Yaskawa JAPMC-MC2300 Instrukcja Użytkownika

Model: JAPMC-MC2300SVA-01 Motion ModuleMachine Controller MP2000 SeriesUSER'S MANUALMANUAL NO. SIEP C880700 32B123456789101112OverviewSettings

x Maintenance and Inspection Precautions Disposal Precautions General Precautions Do not attempt to disassemble the Machine Controller.There i

5.4 MP2000 Series Machine Controller Parameter Details5.4.2 Motion Setting Parameter Details5-28( 4 ) Function 2( 5 ) Function 3OW04Function Setti

5.4 MP2000 Series Machine Controller Parameter Details5.4.2 Motion Setting Parameter Details5-295Motion Parameters( 6 ) Motion Commands ( 7 ) Motio

5.4 MP2000 Series Machine Controller Parameter Details5.4.2 Motion Setting Parameter Details5-30( 8 ) Motion SubcommandsDescriptionBit 6Phase Compen

5.4 MP2000 Series Machine Controller Parameter Details5.4.2 Motion Setting Parameter Details5-315Motion Parameters( 9 ) Torque ReferenceOL0CTorque

5.4 MP2000 Series Machine Controller Parameter Details5.4.2 Motion Setting Parameter Details5-32( 10 ) Speed Reference( 11 ) Torque/Thrust Limit Set

5.4 MP2000 Series Machine Controller Parameter Details5.4.2 Motion Setting Parameter Details5-335Motion Parameters( 13 ) Speed Override( 14 ) Genera

5.4 MP2000 Series Machine Controller Parameter Details5.4.2 Motion Setting Parameter Details5-34( 16 ) Positioning Completed Width( 17 ) NEAR Signal

5.4 MP2000 Series Machine Controller Parameter Details5.4.2 Motion Setting Parameter Details5-355Motion Parameters( 18 ) Deviation Abnormal Detectio

5.4 MP2000 Series Machine Controller Parameter Details5.4.2 Motion Setting Parameter Details5-36( 22 ) Latch( 23 ) Gain and Bias SettingsOL2ALatch

5.4 MP2000 Series Machine Controller Parameter Details5.4.2 Motion Setting Parameter Details5-375Motion Parameters( 24 ) Acceleration/Deceleration S

xiWarranty( 1 ) Details of Warranty Warranty PeriodThe warranty period for a product that was purchased (hereinafter called “delivered product”) is o

5.4 MP2000 Series Machine Controller Parameter Details5.4.2 Motion Setting Parameter Details5-38( 25 ) Filter There are two types of acceleration/d

5.4 MP2000 Series Machine Controller Parameter Details5.4.2 Motion Setting Parameter Details5-395Motion Parameters( 26 ) Zero Point ReturnA typical

5.4 MP2000 Series Machine Controller Parameter Details5.4.2 Motion Setting Parameter Details5-40( 27 ) Step Distance( 28 ) External Positioning Move

5.4 MP2000 Series Machine Controller Parameter Details5.4.2 Motion Setting Parameter Details5-415Motion Parameters( 30 ) Supplemental Setting( 31 )

5.4 MP2000 Series Machine Controller Parameter Details5.4.2 Motion Setting Parameter Details5-42( 32 ) Absolute Infinite Length Axis Position Contro

5.4 MP2000 Series Machine Controller Parameter Details5.4.3 Motion Monitoring Parameter Details5-435Motion Parameters( 34 ) Stop Distance5.4.3 Moti

5.4 MP2000 Series Machine Controller Parameter Details5.4.3 Motion Monitoring Parameter Details5-44( 3 ) WarningIL02WarningRange Unit−−Description

5.4 MP2000 Series Machine Controller Parameter Details5.4.3 Motion Monitoring Parameter Details5-455Motion Parameters( 4 ) AlarmIL04Alarm Range Un

5.4 MP2000 Series Machine Controller Parameter Details5.4.3 Motion Monitoring Parameter Details5-46( 5 ) Motion Command Response Codes( 6 ) Motion C

5.4 MP2000 Series Machine Controller Parameter Details5.4.3 Motion Monitoring Parameter Details5-475Motion Parameters( 7 ) Motion Subcommand Respons

xii( 3 ) Suitability for Use1. It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if t

5.4 MP2000 Series Machine Controller Parameter Details5.4.3 Motion Monitoring Parameter Details5-48( 10 ) Position Information 1DescriptionBit 5Zero

5.4 MP2000 Series Machine Controller Parameter Details5.4.3 Motion Monitoring Parameter Details5-495Motion Parameters Terminology: Machine Coordina

5.4 MP2000 Series Machine Controller Parameter Details5.4.3 Motion Monitoring Parameter Details5-50( 11 ) Speed Information( 12 ) Servo Driver Infor

5.4 MP2000 Series Machine Controller Parameter Details5.4.3 Motion Monitoring Parameter Details5-515Motion Parameters( 14 ) Supplemental Information

5.4 MP2000 Series Machine Controller Parameter Details5.4.3 Motion Monitoring Parameter Details5-52<DI Block Diagram in Normal Operation Mode>

6-16Motion Parameter Setting Examples6Motion Parameter Setting ExamplesThis chapter gives setting examples of the motion parameters for each machine.6

6.1 Example Setting of Motion Parameters for the Machine6.1.1 Reference Unit6-26.1 Example Setting of Motion Parameters for the MachineSet the foll

6.1 Example Setting of Motion Parameters for the Machine6.1.2 Electronic Gear6-36Motion Parameter Setting Examples( 1 ) Parameter Setting Example Us

6.1 Example Setting of Motion Parameters for the Machine6.1.3 Axis Type Selection6-46.1.3 Axis Type SelectionThere are two types of position contro

6.1 Example Setting of Motion Parameters for the Machine6.1.4 Position Reference6-56Motion Parameter Setting Examples6.1.4 Position ReferenceThe ta

xiiiContentsUsing this Manual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iiiSafety

6.1 Example Setting of Motion Parameters for the Machine6.1.4 Position Reference6-6( 1 ) Setting the Target Position When Using an Infinite Length A

6.1 Example Setting of Motion Parameters for the Machine6.1.4 Position Reference6-76Motion Parameter Setting Examples( 2 ) Setting the Target Positi

6.1 Example Setting of Motion Parameters for the Machine6.1.4 Position Reference6-8( 3 ) Setting the Target Position When Using an Infinite Length A

6.1 Example Setting of Motion Parameters for the Machine6.1.5 Speed Reference6-96Motion Parameter Setting Examples6.1.5 Speed ReferenceThere are tw

6.1 Example Setting of Motion Parameters for the Machine6.1.5 Speed Reference6-10( 2 ) Speed Reference (OL10) Setting Examples• Fixed parameter N

6.1 Example Setting of Motion Parameters for the Machine6.1.6 Acceleration/Deceleration Settings6-116Motion Parameter Setting Examples6.1.6 Acceler

6.1 Example Setting of Motion Parameters for the Machine6.1.6 Acceleration/Deceleration Settings6-12( 2 ) Acceleration/Deceleration Units and Speed

6.1 Example Setting of Motion Parameters for the Machine6.1.7 Acceleration/Deceleration Filter Settings6-136Motion Parameter Setting Examples6.1.7

6.1 Example Setting of Motion Parameters for the Machine6.1.7 Acceleration/Deceleration Filter Settings6-14The following figure shows the relationsh

6.1 Example Setting of Motion Parameters for the Machine6.1.8 Linear Scale Pitch and Rated Motor Speed6-156Motion Parameter Setting Examples6.1.8 L

xiv3.3 SVA Definition - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-73.3.1 Opening the SVA De

6.1 Example Setting of Motion Parameters for the Machine6.1.8 Linear Scale Pitch and Rated Motor Speed6-16( 2 ) Setting Example 2The following table

7-17Motion Commands7Motion CommandsThis chapter describes each motion command parameters and the parameter setting examples. 7.1 Motion Commands - -

7.1 Motion Commands7.1.1 Motion Command Table7-27.1 Motion Commands7.1.1 Motion Command TableThe SVA-01 Module supports the following motion comma

7.2 Motion Command Details7.2.1 Positioning (POSING)7-37Motion Commands7.2 Motion Command DetailsThe following describes the procedure for executin

7.2 Motion Command Details7.2.1 Positioning (POSING)7-45. Set OW08 to 0 to execute the NOP motion command to complete the positioning operation. 

7.2 Motion Command Details7.2.1 Positioning (POSING)7-57Motion Commands( 4 ) Related Parameters[ a ] Setting Parameters Terminology: Pulse distribu

7.2 Motion Command Details7.2.1 Positioning (POSING)7-6[ b ] Monitoring Parameters( 5 ) Timing Charts[ a ] Normal ExecutionParameter Name Monitor Co

7.2 Motion Command Details7.2.1 Positioning (POSING)7-77Motion Commands[ b ] Execution when Aborted[ c ] Execution when Aborting by Changing the Com

7.2 Motion Command Details7.2.1 Positioning (POSING)7-8[ e ] Execution when an Alarm OccursUndefined length of timeAlarm1 scanOW08 = 1 (POSING)IW

7.2 Motion Command Details7.2.2 External Positioning (EX_POSING)7-97Motion Commands7.2.2 External Positioning (EX_POSING)The EX_POSING command posi

xv6.1.5 Speed Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-96.1.6 Accel

7.2 Motion Command Details7.2.2 External Positioning (EX_POSING)7-10When the sign of the External Positioning Final Travel Distance is opposite to t

7.2 Motion Command Details7.2.2 External Positioning (EX_POSING)7-117Motion Commands( 4 ) Related Parameters [ a ] Setting ParametersParameter Name

7.2 Motion Command Details7.2.2 External Positioning (EX_POSING)7-12[ b ] Monitoring ParametersParameter Name Monitor ContentsIW00 Bit 1Running(At

7.2 Motion Command Details7.2.2 External Positioning (EX_POSING)7-137Motion Commands( 5 ) Timing Charts [ a ] Normal Execution[ b ] Execution when A

7.2 Motion Command Details7.2.2 External Positioning (EX_POSING)7-14[ d ] Execution when an Alarm OccursUndefined length of timeAlarm1 scanOW08 =

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-157Motion Commands7.2.3 Zero Point Return (ZRET)When the Zero Point Return command (ZRET)

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-16( 2 ) Signals Used for Zero Point ReturnThe following table shows the details on the sig

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-177Motion Commands( 3 ) Executing/Operating Procedure 1. Check to see if all the following

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-18( 6 ) Related Parameters[ a ] Setting Parameters[ b ] Monitoring ParametersParameter Nam

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-197Motion Commands( 7 ) Timing Charts [ a ] Normal Execution[ b ] Execution when Aborted[

xvi10.3.3 Setting the Zero Point for a Finite Length Axis - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-1010.3.4 Turning ON

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-20[ d ] Execution when an Alarm OccursUndefined length of timeAlarm1 scanOW08 = 3 (ZRET)

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-217Motion Commands( 8 ) Zero Point Return Operation and ParametersWith an incremental enco

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-22[ b ] ZERO Signal Method (OW3C = 1) Operation after Zero Point Return Starts Travel i

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-237Motion Commands[ c ] DEC1 + ZERO Signal Method (OW3C = 2) Operation after Zero Point

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-24[ d ] Phase-C Method (OW3C = 3) Operation after Zero Point Return Starts Travel is st

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-257Motion Commands[ e ] DEC2 + ZERO Signal Method (OW3C = 4)With this method, the machin

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-26 Starting the Zero Point Return in the Low Region1. The axis travels in the reverse di

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-277Motion Commands Related ParametersParameter Name SettingFixed ParameterNo. 1, Bit 5Dec

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-28[ f ] DEC1 + LMT + ZERO Signal Method (OW3C = 5)With this method, the machine's p

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-297Motion Commands Starting the Zero Point Return in Region B1. The axis travels in the

xviiAppendices- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-1Appendix A System Registers List

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-30 Starting the Zero Point Return in Region C1. The axis travels in the reverse direction

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-317Motion Commands Starting the Zero Point Return in Region D1. The axis travels in the r

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-32 Starting the Zero Point Return in Region E1. The axis travels in the reverse direction

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-337Motion Commands Related ParametersParameter Name SettingFixed ParameterNo. 1, Bit 5Dec

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-34[ g ] DEC2 + Phase-C Signal Method (OW3C = 6)With this method, the machine's posi

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-357Motion Commands Starting the Zero Point Return in the Low Region1. The axis travels in

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-36 Related ParametersParameter Name SettingFixed ParameterNo. 1, Bit 5Deceleration LSInve

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-377Motion Commands[ h ] DEC1 + LMT + Phase-C Signal Method (OW3C = 7)With this method, t

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-38 Starting the Zero Point Return in Region B1. The axis travels in the reverse direction

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-397Motion Commands Starting the Zero Point Return in Region C1. The axis travels in the r

1-11Overview1OverviewThis chapter provides an overview and the features of the SVA-01 Module. 1.1 SVA-01 Module Overview and Features - - - - - - - -

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-40 Starting the Zero Point Return in Region D1. The axis travels in the reverse direction

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-417Motion Commands Starting the Zero Point Return in Region E1. The axis travels in the r

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-42 Related ParametersParameter Name SettingFixed ParameterNo. 1, Bit 5Deceleration LSInve

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-437Motion Commands[ i ] C Pulse Only Method (OW3C = 11) Operation after Zero Point Retu

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-44 Parameters to be Set[ j ] P-OT & Phase-C Pulse Method (OW3C = 12) Operation aft

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-457Motion Commands Parameters to be Set[ k ] P-OT Signal Method (OW3C = 13) Operation

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-46 <Starting on the Positive Stroke Limit (P-OT)> The stopping method when the

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-477Motion Commands[ l ] HOME LS & Phase-C Pulse Method (OW3C = 14) Operation after

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-48 Parameters to be SetParameter Name SettingFixed Parameter No.1, Bit 5Deceleration LSIn

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-497Motion Commands[ m ] HOME LS Signal Method (OW3C = 15) Operation after Zero Point Re

1.1 SVA-01 Module Overview and Features1.1.1 Overview1-21.1 SVA-01 Module Overview and Features1.1.1 OverviewThe SVA-01 Module is a motion control

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-50 Parameters to be SetParameter Name SettingFixed Parameter No.1, Bit 5Deceleration LSIn

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-517Motion Commands[ n ] N-OT & Phase-C Pulse Method (OW3C = 16) Operation after Zer

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-52[ o ] N-OT Signal Method (OW3C = 17) Operation after Zero Point Return Starts Travel

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-537Motion Commands[ p ] INPUT & Phase-C Pulse Method (OW3C = 18) Operation after Ze

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-54 Parameters to be Set Parameter Name SettingOW03,Bits 0 to 3Speed Unit SelectionSel

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-557Motion Commands[ q ] INPUT Signal Method (OW3C = 19) Operation after Zero Point Retu

7.2 Motion Command Details7.2.3 Zero Point Return (ZRET)7-56 Parameters to be Set Parameter Name SettingOW03, Bits 0 to 3Speed Unit SelectionSe

7.2 Motion Command Details7.2.4 Interpolation (INTERPOLATE)7-577Motion Commands7.2.4 Interpolation (INTERPOLATE)The INTERPOLATE command positions t

7.2 Motion Command Details7.2.4 Interpolation (INTERPOLATE)7-58( 3 ) Related Parameters[ a ] Setting Parameters[ b ] Monitoring ParametersParameter

7.2 Motion Command Details7.2.4 Interpolation (INTERPOLATE)7-597Motion Commands( 4 ) Timing Charts [ a ] Normal Execution [ b ] Execution when an Al

Copyright © 2007 YASKAWA ELECTRIC CORPORATIONAll rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or tra

1.1 SVA-01 Module Overview and Features1.1.2 Features1-31Overview1.1.2 FeaturesThe SVA-01 Module has the following features.• Servo control module

7.2 Motion Command Details7.2.5 Latch (LATCH)7-607.2.5 Latch (LATCH)The LATCH command saves in a register the current position when the latch signa

7.2 Motion Command Details7.2.5 Latch (LATCH)7-617Motion Commands( 3 ) Related Parameters[ a ] Setting Parameters[ b ] Monitoring ParametersParamete

7.2 Motion Command Details7.2.5 Latch (LATCH)7-62( 4 ) Timing Charts[ a ] Normal Execution[ b ] Execution when an Alarm OccursIL18Machine Coordi-n

7.2 Motion Command Details7.2.6 JOG Operation (FEED)7-637Motion Commands7.2.6 JOG Operation (FEED)The FEED command starts movement in the specified

7.2 Motion Command Details7.2.6 JOG Operation (FEED)7-64( 3 ) AbortingAxis travel can be stopped during FEED command execution by aborting execution

7.2 Motion Command Details7.2.6 JOG Operation (FEED)7-657Motion Commands[ b ] Monitoring Parameters( 5 ) Timing Charts[ a ] Normal ExecutionParamete

7.2 Motion Command Details7.2.6 JOG Operation (FEED)7-66[ b ] Execution when Aborted[ c ] Execution when an Alarm Occurs1 scanOW09, bit 1 (ABORT)O

7.2 Motion Command Details7.2.7 STEP Operation (STEP)7-677Motion Commands7.2.7 STEP Operation (STEP)The STEP command executes a positioning for the

7.2 Motion Command Details7.2.7 STEP Operation (STEP)7-68( 3 ) AbortingAxis travel can be stopped during command execution and the remaining travel

7.2 Motion Command Details7.2.7 STEP Operation (STEP)7-697Motion Commands[ b ] Monitoring Parameters( 5 ) Timing Charts[ a ] Normal ExecutionParamet

1.1 SVA-01 Module Overview and Features1.1.3 System Configuration Example1-41.1.3 System Configuration ExampleThe following diagram shows a system

7.2 Motion Command Details7.2.7 STEP Operation (STEP)7-70[ b ] Execution when Aborted[ c ] Execution when Aborting by Changing the Command[ d ] Exec

7.2 Motion Command Details7.2.8 Zero Point Setting (ZSET)7-717Motion Commands7.2.8 Zero Point Setting (ZSET)The ZSET command sets the current posit

7.2 Motion Command Details7.2.8 Zero Point Setting (ZSET)7-72( 4 ) Timing Charts[ a ] Normal ExecutionOW08 = 9 (ZSET)IW08 = 9 (ZSET)IW09, bit

7.2 Motion Command Details7.2.9 Speed Reference (VELO)7-737Motion Commands7.2.9 Speed Reference (VELO)The VELO command is used to operate the SERVO

7.2 Motion Command Details7.2.9 Speed Reference (VELO)7-74( 3 ) AbortingThe VELO command can be canceled by aborting execution of a command. A comma

7.2 Motion Command Details7.2.9 Speed Reference (VELO)7-757Motion Commands[ b ] Monitoring Parameters ( 5 ) Timing Charts[ a ] Normal Execution

7.2 Motion Command Details7.2.9 Speed Reference (VELO)7-76[ b ] Execution when Aborted[ c ] Command Hold[ d ] Execution when an Alarm Occurs OW09

7.2 Motion Command Details7.2.10 Torque Reference (TRQ)7-777Motion Commands7.2.10 Torque Reference (TRQ)The TRQ command is used to operate the SERV

7.2 Motion Command Details7.2.10 Torque Reference (TRQ)7-78( 3 ) AbortingThe TRQ command can be canceled by aborting execution of a command. A comma

7.2 Motion Command Details7.2.10 Torque Reference (TRQ)7-797Motion Commands[ b ] Monitoring Parameters( 5 ) Timing Charts[ a ] Normal Execution

1.2 Specifications1.2.1 Hardware Specifications1-51Overview1.2 Specifications1.2.1 Hardware SpecificationsItem SpecificationsModel Number JAPMC-MC

7.2 Motion Command Details7.2.10 Torque Reference (TRQ)7-80[ b ] Execution when Aborted [ c ] Command Hold [ d ] Execution when an Alarm Occurs

7.2 Motion Command Details7.2.11 Phase References (PHASE)7-817Motion Commands7.2.11 Phase References (PHASE)The PHASE command is used for the synch

7.2 Motion Command Details7.2.11 Phase References (PHASE)7-82( 3 ) Related Parameters[ a ] Setting Parameters[ b ] Monitoring ParametersParameter Na

7.2 Motion Command Details7.2.11 Phase References (PHASE)7-837Motion Commands( 4 ) Timing Charts[ a ] Normal Execution [ b ] Execution when Aborted

7.2 Motion Command Details7.2.11 Phase References (PHASE)7-84[ c ] Execution when an Alarm Occurs Undefined length of timeIW0C, bit 1 (POSCOMP)1

7.3 Motion Subcommands7.3.1 No Command (NOP)7-857Motion Commands7.3 Motion SubcommandsWith the SVA-01 Module, two motion subcommands can be used: N

7.3 Motion Subcommands7.3.2 Read Fixed Parameters (FIXPRM_RD)7-867.3.2 Read Fixed Parameters (FIXPRM_RD)The FIXPRM_RD command reads the current val

7.3 Motion Subcommands7.3.2 Read Fixed Parameters (FIXPRM_RD)7-877Motion Commands( 3 ) Timing Charts[ a ] Normal End[ b ] Error EndOW0A = 5 (FIXPR

8-18Switching Commands during Execution8Switching Commands during ExecutionThis chapter describes motion commands that can be switched during executio

8.1 Switchable Motion Commands8.1.1 Switching Between Motion Commands8-28.1 Switchable Motion Commands8.1.1 Switching Between Motion CommandsThe f

1.2 Specifications1.2.1 Hardware Specifications1-6EnvironmentConditionsAmbient Operating Temperature0 to +55°CAmbient Storage Temperature−25 to +85

8.1 Switchable Motion Commands8.1.2 Switching from POSING8-38Switching Commands during Execution8.1.2 Switching from POSINGSwitched From Switched T

8.1 Switchable Motion Commands8.1.2 Switching from POSING8-4POSINGINTERPOLATEPOSING will immediately switch to INTERPOLATE. The moving amount stored

8.1 Switchable Motion Commands8.1.2 Switching from POSING8-58Switching Commands during ExecutionPOSINGSTEPPOSING will immediately switch to STEP, an

8.1 Switchable Motion Commands8.1.2 Switching from POSING8-6POSINGVELO(cont’d) (2) When Not Using the Accel/Decel Filter for VELO CommandTRQPO

8.1 Switchable Motion Commands8.1.3 Switching from EX_POSING8-78Switching Commands during Execution8.1.3 Switching from EX_POSINGSwitched From Swit

8.1 Switchable Motion Commands8.1.3 Switching from EX_POSING8-8EX_POSINGINTERPOLATEEX_POSING will immediately switch to INTERPOLATE. The moving amou

8.1 Switchable Motion Commands8.1.3 Switching from EX_POSING8-98Switching Commands during ExecutionEX_POSINGSTEPEX_POSING will immediately switch to

8.1 Switchable Motion Commands8.1.3 Switching from EX_POSING8-10EX_POSINGTRQEX_POSING will immediately switch to TRQ, and the control mode will be c

8.1 Switchable Motion Commands8.1.4 Switching from ZRET8-118Switching Commands during Execution8.1.4 Switching from ZRET Switched From Switched To

8.1 Switchable Motion Commands8.1.4 Switching from ZRET8-12ZRETSTEPZRET will switch to STEP when the axis stops after deceleration.ZSETZRET will swi

1.2 Specifications1.2.2 Functional Specifications1-71Overview1.2.2 Functional SpecificationsItemDetailsFunction RemarksControl FunctionsTorque Refe

8.1 Switchable Motion Commands8.1.5 Switching from INTERPOLATE8-138Switching Commands during Execution8.1.5 Switching from INTERPOLATESwitched From

8.1 Switchable Motion Commands8.1.5 Switching from INTERPOLATE8-14INTERPOLATEENDOF_INTERPOLATEINTERPOLATE will immediately switch to ENDOF_INTERPOLA

8.1 Switchable Motion Commands8.1.5 Switching from INTERPOLATE8-158Switching Commands during ExecutionINTERPOLATEZSETINTERPOLATE will immediately sw

8.1 Switchable Motion Commands8.1.6 Switching from ENDOF_INTERPOLATE or LATCH8-168.1.6 Switching from ENDOF_INTERPOLATE or LATCHThe operations are

8.1 Switchable Motion Commands8.1.7 Switching from FEED8-178Switching Commands during Execution8.1.7 Switching from FEEDSwitched From Switched To O

8.1 Switchable Motion Commands8.1.7 Switching from FEED8-18FEEDZRETFEED will switch to ZRET when the axis stops after deceleration.INTERPOLATEFEED w

8.1 Switchable Motion Commands8.1.7 Switching from FEED8-198Switching Commands during ExecutionFEEDSTEPFEED will immediately switch to STEP, and the

8.1 Switchable Motion Commands8.1.7 Switching from FEED8-20FEEDVELO(cont’d) (2) When Not Using the Accel/Decel Filter for VELO CommandTRQFEED wi

8.1 Switchable Motion Commands8.1.8 Switching from STEP8-218Switching Commands during Execution8.1.8 Switching from STEPSwitched From Switched To O

8.1 Switchable Motion Commands8.1.8 Switching from STEP8-22STEPZRETSTEP will switch to ZRET when the axis stops after deceleration.INTERPOLATESTEP w

1.2 Specifications1.2.3 Performance Specifications1-81.2.3 Performance SpecificationsMotion FunctionsMotion CommandsPositioning, external positioni

8.1 Switchable Motion Commands8.1.8 Switching from STEP8-238Switching Commands during ExecutionSTEPFEEDSTEP will immediately switch to FEED, and the

8.1 Switchable Motion Commands8.1.9 Switching from ZSET8-248.1.9 Switching from ZSETThe execution of the ZSET command is completed in one scan if n

8.1 Switchable Motion Commands8.1.10 Switching from VELO8-258Switching Commands during Execution8.1.10 Switching from VELOSwitched From Switched To

8.1 Switchable Motion Commands8.1.10 Switching from VELO8-26VELOEX_POSINGVELO will immediately switch to EX_POSING, and the control mode will be cha

8.1 Switchable Motion Commands8.1.10 Switching from VELO8-278Switching Commands during ExecutionVELOINTERPOLATEVELO will switch to INTERPOLATE when

8.1 Switchable Motion Commands8.1.10 Switching from VELO8-28VELOSTEPVELO will immediately switch to STEP, and the control mode will be changed from

8.1 Switchable Motion Commands8.1.10 Switching from VELO8-298Switching Commands during ExecutionVELOTRQVELO will immediately switch to TRQ, and the

8.1 Switchable Motion Commands8.1.11 Switching from TRQ8-308.1.11 Switching from TRQSwitched From Switched To OperationTRQNOPThe axis will decelera

8.1 Switchable Motion Commands8.1.11 Switching from TRQ8-318Switching Commands during ExecutionTRQEX_POSINGTRQ will immediately switch to EX_POSING,

8.1 Switchable Motion Commands8.1.11 Switching from TRQ8-32TRQINTERPOLATEThe axis will decelerate to a stop in speed control mode, and the control m

1.2 Specifications1.2.4 Applicable SERVOPACKs1-91Overview1.2.4 Applicable SERVOPACKsSERVOPACK Model RemarksSGDASGDB-S-AD--DDΣ-I series AC

8.1 Switchable Motion Commands8.1.11 Switching from TRQ8-338Switching Commands during ExecutionTRQFEED(cont’d) (2) When Not Using the Accel/Decel F

8.1 Switchable Motion Commands8.1.11 Switching from TRQ8-34TRQZSETThe axis will decelerate to a stop in speed control mode, and the control mode wil

8.1 Switchable Motion Commands8.1.11 Switching from TRQ8-358Switching Commands during ExecutionTRQ PHASETRQ will immediately switch to PHASE, and th

8.1 Switchable Motion Commands8.1.12 Switching from PHASE8-368.1.12 Switching from PHASESwitched From Switched To OperationPHASENOPThe axis will de

8.1 Switchable Motion Commands8.1.12 Switching from PHASE8-378Switching Commands during ExecutionPHASEEX_POSINGPHASE will immediately switch to EX_P

8.1 Switchable Motion Commands8.1.12 Switching from PHASE8-38PHASEINTERPOLATEThe axis will decelerate to a stop in speed control mode, and the contr

8.1 Switchable Motion Commands8.1.12 Switching from PHASE8-398Switching Commands during ExecutionPHASEFEED(cont’d)(2) When Not Using the Accel/Decel

8.1 Switchable Motion Commands8.1.12 Switching from PHASE8-40PHASEZSETThe axis will decelerate to a stop in speed control mode, and the control mode

8.1 Switchable Motion Commands8.1.12 Switching from PHASE8-418Switching Commands during ExecutionPHASETRQPHASE will immediately switched to TRQ, and

9-19Control Block Diagram9Control Block DiagramThis chapter explains the SVA-01 Module control block diagram.9.1 SVA-01 Module Control Block Diagram -

2-12Settings and Installation2Settings and InstallationThis chapter explains the LED indicators of the SVA-01 Module, how to install or remove it, an

9.1 SVA-01 Module Control Block Diagram 9-29.1 SVA-01 Module Control Block DiagramTRQVELOPHASEINTERPOLATE/LATCHPOSINGEX_POSINGFEEDSTEPZRETAsymmetri

9.1 SVA-01 Module Control Block Diagram9-39Control Block DiagramPERRIL1AIL40:Feedback SpeedIL42:Feedback Torque/ThrustIW5A:General-purpose AI

10-110Absolute Position Detection10Absolute Position DetectionThis chapter explains an absolute position detection system that uses an absolute encode

10.1 Absolute Position Detection Function10.1.1 Outline of the Function10-210.1 Absolute Position Detection FunctionThis section explains the Absol

10.1 Absolute Position Detection Function10.1.3 Finite Length/Infinite Length Axes and Absolute Position Detection10-310Absolute Position DetectionT

10.2 Setting Procedure of Absolute Position Detection Function10.2.1 System Startup Flowchart10-410.2 Setting Procedure of Absolute Position Detect

10.2 Setting Procedure of Absolute Position Detection Function10.2.2 Initializing the Absolute Encoder10-510Absolute Position Detection10.2.2 Initi

10.3 Absolute Position Detection for Finite Length Axes10.3.1 Parameter Settings for Finite Length Axes10-610.3 Absolute Position Detection for Fin

10.3 Absolute Position Detection for Finite Length Axes10.3.1 Parameter Settings for Finite Length Axes10-710Absolute Position Detection( 2 ) SERVOP

10.3 Absolute Position Detection for Finite Length Axes10.3.2 Detailed Descriptions on Parameter Settings for Finite Length Axes10-810.3.2 Detailed

2.1 External Appearance and LED Indicators2.1.1 External Appearance2-22.1 External Appearance and LED Indicators2.1.1 External AppearanceThe follo

10.3 Absolute Position Detection for Finite Length Axes10.3.2 Detailed Descriptions on Parameter Settings for Finite Length Axes10-910Absolute Posit

10.3 Absolute Position Detection for Finite Length Axes10.3.3 Setting the Zero Point for a Finite Length Axis10-1010.3.3 Setting the Zero Point for

10.3 Absolute Position Detection for Finite Length Axes10.3.3 Setting the Zero Point for a Finite Length Axis10-1110Absolute Position Detection( 3 )

10.3 Absolute Position Detection for Finite Length Axes10.3.3 Setting the Zero Point for a Finite Length Axis10-12 Method 2: Saving in an M Registe

10.3 Absolute Position Detection for Finite Length Axes10.3.4 Turning ON the Power after Setting the Zero Point of Machine Coordinate System10-1310A

10.4 Absolute Position Detection for Infinite Length Axes10.4.1 Simple Absolute Infinite Length Position Control10-1410.4 Absolute Position Detecti

10.4 Absolute Position Detection for Infinite Length Axes10.4.1 Simple Absolute Infinite Length Position Control10-1510Absolute Position Detection

10.4 Absolute Position Detection for Infinite Length Axes10.4.2 Parameters Setting for Simple Absolute Infinite Length Position Control10-1610.4.2

10.4 Absolute Position Detection for Infinite Length Axes10.4.2 Parameters Setting for Simple Absolute Infinite Length Position Control10-1710Absolu

10.4 Absolute Position Detection for Infinite Length Axes10.4.3 Detailed Descriptions on Parameter Settings for Simple Absolute Infinite Length Axes

2.1 External Appearance and LED Indicators2.1.3 SVA-01 Module Status Indication2-32Settings and Installation2.1.3 SVA-01 Module Status IndicationTh

10.4 Absolute Position Detection for Infinite Length Axes10.4.3 Detailed Descriptions on Parameter Settings for Simple Absolute Infinite Length Axes

10.4 Absolute Position Detection for Infinite Length Axes10.4.4 Setting the Zero Point and Turning ON Power as Simple Absolute Positions10-2010.4.4

10.4 Absolute Position Detection for Infinite Length Axes10.4.5 Turning ON the Power after Setting the Zero Point for Simple Absolute Infinite Lengt

10.4 Absolute Position Detection for Infinite Length Axes10.4.6 Infinite Length Position Control without Simple Absolute Positions10-2210.4.6 Infin

10.4 Absolute Position Detection for Infinite Length Axes10.4.6 Infinite Length Position Control without Simple Absolute Positions10-2310Absolute Po

10.4 Absolute Position Detection for Infinite Length Axes10.4.6 Infinite Length Position Control without Simple Absolute Positions10-24Use the follo

10.4 Absolute Position Detection for Infinite Length Axes10.4.6 Infinite Length Position Control without Simple Absolute Positions10-2510Absolute Po

10.4 Absolute Position Detection for Infinite Length Axes10.4.6 Infinite Length Position Control without Simple Absolute Positions10-26[ b ] Turning

10.4 Absolute Position Detection for Infinite Length Axes10.4.6 Infinite Length Position Control without Simple Absolute Positions10-2710Absolute Po

10.4 Absolute Position Detection for Infinite Length Axes10.4.6 Infinite Length Position Control without Simple Absolute Positions10-28The following

iiiUsing this ManualRead this manual to ensure correct usage of the MP2000-series Machine Controller (hereinafter referred to as Machine Controller un

2.2 Applicable Machine Controllers for SVA-01 Modules2-42.2 Applicable Machine Controllers for SVA-01 ModulesThe following table lists the MP2000-se

10.4 Absolute Position Detection for Infinite Length Axes10.4.6 Infinite Length Position Control without Simple Absolute Positions10-2910Absolute Po

11-111Utility Functions11Utility FunctionsThis chapter describes MP2000-series Machine Controller and SERVOPACK utility functions such as vertical axi

11.1 Controlling Vertical Axes11.1.1 Holding Brake Function of the SERVOPACK11-211.1 Controlling Vertical AxesThis section explains connection meth

11.1 Controlling Vertical Axes11.1.2 Connections to Σ-II/Σ-III/Σ-V Series SGDM, SGDH, SGDS, or SGDV SERVOPACK11-311Utility Functions* 3. There are

11.1 Controlling Vertical Axes11.1.3 Connections to Σ-I Series SGDB SERVOPACK11-411.1.3 Connections to Σ-I Series SGDB SERVOPACK( 1 ) Example of a

11.1 Controlling Vertical Axes11.1.3 Connections to Σ-I Series SGDB SERVOPACK11-511Utility Functions( 2 ) Parameter SettingsThe SERVOPACK parameters

11.1 Controlling Vertical Axes11.1.4 Connections to Σ-I Series SGDA SERVOPACK11-611.1.4 Connections to Σ-I Series SGDA SERVOPACK( 1 ) Brake ON and

11.1 Controlling Vertical Axes11.1.4 Connections to Σ-I Series SGDA SERVOPACK11-711Utility Functions( 2 ) Parameter SettingsThe SERVOPACK parameters

11.2 Overtravel Function11.2.1 Connections to Σ-II/Σ-III/Σ-V Series SGDH, SGDS, or SGDV SERVOPACK11-811.2 Overtravel FunctionThe overtravel functio

11.2 Overtravel Function11.2.1 Connections to Σ-II/Σ-III/Σ-V Series SGDH, SGDS, or SGDV SERVOPACK11-911Utility Functions( 2 ) Parameter Settings[ a

2.2 Applicable Machine Controllers for SVA-01 Modules2-52Settings and Installation* 1. One of the CPU modules indicated below is required.* 2. Inter

11.2 Overtravel Function11.2.2 Connections to Σ-I Series SGDB or SGDA SERVOPACK11-1011.2.2 Connections to Σ-I Series SGDB or SGDA SERVOPACKThe foll

11.2 Overtravel Function11.2.2 Connections to Σ-I Series SGDB or SGDA SERVOPACK11-1111Utility Functions( 2 ) Parameter Settings[ a ] Use/Not Use Ove

11.2 Overtravel Function11.2.3 Rotation Direction Selection11-1211.2.3 Rotation Direction SelectionThe SVA-01 Module provides a rotation direction

11.3 Software Limit Function11.3.1 Parameter Settings11-1311Utility Functions11.3 Software Limit FunctionThe software limit function is used to set

11.3 Software Limit Function11.3.3 Axis Stopping Operation at Alarm Occurrence11-1411.3.3 Axis Stopping Operation at Alarm OccurrenceThe way the ax

11.4 Other Utility Functions11.4.1 Modal Latch Function11-1511Utility Functions11.4 Other Utility Functions11.4.1 Modal Latch FunctionThe Modal La

11.4 Other Utility Functions11.4.2 Reading Absolute Data After Power is Turned ON11-1611.4.2 Reading Absolute Data After Power is Turned ONWhen usi

11.4 Other Utility Functions11.4.4 General-purpose DO_2 Signal Selection11-1711Utility Functions11.4.4 General-purpose DO_2 Signal SelectionIn norm

11.4 Other Utility Functions11.4.4 General-purpose DO_2 Signal Selection11-18( 3 ) Precautions When Using the General-purpose DO_2 Signal (Pin No. 1

11.4 Other Utility Functions11.4.4 General-purpose DO_2 Signal Selection11-1911Utility Functions SGDM, SGDH, SGDS, and SGDV SERVOPACK Parameter Set

2.3 Mounting/Removing SVA-01 Modules2.3.1 Mounting a SVA-01 Module2-62.3 Mounting/Removing SVA-01 ModulesThis section describes how to mount and re

12-112Troubleshooting12TroubleshootingThis chapter explains error details and corrective actions for each error.12.1 Troubleshooting - - - - - - - -

12.1 Troubleshooting12.1.1 Basic Flow of Troubleshooting12-212.1 TroubleshootingThis section describes the basic troubleshooting methods and provid

12.1 Troubleshooting12.1.2 MP2000 Series Machine Controller Error Check Flowchart12-312Troubleshooting12.1.2 MP2000 Series Machine Controller Error

12.1 Troubleshooting12.1.3 LED Indicators (MP2200/MP2300)12-412.1.3 LED Indicators (MP2200/MP2300) For explanations of the LED indicators on MP210

12.1 Troubleshooting12.1.3 LED Indicators (MP2200/MP2300)12-512TroubleshootingErrorsNot lit Not lit Not lit Lit Not litA serious error has occurred.

12.2 Troubleshooting System Errors12.2.1 Outline of System Errors12-612.2 Troubleshooting System ErrorsThis section provides troubleshooting inform

12.2 Troubleshooting System Errors12.2.1 Outline of System Errors12-712Troubleshooting( 2 ) Accessing System RegistersTo access the contents of syst

12.2 Troubleshooting System Errors12.2.1 Outline of System Errors12-8[ b ] Displaying a Register List with the Quick Reference (MPE720 Version 5.)

12.2 Troubleshooting System Errors12.2.2 Troubleshooting Flowchart for System Errors12-912Troubleshooting12.2.2 Troubleshooting Flowchart for Syste

12.2 Troubleshooting System Errors12.2.3 Correcting User Program Errors12-1012.2.3 Correcting User Program ErrorsA serious error may have occurred

2.3 Mounting/Removing SVA-01 Modules2.3.1 Mounting a SVA-01 Module2-72Settings and Installation( 3 ) Mounting SVA-01 Modules1. Insert a SVA-01 Modul

12.2 Troubleshooting System Errors12.2.4 System Register Configuration and Error Status12-1112Troubleshooting12.2.4 System Register Configuration a

12.2 Troubleshooting System Errors12.2.4 System Register Configuration and Error Status12-12( 2 ) System Error StatusSystem error status is stored i

12.2 Troubleshooting System Errors12.2.4 System Register Configuration and Error Status12-1312Troubleshooting( 3 ) Ladder Program User Operation Err

12.2 Troubleshooting System Errors12.2.4 System Register Configuration and Error Status12-14[ c ] Ladder Program User Operation Error Codes 1* Yes:

12.2 Troubleshooting System Errors12.2.4 System Register Configuration and Error Status12-1512Troubleshooting( 4 ) System Service Execution Status[

12.2 Troubleshooting System Errors12.2.4 System Register Configuration and Error Status12-16( 6 ) System I/O Error Status[ a ] MP2100M Machine Contr

12.2 Troubleshooting System Errors12.2.4 System Register Configuration and Error Status12-1712Troubleshooting[ b ] MP2200 Machine Controller* Racks

12.2 Troubleshooting System Errors12.2.4 System Register Configuration and Error Status12-18( 7 ) Details on I/O Error StatusWhen a system I/O error

12.2 Troubleshooting System Errors12.2.4 System Register Configuration and Error Status12-1912Troubleshooting Register Allocation Details: Slot 0 (

12.2 Troubleshooting System Errors12.2.4 System Register Configuration and Error Status12-20 SVB-01 Module Error Status (Slot 2) 260IF-01 Module E

2.3 Mounting/Removing SVA-01 Modules2.3.2 Removing SVA-01 Modules for Replacement2-82.3.2 Removing SVA-01 Modules for ReplacementUse the following

12.2 Troubleshooting System Errors12.2.4 System Register Configuration and Error Status12-2112Troubleshooting( 8 ) Module Information[ a ] MP2100M M

12.2 Troubleshooting System Errors12.2.4 System Register Configuration and Error Status12-22 Information of EXIOIF and Racks 2 through 4 is availab

12.2 Troubleshooting System Errors12.2.4 System Register Configuration and Error Status12-2312Troubleshooting[ b ] MP2200 Machine ControllerName Reg

12.2 Troubleshooting System Errors12.2.4 System Register Configuration and Error Status12-24 Information of Racks 2 through 4 are available only wh

12.2 Troubleshooting System Errors12.2.4 System Register Configuration and Error Status12-2512Troubleshooting[ c ] MP2300 Machine Controller[ d ] SV

12.2 Troubleshooting System Errors12.2.4 System Register Configuration and Error Status12-26( 9 ) Motion Program Execution Information* Offset: Offs

12.3 Motion Program Alarms12.3.1 Motion Program Alarm Configuration12-2712Troubleshooting12.3 Motion Program AlarmsIf the result of investigation u

12.4 Troubleshooting Motion Errors12.4.1 Overview of Motion Errors12-2812.4 Troubleshooting Motion ErrorsThis section explains the details and corr

12.4 Troubleshooting Motion Errors12.4.2 Axis Alarm Details and Corrections12-2912Troubleshooting12.4.2 Axis Alarm Details and CorrectionsThe follo

12.4 Troubleshooting Motion Errors12.4.2 Axis Alarm Details and Corrections12-30( 3 ) Bit 3: Positive Direction Software Limit and Bit 4: Negative D

2.3 Mounting/Removing SVA-01 Modules2.3.2 Removing SVA-01 Modules for Replacement2-92Settings and Installation3. Remove the SVA-01 Module from the m

12.4 Troubleshooting Motion Errors12.4.2 Axis Alarm Details and Corrections12-3112Troubleshooting( 7 ) Bit 9: Excessive Deviation The above check i

12.4 Troubleshooting Motion Errors12.4.3 Analog Servo Alarm List12-3212.4.3 Analog Servo Alarm ListThe Servo Driver Error Flag (IL04, bit 0) turn

12.4 Troubleshooting Motion Errors12.4.3 Analog Servo Alarm List12-3312TroubleshootingA.82Absolute Encoder Checksum ErrorA checksum error was detect

12.4 Troubleshooting Motion Errors12.4.3 Analog Servo Alarm List12-34( 2 ) Alarm List for the SGDS SERVOPACK : Alarm displayed×: No alarm displaye

12.4 Troubleshooting Motion Errors12.4.3 Analog Servo Alarm List12-3512TroubleshootingA.bF0System Alarm 0(Internal program processing error)A SERVOP

A-1AppAppendicesAppendicesA System Registers Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2A.1 Syste

Appendix A System Registers ListsA.1 System Service RegistersA-2Appendix A System Registers ListsA.1 System Service Registers( 1 ) Shared by All Dra

Appendix A System Registers ListsA.1 System Service RegistersA-3AppAppendices( 3 ) DWG.L OnlyOperation starts when low-speed scan starts.Name Regist

Appendix A System Registers ListsA.2 Scan Execution Status and CalendarA-4A.2 Scan Execution Status and CalendarA.3 Program Software Numbers and Rem

Appendix B Initializing the Absolute EncoderB.1 Σ-III or Σ-V Series SERVOPACKA-5AppAppendicesAppendix B Initializing the Absolute EncoderThe procedu

2.4 SVA-01 Module Connections2.4.1 Connectors2-102.4 SVA-01 Module Connections2.4.1 Connectors( 1 ) Servo Interface Connectors CN1 and CN2( 2 ) 24

Appendix B Initializing the Absolute EncoderB.2 Σ-II Series SERVOPACKA-6B.2 Σ-II Series SERVOPACK Refer to the following manuals for information on

Appendix B Initializing the Absolute EncoderB.2 Σ-II Series SERVOPACKA-7AppAppendices( 2 ) Initialization Using the Built-in Panel Operator1. Press

Appendix B Initializing the Absolute EncoderB.3 Σ-I Series SERVOPACKA-8B.3 Σ-I Series SERVOPACK Refer to the following manual for information on Σ-

Appendix B Initializing the Absolute EncoderB.3 Σ-I Series SERVOPACKA-9AppAppendices( 2 ) Initializing a 15-bit Absolute EncoderUse the following pr

Appendix C Fixed Parameter Setting According to Encoder Type and Axis TypeA-10Appendix C Fixed Parameter Setting According to Encoder Type and Axis T

Appendix C Fixed Parameter Setting According to Encoder Type and Axis TypeA-11AppAppendicesCoordinate Zero Point is Determined ByPrecautions When Tur

Appendix D TerminologyA-12Appendix D Terminology Phase-C PulseThe encoders mounted on Yaskawa’s servomotors output three types of pulse data, phase-

Appendix D TerminologyA-13AppAppendicesRefer to 6.1.3 Axis Type Selection on page 6-4 for details. Work Coordinate SystemThe coordinate system used

IndexIndex-1INDEXNumerics 24-V input cable connection procedure - - - - - - - - - - - - - - - - - - 2-11 24-V input connector CN3 - - - - - - - - - -

IndexIndex-2general-purpose DI Monitor - - - - - - - - - - - - - - - - - - - - - - - - - 5-51 general-purpose DO - - - - - - - - - - - - - - - - - -

2.4 SVA-01 Module Connections2.4.2 Connection Procedure for 24-V Input Cable2-112Settings and Installation2.4.2 Connection Procedure for 24-V Input

IndexIndex-3phase-C pulse - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-12 POSCOMP - - - - - - - - - - - - - - - - - - - -

IndexIndex-4troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-2 troubleshooting system errors - - - - - - - - - -

Revision HistoryThe revision dates and numbers of the revised manuals are given on the bottom of the back cover.Date of Publication Rev. No.WEB Rev. N

IRUMA BUSINESS CENTER (SOLUTION CENTER)480, Kamifujisawa, Iruma, Saitama 358-8555, JapanPhone 81-4-2962-5151 Fax 81-4-2962-6138http://www.yaskawa.

2.4 SVA-01 Module Connections2.4.3 CN1 and CN2 Connector Pin Arrangement2-122.4.3 CN1 and CN2 Connector Pin ArrangementThe following figures show t

2.5 Cable Specifications and Connections2.5.1 Cables2-132Settings and Installation2.5 Cable Specifications and Connections2.5.1 CablesThe followin

iv Related ManualsThe following table lists the manuals relating to the SVA-01 Module. Refer to these manuals as required. Manual Name Manual Num

2.5 Cable Specifications and Connections2.5.2 Cable Model JEPMC-W2040- for Connecting a SERVOPACK2-14( 2 ) SpecificationsDiagramNo.Name Model Qty

2.5 Cable Specifications and Connections2.5.2 Cable Model JEPMC-W2040- for Connecting a SERVOPACK2-152Settings and Installation( 3 ) Connections D

2.5 Cable Specifications and Connections2.5.3 Cable for Connecting a SGDA-S SERVOPACK2-162.5.3 Cable for Connecting a SGDA-S SERVOPACKNo stan

2.5 Cable Specifications and Connections2.5.4 Cable for Connecting a SGDB- SERVOPACK2-172Settings and Installation2.5.4 Cable for Connecting a SG

2.6 Restrictions for Feedback Pulse Inputs2.6.1 Restrictions for SERVOPACK Pulse Output Frequency2-182.6 Restrictions for Feedback Pulse Inputs2.6.

2.6 Restrictions for Feedback Pulse Inputs2.6.2 Restrictions in SVA-01 Module Pulse Input Frequency2-192Settings and Installation2.6.2 Restrictions

3-13Setup3SetupThis chapter describes the items that must be set to use the SVA-01 Module.3.1 Setting Items - - - - - - - - - - - - - - - - - - - -

3.1 Setting Items 3-23.1 Setting ItemsThe settings in the following definition files are required to control the SERVOPACKs by using the SVA-01 Mod

3.2 Module Configuration Definition of Machine Controller3.2.1 How to Execute Self-configuration3-33Setup3.2 Module Configuration Definition of Mac

3.2 Module Configuration Definition of Machine Controller3.2.2 Opening the Module Configuration Window3-43.2.2 Opening the Module Configuration Win

v CopyrightsΣ-III Series SGMS/SGDSDigital Operator InstructionsTOBP S800000 01Describes the operating methods of the JUSP-OP05A Digital Operator. Ma

3.2 Module Configuration Definition of Machine Controller3.2.3 Module Configuration Window3-53Setup3.2.3 Module Configuration WindowThe Module Conf

3.2 Module Configuration Definition of Machine Controller3.2.4 Manually Allocating Modules3-6The following table lists the items shown in the Module

3.3 SVA Definition3.3.1 Opening the SVA Definition Window3-73Setup3.3 SVA DefinitionThe SVA definition file defines the motion parameters (motion f

3.3 SVA Definition3.3.1 Opening the SVA Definition Window3-83. Click the Fixed Parameters, Setup Parameters, or Monitor tab to display the desired p

3.3 SVA Definition3.3.2 Setting the SVA-01 Module Fixed Parameters3-93Setup3.3.2 Setting the SVA-01 Module Fixed ParametersSet the SVA-01 Module fi

3.4 SERVOPACK Parameter Settings3.4.1 SGDA SERVOPACK Parameter Settings3-103.4 SERVOPACK Parameter SettingsThe SERVOPACK parameters must be set as

3.4 SERVOPACK Parameter Settings3.4.2 SGDB SERVOPACK Parameter Settings3-113Setup3.4.2 SGDB SERVOPACK Parameter SettingsSet the parameters as shown

3.4 SERVOPACK Parameter Settings3.4.3 SGDM, SGDH, SGDS, and SGDV SERVOPACK Parameter Settings3-123.4.3 SGDM, SGDH, SGDS, and SGDV SERVOPACK Paramet

3.5 SERVOPACK Reference Offset Adjustment3.5.1 Automatic Adjustment of the Analog Reference Offset3-133Setup3.5 SERVOPACK Reference Offset Adjustme

3.5 SERVOPACK Reference Offset Adjustment3.5.2 Manual Servo Tuning of the Speed Reference Offset3-144. Press the DATA/ Key for a minimum of one sec

viSafety InformationThe following conventions are used to indicate precautions in this manual. These precautions are provided to ensure the safe o

3.5 SERVOPACK Reference Offset Adjustment3.5.2 Manual Servo Tuning of the Speed Reference Offset3-153Setup3. Press the DATA/ Key for a minimum of o

4-14Operation Modes4Operation ModesThis chapter describes three operation modes available with the SVA-01 Module.4.1 SVA-01 Module Operation Mode Sele

4.1 SVA-01 Module Operation Mode Selection 4-24.1 SVA-01 Module Operation Mode SelectionWith the SVA-01, one of the following three operation modes

4.2 Normal Operation Mode4.2.1 Motion Parameters That Can be Used in Normal Operation Mode4-34Operation Modes4.2 Normal Operation ModeSet the fixed

4.3 Simulation Mode4.3.1 Motion Parameters That Can be Used in Simulation Mode4-44.3 Simulation ModeSet the fixed parameter No. 0 (Selection of Ope

4.3 Simulation Mode4.3.5 Output Signals in Simulation Mode4-54Operation Modes( 2 ) AI InputsAll AI inputs are treated as 0 (zero). Therefore, 0 (zer

4.4 General-purpose I/O Mode4.4.1 Motion Parameters That Can be Used in General-purpose I/O Mode4-64.4 General-purpose I/O ModeSet the fixed parame

4.4 General-purpose I/O Mode4.4.1 Motion Parameters That Can be Used in General-purpose I/O Mode4-74Operation Modes Monitoring ParametersRegister N

4.4 General-purpose I/O Mode4.4.2 Correspondence Between Motion Parameter and Connector Pin Number4-84.4.2 Correspondence Between Motion Parameter

4.4 General-purpose I/O Mode4.4.3 General-purpose I/O Signal Connection Example4-94Operation Modes4.4.3 General-purpose I/O Signal Connection Examp

viiSafety PrecautionsThe following precautions are for checking products on delivery, storage, transportation, installation, wiring, operation, inspec

4.4 General-purpose I/O Mode4.4.4 Pulse Input Modes4-104.4.4 Pulse Input ModesThe following three pulse input modes are supported in general-purpos

4.4 General-purpose I/O Mode4.4.4 Pulse Input Modes4-114Operation Modes( 3 ) Pulse A/B ModeIn pulse A/B mode, the counter counts pulses in the follo

4.4 General-purpose I/O Mode4.4.5 Pulse Counter Connection Example4-124.4.5 Pulse Counter Connection ExampleThe following diagram illustrates an ex

5-15Motion Parameters5Motion ParametersThis chapter explains each of the motion parameters.5.1 Motion Parameters Register Numbers - - - - - - - - -

5.1 Motion Parameters Register Numbers5.1.1 Motion Parameter Register Numbers for MP2000 Series Machine Controllers5-25.1 Motion Parameters Registe

5.2 Motion Parameters Setting Window5.2.1 How to Open the Motion Parameter Setting Windows5-35Motion Parameters5.2 Motion Parameters Setting Window

5.2 Motion Parameters Setting Window5.2.2 Selecting a Motor Type5-45.2.2 Selecting a Motor TypeThe motor type, rotary or linear, can be selected fr

5.3 Motion Parameter Lists5.3.1 Fixed Parameter List5-55Motion Parameters5.3 Motion Parameter Lists5.3.1 Fixed Parameter ListThe following table p

5.3 Motion Parameter Lists5.3.1 Fixed Parameter List5-64Reference Unit Selection0: pulse1: mm2: deg3: inchFor linear type, either 0 (pulse) or 1

5.3 Motion Parameter Lists5.3.1 Fixed Parameter List5-75Motion Parameters27-Reserved for system use --- -28Servo Driver Type Selection0: Σ-I series1

viii Storage and Transportation Installation Do not store or install the Machine Controller in the following locations.There is a risk of fire,

5.3 Motion Parameter Lists5.3.2 Setting Parameter List5-85.3.2 Setting Parameter ListThe following table provides a list of SVA motion setting para

5.3 Motion Parameter Lists5.3.2 Setting Parameter List5-95Motion ParametersOW04Function Setting 2Bits 0 to 3: Latch Detection Signal Selection

5.3 Motion Parameter Lists5.3.2 Setting Parameter List5-10OW0B-Reserved for system use --- -OL0CTorque/Thrust Reference SettingUnit depends on

5.3 Motion Parameter Lists5.3.2 Setting Parameter List5-115Motion ParametersOW30Speed Feedforward Amends1 = 0.01% (percentage of distribution segm

5.3 Motion Parameter Lists5.3.2 Setting Parameter List5-12OL48Zero Point Position in Machine Coordi-nate System Offset1 = 1 reference unitP. 5-

5.3 Motion Parameter Lists5.3.3 Monitoring Parameter List5-135Motion Parameters5.3.3 Monitoring Parameter ListThe following table provides a list o

5.3 Motion Parameter Lists5.3.3 Monitoring Parameter List5-14IW08Motion Command Re-sponse CodeSame as OW08 (Motion Command)P.5-46IW09Motion

5.3 Motion Parameter Lists5.3.3 Monitoring Parameter List5-155Motion ParametersIL0ETarget Position inMachine Coordinate System (TPOS)1 = 1 referen

5.3 Motion Parameter Lists5.3.3 Monitoring Parameter List5-16IL56Fixed Parameter MonitorStores the result of execution of the motion subcommand F

5.4 MP2000 Series Machine Controller Parameter Details5.4.1 Motion Fixed Parameter Details5-175Motion Parameters5.4 MP2000 Series Machine Controlle

ix Wiring Selecting, Separating, and Laying External Cables Check the wiring to be sure it has been performed correctly.There is a risk of motor ov

5.4 MP2000 Series Machine Controller Parameter Details5.4.1 Motion Fixed Parameter Details5-18( 2 ) Function Selection 1No. 1Function Selection Flag

5.4 MP2000 Series Machine Controller Parameter Details5.4.1 Motion Fixed Parameter Details5-195Motion Parameters( 3 ) Function Selection 2( 4 ) Refe

5.4 MP2000 Series Machine Controller Parameter Details5.4.1 Motion Fixed Parameter Details5-20( 5 ) Infinite Axis Reset PositionNo. 5Number of Digit

5.4 MP2000 Series Machine Controller Parameter Details5.4.1 Motion Fixed Parameter Details5-215Motion Parameters( 6 ) Software LimitsOutline of Soft

5.4 MP2000 Series Machine Controller Parameter Details5.4.1 Motion Fixed Parameter Details5-22( 8 ) Hardware Signal( 9 ) Pulse Count( 10 ) D/A Outpu

5.4 MP2000 Series Machine Controller Parameter Details5.4.1 Motion Fixed Parameter Details5-235Motion Parameters( 11 ) A/D Input( 12 ) SERVOPACK Set

5.4 MP2000 Series Machine Controller Parameter Details5.4.1 Motion Fixed Parameter Details5-24( 13 ) Encoder SettingsNo. 34 (Rotary Motor)Rated Moto

5.4 MP2000 Series Machine Controller Parameter Details5.4.2 Motion Setting Parameter Details5-255Motion Parameters5.4.2 Motion Setting Parameter De

5.4 MP2000 Series Machine Controller Parameter Details5.4.2 Motion Setting Parameter Details5-26DescriptionBit 4Latch Detection Demand0: OFF (defaul

5.4 MP2000 Series Machine Controller Parameter Details5.4.2 Motion Setting Parameter Details5-275Motion Parameters( 2 ) Mode 1( 3 ) Function 1OW01