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YASKAWA E-V-SD Series User Manual

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AC Servo Drives
Σ
V
-
-SD Series
USER'S MANUAL
For Application Development in Servo Systems
UAK J-
C
Spindle motor
SGMGV-
8
CACP-JU
3
Power regeneration converter
CACR-JU
2
SERVOPACK
MANUAL NO. SIEP S800000 87A
Servomotor
Application Overview
MECHATROLINK-III Communications
Machine-specific Settings
Feed Axis Operation
Spindle Axis Operation
Additional Functions
Alarm and Warning
Servo Drive Management
1
2
3
4
5
6
7
Processing
8
9
Monitoring

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Summary of Contents for YASKAWA E-V-SD Series

  • Page 1 AC Servo Drives Σ -SD Series USER'S MANUAL For Application Development in Servo Systems UAK J- Spindle motor SGMGV- Servomotor CACP-JU Power regeneration converter CACR-JU SERVOPACK Application Overview MECHATROLINK-III Communications Machine-specific Settings Feed Axis Operation Spindle Axis Operation Additional Functions Alarm and Warning Processing Servo Drive Management...
  • Page 2 Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is con- stantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice.

  • Page 3: About This Manual

    About this Manual This manual contains information that is required to design servo system applications. Keep this manual in a location where it can be accessed for reference whenever required. The following four manuals are also required in addition to this manual to design servo system applications. •...
  • Page 4 Notation Used in this Manual • Notation for Reverse Signals The names of reverse signals (ones that are valid when low) are written with a forward slash (/) before the sig- nal name. Notation Example BK is written as /BK. •...
  • Page 5 When you design a host controller, use this manual to help you design the software and construct the CNC system. Yaskawa is not responsible for any unexpected operations, malfunctions, damages, or losses of opportunity related to the customer’s system (including equipment, workpieces, tools, etc.) resulting from the contents of this manual.

  • Page 6: Safety Precautions

    Safety Precautions The following precautions are for storage, transportation, installation, wiring, operation, maintenance, inspec- tions, and disposal. These precautions are important and must be observed. WARNING • Never touch any rotating parts of the motor while the motor is running. There is a risk of injury.
  • Page 7 WARNING • Always connect the power regeneration converter and SERVOPACK ground terminals grounding poles. (Connect to 100 Ω or less ground resistance for a power regeneration converter or SERVOPACK with a 200-V input power supply, or to 10 Ω or less ground resistance for a power regeneration converter or SERVOPACK with a 400-V input power supply.) There is a risk of electric shock or fire.
  • Page 8 Installation CAUTION • Never use the products in locations that are subject to water, corrosive atmospheres, or flammable gas, or near combustible objects. There is a risk of electric shock or fire. • Do not step on the products or place heavy objects on the products. There is a risk of injury or malfunction.
  • Page 9 Wiring CAUTION • Check the wiring to confirm that it has been performed correctly. There is a risk of motor runaway, injury, or malfunction. • Do not bundle the main circuit and the I/O signal cables/encoder cables together or run them through the same duct.
  • Page 10 Operation CAUTION • Use only the specified combinations of motors and SERVOPACKs. There is a risk of fire or malfunction. • To avoid unexpected accidents, perform trial operation with the motor only (i.e., do not connect the motor axis to the machine). There is a risk of injury.
  • Page 11 • The drawings presented in this manual are typical examples and may not match the products that you received. • If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the...

  • Page 12: Warranty

    6. Events for which Yaskawa is not responsible, such as natural or human-made disasters (2) Limitations of Liability 1. Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of a delivered product.
  • Page 13 Check the functionality and safety of the actual devices and equipment to be used before using the product. 6. Read and understand all use prohibitions and precautions, and operate the Yaskawa product correctly to prevent accidental harm to third parties.

  • Page 14: Table Of Contents

    Contents About this Manual ............iii Safety Precautions.
  • Page 15 4.6 Speed References When Performing Position Control from the Host Controller..........4-24 4.6.1 Communications Cycle and Transmission Cycle Settings .
  • Page 16 Chapter 6 Additional Functions ........6-1 6.1 C-S Axis Control..........6-2 6.1.1 Infinite-length Encoders .
  • Page 17 Chapter 9 Monitoring......... .9-1 9.1 SERVOPACK Monitors .

  • Page 18: Chapter 1 Application Overview

    Application Overview This chapter provides an overview of product applications.
  • Page 19 1 Application Overview The following diagram shows a system configuration that uses a servo drive. Three-phase, 200/400 VAC R S T MECHATROLINK-III MECHATROLINK-III Host controller Sensors 1 and 2 Sensors 1 and 2 CN 9A CN 9B CN 9A CN 9B Molded-case Power SERVOPACK...
  • Page 20 The following figure shows the functions of the servo drive. Functions Achieved with the Σ-V-SD Drive Achieved with CNC MECHATROLINK-III Position Speed Torque Motor Motion Encoder Communications Control Control Control Controls SPMM High- Low-pass High-response Predictive control Orientation resolution Projection speed control filter compensation...
  • Page 21 MECHATROLINK-III Communications This chapter describes MECHATROLINK-III communications. 2.1 MECHATROLINK-III and Communications Settings ....2-2 2.1.1 MECHATROLINK-III Initial Settings ........2-2 2.1.2 Communications Settings for the Master Station .

  • Page 22: Chapter 2 Mechatrolink-Iii Communications

    2 MECHATROLINK-III Communications 2.1.1 MECHATROLINK-III Initial Settings MECHATROLINK-III and Communications Settings The Σ-V-SD drivers were developed for machine tools. MECHATROLINK-III servo profile commands are used to interface the servo drive and the host controller. The host controller implements the ASIC (JL-100/JL-101) for MECHATROLINK-III communications and is connected to the CPU by a bus connection.
  • Page 23 2.1 MECHATROLINK-III and Communications Settings C2 master Slave #n Slave #4 CHANNEL_INFO JL100_USER_PAR JL100_USER_PAR Write protected Slave #3 JL100_USER_PAR Slave #2 JL100_USER_PAR Slave #1 JL100_USER_PAR C1 master JL100_USER_PAR JL100_USER_PAR JL100_USER_IOMAP Software settings Allocated for the local station, for each connected station, and for the C2 master.
  • Page 24 2 MECHATROLINK-III Communications 2.1.2 Communications Settings for the Master Station (2) JL100_USER_IOMAP Structure (Communications Conditions Settings) This section describes the JL100_USER_IOMAP data structure. Member Name Description Setting Example Remarks For C1 master 0001 hex For C2 master 0002 hex For slave axis_adr Station address 0003 hex...

  • Page 25: Initializing Communications

    2.2 Initializing Communications Initializing Communications The communication settings are used to call the access driver functions and initialize communications. Using the mst_init() sample programming that is included with the access drivers as an example, perform the following items when you create a new program. •...

  • Page 26: Cyclic Communications Interrupt Processing

    2 MECHATROLINK-III Communications Cyclic Communications Interrupt Processing When the communications ASIC has been initialized, cyclic communications start between the master (host controller) and slaves (SERVOPACKs). Refer to 5.2.2 Cyclic Communications Processing in the MECHA- TROLINK-III Communication ASIC JL-100/JL-101 (C1 Master) Access Drivers (Manual No.: MMA TDEP 024A) for details on cyclic communications.

  • Page 27: Operation Sequence

    2.4 Operation Sequence Operation Sequence The operation sequence is the procedure for operating the servo drive through commands sent from the host controller. When cyclic communications start, the operation sequence is executed to operate the machine. The operation sequence depends on whether the SERVOPACK parameters are managed by the host controller or by the SERVOPACK.

  • Page 28: Operation Sequence When Parameters Are Managed By The Servopack

    2 MECHATROLINK-III Communications 2.4.2 Operation Sequence When Parameters Are Managed by the SERVOPACK 2.4.2 Operation Sequence When Parameters Are Managed by the SERVOPACK The normal operation sequence is performed after the parameters that are required for the machine setup are set in the SERVOPACK’s non-volatile memory.

  • Page 29: Detailed Description Of Commands Used In The Operation Sequence

    2.4 Operation Sequence 2.4.3 Detailed Description of Commands Used in the Operation Sequence This section describes the commands that are used during the operation sequence. (1) DISCONNECT Command Disconnecting the Previous Communications Connection This process is not required if the operation sequence is being executed correctly. If the host controller is reset while the SERVOPACK’s control power is turned ON, the SERVOPACK will generate a communications error alarm and maintain the connection.
  • Page 30 2 MECHATROLINK-III Communications 2.4.3 Detailed Description of Commands Used in the Operation Sequence (4) SENS_ON Command This command turns ON the power supply to the motor’s encoder and obtains the position data. Confirm that RCMD is SENS_ON (23 hex) and CMD_STAT.CMDRDY is 1 to confirm that execution of the SENS_ON command has been completed.
  • Page 31 2.4 Operation Sequence (7) SV_OFF Command This command turns OFF the power to the motor. When you turn OFF the power to the machine, stop the motors for all axes and send the SV_OFF command. If the SV_OFF command is sent while the motor is still turning, all axes other than the spindle axis will be stopped with the dynamic brake (DB).
  • Page 32 Machine-specific Settings This chapter describes Σ-V-SD driver settings for different machines. Σ Refer to 8.2 Basic Functions Settings in the -V-SD Series User’s Manual (Manual No.: SIEP S800000 78) for details on Σ-V-SD driver settings. 3.1 Reference Unit ..........3-2 3.2 Electronic Gear .

  • Page 33: Reference Unit

    3 Machine-specific Settings Reference Unit The Σ-V-SD driver uses MECHATROLINK-III communications to send commands to and receive feedback data from the host controller. The SERVOPACK performs servo control in pulse units (i.e., at the encoder resolution), so commands from the host controller are also in pulses. Encoder Resolution The encoder resolution depends on the motor.

  • Page 34: Electronic Gear

    3.2 Electronic Gear Electronic Gear The Σ-V-SD driver does not provide an electronic gear. Set the electronic gear that is required for the load configuration of each axis at the host controller. Commands that are sent to the SERVOPACK are in pulse units. Send the commands for the feed axis and spindle axis at the encoder resolution per motor revolution.

  • Page 35: Axis Type

    (1) Spindle Motor Parameter Settings The motor parameters for the spindle motor must be written to the SERVOPACK. The motor parameters are provided as an electronic file from Yaskawa. Use either of the following two methods to write the motor parameters to the SERVOPACK.

  • Page 36: Acceleration/Deceleration Filters

    3.4 Acceleration/Deceleration Filters Acceleration/Deceleration Filters SERVOPACKs come with two different acceleration/deceleration filters for position references. These filters apply an acceleration/deceleration filter to the position references for each axis. The same filter and same time constant must be used for all axes that are being used for interpolation control. However, the acceleration/deceleration filters for position references in the SERVOPACK are used when the communications cycle for MECHATROLINK-III communications is long.
  • Page 37 Feed Axis Operation This chapter describes the operation of a feed axis. 4.1 High-speed Feeding and Cutting Operations ..... . 4-3 4.1.1 How to Use the INTERPOLATE (34 Hex) Command .
  • Page 38 4 Feed Axis Operation 4.10 Controlling Vertical Axes ........4-43 4.11 Motor Stop Methods When the Servo is OFF or an Alarm Occurs .

  • Page 39: High-Speed Feeding And Cutting Operations

    4.1 High-speed Feeding and Cutting Operations High-speed Feeding and Cutting Operations Feed axis operations include G00 (high-speed feeding) and a series of cutting operation such as G01 (linear interpolation feeding operation). Position references are given for high-speed feeding and cutting operations with the INTERPOLATE (34 hex) command from the host controller.
  • Page 40 4 Feed Axis Operation 4.1.1 How to Use the INTERPOLATE (34 Hex) Command The following tables give the details of the INTERPOLATE (34 hex) command. Field Description Usable Phase Within the commu- Ox34 Processing Time nications cycle CMD_CTRL – INTERPOLATE Byte SVCMD_CTRL –...

  • Page 41: Acceleration/Deceleration Filters

    4.1 High-speed Feeding and Cutting Operations Σ Σ Refer to 2.7.15 Motion Command Data Setting Method and 4.1 Units in the -V-SD AC Servo Drives -V-SD Series User’s Manual MECHATROLINK-III Standard Servo Profile Commands (Manual No.: SIEP S800000 76) for details on units and bit commands. (2) Synchronization When an INTERPOLATE (34 hex) command is sent to the SERVOPACK from the host controller, the SER- VOPACK synchronizes on the MECHATROLINK-III communications, receives the command, and returns a...
  • Page 42 4 Feed Axis Operation 4.1.2 Acceleration/Deceleration Filters Before filter (reference every 2 ms) After filter (with moving average filter) Acceleration/Deceleration Filter Moving Average Filter Reference pulse Reference pulse Before filter frequency Before filter frequency After filter After filter 100% 100% 63.2% 36.8% Time...

  • Page 43: Gain Selection (G-Sel)

    4.1 High-speed Feeding and Cutting Operations 4.1.3 Gain Selection (G-SEL) Feed axis operations include high-speed feeding (G00), cutting (G01, G02, etc.), jogging, and handle pulse generator feeding. You can select the control function and gain bank required for each of these movements. Terminology: Gain Bank A gain bank is a group of control parameters.
  • Page 44 4 Feed Axis Operation 4.1.3 Gain Selection (G-SEL) Gain Bank and Parameter Combinations Gain Bank Gain Parameter Speed loop gain Pn100 Pn104 Pn12B Pn12E Speed loop integral time constant Pn101 Pn105 Pn12C Pn12F Position loop gain Pn102 Pn106 Pn12D Pn130 Torque reference filter Pn401 Pn412...

  • Page 45: Manual Operation

    4.2 Manual Operation Manual Operation Machine tools have manual operations such as jogging, stepping, and handle pulse generator operation. Basically, only one axis can be moved at a time during manual operation. Positioning operations are the same as for high-speed feeding operations. Position references are given as high-speed feeding operations for each axis.

  • Page 46: The Roles Of Main Commands And Subcommands

    4 Feed Axis Operation The Roles of Main Commands and Subcommands When feed axis operations are performed, you may need to check SERVOPACK alarms or change SERVO- PACK parameters during axis movement. In particular, when you check SERVOPACK alarms or change parameters during the execution of the INTER- POLATE (34 hex) command, the interpolation operation reference (position reference) may be interrupted, and make it impossible to achieve the required speed.

  • Page 47: Using Subcommands To Check Alarms Or Warnings

    4.3 The Roles of Main Commands and Subcommands Execute the INTERPOLATE (34 hex) command as the main command to move the feed axis, and read alarms or warnings or change parameters with a subcommand (ALM_RD, MEM_RD, MEM_WR, SVPRM_RD, or SVPRM_WR). INTERPOLATE command Feed Axis Function Generator...
  • Page 48 4 Feed Axis Operation 4.3.2 Using Subcommands to Change Parameters Σ Σ Refer to 3.4.8 Write Servo Parameter Subcommand (SVPRM_WR: 41H) in the -V-SD AC Servo Drives SD Series User’s Manual MECHATROLINK-III Standard Servo Profile Commands (Manual No.: SIEP S800000 76) for details on the SVPRM_WR (41 hex) command. Example: Changing the Speed Loop Gain Parameter (Pn104) in Gain Bank 1 Gain Bank Gain Setting Parameter...

  • Page 49: Latching

    4.4 Latching Latching The latch function saves the position of the machine when a latch signal is input while there is a latch request. Latch operations are required to determine the position for a machine operation, such as homing for a feed axis, setting the orientation of a spindle axis, or setting the reference point for threading with a lathe.

  • Page 50: Latch Operation Sequence

    4 Feed Axis Operation 4.4.3 Latch Operation Sequence 4.4.3 Latch Operation Sequence Type/Operation Latch Operation The latch operation begins when LT_REQ1 or LT_REQ2 changes to 1. The Latching latch operation ends on the specified latch signal input. Monitoring latching L_CMP1 and L_CMP2 are used to determine if the latch operation has finished. Canceling latching The latch operation is cancelled when LT_REQ1 or LT_REQ2 changes to 0.

  • Page 51: Absolute Position Detection

    4.5 Absolute Position Detection Absolute Position Detection An absolute position detection system can be constructed with a host controller when a servomotor with an absolute encoder is used. An absolute position detection system eliminates the need for homing after the power supply is turned ON, but the following must be set up to use such a system.

  • Page 52: Finite-Length/Infinite-Length Axes And Absolute Position Detection Settings

    4 Feed Axis Operation 4.5.2 Finite-length/Infinite-length Axes and Absolute Position Detection Settings Terminology: Absolute Value Data The absolute value data that is stored in an absolute encoder is the number of turns from the absolute base position (multiturn data: N). The initial incremental pulse (PO) is a pulse that represents the transition from the phase C position at the point when the absolute encoder is initialized.

  • Page 53: Procedure For Setting Up The Absolute Position Detection System

    4.5 Absolute Position Detection 4.5.3 Procedure for Setting Up the Absolute Position Detection System This section describes the procedure for setting up the absolute position detection system. Absolute Position Detection System Startup Flowchart Use the following procedure to start the absolute position detection system. Connecting and Checking Devices Check to confirm that the absolute encoder backup battery (BA000518) is connected to the power regeneration converter and that the servomotor has an absolute encoder (SGMGV-...
  • Page 54 4 Feed Axis Operation 4.5.4 Initializing the Absolute Encoder (1) Initialization Procedure Σ Refer to 8.5.4 Absolute Encoder Setup in -V-SD Series User’s Manual (Manual No.: SIEP S800000 78) for details on how to reset an absolute encoder with the SigmaWin for Σ-V-SD (MT). Use the following procedure to initialize an absolute encoder with the Write Memory command (MEM_WR: 1E hex) from the host controller.
  • Page 55 4.5 Absolute Position Detection (2) Procedure for Setting a Multiturn Limit Use the multiturn limit setting when you need to perform position control for a rotor, such as a turntable. Σ Refer to 8.5.5 Multiturn Limit Setting and 8.5.6 Multiturn Limit Disagreement Alarm (A.CC0) in the -V-SD Series User’s Manual (Manual No.: SIEP S800000 78) for details on how to use the multiturn limit setting with the SigmaWin for Σ-V-SD (MT).

  • Page 56: Related Parameter Settings

    4 Feed Axis Operation 4.5.5 Related Parameter Settings 4.5.5 Related Parameter Settings Set the following parameters to use absolute position detection. CAUTION • Set Pn205 (Multiturn Limit Setting) as instructed for the initialization of the absolute encoder. If these instructions are not followed, the current position may vary when the power supply is turned ON, which can damage the machine.

  • Page 57: Origin Offset

    4.5 Absolute Position Detection 4.5.6 Origin Offset If you use an absolute encoder, you can set an offset for the encoder position and the machine coordinate sys- tem position. You can use the offset to set the mechanical origin in the absolute value coordinate system. The origin offset can be stored in the host controller or in the SERVOPACK.
  • Page 58 4 Feed Axis Operation 4.5.6 Origin Offset (2) Storing the Origin Offset in the SERVOPACK Use SERVOPACK parameter Pn808 to set the origin offset. Absolute Encoder Origin Offset Classification Setting Range Setting Unit Factory Setting When Enabled Pn808 -1073741823 to Reference units Setup Immediately...

  • Page 59: Origin Settings

    4.5 Absolute Position Detection 4.5.7 Origin Settings This section describes the procedure for setting the origin (i.e., the absolute origin or the origin of the machine coordinate system) of an absolute encoder and the procedures for storing the machine coordinate system ori- gin offset.

  • Page 60: Speed References When Performing Position Control From The Host Controller

    4 Feed Axis Operation 4.6.1 Communications Cycle and Transmission Cycle Settings Speed References When Performing Position Control from the Host Controller In systems that use MECHATROLINK-III, generally the SERVOPACK performs position control and speed control. In some cases, however, the host controller performs position control while the SERVOPACK per- forms only speed control.
  • Page 61 4.6 Speed References When Performing Position Control from the Host Controller (1) Transmission Cycle: 1 ms, Communications Cycle: 1 ms Communications cycle: 1 ms 4 ms 通信周期：1[ms] 4[ms] Transmission cycle: 1 ms 伝送周期：1[ms] 処理 Processing (2) Transmission Cycle: 250 μs, Communications Cycle: 1 ms Communications cycle: 1 ms 1.0 ms Transmission cycle: 250 μs...

  • Page 62: Speed Control Command (Velctrl: 3C Hex)

    4 Feed Axis Operation 4.6.2 Speed Control Command (VELCTRL: 3C Hex) 4.6.2 Speed Control Command (VELCTRL: 3C Hex) Use the VELCTRL (3C hex) command to send speed references from the host controller to the SERVOPACK. The speed reference unit that is used by the Speed Control command is set in common parameters 41 (PnA82) and 42 (PnA84).

  • Page 63: Precautions When Performing Position Control From The Host Controller

    4.6 Speed References When Performing Position Control from the Host Controller 4.6.3 Precautions when Performing Position Control from the Host Controller When the host controller is used to perform position control, speed references are sent to the SERVOPACK with the VELCTRL (3C hex) command. When doing so, observe the following precautions. (1) Servo ON Command (SV_ON: 31 Hex) For feed axes, the SV_ON (31 hex) command is sent to recover from an emergency stop or during the startup sequence after the power supply is turned ON.

  • Page 64: Homing

    4 Feed Axis Operation 4.7.1 Homing Method (Absolute Encoder as an Absolute Encoder) Homing Homing is the act of positioning to move an axis to the machine coordinate origin. Generally, homing is performed for all feed axes simultaneously, but in some cases homing may be performed one axis at a time to avoid interference with other axes or the workpiece.
  • Page 65 4.7 Homing (1) Deceleration Dog + Phase-C Pulse The feed axis starts to move at the homing speed in the specified direction. When the rising edge of the deceleration dog signal (DEC signal) is detected, the axis will decelerate to the approach speed.
  • Page 66 4 Feed Axis Operation 4.7.2 Homing Method When Using an Absolute Encoder as an Incremental Encoder The INTERPOLATE (34 hex) command is sent as follows: • SVCMD_CTRL.LT_SEL1 (bit 10, bit 11) = (0,0) (Selects phase C.) • SVCMD_CTRL.LT_REQ1 = 0 (Turns OFF latch request.) Step 7: Execution of homing is completed when positioning is completed.
  • Page 67 4.7 Homing The INTERPOLATE (34 hex) command is sent as follows: • SVCMD_CTRL.LT_SEL1 (bit 10, bit 11) = (0,1) (Selects external input signal 1.) • SVCMD_CTRL.LT_REQ1 (bit 8) = 1 (Requests a phase-C latch.) • SVCMD_CTRL.SMON1 = 3 (Select LPOS1 (set for SMON1, SMON2, or SMON3).) Step 5: Monitoring is performed for SVCMD_STAT.L_CMP1 (bit 8) to change to 1 to detect the completion of the phase-C latch operation while feeding the axis at the approach speed.
  • Page 68 4 Feed Axis Operation 4.7.2 Homing Method When Using an Absolute Encoder as an Incremental Encoder The homing distance is added to the read position to find the origin, then positioning is performed at the creep speed for the remaining distance. The INTERPOLATE (34 hex) command is sent as follows: •...
  • Page 69 4.7 Homing (5) OT & Phase-C Pulse The feed axis starts to move at the approach speed in the specified direction. When the rising edge of the overtravel signal (P-OT or N-OT) is detected, the travel direction is reversed and the axis moves at the creep speed.
  • Page 70 4 Feed Axis Operation 4.7.2 Homing Method When Using an Absolute Encoder as an Incremental Encoder Step 5: After the overtravel signal (P-OT or N-OT) changes (after passing the overtravel signal), a phase-C latch is requested. The latch position (LPOS1) is specified for one of the SMON1 to SMON3 monitors to read the phase-C latch position at the same time.

  • Page 71: Overtravel Function

    4.8 Overtravel Function Overtravel Function Overtravel forces the machine to stop when any moving part of the machine exceeds the safe range of move- ment by forcibly stopping the servomotor with a limit switch signal input. Overtravel is not always required for rotational applications such as a rotary table or magazines, and in those cases the overtravel input signals do not need to be wired.
  • Page 72 4 Feed Axis Operation 4.8.1 Using the SERVOPACK Overtravel Function Perform processing according to the following flowchart to use the overtravel function. START Servo ON Axis movement (operation) Overtravel? (SVCMD_IO.P-OT = 1 or SVCMD_IO.N-OT = 1) Cancel command INTERPOLATE (SVCMD_CTRLCMD_CANCEL command? (bit 1) = 1).
  • Page 73 4.8 Overtravel Function Connector Pin Numbers for SERVOPACK for One Axis P-OT CN1-6 N-OT CN1-7 Connector Pin Numbers for SERVOPACK for Two Axes Axis 1 Axis 2 P-OT CN1-8 CN1-10 N-OT CN1-9 CN1-11 (2) Overtravel Function Selection Parameters Pn50A and Pn50B can be set to enable or disable the overtravel function. If the overtravel function is disabled, no wiring for overtravel input signals is required.
  • Page 74 4 Feed Axis Operation 4.8.1 Using the SERVOPACK Overtravel Function Status after Motor Parameter Motor Stop Method When Enabled Classification Stops Coasting Pn001 Coasting After restart Setup Zero clamp Deceleration Coasting Note 1. The motor cannot decelerate to a stop during torque control. The servomotor stops by dynamic braking or coast- ing to a stop, depending on the setting of Pn001.0, and then enters the coasting state.

  • Page 75: Implementing The Overtravel Function On The Host Controller

    4.8 Overtravel Function 4.8.2 Implementing the Overtravel Function on the Host Controller For linear drive applications, connect the limit switches to the I/O inputs on the host controller as shown in the following figure to prevent damage to the machine. Use an NC contact to prevent accidents in case there are any problems with the limit switch contacts or wiring.
  • Page 76 4 Feed Axis Operation 4.8.2 Implementing the Overtravel Function on the Host Controller (2) Handling Overtravel When overtravel occurs, create a reference position for the INTERPOLATE (34 hex) command to decelerate the axis to a stop from the host controller. Set the deceleration rate so that the maximum torque of the servo- motor is not exceeded.

  • Page 77: Software Limits

    4.9 Software Limits Software Limits Software limits are used to set upper and lower limits for the range of machine movement so that the host con- troller can constantly monitor the operating range of the machine. Software limits can be used to help prevent machine runaway or damage due to incorrect operation or errors in a motion program.
  • Page 78 4 Feed Axis Operation (2) Stopping an Axis When a Software Limit Is Exceeded If the position reference value exceeds the upper or lower software limit, decelerate the axis to a stop immedi- ately. Make sure that the deceleration rate when this occurs can be set by the host controller in advance. (3) Clearing the Software Limit Status To clear the software limit status of an axis, you must move the axis back in the opposite direction from which the software limit was exceeded.

  • Page 79: Controlling Vertical Axes

    4.10 Controlling Vertical Axes 4.10 Controlling Vertical Axes When the power supply to a servo for a vertical axis (including inclined axes) is turned OFF, gravity will cause any moving parts (such as the table or workpiece) to move. Refer to the following figure. Vertical Axes Axis with External Force Servomotor...

  • Page 80: Motor Stop Methods When The Servo Is Off Or An Alarm Occurs

    4 Feed Axis Operation 4.11.1 Motor Stop Methods When the Servo Is Turned OFF 4.11 Motor Stop Methods When the Servo is OFF or an Alarm Occurs Feed axes are stopped from the SERVOPACK when the SV_OFF (32 hex) command is sent during feed axis motion or when an alarm occurs in the SERVOPACK (including power outages).
  • Page 81 Spindle Axis Operation This chapter describes the operation of a spindle axis. 5.1 Speed Control Operation ........5-2 5.2 Spindle Axis Orientation .

  • Page 82: Chapter 5 Spindle Axis Operation

    5 Spindle Axis Operation Speed Control Operation Depending on the type of machine used, the speed unit for feed axis speed references can be mm/rev or mm/ min. You can execute the Speed Control Command (VELCTRL: 3C hex) to select the Speed Control Mode. Note: When the power to a SERVOPACK is turned ON, the SERVOPACK is in Position Control Mode.
  • Page 83 5.1 Speed Control Operation 2 or 3 Command Usable Phase Meaning Description Field Within the communi- Processing Time cations cycle Ox3C VELCTRL Byte CMD_CTRL Command Response 3C hex 3C hex SVCMD_CTRL RWDT SVCMD_IO CMD_CTRL CMD_STAT The torque unit is set in common Torque Feedfor- parameters 47 and 48.
  • Page 84 5 Spindle Axis Operation Motor speed 2000 min ACCR DECR Time M-III VELCTRL VELCTRL SMON SV_ON SV_OFF SMON command (VREF = 21560 hex) (VREF = 0 hex) G-code M03 S2000 program Observe the following precautions for the operating speed of spindle axes in speed control. •...

  • Page 85: Spindle Axis Orientation

    5.2 Spindle Axis Orientation Spindle Axis Orientation Spindle axis orientation is positioning the spindle axis to a specified position. Positioning is performed to a specified position while the spindle axis is stopped or rotating. Send a reference from the host controller to shorten the time that is required until the axis stops (i.e., the orientation time). 5.2.1 Implementing Orientation There are four ways to implement orientation.

  • Page 86: Performing Orientation By Changing From Speed Control To Position Control

    5 Spindle Axis Operation 5.2.2 Performing Orientation by Changing from Speed Control to Position Control 5.2.2 Performing Orientation by Changing from Speed Control to Position Control When orientation is started, the orientation operation depends on whether the spindle axis is in rotation (high- speed rotation or low-speed rotation) or if the spindle axis is stopped.
  • Page 87 5.2 Spindle Axis Orientation Step 1: The spindle axis is in high-speed rotation for speed control. Command = VELCTRL (3C hex) VREF = 85555 hex (8,000 min TFF = 0 hex ACCR/DECR = FFFFFFFF hex Distribution of the speed reference has been completed when RCMD = VELCTRL (= 1C hex) and CMD_STAT.CMDRDY is 1.
  • Page 88 5 Spindle Axis Operation 5.2.2 Performing Orientation by Changing from Speed Control to Position Control (2) Orientation Operation from a Stopped State or Low-speed Rotation Change from speed control to position control (e.g., S1500) Low-speed rotation (e.g., S1000) Request for latch Motor phase C (phase Z) Latch...
  • Page 89 5.2 Spindle Axis Orientation Step 4: After execution of the latch has been completed, the latch position (LPOS1) is immediately read from the host controller and the latch request is cancelled. Command = VELCTRL (3C hex) VREF = 19000 hex (1,500 min TFF = 0 hex ACCR/DECR = FFFFFFFF hex SVCMD_CTRL.LT_SEL1 = 0...

  • Page 90: Orientation Using The Quick_Ort Command

    5 Spindle Axis Operation 5.2.3 Orientation Using the QUICK_ORT Command 5.2.3 Orientation Using the QUICK_ORT Command The Σ-V-SD Drive supports quick orientation. (1) QUICK_ORT Command Format Vendor-specified Non-synchronized Usable Phase 2 or 3 Command Type command command Within the Subcommand Processing Time communications Possible...
  • Page 91 5.2 Spindle Axis Orientation (2) QUICK_ORT Command Operation Positioning Control Absolute Speed Basic Operation Latching Mode The axis is decelerated to the target speed (TSPD) with speed control using stepwise deceleration references. Moment of inertia identifica- Current speed ≥ tion is performed during deceleration, and then a latch is requested Speed after the target speed is reached.
  • Page 92 5 Spindle Axis Operation 5.2.3 Orientation Using the QUICK_ORT Command • Executing the QUICK_ORT Command from a Speed Slower Than the Target Speed • Moment of inertia identification • Acceleration to the target speed is completed. • Latch request • Acceleration is started to the •...
  • Page 93 5.2 Spindle Axis Orientation The maximum torque, high-speed winding maximum torque, and low-speed winding maximum torque can be found in the characteristics table for each motor. However, if the torque limit or maximum torque output is less than the maximum torque, it will be clamped at the torque limit.
  • Page 94 5 Spindle Axis Operation 5.2.3 Orientation Using the QUICK_ORT Command (5) QUICK Orientation Example The QUICK orientation command is executed as follows: In this example, orientation is performed for the spindle axis from 12,000 min revolutions to the target revo- lutions of 1,000 min CMD: QUICK_ORT = 0CA hex SVCMD_CTRL.

  • Page 95: Versatile Spindle Axis System Orientation

    5.2 Spindle Axis Orientation 5.2.4 Versatile Spindle Axis System Orientation Orientation must be flexible enough to handle the following items in order to build a versatile system that can be applied to a variety of uses. • Motor pulse generator •...

  • Page 96: Tapping Operation

    5 Spindle Axis Operation 5.3.1 Tapping Position Management Tapping Operation This section describes how to implement tapping operation from the host controller. Tapping with a Σ-V-SD driver is performed through interpolation control between the spindle and feed axes. The host controller performs linear acceleration/deceleration interpolation calculations between the spindle and feed axes each communications cycle.

  • Page 97: Spindle Axis Servo Drive-Based Position Loop Tapping

    5.3 Tapping Operation 5.3.2 Spindle Axis Servo Drive-based Position Loop Tapping To switch to a position loop and perform tapping, Servo Mode must be set to provide a constant excitation cur- rent to maintain the speed linearity. Set SVCMD_IO.SV_MOD to 1 in the VELCTRL or INTERPOLATE command. When SV_MOD is set, 200 to 300 ms of delay is required to establish 100% of the required excitation current.

  • Page 98: Relationship Between The Spindle Axis Base Speed And Magnetic Flux Density In Servo Mode

    5 Spindle Axis Operation 5.3.3 Relationship between the Spindle Axis Base Speed and Magnetic Flux Density in Servo Mode 5.3.3 Relationship between the Spindle Axis Base Speed and Magnetic Flux Density in Servo Mode Constant torque output is required for a spindle axis in Servo Mode, but the output must be within the base speed, where the required torque can be maintained.
  • Page 99 5.3 Tapping Operation (2) Tapping Interpolation Control For tapping, linear acceleration/deceleration interpolation with a constant acceleration rate is performed for the spindle and feed axes. (The spindle axis revolutions, pitch, tap length, and acceleration rate are specified as parameters.) The tap acceleration rate is set as a host controller parameter, and tapping acceleration/deceleration interpola- tion is performed using the feed axis acceleration rate or the spindle axis orientation acceleration rate, which- ever is the lowest.

  • Page 100: Tapping Control With A Continuous Jerk Function

    5 Spindle Axis Operation 5.3.4 Tapping Control with a Continuous Jerk Function 5.3.4 Tapping Control with a Continuous Jerk Function High-speed, highly accurate tapping can be performed by specifying a continuous speed, acceleration rate, and jerk. First, generate a quintic speed equation for continuous jerk. The conditions for the quintic speed equation are as follows: •...

  • Page 101: How To Eliminate Synchronization Error Between Spindle And Feed Axes

    5.3 Tapping Operation 5.3.5 How to Eliminate Synchronization Error between Spindle and Feed Axes Tapping is performed with linear interpolation, but even if the loop gain is set correctly, linearity can still be lost when tapping begins or due to some other disturbance. Therefore, corrections can be made to eliminate synchronization error.

  • Page 102: Tapping Applications

    5 Spindle Axis Operation 5.3.6 Tapping Applications 5.3.6 Tapping Applications (1) Feed Hold Tap Return If feed hold resistance is encountered during tapping, the tap may break off if the axis continues on without stopping. To prevent this, decelerate the axis to a stop and return the axis in the opposite direction. For the reversal, use interpolation to maintain the shape of the tap and stop the axis after execution of the return operation has been completed.

  • Page 103: Spindle Axis Gain Selection

    5.4 Spindle Axis Gain Selection Spindle Axis Gain Selection You can select the gain for a spindle axis based on the C axis, tap, orientation, speed reference, or other requirements. Use SVCMD_IO.G-SEL to select the gain. You can specify any of the following four gain banks for axes such as spindle axes or rotating tool spindle axes.

  • Page 104: Changing The Gain Selection Parameter

    5 Spindle Axis Operation 5.5.1 How to Handle More than Four Sets of Gain Settings Changing the Gain Selection Parameter Spindle axes have three gear levels: high-speed, low-speed, and medium-speed, and sometimes they have spe- cial replaceable attachments. The appropriate gain must be selected to withstand the load for spindle axis gear conversion or when replacing attachments for a gear.

  • Page 105: Sequence For Gain Selection In Speed Control Mode

    5.5 Changing the Gain Selection Parameter 5.5.3 Sequence for Gain Selection in Speed Control Mode A sequence example for gain selection in Speed Control Mode is provided below. Step 1: CMD = VELCTRL (3C hex) SVCMD_IO.G-SEL = 1: Selects Gain 0, Gain 1, Gain 2, or Gain 3. SVCMD_IO.SVMOD = 0: Spindle axis mode VREF: Reference speed ACCR: Acceleration rate...

  • Page 106: Winding Selection

    5 Spindle Axis Operation 5.6.1 Characteristics of a Winding Selection Wide-range Constant-output Servo Drive for a Spindle Axis Winding Selection This section describes the methods that are used to perform winding selection from the SERVOPACK. 5.6.1 Characteristics of a Winding Selection Wide-range Constant-output Servo Drive for a Spindle Axis Winding selection for an AC spindle motor is an effective way to extend the constant-output control range of the servo driver that drives the spindle axis.

  • Page 107: Winding Selection Motor Standard Connections Diagram

    5.6 Winding Selection 5.6.2 Winding Selection Motor Standard Connections Diagram As shown in the following diagram, this system requires winding selection signals in addition to speed refer- ence signals such as the FWD and REV signals. A special magnetic contactor that can be driven directly from the SERVOPACK with transfer contacts is also used to switch the winding.

  • Page 108: Application Function Select Switch 1E

    5 Spindle Axis Operation 5.6.4 Application Function Select Switch 1E 5.6.4 Application Function Select Switch 1E Use the following parameters to select the motor type, use, and winding selection. Setting Factory Parameter No. Description Range Setting SPM motor for servo SPM motor for spindle axis Motor Type Setting and Induction motor for servo...

  • Page 109: Control By Monitoring The Switching Speed Through The Servopack's Speed Feedback

    5.6 Winding Selection The high-speed winding request (SVCMD_IO.WND_CHG = 0) and high-speed winding gain selection (SVCMD_IO.G-SEL) are specified simultaneously. The SERVOPACK performs the winding selection sequence, and then returns SVCMD_IO.WND_MOD = 0 after execution of the winding selection operation has been completed. ∗...

  • Page 110: Control By Monitoring The Switching Speed Through Speed References And The Servopack's Speed Feedback

    5 Spindle Axis Operation 5.6.8 Control by Monitoring the Switching Speed through Speed References and the SERVOPACK’s Speed Feedback The high-speed winding request (SVCMD_IO.WND_CHG = 0) and high-speed winding gain selection (SVCMD_IO.G-SEL) are executed simultaneously. The SERVOPACK performs the winding selection sequence, and then returns SVCMD_IO.WND_MOD = 0 to show the high-speed winding status after execution of the winding selection operation has been completed.

  • Page 111: Winding Selection Reference

    5.6 Winding Selection Speed Reference Speed Reference Speed Speed Reference > Switching Speed Speed Reference < Switching Speed - ΔS - ΔS Speed > Switching Speed - ΔS High-speed winding selected. No winding selected. Speed < Switching Speed - ΔS No winding selected.

  • Page 112: Winding Selection Reference

    5 Spindle Axis Operation 5.6.9 Winding Selection Reference 5.6.9 Winding Selection Reference Winding selection references are sent from the host with the MECHATROLINK-III SVCMD_IO.WND_CHG servo command. Monitor the actual feedback speed to see if it is within the range that is allowed for winding selection and exe- cute SVCMD_IO.WND_CHG (bit 31, HIGH = 0, LOW = 1).

  • Page 113: Related Alarms

    5.6 Winding Selection 5.6.13 Related Alarms The following table lists all relevant alarms. Alarm Stop Name Description Reset Number Method The Motor Type (Pn01E.0) does not match the A.052 Motor Type Setting Mismatch Pn001.0 Required motor parameter (PnF40.0). Winding Selection Setting Mis- The Winding Selection (Pn01E.1) does not A.053 Pn001.0...
  • Page 114 Additional Functions This chapter describes additional functions of Σ-V-SD servo drivers. 6.1 C-S Axis Control ..........6-2 6.1.1 Infinite-length Encoders .

  • Page 115: Chapter 6 Additional Functions

    6 Additional Functions 6.1.1 Infinite-length Encoders C-S Axis Control C axis control is required for some lathing. There are two types of C axes: simple C axes and high-precision C axes. Simple C axes have a reference unit of 0.001 degrees, while high-precision C axes require even higher preci- sion.

  • Page 116: Related Parameters

    6.1 C-S Axis Control (2) Using an Infinite-length Encoder in Speed Control SERVOPACK MECHATROLINK motion command Speed Motor Machine loop Pn22A Speed feedback Speed MECHATROLINK conversion External monitoring data Unit conversion encoder Electronic gear A.d10 Pn20A Alarm detection Encoder divided Speed conversion pulse output Serial...

  • Page 117: Motor Rotation Direction Setting

    6 Additional Functions 6.1.3 Motor Rotation Direction Setting 6.1.3 Motor Rotation Direction Setting Forward/ Effective Motor Rotation Direction and Encoder Output Parameter Reverse Run Overtravel Pulses Reference (OT) Motor speed Encoder output pulses Torque reference Forward run P-OT reference Time Phase-B advanced Sets...

  • Page 118: External Encoder Sine Wave Pitch (Frequency) Setting

    6.1 C-S Axis Control If Pn002.3 is 1, the encoder pulse output will change to phase B advanced when the motor is rotated in the for- ward direction. If Pn002.3 is 3, the encoder pulse output will change to phase A advanced when the motor is rotated in the for- ward direction.

  • Page 119: Setting The Motor Type, Application Selection (Pn01E.0), And Winding Selection (Pn01E.1)

    6 Additional Functions 6.1.7 Setting the Motor Type, Application Selection (Pn01E.0), and Winding Selection (Pn01E.1) Setting Example Increase this value if the belt slip ratio or twisting is too high. Set this value to 0 to read the external encoder value as is. At the factory setting of 20, the second revolution of the servomotor begins from the point where the deviation in the first servomotor revolution is multiplied by 0.8.

  • Page 120: Setting External Encoder Usage (Pn002.3)

    6.1 C-S Axis Control 6.1.10 Setting External Encoder Usage (Pn002.3) Setting Factory Parameter No. Description Range Setting Not used (factory setting) Use in the standard operating direction. External Encoder Usage Reserved parameter (Do not set.) Pn002.3 Use in the reverse operating direction. Reserved parameter (Do not set.) ∗...

  • Page 121: Controlling A Rotating Tool Spindle Axis

    6 Additional Functions Controlling a Rotating Tool Spindle Axis In some cases, such as for a composite lathe, a rotating tool spindle axis must be controlled in addition to the standard spindle axis. This type of control is possible with a MECHATROLINK-III single-axis control connection and allows the use of both the VELCTRL command and the INTERPOLATE command.

  • Page 122: Synchronization Between Spindle Axes

    6.3 Synchronization between Spindle Axes Synchronization between Spindle Axes Composite lathes sometimes use a master spindle axis and slave spindle axis. In systems that use master and slave axes, the two spindle axes must be synchronized when any of the following operations are performed.

  • Page 123: Superimposed Interpolation

    6 Additional Functions Superimposed Interpolation Composite lathes sometimes add a slave axis to the master axis. In these cases, the system may, for example, use CNC to generate functions for each axis and superimpose those results for operation. Multi-axis superimposed control determines the travel distances in mm/rev in relation to the master axes. Then, the reference values of the axes are calculated and operation is performed according to the travel dis- tances of the master axes.

  • Page 124: Implementing A Tool Presetter With Touch Sensors

    6.5 Implementing a Tool Presetter with Touch Sensors Implementing a Tool Presetter with Touch Sensors A tool presetter is implemented with latching. The operation of the tool presetter is as follows: The latch source is connected to EXT1, EXT2, or EXT3. The latch signal selection and latch request are set, and then manual or step feeding is performed with the INTERPOLATE command.
  • Page 125 Alarm and Warning Processing This chapter describes alarm and warning processing. 7.1 Alarm and Warning Processing ....... . . 7-2 7.1.1 Related Parameters .

  • Page 126: Alarm And Warning Processing

    7 Alarm and Warning Processing 7.1.1 Related Parameters Alarm and Warning Processing When an alarm or warning occurs in a Σ-V-SD servo driver, the axes are stopped immediately and the alarm is displayed. 7.1.1 Related Parameters The method used to stop the motors when an alarm occurs is set in the SERVOPACK parameters. Refer to 4.11 Motor Stop Methods When the Servo is OFF or an Alarm Occurs for details on the methods used to stop the motors for feed and spindle axes.

  • Page 127: Handling Servopack Alarms

    7.2 Handling SERVOPACK Alarms Handling SERVOPACK Alarms If an alarm occurs in the SERVOPACK, use the following procedure to resolve the problem. START Decelerate the axis to Clear alarm (main Clear the alarm (command bit a stop (no alarms). command = ALM_CLR (06 CMD_CTRL.ALM_CLR = 1).
  • Page 128 7 Alarm and Warning Processing The following timing chart example describes when an alarm occurs when an axis is in motion for the INTER- POLATE (34 hex) command. No alarm Alarm occurred. Main command INTERPOLATE SV_OFF Subcommand SMON ALM_RD SMON ALM_RD SMON ALM_RD...

  • Page 129: Handling Servopack Warnings

    7.3 Handling SERVOPACK Warnings Handling SERVOPACK Warnings When a warning occurs in the SERVOPACK, normal SERVOPACK operation can be continued. However, if the warning remains for too long, it will become an alarm and operation will stop. Therefore, when a warning occurs, stop the operation of the machine, reduce the speed, or take other measures necessary to prevent an alarm from occurring.
  • Page 130 7 Alarm and Warning Processing If a warning occurs in the SERVOPACK, use the following procedure to resolve the problem. START Main Command Subcommand Confirm the alarm code confirmation Continue operation (keep (subcommand = Read Alarm: the main command). ALM_RD (05 hex) + ALM_RD_MOD = 0 + ALM_INDEX = 0).
  • Page 131 7.3 Handling SERVOPACK Warnings The following timing chart example describes when a warning occurs when an axis is in motion for the INTERPOLATE (34 hex) command. Warning resolution No alarm Warning occurred CMD_STAT.D_WAR = 1 Main command INTERPOLATE Subcommand SMON ALM_RD SMON ALM_RD...

  • Page 132: Handling Command Alarms And Warnings

    7 Alarm and Warning Processing Handling Command Alarms and Warnings If an alarm or warning occurs for a MECHATROLINK-III command that was sent from the host controller, use the following procedure to resolve the problem. The following flowchart uses main commands for alarm and warning solutions, but subcommands can also be used in the same way.
  • Page 133 7.4 Handling Command Alarms and Warnings The following timing chart example describes when a command alarm or warning occurs when an axis is in motion for the INTERPOLATE (34 hex) command. Resolution of command alarm CMD_STAT.COM_ALM ≥ 8 Alarm occurred. No alarm Main command INTERPOLATE...

  • Page 134: Handling Communications Alarms And Warnings

    7 Alarm and Warning Processing Handling Communications Alarms and Warnings If an error occurs with MECHATROLINK-III communications, use the following procedure to resolve the problem. Σ Refer to 7.1 Communication Related Alarms and 7.2.1 Communication Errors (COMM_ALM) in the -V-SD Series User’s Manual MECHATROLINK-III Standard Servo Profile Commands (Manual No.: SIEP S800000 76) for details on MECHATROLINK-III communications alarms, alarm codes, and how to resolve them.
  • Page 135 7.5 Handling Communications Alarms and Warnings Decelerate the axis to a stop (no alarms). Clear alarm (main Clear the alarm (command bit command = ALM_CLR (06 CMD_CTRL.ALM_CLR = 1). either. hex) + ALM_CLR_MOD = 0) Main command = INTERPO- LATE (34 hex) command? Clearing alarm completed Main command = POSING (CMD_STAT.ALM_CLR_CMP = 1)?
  • Page 136 7 Alarm and Warning Processing The following timing chart example shows when a communications alarm or warning occurs when an axis is in motion for the INTERPOLATE (34 hex) command. No alarm CMD_STAT.COMM_ALM ≥ 8 Alarm occurred. Main command INTERPOLATE SV_OFF SYNC_SET SV_ON...

  • Page 137: Emergency Stop Processing

    7.6 Emergency Stop Processing Emergency Stop Processing If an unexpected error occurs during machine operation, you must press the emergency stop button to stop the machine safely. Emergency stop processing for axes can be performed from either the host controller or from the SERVO- PACK.

  • Page 138: Emergency Stop And Main Circuit Magnetic Contactor Control Settings

    7 Alarm and Warning Processing 7.6.1 Emergency Stop and Main Circuit Magnetic Contactor Control Settings • Power regeneration converter: Software version 0008 or higher • SERVOPACK: Software version 000B or higher If the above versions are not used, the following alarm will occur. Alarm Alarm Stop Alarm Name...
  • Page 139 7.6 Emergency Stop Processing (4) Delay from Emergency Stop Signal to Axis Stop Processing The delay from when the emergency stop signal turns OFF (emergency stop state) until the SERVOPACK starts emergency stop processing (deceleration to a stop and then base block) is set in parameter Pn630. Normally, if the emergency stop button is pressed, the axes decelerate to a stop immediately and therefore the factory setting of 0 for Pn630 is recommended Parameter...

  • Page 140: Using The Host Controller To Perform Emergency Stop Processing And Turn Off The Main Circuit

    7 Alarm and Warning Processing 7.6.2 Using the Host Controller to Perform Emergency Stop Processing and Turn OFF the Main Circuit 7.6.2 Using the Host Controller to Perform Emergency Stop Processing and Turn OFF the Main Circuit Perform the following wiring to use the host controller to perform emergency stop processing and to turn OFF the main circuit.
  • Page 141 7.6 Emergency Stop Processing (3) Processing to Turn OFF the Main Circuit The host controller confirms that all axes have stopped, then turns OFF the main circuit magnetic contactor. • Confirm that all axes are base-blocked (i.e., SVCMD_STAT.SV_ON (bit 13) = 0) and use the host controller to turn OFF the main circuit magnetic contactor (controlled by the 2KM:SVM signal).

  • Page 142: Using The Servopack To Perform Emergency Stop Processing And The Host Controller To Turn Off The Main Circuit

    7 Alarm and Warning Processing 7.6.3 Using the SERVOPACK to Perform Emergency Stop Processing and the Host Controller to Turn OFF the Main Circuit 7.6.3 Using the SERVOPACK to Perform Emergency Stop Processing and the Host Controller to Turn OFF the Main Circuit Perform the following wiring to use the SERVOPACK to perform emergency stop processing.
  • Page 143 7.6 Emergency Stop Processing (3) Processing to Turn OFF the Main Circuit The host controller confirms that all axes have stopped, then turns OFF the main circuit magnetic contactor. • Confirm that all axes are base-blocked (i.e., SVCMD_STAT.SV_ON (bit 13) = 0) and use the host controller to turn OFF the main circuit magnetic contactor (controlled by the 2KM:SVM signal).

  • Page 144: Using The Servopack To Perform Emergency Stop Processing And The Power Regeneration Converter To Turn Off The Main Circuit

    7 Alarm and Warning Processing 7.6.4 Using the SERVOPACK to Perform Emergency Stop Processing and the Power Regeneration Converter to Turn OFF the Main Circuit 7.6.4 Using the SERVOPACK to Perform Emergency Stop Processing and the Power Regeneration Converter to Turn OFF the Main Circuit Perform the following wiring to use the SERVOPACK to perform emergency stop processing.
  • Page 145 7.6 Emergency Stop Processing (2) Emergency Stop Processing When the emergency stop signal turns OFF (emergency stop state), the SERVOPACK performs the following processing. • The axes that are in motion (both spindle and feed axes) decelerate to a stop at the torque that is set in parameter Pn406 (Emergency Stop Torque).

  • Page 146: Using The Host Controller To Perform Emergency Stop Processing And The Power Regeneration Converter To Turn Off The Main Circuit

    7 Alarm and Warning Processing 7.6.5 Using the Host Controller to Perform Emergency Stop Processing and the Power Regeneration Converter to Turn OFF the Main Circuit 7.6.5 Using the Host Controller to Perform Emergency Stop Processing and the Power Regeneration Converter to Turn OFF the Main Circuit Perform the following wiring to use the host controller to perform emergency stop processing and the power regeneration converter to turn OFF the main circuit.
  • Page 147 7.6 Emergency Stop Processing (3) Emergency Stop Processing When the emergency stop signal turns OFF (emergency stop state), perform the following processing. • Use the INTERPOLATE (34 hex) command to change the target position for feed axes in motion so that they decelerate to a stop quickly.

  • Page 148: Using The Hard Wire Base Block Function (Hwbb)

    7 Alarm and Warning Processing Using the Hard Wire Base Block Function (HWBB) The hard wire base block function, or HWBB, is designed to base-block the motor (i.e., turn OFF the motor current) by using hard-wired circuits. This functionality is not supported by Machine Directive 2006/42/EC. To use the hard wire base block function, connect normally closed external contacts (e.g., switches) to the / HWBB1 and /HWBB2 signals of the SERVOPACK’s CN1 connector.
  • Page 149 7.7 Using the Hard Wire Base Block Function (HWBB) Hard Wire Base Block Function While the Servo Is OFF START Servo OFF Stop axis. HWBB OFF SVCMD_IO.ESTP = 1? Send the SMON command. HWBB removed (SVCMD_IO.ESTP = 0 and SVCMD_IO.M_RDY = 1)? Wait for servo ON.
  • Page 150 7 Alarm and Warning Processing (3) Recovering from the Hard Wire Base Block State Use the following procedure to restore operation after a hard wire base block. Check to confirm that SVCMD_IO.ESTP (bit 7) has changed from 1 to 0. Check to confirm that SVCMD_STAT.M_RDY (bit 12) has changed from 0 to 1.
  • Page 151 Servo Drive Management This chapter describes how to manage Σ-V-SD servo drivers from a host controller. 8.1 Embedding Servo Drive Management Functions ....8-2 8.2 SERVOPACK Parameter Uploading/Downloading Functions .

  • Page 152: Chapter 8 Servo Drive Management

    8 Servo Drive Management Embedding Servo Drive Management Functions The following functions are required on the host controller to manage servo drives. • SERVOPACK parameter uploading/downloading functions (required) • Servo drive maintenance information display functions (required) • Absolute encoder reset, multiturn limit setting, and other setting functions (recommended) •...

  • Page 153: Servopack Parameter Uploading/Downloading Functions

    8.2 SERVOPACK Parameter Uploading/Downloading Functions SERVOPACK Parameter Uploading/Downloading Functions These host controller functions upload (read) and download (write) parameters and spindle motor parameters that are set in the SERVOPACK. They enable SERVOPACK parameters to be downloaded from the host controller, which makes setting up the SERVOPACK easy for mass production of the machine.

  • Page 154: Initial Settings For Servopack Parameters And Preparation For Mass Production

    8 Servo Drive Management 8.2.1 Initial Settings for SERVOPACK Parameters and Preparation for Mass Production 8.2.1 Initial Settings for SERVOPACK Parameters and Preparation for Mass Production SERVOPACKs are shipped from the factory with factory settings for the parameters. Therefore, the parame- ters must be set specifically for different types of machines.
  • Page 155 8.2 SERVOPACK Parameter Uploading/Downloading Functions (3) Machine Mass Production Download the SERVOPACK parameters that are saved as a file for each axis from the host controller. This enables you to easily set the SERVOPACK parameters for each axis as a batch. The following flowchart shows the procedure to upload and download SERVOPACK parameters during SER- VOPACK setup.

  • Page 156: Memory Map

    8 Servo Drive Management 8.2.2 Memory Map About SERVOPACK Parameter Files Save the uploaded data in a format that is compatible with the file system of the host controller. We recommend that you use one file per axis. Format the file names as shown in the following examples. Target Device File Name Feed axis...

  • Page 157: Parameter Upload/Download Methods

    8.2 SERVOPACK Parameter Uploading/Downloading Functions 8.2.3 Parameter Upload/Download Methods The following parameter upload/download method is used when the Read Memory (MEM_RD: 1D hex) or Write Memory (MEM_WR: 1E hex) command is used. Σ Σ Refer to 9.2.4 Uploading and Downloading Servo Drive Parameters in the -V-SD AC Servo Drives -V-SD Series User’s Manual MECHATROLINK-III Standard Servo Profile Commands (Manual No.: SIEP S800000...
  • Page 158 8 Servo Drive Management 8.2.3 Parameter Upload/Download Methods Perform the following procedure to use the MEM_RD (1D hex) command to upload parameters. Use the MEM_RD (1D hex) command to specify the following command parameters and read the data size from the address 8001F000 hex. Command = MEM_RD (1D hex) MODE/DATA_TYPE = 13 hex (RAM area, long size: 4 bytes) SIZE = 0001 hex...
  • Page 159 8.2 SERVOPACK Parameter Uploading/Downloading Functions (2) Downloading Parameters To download parameters, use the MEM_WR (1E hex) command. Usable Phase 2, 3 Processing Time – MEM_WR Byte Command Response 1E hex 1E hex RWDT CMD_CTRL CMD_STAT Reserved. Reserved. MODE/ MODE/ DATA_TYPE DATA_TYPE SIZE SIZE...

  • Page 160: Gui Operations On The Host Controller

    8 Servo Drive Management 8.2.4 GUI Operations on the Host Controller Perform the following procedure to use the MEM_WR (1E hex) command to download parameters. Use the MEM_RD (1D hex) command to specify the following command parameters and read the data size from the address 8001F000 hex. Command = MEM_RD (1D hex) MODE/DATA_TYPE = 13 hex (RAM area, long size: 4 bytes) SIZE=0001 hex...

  • Page 161: Servo Drive Maintenance Information Display

    8.3 Servo Drive Maintenance Information Display Servo Drive Maintenance Information Display This function displays information such as the models and software versions of the SERVOPACKs that are connected to the host controller. This function is also required for machine mass production and onsite mainte- nance.

  • Page 162: Reading Maintenance Information (Read Id Command)

    8 Servo Drive Management 8.3.2 Reading Maintenance Information (Read ID Command) 8.3.2 Reading Maintenance Information (Read ID Command) Use the Read ID (ID_RD: 03 hex) command to read the maintenance information. The ID_RD (03 hex) command can be executed only as the main command. If the size of the data to read is 24 bytes or less, set the OFFSET to 0 and the SIZE to the data size to read the data in a single read operation.

  • Page 163: Reading Maintenance Information (Read Memory Command)

    8.3 Servo Drive Maintenance Information Display Example of Reading the SERVOPACK Software Version Use the ID_RD (03 hex) command to specify the following command parameters and read the data. Command = ID_RD (03 hex) ID_CODE=03 hex OFFSET=0 SIZE=0001 hex Execution of the data read operation has been completed when RCMD = ID_RD (03 hex) and CMD_STAT.CMDRDY is 1.
  • Page 164 8 Servo Drive Management 8.3.3 Reading Maintenance Information (Read Memory Command) Usable Phase SERVOPACK Software Version Example 2, 3 MODE/DATA_TYPE=13 hex Processing Time 200 ms or less SIZE=1 MEM_RD Data size: ADDRESS = 0000000C hex Byte Command Response SERVOPACK Model Example 1D hex 1D hex Because the data length is 32 bytes, the read must be...

  • Page 165: Display On The Host Controller

    8.3 Servo Drive Maintenance Information Display Example of Reading the SERVOPACK Model The following procedure is used to read the SERVOPACK model information. Use the MEM_RD (1D hex) command to specify the following command parameters and read the first 20 bytes of the total 32 bytes of data. Command = MEM_RD (1D hex) MODE/DATA_TYPE=13 hex SIZE=5...
  • Page 166 8 Servo Drive Management 8.3.4 Display on the Host Controller Servo Drive Information Details SERVOPACK Software Servo Drive Axis Serial number model version number 0104 CACR-JUM24A2A 000A D0107D332740020 Motor model Encoder version SGMGV-20A8A21 0001 External encoder Model Encoder version ********* **** 8-16...

  • Page 167: Servopack Parameter Management And Editing

    8.4 SERVOPACK Parameter Management and Editing SERVOPACK Parameter Management and Editing Sometimes you may need to change SERVOPACK parameters for servo adjustments, machine operation test- ing during trial operations, or other tasks. For this reason, it is useful to have a way to change SERVOPACK parameters from the host controller GUI. The following items and actions are required to edit SERVOPACK parameters from the host controller.
  • Page 168 Monitoring This chapter describes how to use the various monitoring information available for Σ-V-SD servo drivers. 9.1 SERVOPACK Monitors ........9-2 9.2 Servo Tracing .

  • Page 169: Servopack Monitors

    9 Monitoring SERVOPACK Monitors Σ-V-SD servo drivers can monitor SERVOPACK and motor status through MECHATROLINK-III communi- cations. Monitor information can be used to help determine the cause of alarms, as maintenance information, and in many other useful ways. Monitor information can also be used to draw the path of a motor axis to easily view the results of servo adjustments.
  • Page 170 9.1 SERVOPACK Monitors • Monitor Types Selection Monitor Description Remarks Code Name − APOS Feedback position − CPOS Command position − PERR Position deviation − LPOS1 Latch position 1 − LPOS2 Latch position 2 − FSPD Feedback speed − CSPD Reference speed −...
  • Page 171 9 Monitoring (cont’d) Param- Setting Setting Unit Factory When Classi- Size Name eter No. Range (Resolution) Setting Enabled fication SV_STAT Monitor Description 1st byte: Current communications phase 00 hex: Phase 0 01 hex: Phase 1 02 hex: Phase 2 03 hex: Phase 3 2nd byte: Current control mode 00 hex: Position Control Mode 01 hex: Speed Control Mode...

  • Page 172: Servopack Monitors

    9.1 SERVOPACK Monitors • Optional Monitor Selections Parame Setting Factory When Classifi Size Name Setting Range ter No. Unit Setting Enabled cation − Optional Monitor 1 Selection 0000 to FFFF Motor speed 0000 High speed [1000000 hex/Overspeed detection speed] Speed reference 0001 High speed [1000000 hex/Overspeed detection speed]...
  • Page 173 9 Monitoring (cont’d) Parame Setting Factory When Classifi Size Name Setting Range ter No. Unit Setting Enabled cation − Optional Monitor 2 Selection 0000 to FFFF 0000 Immedi- 0000 Pn825 Setup ately Same as Optional Monitor Selection 1. 0084...
  • Page 174 9.1 SERVOPACK Monitors • Monitor Data Chart Positioning target Internal command Position error position (TPOS) position (IPOS) (PERR) Acceleration/deceleration pattern processing Positioning Reverse Reference Reference position unit position (CPOS) (MPOS) conversion Speed reference Acceleration Unit /deceleration conversion Interpolation filter Position control Reverse Feedback position unit...

  • Page 175: Servo Tracing

    9 Monitoring Servo Tracing Displaying the behavior and operation of the motor on the host controller GUI is helpful to perform trial oper- ation adjustments for the machine and servo adjustments. A servo trace function requires the following capabilities: • Axis selection and waveform acquisition target (trace target) selection •...
  • Page 176 9.2 Servo Tracing • Servo Trace Waveform • Cursor-based Time Measurements...
  • Page 177 9 Monitoring • Waveform Overlay • Trigger Condition Settings 9-10...

  • Page 178: Path Drawing (Circular Arc Paths)

    9.3 Path Drawing (Circular Arc Paths) Path Drawing (Circular Arc Paths) This function draws the circular arc path between two direct-drive axes. It is used to check the circular arc reduction and amount of quadrant projection. The command and motor axis edge positions are drawn using the reference positions (CPOS) and coordinate positions (APOS) of the two axes.

  • Page 179: Tapping Synchronization Accuracy Drawings

    9 Monitoring Tapping Synchronization Accuracy Drawings Tapping operations synchronize the operation of the spindle axis and feed axis (Z axis, etc.) to cut screw holes in workpieces. This requires the confirmation of the synchronization accuracy of the spindle and feed axes. The reference positions (CPOS) and coordinate positions (APOS) of the spindle and feed axes are used to draw the reference and position, position error, and motor speed.

  • Page 180: I/O Monitoring

    9.5 I/O Monitoring I/O Monitoring During machine trial operation and operation confirmation, the bit commands from the host controller, SER- VOPACK status bits, and SERVOPACK input signal status are checked on the host controller GUI. This allows for smooth trial operation confirmation and troubleshooting. The following items are displayed on the host controller for I/O monitoring: •...

  • Page 181: Spindle Axis Load Meter

    9 Monitoring 9.6.1 Load Meter Monitor Selection Spindle Axis Load Meter When a SERVOPACK is used for the spindle axis (i.e., when Pn01E.0 is set to 1 or 5), use a load meter to determine how much of the capacity of the spindle axis is being used. The load meter can be used to set the base spindle motor output with a parameter setting.
  • Page 182 9.6 Spindle Axis Load Meter The following figure shows the relationship between the spindle motor (single-winding spindle motor and winding-selection spindle motor) output characteristics and the load meter base setting. (1) Single-winding Spindle Motor Output [kW] 0: Data is output with the maximum motor output at 120%.

  • Page 183: Load Meter Output Example

    9 Monitoring 9.6.3 Load Meter Output Example 9.6.3 Load Meter Output Example The following example uses the UAKAJ-22C single-winding spindle motor and shows the load meter output calculations. The load meter value for the specified motor output is calculated as follows UAKAJ-22C Output Characteristic When Pn01C.0 is set to 1: Load ratio = (Pm ÷...

  • Page 184: Revision History

    Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover. MANUAL NO. SIEP S800000 87A Published in Japan June 2012 12-6 Date of publication Date of original publication Date of Rev.
  • Page 185 Phone 81-4-2962-5151 Fax 81-4-2962-6138 YASKAWA AMERICA, INC. 2121 Norman Drive South, Waukegan, IL 60085, U.S.A. Phone (800) YASKAWA (800-927-5292) or 1-847-887-7000 Fax 1-847-887-7310 YASKAWA ELETRICO DO BRASIL LTDA. Avenida Fagundes Filho, 620 Sao Paulo-SP CEP 04304-000, Brazil Phone 55-11-3585-1100 Fax 55-11-5581-8795 YASKAWA EUROPE GmbH Hauptstraβe 185, Eschborn 65760, Germany...

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