YASKAWA S-7 Series Command Manual
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YASKAWA S-7 Series Command Manual

Mechatrolink-iii ac servo drive communications standard servo profile
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-7-Series AC Servo Drive
MECHATROLINK-III Communications
Standard Servo Profile
Command Manual
MANUAL NO. SIEP S800001 31C
MECHATROLINK-III
Communication Settings
Command Format
Main Commands
Subcommands
Operation Sequence
Function/Command Related Parameters
Detecting Alarms/Warnings Related to
Communications or Commands
Common Parameters
Virtual Memory Space
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2
3
4
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Summary of Contents for YASKAWA S-7 Series

  • Page 1 -7-Series AC Servo Drive MECHATROLINK-III Communications Standard Servo Profile Command Manual MECHATROLINK-III Communication Settings Command Format Main Commands Subcommands Operation Sequence Function/Command Related Parameters Detecting Alarms/Warnings Related to Communications or Commands Common Parameters Virtual Memory Space MANUAL NO. SIEP S800001 31C...
  • Page 2 Yaskawa. No patent liability is assumed with respect to the use of the informa- tion contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is sub- ject to change without notice.
  • Page 3 About this Manual This manual describes the specifications of standard servo profile commands used in MECHA- TROLINK-III communications for the following MECHATROLINK-III communications reference input type SERVOPACKs, the basic operations using these commands, and the parameters for these com- mands. •...
  • Page 4 Related Documents The relationships between the documents that are related to the Servo Drives are shown in the fol- lowing figure. The numbers in the figure correspond to the numbers in the table on the following pages. Refer to these documents as required. System Components Machine Controllers...
  • Page 5 Classification Document Name Document No. Description Describes the features and applica-  Machine Controller and tion examples for combinations of Machine Controller and AC Servo Drive KAEP S800001 22 MP3000-Series Machine Control- Servo Drive lers and Σ-7-Series AC Servo Solutions Catalog General Catalog Drives.
  • Page 6 Continued from previous page. Classification Document Name Document No. Description Σ-7-Series AC Servo Drive Provides detailed information for Σ-7S, Σ-7W, and Σ-7C SER- the safe usage of Σ-7-Series TOMP C710828 00 VOPACK SERVOPACKs. Safety Precautions Σ-V-Series/Σ-V-Series for Large-Capacity Models/ Provides detailed information for Σ-7-Series TOBP C720829 00 the safe usage of Option Modules.
  • Page 7 Continued from previous page. Classification Document Name Document No. Description Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with MECHATROLINK-III SIEP S800001 28 Communications References Product Manual Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with MECHATROLINK-II SIEP S800001 27 Communications References Product Manual Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with Provide detailed information on...
  • Page 8 Continued from previous page. Classification Document Name Document No. Description Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with FT/EX Specification for Index- SIEP S800001 84 ing Application Product Manual Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with FT/EX Specification for Track- SIEP S800001 89 ing Application Product Manual Σ-7-Series AC Servo Drive...
  • Page 9 Continued from previous page. Classification Document Name Document No. Description Provides detailed information Σ-7-Series AC Servo Drive Σ-7 Series required to select cables, periph- Peripheral Device SIEP S800001 32 eral devices, and options for Σ-7- Peripheral Device Selection Manual Series Servo Systems. Selection Manual Σ-7-Series AC Servo Drive Provides detailed information on...
  • Page 10 Using This Manual  Technical Terms Used in This Manual The following terms are used in this manual. Basic Term Meaning The transmission cycle is the cycle in the MAC (Media Access Control) layer. It is the Transmission Cycle communication cycle for physically sending data to the transmission path. The transmis- sion cycle is unaffected by the services provided by the application layer.
  • Page 11  Notation Used in this Manual  Notation for Reverse Signals The names of reverse signals (i.e., ones that are valid when low) are written with a forward slash (/) before the signal abbreviation. Notation Example BK is written as /BK. ...
  • Page 12  Trademarks • MECHATROLINK is a trademark of the MECHATROLINK Members Association. • Other product names and company names are the trademarks or registered trademarks of the respective company. “TM” and the ® mark do not appear with product or company names in this manual.
  • Page 13 Safety Precautions  Safety Information To prevent personal injury and equipment damage in advance, the following signal words are used to indicate safety precautions in this document. The signal words are used to classify the hazards and the degree of damage or injury that may occur if a product is used incorrectly. Information marked as shown below is important for safety.
  • Page 14  Safety Precautions That Must Always Be Observed  General Precautions DANGER  Read and understand this manual to ensure the safe usage of the product.  Keep this manual in a safe, convenient place so that it can be referred to whenever necessary. Make sure that it is delivered to the final user of the product.
  • Page 15 NOTICE  Do not attempt to use a SERVOPACK or Servomotor that is damaged or that has missing parts.  Install external emergency stop circuits that shut OFF the power supply and stops operation immediately when an error occurs.  In locations with poor power supply conditions, install the necessary protective devices (such as AC reactors) to ensure that the input power is supplied within the specified voltage range.
  • Page 16 NOTICE  Do not hold onto the front cover or connectors when you move a SERVOPACK. There is a risk of the SERVOPACK falling.  A SERVOPACK or Servomotor is a precision device. Do not drop it or subject it to strong shock. There is a risk of failure or damage.
  • Page 17 NOTICE  Do not install or store the product in any of the following locations. • Locations that are subject to direct sunlight • Locations that are subject to ambient temperatures that exceed product specifications • Locations that are subject to relative humidities that exceed product specifications •...
  • Page 18  Whenever possible, use the Cables specified by Yaskawa. If you use any other cables, confirm the rated current and application environment of your model and use the wiring materials specified by Yaskawa or equivalent materials.  Securely tighten cable connector screws and lock mechanisms.
  • Page 19  Operation Precautions WARNING  Before starting operation with a machine connected, change the settings of the switches and parameters to match the machine. Unexpected machine operation, failure, or personal injury may occur if operation is started before appropriate settings are made. ...
  • Page 20 NOTICE  When you adjust the gain during system commissioning, use a measuring instrument to monitor the torque waveform and speed waveform and confirm that there is no vibration. If a high gain causes vibration, the Servomotor will be damaged quickly. ...
  • Page 21 We will update the document number of the document and issue revisions when changes are made.  Any and all quality guarantees provided by Yaskawa are null and void if the customer modifies the product in any way. Yaskawa disavows any responsibility for damages or losses that are...
  • Page 22 • Events for which Yaskawa is not responsible, such as natural or human-made disasters  Limitations of Liability • Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product.
  • Page 23 • It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if the Yaskawa product is used in combination with any other products. • The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer.

  • Page 24: Table Of Contents

    Contents About this Manual ..........iii Outline of Manual .
  • Page 25 Servo Command I/O Signal (SVCMD_IO) ....2-22 2.6.1 Bit Allocation of Servo Command Output Signals ....2-22 2.6.2 Bit Allocation of Servo Command I/O Signal Monitoring .
  • Page 26 Clear Alarm or Warning Subcommand (ALM_CLR: 06h) ..4-5 Read Memory Subcommand (MEM_RD: 1Dh) ....4-6 Write Memory Subcommand (MEM_WR: 1Eh) ....4-7 Servo Status Monitor Subcommand (SMON: 30h) .
  • Page 27 Speed Feedforward Function ......6-9 6.4.1 Relationship between the Host Controller and SERVOPACK ... . 6-9 6.4.2 Setting Parameters .
  • Page 28 MECHATROLINK-III Communication Settings Layers ......1-2 Frame Structure ..... 1-3 State Transition Diagram .

  • Page 29: Layers

    1.1 Layers Layers The MECHATROLINK-III communications layers have functions equivalent to layers 1, 2, and 7 in the OSI (Open System Interconnection) reference model. MECHATROLINK-III Protocol Layer 7: Application layer MECHATROLINK-III application layer Layers 3 to 6 None Layer 2: Data link layer ASIC dedicated to MECHATROLINK-III Layer 1: Physical layer Standard Ethernet PHY IEEE 802.3u...

  • Page 30: Frame Structure

    1.2 Frame Structure Frame Structure A standard servo profile command is composed of the combination of a main command and a subcommand as shown below. It is also possible to use a main command alone. Byte Main command area Subcommand area Information field Classification Byte...

  • Page 31: State Transition Diagram

    1.3 State Transition Diagram State Transition Diagram The master and slave station state transitions are shown in the following diagrams. Start Power ON P1/ Waits for connection establishment Communications error Sends CONNECT Sends CONNECT (Asynchronous communications) (Synchronous communications) P2/ Asynchronous communications state Communications Sends SYNC_SET...

  • Page 32: Command And Response Timing

    1.4 Command and Response Timing 1.4.1 Command Data Execution Timing Command and Response Timing This section describes command execution timing at the SERVOPACK and monitored data input timing at the master station. These timings are constant, regardless of the transmission cycle and communication cycle. 1.4.1 Command Data Execution Timing Motion commands (such as POSING and INTERPOLATE), and the servo command control and...

  • Page 33: Transmission Cycle And Communications Cycle (Support For 125 Μs)

    1.4 Command and Response Timing 1.4.3 Transmission Cycle and Communications Cycle (Support for 125 μs) 1.4.3 Transmission Cycle and Communications Cycle (Sup- port for 125 μs) By adopting a shorter transmission cycle, the command throughput of the host controller is improved by eliminating transmission delays.

  • Page 34: List Of Commands

    1.5 List of Commands 1.5.1 Command Types List of Commands 1.5.1 Command Types Standard servo profile commands are classified into common commands and servo com- mands. Common commands:Commands that are common for MECHATROLINK-III communications, independent of profiles Servo commands:Commands that are defined in the standard servo profile and specific to SERVOPACKs 1.5.2 Main Commands...
  • Page 35 1.5 List of Commands 1.5.2 Main Commands Continued from previous page. Com- Category mand Command Command Name Function Reference Code Set coordinates com- POS_SET Sets the coordinate system. 3.2.1 mand Request for applying Turns the brake signal OFF and applies the BRK_ON 3.2.2 brake command...

  • Page 36: Subcommands

    1.5 List of Commands 1.5.3 Subcommands 1.5.3 Subcommands The standard servo profile subcommands used for Σ -7-Series SERVOPACKs are listed below. Com- Category mand Command Command Name Function Reference Code No operation com- Nothing is performed. mand Read alarm/ Reads the current alarm or warning status, ALM_RD warning command and the alarm history.
  • Page 37 1.5 List of Commands 1.5.4 Combinations of Main Commands and Subcommands Continued from previous page. Subcommands ALM_ MEM_ MEM_ SVPRM SVPRM Main Command ALM_RD SMON (00h) (05h) (30h) (06h) (1Dh) (1Eh) (40h) (41h) × × × × × ×  ...

  • Page 38: Command Format

    Command Format Common Command Format ... . 2-3 Command Header Section of Main Command Area . . 2-5 2.2.1 Command Code (CMD/RCMD) ....2-5 2.2.2 Watchdog Data (WDT/RWDT) .
  • Page 39 Command Data ..... 2-27 2.7.1 Data Order ......2-27 2.7.2 Specifying Units .

  • Page 40: Common Command Format

    2.1 Common Command Format Common Command Format This section describes the specifications that are common for all commands. The format that is common for the commands sent from the master station and the responses returned from slave stations is shown below. The format of a command can be divided into the main command area (32 bytes) and the sub- command area (16 bytes).
  • Page 41 2.1 Common Command Format Continued from previous page. Byte Command Response Description • SUBCMD/RSUBCMD: SUBCMD RSUBCMD Command code specified for individual com- mands. Refer to the following section. SUB_CTRL SUB_STAT 4.1 Subcommands on page 4-2. • SUB_CTRL: Refer to the following section. 2.3.2 Subcommand Control (SUB_CTRL) on page 2-11.

  • Page 42: Command Header Section Of Main Command Area

    2.2 Command Header Section of Main Command Area 2.2.1 Command Code (CMD/RCMD) Command Header Section of Main Command Area This section describes the command header section of the main command area. 2.2.1 Command Code (CMD/RCMD) This is the command code that defines the meaning of the messaging. Byte 0 of the command format is defined as the CMD/RCMD field.

  • Page 43: Watchdog Data (Wdt/Rwdt)

    2.2 Command Header Section of Main Command Area 2.2.2 Watchdog Data (WDT/RWDT) The standard servo command profile does not use PRM_RD, PRM_WR, PPRM_RD and PPRM_WR, but uses SVPRM_RD and SVPRM_WR instead. : Can be executed, Δ: Ignored, ×: Command error, –: Indefinite response data Refer to the following section for details.
  • Page 44 2.2 Command Header Section of Main Command Area 2.2.4 Command Status (CMD_STAT) CMD_ID: Command ID  Definition The master station uses the command ID to have a slave station acknowledge that the com- mand is a new command when the master station sends the same command repeatedly to the slave station.
  • Page 45 2.2 Command Header Section of Main Command Area 2.2.4 Command Status (CMD_STAT) D_WAR  Definition This bit indicates the device warning state of the slave station. 1: A device-specific warning has occurred. 0: Other state (normal state, or the alarm specified by COMM_ALM or CMD_ALM has occurred.) ...
  • Page 46 2.2 Command Header Section of Main Command Area 2.2.4 Command Status (CMD_STAT) RCMD_ID  Definition This is the echo-back of the CMD_ID in the CMD_CTRL field of the command data.  Description • This is the identification code of the same commands that the slave station has received con- tiguously.

  • Page 47: Command Status (Cmd_Stat)

    2.2 Command Header Section of Main Command Area 2.2.4 Command Status (CMD_STAT) COMM_ALM  Definition This bit indicates the MECHATROLINK communications error status.  Description • COMM_ALM shows if the data transmission in the physical or application layer has com- pleted normally or not.

  • Page 48: Subcommand Control (Sub_Ctrl)

    2.3 Command Header Section of Subcommand Area 2.3.1 Subcommand Codes (SUB_CMD/SUB_RCMD) Command Header Section of Subcommand Area Subcommands use byte 32 to byte 47 of the data field and function as a supplementary com- mand to the main command. This subsection describes the command header section of the subcommand area.

  • Page 49: Subcommand Status (Sub_Stat)

    2.3 Command Header Section of Subcommand Area 2.3.3 Subcommand Status (SUB_STAT) Details of Control Bits The following table shows the details of the control bits. Name Description Value Setting 12 to SEL_MON4 Monitor selection 4 0 to 15 Selects the monitor information with the setting value. 16 to SEL_MON5 Monitor selection 5 0 to 15 Selects the monitor information with the setting value.

  • Page 50: Servo Command Format

    2.4 Servo Command Format Servo Command Format This section describes the specifications of the servo commands. The servo commands are specified by the 32-byte command and response data in the com- munication specifications as shown in the table below. The command/response data area can be expanded to 48 bytes by using subcommands. For the subcommands, refer to the following chapter.

  • Page 51: Command Header Section

    2.5 Command Header Section 2.5.1 Servo Command Control (SVCMD_CTRL) Command Header Section For the details of the command header section (command code, watchdog data and command control fields), refer to the following section. 2.2 Command Header Section of Main Command Area on page 2-5 2.5.1 Servo Command Control (SVCMD_CTRL) Byte 4 to byte 7 of the command format are specified as the SVCMD_CTRL field.
  • Page 52 2.5 Command Header Section 2.5.1 Servo Command Control (SVCMD_CTRL) Continued from previous page. Name Description Value Setting Enabled Timing No position reference filter Exponential function posi- Selection of tion reference filter ACCFIL Position Refer- Level 4, 5 Movement average posi- ence Filter tion reference filter Reserved...
  • Page 53 2.5 Command Header Section 2.5.2 Servo Command Status (SVCMD_STAT) 2.5.2 Servo Command Status (SVCMD_STAT) Byte 4 to byte 7 of the response format are specified as the SVCMD_STAT field. The status bit indicates the status of the slave station. Note that the designation in this field is valid even when a CMD_ALM has occurred. The SVCMD_STAT field is specified as shown below by the communication specification.

  • Page 54: Servo Command Status (Svcmd_Stat)

    2.5 Command Header Section 2.5.2 Servo Command Status (SVCMD_STAT) Continued from previous page. Name Description Value Setting Disabled POS_RDY Position Data Enabled Enabled The status used to judge if the position data currently being monitored as the monitor informa- tion of the response data is valid When an incremental encoder is used:"1"...

  • Page 55: Supplementary Information On Cmd_Pause And Cmd_Cancel

    2.5 Command Header Section 2.5.3 Supplementary Information on CMD_PAUSE and CMD_CANCEL 2.5.3 Supplementary Information on CMD_PAUSE and CMD_- CANCEL CMD_PAUSE (Pausing a Command Operation) • CMD_PAUSE is used to pause motion command operation. (Motion command processing continues. Motion command operation can be resumed by clearing CMD_PAUSE.) •...
  • Page 56 2.5 Command Header Section 2.5.3 Supplementary Information on CMD_PAUSE and CMD_CANCEL  Example of Pausing the VELCTRL Command Communication cycle VELCTRL CMD_PAUSE CMD_PAUSE_CMP ZSPD CMD_CANCEL (Canceling a Command Operation) • CMD_CANCEL is used to interrupt motion command operation. (Motion command process- ing is cleared.) •...
  • Page 57 2.5 Command Header Section 2.5.3 Supplementary Information on CMD_PAUSE and CMD_CANCEL  Example of Canceling the POSING Command Communication cycle POSING CMD_CANCEL CMD_CANCEL_CMP PSET  Example of Canceling the VELCTRL Command Communication cycle VELCTRL CMD_CANCEL CMD_CANCEL_CMP ZSPD 2-20...

  • Page 58: Supplementary Information On Latching Operation

    2.5 Command Header Section 2.5.4 Supplementary Information on Latching Operation 2.5.4 Supplementary Information on Latching Operation The latch operation is enabled at the leading edge of LT_REQ1 and LT_REQ2. The operations to be performed when commands are changed after enabling the latch operation are specified in the table below.

  • Page 59: Bit Allocation Of Servo Command Output Signals

    2.6 Servo Command I/O Signal (SVCMD_IO) 2.6.1 Bit Allocation of Servo Command Output Signals Servo Command I/O Signal (SVCMD_IO) This section describes the servo command I/O signal monitoring. 2.6.1 Bit Allocation of Servo Command Output Signals Byte 8 to byte 11 of the command format are specified as the SVCMD_IO (output) field. The servo command output signals are signals output to the slave station.

  • Page 60: Bit Allocation Of Servo Command I/O Signal Monitoring

    2.6 Servo Command I/O Signal (SVCMD_IO) 2.6.2 Bit Allocation of Servo Command I/O Signal Monitoring Continued from previous page. Enabled Name Description Value Setting Timing First gain Second gain G_SEL Gain Select Level Reserved (Do not 2 to 15 set.) 8 to 11 Used to select the position loop gain, speed loop gain and other settings as desired accord- ing to the G_SEL value.

  • Page 61: Servo Command I/O Signal (Svcmd_Io)

    2.6 Servo Command I/O Signal (SVCMD_IO) 2.6.2 Bit Allocation of Servo Command I/O Signal Monitoring Details of I/O Signal Bits The following table shows the details of the I/O signal bits. Name Description Value Setting Zero Return Deceleration Limit Switch Input The status used to judge the state of the deceleration limit switch used for zero point return operation Forward Drive Prohibition...
  • Page 62 2.6 Servo Command I/O Signal (SVCMD_IO) 2.6.2 Bit Allocation of Servo Command I/O Signal Monitoring Continued from previous page. Name Description Value Setting Range of motion N_SOT Reverse Software Limit Drive prohibited due to reverse software limit The software limit forcibly stops a movable machine unit if it moves beyond the software limit range in the same manner as the overtravel function, with or without using P_OT and N_OT (overtravel signals).
  • Page 63 2.6 Servo Command I/O Signal (SVCMD_IO) 2.6.2 Bit Allocation of Servo Command I/O Signal Monitoring Continued from previous page. Name Description Value Setting Signal OFF IO_STS1 to I/O Signal Monitor IO_STS8 Signal ON The status used to indicate the I/O signal state of CN1 Allocate the input signals using parameters Pn860 to Pn866, Pn868, and Pn869.

  • Page 64: Command Data

    2.7 Command Data 2.7.1 Data Order Command Data This section describes the servo-specific data used with servo commands. 2.7.1 Data Order Data in commands and responses is stored in little endian byte order. For example, 4-byte data "0x1234ABCD" in hexadecimal is stored from the least significant byte as shown below.

  • Page 65: Specifying Monitor Data

    2.7 Command Data 2.7.3 Specifying Monitor Data Torque The following units can be selected. Settings are made with common parameters 47 and 48. Unit Remark ×10 % of rated torque (default) [%] can be set. Max. torque/40000000 (h) Set "0" for common parameter 48. 2.7.3 Specifying Monitor Data The master station sets the selection code of the monitor data to be read from a slave station...

  • Page 66: Position Data

    2.7 Command Data 2.7.4 Position Data 2.7.4 Position Data Servo commands use 4-byte data as position data. For infinite length operation, position data beyond this limit are expressed as shown in the diagram below. Position data in MECHATROLINK-III communication [Reference unit] 7FFFFFFFh FF00000000 FF80000000...
  • Page 67 Main Commands Common Commands ....3-3 3.1.1 No Operation Command (NOP: 00h) ..3-3 3.1.2 Read ID Command (ID_RD: 03h) .
  • Page 68 3.2.12 External Input Feed Command (EX_FEED: 37h) ......3-41 3.2.13 External Input Positioning Command (EX_POSING: 39h) ..... . .3-43 3.2.14 Zero Point Return Command (ZRET: 3Ah) .

  • Page 69: Common Commands

    3.1 Common Commands 3.1.1 No Operation Command (NOP: 00h) Common Commands 3.1.1 No Operation Command (NOP: 00h) Data Format Phases in which the Command Common Asynchronous 2, 3 command command Command can be Executed Classification Within Processing Time communication Subcommand Can be used cycle Byte...

  • Page 70: Read Id Command (Id_Rd: 03H)

    3.1 Common Commands 3.1.2 Read ID Command (ID_RD: 03h) 3.1.2 Read ID Command (ID_RD: 03h) Data Format Phases in which the Command Common Asynchronous 2, 3 command command Command can be Executed Classification Within Processing Time communication Subcommand Can be used cycle ID_RD Byte...
  • Page 71 Data Type Compliance  Vendor ID Code 4 bytes Binary Data 00000000h (YASKAWA ELECTRIC CORPORATION) An ID code used to specify the vendor. Vendor ID codes are managed by the MECHA- TROLINK Members Association.  Device Code 4 bytes Binary Data Σ...
  • Page 72 3.1 Common Commands 3.1.2 Read ID Command (ID_RD: 03h) Continued from previous page. ID_CODE Description Data Size Data Type Compliance  Profile Type 3 4 bytes Binary Data 000000FFh (Not supported code)  Profile Version 3 4 bytes Binary Data 00000000h Minimum Value of Transmission ...
  • Page 73 3.1 Common Commands 3.1.2 Read ID Command (ID_RD: 03h) Continued from previous page. ID_CODE Description Data Size Data Type Compliance Supported Communication  4 bytes Binary Data Mode 00000002h (Cyclic communication) The communication mode that the device supports The communication modes are allocated to the following bits. (Supported: 1, Not sup- ported: 0) bit 1: Cyclic communication MAC Address...
  • Page 74 3.1 Common Commands 3.1.2 Read ID Command (ID_RD: 03h) Continued from previous page. ID_CODE Description Data Size Data Type Compliance List of Supported Subcom-  32 bytes Array mands The list of the subcommands that the device supports The commands are allocated as shown below. bit 0 to 255: 0: Command not supported 1: Command supported bit7...
  • Page 75 3.1 Common Commands 3.1.2 Read ID Command (ID_RD: 03h) Continued from previous page. ID_CODE Description Data Size Data Type Compliance bit 16 to 31: Reserved (0) bit39 bit38 bit37 bit36 bit35 bit34 bit33 bit32 Reserved bit47 bit46 bit45 bit44 bit43 bit42 bit41 bit40...
  • Page 76 3.1 Common Commands 3.1.2 Read ID Command (ID_RD: 03h) Continued from previous page. ID_CODE Description Data Size Data Type Compliance ASCII Code  Sub Device 1 Name 32 bytes (Delimiter: 00) Motor model Example: SGM7J-01A7A21 The name of sub device 1 (ASCII code) For the Σ-7F Integrated Servomotor (Model: SGF7 ...

  • Page 77: Setup Device Command (Config: 04H)

    3.1 Common Commands 3.1.3 Setup Device Command (CONFIG: 04h) 3.1.3 Setup Device Command (CONFIG: 04h) Data Format Phases in which the Command Common Asynchronous Command can be 2, 3 command command Classification Executed Refer to the Processing Time specifications of Subcommand Cannot be used CONFIG_MOD.
  • Page 78 3.1 Common Commands 3.1.3 Setup Device Command (CONFIG: 04h) Command Parameters CONFIG_MOD: Configuration mode 0: Parameter re-calculation and setup, processing time: 5 seconds or less 1: Not supported (CMD_ALM = 9h (A.94B)) 2: Initialization to the factory-set parameter setting values, processing time: 20 seconds or less Turn the power OFF after completion of the process and turn it back ON.

  • Page 79: Read Alarm Or Warning Command (Alm_Rd: 05H)

    3.1 Common Commands 3.1.4 Read Alarm or Warning Command (ALM_RD: 05h) 3.1.4 Read Alarm or Warning Command (ALM_RD: 05h) Data Format Phases in which the Command Common Asynchronous 2, 3 Command can be Executed Classification command command Refer to the spec- Processing Time ifications of Subcommand...
  • Page 80 3.1 Common Commands 3.1.4 Read Alarm or Warning Command (ALM_RD: 05h) Command Parameters The details of ALM_RD_MOD are described below. ALM_RD_MOD Description Processing Time Current alarm/warning state Max. 10 items (byte 8 to 27) Within communication cycle (00h is set for the remaining bytes (byte 28 to 31).) Alarm occurrence status history (Warnings are not retained in the history.) Within 60 ms...

  • Page 81: Clear Alarm Or Warning Command (Alm_Clr: 06H)

    3.1 Common Commands 3.1.5 Clear Alarm or Warning Command (ALM_CLR: 06h) 3.1.5 Clear Alarm or Warning Command (ALM_CLR: 06h) Data Format Phases in which the Command Common Asynchronous 2, 3 Command can be Executed Classification command command Refer to the Processing Time specifications of Subcommand...

  • Page 82: Start Synchronous Communication Command (Sync_Set: 0Dh)

    3.1 Common Commands 3.1.6 Start Synchronous Communication Command (SYNC_SET: 0Dh) 3.1.6 Start Synchronous Communication Command (SYN- C_SET: 0Dh) Data Format Phases in which the Command Common Asynchronous command command Command can be Executed Classification Communication cycle or greater, Processing Time Subcommand Cannot be used and 5 seconds or...

  • Page 83: Establish Connection Command (Connect: 0Eh)

    3.1 Common Commands 3.1.7 Establish Connection Command (CONNECT: 0Eh) 3.1.7 Establish Connection Command (CONNECT: 0Eh) Data Format Phases in which the Command Common Asynchronous Command can be Executed Classification command command Communication cycle or greater, Processing Time Subcommand Cannot be used and 5 seconds or less CONNECT...
  • Page 84 3.1 Common Commands 3.1.7 Establish Connection Command (CONNECT: 0Eh) Command Parameters  VER: MECHATROLINK application layer version For servo profile: VER = 30h  COM_MOD: Communication mode bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 SUBCMD DTMODE SYNCMODE • SYNCMODE: Synchronization setting 1: Performs synchronous communication.

  • Page 85: Disconnection Command (Disconnect: 0Fh)

    3.1 Common Commands 3.1.8 Disconnection Command (DISCONNECT: 0Fh) 3.1.8 Disconnection Command (DISCONNECT: 0Fh) Data Format Phases in which the Command Clas- Common Asynchronous All phases Command can be Executed sification command command Communication cycle or greater, Processing Time Subcommand Cannot be used and 5 seconds or less DISCONNECT...

  • Page 86: Read Memory Command (Mem_Rd: 1Dh)

    3.1 Common Commands 3.1.9 Read Memory Command (MEM_RD: 1Dh) 3.1.9 Read Memory Command (MEM_RD: 1Dh) Data Format Phases in which the Command Common Asynchronous 2, 3 command command Command can be Executed Classification Processing Time Within 200 ms Subcommand Cannot be used MEM_RD Byte Description...

  • Page 87: Write Memory Command (Mem_Wr: 1Eh)

    3.1 Common Commands 3.1.10 Write Memory Command (MEM_WR: 1Eh) 3.1.10 Write Memory Command (MEM_WR: 1Eh) Data Format Phases in which the Command Common Asynchronous 2, 3 Command can be Executed Classification command command Refer to  Executing the Processing Time Adjustment Oper- Subcommand Cannot be used...
  • Page 88 3.1 Common Commands 3.1.10 Write Memory Command (MEM_WR: 1Eh) Command Parameters The details of MODE/DATA_TYPE are described below. bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 MODE DATA_TYPE MODE = 1: Volatile memory, 2: Non-volatile memory (Non-volatile memory can be selected only for common parameters) DATA_TYPE = 1: Byte, 2: Short, 3: Long, 4: Not supported SIZE:...
  • Page 89 3.1 Common Commands 3.1.10 Write Memory Command (MEM_WR: 1Eh) Send the following data to execute adjustment. Command = MEM_WR ADDRESS = 80004002h MODE/DATA_TYPE = 12h SIZE = 0001h DATA = 0001h To confirm the completion of the execution, check that CMDRDY = 1. If an error occurs, carry out the operation in step 4 to abort execution.

  • Page 90: Servo Commands

    3.2 Servo Commands 3.2.1 Set Coordinates Command (POS_SET: 20h) Servo Commands 3.2.1 Set Coordinates Command (POS_SET: 20h) Data Format Phases in which the Command Common motion Asynchronous 2, 3 command command Command can be Executed Classification Within Processing Time communication Subcommand Cannot be used cycle...
  • Page 91 3.2 Servo Commands 3.2.1 Set Coordinates Command (POS_SET: 20h) Command Parameters POS_SET_MOD: Coordinates Setting Mode bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 REFE POS_SEL bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8 Reserved bit23 bit22 bit21 bit20 bit19 bit18 bit17 bit16 Reserved...

  • Page 92: Apply Brake Command (Brk_On: 21H)

    3.2 Servo Commands 3.2.2 Apply Brake Command (BRK_ON: 21h) 3.2.2 Apply Brake Command (BRK_ON: 21h) Data Format Phases in which the Command Servo standard Asynchronous 2, 3 command command Command can be Executed Classification Within Processing Time communication Subcommand Cannot be used cycle BRK_ON Byte...

  • Page 93: Release Brake Command (Brk_Off: 22H)

    3.2 Servo Commands 3.2.3 Release Brake Command (BRK_OFF: 22h) 3.2.3 Release Brake Command (BRK_OFF: 22h) Data Format Phases in which the Command Servo standard Asynchronous 2, 3 Command can be Executed Classification command command Within Processing Time communication Subcommand Cannot be used cycle BRK_OFF Byte...
  • Page 94 3.2 Servo Commands 3.2.3 Release Brake Command (BRK_OFF: 22h)  Brake Signal Output Timing BRK_ON Within 2 ms BRK_OFF Within 2 ms • Normally, brake signals are controlled by the SERVOPACK parameters. • BRK_ON and BRK_OFF commands are always valid as command as long as no warning occurs.
  • Page 95 3.2 Servo Commands 3.2.3 Release Brake Command (BRK_OFF: 22h)  Brake Signal Timing Charts for MECHATROLINK Communications Error Operation Settings • When Pn884 = n.X Is Set to 0 BRK_OFF SV_ON Command Alarm status Normal status Alarm status Servo status Brake signal (/BK) •...

  • Page 96: Turn Sensor On Command (Sens_On: 23H)

    3.2 Servo Commands 3.2.4 Turn Sensor ON Command (SENS_ON: 23h) 3.2.4 Turn Sensor ON Command (SENS_ON: 23h) Data Format Phases in which the Command Common Asynchronous 2, 3 command command Command can be Executed Classification Processing Time Within 2 s Subcommand Cannot be used SENS_ON...

  • Page 97: Turn Sensor Off Command (Sens_Off: 24H)

    3.2 Servo Commands 3.2.5 Turn Sensor OFF Command (SENS_OFF: 24h) 3.2.5 Turn Sensor OFF Command (SENS_OFF: 24h) Data Format Phases in which the Command Common Asynchronous 2, 3 Command can be Executed Classification command command Processing Time Within 2 s Subcommand Cannot be used SENS_OFF...

  • Page 98: Servo Status Monitor Command (Smon: 30H)

    3.2 Servo Commands 3.2.6 Servo Status Monitor Command (SMON: 30h) 3.2.6 Servo Status Monitor Command (SMON: 30h) Data Format Phases in which the Command Servo standard Asynchronous 2, 3 command command Command can be Executed Classification Within Processing Time communication Subcommand Can be used cycle...

  • Page 99: Servo On Command (Sv_On: 31H)

    3.2 Servo Commands 3.2.7 Servo ON Command (SV_ON: 31h) 3.2.7 Servo ON Command (SV_ON: 31h) Data Format Phases in which the Command Servo standard Asynchronous 2, 3 Command can be Executed Classification command command Normally 50 ms Processing Time Subcommand Can be used (10 s max.) SV_ON...

  • Page 100: Servo Off Command (Sv_Off: 32H)

    3.2 Servo Commands 3.2.8 Servo OFF Command (SV_OFF: 32h) 3.2.8 Servo OFF Command (SV_OFF: 32h) Data Format Phases in which the Command Servo standard Asynchronous 2, 3 command command Command can be Executed Classification Time set with Processing Time Pn506 Subcommand Can be used 500 ms max.
  • Page 101 3.2 Servo Commands 3.2.8 Servo OFF Command (SV_OFF: 32h)  Related Parameters Parameter No. Description SVOFF Waiting Time (for SVOFF at Decelera- Pn829 tion to Stop) Linear Deceleration Constant 1 for Stopping Pn827 (Pn840) (Linear Deceleration Constant 2 for Stopping) Note: Parameter numbers in parentheses are those when Pn833 = n.X is set to 1.

  • Page 102: Interpolation Command (Interpolate: 34H)

    3.2 Servo Commands 3.2.9 Interpolation Command (INTERPOLATE: 34h) 3.2.9 Interpolation Command (INTERPOLATE: 34h) Data Format Phases in which the Command Servo standard Synchronous command command Command can be Executed Classification Within Processing Time communication Subcommand Can be used cycle INTERPOLATE Byte Description Command...

  • Page 103: Positioning Command (Posing: 35H)

    3.2 Servo Commands 3.2.10 Positioning Command (POSING: 35h) 3.2.10 Positioning Command (POSING: 35h) Data Format Phases in which the Command Servo standard Asynchronous 2, 3 Command can be Executed Classification command command Within Processing Time communica- Subcommand Can be used tion cycle POSING Byte...
  • Page 104 3.2 Servo Commands 3.2.10 Positioning Command (POSING: 35h) Operation for Linear Acceleration/Deceleration The following figure shows operation for linear acceleration/deceleration. Speed Positioning speed Time (Target position) Operation for S-Curve Acceleration/Deceleration The following figure shows operation for S-curve acceleration/deceleration. Speed TSPD ACCR DECR Time...

  • Page 105: Feed Command (Feed: 36H)

    3.2 Servo Commands 3.2.11 Feed Command (FEED: 36h) 3.2.11 Feed Command (FEED: 36h) Data Format Phases in which the Command Servo standard Asynchronous Command can be Exe- 2, 3 command command Classification cuted Within Processing Time communica- Subcommand Can be used tion cycle FEED Byte...
  • Page 106 3.2 Servo Commands 3.2.11 Feed Command (FEED: 36h) Speed Feed speed SVCMD_CTRL.CANCEL = 1 Time 3-40...

  • Page 107: External Input Feed Command (Ex_Feed: 37H)

    3.2 Servo Commands 3.2.12 External Input Feed Command (EX_FEED: 37h) 3.2.12 External Input Feed Command (EX_FEED: 37h) Data Format Phases in which the Command Servo standard Asynchronous 2, 3 command command Command can be Executed Classification Within Processing Time communication Subcommand Can be used cycle...
  • Page 108 3.2 Servo Commands 3.2.12 External Input Feed Command (EX_FEED: 37h) Operating Sequence The following describes the operating sequence for external input positioning operation using the EX_FEED command. The master station sends the EX_FEED command. It selects the latch signal with LT_- SEL1 of SVCMD_CTRL and outputs the latch request by setting LT_REQ1 = 1.

  • Page 109: External Input Positioning Command (Ex_Posing: 39H)

    3.2 Servo Commands 3.2.13 External Input Positioning Command (EX_POSING: 39h) 3.2.13 External Input Positioning Command (EX_POSING: 39h) Data Format Phases in which the Command Servo standard Asynchronous 2, 3 command command Command can be Executed Classification Within Processing Time communication Subcommand Can be used cycle...
  • Page 110 3.2 Servo Commands 3.2.13 External Input Positioning Command (EX_POSING: 39h) Operating Sequence The following describes the operating sequence for external input positioning operation using the EX_POSING command. The master station sends the EX_POSING command. Target position P1 is set in the "target position"...

  • Page 111: Zero Point Return Command (Zret: 3Ah)

    3.2 Servo Commands 3.2.14 Zero Point Return Command (ZRET: 3Ah) 3.2.14 Zero Point Return Command (ZRET: 3Ah) Data Format Phases in which the Command Servo standard Asynchronous 2, 3 command command Command can be Executed Classification Within Processing Time communication Subcommand Can be used cycle...
  • Page 112 3.2 Servo Commands 3.2.14 Zero Point Return Command (ZRET: 3Ah) Command-specific Data The following describes the data specific to the ZRET command. MODE (Lower 1 byte) bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 HOME_DIR Reserved Reserved Reserved TYPE • MODE.HOME_DIR (Zero point return direction) Selects the zero point return direction.
  • Page 113 3.2 Servo Commands 3.2.14 Zero Point Return Command (ZRET: 3Ah)  MODE = 1 (Deceleration Limit Switch Signal + Latch Signal) The master station sends the ZRET command. It selects the latch signal with LT_SEL1 of SVCMD_CTRL and outputs the latch request by setting LT_REQ1 = 1. The slave station starts feeding in the direction specified by MODE.HOME_DIR at the speed set in the "TSPD"...

  • Page 114: Velocity Control Command (Velctrl: 3Ch)

    3.2 Servo Commands 3.2.15 Velocity Control Command (VELCTRL: 3Ch) 3.2.15 Velocity Control Command (VELCTRL: 3Ch) Data Format Phases in which the Command Servo standard Asynchronous 2, 3 command command Command can be Executed Classification Within Processing Time communication Subcommand Can be used cycle VELCTRL Byte...

  • Page 115: Torque Control Command (Trqctrl: 3Dh)

    3.2 Servo Commands 3.2.16 Torque Control Command (TRQCTRL: 3Dh) 3.2.16 Torque Control Command (TRQCTRL: 3Dh) Data Format Phases in which the Command Servo standard Asynchronous 2, 3 Command can be Executed Classification command command Within Processing Time communication Subcommand Can be used cycle TRQCTRL Byte...

  • Page 116: Read Servo Parameter Command (Svprm_Rd: 40H)

    3.2 Servo Commands 3.2.17 Read Servo Parameter Command (SVPRM_RD: 40h) 3.2.17 Read Servo Parameter Command (SVPRM_RD: 40h) Data Format Phases in which the Command Servo standard Asynchronous 2, 3 command command Command can be Executed Classification Processing Time Within 200 ms Subcommand Cannot be used SVPRM_RD...

  • Page 117: Write Servo Parameter Command (Svprm_Wr: 41H)

    3.2 Servo Commands 3.2.18 Write Servo Parameter Command (SVPRM_WR: 41h) 3.2.18 Write Servo Parameter Command (SVPRM_WR: 41h) Data Format Phases in which the Command Servo standard Asynchronous 2, 3 Command can be Executed Classification command command Processing Time Within 200 ms Subcommand Cannot be used SVPRM_WR...

  • Page 118: 3.2.19 Motion Command Data Setting Method

    3.2 Servo Commands 3.2.19 Motion Command Data Setting Method 3.2.19 Motion Command Data Setting Method This subsection provides information on the settings of the following data fields of the motion commands: TSPD, VREF, VFF, TREF, TFF, TLIM, VLIM, ACCR and DECR. CMD_ALM Name Description...
  • Page 119 3.2 Servo Commands 3.2.19 Motion Command Data Setting Method Continued from previous page. CMD_ALM Name Description Setting Warning Operation for the Setting Code Set the acceleration/deceleration with unsigned 4-byte data. 1 to Operates according to the setting. Maximum acceleration Normal Maximum deceleration Maximum acceleration or Accelera-...

  • Page 120: 3.2.20 Restrictions In Using Servo Commands

    3.2 Servo Commands 3.2.20 Restrictions in Using Servo Commands 3.2.20 Restrictions in Using Servo Commands Travel Distance Restrictions for the ZRET (Zero Point Return) Command If you use the ZRET (Zero Point Return) command for a Σ-7-Series Rotary Servomotor, the fol- lowing restrictions apply according to the setting of the electronic gear ratio.
  • Page 121 3.2 Servo Commands 3.2.20 Restrictions in Using Servo Commands The following figure shows the relationship between the reference speed and deceleration time. Motor Speed 6000 min If you reduce the reference speed, the deceleration time will increase. Time 2.56 s 3-55...

  • Page 122: Subcommands

    Subcommands Subcommands ..... . 4-2 No Operation Subcommand (NOP: 00h) ..4-3 Read Alarm or Warning Subcommand (ALM_RD: 05h) ..4-4 Clear Alarm or Warning Subcommand (ALM_CLR: 06h) .
  • Page 123 4.1 Subcommands Subcommands The following table shows the subcommands. Refer to the following section for information on combining main commands and subcom- mands. 1.5.4 Combinations of Main Commands and Subcommands on page 1-9. Communication Command Phases Profile Command Operation Code ...

  • Page 124: No Operation Subcommand (Nop: 00H)

    4.2 No Operation Subcommand (NOP: 00h) No Operation Subcommand (NOP: 00h) Data Format Phases in which the 2, 3 Command can be Executed Command Clas- Common Asynchronous Within command command sification Processing Time communication cycle Byte Description Command Response • The NOP subcommand is used for network control. •...

  • Page 125: Read Alarm Or Warning Subcommand (Alm_Rd: 05H)

    4.3 Read Alarm or Warning Subcommand (ALM_RD: 05h) Read Alarm or Warning Subcommand (ALM_RD: 05h) Data Format Phases in which the 2, 3 Command can be Executed Command Clas- Common Asynchronous Refer to the command command sification Processing Time specifications of ALM_RD_MOD ALM_RD Byte...

  • Page 126: Clear Alarm Or Warning Subcommand (Alm_Clr: 06H)

    4.4 Clear Alarm or Warning Subcommand (ALM_CLR: 06h) Clear Alarm or Warning Subcommand (ALM_CLR: 06h) Data Format Phases in which the Command 2, 3 Command can be Executed Classification Common Asynchronous Refer to the command command Processing Time specifications of Subcommand ALM_RD_MOD ALM_CLR...

  • Page 127: Read Memory Subcommand (Mem_Rd: 1Dh)

    4.5 Read Memory Subcommand (MEM_RD: 1Dh) Read Memory Subcommand (MEM_RD: 1Dh) Data Format Phases in which the Command Clas- 2, 3 Common Asynchronous Command can be Executed sification command command Processing Time Within 200 ms Subcommand MEM_RD Byte Description Command Response •...

  • Page 128: Write Memory Subcommand (Mem_Wr: 1Eh)

    4.6 Write Memory Subcommand (MEM_WR: 1Eh) Write Memory Subcommand (MEM_WR: 1Eh) Data Format Phases in which the Command Clas- 2, 3 Command can be Executed sification Refer to 3.1.10 Command Common Asynchronous Parameters command command  Processing Time Executing the Subcommand Adjustment Oper- ation on page 3-...

  • Page 129: Servo Status Monitor Subcommand (Smon: 30H)

    4.7 Servo Status Monitor Subcommand (SMON: 30h) Servo Status Monitor Subcommand (SMON: 30h) Data Format Phases in which the Command 2, 3 Command can be Executed Classification Common com- Asynchronous Within mand command Processing Time communication Subcommand cycle SMON Byte Description Command Response...

  • Page 130: Read Servo Parameter Subcommand (Svprm_Rd: 40H)

    4.8 Read Servo Parameter Subcommand (SVPRM_RD: 40h) Read Servo Parameter Subcommand (SVPRM_RD: 40h) Data Format Phases in which the Command Clas- 2, 3 Servo standard Asynchronous Command can be Executed sification command command Processing Time Within 200 ms Subcommand SVPRM_RD Byte Description Command...

  • Page 131: Write Servo Parameter Subcommand (Svprm_Wr: 41H)

    4.9 Write Servo Parameter Subcommand (SVPRM_WR: 41h) Write Servo Parameter Subcommand (SVPRM_WR: 41h) Data Format Phases in which the Command 2, 3 Servo standard Asynchronous Command can be Executed Classification command command Processing Time Within 200 ms Subcommand SVPRM_WR Byte Description Command Response...

  • Page 132: Operation Sequence

    Operation Sequence This chapter describes basic operation sequences using MECHATROLINK-III communications. Preparing for Operation ....5-2 5.1.1 Setting MECHATROLINK-III Communications . . . 5-2 5.1.2 Checking the Communications Status ..5-4 Parameter Management and Operation Sequence .

  • Page 133: Preparing For Operation

    5.1 Preparing for Operation 5.1.1 Setting MECHATROLINK-III Communications Preparing for Operation This section describes how to set communications specifications before starting communica- tions, and how to confirm the communications status. 5.1.1 Setting MECHATROLINK-III Communications Σ -7S SERVOPACKs and Σ -7W SERVOPACKs The rotary switches (S1 and S2) and DIP switch (S3), which are located near the top under the front cover of the SERVOPACK, are used as shown below to set the MECHATROLINK-III com- munications specifications.
  • Page 134 5.1 Preparing for Operation 5.1.1 Setting MECHATROLINK-III Communications  Extended Address Setting (Σ-7W SERVOPACKs Only) Extended addresses are determined by the Servomotor connection terminals. The UA, VA, and WA terminals are for axis A. The UB, VB, and WB terminals are for axis B. Axis A Extended address: 00h Axis B...

  • Page 135: Checking The Communications Status

    5.1 Preparing for Operation 5.1.2 Checking the Communications Status 5.1.2 Checking the Communications Status Σ -7S SERVOPACKs and Σ -7W SERVOPACKs To confirm that the SERVOPACK is in the communication enabled state, check the L1, L2 and CN LEDs. Description When communications in the data link layer have started, these LEDs are lit.
  • Page 136 5.1 Preparing for Operation 5.1.2 Checking the Communications Status Continued from previous page. Indicator Color Description Status Operating Status Name No MECHATROLINK-III link Not lit (no MECHATROLINK-III communications cable con- MECHATROLINK-III nection) Green port 2 link status MECHATROLINK-III link (electrical connection to device) The lighting patterns of the operating status indicators are shown in the following table.

  • Page 137: Parameter Management And Operation Sequence

    5.2 Parameter Management and Operation Sequence 5.2.1 Operation Sequence for Managing Parameters Using a Controller Parameter Management and Operation Sequence 5.2.1 Operation Sequence for Managing Parameters Using a Controller When the parameters are managed by a controller, the parameters are automatically transmit- ted from the controller to the SERVOPACK when the power is turned ON.

  • Page 138: Operation Sequence For Managing Parameters Using A Servopack

    5.2 Parameter Management and Operation Sequence 5.2.2 Operation Sequence for Managing Parameters Using a SERVOPACK 5.2.2 Operation Sequence for Managing Parameters Using a SERVOPACK To manage the parameters by using SERVOPACK’s non-volatile memory, save the parameters in the non-volatile memory at setup and use an ordinary operation sequence. Setup Sequence Procedure Operation...

  • Page 139: Setting The Zero Point Before Starting Operation

    5.3 Setting the Zero Point before Starting Operation Setting the Zero Point before Starting Operation When Using an Incremental Encoder When an incremental encoder is used in the slave station, carry out a zero point return opera- tion after turning ON the power supply. After the zero point is set, set the reference coordinate system to determine the work coordi- nate zero point as required: Setting the Reference Coordinate System Using ZRET Command...

  • Page 140: Operation Sequence When Turning The Servo On

    5.4 Operation Sequence when Turning the Servo ON Operation Sequence when Turning the Servo ON Motor control using a host controller is performed using motion commands only in the servo ON state (motor power ON). In the servo OFF state (when the power to the motor is shut OFF), the SERVOPACK manages position data so that the reference coordinate system (CPOS, MPOS) and the feedback coordi- nate system (APOS) are equal.

  • Page 141: Operation Sequence When Ot (Overtravel Limit Switch) Signal Is Input

    5.5 Operation Sequence when OT (Overtravel Limit Switch) Signal is Input Operation Sequence when OT (Overtravel Limit Switch) Signal is Input When an OT signal is input, the SERVOPACK prohibits the motor from rotating in the way spec- ified in parameter Pn001. The motor continues to be controlled by the SERVOPACK while its rotation is prohibited.

  • Page 142: Operation Sequence At Emergency Stop (Main Circuit Off)

    5.6 Operation Sequence at Emergency Stop (Main Circuit OFF) Operation Sequence at Emergency Stop (Main Circuit OFF) For circuits incorporating the recommended processing that the control and main circuit power supplies turn OFF on occurrence of an emergency stop, no specific process is required. For circuits that turn OFF only the main circuit power supply, follow the procedure below.

  • Page 143: Operation Sequence When A Safety Signal Is Input

    5.7 Operation Sequence when a Safety Signal is Input Operation Sequence when a Safety Signal is Input When the HWBB1 or HWBB2 signal is input while the motor is operating, the power supply to the motor is shut OFF forcibly and the motor stops according to the setting of the 1st digit of parameter Pn001 (i.e., Pn001 = n.X).
  • Page 144 5.7 Operation Sequence when a Safety Signal is Input  Recovery from Stop Status Recover from the stop status by following the procedure below. Reset the HWBB1 or HWBB2 signal. The HWBB state is still valid at this point. Send an SV_OFF command to shift the SERVOPACK to the base block state. Carry out controller and system recovery processing.

  • Page 145: Operation Sequence At Occurrence Of Alarm

    5.8 Operation Sequence at Occurrence of Alarm Operation Sequence at Occurrence of Alarm When the D_ALM bit in the CMD_STAT field of the response is 1 or a COMM_ALM field of 8 or a greater value is detected, send the SV_OFF command. Use the ALM_RD command to check the alarm code that has occurred.

  • Page 146: Notes When The Positioning Completed State (Pset = 1) Is Established While Canceling A Motion Command

    5.9 Notes when the Positioning Completed State (PSET = 1) is Established while Canceling a Motion Command Notes when the Positioning Completed State (PSET = 1) is Established while Canceling a Motion Command When the SERVOPACK enters any of the following states during execution of a motion com- mand, it may cancel the execution of the motion command and establish the positioning com- pleted state (PSET = 1).

  • Page 147: Function/Command Related Parameters

    Function/Command Related Parameters Position Control ..... 6-2 6.1.1 Interpolation Command ....6-2 6.1.2 Positioning Command .

  • Page 148: Position Control

    6.1 Position Control 6.1.1 Interpolation Command Position Control This section describes the parameters related to interpolation and positioning in position con- trol. 6.1.1 Interpolation Command When sending the INTERPOLATE command, the speed feedforward and torque feedforward values can be specified along with the target position. The sum of the speed feedforward value specified by the INTERPOLATE command and the (speed) feedforward value set in the parameters (common parameter 64 (Pn109) and Pn10A) will be applied.
  • Page 149 6.1 Position Control 6.1.2 Positioning Command Using the Acceleration/Deceleration Set in the Parameters The setting of the 1st digit of parameter Pn833 (i.e., Pn833 = n.X) determines which parameter to use for acceleration/deceleration when both the acceleration and deceleration rates (ACCR and DECR) in the command are set to 0. Reference speed TSPD 2nd linear...
  • Page 150 6.1 Position Control 6.1.2 Positioning Command  Acceleration/Deceleration Parameters when Pn833=n.  1 Data Size Factory Parameter Name Setting Range Unit (Byte) Setting 10000 reference First Stage Linear Acceleration Pn834 1 to 20971520 Constant 2 units/s 10000 reference Second Stage Linear Acceleration Pn836 1 to 20971520 Constant 2...

  • Page 151: Torque Limiting Function

    6.2 Torque Limiting Function Torque Limiting Function The torque limiting function limits the torque during position/speed control to protect the con- nected machine, etc. There are three ways to limit the output torque. • Internal torque limit according to parameter settings •...
  • Page 152 6.2 Torque Limiting Function Torque Limit by Position/Speed Control Command Torque limits can be specified using the following commands. INTERPOLATE, POSING, FEED, EX_FEED, EX_POSING, ZRET, VELCTRL This method limits the torque to the value set for TLIM of the position/speed control command. The torque limits operate based on parameter settings (i.e., Pn81F = n.X...

  • Page 153: Torque Feedforward Function

    6.3 Torque Feedforward Function 6.3.1 Relationship between the Host Controller and SERVOPACK Torque Feedforward Function The torque feedforward function applies feedforward compensation to position control or speed control to shorten the positioning time. The torque feedforward reference is created from the differential of the position reference at the host controller.

  • Page 154: Setting Parameters

    6.3 Torque Feedforward Function 6.3.2 Setting Parameters 6.3.2 Setting Parameters This section describes the parameters that are related to the torque feedforward reference. Pn81F (Position Control Command TFF/TLIM Allocation) You must set Pn81F (Position Control Command TFF/TLIM Allocation) to use the torque feed- forward reference.

  • Page 155: Speed Feedforward Function

    6.4 Speed Feedforward Function 6.4.1 Relationship between the Host Controller and SERVOPACK Speed Feedforward Function The speed feedforward function applies feedforward compensation to position control to shorten the positioning time. The speed feedforward reference is created from the differential of the position reference at the host controller.

  • Page 156: Setting Parameters

    6.4 Speed Feedforward Function 6.4.2 Setting Parameters 6.4.2 Setting Parameters Speed Feedforward Average Movement Time (Pn30C) If the communications cycle with the host controller is slow, the speed feedforward reference may be applied stepwise as shown on the left in the following figure. Communications cycle You can set Pn30C (Speed Feedforward Average Movement Time) to a suitable value to create a smooth speed feedforward reference, as shown on the right in the above figure.

  • Page 157: Software Limit Function

    6.5 Software Limit Function Software Limit Function This function forcibly stops the servomotor in the same way as the overtravel function when the moving part of the machine enters the software limit range specified by the parameters (com- mon parameter 26 (Pn804), common parameter 28 (Pn806)). The method for stopping the servomotor is the same as when an OT signal is input.
  • Page 158 6.5 Software Limit Function Data Size Parameter Meaning Setting Range Unit (Byte) Enable both forward and reverse soft-  ware limits.  Disable forward software limit.  Disable reverse software limit.  Disable both forward and reverse soft- (Factory ware limits. setting) ...

  • Page 159: Latch Function

    6.6 Latch Function Latch Function Three types of current position latch function using an external signal input are available: • Latching by using the move command with the latch function (EX_FEED, EX_POSING, ZRET) • Latching based on the latch request set by the LT_REQ1 and LT_REQ2 bits •...

  • Page 160: Continuous Latch By Lt_Req2 Bit

    6.6 Latch Function 6.6.1 Continuous Latch by LT_REQ2 Bit  Operation when Latching is not Completed LT_REQ Latch condition not established LT_RDY L_CMP Latch signal  Latch Time Lag • From reception of the command to latching start: 250 μs max. •...
  • Page 161 6.6 Latch Function 6.6.1 Continuous Latch by LT_REQ2 Bit  Latch Status Latch completion can be confirmed by the following status. [SVCMD_STAT] L_CMP2: L_CMP2 is set to "1" for one communication cycle every time the external signal is input. [EX_STATUS] EX_STATUS is allocated to OMN1 (Pn824) or OMN2 (Pn825). (Pn824 = 84h or Pn825 = 84h) L_SEQ_NO (D8-D11):The latch sequence signal number (≤...
  • Page 162 6.6 Latch Function 6.6.1 Continuous Latch by LT_REQ2 Bit  Setting Parameters Parameter Data Size Setting Factory Name Unit (Byte) Range Setting Digit Pn850 Number of Latch Sequences 0 to 8 – Pn851 Continuous Latch Sequence Count 0 to 255 –...

  • Page 163: Setting The Latching Allowable Area

    6.6 Latch Function 6.6.2 Setting the Latching Allowable Area 6.6.2 Setting the Latching Allowable Area Use the following parameters to set the latching allowable area. Data Size Factory Parameter Name Setting Range Unit (Byte) Setting –2147483648 to Reference Pn820 Forward Latching Area 2147483647 unit –2147483648 to...

  • Page 164: Acceleration/Deceleration Parameter High-Speed Switching Function

    6.7 Acceleration/Deceleration Parameter High-speed Switching Function Acceleration/Deceleration Parameter High-speed Switching Function This function switches all of the acceleration/deceleration parameters that are used for posi- tioning at the same time. Register the acceleration/deceleration parameter settings in a bank before starting operation, and specify bank selector BANK_SEL1 in the data field of the command to switch the acceler- ation/deceleration parameter settings to those of the registered bank.
  • Page 165 6.7 Acceleration/Deceleration Parameter High-speed Switching Function Continued from previous page. Data Size Factory Parameter Name Setting Range Unit (Byte) Setting 10000 reference Second Stage Linear Accelera- Pn836 1 to 20971520 tion Constant 2 units/s Acceleration Constant Switch- 0 to Pn838 Reference unit/s ing Speed 2 2097152000...
  • Page 166 6.7 Acceleration/Deceleration Parameter High-speed Switching Function • Setting Example 1: Switching three banks of members Pn80B, Pn80E, and Pn80C Pn900 = 3 Pn920 = 80Bh value Bank number Bank 0 Pn921 = 80Eh value Pn901 = 3 Member number Pn922 = 80Ch value Pn902 = 80Bh Member 1 Pn923 = 80Bh value...

  • Page 167: Detecting Alarms/Warnings Related To Communications Or Commands

    Detecting Alarms/ Warnings Related to Communications or Commands This chapter describes the alarms and warnings that may occur in MECHATROLINK-III communications. For alarms and warnings that are not described in this manual, refer to the applicable manual for design and maintenance of the SERVOPACK.

  • Page 168: Communication Related Alarms

    7.1 Communication Related Alarms Communication Related Alarms The table below shows the communication alarms that may occur in MECHATROLINK-III com- munications. If an error is found in the command or data that a SERVOPACK receives, the SERVOPACK returns the corresponding alarm code (in the COMM_ALM bit of the CMD_STAT field of the response).
  • Page 169 7.1 Communication Related Alarms Continued from previous page. Alarm in Response SERVOPACK Side Stop- Category Remedy COM- Alarm Alarm Name Meaning ping M_ALM Code Reset Method Check communication connections. Data reception errors occurred Take countermeasures twice consecutively after com- against noise. pleting the execution of the To recover from the alarm Zero-...
  • Page 170 7.1 Communication Related Alarms Continued from previous page. Alarm in Response SERVOPACK Side Stop- Category Remedy COM- Alarm Alarm Name Meaning ping M_ALM Code Reset Method Communica- Stop by tion LSI The initialization process of Replace the SERVO- Impos- dynamic A.b6A sible initialization...

  • Page 171: Warnings Related To Communication And Commands

    7.2 Warnings Related to Communication and Commands 7.2.1 Communication Errors (COMM_ALM) Warnings Related to Communication and Commands Warnings are divided into two categories, warnings related to data reception and procedures in MECHATROLINK-III communications and warnings related to the validity of commands. 7.2.1 Communication Errors (COMM_ALM) The table below shows the warnings related to procedures in MECHATROLINK-III communica-...

  • Page 172: Monitoring Communication Data On Occurrence Of An Alarm Or Warning

    7.2 Warnings Related to Communication and Commands 7.2.3 Monitoring Communication Data on Occurrence of an Alarm or Warning Continued from previous page. Alarm in Response SERVOPACK Side Warning Category Remark CMD_ Warning Meaning Remedy Code Code Reset The command sequence is incor- A.95A rect.

  • Page 173: Common Parameters

    Common Parameters Overview ......8-2 List of Common Parameters ... . 8-3 Common Parameters and Corresponding Device Parameters .

  • Page 174: Overview

    8.1 Overview Overview Common parameters are assigned common parameter numbers that are defined in the stan- dard servo profile and are independent of individual devices. The utilization of common param- eters means that parameters can be read or set without using parameter numbers or names specific to individual devices.

  • Page 175: List Of Common Parameters

    8.2 List of Common Parameters List of Common Parameters The following table lists the common MECHATROLINK-III parameters. These common parame- ters are used to make settings from the host controller via MECHATROLINK communications. Do not change the settings with the Digital Operator or any other device. Parameter Setting Unit Default...
  • Page 176 8.2 List of Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication Electronic Gear Ratio 1 to After – (Numerator) 1,073,741,824 restart PnA42 Electronic Gear Ratio 1 to After –...
  • Page 177 8.2 List of Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication Position Base Unit Selection (Set the value of n After from the following – restart PnA88 formula: Position unit selection (43 PnA86)
  • Page 178 8.2 List of Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication 1,000 to 0.001 Hz Immedi- Speed Loop Gain 40000 2,000,000 [0.1 Hz] ately PnAC2 1 μs Speed Loop Integral Immedi- 150 to 512,000...
  • Page 179 8.2 List of Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication Fixed Monitor Selec- Immedi- 0 to F – tion 2 ately 0000h to PnB10 The settings are the same as those for Fixed Monitor Selection 1. 000Fh SEL_MON (CMN1) Immedi-...
  • Page 180 8.2 List of Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication SEL_MON (CMN2) Immedi- 0 to 9 – Monitor Selection 2 ately 0000h to PnB14 The settings are the same as those for SEL_MON Monitor Selection 1. 0009h Origin Detection 1 reference...
  • Page 181 8.2 List of Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication Servo Status Field Enable/Disable 0FFF3F33 – – Selections (read only) Bit 0 CMD_PAUSE_CMP (1: Enabled) Bit 1 CMD_CANCEL_CMP (1: Enabled) Bit 2 and 3...
  • Page 182 8.2 List of Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication Input Bit Enable/Dis- FF0FFEFE able Selections (read – – – only) Bit 0 Reserved (0: Disabled). Bit 1 DEC (1: Enabled) Bit 2...

  • Page 183: Common Parameters And Corresponding Device Parameters

    8.3 Common Parameters and Corresponding Device Parameters Common Parameters and Corresponding Device Parameters Corresponding Common Category Meaning Device Parame- Remark Parameters Encoder Type – – Motor Type – – Semi-Closed/Fully-Closed Type – – Rated Speed – – Maximum Output Speed –...
  • Page 184 8.3 Common Parameters and Corresponding Device Parameters Continued from previous page. Corresponding Common Category Meaning Device Parame- Remark Parameters Exponential Acceleration/Deceleration Time Pn811 – Constant Movement Average Time Pn812 – EX_POS- External Positioning Final Travel Distance Pn814 ING, EX_- FEED Origin Approach Speed Pn817, Pn842 ZRET...

  • Page 185: Virtual Memory Space

    Virtual Memory Space Virtual Memory Space ....9-2 Information Allocated to Virtual Memory . . 9-3 9.2.1 ID Information Area ..... . . 9-3 9.2.2 Common Parameter Area .

  • Page 186: Virtual Memory Space

    9.1 Virtual Memory Space Virtual Memory Space The virtual memory space is the memory area that can be accessed by using the read memory command (MEM_RD: 1Dh) and write memory command (MEM_WR: 1Eh). By adopting the concept of virtual memory, the memory areas that vary among devices and vendors can be accessed at common addresses.

  • Page 187: Information Allocated To Virtual Memory

    9.2 Information Allocated to Virtual Memory 9.2.1 ID Information Area Information Allocated to Virtual Memory The ID information, common parameter and adjustment operation areas are allocated to virtual memory. 9.2.1 ID Information Area When accessing virtual memory using the MEM_RD or MEM_WR command, use virtual mem- ory addresses.

  • Page 188: Common Parameter Area

    9.2 Information Allocated to Virtual Memory 9.2.2 Common Parameter Area 9.2.2 Common Parameter Area When accessing virtual memory using the MEM_RD or MEM_WR command, use virtual mem- ory addresses. The address map is given below. Data in this area can also be read using the SVPRM_RD or SVPRM_WR command. For details, use the common parameter number from the following table and refer to the follow- ing section.

  • Page 189: Adjustment Operation Area

    9.2 Information Allocated to Virtual Memory 9.2.3 Adjustment Operation Area 9.2.3 Adjustment Operation Area Use the MEM_RD or MEM_WR command to access this area. The address map is given below. Refer to the following section for the command communications procedure for adjustment operations.
  • Page 190 Revision History The date of publication, revision number, and web revision number are given at the bottom right of the back cover. Refer to the following example. MANUAL NO. SIEP S800001 31A <1>-1 Web revision number Revision number Published in Japan February 2015 Date of publication Date of Rev.
  • Page 191 Phone: +81-4-2962-5151 Fax: +81-4-2962-6138 http://www.yaskawa.co.jp YASKAWA AMERICA, INC. 2121, Norman Drive South, Waukegan, IL 60085, U.S.A. Phone: +1-800-YASKAWA (927-5292) or +1-847-887-7000 Fax: +1-847-887-7310 http://www.yaskawa.com YASKAWA ELÉTRICO DO BRASIL LTDA. 777, Avenida Piraporinha, Diadema, São Paulo, 09950-000, Brasil Phone: +55-11-3585-1100 Fax: +55-11-3585-1187 http://www.yaskawa.com.br...

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