YASKAWA MP2000 Series User Manual
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YASKAWA MP2000 Series User Manual

YASKAWA MP2000 Series User Manual

Built-in motion module. machine controller
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Table of Contents

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Machine Controller MP2000 Series
Built-in SVB/SVB-01
Motion Module
USER'S MANUAL
Model: JAPMC-MC2100(-E), JEPMC-MP2400-E
JAPMC-MC2102-E, JEPMC-MP2500-A to C
JAPMC-MC2140(-E), JEPMC-MP2540-A to C
JAPMC-MC2142-E, JEPMC-MP2500-D
JEPMC-MP2300(-E), JEPMC-MP2540-D
JEPMC-MP2300S-E, JAPMC-MC2310(-E)
JEPMC-MP2310-E
MANUAL NO. SIEP C880700 33H
SVB-01
RUN
ERR
TX
Self-configuration and Created Definition Files
M/S
SIZE
SPD
OFF
ON
× 10
× 1
M-I/II
CN1
Switching Commands during Execution
CN2
Settings and Installation
Motion Parameters
Motion Parameter Setting Examples
Motion Commands
Control Block Diagrams
Absolute Position Detection
Settings for Connecting Inverters
Utility Functions
Troubleshooting
Appendices
1
Overview
2
3
4
5
6
7
8
9
10
11
12
App

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Summary of Contents for YASKAWA MP2000 Series

  • Page 1 Machine Controller MP2000 Series Built-in SVB/SVB-01 Motion Module USER’S MANUAL Model: JAPMC-MC2100(-E), JEPMC-MP2400-E JAPMC-MC2102-E, JEPMC-MP2500-A to C JAPMC-MC2140(-E), JEPMC-MP2540-A to C JAPMC-MC2142-E, JEPMC-MP2500-D JEPMC-MP2300(-E), JEPMC-MP2540-D JEPMC-MP2300S-E, JAPMC-MC2310(-E) JEPMC-MP2310-E Overview SVB-01 Settings and Installation Self-configuration and Created Definition Files SIZE Motion Parameters ×...
  • Page 2 Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice.
  • Page 3 Using this Manual Read this manual to ensure correct usage of the MP2000-series Machine Controller (hereinafter referred to as Machine Controller unless otherwise specified) and the SVB-01 Module. Keep this manual in a safe place so that it can be referred to whenever necessary.
  • Page 4 SIEP C880752 00 MP2500D, and MP2500MD Machine Controllers. User’s Manual Provides the information on the Communication Machine Controller MP2000 Series Module that can be connected to MP2000 series Communication Module SIEP C880700 04 Machine Controller and the communication meth- User’s Manual ods.
  • Page 5 Linear Servomotors. Machine Controller MP900/MP2000 Series Describes the programming instructions of the New New Ladder Editor SIEZ-C887-13.1 Ladder Editor, which assists MP900/MP2000 series Programming Manual design and maintenance. Machine Controller MP900/MP2000 Series Describes the operating methods of the New Ladder New Ladder Editor SIEZ-C887-13.2...

  • Page 6: Safety Information

    Safety Information The following conventions are used to indicate precautions in this manual. These precautions are provided to ensure the safe operation of the MP2000-series Machine Controller and connected devices. Information marked as shown below is important for the safety of the user. Always read this information and heed the precautions that are provided. The conventions are as follows: Indicates precautions that, if not heeded, could possibly result in loss of life, serious inju- WARNING...

  • Page 7: Safety Precautions

    Safety Precautions The following precautions are for checking products on delivery, storage, transportation, installation, wiring, operation, inspection, and disposal. These precautions are important and must be observed.  General Precautions WARNING  Before connecting the machine and starting operation, ensure that an emergency stop procedure has been provided and is working correctly.
  • Page 8  Installation CAUTION  Never use the Machine Controller in locations subject to water, corrosive atmospheres, or flammable gas, or near burnable objects. There is a risk of electrical shock or fire.  Do not step on the Machine Controller or place heavy objects on the Machine Controller. There is a risk of injury.
  • Page 9  The drawings presented in this manual are typical examples and may not match the product you received.  If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the offices listed on the back of this manual.
  • Page 10 6. Events for which Yaskawa is not responsible, such as natural or human-made disasters ( 2 ) Limitations of Liability 1. 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 11 1. 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. 2. The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer.
  • Page 12 Contents Using this Manual- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vi Safety Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vii Warranty - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - x...
  • Page 13 4.3.3 Monitoring Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-14 4.4 MP2000 Series Machine Controller Parameter Details - - - - - - - - - - - - - - - - - - 4-18 4.4.1 Motion Fixed Parameter Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-18...
  • Page 14 6.2.24 Phase References (PHASE) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-90 6.2.25 Change Position Loop Integral Time Constant (KIS)- - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-94 6.2.26 Stored Parameter Write (PPRM_WR) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-96 6.2.27 Multiturn Limit Setting (MLTTRN_SET) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-98...
  • Page 15 9 Absolute Position Detection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-1 9.1 Absolute Position Detection Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2 9.1.1 Outline of the Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2 9.1.2 Reading Absolute Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2...
  • Page 16 11 Utility Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-1 11.1 Controlling Vertical Axes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-3 11.1.1 Holding Brake Function of the SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-3 11.1.2 Connections to Σ-II Series SGDH SERVOPACKs, Σ-III Series SGDS SERVOPACKs,...
  • Page 17 12.1.1 Basic Flow of Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-2 12.1.2 MP2000 Series Machine Controller Error Check Flowchart - - - - - - - - - - - - - - - - - - - - - - - 12-3 12.1.3 LED Indicators (MP2200/MP2300) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-4...

  • Page 18: Revision History

    Appendix H Wild Card Servos - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-35 H.1 Required Firmware and Engineering Tool Versions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-35 H.2 Applicable Communication Methods and Cycles - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-35 H.3 Link Assignment - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-36...
  • Page 19 Overview This chapter provides an overview and the features of the SVB Module. 1.1 SVB Module Overview and Features - - - - - - - - - - - - - - - - - - - - - - - - - - -1-2 1.1.1 SVB Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 1.1.2 Built-in SVB and Slot-mounting Optional SVB - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 1.1.3 Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2...
  • Page 20 1.1 SVB Module Overview and Features 1.1.1 SVB Modules 1.1 SVB Module Overview and Features 1.1.1 SVB Modules The SVB Module is a motion module used to control SERVOPACKs, stepping motor drivers, inverters, distributed I/O devices, etc. via MECHATROLINK interface MECHATROLINK-I or -II. The MECHATROLINK-II enables position, speed, torque, and phase control for highly accurate synchronized control.
  • Page 21 1.1 SVB Module Overview and Features 1.1.4 System Configuration Example 1.1.4 System Configuration Example The following diagram shows a system configuration example. MP2300 SVB-01 218IF LIO-01 24-VDC power External I/O supply Control panel External I/O RS-232C MECHATROLINK-II MPE720 Ethernet MECHATROLINK- Servos compatible I/O Modules MECHATROLINK-II...
  • Page 22 1.1 SVB Module Overview and Features 1.1.5 Devices Connectable to MECHATROLINK 1.1.5 Devices Connectable to MECHATROLINK The devices that are compatible with MECHATROLINK and can be connected to the SVB Module are listed below. ( 1 ) SERVOPACKs and Inverters The following table shows SERVOPACKs that are compatible with MECHATROLINK and can be connected to the SVB Module.
  • Page 23 1.1 SVB Module Overview and Features 1.1.5 Devices Connectable to MECHATROLINK (cont’d) Model Number Details MECHATROLINK-I MECHATROLINK-II 64-point I/O Module JEPMC-IO2310 24 VDC, 64 inputs, 64 outputs (sink) 64-point I/O Module JEPMC-IO2330 24 VDC, 64 inputs, 64 outputs (source) Counter Module JEPMC-PL2900 Reversible counter, 2 channels Pulse Output Module...
  • Page 24 1.1 SVB Module Overview and Features 1.1.5 Devices Connectable to MECHATROLINK (cont’d) Name and Specification Model Number Length 0.5m JEPMC-W6011-A5 JEPMC-W6011-01 MECHATROLINK Cable JEPMC-W6011-03 MECHATROLINK Connector – Loose Wire JEPMC-W6011-05 10 m JEPMC-W6011-10 20 m JEPMC-W6011-20 30 m JEPMC-W6011-30 40 m JEPMC-W6011-40 50 m JEPMC-W6011-50...
  • Page 25 1.1 SVB Module Overview and Features 1.1.6 Synchronization between Modules 1.1.6 Synchronization between Modules ( 1 ) Overview MP2200 and MP2300 Machine Controllers have a function that can synchronize hardware between the CPU and an optional module. This function enables MECHATROLINK communications in synchronization with high-speed scans. As a result, synchronization between a built-in SVB Module and an SVB-01 Module, or among multiple SVB-01 Mod- ules, can be enabled.
  • Page 26 1.1 SVB Module Overview and Features 1.1.6 Synchronization between Modules ( 4 ) Operation when High-speed Scan Cycle Is Changed MECHATROLINK communication with SVB Modules will continue even if the high-speed scan cycle is changed. However, the speed waveform at execution of interpolation command will be disordered. When changing the high- speed scan cycle, do so either with the CPU stopped or when motion command are not being executed.

  • Page 27: Specifications

    1.2 Specifications 1.2.1 SVB-01 Module Hardware Specifications 1.2 Specifications 1.2.1 SVB-01 Module Hardware Specifications Item Specifications Description SVB-01 Model Number JAPMC-MC2310 LED indicators DIP switch SVB-01 Rotary switches (For station address setting) SIZE MECHATROLINK Module Appearance connector M-I/II MECHATROLINK connector Max.
  • Page 28 1.2 Specifications 1.2.2 Specifications of SVB Module (cont’d) Item Specifications Mass 80 g  For more information on the hardware specifications for the built-in SVB Module, refer to the manual for your machine controller. 1.2.2 Specifications of SVB Module This section describes the specifications of the built-in and the optional SVB modules are as follows. ( 1 ) Motion Control Function Item Details...
  • Page 29 1.2 Specifications 1.2.2 Specifications of SVB Module (cont'd) Item Details Single-send (communication cycle = transmission cycle) synchronous communication Transmission/communication error detection (hardware) provided. Communication Method Synchronous communication error detection (software) provided. Automatic recovery function not provided (recovery when alarm is cleared). I/O Registers Input/output using motion registers (synchronized on high-speed scan) Command Mode...
  • Page 30 * Up to 16 stations can be connected if a JEPMC-REP2000 MECHATROLINK-II Repeater is not used. Refer to Chapter 8 MECHATROLINK-II Repeater of the Machine Controller MP900/MP2000 Series Distributed I/O Module User’s Manual MECHATROLINK System (Manual No. SIE-887-5.1) for details.
  • Page 31 1.3 SVR Virtual Motion Module 1.3.1 Overview The Virtual Motion Module is a software module provided as a standard feature with the MP2000 series Machine Con- trollers. It is not connected to a motor, but provides a virtual axis interface.
  • Page 32 The following figure shows an example of system configuration using a Machine Controller MP2300 with a SVR Module mounted. MP2300 C P U Virtual motion module (SVR) High-speed scan Virtual Servo axes High-speed scan SERVOPACK Ladder program YASKAWA SERVOPACK 200V SGDS-01A12A Motion module CHARGE (Built-in SVB) High-speed scan Motion program Servomotor Optional modules SERVOPACK...
  • Page 33 1.3 SVR Virtual Motion Module 1.3.4 SVR Operation 1.3.4 SVR Operation ( 1 ) SVR Execution Timing The SVR is processed at the beginning of the high-speed scan. SVR processing is performed in the next scan after specifying and the processing results are reflected in the monitoring parameters. SVR processing Reflected in monitoring Reference set...

  • Page 34: Table Of Contents

    Settings and Installation This chapter explains the LED indicators and switch settings of the SVB-01 Module and how to install or remove it. 2.1 LED Indicators and Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-2 2.1.1 External Appearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2 2.1.2 Indicators - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2 2.1.3 SVB-01 Module Status Indication - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2...

  • Page 35: Led Indicators And Switch Settings

    2.1 LED Indicators and Switch Settings 2.1.1 External Appearance 2.1 LED Indicators and Switch Settings 2.1.1 External Appearance The following figure shows the external appearance of the SVB-01 Module. LED indicators DIP switch SVB-01 Rotary switches (station address setting) SIZE MECHATROLINK connector M-I/II...
  • Page 36 2.1 LED Indicators and Switch Settings 2.1.3 SVB-01 Module Status Indication (cont’d) Indication Status SVB-01 Module Status Description RUN ERR The indicated status differs depending on the mode, Master or Slave. <In Master Mode> Indicates that an error has occurred in one of the servo axes.

  • Page 37: Switch Settings

    2.1 LED Indicators and Switch Settings 2.1.4 Switch Settings 2.1.4 Switch Settings Both the DIP switch and rotary switches set the operating conditions for the SVB-01 Module. Use the default settings when using the Module in Master Mode. ( 1 ) DIP Switch SIZE and SPD are valid only in Slave Mode.
  • Page 38 2.1 LED Indicators and Switch Settings 2.1.4 Switch Settings ( 2 ) Rotary Switches This rotary switch is valid only in Slave Mode.  It will be ignored in Master Mode. Default Name Status Operating Mode Details Setting Local address in Slave Mode Set the tens digit of the local slave address.

  • Page 39: Applicable Machine Controllers For Svb-01 Modules

    2.2 Applicable Machine Controllers for SVB-01 Modules 2.2 Applicable Machine Controllers for SVB-01 Modules The following table lists the MP2000-series Machine Controllers on which the SVB-01 Module can be mounted. Max. No. of Applicable Version Name Model Connectable Remarks CPU Module MPE720 Modules MP2300...

  • Page 40: Mounting/Removing Svb-01 Modules

    2.3 Mounting/Removing SVB-01 Modules 2.3.1 Mounting an SVB-01 Module 2.3 Mounting/Removing SVB-01 Modules This section describes how to mount and remove an SVB-01 Module. 2.3.1 Mounting an SVB-01 Module Mount an SVB-01 Module by using the following procedure.  Remove the SVB-01 Module to be replaced, in advance of replacement, by referring to 2.3.2 Removing SVB-01 Modules for Replacement.
  • Page 41 2.3 Mounting/Removing SVB-01 Modules 2.3.1 Mounting an SVB-01 Module Remove the cover of the SVB-01 Module. Insert the tab of the battery cover into the slot on the top of the cover of the SVB-01 Module to release it, as shown in the diagram.

  • Page 42: Removing Svb-01 Modules For Replacement

    2.3 Mounting/Removing SVB-01 Modules 2.3.2 Removing SVB-01 Modules for Replacement Mount the panel of the SVB-01 Module. Line up the notch on the bottom of the panel with the tab on the bottom of the Machine Controller. This completes the installation procedure. 2.3.2 Removing SVB-01 Modules for Replacement Use the following procedure to remove a SVB-01 Module.
  • Page 43 2.3 Mounting/Removing SVB-01 Modules 2.3.2 Removing SVB-01 Modules for Replacement Remove the cover of the SVB-01 Module. Insert the tab of the battery cover into the slot on the top of the panel of the SVB-01 Module to release it, as shown in the diagram.
  • Page 44 2.3 Mounting/Removing SVB-01 Modules 2.3.2 Removing SVB-01 Modules for Replacement Pull out the SVB-01 Module. While holding both the top and bottom of the Module, pull the Module out straight towards you. Hold the Mod- ule by its edges and do not touch any components on the Module. Place the Module in the bag provided with the initial shipment and store it in this bag.
  • Page 45 Self-configuration and Created Definition Files This chapter describes the procedures for self-configuration and the definition files that will be cre- ated by self-configuration. 3.1 Self-configuration Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-2 3.2 How to Execute Self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-4 3.3 System Startup Using Self-Configuration - - - - - - - - - - - - - - - - - - - - - - - -3-5 3.3.1 Starting the System for First Time - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-5...

  • Page 46: Self-Configuration Overview

    3.1 Self-configuration Overview 3.1 Self-configuration Overview When the self-configuration function is implemented, the Machine Controller recognizes the mounted optional mod- ules, and automatically creates the Module Configuration Definition, MECHATROLINK Transmission Definition, and SVB Definition files. The self-configuration function greatly reduces the system startup time. The following figure shows how the self-configuration function works.
  • Page 47 3.1 Self-configuration Overview The SERVOPACK parameters will be written in the SERVOPACK’s EEPROM or RAM when the self-configuration function is executed. The self-configuration process is carried out in the following manner. Self-configuration starts Search for the Detected connected devices through MECHATROLINK-II in 32-byte mode Not detected...

  • Page 48: How To Execute Self-Configuration

    3.2 How to Execute Self-configuration 3.2 How to Execute Self-configuration There are two ways to execute self-configuration.  Turning ON the Power After Setting the DIP switch “CNFG” Set the DIP switch “CNFG” on the Machine Controller to ON, and then turn ON the power to execute self-configura- tion.

  • Page 49: System Startup Using Self-Configuration

     For information on how to execute self-configuration, refer to the relevant Machine Controller manual.  For the items allocated to each module, such as I/O register number, line number, motion register number, refer to 4.1.1 Motion Parameter Register Numbers for MP2000 Series Machine Controllers.
  • Page 50 3.3 System Startup Using Self-Configuration 3.3.1 Starting the System for First Time  The SERVOPACK’s overtravel function (see 11.2 Overtravel Function) will automatically be disabled by exe- cuting self-configuration, because the self-configuration is intended to enable immediate operation of slave devices including servo drives.

  • Page 51: System Startup When Adding Electronic Devices

    3.3 System Startup Using Self-Configuration 3.3.2 System Startup when Adding Electronic Devices Save ladder programs, and reboot the Machine Controller. <MP2100, MP2100M, MP2200, MP2300> Transfer the ladder programs to the Machine Controller and save them in the flash memory. Then, set all DIP switches on the Machine Controller to OFF.
  • Page 52 3.3 System Startup Using Self-Configuration 3.3.2 System Startup when Adding Electronic Devices Execute Self-configuration. Turn ON the power to the Machine controller, log on to the Machine Controller online using MPE720, then select Order - Module Self-configuration to execute self-configuration for the added Optional Module or the SERVO- PACK connected to the SVB Module.

  • Page 53: System Startup When Replacing Electronic Devices

    3.3 System Startup Using Self-Configuration 3.3.3 System Startup when Replacing Electronic Devices 3.3.3 System Startup when Replacing Electronic Devices Use the following procedure to start the system when replacing SERVOPACKs, Optional Modules, and other elec- tronic devices due to malfunctions and other causes. Back up applications.

  • Page 54: Self-Configuration And Definition Files

    3.4 Self-configuration and Definition Files 3.4 Self-configuration and Definition Files When executing self-configuration, the Machine Controller automatically recognizes all the connected optional mod- ules, and the Module Configuration Definition, MECHATROLINK Transmission Definition, and SVB Definition files will accordingly be automatically created. Each definition file contains the following information.

  • Page 55: Module Configuration Definition

    Start the MPE720 installed in a personal computer that is connected to a Machine Controller, and then open the target project file.  For information on how to start the MPE720, refer to Engineering Tool for MP2000 Series Machine Controller MPE720 Version 6 User’s Manual (manual number: SIEP C880700 30) or Machine Controller MP2000/ MP3000 Series Engineering Tool MPE720 Version 7 User’s Manual (manual number: SIEP C880761 03).
  • Page 56 3.4 Self-configuration and Definition Files 3.4.1 Module Configuration Definition ( 2 ) Module Configuration Window The Module Configuration Window will differ slightly depending on the Machine Controller model. <MP2100, MP2300, MP2500, and MP2500D> <MP2100M, MP2200, MP2500M, and MP2500MD> After executing self-configuration, all the optional modules connected to the Machine Controller will be dis- played in the Controller field.
  • Page 57 3.4 Self-configuration and Definition Files 3.4.1 Module Configuration Definition The following table lists the items shown in the Module Configuration Window. Item Description Modification Specifies whether the expansion rack (JEPMC-BU2200 and JEPMC- Select Rack BU2210) is used or not. (Only for MP2100M, MP2200, Possible ...

  • Page 58: Mechatrolink Transmission Definition

    3.4 Self-configuration and Definition Files 3.4.2 MECHATROLINK Transmission Definition 3.4.2 MECHATROLINK Transmission Definition ( 1 ) How to Open the MECHATROLINK Transmission Definition Window In the Module Configuration Window, select the SVB Module in the Controller field and double-click the MECHA- TROLINK cell in the Details field.
  • Page 59 3.4 Self-configuration and Definition Files 3.4.2 MECHATROLINK Transmission Definition ( 2 ) MECHATROLINK Transmission Definition Window Details The MECHATROLINK Transmission Definition Window has four tabs: Transmission Parameters, Link Assignment, I/O Map, and Status. Click the tab to view each. [ a ] Transmission Parameters Tab The parameters required to use the MECHATROLINK transmission system are displayed.
  • Page 60 3.4 Self-configuration and Definition Files 3.4.2 MECHATROLINK Transmission Definition (cont’d) Item Display during Self-configuration Options and Precautions on Settings Number of Displays the maximum number of slave stations to which Retries Slaves the Master can retry transmission in one transmission Only for Master station.
  • Page 61 3.4 Self-configuration and Definition Files 3.4.2 MECHATROLINK Transmission Definition  Communication Cycle That Can be Set The communication cycle that can be set will differ depending on the SVB Module type (built-in SVB or optional SVB) and the communication type as follows. SVB Module Type Built-in SVB Optional SVB...
  • Page 62 3.4 Self-configuration and Definition Files 3.4.2 MECHATROLINK Transmission Definition [ b ] Link Assignment Tab Page The data of the slave devices (MECHATROLINK connected devices such as SERVOPACK, inverter, and distributed I/O) are displayed on the Link Assignment Tab. The items shown on the Link Assignment Tab are as follows. You can change the settings or delete the data station by station on this tab.
  • Page 63 3.4 Self-configuration and Definition Files 3.4.2 MECHATROLINK Transmission Definition [ c ] I/O Map Tab The status allocated to I/O registers is displayed.  The I/O Map Tab is used for monitoring (read-only). Do not change the displayed settings. [ d ] Status Tab Page The MECHATROLINK transmission status is displayed.

  • Page 64: Svb Definition

    3.4 Self-configuration and Definition Files 3.4.3 SVB Definition 3.4.3 SVB Definition The SVB Definition file defines the motion parameters (motion fixed parameters, motion setting parameters, and motion monitoring parameters) to control motion axes such as the SERVOPACK, inverter, and stepper. ...
  • Page 65 3.4 Self-configuration and Definition Files 3.4.3 SVB Definition Click the Fixed Parameters, Set Up Parameters, or Monitor tab to display the desired page.  If the setting in Servo Type is switched from Rotary to Linear, or vice-versa, some of the displayed parameters will change.
  • Page 66 MP2300S Version 2.61 or later JEPMC-MP2300S-E MP2310 Version 2.61 or later JEPMC-MP2310-E MP2400 Version 2.61 or later JEPMC-MP2400-E MP2000 series SVB-01 Version 1.22 or later JAPMC-MC2310 (-E) Engineering Tool Model Version MPE720 Version 5 Version 5.39 or later CPMC-MPE720 MPE720 Version 6 Version 6.05 or later...
  • Page 67     MP2310     MP2400     SVB-01      SVB modules for the MP2000 series are activated when the communication cycle and transmission cycle are the same length. 3-23...
  • Page 68 3.4 Self-configuration and Definition Files 3.4.3 SVB Definition  Allocation Use the following settings for the TYPE parameter of the station numbers on the Link Assignment Tab Page of the MECHATROLINK Detail Definition Window of the MPE720. The settings depend on the model of SERVOPACK that is connected and the version of the MPE720.
  • Page 69 3.4 Self-configuration and Definition Files 3.4.3 SVB Definition (cont’d) Version of SVB-01 SERVOPACK Displayed Setting of Connected SERVOPACK Type Module or Built-in SVB Version of MPE720 Model TYPE Module SVB-01 Module: Ver. 1.29 or earlier, – ****SERVO Built-in SVB Module: DC Power Input Σ-V-series SER- Ver.
  • Page 70 MP2310 JEPMC-MP2310-E Version 2.89 or later Version 2.92 or later MP2400 JEPMC-MP2400-E Version 2.89 or later Version 2.92 or later MP2000 series SVB-01 JAPMC-MC2310 (-E) Version 1.33 or later Version 1.34 or later Version Engineering Tool Model When Connected to...
  • Page 71 3.4 Self-configuration and Definition Files 3.4.3 SVB Definition M-II (17 bytes) Communication Cycle Controller 0.5 ms 1.0 ms × MP2100  × MP2100M (built-in CPU)  MP2100M (option)   MP2101   MP2101M (built-in CPU)   MP2101M (option) ...

  • Page 72: Current Value And Setting Data In Svb

    3.4 Self-configuration and Definition Files 3.4.4 Current Value and Setting Data in SVB 3.4.4 Current Value and Setting Data in SVB In systems connected to MECHATROLINK, SERVOPACK parameters can be read or written directly from the Machine Controller. (Refer to 11.6 Parameters That Are Automatically Updated.) This means that parameters are saved in the memory areas of both the Machine Controller and the SERVOPACK.
  • Page 73 3.4 Self-configuration and Definition Files 3.4.4 Current Value and Setting Data in SVB ( 3 ) When the SERVOPACK Tab Page Is Open The data flow for SERVOPACK parameters is as follows when the SERVOPACK Tab Page is open in the SVB Defini- tion Window on the MPE720 (refer to 3.4.3 SVB Definition for details on how to open the SERVOPACK Tab Page.): •...
  • Page 74 3.4 Self-configuration and Definition Files 3.4.4 Current Value and Setting Data in SVB ( 4 ) SERVOPACK Parameters Saved in the MPE720 The data flow for SERVOPACK parameters is as follows when File - Save is selected from the SERVOPACK Tab Page: •...
  • Page 75 3.4 Self-configuration and Definition Files 3.4.4 Current Value and Setting Data in SVB The following figure shows a display example after having executed save operation on the SERVOPACK Tab in the SVB Definition Window. After having saved the data, the values in Input Data of all the parameters become the same as the values in Current on the SERVOPACK Tab.
  • Page 76 3.4 Self-configuration and Definition Files 3.4.4 Current Value and Setting Data in SVB ( 5 ) Copying Current Values to Set Values (Input Data) in the SERVOPACK Tab The data flow for SERVOPACK parameters is as follows when selecting Edit - Copy Current Value from the SERVO- PACK Tab in the SVB Definition Window on the MPE720: •...
  • Page 77 3.4 Self-configuration and Definition Files 3.4.4 Current Value and Setting Data in SVB ( 6 ) Changing Parameters in the SERVOPACK Tab Page The data flow for SERVOPACK parameters is as follows when parameters for the cursor position are changed from the SERVOPACK Tab Page in the SVB Definition Window for MPE720: •...
  • Page 78 3.4 Self-configuration and Definition Files 3.4.4 Current Value and Setting Data in SVB The following figure shows a display example after having changed the value (2nd Speed Loop Gain) in Input Data on the SERVOPACK Tab. After having pressed the ENTER Key, the values of Speed Loop Gain, Speed Loop Integral Time Constant, and Position Loop Gain (boxed in dotted line) in Input Data remain different from the values in Cur- rent since the parameters other than the one that has been changed are not written.

  • Page 79: Precautions When Saving Servopack Parameters

    3.4 Self-configuration and Definition Files 3.4.5 Precautions When Saving SERVOPACK Parameters ( 7 ) Saving Data to Flash Memory The data flow for SERVOPACK parameters is as follows when saving the parameters to flash memory on the MPE720: • The Machine Controller writes the parameters data (Input Data) held in SDRAM to flash memory. MECHATROLINK Send Send...
  • Page 80 4.3.3 Monitoring Parameter List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-14 4.4 MP2000 Series Machine Controller Parameter Details - - - - - - - - - - - - - - 4-18 4.4.1 Motion Fixed Parameter Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-18...

  • Page 81: Motion Parameters Register Numbers

    4.1 Motion Parameters Register Numbers 4.1.1 Motion Parameter Register Numbers for MP2000 Series Machine Controllers 4.1 Motion Parameters Register Numbers 4.1.1 Motion Parameter Register Numbers for MP2000 Series Machine Controllers The leading motion parameter register numbers (I or O register numbers) are determined by the circuit number and axis number.
  • Page 82 4.1 Motion Parameters Register Numbers 4.1.1 Motion Parameter Register Numbers for MP2000 Series Machine Controllers Circuit Axis No. 9 Axis No. 10 Axis No. 11 Axis No. 12 Axis No. 13 Axis No. 14 Axis No. 15 Axis No. 16...

  • Page 83: Motion Parameters Setting Window

    4.2 Motion Parameters Setting Window 4.2.1 How to Open the Motion Parameter Setting Windows 4.2 Motion Parameters Setting Window Set or monitor the motion parameters in the Fixed Parameters, Set Up Parameters, and Monitor tabs of the SVB Defini- tion Window. Fig.

  • Page 84: Motor Type And Related Alarms

     Linear Type Selection for SVR (Virtual Motion Module) The software versions with which Linear Type can be selected for the SVR Module are limited to: • MP2000 series Machine Controller software version 2.50 or later • MPE720 version 5.37 or later...

  • Page 85: Motion Parameter Lists

    4.3 Motion Parameter Lists 4.3.1 Fixed Parameter List 4.3 Motion Parameter Lists 4.3.1 Fixed Parameter List The following table provides a list of SVB and SVR motion fixed parameters.  Refer to the section numbers indicated in the Reference column for details of each fixed parameter. ...
  • Page 86 4.3 Motion Parameter Lists 4.3.1 Fixed Parameter List (cont’d) Name Contents SVB SVR Reference Positive Software Limit Value − 1 = 1 user unit 4.4.1 ( 6 ) − Negative Software Limit Value 1 = 1 user unit Backlash Compensation −...

  • Page 87: Setting Parameter List

     Refer to 1.3 SVR Virtual Motion Module for information on SVR.  The register number “OW00” indicates the leading output register number + 00. Refer to 4.1.1 Motion Parameter Register Numbers for MP2000 Series Machine Controllers for information on how to obtain the leading output regis- ter number.
  • Page 88 4.3 Motion Parameter Lists 4.3.2 Setting Parameter List (cont’d) Register No. Name Contents SVB SVR Reference Bits 0 to 3: Speed Unit Selection 0: Reference unit/s 1: 10 reference unit/min 2: Percentage of rated speed (1 = 0.01%) 3: Percentage of rated speed (1 = 0.0001%) Bits 4 to 7: Acceleration/Deceleration Degree Unit Selection 0: Reference unit/s OW03 Function Setting 1...
  • Page 89 4.3 Motion Parameter Lists 4.3.2 Setting Parameter List (cont’d) Register No. Name Contents SVB SVR Reference 0: NOP (No Command) 1: POSING (Position Mode) (Positioning) 2: EX_POSING (Latch Target Positioning) (External positioning) 3: ZRET (Zero Point Return) 4: INTERPOLATE (Interpolation) 5: ENDOF_INTERPOLATE (Last Interpolation Segment) (Reserved for the system) 6: LATCH (Interpolation Mode with Latch Input)

  • Page 90: Ow0F

    4.3 Motion Parameter Lists 4.3.2 Setting Parameter List (cont’d) Register No. Name Contents SVB SVR Reference Torque/Thrust Unit is according to OW03, bits C to F (Torque Unit OL0C Reference Setting Setting). 4.4.2 ( 10 ) Speed Limit Setting at the Torque/Thrust −...
  • Page 91 4.3 Motion Parameter Lists 4.3.2 Setting Parameter List (cont’d) Register No. Name Contents SVB SVR Reference Straight Line Acceleration/ Units depends on the setting of OW03, bits 4 to 7 (Accelera- OL36 Acceleration Time tion/Deceleration Degree Unit Selection). Constant 4.4.2 ( 23 ) Straight Line Deceleration/ Units depends on the setting of OW03, bits 4 to 7 (Accelera-...
  • Page 92 4.3 Motion Parameter Lists 4.3.2 Setting Parameter List (cont’d) Register No. Name Contents SVB SVR Reference Servo Driver User Constant Size − (SERVOPACK OW51 Set the number of words in the SERVOPACK parameter. parameter size for motion command) Servo Driver User Constant Set Point (SERVOPACK −...

  • Page 93: Monitoring Parameter List

     Refer to 1.3 SVR Virtual Motion Module for information on SVR.  Register number “IW00” indicates the leading input register number + 00.  Refer to 4.1.1 Motion Parameter Register Numbers for MP2000 Series Machine Controllers for information on how to find the leading input register number.
  • Page 94 4.3 Motion Parameter Lists 4.3.3 Monitoring Parameter List (cont’d) Register No. Name Contents Reference Bit 13: Excessive ABS Encoder Rotations −  Invalid for linear type − − Bits 14 to 1C: Reserved for system use. IL04 Alarm 4.4.3 ( 4 ) −...
  • Page 95 4.3 Motion Parameter Lists 4.3.3 Monitoring Parameter List (cont’d) Register No. Name Contents Reference Machine Coordinate System Feedback IL16 1 = 1 reference unit Position (APOS) Machine Coordinate − System Latch IL18 1 = 1 reference unit Position (LPOS) 4.4.3 ( 10 ) Position Error −...
  • Page 96 4.3 Motion Parameter Lists 4.3.3 Monitoring Parameter List (cont’d) Register No. Name Contents Reference Servo Driver User − IL30 Stores the result of the selected monitor. Monitor 2 Servo Driver User − − IL32 Reserved for system use. Monitor 3 Servo Driver User −...

  • Page 97: Mp2000 Series Machine Controller Parameter Details

    SVR.  The software versions with which the parameters for linear type can be set for SVR are limited to: • MP2000 series Machine Controller software version 2.50 or later • MPE720 version 5.37 or later ( 1 ) Run Mode No.
  • Page 98 4.4 MP2000 Series Machine Controller Parameter Details 4.4.1 Motion Fixed Parameter Details ( 2 ) Function Selection 1 No. 1 Setting Range Setting Unit Default Value Function Selection Flag 1 − − 0000H Axis Selection Set whether or not there is a limit on controlled axis travel.
  • Page 99 4.4 MP2000 Series Machine Controller Parameter Details 4.4.1 Motion Fixed Parameter Details (cont’d) No. 1 Setting Range Setting Unit Default Value − − Function Selection Flag 1 (cont’d) 0000H Simple ABS Rotary Pos. Mode Set whether or not the infinite length position control function is used, on the condition that the number of turns that the encoder can count is a multiple of the number of turns corresponding to the reference unit reset fre- quency.
  • Page 100 4.4 MP2000 Series Machine Controller Parameter Details 4.4.1 Motion Fixed Parameter Details (cont’d) Setting Range Setting Unit Default Value No. 5 − 0 to 5 Number of Digits Below Decimal Point Set the number of digits below the decimal point in the reference unit.
  • Page 101 4.4 MP2000 Series Machine Controller Parameter Details 4.4.1 Motion Fixed Parameter Details ( 6 ) Software Limits Setting Range Setting Unit Default Value No. 12 Positive Software Limit Value User unit −1 −1 to 2 Set the position to be detected for the software limit in the positive direction at the Machine Controller.
  • Page 102 4.4 MP2000 Series Machine Controller Parameter Details 4.4.1 Motion Fixed Parameter Details ( 7 ) Backlash Compensation Setting Range Setting Unit Default Value No. 16 Backlash Compensation Amount User unit −2 −1 to 2 Set the backlash compensation in reference units. Backlash compensation can not be performed by setting this parameter to 0.
  • Page 103 4.4 MP2000 Series Machine Controller Parameter Details 4.4.1 Motion Fixed Parameter Details ( 9 ) Encoder Settings Setting Range Setting Unit Default Value No. 34 (Rotary Motor) 1 to 32000 3000 Rated Motor Speed Set the rated motor speed in 1 min units.

  • Page 104: Motion Setting Parameter Details

    4.4 MP2000 Series Machine Controller Parameter Details 4.4.2 Motion Setting Parameter Details 4.4.2 Motion Setting Parameter Details The following tables provide details of motion setting parameters.  Refer to 4.3.2 Setting Parameter List for a list of the motion setting parameters.
  • Page 105 4.4 MP2000 Series Machine Controller Parameter Details 4.4.2 Motion Setting Parameter Details (cont’d) Setting Range Setting Unit Default Value OW00 Phase Position − − RUN Command Setting (cont’d) 0000H Speed Torque POSMAX Turn Number Presetting Demand 0: OFF (default) 1: ON Bit 6 Preset the Number of POSMAX Turns (monitoring parameter IL1E) to the value set for the Number of...
  • Page 106 4.4 MP2000 Series Machine Controller Parameter Details 4.4.2 Motion Setting Parameter Details (cont’d) Setting Range Setting Unit Default Value OW00 Position Phase RUN Command Setting (cont’d) − − 0000H Speed Torque Communication Reset (Valid for SVB-01 version 1.20 or later and built-in SVB version 2.50 or later)
  • Page 107 4.4 MP2000 Series Machine Controller Parameter Details 4.4.2 Motion Setting Parameter Details ( 2 ) Mode Setting 1 Setting Range Setting Unit Default Value OW01 Phase Position Mode Setting 1 − − 0000H Speed Torque Excessive Deviation Error Level Setting Set whether excessively following errors are treated as warnings or as alarms.
  • Page 108 4.4 MP2000 Series Machine Controller Parameter Details 4.4.2 Motion Setting Parameter Details • Monitoring parameters Register Name Setting Range Meaning Description Bit setting IW00 RUN Status Bit 4: Latch Mode – Bit 2: Latch Com- Bit setting IW0C Position Management Status –...
  • Page 109 4.4 MP2000 Series Machine Controller Parameter Details 4.4.2 Motion Setting Parameter Details 01.bit 6 Usual Latch Operation Usual Latch Mode (Latch signals are set in bits 0 to 3 00.bit 4 of OW 04.) Latch Detection Demand Setting Error (Warning in SERVOPACK) Continuous Latch Mode >...
  • Page 110 4.4 MP2000 Series Machine Controller Parameter Details 4.4.2 Motion Setting Parameter Details • Operation To repeat latch operations, set bit 4 of OW00 to 1. For usual latch operations, IW44 and IW45 are set to 0. Latch Detection Demand 00.bit 4 Latch Mode 00.bit 4...
  • Page 111 4.4 MP2000 Series Machine Controller Parameter Details 4.4.2 Motion Setting Parameter Details • Operation For continuous latch operations, bit 4 of OW00 is set to 1. After the latch has been confirmed as being com- pleted, set bit 10 of OW00 to 1 and bit 2 of IW0C is forced OFF.
  • Page 112 4.4 MP2000 Series Machine Controller Parameter Details 4.4.2 Motion Setting Parameter Details • Operation For continuous latch operations, bit 4 of OW00 is set to 1. After the latch has been confirmed as being com- pleted, set bit 10 of OW00 to 1 and bit 2 of IW0C is forced OFF.
  • Page 113 4.4 MP2000 Series Machine Controller Parameter Details 4.4.2 Motion Setting Parameter Details ( 3 ) Mode Setting 2 Setting Range Setting Unit Default Value OW02 Phase Position Mode Setting 2 − − 0000H Speed Torque Monitor 2 Enabled Disable/enable Monitor 2 in the Servo User Monitor Setting (setting parameter OW4E, bits 4 to 7).
  • Page 114 4.4 MP2000 Series Machine Controller Parameter Details 4.4.2 Motion Setting Parameter Details [ a ] SERVOPACKs with Stop Mode Selection (OW02, bit 8 to F) Stop Mode Selections 2: Stop in accor- 0: Decelerate to a dance with the stop according to...
  • Page 115 4.4 MP2000 Series Machine Controller Parameter Details 4.4.2 Motion Setting Parameter Details [ b ] Timing of Stop Mode Selection (OW02, bit 8 to F) The following table shows when the selected stop mode will be enabled while a move command is executed.
  • Page 116 4.4 MP2000 Series Machine Controller Parameter Details 4.4.2 Motion Setting Parameter Details ( 5 ) Function Setting 2 Setting Range Setting Unit Default Value OW04 Phase Position − − Function Setting 2 0033H Speed Torque Latch Detection Signal Selection Set the latch signal type.
  • Page 117 4.4 MP2000 Series Machine Controller Parameter Details 4.4.2 Motion Setting Parameter Details ( 7 ) Motion Commands Setting Range Setting Unit Default Value OW08 Phase Position − 0 to 39 Motion Commands Speed Torque Set motion command. 0: NOP No command...
  • Page 118 4.4 MP2000 Series Machine Controller Parameter Details 4.4.2 Motion Setting Parameter Details ( 8 ) Motion Command Control Flag Setting Range Setting Unit Default Value OW09 Phase Position Motion Command Control Flag − − 0000H Speed Torque Holds a Command The axis will decelerate to a stop if this bit is changed to 1 while an axis is moving during positioning, external positioning, STEP operation, speed reference, or torque reference.
  • Page 119 4.4 MP2000 Series Machine Controller Parameter Details 4.4.2 Motion Setting Parameter Details (cont’d) Setting Range Setting Unit Default Value OW09 Position Phase − − Motion Command Control Flag (cont’d) 0000H Speed Torque Phase Compensation Type (Valid with SVB-01 version 1.13 or later and built-in SVB version 2.40 or lat- Select a setting method for Phase Correction Setting (OL28).
  • Page 120 4.4 MP2000 Series Machine Controller Parameter Details 4.4.2 Motion Setting Parameter Details ( 10 ) Torque Reference Setting Range Setting Unit Default Value OL0C Depends on the torque unit set Position Phase Torque/Thrust Reference Setting in Function Setting 1 (setting −2...
  • Page 121 4.4 MP2000 Series Machine Controller Parameter Details 4.4.2 Motion Setting Parameter Details ( 11 ) Speed Reference Setting Range Setting Unit Default Value Depends on the speed OL10 Phase Position unit set in Function 3000 Speed Reference Setting −2 −1...
  • Page 122 4.4 MP2000 Series Machine Controller Parameter Details 4.4.2 Motion Setting Parameter Details Related parameters • Setting parameters Register No. Name Setting Range Default Value Setting Unit Remarks Positive Side Limiting To enable the setting, the Torque/Thrust 1 = 0.01% 30000 SERVOPACK parameter OL14...
  • Page 123 4.4 MP2000 Series Machine Controller Parameter Details 4.4.2 Motion Setting Parameter Details ( 14 ) Override Setting Range Setting Unit Default Value OW18 Position Phase Override 0 to 32767 0.01% 10000 Torque Speed Set the percentage of the Speed Reference Setting (OL10) to output in units of 0.01%.
  • Page 124 4.4 MP2000 Series Machine Controller Parameter Details 4.4.2 Motion Setting Parameter Details ( 16 ) Width of Positioning Completion Setting Range Setting Unit Default Value OL1E Phase Position Width of Positioning Completion 0 to 65535 Reference unit Speed Torque This bit shows the set value of a SERVOPACK parameter.
  • Page 125 4.4 MP2000 Series Machine Controller Parameter Details 4.4.2 Motion Setting Parameter Details ( 18 ) Error Count Alarm Detection Setting Range Setting Unit Default Value OL22 Position Phase Error Count Alarm Detection Reference unit 0 to 2 −1 −1 Speed Torque Set the value to detect an excessively following error during position control.
  • Page 126 4.4 MP2000 Series Machine Controller Parameter Details 4.4.2 Motion Setting Parameter Details ( 21 ) Latch Setting Range Setting Unit Default Value OL2A Position Phase Latch Zone Lower Limit Setting Reference unit −2 −1 −2 to 2 Speed Torque Set the range in which the latch signal is valid (position from the zero position) for external positioning.
  • Page 127 4.4 MP2000 Series Machine Controller Parameter Details 4.4.2 Motion Setting Parameter Details ( 22 ) Gain and Bias Settings Setting Range Setting Unit Default Value OW2E Phase Position Position Loop Gain 0 to 32767 0.1/s Speed Torque Determine the responsiveness for the SERVOPACK’s position loop.
  • Page 128 4.4 MP2000 Series Machine Controller Parameter Details 4.4.2 Motion Setting Parameter Details (cont’d) Setting Range Setting Unit Default Value OW34 Position Phase Speed Integration Time Constant 15 to 65535 0.01 ms 2000 Speed Torque The speed loop has an integral element to enable responding to minute inputs.
  • Page 129 4.4 MP2000 Series Machine Controller Parameter Details 4.4.2 Motion Setting Parameter Details ( 23 ) Acceleration/Deceleration Settings Setting Range Setting Unit Default Value OL36 Acceleration/Deceleration Position Phase Degree Unit Selection (setting Straight Line Acceleration/Acceleration 0 to 2 −1 Speed Torque parameter OW03, bits 4 to...
  • Page 130 4.4 MP2000 Series Machine Controller Parameter Details 4.4.2 Motion Setting Parameter Details  Changing the maximum value of acceleration and deceleration for SGDV or SGD7S SERVO- PACKs When the SERVOPACK parameter Pn833.0 is set to 1 (Accel/Decel Constant Selection = Uses Pn834 to Pn840), a wilder range of speed for acceleration and deceleration can be obtained by raising the upper limit of acceleration and deceleration for the following motion commands.
  • Page 131 4.4 MP2000 Series Machine Controller Parameter Details 4.4.2 Motion Setting Parameter Details ( 24 ) Filter Setting Range Setting Unit Default Value OW3A Phase Position 0 to 65535 0.1 ms Filter Time Constant Speed Torque Set the acceleration/deceleration filter time constant.
  • Page 132 4.4 MP2000 Series Machine Controller Parameter Details 4.4.2 Motion Setting Parameter Details (cont’d) Setting Range Setting Unit Default Value OL40 Position Phase Depends on Creep Rate −2 −1 to 2 Speed Torque Speed Units. Set the creep speed for a zero point return operation after the ZERO signal is detected.
  • Page 133 4.4 MP2000 Series Machine Controller Parameter Details 4.4.2 Motion Setting Parameter Details ( 27 ) External Positioning Final Travel Distance Setting Range Setting Unit Default Value OL46 Position Phase External Positioning Final Travel Distance Reference unit −2 to 2 −1 Speed Torque Set the distance from the time the external signal is input for external positioning command (EX_POSING).
  • Page 134 4.4 MP2000 Series Machine Controller Parameter Details 4.4.2 Motion Setting Parameter Details ( 29 ) SERVOPACK User Monitor Setting Range Setting Unit Default Value OW4E Phase Position − − Servo User Monitor Setting 0E00H Speed Torque Monitor 2 Monitor 2 is used with the MECHATROLINK-I and the MECHATROLINK-II in 17-byte Mode when bit 0 of OW02 is 1.
  • Page 135 4.4 MP2000 Series Machine Controller Parameter Details 4.4.2 Motion Setting Parameter Details ( 30 ) SERVOPACK Commands Setting Range Setting Unit Default Value OW4F Phase Position Servo Driver Alarm Monitor No. − 0 to 9 Speed Torque Set the number of the alarm to monitor.
  • Page 136 4.4 MP2000 Series Machine Controller Parameter Details 4.4.2 Motion Setting Parameter Details ( 32 ) Absolute Infinite Length Axis Position Control Information OL5E Setting Range Setting Unit Default Value Phase Position Encoder Position when Power is OFF pulse −1 to 2...

  • Page 137: Motion Monitoring Parameter Details

     Register number IW00 indicates the leading input register number + 00. Other register numbers listed below indicate input register numbers in the same way.  Refer to 4.1.1 Motion Parameter Register Numbers for MP2000 Series Machine Controllers for information on how to find the leading input register number.
  • Page 138 4.4 MP2000 Series Machine Controller Parameter Details 4.4.3 Motion Monitoring Parameter Details ( 2 ) Over Range Parameter Number Range Unit IW01 − 0 to 65535 Parameter Number When Range Over is Generated Stores the number of a parameter set outside the setting range.
  • Page 139 4.4 MP2000 Series Machine Controller Parameter Details 4.4.3 Motion Monitoring Parameter Details ( 3 ) Warning IL02 Range Unit − − Warning Excessive Deviation 0: In normal deviation range 1: Abnormal deviation detected Bit 0 This bit turns ON if the following error exceeds the value set for the Error Count Alarm Detection (setting parameter OL22) when Excessive Deviation is set to be treated as an warning by setting the Excessive...
  • Page 140 4.4 MP2000 Series Machine Controller Parameter Details 4.4.3 Motion Monitoring Parameter Details • For an SGDV or SGD7S SERVOPACK, the following servo parameter settings must be used. The setting of Pn50A is equal to that of H2881 (A P-OT warning is activated when Cn1-8 is low).
  • Page 141 4.4 MP2000 Series Machine Controller Parameter Details 4.4.3 Motion Monitoring Parameter Details ( 4 ) Alarm IL04 Range Unit − − Alarm Servo Driver Error 0: No Servo Driver alarm Bit 0 1: Servo Driver alarm occurred This bit turns ON when there is a alarm in the SERVOPACK for MECHATROLINK communication. The con- tent of the alarm can be confirmed using the Servo Driver Alarm Code (monitoring parameter IW2D).
  • Page 142 4.4 MP2000 Series Machine Controller Parameter Details 4.4.3 Motion Monitoring Parameter Details (cont’d) IL04 Range Unit Alarm (cont’d) − − Excessive Deviation 0: In normal deviation range 1: Abnormal deviation detected Bit 9 This bit turns ON if the following error exceeds the value set for the Error Count Alarm Detection (setting parameter OL22) when an Excessive Deviation is set to be treated as an alarm by setting the Excessive...
  • Page 143 4.4 MP2000 Series Machine Controller Parameter Details 4.4.3 Motion Monitoring Parameter Details (cont’d) IL04 Range Unit − − Alarm (cont’d) Connected Encoder Type Error 0: Matched (OFF) 1: Unmatched (ON) Description Bit 1F This bit turns ON when the encoder type set in the SVB Definition Window does not match the connected encoder type.
  • Page 144 4.4 MP2000 Series Machine Controller Parameter Details 4.4.3 Motion Monitoring Parameter Details ( 7 ) Motion Subcommand Response Code Range Unit IW0A − 0 to 65535 Motion Subcommand Response Code Stores the motion subcommand code for the command that is being executed.
  • Page 145 4.4 MP2000 Series Machine Controller Parameter Details 4.4.3 Motion Monitoring Parameter Details (cont’d) IW0C Range Unit − − Position Management Status (cont’d) Zero Point Position 0: Outside zero point position range 1: In zero point position range. Bit 4 This bit turns ON when the Machine Coordinate System Reference Position (MPOS) (monitoring parameter IL16) is within the Width of Starting Point Position Output (setting parameter OW3D) after a Zero...
  • Page 146 4.4 MP2000 Series Machine Controller Parameter Details 4.4.3 Motion Monitoring Parameter Details (cont’d) Range Unit IL12 Reference unit Machine Coordinate System Reference Position (MPOS) −2 −1 to 2 Stores the reference position in the machine coordinate system managed by the Motion Module.
  • Page 147 4.4 MP2000 Series Machine Controller Parameter Details 4.4.3 Motion Monitoring Parameter Details ( 12 ) Servo Driver IW2C Range Unit − − Servo Driver Status Alarm (ALM) 0: No alarm occurred. Bit 0 1: Alarm occurred. Warning (WARNING) 0: No warning occurred.
  • Page 148 4.4 MP2000 Series Machine Controller Parameter Details 4.4.3 Motion Monitoring Parameter Details ( 13 ) Servo Driver Information IW2D Range Unit Servo Driver Alarm Code −32768 to 32767 − Stores the alarm code (leftmost 2 digits) from the SERVOPACK in HEX Example: The code for a communication error that occurs in an SGDS, SGDV, or SGD7S SERVOPACK is E6.
  • Page 149 4.4 MP2000 Series Machine Controller Parameter Details 4.4.3 Motion Monitoring Parameter Details ( 15 ) Servo Driver User Monitor Information The Monitor Selection made by the user when using a SERVOPACK for MECHATROLINK communication is stored in this parameter. IW2F...
  • Page 150 4.4 MP2000 Series Machine Controller Parameter Details 4.4.3 Motion Monitoring Parameter Details (cont’d) Range Unit IL40 Depends on speed unit. Feedback Speed −2 −1 to 2 Stores the feedback speed. The value is determined by the moving average time constant (fixed parameter 42) and unit set from the difference with the Machine Coordinate System Feedback Position (APOS) (monitoring parameter IL16) in each scan.
  • Page 151 4.4 MP2000 Series Machine Controller Parameter Details 4.4.3 Motion Monitoring Parameter Details ( 18 ) Absolute Infinite Length Axis Position Control Information Range Unit IL5E Encoder Position When the Power is OFF (Lower 2 words) pulse −2 −1 to 2 Stores information used for infinite length axis position control when an absolute encoder is used.
  • Page 152 Motion Parameter Setting Examples This chapter gives setting examples of the motion parameters for each machine. 5.1 Example Setting of Motion Parameters for the Machine - - - - - - - - - - - - - -5-2 5.1.1 Reference Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2 5.1.2 Electronic Gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2 5.1.3 Axis Type Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4 5.1.4 Position Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5...

  • Page 153: Example Setting Of Motion Parameters For The Machine

    5.1 Example Setting of Motion Parameters for the Machine 5.1.1 Reference Unit 5.1 Example Setting of Motion Parameters for the Machine Set the following eight motion parameters to enable motion control that suits the machine’s specifications. • Reference unit • Electronic gear •...
  • Page 154 5.1 Example Setting of Motion Parameters for the Machine 5.1.2 Electronic Gear The following setting example uses ball screw and rotating table workpieces. ( 1 ) Parameter Setting Example Using Ball Screw • Machine specifications: Ball screw axis rotates 5 times for each 7 rotations of the motor axis (Refer to the follow- ing figure.) •...

  • Page 155: Axis Type Selection

    5.1 Example Setting of Motion Parameters for the Machine 5.1.3 Axis Type Selection 5.1.3 Axis Type Selection There are two types of position control: Finite length position control for return and other operations that are per- formed only within a specified range, and infinite length position control, which is used for moving in one direction only.

  • Page 156: Position Reference

    5.1 Example Setting of Motion Parameters for the Machine 5.1.4 Position Reference 5.1.4 Position Reference The target position value for position control is set for the Position Reference Setting (motion setting parameter OL1C). There are two methods that can be set for using the Position Reference Setting: Directly setting the coordi- nate of the target position value as an absolute value or adding the moving amount from the previous command posi- tion as a incremental value.
  • Page 157 5.1 Example Setting of Motion Parameters for the Machine 5.1.4 Position Reference Setting of the target position when using an infinite length axis is described below. ( 1 ) Setting the Target Position When Using an Infinite Length Axis: Method 1 Executing a POSING command while no command (NOP) is being executed •...
  • Page 158 5.1 Example Setting of Motion Parameters for the Machine 5.1.4 Position Reference ( 2 ) Setting the Target Position When Using an Infinite Length Axis: Method 2 Changing the target position while a POSING command is being executed by specifying another target position on the base of the original target position •...
  • Page 159 5.1 Example Setting of Motion Parameters for the Machine 5.1.4 Position Reference ( 3 ) Setting the Target Position When Using an Infinite Length Axis: Method 3 Changing the target position while a POSING command is being executed by specifying another target position on the base of the current position •...

  • Page 160: Speed Reference

    5.1 Example Setting of Motion Parameters for the Machine 5.1.5 Speed Reference 5.1.5 Speed Reference There are two methods of setting the speed reference for the feed speed or other speeds. One method involves using reference units and the other method involves setting the percentage (%) of the rated speed. The following table shows the parameters relating to speed references.
  • Page 161 5.1 Example Setting of Motion Parameters for the Machine 5.1.5 Speed Reference ( 1 ) Speed Reference (OL10) Setting Examples • No. 5: Number of digits below decimal point = 3 • No. 34: Rated motor speed = 3000 R/min •...
  • Page 162 5.1 Example Setting of Motion Parameters for the Machine 5.1.6 Acceleration/Deceleration Settings 5.1.6 Acceleration/Deceleration Settings The acceleration/deceleration can be set to either the rate of acceleration/deceleration or the time required to reach the rated speed from 0. The settings method used depends on the related parameter settings. The parameters related to acceleration/deceleration settings are listed in the following table.

  • Page 163: Acceleration/Deceleration Settings

    5.1 Example Setting of Motion Parameters for the Machine 5.1.6 Acceleration/Deceleration Settings ( 1 ) Acceleration/Deceleration Degree Unit Selection and Speed Changes Over Time The Straight Line Acceleration Time Constant (OL36) and Straight Line Deceleration Time Constant (OL38) settings change depending on the Acceleration/Deceleration Degree Unit Selection (OW03, bits 4 to 7) setting as shown in the following figure.

  • Page 164: Acceleration/Deceleration Filter Settings

    5.1 Example Setting of Motion Parameters for the Machine 5.1.7 Acceleration/Deceleration Filter Settings 5.1.7 Acceleration/Deceleration Filter Settings There are two types of acceleration/deceleration filter: The exponential acceleration/deceleration filter and the mov- ing average filter. These filter settings can be used to set non-linear acceleration/deceleration curves. The parameters related to the acceleration/deceleration filter settings are listed in the following table.

  • Page 165: Linear Scale Pitch And Rated Speed

    5.1 Example Setting of Motion Parameters for the Machine 5.1.8 Linear Scale Pitch and Rated Speed 5.1.8 Linear Scale Pitch and Rated Speed When using a linear motor, set the linear scale pitch (fixed parameter No. 6), the rated speed (fixed parameter No. 34), and the number of pulses per scale pitch (fixed parameter No.
  • Page 166 Motion Commands This chapter explains each motion command's operation, related parameters, and timing charts. 6.1 Motion Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-3 6.1.1 Motion Command Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3 6.1.2 Motion Commands Supported by SERVOPACK Models - - - - - - - - - - - - - - - - - - - - - - 6-4 6.2 Motion Command Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-5...
  • Page 167 6.3 Motion Subcommands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-101 6.3.1 Motion Subcommand Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-101 6.3.2 Motion Subcommand Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-101 6.4 Motion Subcommand Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-102 6.4.1 No Command (NOP) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-102...

  • Page 168: Motion Commands

    6.1.1 Motion Command Table 6.1 Motion Commands 6.1.1 Motion Command Table This table shows the motion commands that are supported by the MP2000 series Machine Controllers. Refer to the sec- tion numbers indicated in the Reference column for additional command information. Command...

  • Page 169: Motion Commands Supported By Servopack Models

    6.1 Motion Commands 6.1.2 Motion Commands Supported by SERVOPACK Models 6.1.2 Motion Commands Supported by SERVOPACK Models The following table shows the motion commands supported by each model of SERVOPACK. A Motion Command Setting Error warning will occur if an unsupported command is specified. SERVOPACK SGDH-E+NS115 SGDS-1...

  • Page 170: Motion Command Details

    6.2 Motion Command Details 6.2.1 Position Mode (POSING) (Positioning) 6.2 Motion Command Details The following describes the procedure for executing motion commands.  All the following command names and items in the Parameter List displaying an are supported by the Virtual Motion Module (SVR).
  • Page 171 6.2 Motion Command Details 6.2.1 Position Mode (POSING) (Positioning) Set OW 08 to 0 to execute the NOP motion command to complete the positioning operation.  POSING Operating Pattern Speed Rated speed (100%) Positioning speed Position Reference Time Straight Line Straight Line Acceleration Time Deceleration Time...
  • Page 172 6.2 Motion Command Details 6.2.1 Position Mode (POSING) (Positioning) ( 4 ) Related Parameters [ a ] Setting Parameters Parameter Name Setting Turn the power to the Servomotor ON and OFF. OW00 Servo ON 1: Power ON to Servomotor, 0: Power OFF to Servomotor Bit 0 Turn ON the power before setting the Motion Command (OW08) to 1.
  • Page 173 6.2 Motion Command Details 6.2.1 Position Mode (POSING) (Positioning) [ b ] Monitoring Parameters Parameter Name Monitor Contents IW00 Running (At Servo Indicates the Servo ON status. Bit 1 1: Power supplied to Servomotor, 0: Power not supplied to Servomotor IL02 Warning Stores the most current warning.
  • Page 174 6.2 Motion Command Details 6.2.1 Position Mode (POSING) (Positioning) [ b ] Execution when Aborted 08 = 1 (POSING) 09, bit 1 (ABORT) 08 = 1 (POSING) 09, bit 0 (BUSY) 09, bit 3 (FAIL) 09, bit 8 (COMPLETE) 0C, bit 0 (DEN) 0C, bit 1 (POSCOMP) 1 scan Undefined length of time...
  • Page 175 6.2 Motion Command Details 6.2.1 Position Mode (POSING) (Positioning) [ e ] Execution when an Alarm Occurs 08 = 1 (POSING) 08 = 1 (POSING) 09, bit 0 (BUSY) 09, bit 3 (FAIL) 09, bit 8 (COMPLETE) 0C, bit 0 (DEN) 0C, bit 1 (POSCOMP) 1 scan Undefined length of time...

  • Page 176: Latch Target Positioning (Ex_Posing) (External Positioning)

    6.2 Motion Command Details 6.2.2 Latch Target Positioning (EX_POSING) (External Positioning) 6.2.2 Latch Target Positioning (EX_POSING) (External Positioning) The EX_POSING command positions the axis to the target position using the specified target position and speed. Parameters related to acceleration and deceleration are set in advance. If the external positioning signal turns ON during axis movement, the axis will move the distance specified for the External Positioning Final Travel Distance from the point at which the external positioning signal turned ON, and then stop.
  • Page 177 6.2 Motion Command Details 6.2.2 Latch Target Positioning (EX_POSING) (External Positioning) Set OW08 to 0 to execute the NOP motion command to complete the external positioning opera- tion. EX_POSING Operating Pattern Speed Rated speed (100%) Positioning External positioning speed final travel distance Time (t) Straight line deceleration time constant Straight line acceleration time constant...
  • Page 178 6.2 Motion Command Details 6.2.2 Latch Target Positioning (EX_POSING) (External Positioning) (cont’d) Parameter Name Setting Enable or disable the area where the external positioning signal is valid. OW09 Latch Zone Effective If the latch zone is enabled, the external positioning signal will be ignored if it −...
  • Page 179 6.2 Motion Command Details 6.2.2 Latch Target Positioning (EX_POSING) (External Positioning) (cont’d) Parameter Name Monitor Contents Command IW09 Execution Turns ON when EX_POSING command execution has been completed. Bit 8 Completed IW0C Discharging Turns ON when pulse distribution has been completed for the move command. Bit 0 Completed Turns OFF during execution of a move command.
  • Page 180 6.2 Motion Command Details 6.2.2 Latch Target Positioning (EX_POSING) (External Positioning) [ b ] Execution when Aborted 08 = 2 (EX_POSING) 09, bit 1 (ABORT) 08 = 2 (EX_POSING) 09, bit 0 (BUSY) 09, bit 3 (FAIL) 09, bit 8 (COMPLETE) 0C, bit 0 (DEN) 0C, bit 1 (POSCOMP) 1 scan...

  • Page 181: Zero Point Return (Zret)

    ON again to establish a new coordinate system. The following table lists the 13 zero point return methods that are supported by the MP2000 Series Machine Controller. Select the best method for the machine according to the setting parameters. Refer to the section numbers indicated in the Reference column for additional command information.
  • Page 182 6.2 Motion Command Details 6.2.3 Zero Point Return (ZRET) (cont’d) Setting Parameter Name Method Signal Meaning Reference OW3C N-OT: SERVOPACK N-OT signal 6.2.3 Uses only the negative overtravel sig- NOT Only This method must not be used if repeat nal. ( 7 ) [ k ] accuracy is required.
  • Page 183 6.2 Motion Command Details 6.2.3 Zero Point Return (ZRET) ( 5 ) Related Parameters [ a ] Setting Parameters Parameter Name Setting Turn the power to the Servomotor ON and OFF. OW00 Servo ON 1: Power ON to Servomotor, 0: Power OFF to Servomotor Bit 0 Turn ON the power before setting the Motion Command (OW08) to 3.
  • Page 184 6.2 Motion Command Details 6.2.3 Zero Point Return (ZRET) ( 6 ) Timing Charts [ a ] Normal Execution Depends on zero point return method. 08 = 3 (ZRET) 08 = 3 (ZRET) 09, bit 0 (BUSY) 09, bit 3 (FAIL) 09, bit 8 (COMPLETE) 0C, bit 0 (DEN) 0C, bit 1 (POSCOMP)
  • Page 185 6.2 Motion Command Details 6.2.3 Zero Point Return (ZRET) [ d ] Execution when an Alarm Occurs 08 = 3 (ZRET) 08 = 3 (ZRET) 09, bit 0 (BUSY) 09, bit 3 (FAIL) 09, bit 8 (COMPLETE) 0C, bit 0 (DEN) 0C, bit 1 (POSCOMP) 1 scan Undefined length of time...
  • Page 186 6.2 Motion Command Details 6.2.3 Zero Point Return (ZRET) ( 7 ) Zero Point Return Operation and Parameters With an incremental encoder, there are 13 different methods that can be performed for the zero point return operation. This section explains the operation that occurs after starting a zero point return and the parameters that need to be set before executing the command.
  • Page 187 6.2 Motion Command Details 6.2.3 Zero Point Return (ZRET) [ b ] ZERO Method (OW3C = 1)  Operation after Zero Point Return Starts Travel is started at the approach speed in the direction specified in the parameters. When the rising edge of the ZERO signal is detected, the speed is reduced to the creep speed and positioning is per- formed.
  • Page 188 6.2 Motion Command Details 6.2.3 Zero Point Return (ZRET) [ c ] DEC1 + ZERO Method (OW3C = 2)  Operation after Zero Point Return Starts Travel is started at the zero point return speed in the direction specified in the parameters. When the rising edge of the DEC1 signal is detected, the speed is reduced to the approach speed.
  • Page 189 6.2 Motion Command Details 6.2.3 Zero Point Return (ZRET) [ d ] C Method (OW3C = 3)  Operation after Zero Point Return Starts Travel is started at the approach speed in the direction specified in the parameters. When the rising edge of the phase-C pulse is detected, the speed is reduced to the creep speed and positioning is per- formed.
  • Page 190 6.2 Motion Command Details 6.2.3 Zero Point Return (ZRET) [ e ] C Pulse Only Method (OW3C = 11)  Operation after Zero Point Return Starts Travel is started at the creep speed in the direction specified by the sign of the creep speed. When the rising edge of the phase-C pulse is detected, positioning is performed at the positioning speed.
  • Page 191 6.2 Motion Command Details 6.2.3 Zero Point Return (ZRET) [ f ] POT & C Pulse Method (OW3C = 12)  Operation after Zero Point Return Starts Travel is started at the approach speed in the positive direction until the stroke limit is reached. When the P-OT signal is detected, the direction is reversed to return at creep speed.
  • Page 192 6.2 Motion Command Details 6.2.3 Zero Point Return (ZRET) [ g ] POT Only Method (OW3C = 13)  Operation after Zero Point Return Starts Travel is started at the approach speed in the positive direction until the stroke limit is reached. When the P-OT signal is detected, the direction is reversed to return at Positioning speed.
  • Page 193 6.2 Motion Command Details 6.2.3 Zero Point Return (ZRET) [ h ] HOME LS & C Pulse Method (OW3C = 14)  Operation after Zero Point Return Starts Travel is started at the approach speed in the direction specified by the sign of the approach speed. When the rising edge of the home signal is detected, the speed is reduced to creep speed.
  • Page 194 6.2 Motion Command Details 6.2.3 Zero Point Return (ZRET)  Setting Parameters Parameter Name Setting Zero Point Return OW3C 14: HOME LS & C pulse method Method Set the positioning speed to use after detecting the phase-C pulse. The sign Speed Reference is ignored.
  • Page 195 6.2 Motion Command Details 6.2.3 Zero Point Return (ZRET) [ i ] HOME Only Method (OW3C = 15)  Operation after Zero Point Return Starts Travel is started at the creep speed in the direction specified by the sign of the creep speed. When the rising edge of the home signal is detected, positioning is performed at the positioning speed.
  • Page 196 6.2 Motion Command Details 6.2.3 Zero Point Return (ZRET) [ j ] NOT & C Pulse Method (OW3C = 16)  Operation after Zero Point Return Starts Travel is started at the approach speed in the negative direction until the stroke limit is reached. When the N-OT signal is detected, the direction is reversed to return at the creep speed.
  • Page 197 6.2 Motion Command Details 6.2.3 Zero Point Return (ZRET) [ k ] NOT Only Method (OW3C = 17)  Operation after Zero Point Return Starts Travel is started at the approach speed in the negative direction until the stroke limit is reached. When the N-OT signal is detected, the direction is reversed to return at the positioning speed.
  • Page 198 6.2 Motion Command Details 6.2.3 Zero Point Return (ZRET) [ l ] INPUT & C Pulse Method (OW3C = 18)  Operation after Zero Point Return Starts Travel is started at the approach speed in the direction specified by the sign of the approach speed. When the rising edge of the INPUT signal is detected, the speed is reduced to the creep speed.
  • Page 199 6.2 Motion Command Details 6.2.3 Zero Point Return (ZRET)  Setting Parameters Parameter Name Setting Zero Point Return OW3C 18: INPUT & C pulse Method Method Speed Reference Set the positioning speed to use after detecting the phase-C pulse. The sign is ignored. OL10 Setting The travel direction will depend on the sign of the Zero Point Return Travel Distance...
  • Page 200 6.2 Motion Command Details 6.2.3 Zero Point Return (ZRET) [ m ] INPUT Only Method (OW3C = 19)  Operation after Zero Point Return Starts Travel is started at the creep speed in the direction specified by the sign of the creep speed. When the rising edge of the INPUT signal is detected, the positioning is performed at the positioning speed.

  • Page 201: Interpolation (Interpolate)

    6.2 Motion Command Details 6.2.4 Interpolation (INTERPOLATE) 6.2.4 Interpolation (INTERPOLATE) The INTERPOLATE command positions the axis according to the target position that changes in sync with the high- speed scan. The positioning data is generated by a ladder program.  Speed feed forward compensation can be applied. ...
  • Page 202 6.2 Motion Command Details 6.2.4 Interpolation (INTERPOLATE) ( 2 ) Holding and Aborting The axis will decelerate to a stop if there is no change in the target position each high-speed scan. The Holds a Command bit (OW09, bit 0) and the Interrupt a Command bit (OW09, bit 1) cannot be used. Change a motion command to stop the interpolation execution.
  • Page 203 6.2 Motion Command Details 6.2.4 Interpolation (INTERPOLATE) [ b ] Monitoring Parameters Parameter Name Monitor Contents IW00 Running (At Servo Indicates the Servo ON status. Bit 1 1: Power supplied to Servomotor, 0: Power not supplied to Servomotor IL02 Warning Stores the most current warning.
  • Page 204 6.2 Motion Command Details 6.2.4 Interpolation (INTERPOLATE) ( 4 ) Timing Charts [ a ] Normal Execution The target position is refreshed every high-speed scan. 08 = 4 (INTERPOLATE) 08 = 4 (INTERPOLATE) 09, bit 0 (BUSY) 09, bit 3 (FAIL) 09, bit 8 (COMPLETE) 0C, bit 0 (DEN) 0C, bit 1 (POSCOMP)

  • Page 205: Interpolation Mode With Latch Input (Latch)

    6.2 Motion Command Details 6.2.5 Interpolation Mode with Latch Input (LATCH) 6.2.5 Interpolation Mode with Latch Input (LATCH) The LATCH command saves in a register the current position when the latch signal is detected during interpolation positioning. The latch signal type is set in setting register OW 04 and can be set to the phase-C pulse, /EXT1 signal, /EXT2 sig- ...
  • Page 206 6.2 Motion Command Details 6.2.5 Interpolation Mode with Latch Input (LATCH) Set OW08 to 0 to execute the NOP motion command and then complete the positioning operation. LATCH Operating Pattern Speed (%) This position is stored. Position Time (t) Latch Signal Width of Positioning Completion POSCOMP ( 2 ) Holding and Aborting...
  • Page 207 6.2 Motion Command Details 6.2.5 Interpolation Mode with Latch Input (LATCH) [ b ] Monitoring Parameters Parameter Name Monitor Contents IW00 Running (At Servo Indicates the Servo ON status. Bit 1 1: Power supplied to Servomotor, 0: Power not supplied to Servomotor IL02 Warning Stores the most current warning.
  • Page 208 6.2 Motion Command Details 6.2.5 Interpolation Mode with Latch Input (LATCH) ( 4 ) Timing Charts [ a ] Normal Execution The target position is refreshed every high-speed scan. This position is stored in IL 08 = 6 (LATCH) 08 = 6 (LATCH) 09, bit 0 (BUSY) 09, bit 3 (FAIL) 09, bit 8 (COMPLETE)

  • Page 209: Jog Mode (Feed)

    6.2 Motion Command Details 6.2.6 Jog Mode (FEED) 6.2.6 Jog Mode (FEED) The FEED command starts movement in the specified travel direction at the specified travel speed. Execute the NOP motion command to stop the operation. Parameters related to acceleration and deceleration are set in advance. When using an SGDV or SGD7S SERVOPACK, the torque limit can be set and changed during SERVOPACK opera- tion.
  • Page 210 6.2 Motion Command Details 6.2.6 Jog Mode (FEED) ( 3 ) Aborting Axis travel can be stopped during FEED command execution by aborting execution of a command. A command is aborted by setting the Interrupt a Command bit (OW09, bit 1) to 1. •...
  • Page 211 6.2 Motion Command Details 6.2.6 Jog Mode (FEED) [ b ] Monitoring Parameters Parameter Name Monitor Contents IW00 Running (At Servo Indicates the Servo ON status. Bit 1 1: Power supplied to Servomotor, 0: Power not supplied to Servomotor IL02 Warning Stores the most current warning.
  • Page 212 6.2 Motion Command Details 6.2.6 Jog Mode (FEED) ( 5 ) Timing Charts [ a ] Normal Execution 08 = 7 (FEED) 08 = 7 (FEED) 09, bit 0 (BUSY) 09, bit 3 (FAIL) 09, bit 8 (COMPLETE) 0C, bit 0 (DEN) 1 scan [ b ] Execution when Aborted 08 = 7 (FEED)

  • Page 213: Relative Position Mode (Step) (Step Mode)

    6.2 Motion Command Details 6.2.7 Relative Position Mode (STEP) (Step Mode) 6.2.7 Relative Position Mode (STEP) (Step Mode) The STEP command executes a positioning for the specified travel direction, moving amount, and travel speed. Parameters related to acceleration and deceleration are set in advance. When using an SGDV or SGD7S SERVOPACK, the torque limit can be set and changed during SERVOPACK opera- tion.
  • Page 214 6.2 Motion Command Details 6.2.7 Relative Position Mode (STEP) (Step Mode) ( 3 ) Aborting Axis travel can be stopped during command execution and the remaining travel canceled by aborting execution of a command. A command is aborted by setting the Interrupt a Command bit (OW09, bit 1) to 1. •...
  • Page 215 6.2 Motion Command Details 6.2.7 Relative Position Mode (STEP) (Step Mode) [ b ] Monitoring Parameters Parameter Name Monitor Contents IW00 Running (At Servo Indicates the Servo ON status. Bit 1 1: Power supplied to Servomotor, 0: Power not supplied to Servomotor IL02 Warning Stores the most current warning.
  • Page 216 6.2 Motion Command Details 6.2.7 Relative Position Mode (STEP) (Step Mode) [ b ] Execution when Aborted 08 = 8 (STEP) 09, bit 1 (ABORT) 08 = 8 (STEP) 09, bit 0 (BUSY) 09, bit 3 (FAIL) 09, bit 8 (COMPLETE) 0C, bit 0 (DEN) 0C, bit 1 (POSCOMP) 1 scan...

  • Page 217: Set Zero Point (Zset)

    6.2 Motion Command Details 6.2.8 Set Zero Point (ZSET) 6.2.8 Set Zero Point (ZSET) The ZSET command sets the current position as the zero point of the machine coordinate system. This enables setting the zero point without performing a zero point return operation. ...
  • Page 218 6.2 Motion Command Details 6.2.8 Set Zero Point (ZSET) [ b ] Monitoring Parameters Parameter Name Monitor Contents IL02 Warning Stores the most current warning. IL04 Alarm Stores the most current alarm. Motion Command Re- Indicates the motion command that is being executed. IW08 sponse Code The response code will be 9 during ZSET command execution.

  • Page 219: Change Acceleration Time (Acc)

    6.2 Motion Command Details 6.2.9 Change Acceleration Time (ACC) 6.2.9 Change Acceleration Time (ACC) The ACC command transfers the setting of the Straight Line Acceleration Time Constant (motion setting parameter OL36) to the Second-step Linear Acceleration Time Constant in the SERVOPACK and enables the setting. ...
  • Page 220 6.2 Motion Command Details 6.2.9 Change Acceleration Time (ACC) [ b ] Monitoring Parameters Parameter Name Monitor Contents IL02 Warning Stores the most current warning. IL04 Alarm Stores the most current alarm. Motion Command Indicates the motion command that is being executed. IW08 Response Code The response code will be 10 during ACC command execution.

  • Page 221: Change Deceleration Time (Dcc)

    6.2 Motion Command Details 6.2.10 Change Deceleration Time (DCC) 6.2.10 Change Deceleration Time (DCC) The DCC command transfers the setting of the Straight Line Deceleration Time Constant (motion setting parameter OL38) to the Second-step Linear Deceleration Time Constant in the SERVOPACK and enables the setting. ...
  • Page 222 6.2 Motion Command Details 6.2.10 Change Deceleration Time (DCC) [ b ] Monitoring Parameters Parameter Name Monitor Contents IL02 Warning Stores the most current warning. IL04 Alarm Stores the most current alarm. Motion Command Indicates the motion command that is being executed. IW08 Response Code The response code will be 11 during DCC command execution.

  • Page 223: Change Filter Time Constant (Scc)

    6.2 Motion Command Details 6.2.11 Change Filter Time Constant (SCC) 6.2.11 Change Filter Time Constant (SCC) The SCC command transfers the setting of the Filter Time Constant (motion setting parameter OW3A) to the Mov- ing Average Time or Exponential Acceleration/Deceleration Time Constant in the SERVOPACK and enables the set- ting.
  • Page 224 6.2 Motion Command Details 6.2.11 Change Filter Time Constant (SCC) [ b ] Monitoring Parameters Parameter Name Monitor Contents IL02 Warning Stores the most current warning. IL04 Alarm Stores the most current alarm. Motion Command Indicates the motion command that is being executed. IW08 Response Code The response code is 12 during SCC command execution.

  • Page 225: Change Filter Type (Chg_Filter)

    6.2 Motion Command Details 6.2.12 Change Filter Type (CHG_FILTER) 6.2.12 Change Filter Type (CHG_FILTER) The CHG_FILTER command enables the current setting of the Filter Type Selection (motion setting parameter OW03, bits 8 to B) for execution of the following motion commands with the movement: POSING, EX_POSING, ZRET, INTERPOLATE, LATCH, FEED, and STEP.
  • Page 226 6.2 Motion Command Details 6.2.12 Change Filter Type (CHG_FILTER) ( 4 ) Timing Charts [ a ] Normal End 08 = 13 (CHG-FILTER) 08 = 13 (CHG-FILTER) 09, bit 0 (BUSY) 09, bit 3 (FAIL) 09, bit 8 (COMPLETE) 1 scan [ b ] Error End 08 = 13 (CHG-FILTER) 08 = 13 (CHG-FILTER)

  • Page 227: Change Speed Loop Gain (Kvs)

    6.2 Motion Command Details 6.2.13 Change Speed Loop Gain (KVS) 6.2.13 Change Speed Loop Gain (KVS) The KVS command transfers the setting of the Speed Loop Gain (motion setting parameter OW2F) to the Speed Loop Gain in the SERVOPACK and enables the setting. ...
  • Page 228 6.2 Motion Command Details 6.2.13 Change Speed Loop Gain (KVS) (cont’d) Parameter Name Monitor Contents IW09 Command Execution Turns ON when KVS command execution has been completed. Bit 8 Completed ( 4 ) Timing Charts [ a ] Normal End 08 = 14 (KVS) 08 = 14 (KVS) 09, bit 0 (BUSY)

  • Page 229: Change Position Loop Gain (Kps)

    6.2 Motion Command Details 6.2.14 Change Position Loop Gain (KPS) 6.2.14 Change Position Loop Gain (KPS) The KPS command transfers the setting of the Position Loop Gain (motion setting parameter OW2E) to the Posi- tion Loop Gain in the SERVOPACK and enables the setting. ...
  • Page 230 6.2 Motion Command Details 6.2.14 Change Position Loop Gain (KPS) ( 4 ) Timing Charts [ a ] Normal End 08 = 15 (KPS) 08 = 15 (KPS) 09, bit 0 (BUSY) Undefined length of time 09, bit 3 (FAIL) 09, bit 8 (COMPLETE) [ b ] Error End 08 = 15 (KPS)

  • Page 231: Change Feed Forward (Kfs)

    6.2 Motion Command Details 6.2.15 Change Feed Forward (KFS) 6.2.15 Change Feed Forward (KFS) The KFS command transfers the setting of the Speed Feed Forward Amends (motion setting parameter OW30) to the Feed Forward in the SERVOPACK and enables the setting. ...
  • Page 232 6.2 Motion Command Details 6.2.15 Change Feed Forward (KFS) (cont’d) Parameter Name Monitor Contents IW09 Command Execution Turns ON when KFS command execution has been completed. Bit 8 Completed ( 4 ) Timing Charts [ a ] Normal End 08 = 16 (KFS) 08 = 16 (KFS) 09, bit 0 (BUSY) Undefined length...

  • Page 233: Read User Constant (Prm_Rd)

    6.2 Motion Command Details 6.2.16 Read User Constant (PRM_RD) 6.2.16 Read User Constant (PRM_RD) The PRM_RD command reads the setting of the SERVOPACK parameter with the specified parameter number and parameter size. It stores the parameter number in Servo Driver User Constants No. (monitoring parameter IW36) and the setting in Servo Driver User Constant Reading Data (monitoring parameter IL38).
  • Page 234 6.2 Motion Command Details 6.2.16 Read User Constant (PRM_RD) [ b ] Monitoring Parameters Parameter Name Monitor Contents IL02 Warning Stores the most current warning. IL04 Alarm Stores the most current alarm. Motion Command Indicates the motion command that is being executed. IW08 Response Code The response code will be 17 during PRM_RD command execution.

  • Page 235: Write User Constant (Prm_Wr)

    6.2 Motion Command Details 6.2.17 Write User Constant (PRM_WR) 6.2.17 Write User Constant (PRM_WR) The PRM_WR command writes the setting value the relevant SERVOPACK parameter using the specified SERVO- PACK parameter number, parameter size, and setting data. ( 1 ) Executing/Operating Procedure Check to see if all the following conditions are satisfied.
  • Page 236 6.2 Motion Command Details 6.2.17 Write User Constant (PRM_WR) ( 4 ) Timing Charts [ a ] Normal End 08 = 18 (PRM_WR) 08 = 18 (PRM_WR) 09, bit 0 (BUSY) Undefined length 09, bit 3 (FAIL) of time 09, bit 8 (COMPLETE) [ b ] Error End 08 = 18 (PRM_WR) 08 = 18 (PRM_WR)

  • Page 237: Alarm Monitor (Alm_Mon)

    6.2 Motion Command Details 6.2.18 Alarm Monitor (ALM_MON) 6.2.18 Alarm Monitor (ALM_MON) The ALM_MON command reads the alarm or warning that has occurred in the SERVOPACK and stores it in Servo Driver Alarm Code (monitoring parameter IW2D). Three-digit alarm codes, such as SGDS, SGDV, or SGD7S SERVOPACK alarm codes, can also be read out by using this command.
  • Page 238 6.2 Motion Command Details 6.2.18 Alarm Monitor (ALM_MON) ( 4 ) Timing Charts [ a ] Normal End 08 = 19 (ALM_MON) 08 = 19 (ALM_MON) 09, bit 0 (BUSY) Undefined length of time 09, bit 3 (FAIL) 09, bit 8 (COMPLETE) Alarm code (0) Specified Alarm code (0)

  • Page 239: Alarm History Monitor (Alm_Hist)

    6.2 Motion Command Details 6.2.19 Alarm History Monitor (ALM_HIST) 6.2.19 Alarm History Monitor (ALM_HIST) The ALM_HIST command reads the alarm history stored in the SERVOPACK and stores it in the Servo Driver Alarm Code (monitor parameter IW2D). ( 1 ) Executing/Operating Procedure Check to see if all the following conditions are satisfied.
  • Page 240 6.2 Motion Command Details 6.2.19 Alarm History Monitor (ALM_HIST) ( 4 ) Timing Charts [ a ] Normal End 08 = 20 (ALM_HIST) 08 = 20 (ALM_HIST) 09, bit 0 (BUSY) Undefined length 09, bit 3 (FAIL) of time 09, bit 8 (COMPLETE) Alarm code (0) Specified Alarm code (0)

  • Page 241: Clear Alarm History (Almhist_Clr)

    6.2 Motion Command Details 6.2.20 Clear Alarm History (ALMHIST_CLR) 6.2.20 Clear Alarm History (ALMHIST_CLR) The ALMHIST_CLR command clears the alarm history in the SERVOPACK. ( 1 ) Executing/Operating Procedure Check to see if all the following conditions are satisfied. Execution Conditions Confirmation Method Motion command execution has been completed.
  • Page 242 6.2 Motion Command Details 6.2.20 Clear Alarm History (ALMHIST_CLR) ( 4 ) Timing Charts [ a ] Normal End 08 = 21 (ALMHIST_CLR) 08 = 21 (ALMHIST_CLR) 09, bit 0 (BUSY) Undefined length 09, bit 3 (FAIL) of time 09, bit 8 (COMPLETE) Alarm code (0) Specified Alarm code (0)

  • Page 243: Absolute Encoder Reset (Abs_Rst)

    6.2 Motion Command Details 6.2.21 Absolute Encoder Reset (ABS_RST) 6.2.21 Absolute Encoder Reset (ABS_RST) The ABS_RST command initializes the absolute encoder via MECHATROLINK. Initialization of the absolute encoder is required in the following cases. • Before initial operation of a machine •...
  • Page 244 6.2 Motion Command Details 6.2.21 Absolute Encoder Reset (ABS_RST) ( 3 ) Related Parameters [ a ] Setting Parameters Parameter Name Setting Turn the power to the Servomotor ON and OFF. OW00 Servo ON 1: Power ON to Servomotor; 0: Power OFF to Servomotor Bit 0 Turn OFF the power before setting the Motion Command (OW08) to 22.
  • Page 245 6.2 Motion Command Details 6.2.21 Absolute Encoder Reset (ABS_RST) ( 4 ) Timing Charts [ a ] Normal End 08 = 22 (ABS_RST) 08 = 22 (ABS_RST) 09, bit 0 (BUSY) Undefined length of time (approx. 2 s) 09, bit 3 (FAIL) 09, bit 7 (ABS_RSTC) 09, bit 8 (COMPLETE) 00, bit 0 (SVCRDY)

  • Page 246: Speed Reference (Velo)

    6.2 Motion Command Details 6.2.22 Speed Reference (VELO) 6.2.22 Speed Reference (VELO) With the MECHATROLINK-II, the VELO command is used to operate the SERVOPACK in the speed control mode for the same type of operation as when using the analog speed reference input of the SERVOPACK. ...
  • Page 247 6.2 Motion Command Details 6.2.22 Speed Reference (VELO) ( 3 ) Aborting The speed control mode can be canceled by aborting execution of a command. A command is aborted by setting the Interrupt a Command bit (OW09, bit 1) to 1. •...
  • Page 248 6.2 Motion Command Details 6.2.22 Speed Reference (VELO) [ b ] Monitoring Parameters Parameter Name Monitor Contents IW00 Running (At Servo Indicates the Servo ON status. Bit 1 1: Power supplied to Servomotor, 0: Power not supplied to Servomotor IL02 Warning Stores the most current warning.
  • Page 249 6.2 Motion Command Details 6.2.22 Speed Reference (VELO) [ b ] Execution when Aborted 08 = 23 (VELO) 09 = 1 (ABORT) 08 = 23 (VELO) 09, bit 0 (BUSY) 09, bit 3 (FAIL) 09, bit 8 (COMPLETE) 0C, bit 0 (DEN) Speed Control Mode Position Control Mode [ c ] Execution when Aborting by Changing the Command...

  • Page 250: Torque /Thrust Reference (Trq)

    6.2 Motion Command Details 6.2.23 Torque /Thrust Reference (TRQ) 6.2.23 Torque /Thrust Reference (TRQ) With the MECHATROLINK-II, the TRQ command is used to operate the SERVOPACK in the torque control mode for the same type of operation as when using the analog torque reference input of the SERVOPACK. For SVR, the torque reference can be monitored, but position data cannot be updated.
  • Page 251 6.2 Motion Command Details 6.2.23 Torque /Thrust Reference (TRQ) ( 3 ) Aborting The torque control mode can be canceled by aborting execution of a command. A command is aborted by setting the Interrupt a Command Abort bit (OW09 Bit1) to 1. •...
  • Page 252 6.2 Motion Command Details 6.2.23 Torque /Thrust Reference (TRQ) (cont’d) Parameter Name Monitor Contents IW09 Command Execution Always OFF for TRQ command. Bit 8 Completed IW0C Discharging Complet- Turns ON when pulse distribution has been completed for the move command. Bit 0 Turns OFF during execution of a move command.
  • Page 253 6.2 Motion Command Details 6.2.23 Torque /Thrust Reference (TRQ) [ c ] Command Hold 08 = 24 (TRQ) 09, bit0 (HOLD) 08 = 24 (TRQ) 09, bit 0 (BUSY) 09, bit 1 (HOLDL) 09, bit 3 (FAIL) 09, bit 8 (COMPLETE) 0C, bit 0 (DEN) Position Control Mode 1scan...

  • Page 254: Phase References (Phase)

    6.2 Motion Command Details 6.2.24 Phase References (PHASE) 6.2.24 Phase References (PHASE) The PHASE command is used for the synchronized operation of multiple axes under phase control mode, using the specified speed, phase bias, and speed compensation value. For SVR, the position data and the feedback speed can be monitored. ...
  • Page 255 6.2 Motion Command Details 6.2.24 Phase References (PHASE) Execute another motion command to cancel the phase control mode. PHASE Operating Pattern Speed (%) Position Time (t) ( 2 ) Holding and Aborting The Holds a Command bit (OW09, bit 0) and the Interrupt a Command bit (OW09, bit 1) cannot be used. ( 3 ) Related Parameters [ a ] Setting Parameters Parameter...
  • Page 256 6.2 Motion Command Details 6.2.24 Phase References (PHASE) (cont’d) Parameter Name Monitor Contents IW09 Command Execution Flag Always OFF for PHASE command. Bit 0 IW09 Command Hold Completed Always OFF for PHASE command. Bit 1 Turns ON if an error occurs during PHASE command execution. IW09 Command Error The axis will decelerate to a stop if it is moving.
  • Page 257 6.2 Motion Command Details 6.2.24 Phase References (PHASE) [ b ] Execution when Aborted The Target Position is automatically refreshed every scan. 08=25(PHASE) 08=25(PHASE) 09, bit 0 (BUSY) 09, bit 3 (FAIL) 09, bit 8 (COMPLETE) 0C, bit 0 (DEN) 0C, bit 1 (POSCOMP) 1scan Undefined length of time...

  • Page 258: Change Position Loop Integral Time Constant (Kis)

    6.2 Motion Command Details 6.2.25 Change Position Loop Integral Time Constant (KIS) 6.2.25 Change Position Loop Integral Time Constant (KIS) The KIS command transfers the setting of the Position Integration Time Constant (motion setting parameter OW32) to the Position Integration Time Constant in the SERVOPACK and enables the setting. ...
  • Page 259 6.2 Motion Command Details 6.2.25 Change Position Loop Integral Time Constant (KIS) (cont’d) Parameter Name Monitor Contents IW09 Command Execution Turns ON when KIS command execution has been completed. Bit 8 Completed ( 4 ) Timing Charts [ a ] Normal End 08 = 26 (KIS) 08 = 26 (KIS) 09, bit 0 (BUSY)

  • Page 260: Stored Parameter Write (Pprm_Wr)

    6.2 Motion Command Details 6.2.26 Stored Parameter Write (PPRM_WR) 6.2.26 Stored Parameter Write (PPRM_WR) Specify the parameters of the SERVOPACK, size of parameters, and the setting values, then execute this command. The PPRM_WR command writes the specified data in the specified SERVOPACK parameter number of the specified size in the SERVOPACK’s nonvolatile memory.
  • Page 261 6.2 Motion Command Details 6.2.26 Stored Parameter Write (PPRM_WR) [ b ] Monitoring Parameters Parameter Name Monitor Contents IL02 Warning Stores the currently occurring warning. IL04 Alarm Stores the currently occurring alarm. Motion Command Indicates the motion command that is being executed. IW08 Response Code The response code will be 27 during execution of the PPRM_WR command.

  • Page 262: Multiturn Limit Setting (Mlttrn_Set)

    For more information, refer to the manual for the SERVOPACK that you are using. ( 1 ) Compatible Versions The firmware and engineering tool versions that allow multiturn limit setting to be used with MP2000 series SVB mod- ules are shown in the table below.
  • Page 263 6.2 Motion Command Details 6.2.27 Multiturn Limit Setting (MLTTRN_SET) ( 2 ) Compatible SERVOPACK Models The SERVOPACK models that allow multiturn limit setting are shown in the table below. SERVOPACK Model Details SGDH-E SGDH SERVOPACKs JUSP-NS100 NS100 MECHATROLINK-I Interface Module SGDH-E SGDH SERVOPACKs JUSP-NS115...
  • Page 264 6.2 Motion Command Details 6.2.27 Multiturn Limit Setting (MLTTRN_SET) ( 4 ) Holding and Aborting The Holds a Command bit (OW09, bit 0) and the Interrupt a Command bit (OW09, bit 1) cannot be used. Processing will be canceled if a communication error occurs while the command is being executed and the command is completed in an error status (IW09, bit 3 = ON) will occur.
  • Page 265 6.2 Motion Command Details 6.2.27 Multiturn Limit Setting (MLTTRN_SET) ( 6 ) Timing Charts [ a ] Normal End 08=39 (MLTTRN_SET) 08=39 (MLTTRN_SET) 09 Bit 0 (BUSY) Undefined length of time 09 Bit 3 (FAIL) 09 Bit 8 (COMPLETE) 00 Bit 0 (SVCRDY) Undefined length of time [ b ] Error End 08=39 (MLTTRN_SET)

  • Page 266: Motion Subcommands

    6.3 Motion Subcommands 6.3.1 Motion Subcommand Table 6.3 Motion Subcommands 6.3.1 Motion Subcommand Table This table shows the motion subcommands that are supported by the MP2000-series Machine Controller. Refer to the section numbers indicated in the Reference column for additional command information. Command Command Name...

  • Page 267: Motion Subcommand Details

    6.4 Motion Subcommand Details 6.4.1 No Command (NOP) 6.4 Motion Subcommand Details The following provides a detailed description of the types of motion subcommands that are available.  All the following command names and items in the Parameter List displaying an are supported by the Virtual Motion Module (SVR).

  • Page 268: Read User Constant (Prm_Rd)

    6.4 Motion Subcommand Details 6.4.2 Read User Constant (PRM_RD) 6.4.2 Read User Constant (PRM_RD) The PRM_RD command reads the setting of the parameter with the specified parameter number and parameter size from SERVOPACK RAM. It stores the parameter number in the Supplementary Servo Driver User Constant No. (mon- itoring parameter IW37) and the setting in the Supplementary Servo Driver User Constant Reading Data (monitor- ing parameter IL3A) ...
  • Page 269 6.4 Motion Subcommand Details 6.4.2 Read User Constant (PRM_RD) ( 3 ) Timing Charts [ a ] Normal End 0A = 1 (PRM_RD) 0A = 1 (PRM_RD) 0B, bit 0 (BUSY) Undefined length of time 0B, bit 3 (FAIL) 0B, bit 8 (COMPLETE) 1 scan Undefined Parameter number...

  • Page 270: Write User Constant (Prm_Wr)

    6.4 Motion Subcommand Details 6.4.3 Write User Constant (PRM_WR) 6.4.3 Write User Constant (PRM_WR) The PRM_WR command writes the setting of the SERVOPACK parameter using the specified parameter number, parameter size, and setting data. The write destination is in the SERVOPACK's RAM. ...
  • Page 271 6.4 Motion Subcommand Details 6.4.3 Write User Constant (PRM_WR) ( 3 ) Timing Charts [ a ] Normal End 0A = 2 (PRM_WR) 0A = 2 (PRM_WR) 0B, bit 0 (BUSY) Undefined length of time 0B, bit 3 (FAIL) 0B, bit 8 (COMPLETE) 1 scan Undefined Parameter number...

  • Page 272: Status Monitor (Smon)

    6.4 Motion Subcommand Details 6.4.4 Status Monitor (SMON) 6.4.4 Status Monitor (SMON) The SMON command stores, the data specified in Monitor 4 of the Servo User Monitor is stored in Servo Driver User Monitor 4 (monitoring parameter IL34).  This command will end with a Command Error Occurrence if it is executed with a communication method other than MECHATROLINK-II 32-byte Mode.
  • Page 273 6.4 Motion Subcommand Details 6.4.4 Status Monitor (SMON) ( 2 ) Related Parameters [ a ] Setting Parameters Parameter Name Setting Contents OW0A Motion Subcommand The Monitor Status command is executed when this parameter is set to 4. Servo User Monitor Set- OW4E Set the information managed by the Servo Driver to be monitored.

  • Page 274: Read Fixed Parameters (Fixprm_Rd)

    6.4 Motion Subcommand Details 6.4.5 Read Fixed Parameters (FIXPRM_RD) 6.4.5 Read Fixed Parameters (FIXPRM_RD) The FIXPRM_RD command reads the current value of the specified fixed parameter and stores the value in the Fixed Parameter Monitor monitoring parameter. ( 1 ) Executing/Operating Procedure Check to see if all the following conditions are satisfied.
  • Page 275 6.4 Motion Subcommand Details 6.4.5 Read Fixed Parameters (FIXPRM_RD) ( 3 ) Timing Charts [ a ] Normal End 0A = 5 (FIXPRM_RD) 0A = 5 (FIXPRM_RD) 0B, bit 0 (BUSY) 0B, bit 3 (FAIL) 0B. bit 8 (COMPLETE) Undefined Monitoring result [ b ] Error End 0A = 5 (FIXPRM_RD)
  • Page 276 Switching Commands during Execution This chapter describes commands and subcommands that can be switched during execution and how the axis will move when they are switched. 7.1 Switchable Motion Commands and Subcommands - - - - - - - - - - - - - - - - -7-2 7.1.1 Switching Between Motion Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2 7.1.2 Setting a Subcommand During Command Execution - - - - - - - - - - - - - - - - - - - - - - - - 7-4 7.2 Motions After Switching Motion Commands - - - - - - - - - - - - - - - - - - - - - -7-5...

  • Page 277: Switchable Motion Commands And Subcommands

    7.1 Switchable Motion Commands and Subcommands 7.1.1 Switching Between Motion Commands 7.1 Switchable Motion Commands and Subcommands 7.1.1 Switching Between Motion Commands The following table shows motion commands that can be switched during execution when using the MP2000-series Machine Controller. Switched Switched To (Newly Set Command) From...
  • Page 278 7.1 Switchable Motion Commands and Subcommands 7.1.1 Switching Between Motion Commands Switched Switched To (Newly Set Command) From (Command in PRM_ PRM_ ALM_ ALM_ ALMH ABS_ VELO PHAS SV_ON SV_OF Execution)          ...

  • Page 279: Setting A Subcommand During Command Execution

    7.1 Switchable Motion Commands and Subcommands 7.1.2 Setting a Subcommand During Command Execution 7.1.2 Setting a Subcommand During Command Execution The following table shows motion subcommands that can be executed while a motion command is being executed. Subcommand Motion Command in Code Execution PRM_RD...

  • Page 280: Motions After Switching Motion Commands

    7.2 Motions After Switching Motion Commands 7.2 Motions After Switching Motion Commands The details of motion changes enacted when the command in execution is switched to another command (listed in the following table) are described in 7.2.1 Switching from POSING. <Switching Between Commands>...

  • Page 281: Switching From Posing

    7.2 Motions After Switching Motion Commands 7.2.1 Switching from POSING 7.2.1 Switching from POSING Switched From Switched To Operation POSING will switch to NOP when the axis stops after deceleration. Canceled POSING operation POSING Motion command POSING Motion command POSING response POSING POSING operation continue.
  • Page 282 7.2 Motions After Switching Motion Commands 7.2.1 Switching from POSING (cont’d) Switched From Switched To Operation POSING will switch to INTERPOLATE when the axis stops after deceleration. Canceled POSING operation POSING INTERPOLATE POSING INTERPOLATE Motion command INTERPOLATE Motion command POSING INTERPOLATE response <Change in Position Reference Setting (OL1C) during Deceleration>...
  • Page 283 7.2 Motions After Switching Motion Commands 7.2.1 Switching from POSING (cont’d) Switched From Switched To Operation POSING will immediately switch to ZSET, and positioning will continue. POSING operation continues POSING ZSET Motion command POSING ZSET Motion command POSING ZSET response ...
  • Page 284 7.2 Motions After Switching Motion Commands 7.2.1 Switching from POSING (cont’d) Switched From Switched To Operation POSING will immediately switch to PHASE, and the control mode will change from posi- tion control mode to phase control mode. The reference value of the PHASE command will be output as is regardless Canceled of the speed when the motion command...

  • Page 285: Switching From Ex_Posing

    7.2 Motions After Switching Motion Commands 7.2.2 Switching from EX_POSING 7.2.2 Switching from EX_POSING Switched From Switched To Operation EX_POSING will switch to NOP when the axis stops after deceleration. Canceled EX_POSING operation EX_POSING Motion command EX_POSING Motion command EX_POSING response <In Incremental Addition Mode (OW09, bit 5 = 0)>...
  • Page 286 7.2 Motions After Switching Motion Commands 7.2.2 Switching from EX_POSING (cont’d) Switched From Switched To Operation EX_POSING will immediately switch to ZRET, and the moving amount stored in the acceleration/deceleration filter will be maintained. The speed will smoothly change. (The speed at the time the motion com- mand is switched will increase/decrease until it reaches the target speed of ZRET.) Canceled...
  • Page 287 7.2 Motions After Switching Motion Commands 7.2.2 Switching from EX_POSING (cont’d) Switched From Switched To Operation EX_POSING will switch to STEP when the axis stops after deceleration. Canceled EX_POSING operation STEP moving amount STEP EX_POSING STEP Motion command EX_POSING STEP Motion command EX_POSING STEP...
  • Page 288 7.2 Motions After Switching Motion Commands 7.2.2 Switching from EX_POSING (cont’d) Switched From Switched To Operation EX_POSING will switch to TRQ when the axis stops after deceleration, and the control mode will change from position control mode to torque control mode. Canceled EX_POSING operation...

  • Page 289: Switching From Zret

    7.2 Motions After Switching Motion Commands 7.2.3 Switching from ZRET 7.2.3 Switching from ZRET Switched From Switched To Operation ZRET will be switched to NOP when the axis stops after deceleration. Canceled ZRET operation ZRET Motion command ZRET Motion command ZRET response ZRET will switch to POSING when the axis stops after deceleration.
  • Page 290 7.2 Motions After Switching Motion Commands 7.2.3 Switching from ZRET (cont’d) Switched From Switched To Operation ZRET will switch to INTERPOLATE when the axis stops after deceleration. Canceled ZRET operation INTERPO ZRET LATE Motion command ZRET INTERPOLATE Motion command INTERPOLATE ZRET INTERPOLATE response...
  • Page 291 7.2 Motions After Switching Motion Commands 7.2.3 Switching from ZRET (cont’d) Switched From Switched To Operation ZRET will switch to VELO when the axis stops after deceleration. Canceled ZRET operation ZRET VELO VELO ZRET VELO Motion command Motion command ZRET VELO response Position control mode...

  • Page 292: Switching From Interpolate

    7.2 Motions After Switching Motion Commands 7.2.4 Switching from INTERPOLATE 7.2.4 Switching from INTERPOLATE Switched From Switched To Operation INTERPOLATE will immediately switch to NOP, and the moving amount stored in the acceleration/deceleration filter will be output. The amount stored in the acceleration/deceleration filter will be output.
  • Page 293 7.2 Motions After Switching Motion Commands 7.2.4 Switching from INTERPOLATE (cont’d) Switched From Switched To Operation INTERPOLATE will immediately switch to ZRET, and the amount of motion stored in the acceleration/deceleration filter will be output. When execution of ZRET is started, values are written to the related servo parameters and then the zero return operation starts.
  • Page 294 7.2 Motions After Switching Motion Commands 7.2.4 Switching from INTERPOLATE (cont’d) Switched From Switched To Operation INTERPOLATE will immediately switch to ZSET, and the moving amount stored in the acceleration/deceleration filter will be output. The amount stored in the acceleration/deceleration filter will be output.

  • Page 295: Switching From Endof_Interpolate Or Latch

    7.2 Motions After Switching Motion Commands 7.2.5 Switching from ENDOF_INTERPOLATE or LATCH (cont’d) Switched From Switched To Operation INTERPOLATE will immediately switch to PHASE, and the control mode will change from position control mode to phase control mode. The reference value of the PHASE command will be output as it is regardless of the speed when the motion command is switched.

  • Page 296: Switching From Feed

    7.2 Motions After Switching Motion Commands 7.2.6 Switching from FEED 7.2.6 Switching from FEED Switched From Switched To Operation FEED will switch to NOP when the axis stops after deceleration. FEED Motion command FEED Motion command FEED response <In Incremental Addition Mode (OW09, bit 5 = 0)> FEED will switch to POSING when the axis stops after deceleration.
  • Page 297 7.2 Motions After Switching Motion Commands 7.2.6 Switching from FEED (cont’d) Switched From Switched To Operation <In Incremental Addition Mode (OW09, bit 5 = 0)> FEED will switch to EX_POSING when the axis stops after deceleration. When execution of EX_POSING is started, values are written to the related servo parame- ters and then the positioning operation starts.
  • Page 298 7.2 Motions After Switching Motion Commands 7.2.6 Switching from FEED (cont’d) Switched From Switched To Operation FEED will switch to INTERPOLATE when the axis stops after deceleration. Canceled FEED operation FEED INTERPOLATE Motion command FEED INTERPOLATE Motion command INTERPOLATE FEED INTERPOLATE response <Change in Position Reference Setting (OL1C) during Deceleration>...
  • Page 299 7.2 Motions After Switching Motion Commands 7.2.6 Switching from FEED (cont’d) Switched From Switched To Operation FEED will immediately switch to VELO, and the control mode will change from position control mode to speed control mode. The moving amount stored in the acceleration/decel- eration filter will be reset to 0.

  • Page 300: Switching From Step

    7.2 Motions After Switching Motion Commands 7.2.7 Switching from STEP 7.2.7 Switching from STEP Switched From Switched To Operation STEP will switch to NOP when the axis stops after deceleration. STEP Motion command STEP Motion command STEP response STEP will immediately switch to POSING, and the moving amount stored in the accelera- tion/deceleration filter will be maintained.
  • Page 301 7.2 Motions After Switching Motion Commands 7.2.7 Switching from STEP (cont’d) Switched From Switched To Operation STEP will immediately switch to ZRET, and the moving amount stored in the accelera- tion/deceleration filter will be maintained. The speed will smoothly change. (The speed at the time the motion com- mand is switched will increase/decrease until it reaches the target speed of ZRET.)
  • Page 302 7.2 Motions After Switching Motion Commands 7.2.7 Switching from STEP (cont’d) Switched From Switched To Operation STEP will immediately switch to ZSET, and positioning will continue. STEP operation will continue. STEP ZSET Motion command STEP ZSET Motion command STEP ZSET response ...

  • Page 303: Switching From Zset

    7.2 Motions After Switching Motion Commands 7.2.8 Switching from ZSET (cont’d) Switched From Switched To Operation STEP will immediately switch to PHASE, and the control mode will change from position control mode to phase control mode. The reference value of the PHASE command will be output as is regardless of the speed when the motion command is switched.

  • Page 304: Switching From Velo

    7.2 Motions After Switching Motion Commands 7.2.9 Switching from VELO 7.2.9 Switching from VELO Switched From Switched To Operation VELO will switch to NOP when the axis stops after deceleration, and the control mode will change from speed control mode to position control mode. VELO Motion command VELO...
  • Page 305 7.2 Motions After Switching Motion Commands 7.2.9 Switching from VELO (cont’d) Switched From Switched To Operation VELO will immediately switch to EX_POSING, and the control mode will change from speed control mode to position control mode. The moving amount stored in the accelera- tion/deceleration filter will be reset to 0.
  • Page 306 7.2 Motions After Switching Motion Commands 7.2.9 Switching from VELO (cont’d) Switched From Switched To Operation VELO will switch to INTERPOLATE when the axis stops after deceleration, and the con- trol mode will change from speed control mode to position control mode after the axis deceleration is completed.
  • Page 307 7.2 Motions After Switching Motion Commands 7.2.9 Switching from VELO (cont’d) Switched From Switched To Operation VELO will immediately switch to STEP, and the control mode will change from speed control mode to position control mode. The moving amount stored in the acceleration/ deceleration filter will be reset to 0.
  • Page 308 7.2 Motions After Switching Motion Commands 7.2.9 Switching from VELO (cont’d) Switched From Switched To Operation VELO will immediately switch to TRQ, and the control mode will change from speed control mode to torque control mode. The moving amount stored in the acceleration/decel- eration filter will be reset to 0.

  • Page 309: Switching From Trq

    7.2 Motions After Switching Motion Commands 7.2.10 Switching from TRQ 7.2.10 Switching from TRQ Switched From Switched To Operation The axis will decelerate to a stop from the speed when the motion command is switched in position control mode. TRQ will be switched to NOP when the axis stops after deceleration. In position control mode, the axis will be decelerated to a stop from the speed when the motion command is switched.
  • Page 310 7.2 Motions After Switching Motion Commands 7.2.10 Switching from TRQ (cont’d) Switched From Switched To Operation TRQ will immediately switch to EX_POSING, and the control mode will change from torque control mode to position control mode. The speed will smoothly change. (The speed at the time the motion com- mand is switched will increase/decrease until it reaches the target speed of...
  • Page 311 7.2 Motions After Switching Motion Commands 7.2.10 Switching from TRQ (cont’d) Switched From Switched To Operation The axis will decelerate to a stop in position control mode. When the axis stops, TRQ will switch to INTERPOLATE. In position control mode, the axis will decelerate to a stop from the speed when the motion command is switched.
  • Page 312 7.2 Motions After Switching Motion Commands 7.2.10 Switching from TRQ (cont’d) Switched From Switched To Operation TRQ will immediately switch to STEP, and the control mode will change from torque con- trol mode to position control mode. The moving amount stored in the acceleration/deceler- ation filter will be reset to 0.
  • Page 313 7.2 Motions After Switching Motion Commands 7.2.10 Switching from TRQ (cont’d) Switched From Switched To Operation TRQ will immediately switch to VELO, and the control mode will change from torque control mode to speed control mode. The moving amount stored in the acceleration/decel- eration filter will be reset to 0.

  • Page 314: Switching From Phase

    7.2 Motions After Switching Motion Commands 7.2.11 Switching from PHASE 7.2.11 Switching from PHASE Switched From Switched To Operation PHASE will immediately switch to NOP, and the moving amount stored in the accelera- tion/deceleration filter will be output. The amount stored in the acceleration/deceleration filter will be output.
  • Page 315 7.2 Motions After Switching Motion Commands 7.2.11 Switching from PHASE (cont’d) Switched From Switched To Operation PHASE will immediately switch to EX_POSING, and the control mode will change from phase control mode to position control mode. When this happens, the amount of motion stored in the acceleration/deceleration filter will be output.
  • Page 316 7.2 Motions After Switching Motion Commands 7.2.11 Switching from PHASE (cont’d) Switched From Switched To Operation PHASE will immediately switch to FEED, and the control mode will change from phase control mode to position control mode. The speed will smoothly change. (The speed at the time the motion com- mand is switched will increase/decrease until it reaches the target speed of FEED.)
  • Page 317 7.2 Motions After Switching Motion Commands 7.2.11 Switching from PHASE (cont’d) Switched From Switched To Operation PHASE will immediately switch to VELO, and the control mode will change from phase control mode to speed control mode. The moving amount stored in the acceleration/decel- eration filter will be reset to 0.
  • Page 318 Control Block Diagrams This chapter explains the control block diagrams. 8.1 Position Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-2 8.1.1 Motion Parameters for Position Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2 8.1.2 Control Block Diagram for Position Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-6 8.2 Phase Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-8...

  • Page 319: Position Control

    8.1 Position Control 8.1.1 Motion Parameters for Position Control 8.1 Position Control 8.1.1 Motion Parameters for Position Control  : These parameters are ignored. ( 1 ) Fixed Parameters Name Setting Unit Default Value Setting Range Selection of Operation Modes −...
  • Page 320 8.1 Position Control 8.1.1 Motion Parameters for Position Control ( 2 ) Setting Parameters Default Name Setting Unit Setting Range Value RUN Command Setting − OW00 0000h Bit setting Mode Setting 1 − OW01 0000h Bit setting Mode Setting 2 −...
  • Page 321 8.1 Position Control 8.1.1 Motion Parameters for Position Control (cont’d) Default Name Setting Unit Setting Range Value Number of POSMAX Turns Presetting Data OL4C to 2 −1 Servo User Monitor Setting − OW4E 0E00H Bit setting Servo Driver Alarm Monitor No. −...
  • Page 322 8.1 Position Control 8.1.1 Motion Parameters for Position Control ( 3 ) Monitoring Parameters Default Name Unit Range Value RUN Status − − IW00 Bit setting Parameter Number When Range Over is − − IW01 0 to 65535 Generated Warning −...

  • Page 323: Control Block Diagram For Position Control

    8.1 Position Control 8.1.2 Control Block Diagram for Position Control 8.1.2 Control Block Diagram for Position Control 00 RUN Command Setting 01 Mode Setting 1 02 Mode Setting 2 03 Function Setting 1 04 Function Setting 2 05 Function Setting 3 08 Motion Command 09 Motion Command Control Flag 0A Motion Subcommand...
  • Page 324 8.1 Position Control 8.1.2 Control Block Diagram for Position Control Acceleration: Acceleration/ Pn80B (OL deceleration Deceleration: processing POSING Speed Feed Forward Pn80E (OL command Compensation Differ- ential INTERPOLATE command Current loop Speed Integration Position Integration Time Constant Time Constant LPOS...

  • Page 325: Phase Control

    8.2 Phase Control 8.2.1 Motion Parameters for Phase Control 8.2 Phase Control  Precautions When Using Σ-V or Σ-7 Series SERVOPACKs CAUTION  When the tuning or vibration suppression functions are used to perform Servo adjustments and model fol- lowing control is enabled (i.e., when Pn140.0 = 1), the SERVOPACK cannot be properly controlled by phase references.
  • Page 326 8.2 Phase Control 8.2.1 Motion Parameters for Phase Control ( 2 ) Setting Parameters Default Name Setting Unit Setting Range Value RUN Command Setting − OW00 0000h Bit setting Mode Setting 1 − OW01 0000h Bit setting Mode Setting 2 −...
  • Page 327 8.2 Phase Control 8.2.1 Motion Parameters for Phase Control (cont’d) Default Name Setting Unit Setting Range Value Number of POSMAX Turns Presetting Data OL4C to 2 −1 Servo User Monitor Setting − OW4E 0E00H Bit setting Servo Driver Alarm Monitor No. −...
  • Page 328 8.2 Phase Control 8.2.1 Motion Parameters for Phase Control ( 3 ) Monitoring Parameters Default Name Unit Range Value RUN Status − − IW00 Bit setting Parameter Number When Range Over is − − IW01 0 to 65535 Generated Warning −...

  • Page 329: Control Block Diagram For Phase Control

    8.2 Phase Control 8.2.2 Control Block Diagram for Phase Control 8.2.2 Control Block Diagram for Phase Control 00 RUN Command Setting 03 Function Setting 1 05 Function Setting 3 08 Motion Command 09 Motion Command Control Flag Move command generation processing 0A Motion Subcommand (When using an electronic shaft) Reference...
  • Page 330 8.2 Phase Control 8.2.2 Control Block Diagram for Phase Control Speed Feed Forward Amends* Differ- ential Current loop Position Integration Speed Integration Time Constant Time Constant LPOS * The speed feedback gain is 0 for phase references. 8-13...

  • Page 331: Torque Control

    8.3 Torque Control 8.3.1 Motion Parameters for Torque Control 8.3 Torque Control 8.3.1 Motion Parameters for Torque Control  : These parameters are ignored. ( 1 ) Fixed Parameters Name Setting Unit Default Value Setting Range Selection of Operation Modes −...
  • Page 332 8.3 Torque Control 8.3.1 Motion Parameters for Torque Control ( 2 ) Setting Parameters Default Name Setting Unit Setting Range Value RUN Command Setting − OW00 0000h Bit setting Mode Setting 1 − OW01 0000h Bit setting Mode Setting 2 −...
  • Page 333 8.3 Torque Control 8.3.1 Motion Parameters for Torque Control (cont’d) Default Name Setting Unit Setting Range Value Number of POSMAX Turns Presetting Data OL4C to 2 −1 Servo User Monitor Setting − OW4E 0E00H Bit setting Servo Driver Alarm Monitor No. −...
  • Page 334 8.3 Torque Control 8.3.1 Motion Parameters for Torque Control ( 3 ) Monitoring Parameters Default Name Unit Range Value RUN Status − − IW00 Bit setting Parameter Number When Range Over is − − IW01 0 to 65535 Generated Warning −...

  • Page 335: Control Block Diagram For Torque Control

    8.3 Torque Control 8.3.2 Control Block Diagram for Torque Control 8.3.2 Control Block Diagram for Torque Control 00 RUN Command Setting 03 Function Setting 1 08 Motion Command 09 Motion Command Control Flag 0A Motion Subcommand 0C Torque Reference Speed Limit Setting at the Torque/Thrust Reference 48 Zero Point Position in Machine Coordinate System Offset 4A Work Coordinate System Offset...
  • Page 336 8.3 Torque Control 8.3.2 Control Block Diagram for Torque Control LPOS 8-19...

  • Page 337: Speed Control

    8.4 Speed Control 8.4.1 Motion Parameters for Speed Control 8.4 Speed Control 8.4.1 Motion Parameters for Speed Control  : These parameters are ignored. ( 1 ) Fixed Parameters Name Setting Unit Default Value Setting Range Selection of Operation Modes −...
  • Page 338 8.4 Speed Control 8.4.1 Motion Parameters for Speed Control ( 2 ) Setting Parameters Default Name Setting Unit Setting Range Value RUN Command Setting − OW00 0000h Bit setting Mode Setting 1 − OW01 0000h Bit setting Mode Setting 2 −...
  • Page 339 8.4 Speed Control 8.4.1 Motion Parameters for Speed Control (cont’d) Default Name Setting Unit Setting Range Value Number of POSMAX Turns Presetting Data OL4C to 2 −1 Servo User Monitor Setting − OW4E 0E00H Bit setting Servo Driver Alarm Monitor No. −...
  • Page 340 8.4 Speed Control 8.4.1 Motion Parameters for Speed Control ( 3 ) Monitoring Parameters Default Name Unit Range Value RUN Status − − IW00 Bit setting Parameter Number When Range Over is − − IW01 0 to 65535 Generated Warning −...

  • Page 341: Control Block Diagram For Speed Control

    8.4 Speed Control 8.4.2 Control Block Diagram for Speed Control 8.4.2 Control Block Diagram for Speed Control RUN Command Setting 03 Function Setting 1 08 Motion Command 09 Motion Command Control Flag 0A Motion Subcommand 10 Speed Reference Setting Positive Side Limiting Torque/Thrust Setting at the Speed Reference 18 Override Acceleration/...
  • Page 342 8.4 Speed Control 8.4.2 Control Block Diagram for Speed Control LPOS 8-25...
  • Page 343 Absolute Position Detection This chapter explains an absolute position detection system that uses an absolute encoder. Be sure to read this chapter carefully when using a Servomotor equipped with an absolute encoder. 9.1 Absolute Position Detection Function - - - - - - - - - - - - - - - - - - - - - - - - - - -9-2 9.1.1 Outline of the Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2 9.1.2 Reading Absolute Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2 9.1.3 Finite Length/Infinite Length Axes and Absolute Position Detection - - - - - - - - - - - - - - 9-3...

  • Page 344: Absolute Position Detection Function

    9.1 Absolute Position Detection Function 9.1.1 Outline of the Function 9.1 Absolute Position Detection Function This section explains the Absolute Position Detection Function in the MP2000-series Machine Controller.  Refer to Appendix E Fixed Parameter Setting According to Encoder Type and Axis Type together with this section. 9.1.1 Outline of the Function The Absolute Position Detection Function detects the position of the machine (axis) even if the power is turned OFF.

  • Page 345: Finite Length/Infinite Length Axes And Absolute Position Detection

    9.1 Absolute Position Detection Function 9.1.3 Finite Length/Infinite Length Axes and Absolute Position Detection  Terminology: Absolute Data Absolute data that is stored in an absolute encoder has two types of data: the absolute reference position (initial incremental pulses; PO) and the number of rotations (multi-turn data; N) from the absolute reference position. The absolute reference position is the phase-C position when the absolute encoder is initialized and is the reference position for absolute-position detection.

  • Page 346: Setting Procedure Of Absolute Position Detection Function

    9.2 Setting Procedure of Absolute Position Detection Function 9.2.1 System Startup Flowchart 9.2 Setting Procedure of Absolute Position Detection Function This section explains the procedure for setting the Absolute Position Detection Function. 9.2.1 System Startup Flowchart Start up the system using the following procedure. Check Devices Check to see if the SERVOPACK, Servomotor, and cables are the right products and models for the absolute encoder.

  • Page 347: Initializing The Absolute Encoder

    9.2 Setting Procedure of Absolute Position Detection Function 9.2.2 Initializing the Absolute Encoder 9.2.2 Initializing the Absolute Encoder Absolute encoders can be initialized as follows: • SERVOPACK Procedure  Refer to the manual for the SERVOPACK for details. • Panel Operator or Digital Operator Procedure ...

  • Page 348: Absolute Position Detection For Finite Length Axes

    9.3 Absolute Position Detection for Finite Length Axes 9.3.1 Parameter Settings for Finite Length Axes 9.3 Absolute Position Detection for Finite Length Axes This section describes the procedure for setting parameters and precautions on setting zero-point and turning ON the power supply when using the axis as a finite length axis.
  • Page 349 9.3 Absolute Position Detection for Finite Length Axes 9.3.1 Parameter Settings for Finite Length Axes ( 2 ) SERVOPACK Parameters for Absolute Position Detection SERVOPACK Parameter Name Setting Range Units Reference Caution Model 0: Sets counterclockwise (CCW) rotation as forward direction. Σ-III, Σ...
  • Page 350 9.3 Absolute Position Detection for Finite Length Axes 9.3.1 Parameter Settings for Finite Length Axes ( 3 ) Detailed Descriptions [ a ] Axis Selection (Machine Controller Fixed Parameter No.1, Bit 0) This setting is used to select either an finite or infinite length axis. Set to 0 when using the axis as a finite length axis.

  • Page 351: Setting The Zero Point For A Finite Length Axis

    9.3 Absolute Position Detection for Finite Length Axes 9.3.2 Setting the Zero Point for a Finite Length Axis 9.3.2 Setting the Zero Point for a Finite Length Axis This section describes the procedure for setting the zero point (i.e., the absolute zero point or the zero point of the machine coordinate system) for a finite length axis.
  • Page 352 9.3 Absolute Position Detection for Finite Length Axes 9.3.2 Setting the Zero Point for a Finite Length Axis ( 3 ) Saving OL48 Values before Power OFF After having set the zero point, save the value of OL48 before turning OFF the power of Machine Controller so that the value will be written in OL48 the next time the power is turned ON.
  • Page 353 9.3 Absolute Position Detection for Finite Length Axes 9.3.2 Setting the Zero Point for a Finite Length Axis  Method 2: Saving in an M Register with a Ladder Program Saves the value of the zero point offset for the machine coordinate system when the zero point is set in an M register backed up by a battery.

  • Page 354: Turning On The Power After Setting The Zero Point Of Machine Coordinate System

    9.3 Absolute Position Detection for Finite Length Axes 9.3.3 Turning ON the Power after Setting the Zero Point of Machine Coordinate System 9.3.3 Turning ON the Power after Setting the Zero Point of Machine Coordinate System The Zero Point Return (Setting) Completed bit (IW0C, bit 5) will turn OFF when communications are restarted by turning OFF and ON the power supply to the Machine Controller, by turning OFF and ON the power supply to the SERVOPACK, or for any other reason after the zero point has been set.

  • Page 355: Absolute Position Detection For Infinite Length Axes

    9.4 Absolute Position Detection for Infinite Length Axes 9.4.1 Simple Absolute Infinite Length Position Control 9.4 Absolute Position Detection for Infinite Length Axes Infinite length axis positioning is a function that automatically resets the machine position, program position (absolute values in the program coordinate system), and current position at regular intervals according to the Infinite Length Axis Reset Position (POSMAX) (fixed parameter 10).
  • Page 356 9.4 Absolute Position Detection for Infinite Length Axes 9.4.1 Simple Absolute Infinite Length Position Control  System That Satisfies the Above Condition The following example shows the system that can use the Simple Absolute Infinite Length Position Control function. Fixed Parameter Name Setting Value 2 (deg)
  • Page 357 9.4 Absolute Position Detection for Infinite Length Axes 9.4.2 Parameter Settings for Simple Absolute Infinite Length Position Control 9.4.2 Parameter Settings for Simple Absolute Infinite Length Position Control Set the following parameters to use the Simple Absolute Infinite Length Position Control for an infinite length axis. CAUTION ...
  • Page 358 9.4 Absolute Position Detection for Infinite Length Axes 9.4.2 Parameter Settings for Simple Absolute Infinite Length Position Control ( 3 ) SERVOPACK Parameters for Absolute Position Detection SERVOPACK Parameter Name Setting Range Units Reference Caution Model 0: Sets counterclockwise (CCW) rotation as forward direction.
  • Page 359 9.4 Absolute Position Detection for Infinite Length Axes 9.4.2 Parameter Settings for Simple Absolute Infinite Length Position Control ( 4 ) Detailed Descriptions [ a ] Encoder Type/Absolute Encoder Usage For an axis performing absolute position detection, set the parameters as shown in the table below. Model Parameter Setting...

  • Page 360: Setting The Zero Point And Turning On Power As Simple Absolute Positions

    9.4 Absolute Position Detection for Infinite Length Axes 9.4.3 Setting the Zero Point and Turning ON Power as Simple Absolute Positions 9.4.3 Setting the Zero Point and Turning ON Power as Simple Absolute Positions ( 1 ) Calculating the Zero Point of the Machine Coordinate System If using the simple absolute infinite length position control, the Machine Controller calculates the axis position (i.e., current position for the machine coordinate system) as follows when the power is turned ON.

  • Page 361: Turning On The Power After Setting The Zero Point

    9.4 Absolute Position Detection for Infinite Length Axes 9.4.4 Turning ON the Power after Setting the Zero Point 9.4.4 Turning ON the Power after Setting the Zero Point The Zero Point Return (Setting) Completed bit (IW0C, bit 5) will turn OFF when communications are restarted by turning OFF and ON the power supply to the Machine Controller, by turning OFF and ON the power supply to the SERVOPACK, or for any other reason after the zero point has been set.
  • Page 362 9.4 Absolute Position Detection for Infinite Length Axes 9.4.5 Infinite Length Position Control without Simple Absolute Positions ( 3 ) Setting the Zero Point for an Infinite Length Axis without Simple Absolute Positions Perform the procedure shown in the figure on the left to set Start the zero point for infinite length position control without simple absolute positions.
  • Page 363 9.4 Absolute Position Detection for Infinite Length Axes 9.4.5 Infinite Length Position Control without Simple Absolute Positions ( 4 ) Ladder Program for Infinite Length Axis Position Control If the Simple Absolute Infinite Length Position Control Function is not used, a special ladder program is needed for normal operation and for operation when system power is turned ON.
  • Page 364 9.4 Absolute Position Detection for Infinite Length Axes 9.4.5 Infinite Length Position Control without Simple Absolute Positions Use the following flowchart to store values in buffers. High-speed scan drawing starts 1st scan after the drawing starts ? Operation is not ready and an alarm is occurring ? Position Data Save Request Flag is set to 0.
  • Page 365 9.4 Absolute Position Detection for Infinite Length Axes 9.4.5 Infinite Length Position Control without Simple Absolute Positions The following programming example (ladder program) is for the flowchart shown on the previous page. The axis used here is axis 1 of circuit number 1. Change the motion parameter register number if the circuit and axis numbers are dif- ferent.
  • Page 366 9.4 Absolute Position Detection for Infinite Length Axes 9.4.5 Infinite Length Position Control without Simple Absolute Positions [ b ] Turning the System Back ON (Turning the Servo Back ON) Set up position data again from the ladder program using high-speed scan timing as shown below. This is done when MP2300 power or servo power is turned ON.
  • Page 367 9.4 Absolute Position Detection for Infinite Length Axes 9.4.5 Infinite Length Position Control without Simple Absolute Positions Use the following flowchart for storing the position data in the setting parameters and for requesting to load the infinite length axis position information. High-speed scan drawing starts 1st scan after the drawing starts ? Or,...
  • Page 368 9.4 Absolute Position Detection for Infinite Length Axes 9.4.5 Infinite Length Position Control without Simple Absolute Positions The following programming example (ladder program) is for the flowchart shown above. The axis used here is axis 1 of circuit number 1. Change the motion parameter register number if the circuit and axis numbers are different. P00001 H11 Main Program 9-26...
  • Page 369 9.4 Absolute Position Detection for Infinite Length Axes 9.4.5 Infinite Length Position Control without Simple Absolute Positions  There are no restrictions in the executing order for ladder programs H10 and H11 when an absolute encoder is used for a finite length axis. 9-27...
  • Page 370 Settings for Connecting Inverters This chapter describes the operations needed to connect inverters, and the settings for commands and parameters required when inverters are connected to a Machine Controller. 10.1 Specifications for Communications with Connected Inverters - - - - - - - - 10-2 10.2 Operating Inverters Using an MPE720 - - - - - - - - - - - - - - - - - - - - - - - - 10-3 10.2.1 Check Items before Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3 10.2.2 Operation Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-4...

  • Page 371: Specifications For Communications With Connected Inverters

    10.1 Specifications for Communications with Connected Inverters 10.1 Specifications for Communications with Connected Inverters The following table provides the specifications required when connecting inverters through MECHATROLINK. MECHATROLINK-II MECHATROLINK-II Communication Specifications MECHATROLINK-I (32-byte) (17-byte) Built-in SVB: With CPU version 2.20 or later SVB Module SVB-01: Version 1.10 or later Engineering Tool...
  • Page 372 10.2 Operating Inverters Using an MPE720 10.2.1 Check Items before Operation 10.2 Operating Inverters Using an MPE720 This section describes how to operate inverters using an MPE720 (version 5.12 or later). 10.2.1 Check Items before Operation Confirm the following items before starting operation. ...

  • Page 373: Operation Precautions

    10.2 Operating Inverters Using an MPE720 10.2.2 Operation Precautions 10.2.2 Operation Precautions  The phrase “While the inverter is running” used in items (1) through (5) refers to bit 5 (During Running) of the moni- toring parameter IW10 (Status) being ON. Whenever bit 5 of IW10 is ON, the inverter is considered to be running, even when the motor is stopped.
  • Page 374 10.2 Operating Inverters Using an MPE720 10.2.2 Operation Precautions ( 6 ) Saving Fixed Parameters Always save the fixed parameters after manually allocating inverters. If not saved, the current values setting parameters will be reset to their default values when restarting the Machine Controller. 10-5...

  • Page 375: Operation Procedure

    10.2 Operating Inverters Using an MPE720 10.2.3 Operation Procedure 10.2.3 Operation Procedure Connect the inverter to the Machine Controller through MECHATROLINK-I or MECHATROLINK-II, and then carry out the following operations: Execute the Machine Controller self-configuration. The inverter will be allocated to the Machine Controller’s SVB Definition. ...
  • Page 376 10.2 Operating Inverters Using an MPE720 10.2.3 Operation Procedure Confirm that bit 3 of the Run status (IW00) is set to 1 (ON).  Double-clicking the Monitor Data column will open the Details Window to check the status of each bit. When bit 3 is set to 1 (ON), the inverter is ready to run and the connection has been established.

  • Page 377: Input Command

    10.2 Operating Inverters Using an MPE720 10.2.3 Operation Procedure Click the Monitor Tab again to return to the Monitor Tab page, then confirm that bit 0 of the Run status (IW00) is set to 1 (ON). If bit 0 is still set to 0 (OFF), return to the Setup Parameters Tab Page to see if the Command Code (OW08) is set to a command other than Inverter Drive Control.
  • Page 378 10.2 Operating Inverters Using an MPE720 10.2.3 Operation Procedure If required, set the Output Data Option Selection (OW0C) and Input Data Option Selection (OW0D) to enable the data outputs of OW13 to OW16 and data inputs of IW13 to IW1D. ...
  • Page 379 10.2 Operating Inverters Using an MPE720 10.2.3 Operation Procedure  Input Data for Inverter Drive Control (Monitoring Tab Page) * 1. Input data that is always available during inverter control operation * 2. Data that are available when Input Data Option Selection (OW0D) is selected while the command Inverter ...

  • Page 380: Manually Allocating Inverters

    10.2 Operating Inverters Using an MPE720 10.2.4 Manually Allocating Inverters 10.2.4 Manually Allocating Inverters Start the MPE720 (version 5.12 or later) installed in the personal computer connected to the Machine Controller, and open the Module Configuration Window. Right-click the SVB column in the Module Details field, and select MECHATROLINK from the pop-up menu.

  • Page 381: I/O Options

    10.2 Operating Inverters Using an MPE720 10.2.5 I/O Options 10.2.5 I/O Options ( 1 ) Output Data Options The parameters OW13 to OW16 are for output data options. These output data options will be available when: • The Output Data Option Selection (OW0C) is selected while the command Inverter Drive Control is being executed.
  • Page 382 10.2 Operating Inverters Using an MPE720 10.2.5 I/O Options The response speed differs depending on the number of selected options, shown in the following.   Number of Selected Output Data Options Number of Selected Auxiliary Output Data (OW0C) and Time Required for Options (OW0E) and Time Required for Response Response...
  • Page 383 10.3 Main Commands and Subcommands 10.3.1 List of Main Commands and Subcommands 10.3 Main Commands and Subcommands This section describes the main commands and subcommands that can be used when connecting Inverters. 10.3.1 List of Main Commands and Subcommands The following table lists the main commands and subcommands that are available for each communication protocol. MECHATROLINK-II MECHATROLINK-II Name...
  • Page 384 10.3 Main Commands and Subcommands 10.3.2 Applicable Combinations of Commands and Subcommands 10.3.2 Applicable Combinations of Commands and Subcommands The following table shows applicable combinations of commands and subcommands. Subcommand Command 00: No Command       ...
  • Page 385 10.3 Main Commands and Subcommands 10.3.3 Command Details 10.3.3 Command Details Each command and its parameters are described below. ( 1 ) No Command  Description No command to be executed  Setting Parameters Name Register No. Setting Range Remarks Command Code OW08 0 to 8...

  • Page 386: Command Details

    10.3 Main Commands and Subcommands 10.3.3 Command Details  Monitoring Parameters Setting Name Register No. Remarks Range Command Response Code IW08 0 to 8 01: Inverter Drive Control ON while the com- Bit 0 (Command execution flag) mand is being exe- cuted ON when an error Bit 3 (Command error completed...
  • Page 387 10.3 Main Commands and Subcommands 10.3.3 Command Details  Monitoring Parameters Setting Name Register No. Remarks Range Command Response Code IW08 0 to 8 02: Read User Constant Bit 0 (Command execution flag) ON during execution ON when an error Bit 3 (Command error completed occurs during com- status)
  • Page 388 10.3 Main Commands and Subcommands 10.3.3 Command Details  Monitoring Parameters Setting Name Register No. Remarks Range Command Response Code IW08 0 to 8 03: Write User Constant Bit 0 (Command execution flag) ON during execution ON when an error Bit 3 (Command error completed occurs during com- status)
  • Page 389 10.3 Main Commands and Subcommands 10.3.3 Command Details  Monitoring Parameters Setting Name Register No. Remarks Range Command Response Code IW08 0 to 8 05: Alarm History Monitor Bit 0 (Command execution flag) ON during execution ON when an error Bit 3 (Command error completed occurs during com- status)
  • Page 390 10.3 Main Commands and Subcommands 10.3.3 Command Details  Monitoring Parameters Setting Name Register No. Remarks Range Command Response Code IW08 0 to 8 07: User Constant EEPROM Writing Bit 0 (Command execution flag) ON during execution ON when an error Bit 3 (Command error completed occurs during com- status)

  • Page 391: Subcommand Details

    10.3 Main Commands and Subcommands 10.3.4 Subcommand Details 10.3.4 Subcommand Details Each subcommand and the related parameters are described below. ( 1 ) No Command  Description No command to be executed.  Setting Parameters Name Register No. Setting Range Remarks Subcommand Code OW0A...
  • Page 392 10.3 Main Commands and Subcommands 10.3.4 Subcommand Details  Monitoring Parameters Setting Name Register No. Remarks Range Subcommand Response Code IW0A 0 to 9 01: Inverter I/O Control ON from the first execution until exe- cution is completed. Bit 0 (Command execution flag) Stays OFF after the first execution is completed.
  • Page 393 10.3 Main Commands and Subcommands 10.3.4 Subcommand Details ( 3 ) Read User Constant  Description Reads the specified inverter user constant from the Inverter.  Valid only in MECHATROLINK-II 32-byte mode.  Setting Parameters Name Register No. Setting Range Remarks Subcommand Code OW0A...
  • Page 394 10.3 Main Commands and Subcommands 10.3.4 Subcommand Details ( 4 ) Write User Constant  Description Writes the specified inverter user constant in the Inverter internal constant.  Valid only in MECHATROLINK-II 32-byte mode.  With Varispeed G7 and F7, it is necessary to execute the command User Constant RAM Writing (see 10.3.3 ( 7 ) User Constant RAM Writing) to validate the data written by executing Write User Constant.
  • Page 395 10.3 Main Commands and Subcommands 10.3.4 Subcommand Details ( 5 ) Alarm Monitor  Description Reads out the alarm that is occurring in the Inverter.  Valid only in MECHATROLINK-II 32-byte mode.  Setting Parameters Name Register No. Setting Range Remarks Subcommand Code OW0A...
  • Page 396 10.3 Main Commands and Subcommands 10.3.4 Subcommand Details ( 7 ) Transmission Reference  Description Enables the user to freely set a command and send it through the transmission line.  Valid only in MECHATROLINK-II 32-byte mode.  Setting Parameters Name Register No.

  • Page 397: Motion Parameter Details

    10.4 Motion Parameter Details 10.4.1 Fixed Parameter List 10.4 Motion Parameter Details This section describes the fixed parameters, setup parameters, and monitoring parameters that can be set in the SVB Definition Window for the connected inverters. 10.4.1 Fixed Parameter List Name and Contents Setting Range Default Setting...

  • Page 398: Setting Parameter List

    10.4 Motion Parameter Details 10.4.2 Setting Parameter List 10.4.2 Setting Parameter List Register No. Name Contents Bit 0 to C Reserved by the system 0: OFF, 1: ON Enables (ON) or disables (OFF) the Inverter drive con- trol. • This bit is captured at both rising and falling edges. •...

  • Page 399: 0: Disabled, 1: Enabled

    10.4 Motion Parameter Details 10.4.2 Setting Parameter List (cont’d) Register No. Name Contents 00: No Command 01: Inverter Drive Control 02: Read User Constant 03: Write User Constant Motion Commands OW08 04: Alarm Monitor (Refer to 10.3.3 Command Details for details.) 05: Alarm History Monitor 06: User Constant RAM Writing 07: User Constant EEPROM Writing...
  • Page 400 10.4 Motion Parameter Details 10.4.2 Setting Parameter List (cont’d) Register No. Name Contents 0: Disabled, 1: Enabled When this bit is set to 1 (enabled), the output data option Bit 0: Motor Speed Motor Speed (IW13) will be monitored when the command Inverter Drive Control is executed.
  • Page 401 10.4 Motion Parameter Details 10.4.2 Setting Parameter List (cont’d) Register No. Name Contents 0: Disabled, 1: Enabled Bit 0: Torque Compensa- When this bit is set to 1 (enabled), the output data option tion Torque Compensation (OW13) will be validated when the subcommand Inverter I/O Control is executed.
  • Page 402 10.4 Motion Parameter Details 10.4.2 Setting Parameter List (cont’d) Register No. Name Contents 0: Disabled, 1: Enabled When this bit is set to 1 (enabled), the output data option Bit 9: Multi-function Multi-function Analog Input A3 (IW1C) will be Analog Input A3 monitored when the subcommand Inverter I/O Control is executed.
  • Page 403 10.4 Motion Parameter Details 10.4.2 Setting Parameter List (cont’d) Register No. Name Contents Multi-function Analog Output AM Units: -1540 to +1540/-11 V to +11 V (Varispeed G7 and OW15 (Option) 0: OFF, 1: ON Bit 0: Contact Output Outputs to terminals M1-M2 for Varispeed G7 and F7, (MZ-M2) (MA-MB) Outputs to terminals MA-MB for VSminiV7 0: OFF, 1: ON...
  • Page 404 10.4 Motion Parameter Details 10.4.2 Setting Parameter List (cont’d) Register No. Name Contents Setting range: 0 to 65535 Inverter User Constant Sets the data to write for the command Write User Con- OW41 Set Point 4 stant. Valid when Inverter User Constant Number Size = 4. Setting range: 0 to FFFFH Sets the leading number of user constants to read by exe- cuting the subcommand Read User Constant, or the lead-...
  • Page 405 10.4 Motion Parameter Details 10.4.2 Setting Parameter List (cont’d) Register No. Name Contents Setting range: 0 to FFFFH Transmission Reference Output Data 5 OW75 This will be sent as the 6th word of the command Trans- mission Reference. Setting range: 0 to FFFFH Transmission Reference Output Data 6 OW76 This will be sent as the 7th word of the command Trans-...

  • Page 406: Monitoring Parameter List

    10.4 Motion Parameter Details 10.4.3 Monitoring Parameter List 10.4.3 Monitoring Parameter List Register No. Name Contents 0: Inverter drive control disabled 1: Inverter drive control enabled Turns ON when: Connection (synchronous communication) with the Inverter is established, Bit 0: Operation Ready Drive permission bit of Run Command Setting (OW00) is set to ON, and Inverter drive control is enabled.
  • Page 407 10.4 Motion Parameter Details 10.4.3 Monitoring Parameter List (cont’d) Register No. Name Contents Bits 0 to E Reserved by the system Bit F: User Constant Error Not used Turns ON when SVB Module watchdog timer timeout error is detected. Bit 10: Synchronization Valid when the WDT Abnormality Detection Mask Communication Error bit of the fixed parameter Function Selection Flag 2 is...

  • Page 408: Bit 9: Multi-Function Analog Input A3

    10.4 Motion Parameter Details 10.4.3 Monitoring Parameter List (cont’d) Register No. Name Contents ON during subcommand execution Bit 0: Command Execution Always ON when Control Inverter I/O or Transmis- Flag sion Reference command is selected. Bits 1 and 2 Reserved by the system Bit 3: Command Error Turns ON when the command execution ended with an Subcommand...
  • Page 409 10.4 Motion Parameter Details 10.4.3 Monitoring Parameter List (cont’d) Register No. Name Contents ON when Motor Speed monitor is selected for Auxil- Bit 0: Motor Speed iary Input Data Option Selection (OW0F) and the data is being normally updated. ON when Torque Reference Monitor is selected for Bit 1: Torque Reference Auxiliary Input Data Option Selection (OW0F) and (U1-09)
  • Page 410 10.4 Motion Parameter Details 10.4.3 Monitoring Parameter List (cont’d) Register No. Name Contents 0: No alarm Bit 0: ALM Alarm 1: Alarm activated 0: No warning Bit 1: WARNING Warning 1: Warning activated Bit 2: CMDRDY 0: Command busy Command ready 1: Command ready Bit 3: BB OFS 0: Baseblock in effect...
  • Page 411 10.4 Motion Parameter Details 10.4.3 Monitoring Parameter List (cont’d) Register No. Name Contents Bit 0: Terminal 1 Status 0: OFF, 1: ON Bit 1: Terminal 2 Status 0: OFF, 1: ON Bit 2: Terminal 3 Status 0: OFF, 1: ON Bit 3: Terminal 4 Status 0: OFF, 1: ON Bit 4: Terminal 5 Status...
  • Page 412 10.4 Motion Parameter Details 10.4.3 Monitoring Parameter List (cont’d) Register No. Name Contents Range: 0 to 65535 User Constant Displays the value read out by executing the com- IW40 Reading Data 3 mand Read User Constant. Valid when Inverter User Constant Number Size (OW3D) = 3 or 4.
  • Page 413 10.4 Motion Parameter Details 10.4.3 Monitoring Parameter List (cont’d) Register No. Name Contents Range: 0 to FFFFH Transmission Reference IW74 Displays the 5th word of the response data to the Input Data 4 command Transmission Reference. Range: 0 to FFFFH Transmission Reference IW75 Displays the 6th word of the response data to the...
  • Page 414 10.4 Motion Parameter Details 10.4.4 Inverter Output Data Details 10.4.4 Inverter Output Data Details Register Name Varispeed G7 Varispeed F7 VSminiV7 Bit 0 Forward RUN Forward RUN Forward RUN Bit 1 Reverse RUN Reverse RUN Reverse RUN Initial value: External Initial value: External Initial value: External Bit 2...
  • Page 415 10.4 Motion Parameter Details 10.4.5 Inverter Input Data Details 10.4.5 Inverter Input Data Details Register Name Varispeed G7 Varispeed F7 VSminiV7 Alarm Alarm Alarm Bit 0 Warning Warning Warning Bit 1 WARNG WARNG WARNG Command Ready Command Ready Command Ready Bit 2 CMDRDY CMDRDY...
  • Page 416 10.4 Motion Parameter Details 10.4.5 Inverter Input Data Details (cont’d) Register Name Varispeed G7 Varispeed F7 VSminiV7 Bit 0 Terminal 1 Status Terminal 1 Status Terminal 1 Status Bit 1 Terminal 2 Status Terminal 2 Status Terminal 2 Status Bit 2 Terminal 3 Status Terminal 3 Status Terminal 3 Status...
  • Page 417 10.5 Inverter Alarm and Warning Codes 10.5.1 Inverter Alarms 10.5 Inverter Alarm and Warning Codes Errors are classified by the following four types, according to where the error occurred and the error contents. Place the Error Error Type Contents Occurred Inverter Alarm Serious failure that can damage the inverter and machine Inverter...
  • Page 418 10.5 Inverter Alarm and Warning Codes 10.5.1 Inverter Alarms (cont’d) Status (IW  Digital Alarm Code Operator Contents  WARNG Display   × − Motor overheat 2 −    MEMOBUS transmission error   × − Control fault ×...
  • Page 419 10.5 Inverter Alarm and Warning Codes 10.5.2 Inverter Warnings 10.5.2 Inverter Warnings Status (IW10) Digital Alarm Code Operator Contents (IW30) WARNG Display    − Main circuit undervoltage −    Overvoltage    − Inverter overheat ×...

  • Page 420: Communication Warnings

    10.5 Inverter Alarm and Warning Codes 10.5.3 Communication Warnings 10.5.3 Communication Warnings Status (IW10) Digital Alarm Code Operator Contents (IW30) WARNG Display −    Data setting warning    − Command warning MECHATROLINK II communica- −  ...
  • Page 421 10.5 Inverter Alarm and Warning Codes 10.5.5 Optional Interface Settings ( 2 ) S2: Hexadecimal Rotary Switch Device Switch Name Status Description Code 0 to F Sets the first digit of the station address 0H to FH in hexadecimal. ( 3 ) Station Address List: S1-3 and S2 Switches Station Address (ST#) Station Address in Network Analyzer for S1-3...

  • Page 422: User Constants Self-Writing Function Enabled) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

    Utility Functions This chapter describes MP2000-series Machine Controller and SERVOPACK utility functions such as vertical axis control, overtravel, and software limits, modal latch, and bank switching. Also, the parameters automatically updated under the specified conditions are explained. 11.1 Controlling Vertical Axes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-3 11.1.1 Holding Brake Function of the SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-3 11.1.2 Connections to Σ-II Series SGDH SERVOPACKs, Σ-III Series SGDS SERVOPACKs, Σ-V Series SGDV SERVOPACKs, and Σ-7 Series SGD7S SERVOPACKs - - - - - - - 11-3...
  • Page 423 11.7 Precautions When Using Σ-V-series SGDV SERVOPACKs - - - - - - - - - 11-29 11.7.1 Software Limit Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-29 11.7.2 When the Tuning-less Function is Enabled - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-29 11.7.3 Saving the Parameter Bank Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-29 11.7.4 Motion Command Operation for External Latches with DC Power Input Σ-V-series...

  • Page 424: Controlling Vertical Axes

    11.1 Controlling Vertical Axes 11.1.1 Holding Brake Function of the SERVOPACK 11.1 Controlling Vertical Axes This section explains connection methods and parameter settings required to use the SERVOPACK to control a vertical axis. 11.1.1 Holding Brake Function of the SERVOPACK When using a SERVOPACK to control a vertical axis or an axis to which an external force is being applied, a Servomo- tor with a brake must be used to prevent the axis from dropping or moving due to gravity or the external force when the system power is turned OFF.
  • Page 425 11.1 Controlling Vertical Axes 11.1.2 Connections to Σ-II Series SGDH SERVOPACKs, Σ-III Series SGDS SERVOPACKs, Σ-V Series SGDV SERVOPACKs, and Σ-7 Series SGD7S SERVOPACKs * 1. The output terminal is allocated using parameter Pn50F.2. Output terminal 1 (terminal numbers 1and 2) is selected in the example above.
  • Page 426 11.1 Controlling Vertical Axes 11.1.2 Connections to Σ-II Series SGDH SERVOPACKs, Σ-III Series SGDS SERVOPACKs, Σ-V Series SGDV SERVOPACKs, and Σ-7 Series SGD7S SERVOPACKs (cont’d) Speed, torque, −1 0 to 10000 Pn507 position control Brake ON Timing when Motor Run- ning Speed, torque, 10 ms...

  • Page 427: Connections To Σ-I Series Sgdb Servopack

    11.1 Controlling Vertical Axes 11.1.3 Connections to Σ-I Series SGDB SERVOPACK 11.1.3 Connections to Σ-I Series SGDB SERVOPACK ( 1 ) Example of a Brake ON and OFF Circuit A circuit is configured to turn the brake ON and OFF using the /BK contact output signal from the SERVOPACK and a brake power supply.
  • Page 428 11.1 Controlling Vertical Axes 11.1.3 Connections to Σ-I Series SGDB SERVOPACK ( 2 ) Parameter Settings The SERVOPACK parameters related to control the holding brake are described below. Parameter Name Unit Setting/Range Default Control Mode Cn-2D OUTSEL Output Signal Selection −...

  • Page 429: Connections To Σ-I Series Sgd Servopack

    11.1 Controlling Vertical Axes 11.1.4 Connections to Σ-I Series SGD SERVOPACK 11.1.4 Connections to Σ-I Series SGD SERVOPACK ( 1 ) Brake ON and OFF Circuit Example A circuit is configured to turn the brake ON and OFF using the /BK contact output signal from the SERVOPACK and a brake power supply.
  • Page 430 11.1 Controlling Vertical Axes 11.1.4 Connections to Σ-I Series SGD SERVOPACK ( 2 ) Parameter Settings The SERVOPACK parameters related to controlling the brake are described below. Parameter Name Unit Setting/Range Default Control Mode Brake ON Timing after Speed, torque, position Cn-12 10 ms 0 to 50...

  • Page 431: Overtravel Function

    11.2 Overtravel Function 11.2.1 Connections to Σ-II Series SGDH SERVOPACKs, Σ-III Series SGDS SERVOPACKs, Σ-V Series SGDV SERVOPACKs, and Σ-7 Series SGD7S SERVOPACKs 11.2 Overtravel Function The overtravel function forces the machine to stop when the moving part of the machine exceeds the range of move- ment.
  • Page 432 11.2 Overtravel Function 11.2.1 Connections to Σ-II Series SGDH SERVOPACKs, Σ-III Series SGDS SERVOPACKs, Σ-V Series SGDV SERVOPACKs, and Σ-7 Series SGD7S SERVOPACKs  Connections to Σ-III, Σ-V, and Σ-7 Series SERVOPACKs Reverse rotation Forward rotation Servomotor Negative Positive SGDS, SGDV, or overtravel overtravel SGD7S SERVOPACK...
  • Page 433 11.2 Overtravel Function 11.2.1 Connections to Σ-II Series SGDH SERVOPACKs, Σ-III Series SGDS SERVOPACKs, Σ-V Series SGDV SERVOPACKs, and Σ-7 Series SGD7S SERVOPACKs [ b ] Selecting Motor Stopping Methods for Overtravel When using the overtravel function has been enabled, the following parameters are used to set the methods for stopping the motor.

  • Page 434: Connections To Σ-I Series Sgdb Or Sgd Servopack

    11.2 Overtravel Function 11.2.2 Connections to Σ-I Series SGDB or SGD SERVOPACK 11.2.2 Connections to Σ-I Series SGDB or SGD SERVOPACK The following parameters must be set to ensure the overtravel input signals are connected correctly for the overtravel function. ( 1 ) Overtravel Input Signal Connections Connect the input signals for the overtravel limit switches to the corresponding pins on the SERVOPACK CN1 or 1CN connector as shown below.
  • Page 435 11.2 Overtravel Function 11.2.2 Connections to Σ-I Series SGDB or SGD SERVOPACK ( 2 ) Parameter Settings [ a ] Use/Not Use Overtravel Input Signals The following parameters are used to enable and disable the overtravel input signals. Parameter Name Set Value Item Default...

  • Page 436: Software Limit Function

    11.3 Software Limit Function 11.3.1 Fixed Parameter Settings 11.3 Software Limit Function The software limit function is used to set upper and lower limits for the range of machine movement in fixed parame- ters so the Machine Controller can constantly monitor the operating range of the machine. The function can be used to help prevent machine runaway or damage due to incorrect operation as well as incorrect references in a motion pro- gram.

  • Page 437: Processing After An Alarm Occurs

    11.3 Software Limit Function 11.3.3 Processing after an Alarm Occurs 11.3.3 Processing after an Alarm Occurs ( 1 ) Monitoring Alarms If a position command that moves to or exceeds the positive and negative software limit is received, the axis will be moved to the software limit position, and a Positive/Negative Direction Software Limit alarm will occur.

  • Page 438: Modal Latch Function

    11.4 Modal Latch Function 11.4 Modal Latch Function The Modal Latch function can be executed to latch a position independently from the motion command being executed as long as the motion command being executed is not a motion command with latch function such as EX_POSING, ZRET, and LATCH.

  • Page 439: Bank Switching Function

    11.5 Bank Switching Function 11.5.1 Bank Switching Specifications 11.5 Bank Switching Function Prior to use the Bank Switching function, register multiple types of SERVOPACK parameters (Bank Members) in one group as a Parameter Bank, and register multiple combinations of different set values of Bank Members. The Bank Switching function switches all the set values of Bank Members at once by selecting a combination of set values using the setting parameter Bank Selector (OW04, bits C to F).
  • Page 440 11.5 Bank Switching Function 11.5.3 SERVOPACK Parameter Settings for Bank Switching  Information: Details on SERVOPACK Parameters Used for Bank Switching The following table shows the details on SERVOPACK parameters used for bank switching. Parameter Lower Upper Factory Valida- Name Size Unit Setting...

  • Page 441: Bank Member Setting

    11.5 Bank Switching Function 11.5.4 Bank Member Setting 11.5.4 Bank Member Setting ( 1 ) SERVOPACK Parameters for Setting Bank Members Set bank members using the following parameters. Setting Range Parameter Factory Valida- Name Size Unit Setting Setting tion Min. Max.
  • Page 442 11.5 Bank Switching Function 11.5.4 Bank Member Setting ( 3 ) Setting Procedure Set the Number of Parameter Banks (Pn900) and Number of Parameter Bank Members (Pn901).  Number of Parameter Banks and Number of Parameter Bank Members must satisfy the following equation. ≤...
  • Page 443 11.5 Bank Switching Function 11.5.4 Bank Member Setting ( 4 ) Precautions on Setting • When the parameter Number of Banks (Pn900) or Number of Members (Pn901) is set to 0, the standard parame- ters will be used so that the Bank Switching function is invalid. •...

  • Page 444: Parameters Updated When A Mechatrolink Connection Is Established

    11.6 Parameters That Are Automatically Updated 11.6.1 Parameters Updated when a MECHATROLINK Connection Is Established (1) (User Constants Self-writing Function Enabled) 11.6 Parameters That Are Automatically Updated Some of the parameters stored in SERVOPACK RAM may be overwritten automatically under certain conditions or as a result of self-configuration.

  • Page 445: Parameters Updated When A Mechatrolink Connection Is Established

    Machine Controller and the SERVOPACK. The parameters are written regardless of whether User Constants Self-writing Function is enabled or disabled at bit A of fixed parameter 1 in the Machine Controller. SERVOPACK Parameter MP2000 Series Machine Controller Remarks SGD-N, NS100...

  • Page 446: Parameters Updated When A Motion Command Is Executed

    A special care must be taken for the parameters listed in the table below because the Machine Controller parameter set- tings in the left table below are automatically written to the SERVOPACK parameters given in the right table below when the Machine Controller starts executing a motion command. SERVOPACK MP2000 Series Machine Controller Trigger Command SGD-N, NS100 NS115...

  • Page 447: Parameters Updated During Self-Configuration

    The motion parameters for each axis are set as shown below according to information from each SERVOPACK when self-configuration is executed. Some parameters are written to the SERVOPACK’s RAM. [ a ] Motion Fixed Parameters  SERVOPACK to Machine Controller MP2000 Series Machine Controller SERVOPACK SGDS, Fixed Parameters SGD-N,...
  • Page 448 Care must therefore be taken because the SERVOPACK parameters will be overwritten when self-configuration is executed.  These settings, however, are not written to the set values for the SERVOPACK parameters saved in the Machine Controller. [ a ] SERVOPACK Parameters (1) MP2000 Series Machine Controller SERVOPACK SERVOPACK Parameters SGD-N, SGDH +...
  • Page 449 * 4. Uses Pn834 to Pn83E.  The above processing is not performed when the axis has been set.  The above set values are written to the SERVOPACK’s EEPROM. [ b ] SERVOPACK Parameters (2) MP2000 Series Machine Controller SERVOPACK SERVOPACK Parameters SGD-N,...

  • Page 450: Precautions When Using Σ-V-Series Sgdv Servopacks

    11.7 Precautions When Using Σ-V-series SGDV SERVOPACKs 11.7.1 Software Limit Settings 11.7 Precautions When Using Σ-V-series SGDV SERVOPACKs 11.7.1 Software Limit Settings Use the software limit setting of the Machine Controller, not that of the SGDV SERVOPACK. 11.7.2 When the Tuning-less Function is Enabled In SGDV SERVOPACKs, Pn170.0 is set to 1 (default setting) and the tuning-less function is enabled.

  • Page 451: Motion Command Operation For External Latches With Dc Power Input Σ-V-Series Servopacks

    11.7 Precautions When Using Σ-V-series SGDV SERVOPACKs 11.7.4 Motion Command Operation for External Latches with DC Power Input Σ-V-series SERVOPACKs 11.7.4 Motion Command Operation for External Latches with DC Power Input Σ-V- series SERVOPACKs If you use an external latch signal (/EXT1) with a DC Power Input Σ-V-series SERVOPACK, always change the setting of the Input Signal Selection 5 in the Pn511 SERVOPACK parameter so that /EXT1 is used.

  • Page 452: Precautions When Using Σ-7-Series Sgd7S Servopacks With Rotary Servomotors

    11.8 Precautions When Using Σ-7-series SGD7S SERVOPACKs with Rotary Servomotors 11.8.1 SGD7S Electronic Gear Ratio Settings 11.8 Precautions When Using Σ-7-series SGD7S SERVOPACKs with Rotary Servomotors 11.8.1 SGD7S Electronic Gear Ratio Settings Set Pn20E (Electronic Gear Ratio (Numerator)) and Pn210 (Electronic Gear Ratio (Denominator)) for the SGD7S as shown in the following table.

  • Page 453: Software Limit Settings

    11.8 Precautions When Using Σ-7-series SGD7S SERVOPACKs with Rotary Servomotors 11.8.5 Software Limit Settings 11.8.5 Software Limit Settings Use the software limit setting of the Machine Controller, not that of the SGDV SERVOPACK. 11.8.6 When the Tuning-less Function is Enabled The default servo parameter setting for the SGD7S is 1 (Tuning-less Function Selection is enabled) for Pn170.0 (Tun- ing-less Selection).

  • Page 454: Troubleshooting

    12.1.1 Basic Flow of Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-2 12.1.2 MP2000 Series Machine Controller Error Check Flowchart - - - - - - - - - - - - - - - - - - 12-3 12.1.3 LED Indicators (MP2200/MP2300) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-4...
  • Page 455 12.1 Troubleshooting 12.1.1 Basic Flow of Troubleshooting 12.1 Troubleshooting This section describes the basic troubleshooting methods and provides a list of errors. 12.1.1 Basic Flow of Troubleshooting When problems occur, it is important to quickly find the cause of the problems and get the system running again as soon as possible.
  • Page 456 12.1 Troubleshooting 12.1.2 MP2000 Series Machine Controller Error Check Flowchart 12.1.2 MP2000 Series Machine Controller Error Check Flowchart Find the correction to the problem using the following flowchart if the cause of the problem is thought to be the Machine Controller or SERVOPACK.
  • Page 457 12.1 Troubleshooting 12.1.3 LED Indicators (MP2200/MP2300) 12.1.3 LED Indicators (MP2200/MP2300)  For explanations of the LED indicators on MP2100/MP2100M and MP2500/MP2500M/MP2500D/MP2500MD respectively, refer to Machine Controller MP2100/MP2100M User’s Manual Design and Maintenance (manual num- ber: SIEP C880700 01) and Machine Controller MP2500/MP2500M/MP2500D/MP2500MD User’s Manual (manual number: SIEP C880752 00).
  • Page 458 12.1 Troubleshooting 12.1.3 LED Indicators (MP2200/MP2300) (cont’d) LED Indicator Classification Indicator Details Countermeasures Not lit Not lit Not lit Not lit Refer to 12.2.3 Correcting User Pro- A serious error has occurred. gram Errors. No lit Not lit Not lit Not lit Software Error Number of LED blinks indicates error...
  • Page 459 12.2 Troubleshooting System Errors 12.2.1 Outline of System Errors 12.2 Troubleshooting System Errors This section provides troubleshooting information for system errors. 12.2.1 Outline of System Errors The LED indicators on the front of the Basic Module can be used to determine Machine Controller operating status and error status.
  • Page 460 12.2 Troubleshooting System Errors 12.2.1 Outline of System Errors ( 2 ) Accessing System Registers To access the contents of system registers, start the MPE720 Programming Tool and use the Register List or Quick Ref- erence function. The Register List on the MPE720 version 5. is displayed differently from that on the MPE720 version 6.. The display of each version is as follows.
  • Page 461 12.2 Troubleshooting System Errors 12.2.1 Outline of System Errors [ b ] Displaying a Register List with the Quick Reference (MPE720 Version 5) Register lists can also be accessed with the Quick Reference. Select View - Quick Reference from the MPE720 Engineering Manager Window. The Quick Reference will be displayed at the bottom of the Engineering Manager Window.
  • Page 462 12.2 Troubleshooting System Errors 12.2.2 Troubleshooting Flowchart for System Errors 12.2.2 Troubleshooting Flowchart for System Errors A troubleshooting flowchart for system errors is provided below. START Use the LED indicator pattern to classify the error. Battery alarm indicator Replace battery. BAT lit? Classifications = Warning Alarm...
  • Page 463 12.2 Troubleshooting System Errors 12.2.3 Correcting User Program Errors 12.2.3 Correcting User Program Errors A serious error may have occurred if the ALM and ERR indicators on the front of the Machine Controller Basic Mod- ule are lit red. Set the Machine Controller in stop status (STOP switch on DIP switch 6: ON) and investigate the error. Use the following procedure to investigate ladder program errors.
  • Page 464 12.2 Troubleshooting System Errors 12.2.4 System Register Configuration and Error Status 12.2.4 System Register Configuration and Error Status ( 1 ) System Status System operating status and error status is stored in registers SW00040 to SW00048. Checking of system status details are used to determine whether hardware or software is the cause of an error.
  • Page 465 12.2 Troubleshooting System Errors 12.2.4 System Register Configuration and Error Status ( 2 ) System Error Status System error status is stored in registers SW00050 to SW00079. Name Register No. Description 0001H Watchdog timer timeout error 0041H ROM diagnosis error 0042H RAM diagnosis error 0043H...
  • Page 466 12.2 Troubleshooting System Errors 12.2.4 System Register Configuration and Error Status ( 3 ) Ladder Program User Operation Error Status Error information for user operation errors in ladder programs is stored in registers SW00080 to SW00089 (Error Sta- tus 1) and SW00110 to SW00189 (Error Status 2). [ a ] Ladder Program User Operation Error Status 1 Name Register No.
  • Page 467 12.2 Troubleshooting System Errors 12.2.4 System Register Configuration and Error Status [ c ] Ladder Program User Operation Error Codes 1 Error Error Contents User* System Default Value Code 0001H −32768 [−32768] Integer operation - underflow 0002H Integer operation - overflow 32767 [32767] 0003H Integer operation - division error...
  • Page 468 12.2 Troubleshooting System Errors 12.2.4 System Register Configuration and Error Status ( 4 ) System Service Execution Status [ a ] Data Trace Execution Status Name Register No. Remarks SW00090 to Reserved by the system SW00097 Bits 0 to 3 = Group 1 to 4 Existence Of Data Trace Definition SW00098 Definition exists = 1, No definition = 0...
  • Page 469 12.2 Troubleshooting System Errors 12.2.4 System Register Configuration and Error Status ( 6 ) System I/O Error Status [ a ] MP2100 Machine Controller Name Register No. Remarks I/O Error Count SW00200 Number of I/O error occurrences Number of Input Errors SW00201 Number of input error occurrences Address of the latest input error (IW...
  • Page 470 12.2 Troubleshooting System Errors 12.2.4 System Register Configuration and Error Status [ c ] MP2200 Machine Controller Name Register No. Remarks I/O Error Count SW00200 Number of I/O error occurrences Number of Input Errors SW00201 Number of input error occurrences Address of the latest input error (IW...
  • Page 471 12.2 Troubleshooting System Errors 12.2.4 System Register Configuration and Error Status ( 7 ) Details on I/O Error Status When a system I/O error occurs, the error status will be written in the system register. The registers allocated for each error status when an I/O Module (LIO-01/02), SVB-01 Module, and Communication Module (260IF-01) are mounted in slots 1, 2, and 3 of the MP2300 Machine Controller respectively are described below.
  • Page 472 12.2 Troubleshooting System Errors 12.2.4 System Register Configuration and Error Status [ b ] LIO-01/LIO-02 Module Error Status (Slot 1) (Bit No.) SW00224 Error code (I/O error = 2) Subslot No. (= 1) SW00225 Error code (I/O error = 2) Subslot No.
  • Page 473 12.2 Troubleshooting System Errors 12.2.4 System Register Configuration and Error Status [ d ] 260IF-01 Module Error Status (Slot 3) (Bit No.) SW00240 Error code (Station error = 1) Subslot No. (= 2) SW00241 ST#15 ST#0 SW00242 ST#31 ST#16 SW00243 ST#47 ST#32 SW00244...
  • Page 474 12.2 Troubleshooting System Errors 12.2.4 System Register Configuration and Error Status [ b ] MP2100M Machine Controller Name Register No. Description SW00800 MP2100M ID (C181H) SW00801 Reserved by the system SW00802 CPU Software version (BCD) Number of subslots SW00803 (Version 2.45 or before: 0004H, Version 2.46 or later: 0007H) SW00804 CPU Function Module ID (C110H)
  • Page 475 12.2 Troubleshooting System Errors 12.2.4 System Register Configuration and Error Status (cont’d) Name Register No. Description Rack 2, Slot 9 SW00896 to SW00903 Same as above Information SW00904 Module ID SW00905 Hardware version (HEX) SW00906 Software version (BCD) SW00907 Number of subslots Rack 3, Slot 1 Information SW00908...
  • Page 476 12.2 Troubleshooting System Errors 12.2.4 System Register Configuration and Error Status [ c ] MP2200 Machine Controller Name Register No. Description CPU-01: (C280H) SW00800 Module ID CPU-02: (C281H) SW00801 Reserved by the system SW00802 CPU Software version (BCD) CPU-01: (0002H) SW00803 Number of subslots CPU-02: (0004H)
  • Page 477 12.2 Troubleshooting System Errors 12.2.4 System Register Configuration and Error Status (cont’d) Name Register No. Description SW00880 Module ID SW00881 Hardware version (HEX) SW00882 Software version (BCD) SW00883 Number of subslots Rack 2, Slot 1 Information SW00884 Subslot 1 Function Module ID SW00885 Subslot 1 Function Module status SW00886...
  • Page 478 12.2 Troubleshooting System Errors 12.2.4 System Register Configuration and Error Status (cont’d) Name Register No. Description SW01024 Module ID SW01025 Hardware version (HEX) SW01026 Software version (BCD) SW01027 Number of subslots Rack 4, Slot 1 Information SW01028 Subslot 1 Function Module ID SW01029 Subslot 1 Function Module status SW01030...
  • Page 479 12.2 Troubleshooting System Errors 12.2.4 System Register Configuration and Error Status [ e ] SVB-01 Module Information • Module ID = 9195H • SVB Function Module ID = 9115H 9195H will be written as Module ID, and 9115H as Function Module ID in the SVB-01 mounted slot description. For example, when an SVB-01 Module is mounted in Slot 1 of Rack 1, SW00816 = 9195H SW00820 = 9115H...
  • Page 480 12.3.1 Motion Program Alarm Configuration 12.3 Motion Program Alarms If the result of investigation using 12.1.2 MP2000 Series Machine Controller Error Check Flowchart indicates that a motion program alarm has occurred, use the alarm code to determine the cause of the error.
  • Page 481 12.4 List of Causes for Command Error Occurrence 12.4 List of Causes for Command Error Occurrence The Command Error Completed Status (Command Error Occurrence) bit (IW09, bit 3) turns ON when the set motion command cannot be executed or when the execution of a motion command ends error. The triggers for which this bit turns ON depend on the motion command.
  • Page 482 12.4 List of Causes for Command Error Occurrence (cont’d) Warning (W:) and Alarm (A:) That Motion Command Code Cause of Command Error Occurrence Occur at Command Error Occurrence The commanded movement for one scan exceeds the segment that can be commanded to the MECHATROLINK SERVOPACK, or the speed A: Excessive Speed feed forward value exceeds the maximum allow-...
  • Page 483 12.4 List of Causes for Command Error Occurrence (cont’d) Warning (W:) and Alarm (A:) That Motion Command Code Cause of Command Error Occurrence Occur at Command Error Occurrence − An alarm is occurring. A: Servo Driver Synchronization Asynchronous communication status Communications Error Change Filter Type (CHG_FILTER)
  • Page 484 12.4 List of Causes for Command Error Occurrence (cont’d) Warning (W:) and Alarm (A:) That Motion Command Code Cause of Command Error Occurrence Occur at Command Error Occurrence − An alarm is occurring. A: Servo Driver Synchronization Asynchronous communication status Communications Error Change Position Loop Integral Time Constant...
  • Page 485 12.5 Troubleshooting Motion Errors 12.5.1 Overview of Motion Errors 12.5 Troubleshooting Motion Errors This section explains the details and corrective actions for errors that occur in motion control functions. 12.5.1 Overview of Motion Errors Motion errors in the MP2000-series Machine Controller include axis alarms detected for individual SERVOPACKs. The failure location can be determined and appropriate corrections can be taken simply by checking the contents of the Warning (IL02) and Alarm (IL04) monitoring parameters.
  • Page 486 12.5 Troubleshooting Motion Errors 12.5.2 Motion Error Details and Corrections 12.5.2 Motion Error Details and Corrections The following tables show the contents of the axis alarms (IL04) (subsection 1) and axis alarm details (subsection 2). ( 1 ) Alarm IL04 List IL04 Alarm Contents IL04...
  • Page 487 12.5 Troubleshooting Motion Errors 12.5.2 Motion Error Details and Corrections ( 3 ) Bit 1: Positive Direction Overtravel and Bit 2: Negative Direction Overtravel • Overtravel is continuously monitored by the position management section during execution of a motion Detection Timing command.
  • Page 488 12.5 Troubleshooting Motion Errors 12.5.2 Motion Error Details and Corrections ( 6 ) Bit 6: Positioning Time Over • Positioning was not completed within the time specified in OW26 (Positioning Completion Check Detection Timing Time) after completing pulse distribution. Processing when •...
  • Page 489 12.5 Troubleshooting Motion Errors 12.5.2 Motion Error Details and Corrections ( 8 ) Bit 8: Excessive Speed Detection Timing • A move command is executed. Processing when • The move command is not executed. Alarm Occurs • The Command Error Completed Status in the Motion Command Status (IW09, bit 3) will turn ON. •...
  • Page 490 12.5 Troubleshooting Motion Errors 12.5.2 Motion Error Details and Corrections ( 10 ) Bit A: Filter Type Change Error Detection Timing • Continuously monitored by the motion command processing section. Processing when • The Change Filter Type command will not be executed. Alarm Occurs •...
  • Page 491 12.5 Troubleshooting Motion Errors 12.5.2 Motion Error Details and Corrections ( 15 ) Bit 12: Servo Driver Command Timeout Error • Detected during execution of each motion commands. Detection Timing • Detected by the MECHATROLINK communication control section when the Servo command responses are checked for each process.
  • Page 492 12.5 Troubleshooting Motion Errors 12.5.3 Servo Driver Status and Servo Driver Error Codes 12.5.3 Servo Driver Status and Servo Driver Error Codes ( 1 ) Servo Driver Status (IW2C) List The status of a SERVOPACK for MECHATROLINK communication can be monitored in Servo Driver Status moni- toring parameter IW2C.
  • Page 493 12.5 Troubleshooting Motion Errors 12.5.3 Servo Driver Status and Servo Driver Error Codes ( 2 ) Servo Driver Alarm Code (IW2D) When the Servo Driver Error (IL04, bit 0) turns ON, a SERVOPACK alarm will exist. The content of the alarm can be confirmed using the Servo Driver Alarm Code (monitoring parameter IW2D).
  • Page 494 12.5 Troubleshooting Motion Errors 12.5.3 Servo Driver Status and Servo Driver Error Codes [ b ] Σ-II Series Register Name Code Meaning Number Normal Excessive Position Deviation Warning Overload Warning Regeneration Overload Warning Absolute Encoder Battery Error Data Setting Warning Command Warning Communication Warning Parameter Corrupted...
  • Page 495 12.5 Troubleshooting Motion Errors 12.5.3 Servo Driver Status and Servo Driver Error Codes (cont’d) Register Name Code Meaning Number Option WDC Error WDT Error Communication Error Application Module Detection Failure Bus OFF Error SERVOPACK Failure Servo Driver IW2D Alarm Code SERVOPACK Initial Access Error (cont’d) (cont’d)
  • Page 496 12.5 Troubleshooting Motion Errors 12.5.3 Servo Driver Status and Servo Driver Error Codes (cont’d) Register Name Code Meaning Number Servo ON Reference Invalid Alarm Overcurrent or Heat Sink Overheat Regeneration Error Regeneration Overload Main Circuit Wiring Error Overvoltage Undervoltage Excessive Speed Divided Pulse Output Excessive Speed Vibration Alarm Overload (Instantaneous Maximum Load)
  • Page 497 12.5 Troubleshooting Motion Errors 12.5.3 Servo Driver Status and Servo Driver Error Codes (cont’d) Register Name Code Meaning Number Fully-closed Serial Conversion Unit Communication Error (Timer Stopped) Excessive Position Error Excessive Position Error Alarm at Servo ON Excessive Position Error Alarm for Speed Limit at Servo ON Excessive Error between Motor and Load COM Alarm 0 COM Alarm 1...
  • Page 498 12.5 Troubleshooting Motion Errors 12.5.3 Servo Driver Status and Servo Driver Error Codes (cont’d) Register Name Code Meaning Number Vibration Alarm Autotuning Alarm Maximum Speed Setting Error Overload: High Load Overload: Low Load Dynamic Brake Overload Overload of Surge Current Limit Resistor Heat Sink Overheated Built-in Fan in SERVOPACK Stopped Encoder Backup Error...
  • Page 499 12.5 Troubleshooting Motion Errors 12.5.3 Servo Driver Status and Servo Driver Error Codes (cont’d) Register Name Code Meaning Number Feedback Option Module Communications Error (Reception error) Feedback Option Module Communications Error (Timer stop) Position Error Pulse Overflow Position Error Pulse Overflow Alarm at Servo ON Position Error Pulse Overflow Alarm by Speed Limit at Servo ON Motor-load Position Error Pulse Overflow Position Data Overflow...
  • Page 500 12.5 Troubleshooting Motion Errors 12.5.3 Servo Driver Status and Servo Driver Error Codes [ e ] Σ-7-series SERVOPACKs  The upper two digits of the normal alarm code (e.g., “71” for “710”) are stored in Servo Driver Alarm Code (IW2D). If you execute the Alarm Monitor motion command (ALM_MON), all three digits of the code are stored.
  • Page 501 12.5 Troubleshooting Motion Errors 12.5.3 Servo Driver Status and Servo Driver Error Codes (cont’d) Register Name Code Meaning Number External Encoder Module Error External Incremental Encoder Sensor Error External Absolute Encoder Position Error External Encoder Overspeed External Encoder Overheated Current Detection Error 3 MECHATROLINK Communications ASIC Error 1 MECHATROLINK Communications ASIC Error 2 System Alarm 0...
  • Page 502 12.5 Troubleshooting Motion Errors 12.5.3 Servo Driver Status and Servo Driver Error Codes (cont’d) Register Name Code Meaning Number FL-1 FL-2 System Alarm FL-3 Servo Driver Alarm IW2D FL-4 Code (cont'd) (cont'd) FL-5 CPF00 Digital Operator Communications Error 1 CPF01 Digital Operator Communications Error 2 * These alarm codes are not stored in IW2D.

  • Page 503: Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

    Appendices A System Registers Lists - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-3 A.1 System Service Registers- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-3 A.2 Scan Execution Status and Calendar - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-5 A.3 Program Software Numbers and Remaining Program Memory Capacity Name - - - - - - - A-5...
  • Page 504 H Wild Card Servos - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-35 H.1 Required Firmware and Engineering Tool Versions - - - - - - - - - - - - - - - - - - - - - - - - - A-35 H.2 Applicable Communication Methods and Cycles - - - - - - - - - - - - - - - - - - - - - - - - - - - A-35 H.3 Link Assignment - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-36...
  • Page 505 Appendix A System Registers Lists A.1 System Service Registers Appendix A System Registers Lists System Service Registers ( 1 ) Shared by All Drawings Name Register No. Remarks Reserved (Reserved for the system) SB000000 (Not used) ON for only the first scan after high-speed scan is First High-speed Scan SB000001 started.
  • Page 506 Appendix A System Registers Lists A.1 System Service Registers ( 3 ) DWG.L Only Operation starts when low-speed scan starts. Name Register No. Remarks 1 scan One-scan Flicker Relay SB000030 1 scan 0.5s 0.5s 0.5-s Flicker Relay SB000031 1.0s 1.0s 1.0-s Flicker Relay SB000032 2.0s...

  • Page 507: A.3 Program Software Numbers And Remaining Program Memory Capacity Name - - - - - - - - - - - -

    Appendix A System Registers Lists A.2 Scan Execution Status and Calendar Scan Execution Status and Calendar Name Register No. Remarks High-speed Scan Set Value SW00004 High-speed Scan Set Value (0.1 ms) High-speed Scan Current Value SW00005 High-speed Scan Current Value (0.1 ms) High-speed Scan Maximum Value SW00006 High-speed Scan Maximum Value (0.1 ms)
  • Page 508 Appendix B Settings When Connecting MECHATROLINK Compatible I/O Modules, MYVIS, and MP940 B.1 Settings in Link Assignment Tab Page Appendix B Settings When Connecting MECHATROLINK Compatible I/O Modules, MYVIS, and MP940 When connecting MECHATROLINK compatible Distributed I/O Module, MYVIS, and MP940 as slave stations, set as described below in the MECHATROLINK Transmission Definition Window.
  • Page 509 Appendix B Settings When Connecting MECHATROLINK Compatible I/O Modules, MYVIS, and MP940 B.2 I/O Register Configuration I/O Register Configuration This section describes the I/O register configuration of each MECHATROLINK compatible Module. ( 1 ) 120DRA83030, 120DAO83330, and JAPMC-IO2950-E (8-point Output) Command Response High-speed/...
  • Page 510 Appendix B Settings When Connecting MECHATROLINK Compatible I/O Modules, MYVIS, and MP940 B.2 I/O Register Configuration ( 7 ) JEPMC-IO2320 (128-point I/O) Command Response Data Data OW IW OW+1 IW+1 OW+2 IW+2 High-speed/ High-speed/ OW+3 IW+3 Low-speed Low-speed control data control data OW+4 IW+4...
  • Page 511  For counters with the preset function, the first two words are reserved by the system, and various settings are required for outputs. Refer to Chapter 5 Reversible Counter with Preset Function and Chapter 6 Pulse Output Mod- ule of Machine Controller MP900/MP2000 Series Distributed I/O Module User’s Manual for MECHATROLINK (man- ual number SIE-C887-5.1) for details.
  • Page 512 Appendix B Settings When Connecting MECHATROLINK Compatible I/O Modules, MYVIS, and MP940 B.2 I/O Register Configuration ( 13 ) MP2200/MP2300 SVB-01 (Motion Module)/MP2100M (Option) <In 17-byte mode> Command Response Data Data OW IW OW+1 IW+1 OW+2 IW+2 High-speed/ High-speed/ OW+3 IW+3 Low-speed Low-speed...
  • Page 513 Appendix B Settings When Connecting MECHATROLINK Compatible I/O Modules, MYVIS, and MP940 B.2 I/O Register Configuration  The shaded area ( ) indicates areas for system use. I/O registers are allocated in word units. However, the following precautions must be observed when handling 1-byte module data.
  • Page 514 Appendix C Initializing the Absolute Encoder C.1 Σ-III, Σ-V, and Σ-7 Series SERVOPACKs Appendix C Initializing the Absolute Encoder The procedures for initializing absolute encoders for Σ-I, Σ-II, Σ-III, Σ-V, and Σ-7 SERVOPACKs are given below.  Refer to 9.2.1 System Startup Flowchart for the procedure for absolute-position detection. Σ-III, Σ-V, and Σ-7 Series SERVOPACKs ...
  • Page 515 Appendix C Initializing the Absolute Encoder C.1 Σ-III, Σ-V, and Σ-7 Series SERVOPACKs Keep pressing the Key until “PGCL1” is changed to “PGCL5.” Press the Key. “BB” in the status display changes to “Done.” Press the Key. The display returns to the Utility Function Mode main menu. This completes setting up the absolute encoder.
  • Page 516 Appendix C Initializing the Absolute Encoder C.2 Σ-II SERVOPACK Σ-II SERVOPACK  Refer to the following manuals for information on Σ-II SERVOPACKs. Σ  AC Servo Drives -II Series SGM /SGDH User’s Manual Rotational Motor/Analog Voltage and Pulse Train Ref- erence (Manual No.
  • Page 517 Appendix C Initializing the Absolute Encoder C.2 Σ-II SERVOPACK ( 2 ) Initialization Using the Built-in Panel Operator Press the MODE/SET Key to select the Auxiliary Function Mode. Press the UP ( ) and DOWN ( ) Keys to select parameter Fn008. Press the DATA/ <...
  • Page 518 Appendix C Initializing the Absolute Encoder C.3 Σ-I SERVOPACK Σ-I SERVOPACK  Refer to the following manuals for information on Σ-I SERVOPACKS. Σ  Series SGM /SGD User’s Manual High-speed Field Network MECHATROLINK-compatible AC Servo Driver (Manual No. SIE-S800-26.3) Σ ...
  • Page 519 Appendix C Initializing the Absolute Encoder C.3 Σ-I SERVOPACK ( 2 ) Initializing a 15-bit Absolute Encoder Use the following procedure to initialize a 15-bit absolute encoder. Turn OFF the SERVOPACK and Machine Controller. Discharge the large-capacity capacitor in the encoder using one of the following methods. ...
  • Page 520 Appendix D Setting the Multiturn Limit D.1 Overview Appendix D Setting the Multiturn Limit Overview When using the absolute encoder of a Σ-II, Σ-III, Σ-V, or Σ-7 series SERVOPACK for an infinite axis, satisfy the fol- lowing conditions. If these conditions are not satisfied, a “fixed parameter setting error” or “multiturn limit mismatch error” will occur. •...
  • Page 521 Appendix D Setting the Multiturn Limit D.2 Setting Method A-19...

  • Page 522: Appendix E Fixed Parameter Setting According To Encoder Type And Axis Type -

    Appendix E Fixed Parameter Setting According to Encoder Type and Axis Type Appendix E Fixed Parameter Setting According to Encoder Type and Axis Type The method of setting or changing the coordinate zero point differs depending on the encoder type, motor type, and axis type (infinite length axis or finite length axis) to be used.
  • Page 523 Appendix E Fixed Parameter Setting According to Encoder Type and Axis Type Precautions When Turning How to Change the Coordinate Zero Point is Setting Mode the Power Back ON Coordinate Zero Point Determined By Either Absolute mode or in Requires zero point return Incremental Addition mode Zero point return method and operation after turning ON the power.
  • Page 524 Appendix F SVB Module Throughput F.1 For Servos and Inverters Appendix F SVB Module Throughput The maximum time for data to be received via the SVB Module is described below. For Servos and Inverters ( 1 ) Time Required to Transmit a Command from an Application to a Servo ×...
  • Page 525 Appendix G Settings when Connecting MECHATROLINK-II Compatible Stepping Motor Drivers G.1 Required Firmware and Engineering Tool Versions Appendix G Settings when Connecting MECHATROLINK-II Compati- ble Stepping Motor Drivers Required Firmware and Engineering Tool Versions The following table shows the firmware and engineering tool versions required to control MECHATROLINK-II step- ping motor drivers (hereinafter referred to as M-II Stepper) using the MP2000-series SVB Module.
  • Page 526 Appendix G Settings when Connecting MECHATROLINK-II Compatible Stepping Motor Drivers G.3 Link Assignment Link Assignment To control an M-II Stepper through MECHATROLINK-II communications, the M-II Stepper must be allocated to a station. Start the MPE720 and open the Link Assignment Tab Page in the MECHATROLINK Transmission Defini- tion Window.
  • Page 527 Appendix G Settings when Connecting MECHATROLINK-II Compatible Stepping Motor Drivers G.4 Restrictions on the Use of Motion Parameters Restrictions on the Use of Motion Parameters When using an M-II Stepper, the specifications of some motion parameters are different from when using servos. ( 1 ) Invalid Parameters When Using an M-II Stepper ...
  • Page 528 Appendix G Settings when Connecting MECHATROLINK-II Compatible Stepping Motor Drivers G.4 Restrictions on the Use of Motion Parameters ( 2 ) Parameters Valid Only When Using an M-II Stepper  Setting Parameters Register Name Setting Range Default Description Bits 0 to F: Copied in the option field of OW06 Option Setting Bit setting...
  • Page 529 Appendix G Settings when Connecting MECHATROLINK-II Compatible Stepping Motor Drivers G.5 Availability When Using M-II Steppers Availability When Using M-II Steppers ( 1 ) Limitation in Motion Command Application For M-II Steppers, the applications of some motion commands are limited as follows. Applica- Motion Command Description...
  • Page 530 Appendix G Settings when Connecting MECHATROLINK-II Compatible Stepping Motor Drivers G.5 Availability When Using M-II Steppers ( 2 ) Absolute Encoder Infinite Length Axis Setting For M-II Steppers, absolute encoder infinite length axis setting is not supported. ( 3 ) Absolute Encoder Finite Length Axis Setting For M-II Steppers, absolute encoder finite length axis setting is possible.
  • Page 531 Appendix G Settings when Connecting MECHATROLINK-II Compatible Stepping Motor Drivers G.6 Motion Command Details Motion Command Details ( 1 ) Latch Torque Positioning (EX_POSING) (External Positioning) The axis motion depends on the setting of the External Positioning Move Distance Parameter Options (bit 9) of the stepper parameter Parameter Switch (0000h).
  • Page 532 Appendix G Settings when Connecting MECHATROLINK-II Compatible Stepping Motor Drivers G.7 Automatic Parameter Updating Function Automatic Parameter Updating Function ( 1 ) Parameters Updated when a MECHATROLINK Connection Is Established (Machine Controller to Stepper)  When communication is in MECHATROLINK-II 32-byte mode and the User Constants Self-writing Function bit (fixed parameter No.
  • Page 533 Appendix G Settings when Connecting MECHATROLINK-II Compatible Stepping Motor Drivers G.8 Writing and Changing Parameters During Self-configuration ( 4 ) Parameters Updated During Self-configuration (Machine Controller to Stepper)  In any communication mode, regardless of the setting of fixed parameter No. 1, bit A Machine Controller/Setting Parameter M-II Stepper/Parameter →...
  • Page 534 Appendix G Settings when Connecting MECHATROLINK-II Compatible Stepping Motor Drivers G.9 M-II Stepper Parameters M-II Stepper Parameters ( 1 ) Standard Parameters Name Size (Byte) Unit Parameter Switch Memory Switch 1 Memory Switch 2 Memory Switch 3 Memory Switch 4 Electronic Gear (Numerator) Electronic Gear (Denominator) Basic Resolution...
  • Page 535 Appendix G Settings when Connecting MECHATROLINK-II Compatible Stepping Motor Drivers G.9 M-II Stepper Parameters ( 2 ) No. 0: Parameter Switch Name Setting Use standard parameter Electronic Gear Parameter Options (Numerator and Denominator) Use unique parameter Definition of Basic Resolution Parameter Use standard parameter Options Use unique parameter...
  • Page 536 Appendix G Settings when Connecting MECHATROLINK-II Compatible Stepping Motor Drivers G.9 M-II Stepper Parameters ( 4 ) No. 2: Memory Switch 2 Name Setting CCW as forward rotation Reverse Rotation Mode (Rotation Direction) CW as forward rotation Undefined 1 to 5 No check Positive Software Limit Check Check...
  • Page 537 Appendix H Wild Card Servos H.1 Required Firmware and Engineering Tool Versions Appendix H Wild Card Servos Wild Card Servos refer to general-purpose servo drivers. A MECHATROLINK servo driver that is not compatible with the MP2000-series SVB Module can be connected to a SVB Module by allocating the servo driver as a general-purpose servo driver, and can be operated using an user appli- cation.
  • Page 538 Appendix H Wild Card Servos H.3 Link Assignment Link Assignment Start the MPE720 to open the Link Assignment Tab bed Page in the MECHATROLINK Transmission Definition Window. Make the settings as shown in the table below in the station where you want to allocate a wild card servo. TYPE INPUT SIZE...
  • Page 539 Appendix H Wild Card Servos H.5 Availability When Using Wild Card Servos Availability When Using Wild Card Servos ( 1 ) Limitation in Application of Motion Commands  : Applicable, ×: Not applicable, Δ: Limited Application Applica- Motion Command Remarks tion No command (NOP) ...
  • Page 540 Appendix H Wild Card Servos H.5 Availability When Using Wild Card Servos (cont’d) Applica- Motion Command Remarks tion × Change Position Loop Gain (KPS) Invalid × Change Feed Forward (KFS) Invalid Read User Constant (PRM_RD)  − Write User Constant (PRM_WR) ...
  • Page 541 Appendix I Servo Driver Transmission Reference Mode I.1 What is Servo Driver Transmission Reference Mode? Appendix I Servo Driver Transmission Reference Mode What is Servo Driver Transmission Reference Mode? Users can directly send MECHATROLINK servo commands in Servo Driver Transmission Reference Mode. Set the fixed parameter No.

  • Page 542: I.3 Motion Parameters That Can Be Used In Servo Driver Transmission Reference Mode - - - - - -

    Appendix I Servo Driver Transmission Reference Mode I.3 Motion Parameters That Can be Used in Servo Driver Transmission Reference Mode Motion Parameters That Can be Used in Servo Driver Transmission Reference Mode The motion parameters that can be used in transparent command mode are limited to those listed below. Motion Com- mands other than those listed below cannot be used.
  • Page 543 Appendix I Servo Driver Transmission Reference Mode I.5 Operation Procedure in Servo Driver Transmission Reference Mode Operation Procedure in Servo Driver Transmission Reference Mode Use the following procedure to send commands in Servo Driver Transmission Reference Mode mode using the Regis- ter List Window of MPE720.
  • Page 544 Appendix I Servo Driver Transmission Reference Mode I.5 Operation Procedure in Servo Driver Transmission Reference Mode First, enter the data for registers from OW71 to OW77. Then, set 001CH (PPRM_WR com- mand) for OW70 at the end.  Use the little-endian format to set the data. <Setting Example to Write 180 (00B4H) in Pn-102>...
  • Page 545 Appendix I Servo Driver Transmission Reference Mode I.6 Precautions When Using Servo Driver Transmission Reference Mode Precautions When Using Servo Driver Transmission Reference Mode • Note that the response to a MECHATROLINK servo command will be delayed because of the delay in the MECHATROLINK communications.
  • Page 546 Appendix J Terminology  Phase-C Pulse The encoders mounted on Yaskawa’s servomotors output three types of pulse data, phase-A, -B, and -C. Phase-C pulse is a signal that reverses once per motor rotation and is called Zero-point Pulse.  POSMAX Reset position of infinite length axis Refer to 4.4.1 Motion Fixed Parameter Details for details.
  • Page 547 The coordinate system used in motion programs. It is called the Work Coordinate System to distinguish it from the Machine Coordinate System. The work coordinate system can be set by executing the Change Current Value (POS) instruction of the motion program. Refer to Machine Controller MP900/MP2000 Series User’s Manual Motion Programming (manual number: SIEZ-C887- 1.3) for details. A-45...
  • Page 548 Appendix K Functions Added to Σ-V-series SERVOPACKs Appendix K Functions Added to Σ-V-series SERVOPACKs The functions that were added to Σ-V-series SERVOPACKs are listed in the following table. Function Description Reference The torque limit can be set or changed during SERVO- PACK operations if the following parameter settings have been made.
  • Page 549 Index Index backlash compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-23 ball screw - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3 bank selector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-37 bank switching function - - - - - - - - - - - - - - - - - - - - - - - - - - 11-18 Symbols...
  • Page 550 Index ENDOF_INTERPOLATE incremental addition mode - - - - - - - - - - - - - - - - - - - - - - - - - A-44 incremental encoder - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-16 switching the motion command being executed - - - - - - - - - 7-20 infinite length axes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-3 error check flowchart - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-3...

  • Page 551: Parameter Settings For Simple Absolute Infinite Length Position Control - - - - - - - - - - - - - - -

    Index latch zone motion errors effective selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-39 details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-33 lower limit setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-47 overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-32 motion monitor parameter window - - - - - - - - - - - - - - - - - - - - - 4-4...
  • Page 552 Index parameters updated during self-configuration - - - - - - - - - - - - 11-26 RUN commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-25 PERR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-67 run status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-58 PHASE - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-90...
  • Page 553 Index simple absolute infinite length position control - - - - - - - - - - - - 9-13 system errors setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-15 troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-6 SMON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-108 system I/O error status - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-16...
  • Page 554 Index zero point return method - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-52 selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-16 zero point setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-53 zero point unsetting - - - - - - - - - - - - - - - - - - - - - - - - - 4-63 12-37...
  • Page 555 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 C880700 33A <1>-1 Web revision number Revision number Published in Japan August 2009 Date of publication Rev.
  • Page 556 Rev. Date of Publication Rev. Section Revised Contents January 2013 <5> 4.4.2 (30), Revision: Description of OW4F 6.2.18 (3), 6.2.19 4.4.3 (9) Revision: Description of IW0C Bit 1 Back cover Revision: Address December 2012 – Printed version of the user’s manual that is available on the web (web version: SIEP C880700 33C<4>-4) –...
  • Page 557 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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