YASKAWA SGDV-OCA04A Manuals

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YASKAWA SGDV-OCA04A Product Manual

YASKAWA SGDV-OCA04A Product Manual (576 pages)

E-7-series

Brand: YASKAWA | Category: Servo Drives | Size: 10.73 MB

Table of Contents

About this Manual
3
Outline of Manual
3
Related Documents
4
Using this Manual
11
Safety Precautions
14
Warranty
24
Compliance with UL Standards, EU Directives, and Other Safety Standards
26
- Table of Contents
  29
- Actual Operation
  34
Basic Information
40
The Σ-7 Series
42
Introduction to the Devicenet Module
43
- Devicenet Terminology
  43
- Data Types
  43
Interpreting the Nameplate
44
- SERVOPACK Nameplate
  44
- Devicenet Module Nameplate
  44
Part Names
45
Interpreting Panel Displays
47
- Panel Displays
  47
- LED Indicators
  48
Model Designations
49
Combinations of Servopacks and Servomotors
52
- Combinations of Rotary Servomotors and Servopacks
  52
- Combinations of Direct Drive Servomotors and Servopacks
  53
Combinations of Direct Drive Servomotors and Servopacks
54
Combinations of Linear Servomotors and Servopacks
56
Functions
57
- Selecting a SERVOPACK
  59
  - Ratings
    60
  - Devicenet Module Power Loss
    63
  - SERVOPACK Overload Protection Characteristics
    64
  - Specifications
    65
Block Diagrams
69
- SGD7S-R70A, -R90A, and -1R6A
  69
- Sgd7S-2R8A
  69
- SGD7S-3R8A, -5R5A, and -7R6A
  70
- Sgd7S-120A
  71
- SGD7S-180A and -200A
  73
- Sgd7S-330A
  74
- SGD7S-470A and -550A
  75
- SGD7S-590A and -780A
  76
- SGD7S-R70F, -R90F, and -2R1F
  77
- Sgd7S-2R8F
  77
External Dimensions
78
Examples of Standard Connections between Servopacks and Peripheral Devices
85
- Installation
  87
Installation Precautions
88
Mounting the Devicenet Module to the SERVOPACK
89
Mounting Types and Orientation
90
Mounting Hole Dimensions
91
Mounting Interval
92
- Installing One SERVOPACK in a Control Panel
  92
- Installing more than One SERVOPACK in a Control Panel
  92
Monitoring the Installation Environment
93
EMC Installation Conditions
94
Wiring and Connections
97
Wiring and Connecting Servopacks
99
- General Precautions
  99
- Countermeasures against Noise
  102
- Grounding
  105
Wiring the Power Supply to the SERVOPACK
107
- Terminal Symbols and Terminal Names
  107
- Wiring Procedure for Main Circuit Connector
  110
- Power on Sequence
  111
- Power Supply Wiring Diagrams
  112
- Wiring Regenerative Resistors
  118
- Wiring Reactors for Harmonic Suppression
  120
Wiring Servomotors
121
- Terminal Symbols and Terminal Names
  121
- Pin Arrangement of Encoder Connector (CN2)
  121
- Wiring the SERVOPACK to the Encoder
  122
- Wiring the SERVOPACK to the Holding Brake
  128
- I/O Signal Connector (CN1) Pin Arrangement
  130
- I/O Signal Wiring Examples
  130
- I/O Signal Connections
  130
- I/O Circuits
  132
Connecting Safety Function Signals
134
- Pin Arrangement of Safety Function Signals (CN8)
  134
- I/O Circuits
  134
- Pin Arrangement of Safety Function Signals
  134
- Cn8
  134
Devicenet System Configuration
136
Connecting the Other Connectors
143
Manipulating Parameters (Pn)
146
- Parameter Classification
  146
- Notation for Parameters
  147
- Parameter Setting Methods
  148
- Write Prohibition Setting for Parameters
  151
- Initializing Parameter Settings
  153
- Managing Parameters (Pn)
  155
Power Supply Type Settings for the Main Circuit and Control Circuit
156
- AC Power Supply Input/DC Power Supply Input Setting
  156
- Single-Phase AC Power Supply Input/Three-Phase AC Power Supply Input Setting
  157
Automatic Detection of Connected Motor
158
Motor Direction Setting
159
Setting the Linear Encoder Pitch
160
Writing Linear Servomotor Parameters
161
Selecting the Phase Sequence for a Linear Servomotor
165
Polarity Sensor Setting
167
Polarity Detection
168
Overtravel and Related Settings
171
- Overtravel Signals
  171
- Setting to Enable/Disable Overtravel
  172
- Setting Overtravel Signal Polarity
  172
- Motor Stopping Method for Overtravel
  172
Holding Brake
173
Motor Stopping Method for Servo off and Alarms
177
- Stopping Method for Servo off
  178
- Servomotor Stopping Method for Alarms
  178
Motor Overload Detection Level
181
Electronic Gear Settings
183
Resetting the Absolute Encoder
189
- Precautions on Resetting
  189
- Preparations
  189
- Applicable Tools
  190
- Operating Procedure
  190
Setting the Origin of the Absolute Encoder
192
- Absolute Encoder Origin Offset
  192
- Setting the Origin of the Absolute Linear Encoder
  192
Setting the Regenerative Resistor Capacity
195
- Application Functions
  196
- Input Signals
  198
- Output Signals
  198
SEMI F47 Function
201
Setting the Motor Maximum Speed
203
Encoder Divided Pulse Output
203
- Encoder Divided Pulse Output
  204
  - Setting for the Encoder Divided Pulse Output
    209
  - Setting for the Encoder Divided Pulse Output
    210
Software Limits
211
Internal Torque Limits
212
Absolute Encoders
213
Absolute Linear Encoders
218
- Connecting an Absolute Linear Encoder
  218
Software Reset
219
- Preparations
  219
- Applicable Tools
  219
- Operating Procedure
  219
Initializing the Vibration Detection Level
221
- Preparations
  221
- Applicable Tools
  222
- Operating Procedure
  222
- Related Parameters
  224
Adjusting the Motor Current Detection Signal Offset
225
- Automatic Adjustment
  225
- Manual Adjustment
  227
External Stop Function
229
Overheat Protection
230
- Connecting the Overheat Protection Input (TH) Signal
  230
- Overheat Protection Selection
  230
- Connecting the Overheat Protection Input
  230
- (TH) Signal
  230
- Trial Operation and
  232
Flow of Trial Operation
233
- Flow of Trial Operation for Rotary Servomotors
  233
Inspections and Confirmations before Trial Operation
237
Trial Operation for the Servomotor Without a Load
238
- Preparations
  238
- Applicable Tools
  239
- Operating Procedure
  239
Trial Operation with Devicenet Communications
241
Trial Operation with the Servomotor Connected to the Machine
242
- Precautions
  242
- Preparations
  242
- Operating Procedure
  243
Convenient Function to Use During Trial Operation
244
- Program Jogging
  244
- Origin Search
  250
- Test Without a Motor
  252
- Monitoring
  255
- Tuning
  256
Overview and Flow of Tuning
259
- Tuning Functions
  260
- Diagnostic Tool
  260
Monitoring Methods
261
Precautions to Ensure Safe Tuning
262
Tuning-Less Function
266
- Application Restrictions
  266
- Operating Procedure
  267
- Parameters Disabled by Tuning-Less Function
  269
- Automatically Adjusted Function Setting
  269
- Related Parameters
  269
Estimating the Moment of Inertia
270
- Outline
  270
- Restrictions
  271
- Applicable Tools
  271
- Operating Procedure
  272
Autotuning Without Host Reference
278
- Outline
  278
- Restrictions
  279
- Applicable Tools
  280
- Operating Procedure
  280
- Troubleshooting Problems in Autotuning Without a Host Reference
  284
- Automatically Adjusted Function Settings
  286
- Related Parameters
  288
Autotuning with a Host Reference
289
- Outline
  289
- Restrictions
  290
- Applicable Tools
  290
- Operating Procedure
  291
- Troubleshooting Problems in Autotuning with a Host Reference
  295
- Automatically Adjusted Function Settings
  295
- Related Parameters
  296
Custom Tuning
297
- Outline
  297
- Preparations
  297
- Applicable Tools
  298
- Operating Procedure
  298
- Automatically Adjusted Function Settings
  304
- Tuning Example for Tuning Mode 2 or 3
  304
- Related Parameters
  305
Anti-Resonance Control Adjustment
306
- Outline
  306
- Preparations
  306
- Applicable Tools
  307
- Operating Procedure
  307
- Related Parameters
  309
- Suppressing Different Vibration Frequencies with Anti-Resonance Control
  309
Vibration Suppression
311
- Outline
  311
- Preparations
  312
- Applicable Tools
  312
- Operating Procedure
  312
- Related Parameters
  314
Speed Ripple Compensation
315
- Outline
  315
- Setting up Speed Ripple Compensation
  315
- Setting Parameters
  319
Additional Adjustment Functions
322
- Automatic Gain Switching
  322
- Automatic Gain Switching
  323
- Friction Compensation
  324
- Gravity Compensation
  326
- Current Control Mode Selection
  328
- Current Gain Level Setting
  328
- Speed Detection Method Selection
  329
- Speed Feedback Filter
  329
- Backlash Compensation
  329
- Fully-Closed Loop Control
  330
Manual Tuning
334
- Tuning the Servo Gains
  334
- Compatible Adjustment Functions
  344
Diagnostic Tools
348
- Mechanical Analysis
  348
- Easy FFT
  350
Monitoring Product Information
355
- Items that You Can Monitor
  355
- Operating Procedures
  355
Monitoring SERVOPACK Status
356
- System Monitor
  356
- Monitoring Status and Operations
  357
- I/O Signal Monitor
  359
Monitoring Machine Operation Status and Signal Waveforms
360
- Items that You Can Monitor
  360
- Using the Sigmawin
  361
- Using the Analog Monitors
  363
Monitoring Product Life
367
- Items that You Can Monitor
  367
- Operating Procedure
  368
- Preventative Maintenance
  368
Alarm Tracing
369
- Data for Which Alarm Tracing Is Performed
  369
- Applicable Tools
  369
Fully-Closed System
371
SERVOPACK Commissioning Procedure
372
Parameter Settings for Fully-Closed Loop Control
374
Introduction to the Safety Functions
380
- Safety Functions
  380
- Precautions for Safety Functions
  380
Hard Wire Base Block (HWBB)
381
- Risk Assessment
  381
- Hard Wire Base Block (HWBB) State
  382
- Resetting the HWBB State
  383
- Detecting Errors in HWBB Signal
  383
- HWBB Input Signal Specifications
  384
- Operation Without a Host Controller
  384
- Servo Ready
  385
- BK (Brake Output) Signal
  385
- Stopping Methods
  386
- ALM (Servo Alarm) Signal
  386
EDM1 (External Device Monitor)
387
- EDM1 Output Signal Specifications
  387
Applications Examples for Safety Functions
388
- Connection Example
  388
- Failure Detection Method
  388
- Procedure
  389
Validating Safety Functions
390
Connecting a Safety Function Device
391
Devicenet Functions
392
Setting the Coordinate System
393
- Coordinate System Selection
  393
- Setting the Reference Units Per Machine Revolution
  393
Origin Returns
394
- Origin Return Type
  394
- Parameter Settings
  394
- Setting the Origin
  396
Positioning
397
- Acceleration/Deceleration Patterns
  397
- Parameter Settings
  402
Positioning after Continuous Operation
404
- Positioning Patterns after Continuous Operation
  404
- Parameter Settings
  405
Special Functions
407
- Action Definition Settings
  407
- Initialization Functions
  408
- Devicenet Communications
  409
Devicenet Communications Settings
411
- Setting the Node Address
  411
- Setting the Baud Rate
  412
Communications Methods
413
- I/O Communications
  413
- Explicit Message Communications
  419
Controlling Operation from the Host Controller
421
- Positioning
  421
- Continuous Operation
  422
- Origin Returns
  423
- Switching to Positioning
  426
- Hard Stop Operation
  428
- Smooth Stop Operation
  429
- External Stop Operation
  429
- Hardware Limit Operation
  430
- Software Limit Operation
  430
Programmed Operation
431
- What Is Programmed Operation
  431
- Command Blocks
  431
- Block Command Details
  432
- Command Block Links
  436
- Creating and Changing Command Blocks
  436
- Starting Programmed Operation
  438
Reading and Changing Attributes
439
- Devicenet Data Management
  439
- Executing a Module Reset
  441
- Maintenance
  442
Inspections and Part Replacement
443
- Inspections
  443
- Guidelines for Part Replacement
  443
- Replacing the Battery
  444
Alarm Displays
446
- List of Alarms
  447
- Troubleshooting Alarms
  452
- Resetting Alarms
  484
- Displaying the Alarm History
  485
- Clearing the Alarm History
  486
- Resetting Alarms Detected in Option Modules
  487
- Resetting Motor Type Alarms
  489
Warning Displays
490
- List of Warnings
  490
- Troubleshooting Warnings
  491
Troubleshooting Based on the Operation and Conditions of the Servomotor
497
- Parameter Lists
  507
List of Parameters
508
- Interpreting the Parameter Lists
  508
- List of Parameters
  509
Parameter Recording Table
532
- Appendices
  540
Corresponding SERVOPACK and Sigmawin+ Function Names
541
- Corresponding SERVOPACK Utility Function Names
  541
- Corresponding SERVOPACK Monitor Display Function Names
  542
Devicenet Object Model
544
Devicenet Attributes
546
- Identity Object
  546
- Message Router Object
  546
- Devicenet Object
  547
- Assembly Objects
  548
- Connection Objects
  548
- Position Controller Supervisor Object
  550
- Position Controller Object
  551
- Block Sequencer Object
  553
- Command Block Objects
  554
- Control Parameter Object
  555
- SERVOPACK Parameter Object
  556
Relationship between Parameters and Attributes
562
Relation between Alarm Codes and Alarm Numbers
567

Advertisement

YASKAWA SGDV-OCA04A Product Manual

YASKAWA SGDV-OCA04A Product Manual (558 pages)

E-7-Series AC Servo Drive, E-7S SERVOPACK, Command Option Attachable Type with DeviceNet Module

Brand: YASKAWA | Category: Controller | Size: 36.41 MB

Table of Contents

Table of Contents
25
Actual Operation
30
Basic Information
36
The Σ-7 Series
38
Introduction to the Devicenet Module
39
- Devicenet Terminology
  39
- Data Types
  39
Interpreting the Nameplate
40
- SERVOPACK Nameplate
  40
- Devicenet Module Nameplate
  40
Part Names
41
Interpreting Panel Displays
43
- Panel Displays
  43
- LED Indicators
  44
Model Designations
45
Combinations of Servopacks and Servomotors
48
Functions
52
- Selecting a SERVOPACK
  54
Ratings and Specifications
55
- Ratings
  55
- Devicenet Module Power Loss
  57
- SERVOPACK Overload Protection Characteristics
  58
- Specifications
  59
Block Diagrams
63
- SGD7S-R70A, -R90A, and -1R6A
  63
- Sgd7S-2R8A
  63
- SGD7S-3R8A, -5R5A, and -7R6A
  64
- Sgd7S-120A
  65
- SGD7S-180A and -200A
  67
- Sgd7S-330A
  68
- SGD7S-470A and -550A
  69
- SGD7S-590A and -780A
  70
- SGD7S-R70F, -R90F, and -1R6F
  71
- Sgd7S-2R8F
  71
External Dimensions
72
Examples of Standard Connections between Servopacks and Peripheral Devices
79
- Installation
  81
Installation Precautions
82
Mounting the Devicenet Module to the SERVOPACK
83
Mounting Types and Orientation
84
Mounting Hole Dimensions
85
Mounting Interval
86
- Installing One SERVOPACK in a Control Panel
  86
- Installing more than One SERVOPACK in a Control Panel
  86
Monitoring the Installation Environment
87
EMC Installation Conditions
88
- Wiring and Connections
  89
Wiring and Connecting Servopacks
91
- General Precautions
  91
- Countermeasures against Noise
  94
- Grounding
  97
Basic Wiring Diagrams
98
Wiring the Power Supply to the SERVOPACK
99
Wiring Servomotors
112
I/O Signal Connections
120
Connecting Safety Function Signals
125
- Pin Arrangement of Safety Function Signals (CN8)
  125
- I/O Circuits
  125
- Pin Arrangement of Safety Function Signals
  125
- Cn8
  125
Devicenet System Configuration
127
Connecting the Other Connectors
134
Manipulating Parameters (Pn)
137
- Parameter Classification
  137
- Notation for Parameters
  138
- Parameter Setting Methods
  139
- Write Prohibition Setting for Parameters
  142
- Initializing Parameter Settings
  144
- Initializing Parameter Settings
  145
- Managing Parameters (Pn)
  146
Power Supply Type Settings for the Main Circuit and Control Circuit
148
- AC Power Supply Input/DC Power Supply Input Setting
  148
- Single-Phase AC Power Supply Input/Three-Phase AC Power Supply Input Setting
  149
Automatic Detection of Connected Motor
150
Motor Direction Setting
151
Setting the Linear Encoder Pitch
152
Writing Linear Servomotor Parameters
153
Selecting the Phase Sequence for a Linear Servomotor
157
Polarity Sensor Setting
159
Polarity Detection
160
Overtravel and Related Settings
163
- Overtravel Signals
  163
- Setting to Enable/Disable Overtravel
  164
- Setting Overtravel Signal Polarity
  164
- Motor Stopping Method for Overtravel
  164
Holding Brake
165
Motor Stopping Method for Servo off and Alarms
169
- Stopping Method for Servo off
  170
- Servomotor Stopping Method for Alarms
  170
Motor Overload Detection Level
173
Electronic Gear Settings
175
Resetting the Absolute Encoder
180
- Precautions on Resetting
  180
- Preparations
  180
- Applicable Tools
  181
- Operating Procedure
  181
Setting the Origin of the Absolute Encoder
183
- Absolute Encoder Origin Offset
  183
- Setting the Origin of the Absolute Linear Encoder
  183
Setting the Regenerative Resistor Capacity
186
Application Functions
187
I/O Signal Descriptions
189
- Input Signals
  189
- Output Signals
  189
- I/O Signal Descriptions
  190
- Output Signals
  190
Operation for Momentary Power Interruptions
191
SEMI F47 Function
192
Setting the Motor Maximum Speed
194
Encoder Divided Pulse Output
195
Software Limits
202
Internal Torque Limits
203
Absolute Encoders
204
Absolute Linear Encoders
209
- Connecting an Absolute Linear Encoder
  209
Software Reset
210
- Preparations
  210
- Applicable Tools
  210
- Operating Procedure
  210
Initializing the Vibration Detection Level
212
- Preparations
  212
- Applicable Tools
  212
- Operating Procedure
  213
- Related Parameters
  214
Adjusting the Motor Current Detection Signal Offset
215
- Automatic Adjustment
  215
- Manual Adjustment
  216
External Stop Function
219
Flow of Trial Operation
221
- Flow of Trial Operation for Rotary Servomotors
  221
- Flow of Trial Operation for Linear Servomotors
  222
Inspections and Confirmations before Trial Operation
224
Trial Operation for the Servomotor Without a Load
225
- Preparations
  225
- Applicable Tools
  226
- Operating Procedure
  226
Trial Operation with Devicenet Communications
228
Trial Operation with the Servomotor Connected to the Machine
229
- Precautions
  229
- Preparations
  229
- Operating Procedure
  230
Convenient Function to Use During Trial Operation
231
- Program Jogging
  231
- Origin Search
  236
- Test Without a Motor
  238
- Monitoring
  241
- Tuning
  242
Overview and Flow of Tuning
245
- Tuning Functions
  246
- Diagnostic Tool
  246
Monitoring Methods
247
Precautions to Ensure Safe Tuning
248
Tuning-Less Function
252
- Application Restrictions
  252
- Operating Procedure
  253
- Troubleshooting Alarms
  254
- Parameters Disabled by Tuning-Less Function
  255
- Automatically Adjusted Function Setting
  255
- Related Parameters
  255
Estimating the Moment of Inertia
256
- Outline
  256
- Restrictions
  257
- Applicable Tools
  257
- Operating Procedure
  258
Autotuning Without Host Reference
264
- Outline
  264
- Restrictions
  265
- Applicable Tools
  266
- Operating Procedure
  266
- Troubleshooting Problems in Autotuning Without a Host Reference
  270
- Automatically Adjusted Function Settings
  272
- Related Parameters
  274
Autotuning with a Host Reference
275
- Outline
  275
- Restrictions
  276
- Applicable Tools
  276
- Operating Procedure
  277
- Troubleshooting Problems in Autotuning with a Host Reference
  281
- Automatically Adjusted Function Settings
  281
- Related Parameters
  282
Custom Tuning
283
- Outline
  283
- Preparations
  283
- Applicable Tools
  284
- Operating Procedure
  284
- Automatically Adjusted Function Settings
  290
- Tuning Example for Tuning Mode 2 or 3
  290
- Related Parameters
  291
Anti-Resonance Control Adjustment
292
- Outline
  292
- Preparations
  292
- Applicable Tools
  293
- Operating Procedure
  293
- Related Parameters
  295
- Suppressing Different Vibration Frequencies with Anti-Resonance Control
  295
Vibration Suppression
297
- Outline
  297
- Preparations
  298
- Applicable Tools
  298
- Operating Procedure
  298
- Related Parameters
  300
Speed Ripple Compensation
301
- Outline
  301
- Setting up Speed Ripple Compensation
  301
- Setting Parameters
  305
Additional Adjustment Functions
308
- Automatic Gain Switching
  308
- Additional Adjustment Functions
  309
- Automatic Gain Switching
  309
- Friction Compensation
  309
- Friction Compensation
  310
- Current Control Mode Selection
  312
- Current Gain Level Setting
  312
- Speed Detection Method Selection
  312
- Speed Feedback Filter
  313
- Backlash Compensation
  313
Manual Tuning
318
- Tuning the Servo Gains
  318
- Compatible Adjustment Functions
  328
Diagnostic Tools
332
- Mechanical Analysis
  332
- Easy FFT
  334
Monitoring Product Information
339
- Items that You Can Monitor
  339
- Operating Procedures
  339
Monitoring SERVOPACK Status
340
- System Monitor
  340
- Monitoring Status and Operations
  340
- I/O Signal Monitor
  342
Monitoring Machine Operation Status and Signal Waveforms
343
- Items that You Can Monitor
  343
- Using the Sigmawin
  344
- Using a Measuring Instrument
  346
- Using a Measuring Instrument
  348
Monitoring Product Life
351
- Items that You Can Monitor
  351
- Operating Procedure
  352
- Preventative Maintenance
  353
Alarm Tracing
354
- Data for Which Alarm Tracing Is Performed
  354
- Applicable Tools
  354
- Fully-Closed Loop Control
  355
Fully-Closed System
356
SERVOPACK Commissioning Procedure
357
Parameter Settings for Fully-Closed Loop Control
359
Introduction to the Safety Functions
365
- Safety Functions
  365
- Precautions for Safety Functions
  365
Hard Wire Base Block (HWBB)
366
- Risk Assessment
  366
- Hard Wire Base Block (HWBB) State
  367
- Resetting the HWBB State
  368
- Detecting Errors in HWBB Signal
  368
- HWBB Input Signal Specifications
  369
- Operation Without a Host Controller
  369
- Servo Ready
  370
- BK (Brake Output) Signal
  370
- Stopping Methods
  371
- ALM (Servo Alarm) Signal
  371
EDM1 (External Device Monitor)
372
- EDM1 Output Signal Specifications
  372
Applications Examples for Safety Functions
373
- Connection Example
  373
- Failure Detection Method
  373
- Procedure
  374
Validating Safety Functions
375
Connecting a Safety Function Device
376
- Devicenet Functions
  377
Setting the Coordinate System
378
- Coordinate System Selection
  378
- Setting the Reference Units Per Machine Revolution
  378
- Revolution
  378
Origin Returns
379
- Origin Return Type
  379
- Parameter Settings
  379
- Setting the Origin
  381
Positioning
382
- Acceleration/Deceleration Patterns
  382
- Parameter Settings
  386
Positioning after Continuous Operation
389
- Positioning Patterns after Continuous Operation
  389
- Parameter Settings
  390
Special Functions
392
- Action Definition Settings
  392
- Initialization Functions
  393
- Devicenet Communications
  394
Devicenet Communications Settings
396
- Setting the Node Address
  396
- Setting the Baud Rate
  397
Communications Methods
398
- I/O Communications
  398
- Explicit Message Communications
  404
Controlling Operation from the Host Controller
406
- Positioning
  406
- Continuous Operation
  407
- Origin Returns
  408
- Switching to Positioning
  411
- Hard Stop Operation
  413
- Smooth Stop Operation
  414
- External Stop Operation
  414
- Hardware Limit Operation
  415
- Software Limit Operation
  415
Programmed Operation
416
- What Is Programmed Operation
  416
- Command Blocks
  416
- Block Command Details
  417
- Command Block Links
  421
- Creating and Changing Command Blocks
  421
- Creating and Changing Command Blocks
  422
- Starting Programmed Operation
  423
Reading and Changing Attributes
424
- Devicenet Data Management
  424
- Executing a Module Reset
  426
- Maintenance
  427
Inspections and Part Replacement
428
- Inspections
  428
- Guidelines for Part Replacement
  428
- Replacing the Battery
  429
Alarm Displays
431
- List of Alarms
  431
- List of Alarms
  432
- Troubleshooting Alarms
  437
- Resetting Alarms
  468
- Displaying the Alarm History
  468
- Clearing the Alarm History
  469
- Resetting Alarms Detected in Option Modules
  470
- Resetting Motor Type Alarms
  472
Warning Displays
473
- List of Warnings
  473
- Troubleshooting Warnings
  474
Troubleshooting Based on the Operation and Conditions of the Servomotor
480
- Parameter Lists
  489
List of Parameters
490
- Interpreting the Parameter Lists
  490
- List of Parameters
  491
Parameter Recording Table
514
- Appendices
  522
Corresponding SERVOPACK and Sigmawin+ Function Names
523
- Corresponding SERVOPACK Utility Function Names
  523
- Corresponding SERVOPACK Monitor Display Function Names
  524
Devicenet Object Model
526
Devicenet Attributes
528
- Identity Object
  528
- Message Router Object
  528
- Devicenet Object
  529
- Assembly Objects
  530
- Connection Objects
  530
- Position Controller Supervisor Object
  532
- Position Controller Object
  533
- Block Sequencer Object
  535
- Command Block Objects
  536
- Control Parameter Object
  537
- SERVOPACK Parameter Object
  538
Relationship between Parameters and Attributes
544
Relation between Alarm Codes and Alarm Numbers
549

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