YASKAWA SVR32 Motion Control System Manuals

Manuals and User Guides for YASKAWA SVR32 Motion Control System. We have 1 YASKAWA SVR32 Motion Control System manual available for free PDF download: User Manual

YASKAWA SVR32 User Manual (623 pages)

MP3000 Series Machine Controller, Motion Control

Brand: YASKAWA | Category: Controller | Size: 9.79 MB

Table of Contents
22
Basic Information on
22
Machine-Specific
24
Making Settings for Motion
26
Stepping Motor Drive Operation
27
Basic Information on Motion Control
29
Types of Programs

30
Types of Motion Control

31
- Position Control
  31
- Phase Control
  32
- Torque Control
  32
- Speed Control
  32
- Basic Information on Motion Control Function Modules
  33
Overview

35
- SVC Function Module
  35
- SVR Function Module
  35
- Conceptual Diagram
  36
- External Appearance and Indicators
  37
Specifications

38
System Configuration Example

44
Topologies

46
- Cascade Connections
  46
- Star Connections
  47
- Mixed Cascade/Star Connections
  48
MECHATROLINK Transmission Cycle and the Number of Connected Slave Stations

49
Synchronization of the MECHATROLINK-III Transmission Cycle and High-Speed Scan Cycle

51
Types of Motion Parameters

55
Motion Parameter Registers

56
Motion Parameter Tables

60
- Fixed Parameter Table
  60
- Setting Parameter Table
  63
- Monitor Parameter Table
  71
Motion Parameter Details

80
- Fixed Parameter Details
  80
- Setting Parameter Details
  89
- Monitor Parameter Details
  121
Automatically Updated Parameters

139
Commands

146
- Motion Commands
  146
- Motion Subcommands
  149
Motion Command Details

150
- POSING (Positioning)
  150
- EX_POSING (External Positioning)
  156
- ZRET (Zero Point Return)
  163
- INTERPOLATE (Interpolation)
  185
- LATCH (Latch)
  189
- FEED (Jog)
  193
- STEP (STEP Operation)
  198
- ZSET (Set Zero Point)
  203
- ACC (Change Acceleration Time)
  205
- DCC (Change Deceleration Time)
  207
- SCC (Change Filter Time Constant)
  209
- CHG_FILTER (Change Filter Type)
  211
- KVS (Change Speed Loop Gain)
  213
- KPS (Change Position Loop Gain)
  215
- KFS (Change Feedforward)
  217
- PRM_RD (Read SERVOPACK Parameter)
  219
- PRM_WR (Write SERVOPACK Parameter)
  221
- ALM_MON (Monitor Alarms)
  223
- ALM_HIST (Monitor Alarm History)
  225
- ALMHIST_CLR (Clear Alarm History)
  227
- ABS_RST (Reset Absolute Encoder)
  229
- VELO (Issue Speed Reference)
  232
- TRQ (Issue Torque/Force Reference)
  237
- PHASE (Issue Phase Reference)
  242
- KIS (Change Position Loop Integral Time Constant)
  246
- PPRM_WR (Write Non-Volatile Parameter)
  248
- EX_FEED (Jog with External Positioning)
  250
- MEM_RD (Read Memory)
  256
- MEM_WR (Write Memory)
  258
- PMEM_RD (Read Non-Volatile Memory)
  260
- PMEM_WR (Write Non-Volatile Memory)
  262
- MLTTRN_SET (Multiturn Limit Setting)
  264
Motion Subcommand Details

267
- NOP (no Command)
  267
- PRM_RD (Read SERVOPACK Parameter)
  268
- PRM_WR (Write SERVOPACK Parameter)
  270
- INF_RD (Read Device Information)
  272
- SMON (Monitor Status)
  274
- FIXPRM_RD (Read Fixed Parameter)
  276
- FIXPRM_CHG (Change Fixed Parameter)
  278
Changing the Command

280
- Motion Command and Subcommand Execution Judgment Table
  280
- Operation after Changing the Motion Command
  285
Motion Language Instructions

331
- Machine-Specific Motion Control
  342
Motion Parameters

344
- Reference Unit
  344
- Electronic Gear
  344
- 5.1.2 Electronic Gear
  345
- Axis Selection
  346
- Position References
  347
- Speed References
  350
- Acceleration/Deceleration Settings
  352
- Acceleration/Deceleration Filter Settings
  355
- Linear Scale Pitch and Rated Speed
  356
Absolute Encoders

358
Multiturn Limit

388
- Check Items before Setup
  388
- Setting Procedure
  388
- Programming Example
  390
- Related Parameters
  392
- Multiturn Limit Setting Disagreement Detection Timing
  392
- Checking for a Multiturn Limit Setting Disagreement
  392
- Clearing the Warning
  393
Absolute Encoders with 24-Bit Resolution

394
Controlling Vertical Axes

400
- SERVOPACK Holding Brake
  400
- Connecting to a Σ-V or Σ-7 Servo Drive
  401
Overtravel

403
- Overtravel Input Signal Connections
  403
- Parameter Settings
  404
Software Limits

406
Modal Latching

409
- Latch Request
  409
- Canceling a Latch Request
  409
- Latch Signals
  409
- Related Parameters
  409
- 6.4.4 Related Parameters
  410
Waiting for Slave Detection with the SVC Function Module

411
- Overview
  411
- Applicable Versions
  411
- Operating Procedure
  412
- Timing to Complete Slave Detection
  413
- Indicators When the Power Is Turned on
  414
- Precautions
  414
Slave CPU Synchronization

415
- Overview
  415
- Applicable Versions and Execution Conditions
  416
- Setting Procedure
  417
- I/O Registers
  421
- Execution Flow for Slave CPU Synchronization
  422
- Procedure to Turn on Power
  423
- Confirmation that the Slave CPU Is Synchronized
  423
- Handling Input Errors
  424
- Effect on Application Program
  425
- Operation of Slave MP3000
  426
- 6.6.11 Precautions
  427
Multiturn Limit Setting Disagreement Detection

428
- Applicable Versions
  428
- Related Parameters
  429
- Multiturn Limit Setting Disagreement Detection Timing
  429
- Checking for a Multiturn Limit Setting Disagreement
  429
- Clearing the Warning
  429
- 6.7.5 Clearing the Warning
  430
Precautions When Using Σ-7-Series Servopacks

431
Module Configuration Settings

438
- Settings for Motion Control Function Modules
  438
- Deleting Unused Motion Control Function Modules
  441
MECHATROLINK Communications Settings

443
- Displaying the MECHATROLINK Detail Definition Dialog Box
  443
- MECHATROLINK Detail Definition Dialog Box Details
  444
Setting Motion Parameters

455
- Displaying and Setting Motion Parameters
  455
- Precautions after Making Settings
  458
SERVOPACK Parameter Data Flow

459
- When the Power Supply Is Turned on
  459
- Normal Operation
  460
- When the SERVOPACK Tab Page Is Opened
  460
- When SERVOPACK Parameters Are Saved
  461
- When Saving Data to Flash Memory
  461
One Axis Positioning

463
- Machine Configuration
  463
- Related Parameters
  463
- Sample Programming
  464
Interpolation of Two Axes

467
- Machine Configuration
  467
- Related Parameters
  468
- Sample Programming
  469
Torque Control

471
- Machine Configuration
  471
- Related Parameters
  471
- Sample Programming
  472
Phase Control

473
- Machine Configuration
  473
- Related Parameters
  474
- Sample Programming
  475
Overview

478
Connection Specifications

479
Parameter Support Table

480
- Fixed Parameter Table
  480
- Setting Parameter Table
  483
- Monitor Parameter Table
  492
Link Assignments

501
Common Parameters

502
Connection Specifications

504
Setup Procedure

505
- Check Items before Setup
  505
- 10.2.2 Inverter Settings
  506
- 10.2.3 I/O Options
  514
- 10.2.3 I/O Options
  515
Precautions for Inverter Operation

516
Main Commands and Subcommands

521
Motion Parameter Details

537
- Fixed Parameter List
  537
- 10.5.2 Setting Parameter List
  538
- 10.5.3 Monitor Parameter List
  550
- Inverter Output Data Details
  561
- 10.5.5 Inverter Input Data Details
  562
Alarm and Warning Codes for Inverter

566
- 10.6.1 A1000
  566
- 10.6.2 V1000
  570
- 10.6.2 V1000
  572
- Appendices
  574
- Appendices Provides Supplemental Information Related to Motion Control
  574
Control Block Diagrams

575
- 11.1.1 Control Block Diagram for Position Control
  575
- 11.1.2 Control Block Diagram for Phase Control
  577
- 11.1.3 Control Block Diagram for Torque Control
  579
- 11.1.4 Control Block Diagram for Speed Control
  581
- System Registers
  583
- MECHATROLINK-III I/O Module Settings
  586
  - Link Assignment Tab
    586
  - 11.3.2 I/O Register Configuration
    587
  - I/O Commands
    588
  - 11.3.4 I/O Command Details
    589
  - 11.3.5 Command Control
    605
  - 11.3.6 Master Status
    605
  - Command Status
    606
  - CPU STOP Operation
    608
- Setting Fixed Parameters According to Encoder Type and Axis Type
  609
- Common Parameters and SERVOPACK Parameters
  611
- Terminology
  613
Index

622
Revision History

622

YASKAWA Categories

Controller DC Drives Servo Drives Robotics Inverter

More YASKAWA Manuals

YASKAWA SVR32 Motion Control System Manuals

YASKAWA SVR32 User Manual (623 pages)

Table of Contents

Types of Programs

Types of Motion Control

Overview

Specifications

System Configuration Example

Topologies

MECHATROLINK Transmission Cycle and the Number of Connected Slave Stations

Synchronization of the MECHATROLINK-III Transmission Cycle and High-Speed Scan Cycle

Types of Motion Parameters

Motion Parameter Registers

Motion Parameter Tables

Motion Parameter Details

Automatically Updated Parameters

Commands

Motion Command Details

Motion Subcommand Details

Changing the Command

Motion Language Instructions

Motion Parameters

Absolute Encoders

Multiturn Limit

Absolute Encoders with 24-Bit Resolution

Controlling Vertical Axes

Overtravel

Software Limits

Modal Latching

Waiting for Slave Detection with the SVC Function Module

Slave CPU Synchronization

Multiturn Limit Setting Disagreement Detection

Precautions When Using Σ-7-Series Servopacks

Module Configuration Settings

MECHATROLINK Communications Settings

Setting Motion Parameters

SERVOPACK Parameter Data Flow

One Axis Positioning

Interpolation of Two Axes

Torque Control

Phase Control

Overview

Connection Specifications

Parameter Support Table

Link Assignments

Common Parameters

Connection Specifications

Setup Procedure

Precautions for Inverter Operation

Main Commands and Subcommands

Motion Parameter Details

Alarm and Warning Codes for Inverter

Control Block Diagrams

Index

Revision History

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