioning ssseeeeee III 5 4 8 Notch Output Positioning Command 0 cece 5 4 9 Multi speed Positioning Command esses eee viii RAAA D OONN N 1 A RaAnRnA RA P COBOAGAK A A 4 14 4 19 4 21 4 33 4 35 4 36 6 7 TABLE OF CONTENTS 5 5 Commands from the Host Controller e 5 5 1 Basic Sequence 5 5 2 Command Method Parameter Settings 6 1 Parameters and Standard Settings for NS500 Units 6 1 1 Automatically Set Parameters 0 teens 6 1 2 Standard Settings for CN1 I O Signals 00 cece eee 6 2 Settings According to Equipment Characteristics 6 2 1 Switching Servomotor Rotation Direction 00 cece 6 2 2 Stop Mode Selection at Servo OFF ccc eee eee eee eens 6 2 3 Fully Closed Control 6 2 4 Fully Closed System Specifications 0 0 cece eee 6 2 5 Parameter Settings 6 3 Settings According to 6 3 1 Sequence I O Signals Host Controller
132. nalog Monitors The analog monitors can be changed by changing the PN003 0 and Pn003 1 parameter settings Pn003 0 Analog Monitor 1 Factory Setting Position Control 2 Pn003 1 Analog Monitor 2 Factory Setting Position Control 0 The monitor signals and units and the observation gains when observing using the analog moni tor CN5 are shown on the following table Pn003 0 and Monitor Signal Analog Monitor CN5 Pn003 1 Observed Gain Settings 0 Servomotor speed 1 V 1000 min 1 Speed reference 1 V 1000 min 2 Torque reference 1 V 100 rated torque 3 Position error 0 05 V 1 reference units 4 Position error 0 05 V 100 reference units 5 Reference pulse frequency 1 V 1000 min Servomotor speed conversion 6 Servomotor speed 1 V 250 min 7 Servomotor speed 1 V 125 mir 8 to F Reserved motor signal SGDH User s Manual Design and Main tenance SIE S800 32 2 for information on monitoring methods of analog monitors SGDH Parameters 6 5 1 Using the Dynamic Brake 6 5 Setting Stop Functions This section describes the procedure used to stably stop the SERVOPACK 6 5 1 Using the Dynamic Brake To stop the servomotor by applying the dynamic brake DB set the desired mode in the follow ing parameter The servomotor will stop due to equipment friction if the dynamic brake is not applied Pn001 0 Servo OFF or Alarm
133. nce torque input is defective A B6 Flashes Red Gate Array Error Communications LSI error A BF Flashes Red System Alarm A system error occurred in the SERVOPACK A C1 Flashes Red Servo Overrun Detected The servomotor ran out of control A C6 Flashes Red Fully closed Loop Phase A B Phase A or B of the fully closed encoder was dis Disconnected connected A C7 Flashes Red Fully closed Loop Phase C Phase C of the fully closed encoder was discon Disconnected nected A C8 Lit Red Absolute Encoder Clear Error and The multi turn for the absolute encoder was not Multi turn Limit Setting Error properly cleared or set A C9 Flashes Red Encoder Communications Error Communications between SERVOPACK and encoder is not possible A CA Lit Red Encoder Parameter Error Encoder parameters are incorrect A CB Flashes Red Encoder Echoback Error Contents of communications with encoder are incorrect A CC Flashes Red Multi turn Limit Disagreement Different multi turn limits have been set in the encoder and SERVOPACK A DO Flashes Red Position Error Pulse Overflow Position error pulse exceeded parameter Pn505 A E0 E No NS500 Unit No NS500 Unit installed A E1 S NS500 Unit Timeout No response from the NS500 Unit A E2 Watchdog Counter Error of NS500 WDC error in the NS500 Unit Unit A E7 Lit Red NS500 Unit Detection Error No NS500 Unit was detected when was power supplied to the SGDH A EA Flashes Red SERVOPACK Mal
134. nd acceleration deceleration data is used as for the Positioning Command No Name Setting Unit Effective Factory Type Range Timing Setting Pn812 Coordinate Type 0 1 Immediate 0 Pn853 Direction for Rotation System 0 1 Immediate 0 Pn85A Number of Stations 1 to 32 767 Immediate 1 B Bl Operation Time PROFIBUS DP Communications 5 4 3 Station Command Station 0 Station 1 x Station 2 E Command Method 1 Set the Servo ON Command byte 0 bit 1 to 1 2 Set the movement direction byte 3 bit 1 The movement direction setting is disabled when the Pn853 setting is 1 travel the shortest distance 3 Set absolute incremental byte 3 bit 0 If an incremental position has been specified set the value corresponding to target station number current station number in bytes 4 to 7 4 Set the target station number 5 Set the Station Command byte 2 bit 5 to 1 Byte Bit 7 Bit 6 Bit 5 Bit4 Bit 3 Bit 2 Bit 1 Bit 0 0 0 0 0 1 0 0 1 0 1 Response type 00h 2 0 0 1 0 0 0 0 0 3 0 0 0 0 0 0 DIR INC 4 Target station number 5 6 7 5 32 5 4 Motion Command Methods 5 4 4 Point Table Command B Function The Point Table Command performs positioning at the position and speed stored in advance in the point table B Related Parameters No Name Setting U
135. nerative Unit disconnected Check wiring of the external regenerative re for an external regenerative resistor sistor D SERVOPACK is defective Replace the SERVOPACK 9 6 9 1 Troubleshooting with Alarm Displays B A A 32 Regenerative Overload Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 ON ON OFF OFF Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm During servomotor operation A B Cause Remedy A _ Regenerative power exceeds the allowable Use an external regenerative resistor that value matches the regenerative power capacity B Alarm occurs although an external regenera Reset the incorrect Pn600 parameter setting tive resistor is used and the temperature rise of the regenerative resistor is small 9 7 Error Diagnosis and Troubleshooting B A 40 A 40 Main Circuit DC Voltage Error Detected overvoltage Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF ON OFF Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm During servomotor Occurred when the control operation A B C D power turned ON E Occurred when main circuit power turned ON A D Cause Rem
136. nform your nearest Yaskawa representa tive 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 prod uct Yaskawa shall not be liable for any damages or troubles resulting from unauthorized modifi cation XV Checking Products and Part Names This chapter describes the procedure for checking X II Series products and the NS500 Unit upon delivery It also describes the names of product parts 1 1 Checking Products on Delivery 1 2 1 2 Product Part Names 1 4 1 3 Mounting the NS500 Unit 1 5 Checking Products and Part Names 1 1 Checking Products on Delivery The following procedure is used to check products upon delivery Check the following items when products are delivered Check Items Comments Are the delivered products the ones Check the model numbers marked on the nameplates that were ordered of the NS500 Unit Refer to the descriptions of model numbers on following pages Is there any damage Check the overall appearance and check for damage or scratches that may have occurred during shipping Can the NS500 Unit be installed on Check the model number given on the SERVOPACK the SERVOPACK used nameplate The model number must contain SGDH and E as shown below to support the NS500 Unit SGDH E
137. ng Zero Point Return Command HOME The NS500 Unit will start a zero point return when it detects the leading edge of the HOME bit If this command is set to 0 while the axis is travelling the servomotor will decelerate to a stop and the zero point return operation will end The zero point return operation will not restart even if the HOME bit is set to 1 again The type of zero point return depends on the zero point return mode setting in Pn800 0 Stop zero point return 1 Request for zero point return Incremental Specification INC The INC bit specifies whether the data that indicates a position is used as an absolute value or an incremental value Set this bit to 0 to specify an absolute position and to 1 to specify an incremental position This setting is used for the following commands Station Command Point Table Command Positioning Command The status of the INC bit cannot be changed during the execution of a move command 0 Absolute value specified 1 Incremental value specified Movement Direction DIR The DR bit specifies the movement direction Set this bit to 0 for forward and to 1 for reverse operation This specification is used for the following commands Feed Command Step Command Station Command The movement direction specification is disabled during normal positioning The status of the DIR bit cannot be changed during the execution of a move command
138. ng the electronic gear set Pn810 and Pn811 to 1 This will set the reference unit to 1 pulse so you must calculate the scale position units using the host controller 7 revolutions 5 revolutions No of Encoder pulses 2048 x4 Pitch of ball screw P 6mm IMPORTANT Inthis manual the reference unit explained in Electronic Gear Settings When Using a Ball Screwin 4 3 1 Unit Parameters is based on a unit of 0 001 mm The speed and other parameters must be interpreted as follows Pn821 Feed Speed for Positioning mm min 1000 pulses min Parameter Settings 4 3 1 Unit Parameters IMPORTANT E Electronic Gear Settings When Using a Ball Screw If using a ball screw first check the following specifications Number of Encoder pulses Gear ratio Ball screw pitch System Example The following system example shows the formulas when the reference unit is set to 0 001 mm 0 001 mm 0 001 mm 7 revolutions No of Encoder pulses 2 048 x 4 5 revolutions Pitch of ball screw P 6mm Travel distance of load per revolution mm 6mm e eY Reference unit mm 0 001 mm no A REV x Gear ratio load rev 6000 x 5 30000 B Encoder pulses x Pulse multiplier x Gear ratio motor rev 2048 x 4x 7 57344 B A 57344 30000 1 911 Data ranges are shown below A A 10 000 000 e B 10 000 000 e 1002 B A Z 0
139. ning Completed Timeout Pn851 is too small setting Pn851 B Positioning Loop Gain or Speed Loop Gain Correct the Positioning Loop Gain or Speed setting is too small Loop Gain setting C Speed loop control is set to P control Set the speed loop control to PI control D Mechanical friction is high Reduce mechanical friction E The machine has hit something Remove any obstacles 9 22 9 1 Troubleshooting with Alarm Displays B A bi A b1 Reference Speed Input Read Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm During servomotor At power ON g AB c operation Cause Remedy A Error in reference read in unit Reset alarm and restart operation A D convertor etc B Reference read in unit is defective Replace the SERVOPACK A D convertor etc C Circuit board 1PWB is defective Replace the SERVOPACK B A b6 A b6 Communications LSI Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm At power ON A Cause Remedy A The NS500 Unit is defective Replace the NS500 Unit 9 23 Error Diagnosis an
140. nit Effective Factory Type Range Timing Setting Pn821 Feed Speed for Positioning 1 to 240 000 1000 Immediate 24 000 B steps min Pn822 Acceleration Time for Positioning 1 to 10 000 ms Immediate 100 B Pn823 Deceleration Time for Positioning 1 to 10 000 ms Immediate 100 Pn824 Switch Speed for Positioning Second Accel 1 to 240 000 1000 Immediate 24 000 C Decel steps min Pn825 Accel Decel Time for Positioning Second 1 to 10 000 ms Immediate 200 B Accel Decel Pn826 Accel Decel Type for Positioning 0 1 2 3 Immediate 0 B Pn829 Filter Selection 0 1 2 3 Immediate 0 B Pn840 Time Constant for Exponential Accel Decel 4 to 1 000 ms Immediate 25 C Pn841 Bias Speed for Exponential Accel Decel 1 to 240 000 1000 Immediate 0 C steps min Pn842 Time Constant of Travelling Average 4 to 10 000 ms Immediate 25 Pn843 Maximum Feed Speed 1 to 240 000 1000 Immediate 24 000 steps min Pn900 Target Position 1 99 999 999 Steps Immediate 0 Pn901 Target Position 2 99 999 999 Steps Immediate 0 B Pn931 Target Position 50 99 999 999 Steps Immediate 0 Pn980 Target Speed 1 1 to 240 000 1000 Immediate 0 steps min Pn981 Target Speed 2 1 to 240 000 1000 Immediate 0 B steps min Pn971 Target Speed 50 1 to 240 000 1000 Immediate 0 B steps min PROFIBUS DP Communications 5 4 5 Zero Point Return Command E Operation Speed Time 1 STEP 0 NE Command Method 1 Set the Servo ON Command
141. o 1 during execution of a move command the execution of the move command will be stopped and the servomotor will decelerate to a stop The remaining travel distance will be canceled If command execution is completed the following status will occur e INPOS 1 e PRGS 0 Confirm whether or not command execution has been completed by the status of these two flags 0 Execution of move command possible Request to cancel move command Hold Command HOLD If the Hold Command is set to 1 during execution of a move command the execution of the move command will be held and the servomotor will decelerate to a stop The NS500 Unit will wait for command execution to be restarted Set the Hold Command to 0 again to restart the execution of a move command If command execution is completed the following status will occur e INPOS 1 e PRGS 20 5 3 Command Response Format Confirm whether or not command execution has been completed by the status of these two flags 0 Execution of move command possible 1 Request to hold move command Constant Feed Command FEED The NS500 Unit will start feeding at a constant speed when it detects the leading edge of the FEED bit Constant feeding will continue while this bit is set to 1 When the FEED bit is set to 0 the servomotor will decelerate to a stop The direction for feed ing is determined by the Movement Direction set in the command data area An override can be set
142. oad for Continuous Maximum The motor was operating continuously under a Load torque exceeding ratings A 73 Flashes Red Dynamic Brake Overload When the dynamic brake was applied rotational energy exceeded the capacity of dynamic brake resistor A 74 Flashes Red Overload of Surge Current Limit The main circuit power was frequently turned Resistor ON and OFF A 7A Flashes Red Heat Sink Overheated The heat sink of SERVOPACK is overheated A 81 Flashes Red Absolute Encoder Backup Error All the power supplies for the absolute encoder have failed and position data was cleared A 82 Flashes Red Absolute Encoder Checksum Error The checksum results of the absolute encoder memory are abnormal A 83 Flashes Red Absolute Encoder Battery Error Battery voltage for the absolute encoder has dropped A 1 Alarm Codes Code MS NS Alarm Name Description A 84 Lit Red Encoder Data Error Data in the encoder is abnormal A 85 Flashes Red Absolute Encoder Overspeed The absolute encoder was rotating at high speed when the power was turned ON A 86 Flashes Red Encoder Overheated The internal temperature of encoder is too high A B1 Flashes Red Reference Speed Input Read Error The A D converter for reference speed input is defective A B2 Flashes Red Reference Torque Input Read Error The A D converter for refere
143. ohibited when OFF External positioning signal Zero point signal Servo alarm output ALM OFF for an alarm Not used gt Photocoupler output Maximum operating voltage 30 VDC Maximum operating TF current 50 mA DC Connect the shield wire to connector shell 1 represents twisted pair wires 2 When using an absolute encoder connect a backup battery only when there is no battery connected to the CN8 3 Make signal allocations using parameters Refer to 6 1 2 Standard Settings for CNI I O Signals Figure 3 1 1 O Signal Connections for CN1 Connectors 3 7 Connectors 3 3 2 V O Signals Connector CN1 3 3 2 I O Signals Connector CN1 B CN1 Terminal Layout The following diagram shows the layout of CN1 terminals Note 1 Do not use unused terminals for relays 2 Connect the shield of the I O signal cable to the connector shell The shield is connected to the FG frame ground at the SERVOPACK end connector Positioning 1 SG GND 26 COIN complete i tput z so e TA z 3 2 P 28 BK Brake inter Note 3 lock output 4 i B 29 S RDY Servo ready output Servo ready 5 x 30 S RDY o tput 6 SG GND 31 ALM E SERE ervo alarm 7 z 32 ALM oltpal 9 34 10 SG GND 3
144. onnection Check terminals of connectors CN1 CN2 Tighten any loose parts Connector CN1 external wir ing incorrect Check connector CN1 exter nal wiring Refer to connection diagram and correct wiring Servomotor or encoder wiring disconnected Reconnect wiring Overloaded Run under no load Reduce load or replace with larger capacity servomotor Encoder type differs from pa rameter setting Check the type of encoder be ing used Set parameter Pn002 2 to the encoder type being used P OT and N OT inputs are Refer to 6 3 Turn P OT and N OT input turned OFF signals ON Software limit reached Refer to 4 3 3 Operate the servomotor within software limits Servomotor does not run Motion commands have not been sent Check using PROFIBUS DP communications or the PROFI BUS DP monitor Send the motion commands Send Servo ON command Servomotor moves instanta neously then stops Servomotor or encoder wiring incorrect Refer to Chapter 3 Connectors and correct wiring Servomotor speed unstable Wiring connection to motor is defective Check connection of phase U V and W power leads encod er connectors Tighten any loose terminals or connectors 9 2 Troubleshooting Problems with No Alarm Display Symptom Cause Inspection Remedy Servomotor vibrates at approximately 200 to 400 Hz Speed loop ga
145. ontrol power supply Method Power Consumption 1 3 W Consumption 250 mA Current External Dimensions mm 20 x 142 x 128 W x H x D Approx Mass kg Ib 0 2 0 441 PROFIBUS DP Communications Baud Rate Setting The baud rate is automatically set by the Master between 9 6 Kbps and 12 Mbps Station Address Setting Select the address from 0 to 7D 0 to 125 using the rotary switches Command Format Operation Specifications Positioning using PROFIBUS DP communications Reference Input PROFIBUS DP communications Commands Motion commands position speed and reading and writing pa rameters Position Control Acceleration Linear single double step asymmetric exponential S curve Functions Deceleration Method Fully Closed Control Possible Input Signals Fixed Allocation to Forward reverse run prohibited zero point return deceleration LS zero point SGDH CN1 signal external positioning signal Connector NS500 Unit Emergency stop signal Output Signals SGDH CN1 Servo alarm brake interlock servo ready positioning completion Connector NS500 Unit Notch 1 notch 2 8 2 8 1 Ratings and Specifications Item Details Internal Functions Position Data Latch _ Position data latching is possible using phase C zero point signals and exter Function nal signals Protection Parameters damage parameter setting errors commun
146. orted Replace the servomotor C Circuit board 1PWB is defective Power transistor is defective Replace the SERVOPACK D Current feedback circuit power transistor DB relay or circuit board defective Replace the SERVOPACK E The ambient temperature of the SERVO PACK exceeded 55 C Alter conditions so that the ambient tempera ture goes below 55 C F The air flow around the heat sink is bad Follow the installation method and provide sufficient space as specified G Fan stopped Replace the SERVOPACK load H SERVOPACK is operating under an over Reduce load Note Eto H can occur with all 400 V SERVOPACK models and 200 V SERVOPACK models for 1 5 to 5 kW 9 5 Error Diagnosis and Troubleshooting B A 30 A 30 Regenerative Error Detected Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 ON ON OFF OFF Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm During servomotor p Occurred when the operation A B control power turned ON D Occurred approximately 1 second after the main A B C circuit power ON Cause Remedy A Regenerative transistor is abnormal Replace the SERVOPACK B Disconnection of the regenerative resistor Replace the SERVOPACK or regenerative resistor c Rege
147. ow 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 8 for ongoing product modifications and improvements Printed in Japan June 2003 01 3 2001 2003 YASKAWA ELECTRIC CORPORATION All rights reserved 03 4 00 71038
148. peed Current Detection position current Controlled machine Parameters must be set when using fully closed control Refer to 6 2 5 Parameter Settings for details 6 2 4 Fully Closed System Specifications This section describes the fully closed system specifications of the SGDH SERVOPACK when an Option Unit is mounted E Fully Closed Encoder Pulse Output Form 5 V Differential line driver output complies with EIA Standard RS 422A Bi Fully Closed Encoder Pulse Signal Form 90 Phase difference 2 phase differential pulse phase A phase B Maximum receivable frequency for SERVOPACK 1 Mbps Phase A 2 JL dE e Phase B t1 t2 13 t4 0 2 us P gt tl t2 t3 t4 I Ss MP cR Q0 nmi Forward rotation Reverse rotation Parameter Settings 6 2 5 Parameter Settings 6 2 5 Parameter Settings This section describes the parameters that must be set when using an Option Unit B Overflow Level For information on parameter contents refer to 6 2 1 Servo Gain Settings of the Y II Series SGMLJH SGDH User s Manual Design and Maintenance SIE S800 32 2 The factory set ting is made to minimize the chance of the motor going out of control due to wiring errors or other causes After performing a trial operation at a low speed change the setting to a higher value if necessary B Fully Closed Encoder Set the method for using the fully closed encoder Pn002 3 Fully C
149. peeds acceleration deceleration types etc The speed during movement can be changed by changing the override value B Related Parameters No Name Setting Unit Effective Factory Type Range Timing Setting Pn829 Filter Selection 0 1 2 3 Immediate 0 Pn830 Constant Feed Reference Unit Selection 0 1 Immediate 0 Pn831 Constant Feed Speed 1 to 240 000 1000 Immediate 24 000 steps min Pn832 Acceleration Time for Constant Feed 1 to 10 000 ms Immediate 100 B Pn833 Deceleration Time for Constant Feed 1 to 10 000 ms Immediate 100 Pn834 Switch Speed for Constant Feed Second 1 to 240 000 1000 Immediate 24 000 Accel Decel steps min Pn835 Accel Decel Time for Constant FEED 1 to 10 000 ms Immediate 200 C Second Accel Decel Pn836 Accel Decel Type for Constant Feed 0 1 2 3 Immediate 0 B Pn840 Time Constant for Exponential Accel Decel 4 to 1 000 ms Immediate 25 C Pn841 Bias Speed for Exponential Accel Decel 1 to 240 000 1000 Immediate 0 C steps min Pn842 Time Constant of Travelling Average 4 to 10 000 ms Immediate 25 Pn843 Maximum Feed Speed 1 to 240 000 1000 Immediate 24 000 B steps min 5 27 PROFIBUS DP Communications 5 4 1 Constant Feed Command BE Operation NE Command Method Set the Servo ON Command byte 0 bit 1 to 1 Set the movement direction byte 3 bit 1 Set the override value The Pn830 setting determines whether the overri
150. previously set e Reset all parameters in range orioaded Otherwise re load the correct parameter B Circuit board 1PWB is defective Replace the SERVOPACK C The NS500 Unit is defective Replace the NS500 Unit Error Diagnosis and Troubleshooting B A 05 A 05 Combination Error Display and Outputs Alarm Outputs Alarm Code Outputs ALO1 ALO2 ALO3 ALM Output OFF OFF OFF OFF Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm ix Cause Remedy A The range of servomotor capacities that can be combined has been exceeded Replace the servomotor so that a suitable com bination is achieved properly B Encoder parameters have not been written Replace the servomotor B A 10 A 10 Overcurrent or Heat Sink Overheated Display and Outputs 9 1 Troubleshooting with Alarm Displays Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 ON OFF OFF OFF Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm During servomotor A B D When SERVO ON C D operation Dy y v E F G H S ON signal turned ON At power ON C Cause Remedy servomotor A Wiring shorted between SERVOPACK and Check and correct wiring B Servomotor phase U V or W sh
151. ps min Pn863 Speed Switching Position 1 0 to Steps Immediate 0 C 99 999 999 Pn864 Speed Switching Position 2 0 to Steps Immediate 0 C 99 999 999 Pn865 Speed Switching Position 3 0 to Steps Immediate 0 C 99 999 999 Pn866 Speed Switching Position 4 0 to Steps Immediate 0 C 99 999 999 Pn867 Speed Switching Position 5 0 to Steps Immediate 0 C 99 999 999 Pn868 Speed Switching Position 6 0 to Steps Immediate 0 C 99 999 999 Pn869 Speed Switching Position 7 0 to Steps Immediate 0 C 99 999 999 Pn86A Speed Switching Position 8 0 to Steps Immediate 0 C 99 999 999 Pn86B Speed Switching Position 9 0 to Steps Immediate 0 C 99 999 999 Pn86C Speed Switching Position 10 0 to Steps Immediate 0 C 99 999 999 Pn86D Speed Switching Position 11 0 to Steps Immediate 0 C 99 999 999 Pn86E Speed Switching Position 12 0 to Steps Immediate 0 C 99 999 999 Pn86F Speed Switching Position 13 0 to Steps Immediate 0 C 99 999 999 Pn870 Speed Switching Position 14 0 to Steps Immediate 0 C 99 999 999 5 42 5 4 Motion Command Methods No Name Setting Unit Effective Factory Type Range Timing Setting Pn871 Speed Switching Position 15 0 to Steps Immediate 0 C 99 999 999 Pn872 Speed Switching Position 16 0 to Steps Immediate 0 C 99 999 999 Pn873 Switching Speed 1 1 to 240 000 1000 Immediate 24 000 C steps min Pn
152. rature around the SERVOPACK does not exceed 55 C Installation Near a Minimize heat radiated from the heating unit as well as any tempera Heating Unit ture rise caused by natural convection so that the temperature around the SERVOPACK does not exceed 55 C Installation Near a Install a vibration isolator beneath the SERVOPACK to avoid sub Source of Vibration jecting it to vibration Installation at a Site Corrosive gas does not have an immediate effect on the SERVO Exposed to Corrosive PACK but will eventually cause electronic components and contac Gas tor related devices to malfunction Take appropriate action to avoid corrosive gas Other Situations Do not install the SERVOPACK in hot or humid locations or loca tions subject to excessive dust or iron powder in the air 2 2 2 3 Orientation 2 3 Orientation Install the SERVOPACK perpendicular to the wall as shown in the 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 SER VOPACK capacity E 9 n P YL W EN EB y Seas RERO oss ji Wall Ventilation 7 2 3 Installation 2 4 Installation Follow the procedure below to install multiple SERVOPACKs side by side in a control panel FAN aN aes 50mm 2in or more
153. return Absolute encoder 6 6 1 Selecting an Absolute Encoder Select the absolute encoder usage with the following parameter Pn002 2 Absolute Encoder Usage Factory Position Control Setting 0 0 in the following table must be set to enable the absolute encoder Pn002 2 Setting Description 0 Use the absolute encoder as an absolute encoder 1 Use the absolute encoder as an incremental encoder Note This parameter setting goes into effect when the power is turned OFF and ON again after the change has been made 6 21 SGDH Parameters 6 6 3 Multiturn Limit Setting 6 6 2 Absolute Encoder Setup Perform the setup operation for the absolute encoder in the following circumstances When starting the machine for the first time When an encoder backup alarm is generated When the SERVOPACK s power supply is turned OFF and the encoder s cable is removed Perform the setup operation in one of the following ways Refer to the X I Series SGMLIH SGDH User s Manual Design and Maintenance SIE 800 32 2 for details on the absolute encoder setup operation Fn008 when a Digital Opera tor is used Setup can also be performed using personal computer monitor software 0 INFO D The absolute encoder setup operation is only possible when the servo is OFF After the setup processing is fin ished turn the power OFF and then ON again
154. return cannot be executed because of a Servo OFF status for example The user must monitor for alarms during zero point return 0 Zero Point Return Command not received 1 Zero Point Return Command received Incremental Specification Flag INC R The INC R bit receives and directly returns the status of the Incremental Specification in the command data The host device can confirm by the change of status of this flag that the NS500 Unit has correctly received change in the incremental specification 0 Absolute position specification received 1 Incremental position specification received Movement Direction Flag DIR R The DIR R bit indicates the current command rotation direction for the servomotor If the ser vomotor has stopped this flag indicates the last command rotation direction This flag is set to 0 to indicate forward and to 1 to indicate reverse 0 Forward Reverse Zero Point Flag HOME P The HOME P bit is set to 1 when the servomotor is within the zero point range The zero point range is set in Pn806 Zero Point Return Output Width When an incremental position detection system is used this flag cannot be set to 1 for the peri od from when power is turned ON to the SGDH until the initial zero point return has been com pleted 0 Outside zero point range 1 Within zero point range Near Signal Flag NEAR The NEAR bit is set to 1 when the current position is within th
155. roubleshooting Displays sene 9 2 Troubleshooting Problems with No Alarm Display 9 3 Alarm Display Table 9 4 Warning Codes A Alarm and Warning Codes vi 7 1 7 2 7 3 8 1 8 2 9 1 9 2 9 38 9 40 9 43 A 1 2 3 TABLE OF CONTENTS TABLE OF CONTENTS Safety Information s hint aci os her HESS S Y RISE d ee E Visual AdS ii bia ERR EPAECEPSCI viet s RE CCP DE ec E ES OVEIVIEWS cc ceca ids doni un ene dud OL ROR es ne eod od OER Using This Manual cereis ea MEI Cedex eee EE TEES Safety Precautions cauce Husa ates IE bI BNET erates Das pc aa rt Checking Products and Part Names 1 1 Checking Products on Delivery Lusseuueeese 1 2 Product Part Names iio cs wbeka acci Tua E AREE EXE EE 1 3 Mounting the NS500 Unit leeeeeeeeese Installation sees ess zuo ne a ese shee en whee Cs 2 1 Storage Conditions 2 eese LR e Rok 2 2 Installation Site eseeee enn nnm nnn 2 3 Orientation seeeeee nr nmn nr 24 Installation ilennzizuce iet tae EG AGRIS COnDeclorS 22221 192 2 0 RAE xau o pee 3 1 Connecting to Peripheral Devices eese 3 1 1 Single phase 100 V or 200 V Main Circuit Specifications 3 1 2 Three phase 200 V Main Circuit Specifications 0 eee 3 1 3 Three phase 400 V Main Circu
156. rrent is detected Molded case circuit breaker Noise Filter Used to eliminate external noise from the power line f l l l l l l l l l l I ey JUSP OP02A 2 Allows the user to set parameters or opera tion references and to display operation or alarm status Noise filter Magnetic Contactor HI Series Turns the servo ON and OFF Install a surge suppressor on the magnetic contac I tor Magneti contactor Encoder Cable Encoder Connector Magnetic contactor Power supply ground Power Supply for Brake L1 L2 L3 Used for a servomotor with a brake 24V OV Regenerative resistor Regenerative Resistor If the capacity of the internal regen erative resistor is insufficient remove the wire between terminals B2 and B3 and connect an external regen erative resistor to terminals B1 and B2 Note Used for maintenance Be sure to coordinate operation from these devices with controls exerted by the host controller 3 5 Connectors 3 2 SERVOPACK Internal Block Diagrams The following sections show an internal block diagram for the SERVOPACK with the NS500 Unit 30 to 400 W 200 V and 30 to 200 W 100 V Models Single phase 410 200 to 230V zo S0 60Hz 1976 ILLE iL s ln Gate drive over curr
157. ses Pn845 data 2 Uses Pn846 data 3 Uses Pn847 data 0 Step operation stop 1 Step operation request Station Command STN The NS500 Unit will start station operation when it detects the leading edge of the STN bit If this command is set to 0 while the axis is travelling the servomotor will decelerate to a stop and the station operation will end The remaining travel distance will be cancelled Settings Data Description Area Movement 0 Forward 1 Reverse direction Absolute incremen Specify whether the station number is an absolute value or incremental value tal value Command data Specify the target station number in bytes 7 and 6 0 Station operation stop 1 Station operation request Point Table Command PTBL The NS500 Unit will start point table operation when it detects the leading edge of the PTBL bit If this command is set to 0 while the axis is travelling the servomotor will decelerate to a stop and the point table operation will end The remaining travel distance will be cancelled Settings Data Description Area Absolute incremen Specify whether the position data in the point table is an absolute value or tal value incremental value Command data Specify the point table number to be used in bytes 7 and 6 5 3 Command Response Format 0 Stop point table positioning 1 Request for point table positioni
158. sition are within this parameter range the proximity signal in the response data will be set to 1 The setting unit is steps Direction for Rotation System Pn853 Use the Direction for Rotation System to set the rotation direction for when Station Commands or rotation commands using absolute values are used Setting Description 0 Uses the rotation direction in command data 1 Uses the direction for the shortest travel Approach Speed for External Positioning Pn854 Use the Approach Speed for External Positioning to set the approach speed after the external signal has reversed status for an external positioning command The setting unit is 1 000 steps min Travel Distance for External Positioning Pn855 Use the Travel Distance for External Positioning to set the travel distance after the external signal has reversed status for an external positioning command The setting unit is steps Function Selection for External Positioning Pn856 Use the Function Selection for External Positioning to select the polarity of the external signal Bit Name Description 0 External Signal Po 0 Enabled on low Ty 1 Enabled on high 2 to 15 Reserved 4 34 4 3 Parameter Details Number of Stations Pn85A Use the Number of Stations to set how many stations one revolution of the servomotor will be evenly split into when Station Commands are used In Station Commands
159. stallation 7 2 7 1 1 Connecting the NS500 Unit 7 2 7 1 2 Installing the Software suuue 7 2 7 2 HowtoUSe eie rtf teste boot oe mealan ed tes 7 3 7 2 1 Screen Configuration at Startup 7 3 7 2 2 Functions Configuration 00000 7 6 Using the NSxxx Setup Tool 7 1 2 Installing the Software 7 1 Connection and Installation 7 1 1 Connecting the NS500 Unit B Connector Cables Connect the CN11 port on the NS500 Unit and the RS 232C port on the personal computer using the following cable Model Name DE9404559 SGD Monitor Cable B Cable Wiring Wire the cables as follows CN11 Symbol Details Personal computer Pin number pin number 9 pins 1 TXD red Serial data output 2 2 RXD white Serial data input 3 3 GND black Ground 5 4 GND black Ground 5 7 1 2 Installing the Software The following files are stored on the floppy disk for the NSxxx Setup Tool NS MMLIEXE Execution unit ParmDef CFG Data files RES JPN DLL DLL in Japanese RES ENG DLL DLL in English e ParmDef Jpn CFG Data files in Japanese ParmDef Eng CFG Data files in English Copy these files to any directory on the personal computer IMPORTANT To use the files in English copy ParmDef Eng CFG to ParmDef CFG 7 2 How to Use 7 2 How to Use 7 2 1 Screen Configuration at Start
160. stance Pn805 Time Phase C pulse re i e Machine coordinate System zero point 4 Zero point area 8 wro D When fhe Fetting For Ihe Zero Point Return Final Iravel Distance Pn805 is amp mall when EThe Histance BENE is shorter than the Histance equired for the Heceleration from hpproach fpeed the hxis Wwill fravel past the zero point and then jeturn fo it from the ther direction Zero point return approach speed Zero point return final travel distance Amount of overtravel Returning the amount overtraveled Time Phase C pulse ao e Zero point 4 3 Parameter Details E Parameter Details Object 0x64 The details of parameters relating to zero point return are shown below Zero Point Return Mode Pn800 The zero point return type is specified in the zero point return mode Zero Point Zero Point Return Type Return Mode 0 3 step deceleration using deceleration limit switch and phase C pulse 1 Double step deceleration using zero point signal 2 3 step deceleration using deceleration limit switch and zero point signal 3 Double step deceleration using phase C pulse Zero Point Return Function Selection Pn801 The zero point return function selection has the following bit settings Bit Name Description 0 Zero Point Return Direction Setting 0 Positive direction 1 Negative direction 1 Deceleration Limit Sw
161. t Position Setting Command The Current Position Setting Command sets the specified value as the current position of the servomotor To use the Current Position Setting Command make the following settings and then change the Command Start Command from 0 to 1 Command code Current position data Table 5 11 Current Position Setting Command Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 1 0 ALRST ESTP 0 0 SVON C STRT 1 0 10 decimal 2 0 3 4 Current position data 5 5 6 7 Table 5 12 Response for Current Position Setting Command Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 1 READY PWRON ESTP R ALRM WARN SVONR C_STRT_R 1 10 decimal 2 3 4 Current position data 5 6 7 5 24 5 3 Command Response Format B Alarm Read Command The Alarm Read Command reads the last four alarms that have occurred on the SGDH and the NS500 Unit To use the Unit Reset Command make the command code settings and then change the Com mand Start Command from 0 to 1 Table 5 13 Alarm Read Command Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 1 0 ALRST ESTP 0 0 SVON C STRT 1 0 12 decimal 2 0 3 4 0 5 6 7 Table 5 14 Response for Alarm Read Command Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 1 READY
162. t controller and the I O signals for an NS500 Unit B Sequence O Circuit Interface The sequence input circuit interface connects through a relay or open collector transistor circuit Select a low current relay otherwise a faulty contact will result NS500 NS500 24 VDC 24 VDC 50 mA min 50 mA min C ee a ER a me Relay Open Collector mM Sequence Output Circuit Interface Notch output signals are used for photocoupler output circuits Connect the notch output signals to relays or line receiver circuits 5to 12 VDC NS500 end a Beer uc IN5900 end 3 g ov 31 Relay Line Receiver Note Themaximumallowable voltage and current capacity for photocoupler output circuits are as follows Voltage 30 VDC max Current 50 mA DC max Connectors 3 4 3 Fully closed Encoder Connection Example 3 4 3 Fully closed Encoder Connection Example The following diagram shows a connection example for a fully closed encoder External PG 3 5 JConnectors for PROFIBUS DP Communications 3 5 Connectors for PROFIBUS DP Communications SUB D 9 pin connectors are used for PROFIBUS DP connections Pin number Symbol Function 1 2 RXD TXD P Receive send data positive DGND Ground VP 5 V RXD TXD N Receive send data negative Cables for PROFIBUS DP Communications Use commercial PROFIBUS DP cables Type A cables are recommend
163. tance 4 0 to 99 999 999 Steps Immediate 1 000 Note 1 Steps means reference unit For reference unit details refer to 4 3 1 Unit Parameters 2 If you set the reference unit to 0 001 mm 1 000 steps min becomes mm min Parameter Settings 4 2 5 Positioning Parameters The positioning parameter table is shown below 4 2 5 Positioning Parameters No Name Range Units Effective Default Value Type Timing Pn850 Positioning Deadband 0 to 10 000 Steps Immediate 5 Pn851 Positioning Timeout 0 to 100 000 ms Immediate 0 Pn852 Positioning Proximity 0 to 32 767 Steps Immediate 10 Detection Width Pn853 Direction for Rotation 0 1 Immediate 0 System Pn854 Approach Speed for 1 to 240 000 1 000 Immediate 24 000 External Positioning steps min Pn855 Travel Distance for 0 to 99 999 999 Steps Immediate 0 External Positioning Pn856 Function Selection for Otol Power up 1 External Positioning Pn85A Number of Stations 1 to 32 767 Immediate 1 Note 1 Steps means reference unit For reference unit details refer to 4 3 1 Unit Parameters 2 If you set the reference unit to 0 001 mm 1 000 steps min becomes mm min 4 8 4 2 6 Multi speed Positioning Parameters A table of multi speed positioning parameters is shown below 4 2 Parameter Tables No Name Ran
164. tem automatically writes to the Zero Point Offset the value of the offset from the zero point on the encoder when the zero point setting in the absolute value detection system has been completed Normally this parameter does not need to be set When using an absolute value detection system set this value to enable adjustment of the zero point Zero Point Return Acceleration Deceleration Time Pn80A Use the Zero Point Return Acceleration Deceleration Time to set the acceleration declaration time constant used during zero point return The setting unit is ms Single step linear accelera tion deceleration is used for zero point return Refer to 4 3 4 Speed Acceleration and Decel eration for information on this acceleration deceleration type 4 3 Parameter Details 4 3 3 Machine System and Peripheral Devices The details of parameters relating to the machine system and peripheral devices are shown be low Coordinate Type Pn812 Use the Coordinate Type to set whether to use the NS500 Unit as a linear axis or rotary axis Pn812 Description 0 The linear axis is designated The unit of current value data steps 1 The rotary axis is designated The unit of current value data degrees Reference Units per Machine Rotation Pn813 Use the Reference Units per Machine Rotation to set the reference unit for one machine rota tion This parameter is enabled only when the coordinate type is set to
165. the SGDH SERVOPACK Prepare the screws for connecting the ground wire as shown in the following table Base Mounted SGDH A3 to 02BE M3 x 10 round head screw Attachments SGDH A3 to 10AE spring or flat washer SGDH 15 to 50AE M4 x 10 round head screws Attachments SGDH 05 to 30DE spring or flat washer SGDH 60 75AE M4 x 8 round head screw Use front panel fix spring or flat washer er screws Rack Mounted SGDH A3 to 02BE R M4 x 6 round head screws Attachments SGDH AG to 50AE R spring or flat washer SGDH 05 to 30DE R Duct Vent SGDH 60 75AE P M4 x 8 round head screw Use front panel fix spring or flat washer er screws Note Be sure to use spring washers or flat washers Failure to do so may result in the screws for connecting the ground wire protruding behind the flange preventing the SERVOPACK from being mounted By mounting NS500 Unit the SGDH SERVOPACK can be used in a DeviceNet network Use the following procedure to ensure NS500 Units are mounted correctly 1 Remove the connector cover from the CN10 connector on the SERVOPACK CN10 5 Connector cover MODE SET A v A 0 9 N Checking Products and Part Names 2 Mount the NS500 Unit on the SERVOPACK Connector for connection to CN10 SERVOPACK y YASKAWA SERVOPACK SGDH OOOO Ovcuarce power 3 For grounding connect a ground wire of the NS500 Unit to the point marked G on the SERVOPACK Ground wire Ground wire
166. the step travel distance If the Step Command is set to 0 during the step operation the step operation stops and the re maining travel distance is canceled STEP I DIR ES NEN an a E DIR R oe PS ERI co i Figure 5 5 Step Command E Station Command The station operation starts when the Station Command STN is changed from 0 to 1 The fol lowing data must be set before the station operation is started e Rotation direction Specified in the byte 3 area Station number Specified in bytes 7 and 6 of word 1 Absolute incremental Specify whether the station number is an absolute value or an incre mental value E Point Table Command The point table operation starts when the Point Table Command PTBL is changed from 0 to 1 The following data must be set before the operation is started Point table number Specified in bytes 7 and 6 of word 1 5 48 5 5 Commands from the Host Controller Zero Point Return Command When the Zero Point Return Command HOME is changed from 0 to 1 the axis travels in the direction specified in the zero point return direction parameter If the Zero Point Return Com mand is changed from 1 to 0 during zero point return the zero point return stops Therefore the Zero Point Return Command must be maintained to 1 until the zero point return has been completed Using an Incremental Detection System When the power is turned ON the current position is 0 and the Zero
167. ting Factory Position Control Reference until Servo Range Setting OFF 10 ms 0 to 50 0 This parameter is used to set the output time from the brake control output signal BK until the servo OFF operation servomotor output stop when a servomotor with a brake is used BIS Seo seo 0 command Release brak Hoi with brake Servomotor Servo ON OFF _ON i Servomotor OFF operation i servomotor l4 ON OFF status Servo OFF time delay With the standard setting the servo is turned OFF when the BK signal brake operation is out put The equipment may move slightly due to gravity depending on equipment configuration and brake characteristics If this happens use this parameter to delay servo OFF timing This setting sets the brake ON timing when the servomotor is stopped Use Pn507 and 508 for brake ON timing during operation IMPORTANT The servomotor will turn OFF immediately if an alarm occurs The equipment may move due to gravity in the time it takes for the brake to operate SGDH Parameters 6 5 2 Using the Holding Brake E Holding Brake Setting Set the following parameters to adjust brake ON timing so the holding brake is applied when the servomotor stops Pn507 Brake Reference Unit Setting Factory Position Control Output Speed Level Range Setting during Motor Operation do 0 to 10000 100 Pn508 Timing for Brake Unit Setting Factory Position Control Reference Output Range Settin
168. tion This value is used when the 3 has been specified as the command data in a command data The setting unit is steps 4 3 5 Positioning Parameters B Parameter Details Positioning Deadband Pn850 Use the Positioning Deadband to set the positioning completed range i e to determine if the axis is on target position The setting unit is steps When the positioning deadband is set to 0 no on target position check will be performed Current value that is changing End Point Coordinate axis Pn850 Pn850 Positioning Deadband 4 33 Parameter Settings 4 3 5 Positioning Parameters When the following condition is satisfied in the above figure the axis is viewed as being at the on target position and the On target Flag in the response data will be set to 1 X End point Current value x Pn850 Positioning Timeout Pn851 Use the Positioning Timeout to set the time for performing on target position check The set ting unit is ms If after the move command distribution has been completed the positioning completed range is not entered within the time set A 9A positioning a completion timeout warning will be sent If this parameter is set to 0 the check time becomes infinite Positioning Proximity Detection Width Pn852 Use the Positioning Proximity Detection Width to set the range for positioning area proximity to be detected If the difference between the current position and the target po
169. up Start the Setup Tool as follows 1 Double click the V MMI exe file The following communications setting screen will be displayed nd NSXOX Setup Tool File Edit E Operate R Signal PointTable D Parameter P Monitora System S Help H COMM port Port setting c COM Baudrate 9600 bps C COM2 Data bit 8 pity C COM3 Parity bit Even parity Stop bit ih bit i Figure 7 1 Communications setting screen 2 Perform one of the following operations Ifusing any COM port other than COMI on the personal computer change the COMM PORT setting To use COMI just click the Connect Button directly Next check the following a The communications power supply is being supplied via the SGDH control power sup ply to the NS500 Unit b The CN11 port on the NS500 Unit is connected to the personal computer via a commu nications cable Using the NSxxx Setup Tool 7 2 1 Screen Configuration at Startup The following startup screen will be displayed rss File F Edit E Operste R Signal PointTable Parameter P Menitor M System S Help H Operation window display area Ready Servo OFF Main power ON NM Status bar Figure 7 2 Startup Screen The following information is normally displayed on the status bar Ready Displays whether or not the NS500 Unit is ready If the Unit is ready this icon will be lit green Servo ON OFF Displays if the SGDH ser
170. ur Ring Plaza Shanghai 20000 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 YATEC ENGINEERING CORPORATION 4F No 49 Wu Kong 6 Rd Wu Ku Industrial Park Taipei Taiwan Phone 886 2 2298 3676 Fax 886 2 2298 3677 YASKAWA ELECTRIC HK COMPANY LIMITED Rm 2909 10 Hong Kong Plaza 186 191 Connaught Road West Hong Kong Phone 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 Nanking E Rd Sec 3 Taipei Taiwan Phone 886 2 2502 5003 Fax 886 2 2505 1280 SHANGHAI YASKAWA TONGJI M amp E CO LTD 27 Hui He Road Shanghai China 200437 Phone 86 21 6553 6060 Fax 86 21 5588 1190 BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO LTD 30 Xue Yuan Road Haidian Beijing P R China Post Code 100083 Phone 86 10 6233 2782 Fax 86 10 6232 1536 SHOUGANG MOTOMAN ROBOT CO LTD 7 Yongchang North Street Beijing Economic Technological Investment amp Development Area Beijing 100076 P R China Phone 86 10 6788 0551 Fax 86 10 6788 2878 YASKAWA ELECTRIC CORPORATION YASKAWA In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations Therefore be sure to foll
171. verride value for the feed speed for FEED Pn831 in the com mand data Speed set directly in the command data The setting unit is 1000 steps min Constant Feed Speed Pn831 Use the Constant Feed Speed to set the feed speed when using the FEED operation The setting unit is 1 000 steps min Acceleration Time for Constant Feed Pn832 Use the Acceleration Time for Constant Feed to set the acceleration time when using the feed operation The setting unit is ms Deceleration Time for Constant Feed Pn833 Use the Deceleration Time for Constant Feed to set the deceleration time when using asymmet rical acceleration and deceleration with the constant feed operation The setting unit is ms 4 31 Parameter Settings 4 3 4 Speed Acceleration and Deceleration This parameter is enabled only when the Acceleration Deceleration Type for Constant Feed Pn836 is set to asymmetrical linear acceleration and deceleration Switch Speed for Constant Feed Second Accel Decel Pn834 Use the Switch Speed for Constant Feed Second Acceleration Deceleration to set the switching speed to double step acceleration and deceleration when using double step linear acceleration and deceleration with the constant feed operation The setting unit is 1 000 steps min This parameter is enabled only when the Acceleration Deceleration Type for Constant Feed Pn836 is set to double step linear acceleration and deceleration
172. vo is ON or OFF If the servo is ON this icon will be lit green Main Power ON Displays if the main power supply to the SGDH is ON If the main power supply is being supplied normally this icon will be lit green Alarm Displays if an alarm has occurred in the NS500 Unit or SGDH If an alarm has occurred this icon will be lit red 7 2 How to Use Select an item from the menu bar and make NS500 Unit settings or perform simple opera tion as shown below Wd NEO Setup T File E Operate E Signal PomtTable D Parameter P Monitor M System S Helpt Commanded position 9000 mm Feedback position 0 000 imm Position Error 000i Imm Latch position K 0 000 Imm Output torque ooo l Feed speed 0000 Immimini Servo ON Servo OFF INNEN sec OFF Man power OFF h 7 5 Using the NSxxx Setup Tool 7 2 2 Functions Configuration 7 2 2 Functions Configuration The functional configuration of the Setup Tool is shown in the following diagram File Connect to NSxxx Load to NSxxx Point Table m Point Table Loading to NSxxx Earsmeton Parameter Loading to NSxxx Save from NS Font Table Point Table Saving from NSxxx Parameter Parameter Saving from NSxxx Verify Point Table x Verifying Point Table Data Parameter Verifying Parameter Data Configurati su kalsa Configuration Operate Constant Feed Constant Feed SIE Step Operation Positioning Positioning Point la
173. within the set time 2 I Series SGDH PROFIBUS DP INTERFACE UNIT 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 Phone 1 937 847 6200 Fax 1 937 847 6277 YASKAWA EL TRICO DO BRASIL COM RCIO LTD A Avenida Fagundes Filho 620 Bairro Saude Sao Paulo SP Brazil CEP 04304 000 Phone 55 11 5071 2552 Fax 55 11 5581 8795 YASKAWA ELECTRIC EUROPE GmbH Am Kronberger Hang 2 65824 Schwalbach Germany Phone 49 6196 569 300 Fax 49 6196 569 398 Motoman Robotics Europe AB Box 504 S38525 Torsas Sweden Phone 46 486 48800 Fax 46 486 41410 Motoman Robotec GmbH KammerfeldstraZe 1 85391 Allershausen Germany Phone 49 8166 90 100 Fax 49 8166 90 103 YASKAWA ELECTRIC UK LTD 1 Hunt Hill Orchardton Woods Cumbernauld G68 9LF United Kingdom Phone 44 1236 735000 Fax 44 1236 458182 YASKAWA ELECTRIC KOREA CORPORATION Kfpa Bldg 1201 35 4 Youido dong Yeongdungpo Ku Seoul 150 010 Korea Phone 82 2 784 7844 Fax 82 2 784 8495 YASKAWA ELECTRIC SINGAPORE PTE LTD 151 Lorong Chuan 04 01 New Tech Park Singapore 556741 Singapore Phone 65 6282 3003 Fax 65 6289 3003 YASKAWA ELECTRIC SHANGHAI CO LTD No 18 Xizang Zhong Road Room 1805 Harbo
174. xternal Positioning Command performs positioning at the specified target position If the status of the external signal changes during movement the axis will decelerate to the external positioning approach speed from the position where the status changed and travel the distance specified in the parameter Related Parameters The same speed and acceleration deceleration data is used as for the Positioning Command No Name Setting Range Unit Effective Factory Type Timing Setting Pn854 Approach Speed for 1 to 240 000 1 000 Immediate 24 000 B External Positioning steps min Pn855_ Travel Distance for 0 to 99 999 999 Steps Immediate 0 B External Positioning 5 38 5 4 Motion Command Methods Bl Operation Speed Time 7 C_STRT 0 1 EXTP signal 0 B Command Method 1 Set the command code byte 1 bits 0 to 3 to no operation 0 if it is not already set to 0 2 2 Set the Servo ON Command byte 0 bit 1 to 1 3 Set absolute incremental byte 3 bit 0 If an incremental position has been specified the target position will be current position position specified from bytes 4 to 7 4 Set the target position in the command data bytes 4 to 7 5 Set external positioning 22 in the command code byte 1 bits 0 to 3 6 Change the Command Start Command byte 0 bit 0 from 0 to 1 Byte Bit 7 Bit 6 Bit 5 Bit

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