Page 1 Cat. No. I538-E3-1 OMNUC W Series Model R88A-NCW152-DRT DeviceNet Option Unit...
Page 2 OMRON Product References All OMRON products are capitalized in this manual. The word “Unit” is also capitalized when it refers to an OMRON product, regardless of whether or not it appears in the proper name of the product.
Page 3 Make sure that these protective covers are on the product before use. Consult your OMRON representative when using the product after a long period of storage. Always connect the frame ground terminals of the Servo Driver and the Servomotor to a WARNING class–3 ground (to 100 Ω...
Page 4 Storage and Transportation Precautions Do not hold the product by the cables or motor shaft while transporting it. Doing so may Caution result in injury or malfunction. Do not place any load exceeding the figure indicated on the product. Doing so may result in Caution injury or malfunction.
Page 5 Take appropriate and sufficient countermeasures when installing systems in the following Caution locations. Not doing so may result in damage to the product. • Locations subject to static electricity or other forms of noise. • Locations subject to strong electromagnetic fields and magnetic fields. •...
Page 6 Maintenance and Inspection Precautions Do not attempt to disassemble, repair, or modify any Units. Any attempt to do so may result WARNING in malfunction, fire, electric shock, or injury. Resume operation only after transferring to the new Unit the contents of the data required for Caution operation.
Page 7 Overview About this Manual This manual provides the following information for the OMNUC W-series R88M-W , R88D-WT AC Ser- vomotors/Servo Drivers with an R88A-NCW152-DRT DeviceNet Option Unit (hereinafter called the De- viceNet Unit) mounted. • Procedures for installing and wiring the DeviceNet Unit •...
Page 8 Contents 1 Features and System Configuration 1.1 Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 1.2 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4 1.3 Basic Functions and Function Outlines- - - - - - - - - - - - - - - - 1-5 1.4 Specifications- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6...
Page 9 4.5 Connection and Wiring of the DeviceNet Communications Connector - - - - - - - - - - - 4-14 4.5.1 Connector Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-14 4.5.2 DeviceNet Communications Connection Example- - - - - - - - - - - - - - 4-16 4.5.3 DeviceNet Network Configuration Restrictions - - - - - - - - - - - - - - - - 4-18 5 Parameter Settings...
Page 10 6.6 Details on Move Commands for Remote I/O Communications - - - - - - - - - - - - - - - - - - - 6-42 6.6.1 No-operation (Command Code: 0000, 0 Hex)- - - - - - - - - - - - - - - - - 6-42 6.6.2 Operation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-52 6.7 Command Method Using the Remote I/O Communications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-60...
Page 11 8.5 Absolute Encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-20 8.5.1 Selecting an Absolute Encoder - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-20 8.5.2 Absolute Encoder Setup (Initialization)- - - - - - - - - - - - - - - - - - - - - - 8-21 8.5.3 Absolute Encoder Multi-turn Limit Setting - - - - - - - - - - - - - - - - - - - - 8-21 8.6 Parameter Unit- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-23...
Page 12 Features and System Configuration This chapter describes the basic functions and performance of the DeviceNet Unit. 1.1 Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 1.2 System Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4 1.3 Basic Functions and Function Outlines - - - - - - - - - - - - - - - - 1-5 1.4 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6...
Page 13 Servo Driver in Monitor Mode to a PLC. This information provides infor- mation on the operating status of the Servo Driver. Absolute Encoders OMRON motors with absolute encoders are also supported. Once the origin has been set after startup, no further origin search operations are required.
Page 14 1.1 Features Setup Tool A personal computer-based Setup Tool for the DeviceNet Unit enables setting, changing, and monitoring Servo Driver and DeviceNet Unit parameters. A special cable (R88A- CCW002P4) to connect to the personal computer is connected to the CN11 connector on the front of the DeviceNet Unit.
Page 15 1 Features and System Configuration 1.2 System Configuration The DeviceNet Unit provides the following system configuration. DeviceNet Master Unit for CS/CJ made by OMRON RS-232C, etc. DeviceNet Configurator (parameter settings, etc.) DeviceNet DeviceNet OMRON slaves or others DeviceNet Unit R88A-NCW152-DRT...
Page 16 1.3 Basic Functions and Function Outlines 1.3 Basic Functions and Function Outlines The DeviceNet Unit provides the following functions. Function Outline Move No-opera- JOG Command Moves the axis in the specified direction at the specified speed. tion commands Step Command Moves the axis the specified amount in the specified direction.
Page 17 1 Features and System Configuration 1.4.1 General Specifications 1.4 Specifications This section shows the ratings and specifications of DeviceNet Unit. 1.4.1 General Specifications The DeviceNet Unit provides the following general specifications. Item Details Applicable Servo Driver R88D-WT (software version 14 or later)* Installation Method Mounted on the CN10 connector on the Servo Driver side Basic Specifica-...
Page 18 1.4 Specifications 1.4.2 Performance Specifications The DeviceNet Unit provides the following performance specifications. Item Specifications Model Number R88A-NCW152-DRT Number of Controlled Axes 1 axis/Unit Control Method Fully-closed/semi-closed control DeviceNet Communications Conform to DeviceNet: Remote I/O and Explicit Messages Communications Method Command Operation Specifications Positioning via DeviceNet communications System...
Page 19 1 Features and System Configuration 1.4.4 DeviceNet Communications Specifications 1.4.4 DeviceNet Communications Specifications The DeviceNet Unit provides the following DeviceNet communications specifications. Item Specifications Communications Protocol Conforms to DeviceNet Supported Connections Master-slave connections: Remote I/O and Explicit Messagee communications (Communications) Connection Methods Combination of multi-drop and T-branch connections (for trunk or drop lines) Baud Rate...
Page 20 Outline Drawings and Nomenclature This chapter describes the outline drawings of the DeviceNet Unit, cable, and connector and the procedure for checking the DeviceNet Unit upon delivery. It also describes the names of product parts and how to mount the DeviceNet Unit on the W-series Servo Driver.
Page 21: Outline Drawings
2 Outline Drawings and Nomenclature 2.1 Outline Drawings This section provides outline drawings of the DeviceNet Unit, Setup Tool Cable, and I/O signal connectors. DeviceNet Unit FG terminal (24) Connector Nameplate To Servo Driver NCW152 CN11 Approx. mass: 0.2 kg Unit: mm Setup Tool Cable (R88A-CCW002P4) A Setup Tool Cable and the Setup Tool Software (NCW152 Setup Tool) are required to set and...
Page 22 2.1 Outline Drawings Connection Configuration and Dimensions 2000 45.1 DeviceNet Unit end Personal (R88A-NCW152-DRT) computer end Unit : mm Wiring DeviceNet Unit Personal computer Signal Signal Orange/Black Orange/Red Gray/Black Socket Model Shell Case DF11-4DS-2C (Hirose Electric Co., Ltd.) Cable: AWG28 × 5C UL2464 Contact Model Connector Model DF11-2428SCF (Hirose Electric Co., Ltd.)
Page 23: Checking Products On Delivery
Check the overall appearance, and check for damage or scratches that may have occurred during shipping. If any of the above items are faulty or incorrect, contact your OMRON sales representative or the dealer from whom you purchased the products.
Page 24: Product Nomenclature
2.3 Product Nomenclature 2.3 Product Nomenclature The following diagram illustrates the nomenclature of the DeviceNet Unit. Ground line: Connect to the terminal marked "G" on the Servo Driver. Rotary switches ( × 1, × 10) : Used to set the DeviceNet node address. Rotary switch (DR) : Used to set the baud rate for DeviceNet.
Page 25: Mounting The Devicenet Unit
2 Outline Drawings and Nomenclature 2.4 Mounting the DeviceNet Unit This section describes how to mount a DeviceNet Unit on the W-series Servo Driver. Prepare the screws for connecting the ground line as shown in the following table: Mounting Type Servo Driver Models Screw Remarks...
Page 26 2.4 Mounting the DeviceNet Unit 2. Mount the DeviceNet Unit on the Servo Driver. Connector (for connection to Servo Driver) R88D-WT01H AC SERVO DRIVER 200V 100W CHARGE POWER 3. For grounding, connect a ground line of the DeviceNet Unit to the point marked “G” on the Servo Driver.
Page 27 2 Outline Drawings and Nomenclature When the DeviceNet Unit has been mounted correctly, the Servo Driver will appear as shown in the following diagram. R 8 8 D Ð W AC SE R VO T A 5 H D R IV ER 2 0 0 V N C W 1 5 2 5 0 W...
Page 28 Installation This chapter describes precautions for W-series Servo Driver with the DeviceNet Unit mounted. Incorrect installation will cause problems. Always observe the installation precautions shown in this chapter. 3.1 Storage Conditions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2 3.2 Installation Site - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2 3.3 Orientation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3 3.4 Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4...
Page 29: Storage Conditions
3 Installation 3.1 Storage Conditions Store the Servo Driver within the following temperature and humidity range when storing with the power cable disconnected. Temperature range: -20 to 85°C Humidity range : 90 % RH or less (non-condensing) R 8 8 D Ð W AC SE RV T A 5 H O DR IV ER...
Page 30: Orientation
3.3 Orientation 3.3 Orientation Install the Servo Driver perpendicular to the wall as shown in the figure. The Servo Driver must be oriented this way because it is designed to be cooled by natural convection or cooling fan. Secure the Servo Driver using 2 to 4 mounting holes. The number of holes depends on the Servo Driver capacity.
Page 31: Installation
3 Installation 3.4 Installation Follow the procedure below to install multiple Servo Drivers side by side in a control panel. 50 mm min. NCW152 NCW152 NCW152 NCW152 50 mm min. 10 mm min. 30 mm min. Servo Driver Orientation Install the Servo Driver perpendicular to the wall so that the front panel (display and setting section) faces outward.
Page 32: Table Of Contents
Connectors This chapter describes the procedure used to connect W-series Servo Driver to peripheral devices when DeviceNet Unit is mounted and gives typical exam- ples of I/O signal connections. 4.1 Connecting to Peripheral Devices - - - - - - - - - - - - - - - - - - - - 4-2 4.1.1 Single-phase (100 V or 200 V) Main Circuit Specifications - - - - - - - - - 4-3 4.1.2 Three-phase, 200-V Main Circuit Specifications - - - - - - - - - - - - - - - - 4-4 4.2 Internal Block Diagrams - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5...
Page 33: Connecting To Peripheral Devices
4 Connectors 4.1 Connecting to Peripheral Devices This section provides examples of standard W-series Servo Driver connections to peripheral devices. It also briefly explains how to connect each peripheral device.
Page 34: Single-Phase (100 V Or 200 V) Main Circuit Specifications
4.1 Connecting to Peripheral Devices 4.1.1 Single-phase (100 V or 200 V) Main Circuit Specifications Host Can be connected to DeviceNet Master Unit. Controller The following OMRON DeviceNet Master Units are available. CS1W-DRM21 CJ1W-DRM21 Molded-case Circuit Power supply Breaker (QF)
Page 35: Three-Phase, 200-V Main Circuit Specifications
4 Connectors 4.1.2 Three-phase, 200-V Main Circuit Specifications 4.1.2 Three-phase, 200-V Main Circuit Specifications Host Can be connected to DeviceNet Master Unit. Controller The following OMRON DeviceNet Master Units are available. CS1W-DRM21 CJ1W-DRM21 Molded-case Circuit Power supply Three-phase 200 VAC...
Page 36: Internal Block Diagrams
4.2 Internal Block Diagrams 4.2 Internal Block Diagrams The following diagram shows an internal block diagram for the Servo Driver with the DeviceNet Unit, using the example of the 30 to 400 W 200-V and 30 to 200 W 100-V models. Single-phase +10% 200 to 230 V...
Page 37: Servo Driver I/O Signals
4 Connectors 4.3.1 Connection Example of I/O Signal Connector (CN1) 4.3 Servo Driver I/O Signals This section describes I/O signals for the Servo Driver with the DeviceNet Unit. 4.3.1 Connection Example of I/O Signal Connector (CN1) The following diagram shows a typical example of I/O signal connections. INP1 Backup Positioning completed 1...
Page 38: I/O Signals Connector (Cn1)
4.3 Servo Driver I/O Signals 4.3.2 I/O Signals Connector (CN1) The following diagram shows the layout of CN1 terminals. CN1 Terminal Layout Positioning Ground complete INP1COM output 1 common Brake inter- common Ground lock output BKIR common Brake inter- − −...
Page 39: I/O Signal Names And Functions
4 Connectors 4.3.3 I/O Signal Names and Functions 4.3.3 I/O Signal Names and Functions The following section describes I/O signal names and functions of the Servo Driver. Input Signals Signal Name Pin No. Function Common ORG Origin proximity input signal: Origin proximity input signal for origin search connected.
Page 40: Interface Circuits
4.3 Servo Driver I/O Signals 4.3.4 Interface Circuits The following diagram shows an example of connections between a host controller and the I/O signal for a Servo Driver. Sequence Input Circuit The sequence input circuit interface connects through a relay or open-collector transistor cir- cuit.
Page 41 4 Connectors 4.3.4 Interface Circuits • Connecting to a Photocoupler Output Circuit Photocoupler output circuits are used for alarm, servo ready, and other sequence output signal circuits. Connect a photocoupler output circuit through a relay or line receiver circuit. 5 to 12 V DC 5 to 12 V DC Relay Servo...
Page 42: I/O Signal Connections For Devicenet Units (Cn4)
4.4 I/O Signal Connections for DeviceNet Units (CN4) 4.4 I/O Signal Connections for DeviceNet Units (CN4) The CN4 on a DeviceNet Unit is used for I/O signal and fully-closed encoder signal connec- tions. 4.4.1 CN4 Connection Example The following diagram shows a CN4 connection example. Line receiver input (conforms to EIA RS422A) SN75175 or equivalent...
Page 43: I/O Signal Interface Circuits
4 Connectors 4.4.3 I/O Signal Interface Circuits CN4 Connector Specifications Part Signal Manufacturer Connector 10120-3000VE (20P) Sumitomo 3M Ltd. − Connector shell 10320-52A0-008 4.4.3 I/O Signal Interface Circuits The following diagram shows an example of connections between a host controller and the I/O signals for a DeviceNet Unit.
Page 44: Fully-Closed Encoder Connection Example
4.4 I/O Signal Connections for DeviceNet Units (CN4) 4.4.4 Fully-closed Encoder Connection Example The following diagram shows a connection example for a fully-closed encoder. DeviceNet Unit External encoder 1, 2, 3 PG0V PG0V External power supply : Shield 4-13...
Page 45: Connection And Wiring Of The Devicenet Communications Connector
COMBICON Plug XW4B-05C4-T-D • Used to connect a node. OMRON • Used for multi-drop wiring. * Connectors made by Phoenix Contact K.K. can be purchased from OMRON 24 SERVICE Co., Ltd. Dimensions The dimension of the connectors are shown below. MSTB2.5/5-ST-5.08AU Unit : mm 13.2...
Page 46 Unit : mm Special Screwdriver for Connectors Use the following Screwdrivers for the connectors. Model Number Description Manufacturer XW4Z-00C For DeviceNet connectors OMRON SZF-1 For DeviceNet connectors * Can be purchased from OMRON 24 SERVICE Co., Ltd. Unit : mm 4-15...
Page 47: Devicenet Communications Connection Example
4 Connectors 4.5.2 DeviceNet Communications Connection Example 4.5.2 DeviceNet Communications Connection Example A DeviceNet network configuration is shown below. Connect terminating resistors Connect terminating resistors Communications to both ends of the trunk line. to both ends of the trunk line. Use special 24 VDC power supply...
Page 48 4.5 Connection and Wiring of the DeviceNet Communications Connector Terminating Resistors Terminating resistors must be connected to both ends of the trunk line to reduce signal reflection and stabilize communications. Terminating resistors can be connected either on a T-branch Tap or as a Terminal Block. When connecting terminating resistors as a Terminal Block, use special DeviceNet cable to connect the Terminal Block.
Page 49: Devicenet Network Configuration Restrictions
4 Connectors 4.5.3 DeviceNet Network Configuration Restrictions Note There are no restrictions in the number of nodes that can be connected to a single drop line, but a maximum of 64 nodes total can be connected to a single network, including the DeviceNet Master Unit.
Page 50 4.5 Connection and Wiring of the DeviceNet Communications Connector Maximum Lengths of DeviceNet Communications Lines Baud Rate Maximum Network Length (m) Maximum Drop Maximum Total Drop (kbit/s) Line Length (m) Line Length (m) Thick Cable Thin Cable * 1. Thick cable (5-wire): DCA2-5C10 (100 m) * 2.
Page 51 4 Connectors 4.5.3 DeviceNet Network Configuration Restrictions Communications Line Length Calculation Example An example of calculating the maximum network length, drop line length, and total drop line length is given below for the following DeviceNet network. With With Trunk line Trunk line Trunk line terminating...
Page 52 4.5 Connection and Wiring of the DeviceNet Communications Connector In either case, be sure to make the cable length 1 m or less from the node to the Terminating Resistor. 1 m or less Truck line T-branch Tap with Terminating Resistor or a Terminal-block Terminating Resistor Node Node at end of trunk line...
Page 53 4 Connectors 4.5.3 DeviceNet Network Configuration Restrictions 4-22...
Page 54 Parameter Settings This chapter provides an outline and details of the DeviceNet Unit parameters. 5.1 Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2 5.1.1 Outline of Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2 5.1.2 Parameter Types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2 5.1.3 Editing Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3...
Page 55: Parameters
5 Parameter Settings 5.1.1 Outline of Parameters 5.1 Parameters This section provides an outline, types, editing method, and effective timing of DeviceNet Unit parameters. 5.1.1 Outline of Parameters A parameter is the name given to the user constants that are required as the settings used to operate the DeviceNet Unit.
Page 56: Editing Parameters
5.1 Parameters 5.1.3 Editing Parameters You can edit parameters using the following methods. Table 5.2 Methods of Editing Parameters Tools Methods Remarks Setup Tool Select Option Parameter List from the All changed parameters are stored in Parameter Menu to read all the RAM, so they are erased when the DeviceNet Unit parameters.
Page 57: Parameter Tables
5 Parameter Settings 5.2.1 Unit Parameters 5.2 Parameter Tables The following tables list the parameters. If using the Setup Tool or reading/writing using a Remote I/O communications fuction, edit parameters using parameter No. If editing via DeviceNet Explicit Messages, edit using the object number and attribute number.
Page 58: Machine System And Peripheral Device Parameters
5.2 Parameter Tables 5.2.3 Machine System and Peripheral Device Parameters The machine system and peripheral device parameter table is shown below. Object Attribute Name Range Units Effective Default Type Timing Value Pn812 − 0x64 Coordinate Type 0, 1 Immediate Pn813 360,000 Command Unit/R 1 to 1,500,000...
Page 59: Speed, Acceleration, And Deceleration Parameters
5 Parameter Settings 5.2.4 Speed, Acceleration, and Deceleration Parameters 5.2.4 Speed, Acceleration, and Deceleration Parameters A table of speed, acceleration, and deceleration parameters is shown below. Object Attribute Name Range Units Effective Default Type Timing Value Pn821 24,000 × 0x64 Speed 1 to 240,000 Immediate...
Page 60: Positioning Parameters
5.2 Parameter Tables 5.2.5 Positioning Parameters The positioning parameter table is shown below. Object Attribute Name Range Units Effective Default Type Timing Value Pn850 0x64 Positioning Comple- 0 to 10,000 Steps Immediate tion Range Pn851 Positioning Monitor 0 to 65,535 Immediate Time Pn852...
Page 61 5 Parameter Settings 5.2.6 Multi-speed Positioning Parameters (cont’d) Object Attribute Name Range Units Effective Default Type Timing Value #122 Pn86C 0x64 Position 10 for 0 to 99,999,999 Steps Immediate Multi-speed #123 Pn86D Position 11 for 0 to 99,999,999 Steps Immediate Multi-speed #124 Pn86E...
Page 62: Notch Output Parameters
5.2 Parameter Tables 5.2.7 Notch Output Parameters The notch output parameter table is shown below. Object Attribute Name Range Units Effective Default Type Timing Value #160 Pn890 − 0x64 Notch Signal Position 0, 1 Immediate Designation #161 Pn891 − Notch Signal 0 to 3 Immediate #162...
Page 63: Parameter Details
5 Parameter Settings 5.3.1 Unit Parameters 5.3 Parameter Details 5.3.1 Unit Parameters The unit for performing positioning using a DeviceNet Unit is determined by the following two parameters. Object Attribute Name Range Units Effective Default Type Timing Value Pn810 − 0x64 Electronic Gear Ratio G1 1 to 10,000,000...
Page 64 5.3 Parameter Details Electronic Gear Settings When Using a Ball Screw If using a ball screw, first check the following specifications. • Number of encoder pulses • Gear ratio • Ball screw pitch The following system example shows the formulas when the command unit is set to 0.001 DeviceNet Unit R88D-WT 0.001 mm...
Page 65 5 Parameter Settings 5.3.1 Unit Parameters Electronic Gear Settings when Using a Rotary Table If using a rotary table, first check the following specifications. • Number of encoder pulses • Gear ratio The following system example shows the formulas when the command unit is set to 0.001°. R88D-WT DeviceNet Unit 0.001 °...
Page 66: Origin Search Parameters
5.3 Parameter Details 5.3.2 Origin Search Parameters This section provides origin search types and their parameter details. Origin Search Types The following seven types of origin search are supported. Type 0 This origin search type returns to the origin using the origin proximity input signal (ORG signal) and the phase Z pulse of the encoder.
Page 67 5 Parameter Settings 5.3.2 Origin Search Parameters Type 1 This origin search type returns to the origin using the origin input signal (ZERO signal). The outline of the operation is as follows: 1. The axis travels in the direction specified as the origin search direction in the Origin Search Function Selection (Pn801) at the Origin Search Proximity Speed (Pn803).
Page 68 5.3 Parameter Details Type 2 This origin search type returns to the origin using the origin proximity input signal (ORG signal) and the origin input signal (ZERO signal). The outline of the operation is as follows: 1. The axis travels in the direction specified as origin search direction in the Origin Search Function Selection (Pn801) at the Origin Search High Speed (Pn802).
Page 69 5 Parameter Settings 5.3.2 Origin Search Parameters Type 3 This origin search type returns to the origin using the phase Z pulse of the encoder only. The outline of the operation is as follows: 1. The axis travels in the direction specified as origin search direction in the Origin Search Function Selection (Pn801) at the Origin Search Proximity Speed (Pn803).
Page 70 5.3 Parameter Details Type 4 This origin search type returns to the origin using the origin proximity input signal (ORG signal) and the phase Z pulse of the encoder. The axis travels in the reverse direction when the limit input signal of the origin search direction is input. The outline of the operation is the same as Type 0.
Page 71 5 Parameter Settings 5.3.2 Origin Search Parameters Type 5 This origin search type returns to the origin using the origin input signal only. The axis trav- els in the reverse direction when the limit input signal of the origin search direction is input. The outline of the operation is the same as Type 1.
Page 72 5.3 Parameter Details Type 6 This origin search type returns to the origin using the origin proximity input signal (ORG signal) and the origin input signal (ZERO signal). The axis travels in the reverse direction when the limit input signal of the origin search direction is input. The outline of the opera- tion is the same as the Type 2.
Page 73 5 Parameter Settings 5.3.2 Origin Search Parameters Note When the setting for the Origin Compensation Value (Pn805) is small (when the distance is shorter than the distance required for the deceleration from proximity speed), the axis will travel past the origin and then return to it from the other direction.
Page 74 5.3 Parameter Details Origin Search Function Selection (Object: 0x64, Attribute: #11; Pn801) The Origin Search Function Selection has the following bit settings. Name Description Origin Search 0: Positive direction Direction Setting 1: Negative direction Origin Proximity Input Signal Setting 0: Enabled on Low 1: Enabled on High Origin Input Signal Setting 0: Enabled on falling edge...
Page 75: Machine System And Peripheral Devices
5 Parameter Settings 5.3.3 Machine System and Peripheral Devices Zero Position Output Width (Object: 0x64, Attribute:#16; Pn806) Use the Zero Position Output Width to set the area that will be regarded as the origin. The setting unit is [steps]. In the following diagram, if the conditions outlined below are met, the Origin Flag in the response data will be set to 1.
Page 76 5.3 Parameter Details Command Unit/R (Object: 0x64, Attribute: #33; Pn813) Use the Command Unit/R to set the command unit for one machine rotation. This parameter is enabled only when the Coordinate Type is set to rotary axis. If this parameter is not set correctly, when the machine performs a 360°...
Page 77 5 Parameter Settings 5.3.3 Machine System and Peripheral Devices Function Selection (Object: 0x64, Attribute: #38; Pn818) Use the Function Selection to set whether or not to use the software limit functions and the backlash compensation value functions. Note If a position command is received that exceeds a software limit (except for jogging), a decelera- tion stop will be made at the software limit.
Page 78 5.3 Parameter Details Emergency Stop Function Selection (Object: 0x64, Attribute: #41: Pn81B) Use the Emergency Stop Function Selection to set whether or not to use the emergency stop function and to set the polarity of the signal. Note Emergency stop and servo OFF are performed when the emergency stop signal is input. Name Description Enable/disable...
Page 79: Speed, Acceleration, And Deceleration
5 Parameter Settings 5.3.4 Speed, Acceleration, and Deceleration 5.3.4 Speed, Acceleration, and Deceleration This section provides acceleration and deceleration patterns, speeds, and parameter details. Acceleration and Deceleration Patterns The following acceleration and deceleration patterns are possible by combining accelera- tion/deceleration types (Pn826 or Pn836) and filter selection (Pn829). Table 5.7 Acceleration and Deceleration Patterns Acceleration/Deceleration Type (Pn826 or Pn836) 0: None...
Page 80 5.3 Parameter Details Single-step Linear Acceleration/Deceleration with Constant Acceleration/Deceleration With single-step linear acceleration/deceleration, the rate of acceleration/deceleration is determined by the Maximum Speed set in parameter Pn843 and the Acceleration Time set in parameter Pn822. The time T required to reach the Speed set in parameter Pn821 in the positioning operation can be calculated using the following formula.
Page 81 5 Parameter Settings 5.3.4 Speed, Acceleration, and Deceleration Double-step Linear Acceleration/Deceleration with Constant Acceleration/Deceleration With double-step linear acceleration/deceleration, the rate of acceleration/deceleration changes at the Switch Speed set in parameter Pn824. In the first step of acceleration/deceleration, the rate of acceleration/deceleration is deter- mined by the Maximum Speed set in parameter Pn843 and the Acceleration Time set in parameter Pn822.
Page 82 5.3 Parameter Details Asymmetric Linear Acceleration/Deceleration with Constant Acceleration/Deceleration With asymmetric linear acceleration/deceleration, the linear acceleration/deceleration described in , is used, but separate rates can be set for acceleration and deceleration. For deceleration, for example, the time T required to stop from the Speed set in parameter Pn821 in a positioning operation can be calculated using the following formula.
Page 83 5 Parameter Settings 5.3.4 Speed, Acceleration, and Deceleration Exponential Acceleration/Deceleration with Constant Acceleration/ Deceleration Time With exponential acceleration/deceleration, the rate of acceleration/deceleration is deter- mined by the Speed set in parameter Pn821 and the Time Constant for Exponential Curve set in parameter Pn840.
Page 84 5.3 Parameter Details Exponential Acceleration/Deceleration with Bias with Constant Acceleration/Deceleration Time With exponential acceleration/deceleration with bias, the rate of acceleration/deceleration is the same as described in , but a bias is applied. The Time Constant for Exponential Curve set in parameter Pn840 is set to the time required to reach the following speed. Speed = Bias Speed set in Pn841 + (Speed set in Pn821 - Bias Speed set in Pn841) ×...
Page 85 5 Parameter Settings 5.3.4 Speed, Acceleration, and Deceleration Single-step Linear Acceleration/Deceleration with Constant Acceleration/Deceleration Time With single-step linear acceleration/deceleration with a constant acceleration/deceleration time, the rate of acceleration/deceleration is determined by the Speed set in parameter Pn821 and the Time Constant of Moving Average set in parameter Pn842. If this acceleration/deceleration pattern is used, the acceleration/deceleration time will remain constant even if the Speed set in Pn821 is changed.
Page 86 5.3 Parameter Details S-curve Acceleration/Deceleration with Constant Acceleration/ Deceleration With S-curve acceleration/deceleration, the rate of acceleration/deceleration is determined by the Maximum Speed set in parameter Pn843 and the Acceleration Time set in parameter Pn822, just as in the single-step linear acceleration/deceleration pattern described in .
Page 87 5 Parameter Settings 5.3.4 Speed, Acceleration, and Deceleration Asymmetric S-curve Acceleration/Deceleration with Constant Acceleration/Deceleration With asymmetric S-curve acceleration/deceleration, the S-curve acceleration/deceleration described in , is used, but separate rates can be set for acceleration and deceleration. First, the rates of acceleration/deceleration are determined by the Maximum Speed set in parameter Pn843, the Acceleration Time set in parameter Pn822, and the Deceleration Time set in parameter Pn823 just as in the asymmetric linear acceleration/deceleration pattern described in...
Page 88 5.3 Parameter Details Parameter Details This section describes parameter details for speed and acceleration/deceleration speed. Speed (Object: 0x64, Attribute: #51; Pn821) Use the Speed to set the speed for the positioning. The setting unit is [× 1,000 steps/min]. Acceleration Time (Object: 0x64, Attribute: #52; Pn822) Use the Acceleration Time to set the acceleration time for the positioning.
Page 89 5 Parameter Settings 5.3.4 Speed, Acceleration, and Deceleration Acceleration/Deceleration Type (Object: 0x64, Attribute: #56; Pn826) Use the Acceleration/Deceleration Type to set the type of acceleration and deceleration for the positioning. You can set eight different acceleration and deceleration patterns using different combina- tions of Acceleration/Deceleration Type and Filter Selection (Object: 0x64, Attribute: #58;...
Page 90 5.3 Parameter Details JOG Acceleration Time (Object: 0x64, Attribute: #61; Pn832) Use the JOG Acceleration Time to set the acceleration time when using the JOG operation. The setting unit is [ms]. JOG Deceleration Time (Object: 0x64, Attribute: #62; Pn833) Use the JOG Deceleration Time to set the deceleration time when using asymmetrical accel- eration/deceleration with the JOG operation.
Page 91 5 Parameter Settings 5.3.4 Speed, Acceleration, and Deceleration Time Constant for Exponential Curve (Object: 0x64, Attribute: #70; Pn840) Use the Time Constant for Exponential Curve to set the time constant when using exponen- tial acceleration/deceleration. This parameter is used in common by the positioning and the continuous rotary operation.
Page 92: Positioning
5.3 Parameter Details 5.3.5 Positioning This section describes the parameter details about positioning. Parameter Details Positioning Completion Range (Object: 0x64, Attribute: #90; Pn850) Use the Positioning Completion Range to set the positioning completed range, i.e., to deter- mine if the axis is In-position. The setting unit is [steps]. When the Positioning Completion Range is set to 0, an In-position check will not be performed.
Page 93 5 Parameter Settings 5.3.5 Positioning Direction (Object: 0x64, Attribute: #93; Pn853) Use the Direction to set the movement direction for when Station Commands or rotation commands using absolute values are used. Table 5.20 Direction Pn853 Description Uses the movement direction in command data. Uses the direction for the shortest travel.
Page 94: Point Table
5.3 Parameter Details 5.3.6 Point Table This section describes the parameter details about point tables. Parameter Details Position_1 to 50 (Object: 0x65, Attributes: #50 to #99; Pn900 to Pn931) Set the Position_1 to 50 to the movement amounts for point table operation. Use the same number for the Position_1 to 50 and Speed_1 to 50.
Page 95: Notch Signal Output Positioning
5 Parameter Settings 5.3.8 Notch Signal Output Positioning Multi-speed Positioning Initial Speed (Object: 0x64, Attribute: #112; Pn862) Use the Multi-speed Positioning Initial Speed to set the initial feed speed when performing speed multi-step positioning. This speed will be enabled until the position in the speed switching position 1 parameter is reached.
Page 96 5.3 Parameter Details Parameter Details This section describes the parameter details about notch signal output positioning. Notch Signal Position Designation (Object: 0x64, Attribute: #160; Pn890) Use the Notch Signal Position Designation to set whether absolute or relative positions are set for the notch signal output position parameters. Table 5.21 Notch Signal Position Designation Pn890 Description...
Page 97 5 Parameter Settings 5.3.8 Notch Signal Output Positioning 5-44...
Page 98 DeviceNet Communications This chapter explains using DeviceNet communications to execute commands and editing user parameters for a DeviceNet Unit. 6.1 Control Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3 6.2 DeviceNet Switch Settings and Display - - - - - - - - - - - - - - - - 6-4 6.2.1 Rotary Switch Settings for Setting Node Address - - - - - - - - - - - - - - - 6-4 6.2.2 Rotary Switch Settings for Setting Baud Rate - - - - - - - - - - - - - - - - - - 6-5...
Page 99 6 DeviceNet Communications 6.9 Tracing Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-71 6.9.1 Trace Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-71 6.9.2 Reading Trace Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-74 6.9.3 Tracing Data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-77...
Page 100: Control Configuration
6.1 Control Configuration 6.1 Control Configuration An outline of the control configuration is shown below. A maximum of 63 DeviceNet Units or other slave devices can be connected to one DeviceNet Master Unit. OMRON CS/CJ-series DeviceNet Master Unit PLC or personal computer 63 nodes max. OMRON W-series Servo Drivers OMRON slave or others Inverter DeviceNet Unit...
Page 101: Devicenet Switch Settings And Display
6 DeviceNet Communications 6.2.1 Rotary Switch Settings for Setting Node Address 6.2 DeviceNet Switch Settings and Display This section explains the switch settings and display on the DeviceNet Unit. 6.2.1 Rotary Switch Settings for Setting Node Address Use the rotary switches (×1, ×10) to set the DeviceNet node address. After making the set- tings with the power OFF, turn ON the communications power again to enable the settings.
Page 102: Rotary Switch Settings For Setting Baud Rate
6.2 DeviceNet Switch Settings and Display 6.2.2 Rotary Switch Settings for Setting Baud Rate Use the rotary switches (DR) to set the DeviceNet baud rate. After making the settings with the power OFF, turn ON the communications power again to enable the settings. Table 6.1 DR Settings Baud Rate Setting 125 kbit/s...
Page 103: Precautions For Communications Line Design
6 DeviceNet Communications 6.3.1 Providing the Communications Power Supply 6.3 Precautions for Communications Line Design This section explains how to provide communications power supply and communications line noise prevention. 6.3.1 Providing the Communications Power Supply This section explains how to locate the communications power supply and its concept, how to determine the located power supply (steps 1 to 3) , and dual power supply.
Page 104 6.3 Precautions for Communications Line Design Flow Chart Use the flow chart below to determine the communications power supply on the trunk line. Satisfy the conditions for each drop line on the previous page. Provisionally determine the location of the power supply. Step 1 Determine the best location of the power supply from the graphs.
Page 105 6 DeviceNet Communications 6.3.1 Providing the Communications Power Supply Power Supply Location Patterns The power supply can be located in the configurations shown below. Basically, select from the configurations Consider using configuration when power supply specifications cannot be met by config- urations .
Page 106 6.3 Precautions for Communications Line Design Note 1. Configuration is recommended for a single power supply to several nodes. 2. If power supply specifications cannot be met with a single power supply when the current capacity of the thick cable exceeds 8 A even after the power supply location is modified, use more than one communications power supply.
Page 107 6 DeviceNet Communications 6.3.1 Providing the Communications Power Supply Step 1: Determining the Best Location for the Power Supply from a Graph A voltage drop occurs when a current flows through a DeviceNet special cable. The longer the communications cable and the greater the current, the greater the voltage drop. The com- munications power supply at each node must be 11 V DC or more.
Page 108 6.3 Precautions for Communications Line Design Determining the Best Location of the Power Supply from a Graph Verify the Items below for each node located in the same direction viewed from the power supply. Therefore, if nodes are located on both sides of the power supply, these items must be verified for all nodes located in each direction.
Page 109 6 DeviceNet Communications 6.3.1 Providing the Communications Power Supply Example The following example shows a Network that requires power to be supplied for 240 m on thick cable. The power supply is located in the center of the network. Because the power supply is in the center, the maximum current will flow both to the left and to the right, enabling the supply of at least twice the maximum current as when the power supply is placed on the end of the network.
Page 110 6.3 Precautions for Communications Line Design Step 2: Calculating the Best Location of the Actual Nodes Go to Step 2 if the best location for the power supply cannot be determined from the graphs. The second method calculates the best location for each actual node and does not estimate the worst possible configuration for the power supply.
Page 111 6 DeviceNet Communications 6.3.1 Providing the Communications Power Supply Example The following example shows a Network that requires power to be supplied for 240 m on thick cable. The power supply is located in the center of the network. Terminating Terminating Trunk line Trunk line...
Page 112 ∗ Manufacturer Allen-Bradley Cable B * Can be purchased from OMRON 24 SER VICE CO., Ltd. Connector A Connector B Internal Circuitry of the Power Supply Tap Remove fuse A when disconnecting cables on side A, and fuse B when disconnecting cables on side B.
Page 113: Communications Line Noise Precautions
6 DeviceNet Communications 6.3.2 Communications Line Noise Precautions 6.3.2 Communications Line Noise Precautions This section describes network grounding methods, noise countermeasures for communica- tions lines, and noise countermeasures according to wiring methods. Communications Line Noise The communications line sends and receives high-speed pulse signals, and checks whether the data is correct by checking the sequence of the signals.
Page 114 The communications power supply is the most important power supply in a DeviceNet net- work. The following measures will prevent noise in the communications power supply. • Use the recommended power supply (OMRON S82H/S82J) for communications. • Use an independent power supply for communications.
Page 115 6 DeviceNet Communications 6.3.2 Communications Line Noise Precautions Noise Precautions According To Wiring Methods Noise precautions according to wiring methods are described below. • To prevent inductive noise, do not wire the communications line, SYSMAC power lines and power lines near each other. In particular, be sure to keep the power lines for invert- ers, motors, regulators, and contactors at least 300 mm away from both the communica- tions lines and the SYSMAC power lines.
Page 116 6.3 Precautions for Communications Line Design Noise Precautions for Peripheral Devices Implement the following noise precautions for peripheral devices. • Install surge suppressors on devices that generate noise, particularly devices that have an inductive component such as motors, transformers, solenoids, and magnetic coils. Surge suppressor Surge suppressor (Installed next to device.)
Page 117: Overview Of Remote I/O And Explicit Message Communications
Explicit Message communications function use Explicit Messages defined for DeviceNet to send and receive service requests. With a DeviceNet Unit, it is possible to receive service requests using Explicit Messages from PCs with OMRON Master Units or from DeviceNet masters by other vendors.
Page 118: Remote I/O Communications
6.5 Remote I/O Communications 6.5 Remote I/O Communications This section explains commands sent to a DeviceNet Unit from the master device and the responses sent from the DeviceNet Unit. 6.5.1 Basic Block This section explains the basic block of commands sent to a DeviceNet Unit from the master device and the responses sent from the DeviceNet Unit to the master device.
Page 119: General Command Bits And Status
6 DeviceNet Communications 6.5.2 General Command Bits and Status 6.5.2 General Command Bits and Status This section explains general command bits and status. General Command Bits (Command) The general command bit area is detailed below. Table 6.2 General Command Bits Byte Bit 7 Bit 6...
Page 120 6.5 Remote I/O Communications Servo ON Command: SVON Set the SVON bit to 1 to turn ON the servo of the W-series Servo Driver. When the rising edge of the bit is detected, the servo of the W-series Servo Driver is turned ON and remains ON while the command bit is set to 1.
Page 121 6 DeviceNet Communications 6.5.2 General Command Bits and Status General Status (Response) Details on the general status area are shown below. Table 6.3 General Status Bits Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 MOD_R READY...
Page 122 6.5 Remote I/O Communications Servo ON: SVON_R The SVON_R bit will be 1 when the Servo ON Command is set to 1 and the servo of the W- series Servo Driver is ON. The SVON_R bit will be 0 in the following circumstances. •...
Page 123: Move Commands For Remote I/O Communications
6 DeviceNet Communications 6.5.3 Move Commands for Remote I/O Communications 6.5.3 Move Commands for Remote I/O Communications This section explains move commands for Remote I/O communications. Commands Details on commands for move commands are shown below. Table 6.4 Commands for Move Commands Byte Bit 7 Bit 6...
Page 124 6.5 Remote I/O Communications Response Types The response type in the commands specifies the type of data that will be stored as the response data in the responses. The DeviceNet Unit creates response data in the responses based on the specified response type. Table 6.6 Response Type Response Type Response Data...
Page 125 6 DeviceNet Communications 6.5.3 Move Commands for Remote I/O Communications JOG Command: JOG (Byte 2, Bit 3) The DeviceNet Unit will start JOG operation when it detects the rising edge of the JOG bit. JOG operation will continue while this bit is set to 1. When the JOG bit is set to 0, the Servomotor will decelerate to a stop and the JOG oper- ation will end.
Page 126 6.5 Remote I/O Communications Station Command: STN (Byte 2, Bit 5) The DeviceNet Unit will start station operation when it detects the rising edge of the STN bit. If this command is set to 0 while the axis is travelling, the Servomotor will decelerate to a stop and the station operation will end.
Page 127 6 DeviceNet Communications 6.5.3 Move Commands for Remote I/O Communications Movement Direction: DIR (Byte 3, Bit 1) The DR bit specifies the movement direction. Set this bit to 0 for positive direction and to 1 for negative direction. This specification is used for the following commands. •...
Page 128 6.5 Remote I/O Communications JOG Flag: JOG_R (Byte 2, Bit 3) The JOG_R bit reflects the status of the JOG Command. The host device can confirm by the change of status of this flag that the DeviceNet Unit has correctly received a change in the JOG Command.
Page 129 6 DeviceNet Communications 6.5.3 Move Commands for Remote I/O Communications Origin Search Flag: HOME_R (Byte 2, Bit 7) The HOME_R bit reflects the status of the Origin Search Command. The host device can confirm by the change of status of this flag that the DeviceNet Unit has correctly received a change in the Origin Search Command.
Page 130 6.5 Remote I/O Communications Negative Limit Input: NOT (Byte 3, Bit 6) The NOT bit indicates the status of the reverse rotation drive prohibit input signal for the external input connected to CN1 on the W-series Servo Driver. Positive Limit Input: POT (Byte 3, Bit 7) The POT bit indicates the status of the forward rotation drive prohibit input signal for the external input connected to CN1 on the W-series Servo Driver.
Page 131: Set/Read Commands For Remote I/O Communications
6 DeviceNet Communications 6.5.4 Set/Read Commands for Remote I/O Communications 6.5.4 Set/Read Commands for Remote I/O Communications This section explains set/read commands for Remote I/O communications. Commands Details on bytes 1 to 7 of the commands for set/read commands (MOD = 1) are shown below.
Page 132 6.5 Remote I/O Communications Responses Details on bytes 1 to 7 of the responses for set/read commands (MOD = 1) are shown below. Table 6.10 Responses for Set/Read Commands Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0...
Page 133 6 DeviceNet Communications 6.5.4 Set/Read Commands for Remote I/O Communications Parameter Write Command (Command Code: 1001, 9 Hex) The Parameter Write Command rewrites parameters for the W-series Servo Driver and DeviceNet Unit. To use the Parameter Write Command, make the following settings and then change the Command Start Command from 0 to 1.
Page 134 6.5 Remote I/O Communications Present Position Setting Command (Command Code: 1010, A Hex) The Present Position Setting Command sets the specified value as the present position of the Servomotor. To use the Present Position Setting Command, make the following settings and then change the Command Start Command from 0 to 1.
Page 135 6 DeviceNet Communications 6.5.4 Set/Read Commands for Remote I/O Communications Origin Setting Command (Command Code: 1011, B Hex) When an absolute encoder is used, the Origin Setting Command sets the present position of the Servomotor as the origin. This command is disabled when an incremental encoder is used.
Page 136 6.5 Remote I/O Communications Alarm Read Command (Command Code: 1100, C Hex) The Alarm Read Command reads the last four alarms that have occurred on the W-series Servo Driver and the DeviceNet Unit. Refer to 10.3 Alarm/Warning Codes and Error Codes for Message Communications to check alarms.
Page 137 6 DeviceNet Communications 6.5.4 Set/Read Commands for Remote I/O Communications Monitor Mode Read Command (Command Code: 1101, D Hex) The Monitor Mode Read Command reads the I/O status and internal data for the various sig- nals displayed on the Servo Driver. To use the Monitor Mode Read Command, make the following settings and then change the Command Start Command from 0 to 1.
Page 138 6.5 Remote I/O Communications Unit Reset Command (Command Code: 1110, E Hex) When the Unit Reset Command is executed, the parameters for the W-series Servo Driver and the DeviceNet Unit are stored in flash ROM and then the DeviceNet Unit is restarted. To use the Unit Reset Command, make the command code settings and then change the Command Start Command from 0 to 1.
Page 139: Details On Move Commands For Remote I/O Communications
6 DeviceNet Communications 6.6.1 No-operation (Command Code: 0000, 0 Hex) 6.6 Details on Move Commands for Remote I/O Communications This section describes how to use the move commands. 6.6.1 No-operation (Command Code: 0000, 0 Hex) Move commands performed using the No-operation Command are described below. “No-operation”...
Page 140: Operation
6.6 Details on Move Commands for Remote I/O Communications Operation Speed Pn831 Time Command Method 1. Set the Servo ON Command (byte 0, bit 1) to 1. 2. Set the movement direction (byte 3, bit 1). 3. Set the override value. The Pn830 setting determines whether the override will be set as a ratio (%) or as a speed (×...
Page 141 6 DeviceNet Communications 6.6.1 No-operation (Command Code: 0000, 0 Hex) Step Command (Command Bit: STEP = 1) This section describes the Step Command function, related parameters, operation, and com- mand method. Function When the Step Command is set to 1, the axis will travel from the present position in the set direction for the set travel distance and then stop.
Page 142 6.6 Details on Move Commands for Remote I/O Communications Operation Speed Pn844 to Pn847 Time STEP Command Method 1. Set the Servo ON Command (byte 0, bit 1) to 1. 2. Set the movement direction (byte 3, bit 1). 3. Select the travel distance to be used for step operation from within the range from Pn844 (=0) to Pn847 (=3).
Page 143 6 DeviceNet Communications 6.6.1 No-operation (Command Code: 0000, 0 Hex) Station Command (Command Bit: STN = 1) This section describes the Station Command function, related parameters, operation, and command method. Function The Station Command can be used when the DeviceNet Unit is used in a rotating system. One rotation of the Servomotor is divided into a specified number of stations and station numbers are allocated.
Page 144 6.6 Details on Move Commands for Remote I/O Communications Station 0 Station 1 Station 2 Command Method 1. Set the Servo ON Command (byte 0, bit 1) to 1. 2. Set the movement direction (byte 3, bit 1). The movement direction setting is disabled when the Pn853 setting is 1 (travel the short- est distance).
Page 145 6 DeviceNet Communications 6.6.1 No-operation (Command Code: 0000, 0 Hex) Point Table Command (Command Bit: PTBL = 1) This section describes the Point Table Command function, related parameters, operation, and command method. Function The Point Table Command performs positioning at the position and speed stored in advance in the point table by specifying the point table number.
Page 146 6.6 Details on Move Commands for Remote I/O Communications Operation Speed Time PTBL Command Method 1. Set the Servo ON Command (byte 0, bit 1) to 1. 2. Set absolute/relative (byte 3, bit 0). If a relative position has been specified, the target position will be (present position) + (position stored in point table).
Page 147 6 DeviceNet Communications 6.6.1 No-operation (Command Code: 0000, 0 Hex) Origin Search Command (Command Bit: HOME =1) This section describes the Origin Search Command function, related parameters, operation, and command method. Function The Origin Search Command moves the axis in the specified direction, and sets the origin based on the specified origin search mode.
Page 148 6.6 Details on Move Commands for Remote I/O Communications Operation The Origin Search Command performs origin search based on each origin search mode. Speed Time HOME External signal External signal Encoder phase Z Command Method Set the Servo ON Command (byte 0, bit 1) to 1. Set the Origin Search Command (byte 2, bit 7) to 1.
Page 149 6 DeviceNet Communications 6.6.2 Operation 6.6.2 Operation Move commands performed using the command codes are described below. Direct Operation Command (Command Code: 0001, 1 Hex) This section describes the Direct Operation Command function, related parameters, opera- tion, and command method. Function The Direct Operation Command performs positioning to the specified target position.
Page 150 6.6 Details on Move Commands for Remote I/O Communications Command Method 1. Set the command code (byte 1, bits 0 to 3) to 0. 2. Set the Servo ON Command (byte 0, bit 1) to 1. 3. Set absolute/relative (byte 3, bit 0). If a relative position has been specified, the target position will be (present position) + (position specified from bytes 4 to 7).
Page 151 6 DeviceNet Communications 6.6.2 Operation Operation Speed Pn827 Pn854 Time C_STRT EXTP signal Command Method 1. Set the command code (byte 1, bits 0 to 3) to 0. 2. Set the Servo ON Command (byte 0, bit 1) to 1. 3.
Page 152 6.6 Details on Move Commands for Remote I/O Communications Notch Output Positioning Command (Command Code: 0011, 3 Hex) This section describes the Notch Output Positioning Command function, related parameters, operation, and command method. Function The Notch Output Positioning Command performs positioning to the specified position. If a specified position is passed during the positioning, a notch output signal will be output.
Page 153 6 DeviceNet Communications 6.6.2 Operation Command Method 1. Set the command code (byte 1, bits 0 to 3) to 0. 2. Set the Servo ON Command (byte 0, bit 1) to 1. 3. Set absolute/relative (byte 3, bit 0). If a relative position has been specified, the target position will be (present position) + (position specified from bytes 4 to 7).
Page 154 6.6 Details on Move Commands for Remote I/O Communications Multi-speed Positioning Command (Command Code: 0100, 4 Hex) This section describes the Multi-speed Positioning Command function, related parameters, operation, and command method. Function The Multi-speed Positioning Command changes the speed in stages and performs position- ing to specified positions.
Page 155 6 DeviceNet Communications 6.6.2 Operation (cont’d) Object Attribute Name Setting Range Unit Effective Default Type Timing Setting #128 0x64 Pn872 Position 16 for Multi- 0 to Steps Immediate speed 99, 999, 999 #129 × 24,000 Pn873 Speed 1 for Multi-speed 1 to 240,000 Immediate 1000...
Page 156 6.6 Details on Move Commands for Remote I/O Communications Operation Speed 2 for Multi-speed Speed Speed 1 for Multi-speed Multi-speed Positioning Initial Speed Speed 3 for Multi-speed Time C_STRT Position 3 for Multi-speed Position 2 for Multi-speed Position 1 for Multi-speed Command Method 1.
Page 157: Command Method Using The Remote I/O Communications
6 DeviceNet Communications 6.7.1 Basic Operation 6.7 Command Method Using the Remote I/O Communications This section describes the basic operation of the DeviceNet Unit and command method using the Remote I/O communications. 6.7.1 Basic Operation The basic operation of the DeviceNet Unit is shown below. 1.
Page 158 6.7 Command Method Using the Remote I/O Communications Emergency Stop Command While the Emergency Stop Command (STOP) is set to 0, the W-series Servo Driver is in emergency stop status. During this status, the Emergency Stop Flag (STOP_R) is 0. The emergency stop status can be released by setting the Emergency Stop Command (STOP) to 1 and changing the Servo ON Command (SVON) from 0 to 1.
Page 159 6 DeviceNet Communications 6.7.2 Command Method Step Command While the Step Command (STEP) is set to 1, the axis travels in the direction specified as the movement direction (DIR) at the feed speed for the step distance. If the Step Command is set to 0 during the step operation, the step operation stops and the remaining travel distance is canceled.
Page 160 6.7 Command Method Using the Remote I/O Communications Using an Absolute Value Detection System When the Origin Search Command is changed from 0 to 1, the origin search is not per- formed but the axis is positioned to the machine coordinate origin based on the parameter Pn802 “Origin Search High Speed.”...
Page 161 6 DeviceNet Communications 6.7.2 Command Method Unit Reset Command The Unit is reset by setting the Unit Reset Command and changing the Command Start Command (C_STRT) from 0 to 1. When the Unit Reset Command is executed, the Unit Ready Flag (READY) is changed from 1 to 0. When the reset processing for the DeviceNet Unit and the W-series Servo Driver has been completed, the Unit Ready Flag changes from 0 to 1.
Page 162: Communications Using Explicit Messages
6.8 Communications Using Explicit Messages 6.8 Communications Using Explicit Messages This section explains Explicit Message communications frames, how to send Explicit Messages using the CMND instruction, and Explicit Message command and response blocks. 6.8.1 Explicit Messages Overview Explicit Messages are sent and received as described below. Explicit Message communications are basically executed in one-byte units (eight bits).
Page 163: Command/Response Blocks
6 DeviceNet Communications 6.8.2 Command/Response Blocks 6.8.2 Command/Response Blocks This section describes details of Explicit Message command/response blocks when the CS/ CJ-series DeviceNet Master Unit is used. Command Block The Explicit Message command block is shown below. Command Class ID Instance ID Service data code...
Page 164 6.8 Communications Using Explicit Messages Failed Sending or Timeout The following response is returned if the Explicit Message cannot be sent or times out. Command Response code code Details of Command/Response Blocks This section describes details of command/response blocks used for the Explicit Message. [Send Destination Node Address] (Command) Specifies the node address of the Explicit Message destination.
Page 165: Sending Explicit Messages Using The Cmnd Instruction
6.8.3 Sending Explicit Messages Using the CMND Instruction Note 1. The Explicit Message Send command sends a DeviceNet-defined Explicit Message to an OMRON Special I/O Slave Unit or a Slave manufactured by another company and receives a response. 2. Unlike other FINS commands, the Explicit Message Send command specifies the local node DeviceNet Master Unit as the CMND instruction control code destination.
Page 166 6.8 Communications Using Explicit Messages D: First Response Word at Local Node Specify the beginning word of the area for storing responses to messages. C: First Control Data Word Specify the beginning word for storing the control data required for message communica- tions.
Page 167 6 DeviceNet Communications 6.8.3 Sending Explicit Messages Using the CMND Instruction Message Response Read Timing Execute response reading by the rising edge of the Network Communications Enabled Flag for each communications port. Network Communications Enabled Flag Response read processing Communication-related Flags The following table shows the communications-related flags.
Page 168: Tracing Data
6.9 Tracing Data 6.9 Tracing Data The data trace function allows a host controller to read I/O information and operating data col- lected in the Servo Driver’s memory via the DeviceNet. By implementing trace settings, data is collected in the Servo Driver’s memory. Then, by imple- menting trace data reading, the collected data can be read from a host controller by means of Explicit Messages.
Page 169 6 DeviceNet Communications 6.9.1 Trace Parameters Parameter Contents The contents of the parameters for the data trace function are described in detail below. Data Trace 1 (Object: 0x67; Instance: 0x01; Attribute: #10) Set the target for Data Trace 1. Set Value Trace Target Unit 0000 Hex...
Page 170 6.9 Tracing Data I/O Trace 2 (Object: 0x67; Instance: 0x01; Attribute: #13) Set the target for I/O Trace 2. The settings are the same as for I/O Trace 1. Sampling Cycle (Object: 0x67; Instance: 0x01; Attribute: #14) Set the interval for executing the trace function. The setting is made in multiples of 250 µs, and the setting range is 250 µs to 8,191,750 µs.
Page 171 6 DeviceNet Communications 6.9.2 Reading Trace Data Pre-trigger (Object: 0x67; Instance: 0x01; Attribute: #18) Set how much of the 1,000 points of pre-trigger data is to be stored before detecting the trig- ger. The setting unit is the amount of data, and the setting range is 0 to 999. If the Trigger Target is set to no trigger, the pre-trigger setting is disabled.
Page 172 6.9 Tracing Data I/O Trace 1 and 2 I/O trace data is stored as shown below. The remainder of the 1,000 points of data (address #63, bits 8 to 15) is always stored as 0. Address xx Old data New data Oldest data Object 0x68 Address #1...
Page 173: Reading Trace Data
6 DeviceNet Communications 6.9.2 Reading Trace Data Error Response Error code Number of bytes received Service code (94 fixed) Source node address Reading Word Data Command Block Address, Low Class ID Number of words to read Service code Instance ID Address, High (1D fixed) Destination...
Page 174: Tracing Data
6.9 Tracing Data 6.9.3 Tracing Data Use the following procedures to execute a data trace from a host controller. 1. Set the trace. 2. Execute the trace. 3. Read the trace status. 4. Read the trace data. Tracing data start Step 1 <Setting Trace Targets>...
Page 175: Changing Parameters
6 DeviceNet Communications 6.10.1 Managing DeviceNet Data 6.10 Changing Parameters This section provides the DeviceNet conceptual diagram and how to change parameters. 6.10.1 Managing DeviceNet Data In DeviceNet, all parameters and point tables are managed as objects, instances, and attributes. Aconceptual diagram is given below.
Page 176: Changing Parameters
6.10 Changing Parameters 6.10.2 Changing Parameters This section explains how to change parameters using commands or message communica- tions. Changing Parameters Using Remote I/O Communications W-series Servo Driver parameters, DeviceNet Unit parameters, and point table data can be changed using Remote I/O communications. Refer to 6.5 Remote I/O Communications.
Page 177 6 DeviceNet Communications 6.10.2 Changing Parameters The following example shows the Origin Search High Speed (Object 0x64, instance #1, attribute #12) being read by using the Get_Attribute_Single command (code: 0x0e) when the master device node number is 0. Command Block (Master Device to Slave Device) Class ID Instance ID (object)
Page 178 Ladder Programming Examples This chapter provides ladder programming examples for OMRON CS/CJ- series Programmable Controllers. 7.1 Programming Conditions - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2 7.2 Remote I/O Programming - - - - - - - - - - - - - - - - - - - - - - - - - 7-3...
Page 179: Programming Conditions
: Node address 63 • DeviceNet Unit: Node address 20 • Command: CIO 3220 to CIO 3223 • Response: CIO 3320 to CIO 3323 The default values are used for parameters. The following ladder programming examples are for OMRON CS/CJ-series Programmable Controllers.
Page 180: Remote I/O Programming
7.2 Remote I/O Programming 7.2 Remote I/O Programming The following ladder programming examples use a variety of instructions. 7.2.1 Servo ON Command The following is a programming example from the beginning of DeviceNet communications up until servo ON. Operation 1. Clear the emergency stop when READY turns ON. 2.
Page 181: Origin Search Command
7 Ladder Programming Examples 7.2.2 Origin Search Command 7.2.2 Origin Search Command The following is a programming example for executing an origin search. Condition Servo ON is in effect. Operation 1. Set the command code (no-operation) and response type (command position). 2.
Page 182: Direct Operation Command
7.2 Remote I/O Programming 7.2.3 Direct Operation Command The following is a programming example for executing direct operation. Condition Servo ON is in effect. Operation 1. Set the command code (direct operation), response type (command position), and rela- tive value. 2.
Page 183 7 Ladder Programming Examples 7.2.3 Direct Operation Command From previous page. 3320.00 3321.00 Ends direct operation when C_STRT_R PRGS Direct operation end PRGS turns OFF. RSET Turns OFF C_STRT. 3220.00...
Page 184: Parameter Read Command
7.2 Remote I/O Programming 7.2.4 Parameter Read Command The following is a programming example for reading parameters. Condition Reads parameter Pn843 (Maximum Speed). Operation 1. Turn ON MOD and set the set/read command. 2. Set the command code (Parameter Read Command). 3.
Page 185: Programming Explicit Messages
7 Ladder Programming Examples 7.3 Programming Explicit Messages The following is a programming example for using Explicit Messages to read parameters. Conditions • Reads parameter Pn843 (Maximum Speed). • Uses CS/CJ-series DeviceNet Master Unit. • Uses CMND to send Explicit Message. Operation 1.
Page 186 7.3 Programming Explicit Messages From previous page. MOV (021) Sets service data. #4900 D00004 BSET (071) Clears response storage area. #0000 D00100 D00199 MOV (021) Sets number of command bytes #0009 to 9. D00200 MOV (021) Sets number of response bytes #000C to 12.
Page 187 7 Ladder Programming Examples From previous page. MOV (021) #0001 W031 W031.00 A202.00 1524.12 CMND (490) Executes CMND. Network Message D00000 Communications Communications Enabled Flag Enabled Flag D00100 (communications port No. 0) D00200 ASL (025) W031 W031.01 A202.00 A219.00 MOV (021) If a transmission error Network Network...
Page 188 Servo Driver Settings This chapter describes various settings of the Servo Driver and settings of con- nected devices such as an absolute encoder or Parameter Unit when a DeviceNet Unit is mounted. 8.1 Setting Up the Servo Driver When the DeviceNet Unit is Mounted - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2 8.1.1 Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2 8.1.2 Automatically Set Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3...
Page 189: Setting Up The Servo Driver When The Devicenet Unit Is Mounted
8 Servo Driver Settings 8.1.1 Parameters 8.1 Setting Up the Servo Driver When the DeviceNet Unit is Mounted This section describes the procedure for setting parameters to operate the Servo Driver. 8.1.1 Parameters The W-Series Servo Driver provides many functions and has parameters that allow the user to specify functions and perform fine adjustments.
Page 190 8.1 Setting Up the Servo Driver When the DeviceNet Unit is Mounted 8.1.2 Automatically Set Parameters When a DeviceNet Unit is mounted on a W-series Servo Driver and the Servo Driver is used for DeviceNet communications, the following parameters are automatically set. The follow- ing parameters will be treated as “reserved for system use,”...
Page 191: Standard Settings For I/O Signals
8 Servo Driver Settings 8.1.3 Standard Settings for I/O Signals 8.1.3 Standard Settings for I/O Signals The standard setting for CN1 I/O signals when the DeviceNet Unit is mounted are described below. To use the standard settings, change the parameters to the standard setting as shown below.
Page 192 8.1 Setting Up the Servo Driver When the DeviceNet Unit is Mounted Output Circuit Signal Allocations Output signal functions can be allocated to the sequence signal output circuits shown below. In general, allocate signals according to the standard settings in the following table. CN1 Connector Output Default Setting...
Page 193 8 Servo Driver Settings 8.1.3 Standard Settings for I/O Signals Output Signal Parameter Description Number Setting Positioning Completion Pn50E.0 Disabled (Not used for the output signal on the left.) 1 (INP1) Outputs the signal on the left from the 25-26pin (CN1–25 and 26) output terminal.
Page 194: Analog Monitors
8.1 Setting Up the Servo Driver When the DeviceNet Unit is Mounted Output Signal Reversal The following parameter can be used to reverse the signals output on output terminals 25- 26pin to 29-30pin. Pn512 Output Signal Reverse Default Setting: Output signal not reversed.
Page 195: Settings According To Equipment Characteristics
8 Servo Driver Settings 8.2.1 Switching Servomotor Rotation Direction 8.2 Settings According to Equipment Characteristics This section describes the procedure for setting parameters according to the dimensions and per- formance of the equipment used. 8.2.1 Switching Servomotor Rotation Direction The Servo Driver has a Reverse Rotation Mode that reverses the direction of Servomotor rotation without rewiring.
Page 196: Stop Mode Selection At Servo Off
8.2 Settings According to Equipment Characteristics 8.2.2 Stop Mode Selection at Servo OFF The W-series Servo Driver turns OFF under the following conditions: • The SV_OFF command is transmitted. • A servo alarm occurs. • Power is turned OFF. Specify the Stop Mode if any of these occurs during Servomotor operation. Pn001.0 Select stop if an alarm occurs when Default Setting:...
Page 197: Fully-Closed Control
8 Servo Driver Settings 8.2.3 Fully-closed Control 8.2.3 Fully-closed Control A fully-closed loop can be formed using the parameter settings on the W-series Servo Driver. In previous Servo Drivers, a semi-closed method was used to control the motor, but with this function even more precise control is achieved because control involves the detec- tion of the position and speed of actual machine operation.
Page 198 8.2 Settings According to Equipment Characteristics Parameter Settings for the Fully-closed System This section describes the user parameters that must be set when using a DeviceNet Unit. Overflow Level For information on parameter contents, refer to the OMNUC W-series Servomotors/Servo Drivers User’s Manual (I531-E1- ).
Page 199 8 Servo Driver Settings 8.2.3 Fully-closed Control Motor Load Deviation Over Level Set the allowable range of deviation of the number of pulses for fully-closed encoder and semi-closed encoder. Errors are not detected when 0 is set. Set 0 in the system where the position of the fully-closed encoder and the semi-closed encoder will be shifted due to machine slip.
Page 200: Settings According To Host Controller
• Sequence input signal power supply specifications: 24 ± 1 V DC, 50 mA min. 2. OMRON recommends using the same external power supply as that used for output circuits. The allowable voltage range for the 24-V sequence input circuit power supply is +11 V to +25 V.
Page 201 Note Provide a separate external 24-V power supply; the Servo Driver does not have an internal 24-V power supply. OMRON recommends using the same type of external power supply as that used for input circuits. Function allocations for some sequence output signal circuits can be changed.
Page 202: Setting Stop Functions
8.4 Setting Stop Functions 8.4 Setting Stop Functions This section describes the procedure used to stably stop the Servo Driver. 8.4.1 Using the Dynamic Brake To stop the Servomotor by applying the dynamic brake (DB), set the desired mode in the fol- lowing parameter.
Page 203: Using The Holding Brake
8 Servo Driver Settings 8.4.2 Using the Holding Brake 8.4.2 Using the Holding Brake The holding brake is used when a Servo Driver controls a vertical axis. In other words, a Servomotor with brake prevents the movable part from shifting due to gravity when system power goes OFF.
Page 204 8.4 Setting Stop Functions Output to BKIR Brake Interlock Output Position Control This output signal controls the brake when using a Servomotor with a brake and does not have to be connected when using a Servomotor without a brake. Closed or low level Releases the brake.
Page 205 8 Servo Driver Settings 8.4.2 Using the Holding Brake Brake Operation Set whether the brake is applied using the Servo Driver parameter. Pn005.0 Brake Operation Default Setting: Performs brake operation. Pn005.0 Setting Description Performs brake operation using the Servo Driver parameter. Does not perform brake operation using the Servo Driver parameter.
Page 206 8.4 Setting Stop Functions Holding Brake Setting Set the following parameters to adjust brake ON timing so the holding brake is applied when the Servomotor stops. Pn507 Brake Command Speed Unit: Setting Default Range: Setting: r/min 0 to 10000 Pn508 Brake Timing 2 Unit: Setting...
Page 207: Absolute Encoders
8 Servo Driver Settings 8.5.1 Selecting an Absolute Encoder 8.5 Absolute Encoders If a Servomotor with an absolute encoder is used, a system to detect the absolute position can be made in the host controller. Consequently, operation can be performed without performing an origin search immediately after the power is turned ON.
Page 208: Absolute Encoder Setup (Initialization)
8.5 Absolute Encoders 8.5.2 Absolute Encoder Setup (Initialization) Perform the setup operation for the absolute encoder in the following circumstances: • When starting the machine for the first time • When an encoder backup alarm is generated • When the Servo Driver’s power supply is turned OFF and the encoder’s cable is removed Perform the setup operation in one of the following ways.
Page 209 8 Servo Driver Settings Note Turn the power OFF and then ON after changing the setting of parameter Pn002.2 or Pn205. The Absolute Encoder Multi-turn Limit value in the encoder is default set to 65535, the same as the Servo Driver. If the multi-turn limit value in the Servo Driver is changed with Pn205 and then the Servo Driver power is turned OFF and ON, the following alarm will occur.
Page 210: Parameter Unit
8.6 Parameter Unit 8.6 Parameter Unit A Parameter Unit is required to operate and monitor the Servo Driver from a remote location or from a control panel. To connect the Parameter Unit to the Servo Driver, use a special Parameter Unit cable and connect it to the CN3 connector on the front panel of the Servo Driver.
Page 211 8 Servo Driver Settings 8.5.3 Absolute Encoder Multi-turn Limit Setting 8-24...
Page 212 Troubleshooting This chapter describes troubleshooting. In addition, troubleshooting procedures are described for problems which cause an alarm display and for problems which result in no alarm display. 9.1 Alarm Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2 9.2 Warning Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-5 9.3 Troubleshooting with Alarm Displays - - - - - - - - - - - - - - - - - - 9-6 9.4 Error Diagnosis Due To Operating Status - - - - - - - - - - - - - 9-44...
Page 213: Alarm Display Table
9 Troubleshooting 9.1 Alarm Display Table The alarm display and the relationship between ON/OFF alarm code outputs are shown in Table 9.1. Table 9.1 Alarm Display Table Alarm Alarm Code Outputs Servo Alarm Name Description Display Alarm ALO1 ALO2 ALO3 Output A.02 EEPROM data of Servo Driver is abnormal.
Page 214 9.1 Alarm Display Table Table 9.1 Alarm Display Table (cont’d) Alarm Alarm Code Outputs Servo Alarm Name Description Display Alarm ALO1 ALO2 ALO3 Output A.81 All the power supplies for the absolute Backup Error encoder have failed and position data was cleared.
Page 215 9 Troubleshooting Table 9.1 Alarm Display Table (cont’d) Alarm Alarm Code Outputs Servo Alarm Name Description Display Alarm ALO1 ALO2 ALO3 Output A.E0 No DeviceNet Unit installed. No DeviceNet Unit * A.E1 No response from the DeviceNet Unit. DeviceNet Unit Timeout * A.E2 WDC Error of DeviceNet WDC error in the DeviceNet Unit.
Page 216: Warning Display Table
9.2 Warning Display Table 9.2 Warning Display Table The warning display and the relationship between ON/OFF warning code outputs are shown in Table 9.2. Normally, warning codes are not output. However, if the parameters are set for warning codes to be output, those outputs will be as indicated in Table 9.3.
Page 217: Troubleshooting With Alarm Displays
”. “A.- -”, however, does not indicate an alarm. Refer to the following sections to identify the cause of an alarm and the action to be taken. Contact your OMRON representative if the problem cannot be solved by the described proce- dures.
Page 218 9.3 Troubleshooting with Alarm Displays A.03 A.03: Main-circuit Detection Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF: Output transistor is OFF (alarm state). Status and Remedy for Alarm At power ON Cause Remedy Circuit board (1PWB or 2PWB) is defective.
Page 219 9 Troubleshooting A.05 A.05: Servomotor Mismatch Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF: Output transistor is OFF (alarm state). Status and Remedy for Alarm At power ON A, B Cause Remedy The range of Servomotor capacities that can Replace the Servomotor so that a suitable be combined has been exceeded.
Page 220 9.3 Troubleshooting with Alarm Displays A.10 A.10: Overcurrent Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON. Status and Remedy for Alarm A, B, D, E, During Servomotor When SERVO ON C, D...
Page 221 9 Troubleshooting A.30 A.30: Regeneration Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON. Status and Remedy for Alarm Occurred when the During Servomotor A, B control power turned ON...
Page 222 9.3 Troubleshooting with Alarm Displays A.32 A.32: Regeneration Overload Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON. Status and Remedy for Alarm During Servomotor A, B operation...
Page 223 9 Troubleshooting A.40 A.40: Main Circuit DC Voltage Error Detected: Overvoltage Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON. Status and Remedy for Alarm Occurred when the control During Servomotor A, B, C, D...
Page 224 9.3 Troubleshooting with Alarm Displays A.41 A.41: Main Circuit DC Voltage Error Detected: Low Voltage Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON. Status and Remedy for Alarm During Servomotor Occurred when the control...
Page 225 9 Troubleshooting A.51 A.51: Overspeed Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON. Status and Remedy for Alarm When servo ON (RUN) At power ON signal turned ON During high-speed...
Page 226 9.3 Troubleshooting with Alarm Displays A.71 A.71: Overload: Instantaneous Maximum Load The alarm output, the status when LEDs are lit, and the remedy procedure are identical to those of A.72 below. A.72 A.72: Overload: Continuous Maximum Load Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output...
Page 227 9 Troubleshooting A.73 A.73: Dynamic Brake Overload Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON. Status and Remedy for Alarm When servo OFF signal At power ON turned ON during Servomotor operation...
Page 228 9.3 Troubleshooting with Alarm Displays A.7A A.7A: Overheat Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON. Status and Remedy for Alarm A, B, When control circuit During Servomotor C, D...
Page 229 9 Troubleshooting A.81 A.81: Backup Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF: Output transistor is OFF (alarm state). Status and Remedy for Alarm A, C At power ON At SENS_ON command A, B, C Pn002.2 = 0 Pn002.2 = 1...
Page 230 9.3 Troubleshooting with Alarm Displays A.82 A.82: Checksum Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF: Output transistor is OFF (alarm state). Status and Remedy for Alarm A, B At power ON A, B During operation At SENS_ON command...
Page 231 9 Troubleshooting A.83 A.83: Battery Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF: Output transistor is OFF (alarm state). Status and Remedy for Alarm At power ON At SENS_ON command A, B, C Pn002.2 = 0 Pn002.2 = 1 Cause...
Page 232 9.3 Troubleshooting with Alarm Displays A.84 A.84: Absolute Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF: Output transistor is OFF (alarm state). Status and Remedy for Alarm At power ON During operation Cause Remedy Encoder is defective.
Page 233 9 Troubleshooting A.85 A.85: Overspeed Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF: Output transistor is OFF (alarm state). Status and Remedy for Alarm At power ON A, B A, B At SENS_ON command Cause Remedy Absolute encoder turned ON at a speed...
Page 234 9.3 Troubleshooting with Alarm Displays A.94 A.94: Parameter Setting Warning Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON. Status and Remedy for Alarm When the command was sent A, B Cause...
Page 235 9 Troubleshooting A.95 A.95: Command Warning Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON. Status and Remedy for Alarm When the command was A, B, C sent Cause...
Page 236 9.3 Troubleshooting with Alarm Displays A.96 A.96: Communications Warning Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON. Status and Remedy for Alarm During DeviceNet A, B communications...
Page 237 9 Troubleshooting A.9A A.9A: Positioning Timer Timeout Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON. Status and Remedy for Alarm During Servomotor A, B operation Cause...
Page 238 9.3 Troubleshooting with Alarm Displays A.B2 A.B2: Torque Command Input Reading Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF: Output transistor is OFF (alarm state). Status and Remedy for Alarm During Servomotor At power ON A, B operation Cause...
Page 239 9 Troubleshooting A.C1 A.C1: Runaway Detected Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON. Status and Remedy for Alarm When servo ON (RUN) At power ON A, B, C, D signal turned ON Parameter Pn50A.1=7...
Page 240 9.3 Troubleshooting with Alarm Displays A.C6 A.C6: Fully-closed Encoder Phase-A, -B Disconnection Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON. Status and Remedy for Alarm 1 to 3 seconds after A, B, At power ON...
Page 241 9 Troubleshooting A.C7 A.C7: Fully-closed Encoder Phase-Z Disconnection Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON. Status and Remedy for Alarm 1 to 3 seconds after A, B, At power ON power ON...
Page 242 9.3 Troubleshooting with Alarm Displays A.C8 A.C8: Multi-turn Data Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON. Status and Remedy for Alarm At power ON At absolute encoder setup A, B...
Page 243 9 Troubleshooting A.CA A.CA: Encoder Parameter Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON. Status and Remedy for Alarm At power ON A, B Cause Remedy Encoder is defective.
Page 244 9.3 Troubleshooting with Alarm Displays A.CC A.CC: Multi-turn Limit Discrepancy Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON. Status and Remedy for Alarm A, B At powre ON Cause...
Page 245 9 Troubleshooting A.D0 A.D0: Deviation Counter Overflow Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON. Status and Remedy for Alarm During Servomotor At power ON operation Deviation counter overflow...
Page 246 9.3 Troubleshooting with Alarm Displays A.E0 A.E0: No DeviceNet Unit Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON. Status and Remedy for Alarm At power ON Cause Remedy...
Page 247 9 Troubleshooting A.E2 A.E2: WDC Error of DeviceNet Unit Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON. Status and Remedy for Alarm At power ON Cause Remedy...
Page 248 9.3 Troubleshooting with Alarm Displays A.E7 A.E7: DeviceNet Unit Detection Error when the W-series Servo Driver power is ON A.E7 occurs when the W-series Servo Driver is used without the DeviceNet Unit after it has been used with the DeviceNet Unit. Display and Outputs Alarm Outputs Alarm Code Outputs...
Page 249 9 Troubleshooting A.E9 A.E9: DeviceNet Busoff Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON. Status and Remedy for Alarm A, B, C Busoff error Cause Remedy...
Page 250 9.3 Troubleshooting with Alarm Displays A.EB A.EB: Servo Driver Initial Access Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON. Status and Remedy for Alarm At power ON Cause Remedy...
Page 251 9 Troubleshooting A.ED A.ED: Command Execution Incomplete Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON. Status and Remedy for Alarm During DeviceNet communications Cause Remedy...
Page 252 9.3 Troubleshooting with Alarm Displays A.F1 A.F1: Missing Phase Detected Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON. Status and Remedy for Alarm At main circuit power Occurred when the control supply ON.
Page 253 9 Troubleshooting CPF00 CPF00: Parameter Unit Transmission Error 1 This alarm is not stored in the alarm record function memory. Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Not specified Status and Remedy for Alarm At power ON. Parameter Unit Parameter Unit connected to A, B,...
Page 254 9.3 Troubleshooting with Alarm Displays CPF01 CPF01: Parameter Unit Transmission Error 2 This alarm is not stored in the alarm record function memory. Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Not specified Status and Remedy for Alarm A, B, C, D During operation Cause...
Page 255: Error Diagnosis Due To Operating Status
9 Troubleshooting 9.4 Error Diagnosis Due To Operating Status Refer to the tables below to identify the cause of a problem which causes no alarm display and take the remedy described. Turn OFF the servo system power supply before commencing the shaded procedures. Table 9.3 Troubleshooting Table with No Alarm Display Symptom Cause...
Page 256 9.4 Error Diagnosis Due To Operating Status Table 9.3 Troubleshooting Table with No Alarm Display (cont’d) Symptom Cause Inspection Remedy Abnormal noise Mechanical mounting is incorrect. Check if Servomotor Tighten mounting screws. mounting screws loose. Check if coupling not cen- Center coupling.
Page 257 9 Troubleshooting 9-46...
Page 258 Appendix This appendix provides list of DeviceNet object models, DeviceNet attributes, alarm/warning codes and error codes for message communications. 10.1 DeviceNet Object Model - - - - - - - - - - - - - - - - - - - - - - - - 10-2 10.2 DeviceNet Attributes - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3 10.2.1 Identity Object (0x01) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3 10.2.2 Message Router Object (0x02) - - - - - - - - - - - - - - - - - - - - - - - - - - 10-4...
Page 259: Devicenet Object Model
10 Appendix 10.1 DeviceNet Object Model The following shows the list of the DeviceNet object models. Axis Servo Driver Point Table Parameter Object Object R88D-WT Control Identity Object Parameter Object Message Router DeviceNet Object Assembly Object Explicit Message Connection Object DeviceNet Network Fig.
Page 260: Devicenet Attributes
10.2 DeviceNet Attributes 10.2 DeviceNet Attributes This section lists the attributes that can be used in DeviceNet. 10.2.1 Identity Object (0x01) Class and instances of the Identity Object (0x01) are shown below. Class • Attributes: None supported • Services: None supported Instances Attributes (Instance #1: Explicit Message) Access...
Page 261: Message Router Object (0X02)
10 Appendix 10.2.2 Message Router Object (0x02) 10.2.2 Message Router Object (0x02) Class and instances of the Message Router Object (0x02) are shown below. Class • Attributes: None supported • Services: None supported Instances • Attributes: None supported • Services: None supported 10-4...
Page 262: Devicenet Object (0X03)
10.2 DeviceNet Attributes 10.2.3 DeviceNet Object (0x03) Class and instances of the DeviceNet Object (0x03) are shown below. Class • Attributes: None supported • Services: None supported Instances Attributes (Instance #1: Explicit Message) Access Name Data Type Description Value MAC ID USINT Node address 0 to 63...
Page 263: Assembly Object (0X04)
10 Appendix 10.2.4 Assembly Object (0x04) 10.2.4 Assembly Object (0x04) Class and instances of the Assembly Object (0x04) are shown below. Class • Attributes: None supported • Services: None supported Instances Attributes (Instance #100) Access Name Data Type Description Value −...
Page 264: Connection Object (0X05)
10.2 DeviceNet Attributes 10.2.5 Connection Object (0x05) Class and instances of the Connection Object (0x05) are shown below. Class • Attributes: None supported • Services: None supported Instances Attributes (Instance #1: Explicit Message) Access Name Data Type Description Value − State USINT Defines the state of the object.
Page 265 10 Appendix 10.2.5 Connection Object (0x05) Attributes (Instance #2: Polled I/O) Access Name Data Type Description Value − State USINT Defines the state of the object. Instance_type USINT Defines either I/O or messaging connection. 0x01 TransportClass_ Byte Defines behavior of the connection. 0x83 trigger −...
Page 266: Devicenet Unit Parameter Object (0X64)
10.2 DeviceNet Attributes 10.2.6 DeviceNet Unit Parameter Object (0x64) Class and instances of the DeviceNet Unit Parameter Object (0x64) are shown below. Class • Attributes: None supported • Services: None supported Instances Attributes (Instance #1, Explicit Message) Access Name Data Type Description Setting Default...
Page 267 10 Appendix 10.2.6 DeviceNet Unit Parameter Object (0x64) (cont’d) Access Name Data Type Description Setting Default Range Setting Get/Set Backlash Compen- UINT Sets the direction for backlash compensa- 0, 1 sation Direction tion. Get/Set Positive Software DINT Sets the limit position for positive direction. -99,999,999 to 99,999,999 Limit...
Page 268 10.2 DeviceNet Attributes (cont’d) Access Name Data Type Description Setting Default Range Setting Get/Set JOG Unit Selection UINT Sets the command unit for the speed setting 0, 1 for JOG. Get/Set JOG Speed DINT Sets the JOG speed. 1 to 240,000 24,000 ×...
Page 269 10 Appendix 10.2.6 DeviceNet Unit Parameter Object (0x64) (cont’d) Access Name Data Type Description Setting Default Range Setting Get/Set Interrupt Feeding DINT Sets the positioning speed for interrupt 1 to 240,000 24,000 Positioning Speed feeding. × Unit: 1000 steps/min Get/Set Interrupt Feeding DINT Sets the amount of interrupt feeding.
Page 270 10.2 DeviceNet Attributes (cont’d) Access Name Data Type Description Setting Default Range Setting Get/Set Position 14 for DINT Sets speed-switching position 14 for multi- 0 to Multi-speed speed. 99,999,999 Unit: Steps Get/Set Position 15 for DINT Sets speed-switching position 15 for multi- 0 to Multi-speed speed.
Page 271 10 Appendix 10.2.6 DeviceNet Unit Parameter Object (0x64) (cont’d) Access Name Data Type Description Setting Default Range Setting Get/Set Notch Signal UINT Sets notch signal output. 0 to 3 • Bit 0: Notch output 1 0: Normally OFF, ON when passing 1: Normally ON, OFF when passing •...
Page 272: Point Table Object (0X65)
10.2 DeviceNet Attributes 10.2.7 Point Table Object (0x65) Class and instances of the Point Table Object (0x65) are shown below. Class • Attributes: None supported • Services: None supported Instances Attributes (Instance #1: Explicit Message) Access Name Data Description Setting Range Default Type Setting...
Page 273 10 Appendix 10.2.7 Point Table Object (0x65) (cont’d) Access Name Data Description Setting Range Default Type Setting Get/Set Position_18 DINT Target position 18 -99,999,999 to 99,999,999 Unit: Steps Get/Set Position_19 DINT Target position 19 -99,999,999 to 99,999,999 Unit: Steps Get/Set Position_20 DINT Target position 20...
Page 274 10.2 DeviceNet Attributes (cont’d) Access Name Data Description Setting Range Default Type Setting Get/Set Position_42 DINT Target position 42 -99,999,999 to 99,999,999 Unit: Steps Get/Set Position_43 DINT Target position 43 -99,999,999 to 99,999,999 Unit: Steps Get/Set Position_44 DINT Target position 44 -99,999,999 to 99,999,999 Unit: Steps Get/Set...
Page 275 10 Appendix 10.2.7 Point Table Object (0x65) (cont’d) Access Name Data Description Setting Range Default Type Setting Get/Set Speed_15 DINT Target speed 15 1 to 240,000 24,000 × Unit: 1000 steps/min Get/Set Speed_16 DINT Target speed 16 1 to 240,000 24,000 ×...
Page 276 10.2 DeviceNet Attributes (cont’d) Access Name Data Description Setting Range Default Type Setting Get/Set Speed_38 DINT Target speed 38 1 to 240,000 24,000 × Unit: 1000 steps/min Get/Set Speed_39 DINT Target speed 39 1 to 240,000 24,000 × Unit: 1000 steps/min Get/Set Speed_40 DINT...
Page 277: Servo Driver Parameter Object (0X66)
10 Appendix 10.2.8 Servo Driver Parameter Object (0x66) 10.2.8 Servo Driver Parameter Object (0x66) Class and instances of the Servo Driver Parameter Object (0x66) are shown below. Class • Attributes: None supported • Services: None supported Instances Attributes (Instance #1: Explicit Message) Access Name Data Type...
Page 278 10.2 DeviceNet Attributes (cont’d) Access Name Data Type Description Setting Default Range Setting Get/Set Feed-forward Com- UINT Sets the feed-forward command filter. 0 to 6400 mand Filter Unit: 0.01 ms − Get/Set Speed Control Set- UINT Sets the speed control. 0004 ting Get/Set...
Page 279 10 Appendix 10.2.8 Servo Driver Parameter Object (0x66) (cont’d) Access Name Data Type Description Setting Default Range Setting − Get/Set Position UINT Performs the position control setting 1. 0100 Control Setting 1 Get/Set Encoder Divider UINT Sets the encoder divider rate. 16 to 16384 1000 Rate...
Page 280 10.2 DeviceNet Attributes (cont’d) Access Name Data Type Description Setting Default Range Setting Get/Set Reverse UINT Sets the reverse torque limit. 0 to 800 Torque Limit Unit: % Get/Set Forward Rotation UINT Sets the forward rotation external torque 0 to 800 External Torque limit.
Page 281 10 Appendix 10.2.8 Servo Driver Parameter Object (0x66) (cont’d) Access Name Data Type Description Setting Default Range Setting − Get/Set Output Signal UINT Sets the output signal selection 1. 3211 Selection 1 − Get/Set Output Signal UINT Sets the output signal selection 2. 0000 Selection 2 −...
Page 282: Trace Setting Object (0X67)
10.2 DeviceNet Attributes 10.2.9 Trace Setting Object (0x67) Class and instances of the Trace Setting Object (0x67) are shown below. Class • Attributes: None supported • Services: None supported Instances Attributes (Instance #1: Explicit Message) Access Name Data Type Description Setting Default Range...
Page 283 10 Appendix 10.2.9 Trace Setting Object (0x67) Services Service Name Description Code 0x0E Get_Attribute_Single Returns the specified attribute. 0x10 Set_Attribute_Single Modifies the specified attribute. Data Types Data Type Description Size UINT Unsigned integer 2 bytes DINT Double-precision integer 4 bytes 10-26...
Page 284: Trace Data Object (0X68)
10.2 DeviceNet Attributes 10.2.10 Trace Data Object (0x68) Class and instances of the Trace Data Object (0x68) are shown below. Class • Attributes: None supported • Services: None supported Instances Attributes (Instance #1: Explicit Message) Data Service Data Range 0x1C (Byte data read) Data Trace 1 1 to 1000 0x1D (Word data read)
Page 285: Alarm/Warning Codes And Error Codes For Message Communications
10 Appendix 10.3.1 Alarm Codes 10.3 Alarm/Warning Codes and Error Codes for Message Communications This section lists the alarm/warning codes and error codes for message communications. 10.3.1 Alarm Codes Alarm codes are displayed on the front of the W-series Servo Driver and, at the same time, can also be read as responses at the host device connected via DeviceNet.
Page 286 10.3 Alarm/Warning Codes and Error Codes for Message Communications (cont’d) Code MS LED NS LED Alarm Name Description − A.7A Flashes Overheat The heat sink of Servo Driver is overheated. Red. − A.81 Flashes Backup Error All the power supplies for the absolute encoder Red.
Page 287 10 Appendix 10.3.1 Alarm Codes (cont’d) Code MS LED NS LED Alarm Name Description − A.E8 Flashes Rotary Switch Setting Error Unit rotary switch setting error. Red. − A.E9 Lit Red. DeviceNet Busoff Error Fatal communications error has occurred in DeviceNet communications.
Page 288: Warning Codes
10.3 Alarm/Warning Codes and Error Codes for Message Communications 10.3.2 Warning Codes The warning codes are shown below. Warning MS LED NS LED Warning Name Description Code − A.91 Flashes Overload This warning occurs before the overload Red. alarms (A.71 or A.72) occur. If the warning is ignored and operation continues, an overload alarm may occur.
Page 289: Error Codes For Message Communications
10 Appendix 10.3.3 Error Codes for Message Communications 10.3.3 Error Codes for Message Communications If an Explicit Message has been sent and then is not completed normally, an error code (2 bytes) is added after service code “14 Hex,” and an Explicit Message is returned. The message communications error codes are shown below.
Page 290 Index INDEX JOG Command - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-42, 6-61 MS (module status) indicator - - - - - - - - - - - - - - - - - - - - - - - - - 6-5 Numerics Multi-speed Positioning Command - - - - - - - - - - - - - - - - - - - - 6-57 multi-turn limit setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-21...
Page 291 Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual. Cat. No. I538-E3-1 Revision code The following table outlines the changes made to the manual during each revision. Revision code Date Revised content E1-1...
Page 292 Schaumburg, IL 800.55.OMRON (66766) OMRON CANADA, INC. Milner Avenue Scarborough, Ontario M 416.286.6465 OMRON ON-LINE Global - http://www.omron.com USA - http://www.omron.com/oei Canada - http://www.omron.com/oci I538-E3-1 8/02 ©2002 OMRON ELECTRONICS LLC Specifications subject to change without notice. Printed in the U.S.A.

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Omnuc w r88a-ncw152-drt

Omron OMNUC W Series Manual

2 Outline Drawings and Nomenclature 2

3 Installation

4 Connectors

Connecting to Peripheral Devices

Internal Block Diagrams

Servo Driver I/O Signals

I/O Signal Connections for Devicenet Units (CN4)

Connection and Wiring of the Devicenet Communications Connector

5 Parameter Settings

Parameters

Parameter Tables

Parameter Details

6 Devicenet Communications

Control Configuration

Devicenet Switch Settings and Display

Precautions for Communications Line Design

Overview of Remote I/O and Explicit Message Communications

Remote I/O Communications

Details on Move Commands for Remote I/O Communications

Command Method Using the Remote I/O Communications

Communications Using Explicit Messages

Tracing Data

Changing Parameters

7 Ladder Programming Examples

Programming Conditions

Remote I/O Programming

Programming Explicit Messages

8 Servo Driver Settings

Setting up the Servo Driver When the Devicenet Unit Is Mounted

Settings According to Equipment Characteristics

Settings According to Host Controller

Setting Stop Functions

Absolute Encoders

Parameter Unit

9 Troubleshooting

10 Appendix

Appendix

Devicenet Object Model

Devicenet Attributes

Alarm/Warning Codes and Error Codes for Message Communications

Quick Links

Chapters

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