Position Control Units OPERATION MANUAL SYSMAC CJ1W-NC271/NC471/NCF71/NCF71-MA

Cat. No. W426-E1-11

SYSMAC

CJ1W-NC271/NC471/NCF71/NCF71-MA

CS1W-NC271/NC471/NCF71

Position Control Units

OPERATION MANUAL



OMRON, 2004

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of OMRON.

No patent liability is assumed with respect to the use of the information contained herein. Moreover, because

OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

Trademarks

• Windows are either registered trademarks or trademarks of Microsoft Corporation in the USA and other countries.

• MECHATROLINK is a registered trademark of the MECHATROLINK Members Association.

Other company names and product names in this document are the trademarks or registered trademarks of their respective companies.

CJ1W-NC271/NC471/NCF71/NCF71-MA

CS1W-NC271/NC471/NCF71

Position Control Units

Operation Manual

Revised October 2014

iv

Notice:

OMRON products are manufactured for use according to proper procedures by a qualified operator and only for the purposes described in this manual.

The following conventions are used to indicate and classify precautions in this manual. Always heed the information provided with them. Failure to heed precautions can result in injury to people or damage to property.

!DANGER

Indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury. Additionally, there may be severe property damage.

!WARNING

Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury. Additionally, there may be severe property damage.

!Caution

Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate injury, or property damage.

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.

The abbreviation “Ch,” which appears in some displays and on some OMRON products, often means

“word” and is abbreviated “Wd” in documentation in this sense.

The abbreviation “PLC” means Programmable Controller. “PC” is used, however, in some Programming Device displays to mean Programmable Controller.

Visual Aids

The following headings appear in the left column of the manual to help you locate different types of information.

Note

Indicates information of particular interest for efficient and convenient operation of the product.

1,2,3...

1.

Indicates lists of one sort or another, such as procedures, checklists, etc.

v

vi

TABLE OF CONTENTS

PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

xxi

1 Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

xxii

4

5

2

3

6

General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Operating Environment Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Application Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

xxii xxii

xxiii

xxiv

xxvi

SECTION 1

Features and System Configuration . . . . . . . . . . . . . . . . . . .

1

1-1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2

1-2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-3 Basic Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-4 List of Functions and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-5 List of Functions by Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-6 Comparison with Existing Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6

8

3

4

9

SECTION 2

Basic Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11

2-1 Basic Flow of Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12

2-2 Starting Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

16

SECTION 3

Installation and Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

31

3-1 Nomenclature and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

32

3-2 Installing the Position Control Unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-3 External I/O Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-4 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

35

39

56

SECTION 4

Data Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

75

4-1 Overall Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-2 Data Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

76

79

4-3 Common Parameter Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-4 Axis Parameter Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5 Servo Parameter Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-6 Common Operating Memory Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-7 Axis Operating Output Memory Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-8 Axis Operating Input Memory Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

96

101

104

179

185

194

vii

viii


SECTION 5

Transferring and Saving Data . . . . . . . . . . . . . . . . . . . . . . . . 217

5-1 Transferring Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

218

5-2 Transferring PCU Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-3 Transferring Servo Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

220

226

SECTION 6

MECHATROLINK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237

6-1 MECHATROLINK Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

238

6-2 MECHATROLINK Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-3 MECHATROLINK Communications Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-4 Standard Settings for Servo Drives Using MECHATROLINK. . . . . . . . . . . . . . . . . . . . . . .

239

248

263

SECTION 7

Position Control Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . 271

7-1 PCU Control System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

272

7-2 Control Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-3 Coordinate System and Present Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-4 Acceleration and Deceleration Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-5 Limit Input Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

273

276

277

286

SECTION 8

Defining the Origin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291

8-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

292

8-2 Origin Search Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-3 Present Position Preset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-4 Origin Return . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-5 Phase Z Margin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-6 Absolute Encoder Origin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

293

317

319

324

326

SECTION 9

Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339

9-1 Direct Operation Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

340

9-2 Direct Operation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-3 PCU Data Settings for Direct Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-4 Using Direct Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-5 Interrupt Feeding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-6 Torque Limit Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-7 Linear Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

341

341

345

353

356

357


SECTION 10

Other Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 371

10-1 Servo Lock/Unlock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

372

10-2 Jogging. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-3 Override . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-4 Torque Limits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-5 Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-6 Torque Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-7 Backlash Compensation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-8 Software Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-9 Stop Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-10 DEVIATION COUNTER RESET. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

373

378

379

387

400

407

410

414

420

SECTION 11

Sample Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 423

11-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11-2 Basic Program Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

424

425

11-3 Application Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

450

SECTION 12

Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 481

12-1 Overview of PCU Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

482

12-2 Troubleshooting Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12-3 LED Error Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12-4 Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12-5 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12-6 Error Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12-7 CPU Unit Error Display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

486

487

490

503

508

510

SECTION 13

Maintenance and Inspection . . . . . . . . . . . . . . . . . . . . . . . . . 511

13-1 Inspection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

512

13-2 Inspection Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13-3 Handling Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13-4 Procedure for Replacing a PCU. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

512

513

513

ix

x


Appendices

A Performance Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B List of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C Operation Area I/O Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D List of Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

E Changing to CS1W/CJ1W-NC271/471/F71 from CS1W/

CJ1W-NC113/133/213/233/413/433 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

F Additional Functions for the CJ1W-NCF71-MA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

623

645

Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 649

Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 659

517

521

599

611

About this Manual:

This manual describes the installation and operation of the CJ1W-NC271/NC471/NCF71/NCF71-MA and CS1W-NC271/NC471/NCF71 Position Control Units and includes the sections described below.

Please read this manual carefully and be sure you understand the information provided before attempting to install or operate the Position Control Unit. Be sure to read the precautions provided in the following section.

Precautions

provide general precautions for using the Position Control Unit, Programmable Controller, and related devices.

Section 1

introduces the features of the Position Control Unit, explains the system configuration in which it is used, and also provides information on basic operations, functions and specifications.

Section 2

provides an overview of the procedures required to use the Position Control Unit.

Section 3

provides information on nomenclature and functions, and describes the procedures required for wiring and installation. Information on the MECHATROLINK-II I/F Unit is also provided.

Section 4

provides an overview of the parameter and data settings used in Position Control Unit operation and provides information on memory allocations.

Section 5

explains how to transfer and save parameters and data using the data transfer bits.

Section 6

provides an overview of MECHATROLINK communications, and includes information on settings and procedures required to use MECHATROLINK with the Position Control Unit.

Section 7

provides an overview of the control system used by the Position Control Unit, including information on the control units, coordinate system, acceleration/deceleration operations, and limit input operations.

Section 8

provides information on the various operations used to determine the origin, including origin searches, origin returns, presetting the present position, calculating phase Z margins, and using the absolute encoder.

Section 9

provides an overview of direct operation and describes the parameter settings, data settings, and procedures required to perform direct operation. Information on interrupt feeding and torque limits is also provided here.

Section 10

describes the servo lock/unlock, jogging, override, torque limits, speed control, torque control, backlash compensation, software limits, and stop functions.

Section 11

provides basic program examples and application examples for using the Position Control

Unit.

Section 12

provides information on troubleshooting errors that may occur, including details on the meaning of indicator displays and error codes, and the procedures required to reset errors in the Unit or axes.

Section 13

describes methods for inspecting and maintaining the Position Control Unit and the procedure required to replace a Position Control Unit.

The

Appendices

provide information on the performance characteristics, lists of parameters, I/O allocations in the operation areas, lists of error codes, alarm/warning displays, and information required when changing to the CJ1W-NC271/NC471/NCF71/NCF71-MA or CS1W-NC271/NC471/NCF71 from a CJ1W/CS1W-NC113/133/213/233/413/433 Position Control Unit.

!WARNING

Failure to read and understand the information provided in this manual may result in personal injury or death, damage to the product, or product failure. Please read each section in its entirety and be sure you understand the information provided in the section and related sections before attempting any of the procedures or operations given.

xi

Unit Versions of Position Control Units

Unit Versions

Notation of Unit Versions on Products

CJ1W-NCF71

A “unit version” has been introduced to manage Position Control Units according to differences in functionality accompanying Unit upgrades.

The unit version is given to the right of the lot number on the nameplate of the products for which unit versions are being managed, as shown below.

NCF71

MLK

678

9A

BCDEF

345

UNIT

No.

NC UNIT

CJ1W-NCF71

Unit version

Example for unit version 1.0

Lot No. 040401 0000 Ver.1.0

OMRON Corporation MADE IN JAPAN

MLK

Confirming Unit Versions with Support Software

The unit version of Position Control Units starts with unit version 1.0.

CX-Programmer version 4.0 can be used to confirm the unit version using the

Unit Manufacturing Information

.

In the

IO Table

Window, right-click the Position Control Unit and select

Unit

Manufacturing information.

The following

Unit Manufacturing information

Dialog Box will be displayed.

Unit version

Using Unit Version Label

The unit version is displayed as

1.0

in the

Unit Version Number

field of the above example. Use the above display to confirm the unit version of the Unit connected online.

A unit version label is provided with the Position Control Unit. This label can be attached to the front of the Position Control Unit to differentiate between

Position Control Units with different unit versions.

xii

Functions Supported According to Position Control Unit Versions

Model CJ1W-NC

@

71/CS1W-NC

@

71

Unit Ver. 1.0 Unit Ver. 1.1 Unit Ver. 1.2 Unit Ver. 1.3 Unit Ver. 2.0 Unit Ver. 2.1

Linear interpolation ---

Absolute encoder setup function ---

Supported.

---

Supported.

Supported.

Supported.

Supported. Supported. Supported.

Supported.

Supported.

---

---

---

---

---

---

Supported.

Supported.

Supported.

Supported. Supported.

Supported.

Deviation counter reset

Establishing connections even when there are unconnected axes or axes with alarms that cannot be cleared

Transferring servo parameters even when there is an axis error

Creating servo locks during software limit detection when an absolute encoder is used

---

---

---

---

---

---

Supported.

Supported.


Supported.

Supported.

------Supported.

Supported.

Supported.

Driver main circuit OFF error detection only when the servo is locked

Using Holding Area address

H512 and onwards for function block address allocations

Addition of supported models:

SMARTSTEP Junior Servo

Drives (R7D-ZN @ -ML2)

Addition of rejoin function

Eliminating connection restriction when Servo Drive alarms occur (enabling connection when alarm A.C90 occurs)

Addition of origin search operation modes

Addition of origin search preset function

Faster setting for transfer cycle and communications cycle when setting the absolute encoder PG zero point position offset with an origin search

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---


---

---

---

---

---

---

Supported.

Supported.

Supported.

Supported.

Supported.

---

Supported.

Supported.

Supported.

Supported.

Supported.

Supported.

Supported.

xiii

Upgrades Made According to Unit Versions of the Position Control Unit

Unit Version 1.0 to Unit Version 1.1

Functional upgrade

Addition of linear interpolation function

Unit version 1.0

Linear interpolation cannot be used.


Linear interpolation can be performed for positioning operations combining one or more axes.

Linear interpolation can performed for up to four axes each of axes 1 to 4 and axes 5 to 8 for Servo Drive axes connected to the Position Control Unit.

(

Refer to

9-7 Linear Interpolation

.

)



Addition of setup function for absolute encoders


An absolute encoder must be set up the first time it is used, when the rotation data is initialized to 0, or when the absolute encoder is left for a long period of time without the battery connected.

With Position Control Units with unit version 1.1 or earlier, the following operation is used to set up the absolute encoder.

• Special software (personal computer monitoring software) must be connected to the Servo Drive to perform the setup operation.


With Position Control Units with unit version

1.2 or later, the following operation can be used to set up the absolute encoder.

• Special software (personal computer monitoring software) can be connected to the

Servo Drive to perform the setup operation.

• When the Position Control Unit is used with a CPU Unit with unit version 3.0 or later, the absolute encoder can be set up from the program by using a function block from the

OMRON FB Library.

• The absolute encoder can be set up from

the CX-Motion-NCF. (Refer to

8-6-4

Absolute Encoder Setup

.)



Addition of deviation counter reset function


The deviation counter in the Servo Drive cannot be reset from the Position Control

Unit during position control operations.


The deviation counter in the Servo Drive can be reset from the Position Control Unit during position control operations.

To deviation reset function in the Position

Control Unit works by sending a movement command in the opposite direction and of the same size as the current position deviation so that the current command position equals the current feedback position.

(Refer to

10-10 DEVIATION COUNTER

RESET

.)

xiv


Establishing connections when there are unconnected axes or axes with alarms that cannot be cleared


If any of the axes registered in the scan list are not connected, have the control power supply interrupted, or have an alarm that can be reset only by cycling the power supply, an MLK initialization error (Unit error code 0020 (hex) will occur after the connections are established and operations using MECHATROLINK communications will not be possible any axes, including those without errors.

To start MECHATROLINK communications normally, all errors must be cleared for all axes registered in the scan list before connections can be established.


Axis operations using MECHATROLINK communications are possible for any axes registered in the scan list and for which

MECHATROLINK communications have been started (see note) regardless of whether there are Servo Drive alarms.

If there are any axes with alarms, they will be indicated by the Error Flags and error code in the Axis Operating Input Memory Areas.

If there are alarms in the Servo Drive that can be cleared only by recycling the power, they will be detected as Unit errors (MLK initialization errors) for Units with unit version 1.1 or earlier, but they will be detected in the individual axis areas.

Note

If R88D-WN @ -ML2 W-series Servo

Drives (Models with Built-in MECHA-

TROLINK-II Communications) are connected, an encoder communications error (A.C9

@ ) will occur in the Servo

Drive and it will not be possible to start

MECHATROLINK communications for

Units with unit version 1.3 or earlier.

Transferring parameters when there are axis errors

Locking the servo when a software limit is being detected for a Motor with an absolute encoder

Servo parameters cannot be transferred

(i.e., written, read, or saved) for axes with errors. The errors must first be reset to clear the axis error status before Servo parameters can be transferred.

If Servo parameters are written when there is an axis error, be sure to confirm that the parameters were transferred correctly.

If an attempt is made to lock the Servo when an absolute encoder is used, the software limits are enabled, and the present position is within the software limit area, a software limit error will occur and the Servo lock operation will be canceled.

(Refer to

5-3 Transferring Servo Parameters

.)

The Servo can be locked at any position, regardless of the type of encoder and the software limit settings.

(Refer to

10-8-4 Software Limit Operation

.)

To lock the Servo in the above situation, the software limit must first be disabled.

(Refer to

6-3-2 MECHATROLINK Communications Status

.)

Servo parameters can be transferred (i.e., written, read, or saved) for axes with errors. If the axis error already exists, it will not be overwritten even if an error occurs during parameter transfer.

xv


Detecting driver main circuit

OFF errors only when the

Servo is locked

Allocating holding addresses

H512 and higher as function block addresses


Servo Drive main circuit OFF errors are detected regardless of whether the Servo is locked for the axis. Once a Servo Drive main circuit OFF error is detected, it will continue to be detected even if the error is reset until the main circuit power supply is restored.


Servo Drive main circuit OFF errors are detected only when the Servo is locked for the axis.

The Position Control Unit will automatically unlock the Servo when a Servo Drive main circuit OFF error is detected, allowing the error to be cleared even while the main circuit power supply is interrupted.

If an attempt is made to lock the Servo while the main circuit power supply is interrupted, a

Servo Drive main circuit OFF error will be detected again.

The function blocks in the OMRON FB

Library for the Position Control Unit cannot be used if H512 (default setting) or higher are allocated for non-holding areas of function block addresses.

If H512 or higher are allocated, a function block error will occur when the function block is executed.

(Refer to

12-4-2 List of Error Codes

.)

The function blocks in the OMRON FB

Library for the Position Control Unit can be used if H512 (default setting) or higher are allocated for non-holding areas of function block addresses.

The CX-Programmer must be used to change the setting to other unused words

(e.g., in the DM or EM Area).


Functional upgrade Unit version 1.3

Addition of applicable models

Applicable Models

• R88D-WT @ W-series Servo Drives (with

FNY-NS115 MECHATROLINK-II I/F Unit mounted)

• R88D-WN

@

-ML2 W-series Servo Drives

(Models with Built-in MECHATROLINK-II

Communications)


Applicable Models

• R88D-WT @ W-series Servo Drives (with

FNY-NS115 MECHATROLINK-II I/F Unit mounted)

• R88D-WN

@

-ML2 W-series Servo Drives

(Models with Built-in MECHATROLINK-II

Communications)

• R7D-ZN @ -ML2 SMARTSTEP Junior Servo

Drive (Models with Built-in MECHA-

TROLINK-II Communications)

xvi


Addition of rejoin function


MECHATROLINK communications are started and stopped at the same time for all axes registered in the scan list.

Eliminating connection restriction when Servo Drive alarms occur (enabling connection when alarm A.C90 occurs)

Addition of origin search operation modes

If an encoder communications error

(A.C90) occurs for a R88D-WN @ -ML2 Wseries Servo Drive (Model with Built-in

MECHATROLINK-II Communications),

MECHATROLINK communications cannot be started with that Servo Drive.

Three origin search operation pattern are possible by combining the following settings:

• Origin search operations: 3 settings

(Reversal modes 1 and 2, and Singledirection mode)

• Origin detection method: 1 setting

(With origin proximity input signal reversal)


The following functions are supported in addition to starting and stopping MECHA-

TROLINK communications for all axes at the same time.

• Rejoin Function

An axis for which communications have been stopped, e.g., due to a communications error, can be restarted without stopping communications for the other axes.

(Refer to

6-3-4 Rejoining the Connection

.)

• Setting the Axes to Be Connected

Axes registered in the scan list can be set temporarily so that they are not registered.

The axes can be set so that they are temporarily not used without resetting the scan list. Operations can be performed without errors occurring for these axes.

(Refer to

6-3-5 Specifying the Axes to Connect

.)

The Axis Communications Status Flags have also been changed for the above functions.

Refer to the note following this table for details.

MECHATROLINK communications can be started under the conditions given at the left, and operations, such as transferring Servo

Parameters, can be performed.

Eleven origin search operation pattern are possible by combining the following settings:

• Origin search operations: 4 settings

(Reversal modes 1, 2, and 3, and Singledirection mode)

• Origin detection methods: 3 settings (With origin proximity input signal reversal, Without origin proximity input signal reversal,

Not use origin proximity input signal)

Origin detection method

Origin search operation

Reversal

Reversal mode 1 mode 2

Singledirection mode

Reversal mode 3

With origin proximity input signal reversal

(See note.)

Without origin proximity input signal reversal

Not use origin proximity input signal

(See note.)

(See note.)

: Combinations supported by unit version 1.3 or earlier

: Combinations supported by unit version 2.0 or later

Note:

Origin search operation patterns supported by

absolute encoders.

(Refer to

8-2-4 Origin Search Operation

.)

xvii


Addition of origin search preset function


The preset function cannot be used during origin searches.


The preset function can be used during origin searches.

For any of the origin search operations the present position can be automatically set to any specified value at the end of the origin search. When using reversal mode 1 and an absolute encoder, an offset can also be set for the absolute origin.

(Refer to

8-2-6 Origin Search Preset

and

8-6-

2 Absolute Encoder Operating Procedure

.)


Setting conditions

Resetting conditions

Note

Changes in Axis Communications Status Flags

The conditions for setting and resetting the Axis Communications Status

Flags in word n+22 of the Common Operating Memory Area have been changed accompanying the addition of the rejoin function. New conditions are underlined in the following table.

Unit version 1.3 or earlier

• The flags will turn ON when connections are made for the axes registered in the scan list and MECHATROLINK communications start.

Unit version 2.0 or later

• The flags will turn ON when connections are made for the axes registered in the scan list and MECHATROLINK communications start.

• The flag will turn ON when the rejoin function is used to start MECHATROLINK communications for an axis registered in the scan list.

• The flags will remain OFF when MECHA-

TROLINK communications cannot be started when connections are made for the axes registered in the scan list.

• The flags will remain OFF when MECHA-

TROLINK communications cannot be started when connections are made for the axes registered in the scan list.

• The flags will turn OFF if MECHA-

TROLINK communications stop because the axis is disconnected.

• The flags will turn OFF if a Unit error occurs that requires disconnection.

• The flags will turn OFF if MECHATROLINK communications stop because the axis is disconnected.

• The flags will turn OFF if a Unit error occurs that requires disconnection.

• The flags will turn OFF whenever a communications error occurs after MECHA-

TROLINK communications have been started for the axis.

With unit version 1.3 or earlier, once MECHATROLINK communications have been started by establishing connections, the Axis Communications Status Flags will not change unless communications are disconnected (including Unit errors that required disconnection).

With unit version 2.0 or later, the Axis Communications Status Flags will turn OFF after connections have been established whenever axis operation becomes impossible due to a communications error

(synchronous communications alarm or communications alarm).



Faster setting of transfer cycle and communications cycle when setting the absolute encoder PG zero point position offset with an origin search


A longer communications cycle must be set using the settings given in a separate table when the absolute encoder PG zero point position offset is set with an origin search.


The same communications cycle can be set regardless of whether the absolute encoder PG zero point position offset is set with an origin search.

xviii

Terms and Conditions Agreement

Warranty, Limitations of Liability

Warranties

●

Exclusive Warranty

●

Limitations

●

Buyer Remedy

Omron's exclusive warranty is that the Products will be free from defects in materials and workmanship for a period of twelve months from the date of sale by Omron (or such other period expressed in writing by Omron). Omron disclaims all other warranties, express or implied.

OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR

IMPLIED, ABOUT NON-INFRINGEMENT, MERCHANTABILITY OR FIT-

NESS FOR A PARTICULAR PURPOSE OF THE PRODUCTS. BUYER

ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE PROD-

UCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED

USE.

Omron further disclaims all warranties and responsibility of any type for claims or expenses based on infringement by the Products or otherwise of any intellectual property right.

Omron's sole obligation hereunder shall be, at Omron's election, to (i) replace

(in the form originally shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-complying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal to the purchase price of the non-complying Product; provided that in no event shall

Omron be responsible for warranty, repair, indemnity or any other claims or expenses regarding the Products unless Omron's analysis confirms that the

Products were properly handled, stored, installed and maintained and not subject to contamination, abuse, misuse or inappropriate modification. Return of any Products by Buyer must be approved in writing by Omron before shipment. Omron Companies shall not be liable for the suitability or unsuitability or the results from the use of Products in combination with any electrical or electronic components, circuits, system assemblies or any other materials or substances or environments. Any advice, recommendations or information given orally or in writing, are not to be construed as an amendment or addition to the above warranty.

Limitation on

Liability; Etc

See http://www.omron.com/global/ or contact your Omron representative for published information.

OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT,

INCIDENTAL, OR CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR

PRODUCTION OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH

THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN CONTRACT,

WARRANTY, NEGLIGENCE OR STRICT LIABILITY.

Further, in no event shall liability of Omron Companies exceed the individual price of the Product on which liability is asserted.

xix

Application Considerations

Suitability of Use

Programmable

Products

Omron Companies shall not be responsible for conformity with any standards, codes or regulations which apply to the combination of the Product in the

Buyer's application or use of the Product. At Buyer's request, Omron will provide applicable third party certification documents identifying ratings and limitations of use which apply to the Product. This information by itself is not sufficient for a complete determination of the suitability of the Product in combination with the end product, machine, system, or other application or use.

Buyer shall be solely responsible for determining appropriateness of the particular Product with respect to Buyer's application, product or system. Buyer shall take application responsibility in all cases.

NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS

RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM

AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND

THAT THE OMRON PRODUCT(S) IS PROPERLY RATED AND INSTALLED

FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYS-

TEM.

Omron Companies shall not be responsible for the user's programming of a programmable Product, or any consequence thereof.

Disclaimers

Performance Data

Data presented in Omron Company websites, catalogs and other materials is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of Omron's test conditions, and the user must correlate it to actual application requirements. Actual performance is subject to the Omron's Warranty and Limitations of Liability.

Change in

Specifications

Product specifications and accessories may be changed at any time based on improvements and other reasons. It is our practice to change part numbers when published ratings or features are changed, or when significant construction changes are made. However, some specifications of the Product may be changed without any notice. When in doubt, special part numbers may be assigned to fix or establish key specifications for your application. Please consult with your Omron's representative at any time to confirm actual specifications of purchased Product.

Errors and Omissions

Information presented by Omron Companies has been checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.

xx

PRECAUTIONS

This section provides general precautions for using the Position Control Unit and related devices.

The information contained in this section is important for the safe and reliable application of Position Control Units. You must read this section and understand the information contained before attempting to set up or operate a Position Control

Unit.

1

2

3

4

5

6

Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Operating Environment Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Application Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-1 Applicable Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-2

6-3

6-4

Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Installation within Control Panels . . . . . . . . . . . . . . . . . . . . . . . . . .

xxii xxii xxii

xxiii

xxiv

xxvi xxvi xxvi xxvi xxvi

xxi

Intended Audience

1

1

Intended Audience

This manual is intended for the following personnel, who must also have knowledge of electrical systems (an electrical engineer or the equivalent).

• Personnel in charge of installing FA systems.

• Personnel in charge of designing FA systems.

• Personnel in charge of managing FA systems and facilities.

2 General Precautions

The user must operate the product according to the performance specifications described in the operation manuals.

Before using the product under conditions which are not described in the manual or applying the product to nuclear control systems, railroad systems, aviation systems, vehicles, combustion systems, medical equipment, amusement machines, safety equipment, and other systems, machines, and equipment that may have a serious influence on lives and property if used improperly, consult your OMRON representative.

Make sure that the ratings and performance characteristics of the product are sufficient for the systems, machines, and equipment, and be sure to provide the systems, machines, and equipment with double safety mechanisms.

This manual provides information for programming and operating the Unit. Be sure to read this manual before attempting to use the Unit and keep this manual close at hand for reference during operation.

3

!WARNING

It is extremely important that a Position Control Units and related devices be used for the specified purpose and under the specified conditions, especially in applications that can directly or indirectly affect human life. You must consult with your OMRON representative before applying Position Control Units and related devices to the above-mentioned applications.

Safety Precautions

!WARNING

Do not attempt to take any Unit apart while the power is being supplied. Doing so may result in electric shock.

!WARNING

Do not attempt to disassemble, repair, or modify any Units. Any attempt to do so may result in malfunction, fire, or electric shock.

!WARNING

Never touch any of the terminals while power is being supplied. Doing so may result in serious electric shock.

!WARNING

Provide safety measures in external circuits (i.e., not in the Programmable

Controller or Position Control Unit) to ensure safety in the system if an abnormality occurs due to malfunction of the PLC, malfunction of the PCU (Position

Control Unit), or external factors affecting the operation of the PLC or PCU.

Not providing sufficient safety measures may result in serious accidents.

xxii

Operating Environment Precautions

4

• Emergency stop circuits, interlock circuits, limit circuits, and similar safety measures must be provided in external control circuits.

• The PLC will turn OFF all outputs when its self-diagnosis function detects any error or when a severe failure alarm (FALS) instruction is executed.

Unexpected operation, however, may still occur for errors in the I/O control section, errors in I/O memory, and other errors that cannot be detected by the self-diagnosis function. As a countermeasure for all such errors, external safety measures must be provided to ensure safety in the system.

• The PLC or PCU outputs may remain ON or OFF due to deposits on or burning of the output relays, or destruction of the output transistors. As a countermeasure for such problems, external safety measures must be provided to ensure safety in the system.

• When the 24-V DC output (service power supply to the PLC) is overloaded or short-circuited, the voltage may drop and result in the outputs being turned OFF. As a countermeasure for such problems, external safety measures must be provided to ensure safety in the system.

• Provide measures in the computer system and programming to ensure safety in the overall system even if communications errors or malfunctions occur in data link communications or remote I/O communications.

• External safety measures must also be taken to ensure safety in the event of unexpected operation when connecting or disconnecting the

PCU’s connectors.

4

!Caution

Confirm safety before transferring data files stored in the file memory (Memory Card or EM file memory) to the I/O area (CIO) of the CPU Unit using a peripheral tool. Otherwise, the devices connected to the output unit may malfunction regardless of the operation mode of the CPU Unit.

!Caution

Execute online editing only after confirming that no adverse effects will be caused by extending the cycle time. Otherwise, the input signals may not be readable.

!Caution

Confirm safety at the destination node before transferring a program to another node or changing contents of the I/O memory area. Transferring or changing data can result in unexpected system operation.

Operating Environment Precautions

!Caution

Do not operate the control system in the following locations:

• Locations subject to direct sunlight.

• Locations subject to temperatures or humidity outside the range specified in the specifications.

• Locations subject to condensation as the result of severe changes in temperature.

• Locations subject to corrosive or flammable gases.

• Locations subject to dust (especially iron dust) or salts.

• Locations subject to exposure to water, oil, or chemicals.

• Locations subject to shock or vibration.

xxiii

Application Precautions

5

!Caution

Take appropriate and sufficient countermeasures when installing systems in the following locations:

• Locations subject to static electricity or other forms of noise.

• Locations subject to strong electromagnetic fields.

• Locations subject to possible exposure to radioactivity.

• Locations close to power supplies.

5

!Caution

The operating environment of the PLC System can have a large effect on the longevity and reliability of the system. Improper operating environments can lead to malfunction, failure, and other unforeseeable problems with the PLC

System. Make sure that the operating environment is within the specified conditions at installation and remains within the specified conditions during the life of the system.

Application Precautions

Observe the following precautions when using the PLC System.

!WARNING

Always heed these precautions. Failure to abide by the following precautions could lead to serious or possibly fatal injury.

• Always connect to a ground of 100

Ω

or less when installing the Units. Not connecting to a ground of 100

Ω

or less may result in electric shock.

• Always turn OFF the power supply to the PLC before attempting any of the following. Not turning OFF the power supply may result in malfunction or electric shock.

• Mounting or dismounting Power Supply Units, I/O Units, CPU Units, Inner Boards, or any other Units.

• Assembling the Units.

• Setting DIP switches or rotary switches.

• Connecting cables or wiring the system.

• Connecting or disconnecting the connectors.

!Caution

Failure to abide by the following precautions could lead to faulty operation of the PLC, the PCU, or the system, or could damage the PLC or PCU. Always heed these precautions.

• Fail-safe measures must be taken by the customer to ensure safety in the event of incorrect, missing, or abnormal signals caused by broken signal lines, momentary power interruptions, or other causes. Not doing so may cause malfunction resulting in serious injury.

• Interlock circuits, limit circuits, and similar safety measures in external circuits (i.e., not in the Programmable Controller) must be provided by the customer.

• Install external breakers and take other safety measures against short-circuiting in external wiring. Insufficient safety measures against short-circuiting may result in burning.

• For CS-series PLCs, always tighten the mounting screw at the bottom of the PCU to a torque of 0.4 N

⋅ m.

xxiv

Application Precautions

5

• For CJ-series PLCs, lock the sliders securely until they click into place when connecting the Power Supply Unit, CPU Unit, I/O Units, Special I/O

Units, or CPU Bus Units. Functions may not work correctly if the sliders are not locked properly.

• Always attach the End Cover provided with the CPU Unit to the Unit on the right end of the PLC. The CJ-series PLC will not operate properly if the End Cover is not attached.

• Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied in places where the power supply is unstable. An incorrect power supply may result in malfunction.

• Remove the label after the completion of wiring to ensure proper heat dissipation. Leaving the label attached may result in malfunction.

• Disconnect the LG (line ground) terminal and GR (ground) terminal before performing withstand voltage and insulation resistance tests.

• Confirm that set parameters and data operate properly.

• Perform wiring according to specified procedures.

• Double-check all wiring and switch settings before turning ON the power supply. Incorrect wiring may result in burning.

• Check the user program for proper execution before actually running it on the Unit. Not checking the program may result in unexpected operation.

• Confirm that no adverse effect will occur in the system before attempting any of the following. Not doing so may result in an unexpected operation.

• Changing the operating mode of the PLC (including setting the Startup

Mode).

• Force-setting/force-resetting any bit in memory.

• Changing the present value of any word or any set value in memory.

• After replacing Units, resume operation only after transferring to the new

CPU Unit, Special I/O Units, CPU Bus Units, and externally connected devices the contents of the DM Area, Holding Area, and other data required for resuming operation. Not doing so may result in an unexpected operation.

• Do not pull on the cables or bend the cables beyond their natural limit.

Doing either of these may break the cables.

• Do not place objects on top of the cables or other wiring lines. Doing so may break the cables.

• Before touching a Unit, be sure to first touch a grounded metallic object in order to discharge any static build-up. Not doing so may result in malfunction or damage.

• Unexpected operation may result if inappropriate data link tables or parameters are set. Even if appropriate data link tables and parameters have been set, confirm that the controlled system will not be adversely affected before starting or stopping data links.

• Never turn OFF the power to the Unit while transferring data.

xxv

Conformance to EC Directives

6

6-1

6-2

6-3

6-4

6

Conformance to EC Directives

Applicable Directives

• EMC Directives

Concepts

Note

EMC Directives

OMRON devices that comply with EC Directives also conform to the related

EMC standards so that they can be more easily built into other devices or the overall machine. The actual products have been checked for conformity to

EMC standards (see the following note). Whether the products conform to the standards in the system used by the customer, however, must be checked by the customer.

EMC-related performance of the OMRON devices that comply with EC Directives will vary depending on the configuration, wiring, and other conditions of the equipment or control panel on which the OMRON devices are installed.

The customer must, therefore, perform the final check to confirm that devices and the overall machine conform to EMC standards.

Applicable EMC (Electromagnetic Compatibility) standards are as follows:

EMS (Electromagnetic Susceptibility): EN61000-6-2

EMI (Electromagnetic Interference): EN61000-6-4

(Radiated emission: 10-m regulations)

Conformance to EC Directives

The PCUs comply with EC Directives. To ensure that the machine or device in which a PCU is used complies with EC Directives, the PCU must be installed as follows:

1,2,3...

1.

The PCU is defined as a in-panel device and must be installed within a control panel.

2.

Reinforced insulation or double insulation must be used for the DC power supplies used for I/O.

3.

PCUs complying with EC directives also meet the common emission standard (EN61000-6-4). The measures required to ensure that the standard is met will vary with the overall configuration of the control panel, the other devices connected to the control panel, wiring, and other conditions. The customer must therefore confirm that EC directives are met for the overall machine or device, particularly for the radiated emission requirement

(10 m).

Installation within Control Panels

Unnecessary clearance in cable inlet or outlet ports, operation panel mounting holes, or in the control panel door may cause electromagnetic wave leakage or interference. In this case, the product may fail to meet EC Directives. In order to prevent such interference, fill clearances in the control panel with conductive packing. (In places where conductive packing comes in contact with the control panel, ensure electrical conductivity by removing the paint coating or masking these parts when painting.)

xxvi

SECTION 1

Features and System Configuration

This section introduces the features of the Position Control Unit, explains the system configuration in which it is used, and also provides information on basic operations, functions and specifications.

1-1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-3 Basic Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-3-1 Position Control (Direct Operation) . . . . . . . . . . . . . . . . . . . . . . . . .

1-3-2 Speed Control and Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . .

1-3-3 Other Operations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-4 List of Functions and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-4-1 General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-4-2 List of Functions and Specifications. . . . . . . . . . . . . . . . . . . . . . . . .

1-5 List of Functions by Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-6 Comparison with Existing Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2

3

4

4

5

5

6

6

6

8

9

1

Features

1-1 Features

Position Control Unit

CJ1W-NC271/471/F71

NCF71

MLK

9A

BC

DEF

3

456

CS1W-NC271/471/F71

NCF71

RUN

ERC

ERH

ERM

MLK

CS

UNIT

No.

10

98

Section 1-1

MLK

MLK

Compatible with the

MECHATROLINK-II Highspeed Field Network

High-speed, Highprecision Control Using

Data Communications

Position Control (Direct

Operation)

Speed Control and Torque

Control

Compatible with

Servomotors with

Absolute Encoders

Transfer Data between

Host PLC and Servo Drive

The Position Control Unit is a CS/CJ-series CPU Bus Unit. The Position Control Unit (PCU) receives commands from the CPU Unit's internal Auxiliary

Area and outputs positioning commands to MECHATROLINK-II Servo Drives.

MECHATROLINK is a registered trademark of MECHATROLINK Members

Association.

A MECHATROLINK-II high-speed (10 Mbps) communications interface is used to control Servo Drives for up to 16 axes with a single CS/CJ-series Unit.

Shielded twisted-pair cables in daisy-chain formation make wiring simple and enable multi-axis systems that require less wiring and are smaller in size.

Optimal motor performance can be achieved by transmitting data using communications between the Programmable Controller (PLC) and Servo Drives, without having to set an upper limit for the designated speed. High-speed and high-precision position control using high-resolution motors are possible.

Positioning can be performed simply by directly setting the target position and target speed from the CPU Unit. Positioning to either absolute or relative positions is also possible. Interrupt feeding is also supported. With interrupt feeding, positioning is continued for a specified amount after an interrupt input signal is received, and then the axis is stopped.

The Servo Drive's speed and torque can be controlled by directly specifying the target speed and torque from the CPU Unit.

The PCU is compatible with Servomotors that have absolute encoders. Using such Servomotors eliminates the need to repeatedly perform origin searches.

The Servo Drive's parameters and monitors can be set from the CPU Unit. All the data for the multi-axis system can be centrally controlled from the host

PLC. This removes the difficulty in starting up devices or setting data when replacing a Unit.

2

System Configuration

Section 1-2

1-2 System Configuration

The PCU receives commands from the CPU Unit's ladder program and control signal status (forward/reverse rotation limit, origin, origin proximity, and interrupt input signals) from devices connected externally to the Servo Drive, and uses them to control Servo Drive positioning.

System Configuration Example

Power Supply Unit

CJ-series

CPU Unit

CJ1W-NCF71

Position Control Unit

Servo Drive

Servomotor

Servo Drive

Servomotor

Servo Drive

External inputs

Forward rotation limit input signal

Reverse rotation limit input signal

Origin input signal

Origin proximity input signal

Interrupt input signal

Etc.

24-V DC power supply for interface

MECHATROLINK-II

(16 axes max.)

External inputs

Forward rotation limit input signal

Reverse rotation limit input signal

Origin input signal



Etc.

24-V DC power supply for interface

3

Basic Operations

Section 1-3

1-3 Basic Operations

The PCU's operations are as follows:

CJ1W-NC

@

71/CS1W-NC

@

71

Position Control Unit functions

Position control

(direct operation)

Absolute movement

Relative movement

Interrupt feeding

Speed control

Torque control

Other operations Origin searches

Jogging

Overrides

Present position preset

Stop functions

Backlash compensation

1-3-1 Position Control (Direct Operation)

Positioning can be executed either to an absolute position (i.e., to an absolute position from the origin) or to an incremental position (i.e., to a position relative to the present position). Interrupt feeding is also possible, whereby an axis is moved a specified amount when an interrupt input signal is received and then stopped.

Absolute Movements and

Relative Movements

With absolute and relative movements, position and speed data are set directly from the ladder program in the CPU Unit. Positioning is executed according to operating commands sent to the PCU from the CPU Unit. It is also possible to change the speed or to send commands to move axes to different positions while positioning is being performed.

Y

New target position

Speed

Target position before position changed

Start

Speed changed

Time

Start

Position changed, start

X

4

Basic Operations

Interrupt Feeding

Section 1-3

When an interrupt input signal is received, positioning is continued for the specified amount of movement and then stopped.

Speed

Interrupt input

Specified amount of movement (a negative direction can also be set)

Speed

A

×

1.5

Time

Linear Interpolation

Linear interpolation can be performed for a combination of axes (Unit Ver. 1.1

or later).

1-3-2 Speed Control and Torque Control

Speed command data and torque command data are set from the CPU Unit.

Speed control and torque control of the Servomotor are executed by sending operating commands to the PCU from the CPU Unit.

1-3-3 Other Operations

Origin Searches

Jogging

Overrides

The origin search operations find the origin for a designated axis.

Jogging moves a specified axis at a designated speed and then stops it.

When an override is enabled during positioning, the target speed is changed to the override speed.

Override set value: 150%

A

Present Position Preset

(Changing the Present

Position)

Stop Functions

Time

Override Enable Bit

1

0

The PRESENT POSITION PRESET command changes the present position to a specified position.

The DECELERATION STOP command decelerates positioning to a stop.

The EMERGENCY STOP command cancels operating commands immediately and stops the axis after moving it for the number of pulses remaining in the Servo Drive's deviation counter.

5

List of Functions and Specifications

Section 1-4

1-4 List of Functions and Specifications

1-4-1 General Specifications

Item

Model

Internal current consumption

Dimensions

Weight

Ambient operating temperature

Approved standards

CJ1W-NC271/471/F71

360 mA max. at 5 V DC

Specification

CS1W-NC271/471/F71

31

×

90

×

65 mm (W

×

H

×

D) 130

×

35

×

101 mm (W

×

H

×

D)

95 g max.

188 g max.

0 to 55

°

C

CE, cULus, and C-tick

Specifications not listed above conform to general CS/CJ Series specifications.

1-4-2 List of Functions and Specifications

Item Specification

Unit classification

Applicable PLCs

Compatible devices

CPU Bus Unit

CS/CJ Series

Possible unit number settings

Axis Operating Memory Area

0 to F

I/O allocations Common Operating Memory Area Words allocated in CPU Bus Unit Area: 25 words (15 output words,

10 input words)

Allocated in one of the following areas (user-specified):

CIO, Work, Auxiliary, Holding, DM, or EM Area.

Number of words allocated: 50 words (25 output words, 25 input words)

×

Highest axis No. used

• OMRON G5-series Servo Drives

(Built-in MECHATROLINK-II communications)

• OMRON G-series Servo Drives


• OMRON W-series Servo Drives

(equipped with MECHATROLINK-II I/F Unit or built-in MECHA-

TROLINK-II communications)

• OMRON SMARTSTEP Junior Servo Drives


Control method

Maximum number of controlled axes

Control units Position command unit

Note

SMARTSTEP Junior Servo Drive are supported by Position

Control Units with unit version 2.0 or later.

Control commands executed using MECHATROLINK-II synchronous communications.

CS1W/CJ1W-NC271: 2 axes, CS1W/CJ1W-NC471: 4 axes,

CS1W/CJ1W-NCF71: 16 axes

Command unit: Depends on the Electronic Gear Setting in the

Servo Parameters.

Default setting: Pulses

Command units/s Speed command unit for position control

Acceleration/deceleration speeds for position control

Speed command unit for speed control

Torque command unit for torque control

10,000 command units/s

2

0.001% of the motor's momentary maximum rotation speed

0.001% of the motor's momentary maximum torque

6

List of Functions and Specifications

Section 1-4

Control command range

Control functions

Auxiliary functions

External I/O

Item

Position command range

Speed command range for position control

Acceleration/deceleration speeds for position control

Speed command range for speed control

Specification

−

2,147,483,648 to 2,147,483,647 (command units)

0 to 2,147,483,647 (command units/s)

1 to 65,535 (10,000 command units/s

2

)

Torque command range for torque control

Servo lock/unlock

Position control

Origin determination

Jogging

Interrupt feeding

Speed control

Torque control

Stop functions

Acceleration/deceleration curves

Torque limit

Override

Servo parameter transfer

Monitoring function

Software limits




Servo Drive I/O

−

199.999% to 199.999%

The upper limit of the speed command range depends on the specifications of the Servo Drive.

−

199.999% to 199.999%

The upper limit of the torque command range depends on the specifications of the Servo Drive.

Creates (Servo lock) or releases (Servo unlock) the position loop on the PCU.

Positions to an absolute position or relative position according to the target position and target speed specified from the ladder program.

• Origin search: Establishes the origin using the specified search method.

• Present position preset: Changes the present position to a specified position to establish the origin.

• Origin return: Returns the axis from any position to the established origin.

• Absolute encoder origin: Establishes the origin using a Servomotor that has an absolute encoder, without having to use an origin search.

Outputs pulses at a fixed speed in the forward rotation or reverse rotation direction.

Performs positioning by moving the axis a fixed amount when an external interrupt input is received while the axis is moving.

Performs speed control by sending a command to the Servo Drive speed loop.

Performs torque control by sending a command to the Servo Drive current loop.

• Deceleration stop: Decelerates the moving axis to a stop.

• Emergency stop: Positions the moving axis for the number of pulses remaining in the deviation counter and then stops the axis.

Sets one of the following: a trapezoidal (linear) curve, an exponential curve, or an S-curve (moving average).

Restricts the output torque during axis operation.

Multiplies the axis command speed by a specified ratio.

Override: 0.01% to 327.67%

Reads and writes the Servo Drive parameters from the ladder program in the CPU Unit.

Monitors the control status of the Servo Drive, such as the command coordinate positions, feedback position, current speed, and torque.

Limits software operation within the positioning range during position control.

Compensates for the amount of play in the mechanical system according to a set value.

The position deviation in the Servo Drive’s deviation counter can be reset to 0 (unit version 1.3 or later).

One MECHATROLINK-II interface port

Forward/reverse rotation limit inputs, origin proximity inputs, external interrupt inputs 1 to 3 (can be used as external origin inputs)

7

List of Functions by Purpose

Section 1-5

Self-diagnostic functions

Error detection functions

Item Specification

Watchdog, flash memory check, memory corruption check

Overtravel, Servo Drive alarm detection, CPU error, MECHA-

TROLINK communications error, Unit setting error

1-5 List of Functions by Purpose

Purpose

Establishing the mechanical origin of the machine

Category

Origin determination

Point-to-point (PTP) positioning

Changing the target position and speed as required during positioning

Performing positioning for a specified distance from an external input point during positioning

Performing manual feeding for adjustment or other purpose

Reducing shock while device is operating

Position control

Auxiliary functions

Name Basic function Details

Origin search

Present position preset The position where the motor is stopped is set to a specified position to establish the origin.

Origin return

The motor is operated to established the origin.

The axis is returned to the established origin.

Absolute encoder origin The origin is established using a

Servomotor with an absolute encoder, so origin searches are not required at machine startup.

Direct operation (absolute movement or relative movement)

Direct operation:

Changing target position or changing target speed

The position and speed are specified to perform positioning using an absolute or relative movement.

The target position or target speed is changed during positioning with direct operation.

Interrupt feeding

8-2 Origin Search

Operation

8-3 Present Position

Preset

8-4 Origin Return

8-6 Absolute

Encoder Origin

9-4 Using Direct

Operation

9-4-3 Changing Target Position

9-4-4 Changing Target Speed

9-5 Interrupt Feeding

Jogging

When an interrupt input signal turns ON during positioning with direct operation, operation switches to positioning for a fixed amount.

The axis is moved at a fixed speed in the forward rotation or reverse rotation direction.

10-2 Jogging


Overrides

Acceleration/deceleration is performed according to the basic trapezoidal curve (linear acceleration/deceleration), an exponential curve, or an S-curve, which greatly helps to reduce mechanical vibration.

The axis command speed is multiplied by a constant ratio.

7-4 Acceleration and

Deceleration Operations

10-3 Override

Temporarily multiplying the machine's operating speed by a constant ratio to perform startup adjustments

Restricting output torque during control operations such as pushing control

Stopping the device during operation

Stop function

Torque limit

Deceleration stop or emergency stop

A constant limit is applied to the output torque of the Servomotor during positioning.

10-4 Torque Limits

Changing the Servo

Drive settings from the PLC

Data transfer function

Reading/writing Servo parameters

The moving axis is decelerated to a stop or the axis is moved for the number of pulses remaining in the deviation counter and then stopped.

Servo Drive parameters are read or written from the CPU Unit.

10-9 Stop Functions

5-3 Transferring

Servo Parameters

8

Comparison with Existing Models

Section 1-6

Purpose

Performing speed feeding in rotary control such as sheet feeding.

Changing the output torque sequentially during control operations such as tightening.

Category

Speed control

Torque control

Name

Speed control

Torque control

Basic function

The speed command value is directly specified to control the

Servomotor rotation.

The torque command value is directly specified to control the

Servomotor's output torque.

Details

10-5 Speed Control

10-6 Torque Control

1-6 Comparison with Existing Models

Functions and performance

Unit type

Unit number allocation

Control method

Format of data exchanged between

PLC and PCU

Position command range

Present position range

Zone range

Speed command range

Torque command range

Overrides

Memory operation function

CPU Bus Unit

CJ1W-NC

CS1W-NC

@

@

71

71

Unit numbers can be set from 0 to F

(CPU Bus Units).

CJ1W-NC

@

13/

@

33

CS1W-NC

@

13/

@

33

Special I/O Unit

Unit numbers can be set from 0 to 95.

• One-axis and two-axis PCUs: One unit number used.

• Four-axis PCUs: Two unit numbers used.

Commands are executed using MECHA-

TROLINK-II synchronous communications.

Binary (hexadecimal)

Example: Present position is output to the PLC in 32-bit signed binary format.

−

2,147,483,648 to 2,147,483,647

(Unit depends on Servo Parameters)

−

2,147,483,648~2,147,483,647

(Unit depends on Servo parameters)

No zone functions

Position control:

0 to 2,147,483,647 (command units/s)

(Upper limit speed depends on Servo Drive and Servomotor.)

Speed control:

−

199.999% to 199.999%

(percentage of Servomotor’s momentary maximum rotation speed)

The upper limit of the speed command range depends on the specifications of the Servo

Drive.

−

199.999% to 199.999%

(percentage of Servomotor's momentary maximum torque)

The upper limit of the torque command range depends on the specifications of the Servo

Drive.

0.01% to 327.67% in increments of 0.01%

None

Open-loop control is performed using a pulse train output.

Same as CJ1W-NC

−

−

None

@ 71/CS1W-NC

1,073,741,823 to 1,073,741,823 pulses

2,147,483,647 to 2,147,483,647 pulses

−

1,073,741,823 to 1,073,741,823 pulses

1 to 500,000 (unit: 1 pps)

1% to 999% in increments of 1%

@ 71.

Absolute/relative movement, linear interpolation, interrupt feeding, speed control, forced interrupt, and teaching

9

Comparison with Existing Models

Section 1-6

Functions and performance

Origin search


CJ1W-NC

@

71

CS1W-NC

@

71

Origin search method:

• The origin input signal is detected after the origin proximity input signal turns OFF.

• The origin input signal is detected after the origin proximity input signal turns ON. (Unit version 2.0 or later)

• The origin input signal is detected without using the origin proximity input signal. (Unit version 2.0 or later)

Origin compensation: After detecting the origin input signal, positioning is performed for the origin return final travel distance (specified in

Servo Parameters).

Trapezoidal curve, exponential curve, or Scurve

S-curve acceleration/deceleration uses a moving average.

Accelerations and decelerations are specified in units of 10,000 command units/s

2

. Servo parameters are set individually for each axis.

CJ1W-NC

CS1W-NC

Origin search methods:

Origin compensation: The axis is moved for the amount specified by the origin compensation data (specified from the Unit) at the proximity speed.

Trapezoidal curve or S-curve

S-curve acceleration/deceleration uses a tertiary function.

@

@

13/

13/

@

@

33

33

• The origin input signal is detected after the origin proximity input signal turns ON.

• The origin input signal is detected after the origin proximity input signal turns OFF.

• The origin input signal is detected without using the origin proximity input signal.

Setting acceleration/ deceleration speeds

The times in milliseconds required to reach the maximum speed from the initial speed and to reach the initial speed from the maximum speed are specified

Direct operation: Acceleration/deceleration speeds are specified as operation data from the

PLC.

Memory operation: Up to 9 acceleration/deceleration speeds per axis are recorded in the Unit.

Supported.


Supported (unit version 1.3 or later).

Emergency stop A hardware input contact is not provided on the

Position Control Unit.

Stopping is possible after moving the number of pulses remaining in the deviation counter by using an allocated operation bit.

Data transfer method Writes/reads using the Data Transfer Bit.

Saving data

CPU Unit cycle time extension for END refresh

Response time

The PCU's hardware input contact is used.

Parameters can be saved to the flash memory in the PCU.

Servo Parameters are saved in the Servo Drive.

1 ms max. per 16 axes (using the CS1/CJ1-H

CPU Unit)

• Data can be read or written using the Data

Transfer Bit.

• Data can be read or written using the IOWR/

IORD instruction.

Axis Parameters and Zone Data are saved in the flash memory in the PCU.

0.5 ms max. per PCU

4 ms max. (time from when the start commands for the ladder program are sent until the Servo

Drive receives the control command when four axes are connected) (See note.)

4 ms max. (time from when the start commands for the ladder program are sent until the Position

Control Unit performs pulse output when all axes of a four-axis Unit are being operated simultaneously)

Note

The response time depends on the cycle time of the PLC and the MECHA-

TROLINK communications settings. The time shown in the table is the maximum value obtained when calculated according to specified measurement

conditions. For details, refer to

Appendix A Performance Characteristics

.

10

SECTION 2

Basic Procedures

This section provides an overview of the procedures required to use the Position Control Unit.

2-1 Basic Flow of Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-2 Starting Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-2-1 Overview of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-2-2 System Configuration and Wiring . . . . . . . . . . . . . . . . . . . . . . . . . .

2-2-3 Setting the PCU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-2-4 Starting MECHATROLINK Communications . . . . . . . . . . . . . . . . .

2-2-5 Setting Servo Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-2-6 Operating the Servomotor from the PCU . . . . . . . . . . . . . . . . . . . . .

16

18

21

22

25

12

16

16

11

Basic Flow of Operations

Section 2-1

2-1 Basic Flow of Operations

The basic flow of Position Control Unit (PCU) operation is described in this section. The steps from installation through setting the MECHATROLINK devices are required only when installing the devices for the first time. When

PCU and MECHATROLINK device settings have been completed, start operation from starting MECHATROLINK communications in the flow of operation.

Flow of operation Details

START

Install the PCU.

3-2 Installing the Position

Control Unit

3-1 Nomenclature and

Functions

Set the unit number of the PCU.

Set the station addresses of the Servo Drives.

(See note 1.)

Connect the Servomotors to the Servo Drives.

Connect the Servo Drives to the external input devices.

(See note 1.)

3-3 External I/O Circuits

3-4 Wiring

Connect the Servo Drives to the PCU.

Turn ON the power to the PLC.

Create the I/O tables for the PLC.

(See note 2.)

Transfer the common parameters from the CPU

Unit to the PCU using the WRITE DATA Bit in the Common Operating Memory Area.

Transfer the axis parameters from the CPU Unit to the PCU using the WRITE DATA Bit in the

Common Operating Memory Area.

Transfer only the axis parameters for the axes to be used.

Save the transferred common parameters and axis parameters to the PCU's flash memory using the SAVE DATA Bit in the PCU's


4-3 Common Parameter Area

4-6 Common Operating

Memory Area

5-2-1 Writing PCU

Parameters

4-4 Axis Parameter Area

5-2-1 Writing PCU

Parameters

5-2-3 Saving PCU

Parameters

Restart the PCU or cycle the power to the PLC.

The PCU can now communicate with MECHATROLINK devices.

(Continued on next page.)

Note

(1) Perform wiring according to instructions given in the Servomotor and Servo Drive's operation manuals.

(2) Refer to the

CJ Series PLC Operation Manual

.

12


Flow of operation

(Continued from previous page.)

Details

Turn ON the power to the Servo Drives.

Turn ON the CONNECT Bit in the PCU's



Memory Area

6-3-1 Establishing

Connections

6-3-2 MECHATROLINK

Communications Status

Check that communications are established with the connected devices by referring to the axis communications status in the PCU's Common

Operating Memory Area.

NO

Are communications established with all devices?

YES

The MECHATROLINK devices can now be operated from the PCU.


Communications Errors

12-5 Troubleshooting

Transfer the Servo parameters from the CPU

Unit to the PCU using the WRITE SERVO PA-

RAMETER Bit and SAVE SERVO PARAMETER

Bit in the PCU's Axis Operating Memory Areas.

Use either of the following methods to enable the parameter settings for offline parameters.

1) Perform the device setup.

2) Turn OFF the CONNECT Bit (releases the connection) in the PCU's Common Operating

Memory Area, and after Servo communications have stopped, cycle the

Servo Drive power.

Transfer (save) only the Servo

Parameters for the axes to be used.

The Servo Parameters that have been set are now enabled.

4-5 Servo Parameter Area

4-7 Axis Operating Output

Memory Areas

4-8 Axis Operating Input

Memory Areas

5-3-1 Writing Servo

Parameters

5-3-3 Saving Servo

Parameters


Connections

6-4 Standard Settings for

Servo Drives Using

MECHATROLINK

5-3-4 Device Setup

Turn ON the power to the Servo Drives and external input devices.

Turn ON the CONNECT Bit in the PCU's



Memory Area


Connections



Check that communications are established with the connected devices by referring to the axis communications status in the PCU's Common


Communications are established with all devices?

NO

YES

The MECHATROLINK devices can now be operated from the PCU.



Communications Errors


Section 2-1

13




Turn ON the SERVO LOCK Bit in the PCU's

Axis Operating Memory Area.

Check that the SVON Flag indicating the Servo

Drive status in the PCU's Axis Operating

Memory Area is ON.

The Servomotor axis operations can now be controlled from the PCU.


Memory Areas


Memory Areas

10-1 Servo Lock/Unlock

Set the jog speed in the speed command value of the PCU's Axis Operating Memory Area.

Set the acceleration and deceleration times in the Servo parameters.

Set the feed direction in the Direction

Designation Bit of the PCU's Axis Operating

Memory Area.


Memory Areas


Memory Areas



10-2 Jogging

Turn ON the JOG Bit in the PCU's Axis


Stop the jogging operation by turning OFF the

JOG Bit in the PCU's Axis Operating Memory

Area.

Check whether jogging has stopped by monitoring whether the Busy Flag is OFF in the

PCU's Axis Operating Memory Area.

Set the Origin Search Speed in the speed command value of the PCU's Axis Operating

Memory Area.

Set the Origin Search Approach

Speeds 1 and 2 in the Servo

Parameters.

Turn ON the ORIGIN SEARCH Bit in the PCU's


Check whether the ORIGIN SEARCH operation has completed by monitoring the PCU

Positioning Completed Flag and No Origin Flag in the PCU's Axis Operating Memory Area.



Memory Areas


Memory Areas



SECTION 8 Defining the

Origin

Section 2-1

14




Set the target position in the position command value of the PCU's Axis Operating Memory Area.

Set the target speed in the speed command value of the PCU's Axis Operating Memory Area.

Set the acceleration and deceleration times for positioning in the Servo

Parameters.

Turn ON the Movement Bit (ABSOLUTE

MOVEMENT or RELATIVE MOVEMENT) in the

PCU's Axis Operating Memory Area.


Memory Areas


Memory Areas



9-1 Direct Operation

Overview

Check whether the positioning operation has completed by monitoring the PCU Positioning

Completed Flag in the PCU's Axis Operating

Memory Area.

Start axis operation using jogging, an origin search, or direct operation.

Turn ON the Deceleration Stop Bit or

Emergency Stop Bit in the PCU's Axis Operating

Memory Area.

Set the deceleration time for a deceleration stop in the Servo

Parameters.

Check whether the positioning operation has stopped by monitoring whether the Stop

Execution Flag is ON in the PCU's Axis



Memory Areas


Memory Areas




Turn ON the SERVO UNLOCK Bit in the PCU's


Check that the SVON Flag indicating the Servo

Drive status in the PCU's Axis Operating

Memory Area is OFF.


Memory Areas


Memory Areas


Stop Servo communications by turning OFF the

CONNECT Bit (releases connection) in the

PCU's Common Operating Memory Area.

Turn OFF the power to the Servo Drives and external input devices.

Turn OFF the power to the CPU Unit.

END


Memory Area


Connections



Section 2-1

15

Starting Operation

Section 2-2

2-2 Starting Operation

Examples of operating the Servomotor using RELATIVE MOVEMENT commands for direct operation are provided in this section for first-time users of a

PCU.

2-2-1 Overview of Operation

The following example is for operating the Servomotor using direct operation under the following operation conditions. An OMRON W-series Servomotor and a Servo Drive with a FNY-NS115 MECHATROLINK-II I/F Unit installed is used.

Only the minimum parameters required to operate the Servomotor are set in this example. Default settings are used for the PCU and Servo Drive parameters that are not set.

Speed

Target speed: 100,000 (pulses/s)

100 kpulses/s

Target position: 500,000 pulses

Time

0.1 s 0.1 s

A Programming Console is used in this operation example without using a ladder program and with the PLC in PROGRAM mode to manually perform the settings and execute the start commands that are required to operate the

Servomotor. The Programming Console is used to set the required data for direct operation and then turn ON the RELATIVE MOVEMENT Bit to operate the motor.

2-2-2 System Configuration and Wiring

The following system configuration is used. In this example, only the motor is operated, without using a mechanical system. The unit number of the PCU is

0, and the station address of the MECHATROLINK-II I/F Unit is 1.

16


Section 2-2

Power Supply Unit

CPU Unit


Programming Console

MECHATROLINK-II

I/F Unit

Servo Drive

MECHATROLINK-II Connection Cable

MECHATROLINK-II Terminator

Servomotor

The devices used in this configuration diagram example are as follows:

Device Model

CPU Unit CJ1H-CPU67H

Power Supply Unit


CJ1W-PA202

CJ1W-NCF71

Programming Console C200H-PRO27

Programming Console Connecting Cable CS1W-CN224 (2 m)

Servo Drive

Servomotor

Servomotor Encoder Cable

Servomotor Power Cable

MECHATROLINK-II I/F Unit



R88D-WT01HL

R88M-W10030L

R88A-CRWA003C (3 m)

R88A-CAWA003S (3 m)

FNY-NS115

JEPMC-W6003-01 (Yaskawa) (1 m)

JEPMC-W6022 (Yaskawa)

Each of the above devices is in its factory-shipped condition.

Setting the PCU Unit Number

Set the unit number using the rotary switch on the front of the PCU.

Unit number: 0

Setting the Station Address of the MECHATROLINK-II I/F Unit

Set the station address of the MECHATROLINK-II I/F Unit using the rotary switch (SW1) on the Unit. Use the default settings for the DIP switch (SW2).

SW1: 1

SW2: Default settings (pin 1: ON; pin 2: ON; pin 3: OFF; pin 4: OFF)

17


Wiring

CJ1W-NCF71

Wire the Units as shown in the following diagram.

FNY-NS115 R88D-WT01HL

MLK

JEPMC-W6003-01

CN6A

JEPMC-W6022

Terminator

CN6B

CN1

+24VIN 47

(Not used.)

DEC

POT

NOT

40

Origin proximity signal

41

42

43

Forward rotation limit input

Reverse rotation limit input

EXT1 44

EXT2

EXT3

45

46

Section 2-2

24 V DC

2-2-3 Setting the PCU

Creating I/O Tables

Turn ON the power to the PLC and create the I/O tables. Refer to the

CJ

Series PLC Operation Manual

for details on creating I/O tables.

Setting Common

Parameters

The Servo Drive's CN1 input signals depend on the input signal allocations, which are set in this operation example. Of these allocated input signals, the forward drive prohibit input (forward rotation limit input) and reverse drive prohibit input (reverse rotation limit input) are used as N.C. contacts. Therefore, connect them so that they are normally ON. The origin proximity signal and external latch inputs 1 to 3 are not used in this operation example and therefore do not need to be wired.

The above diagram shows the wiring for the PCU, Servo Drive, MECHA-

TROLINK-II I/F Unit, and external control input signals at the Servo Drive.

Refer to each of the CPU Unit and Servo Drive operation manuals for details on wiring the CPU Unit and Servo Drive power supply and connecting the

Servo Drive and Servomotor.

Set the Common Parameters of the PCU. The minimum required Common

Parameters that must be set are as follows:

• Axis Operating Output Memory Area designation

• Axis Operating Input Memory Area designation

• Scan list setting (information registered for axes connected to MECHA-

TROLINK communications)

Common Parameters are transferred to the PCU using the WRITE DATA Bit in the Common Operating Memory Area. D01000 to D01011 are used for data to be transferred.

18


Section 2-2

Common Parameters Set in the PCU

The following settings are made in D01000 to D01011 as the Common

Parameters to be set in the PCU. Refer to the following table for setting details.

DM word Set value

D01000 00B0 hex

Common Parameter

Axis Operating Output

Memory Areas

D01001 0064 hex Beginning word of Axis

Operating Output Memory

Areas

D01002

D01003

D01004

D01005 to

D01011

00B0 hex Axis Operating Input Memory Areas

01F4 hex Beginning word of Axis

Operating Input Memory

Areas

0040 hex

Set all words to

0000 hex.

Scan list setting (axes 1 and 2)

Scan list setting

(axes 3 to 16)

Details

Set the beginning word of the Axis Operating Output

Memory Areas to CIO 100.

Axis 1 output words:

CIO 100 to CIO 124

Set the beginning word of the Axis Operating Input

Memory Area to CIO 500.

Axis 1 input words: CIO 500 to CIO 524

Allocate axis 1 of the PCU to the Servo Drive.

The above settings enable the Servo Drive connected to MECHATROLINK to be controlled from the ladder program through the I/O words that are allocated as shown in the following diagram.

CPU Unit Position Control Unit

Ladder program

Axis 1 output data

CIO 100 to

CIO 124

Start command,

Registered connections MECHATROLINK etc.

Axis 1: Servo

Axis 1 input data

CIO 500 to

CIO 524

Axis 2: None

Axis 3: None

Present position, etc.

Servo Drive

Writing Common

Parameters to the PCU

The Common Parameter settings in D01000 to D01011 are written to the

PCU. Make the settings for transferring data to the PCU's Common Operating

Memory Area as shown below.

Details Word Set value Data transfer setting name

CIO 1506 000C hex Number of write words

CIO 1507 0082 hex Write source area

CIO 1508 03E8 hex Write source word

CIO 1509 1838 hex Write destination address

Number of write words: 0C hex =

12 decimal

Beginning word of write data:

D01000

Write destination address in PCU:

1838 hex = Beginning word of

Common Parameter Area

Data is written to the PCU by turning ON the WRITE DATA Bit in the Common

Operating Memory Area. For the PCU with unit number 0, the WRITE DATA

Bit is allocated in CIO 150001. Turn ON this bit using the Programming Console.

01

CIO 1500

This bit transfers data according to the data transfer settings when it is turned ON.

WRITE DATA Bit

19


Section 2-2

While data is being written to the PCU, the Data Transferring Flag in the Common Operating Memory Area turns ON. When data has finished being written, the Data Transferring Flag turns OFF. For the PCU with unit number 0, the

Data Transferring Flag is allocated in CIO 151514.

14

CIO 1515

This flag is ON while data is being written.

When writing is completed, the flag turns OFF.

Data Transferring Flag

The following diagram shows the operation for writing data to the PCU.

CPU Unit

Common Operating Memory Area

CIO 1500

CIO 1506

CIO 1507

CIO 1508

000C hex

0082 hex

03E8 hex

Write source area

(D01000)

01

WRITE DATA Bit

Number of write words (12)

CIO 1509 1838 hex

Write destination address

(1838 hex)

14

CIO 1515


Data Transferring Flag (ON while data is being written)

DM Area

D01000

D01001

D01002

D01003

D01004

D01005

:

D01011

00B0 hex

0064 hex

00B0 hex

01F4 hex

0040 hex

0000

:

0000

Beginning word of Axis

Operating Output Memory

Area (100 words)

Beginning word of Axis

Operating Input Memory

Area (500 words)

Scan list setting

Axis 1: Registered to Servo Drive

Axes 2 to 16: Not used.

Internal address

1838 hex

1839 hex

00B0 hex

0064 hex

183A hex

183B hex

00B0 hex

01F4 hex

183C hex

183D hex

0040 hex

0000

:

1843 hex

:

0000

Setting Axis

Parameters

Saving PCU Settings

In this operation example, the PCU's default settings are used for each axis parameter, so they do not need to be transferred to the PCU.

The Common Parameters are saved in the PCU's flash memory.

Data is saved to the PCU's flash memory by turning ON the SAVE DATA Bit in the Common Operating Memory Area. For the PCU with unit number 0, the

SAVE DATA Bit is allocated in CIO 150003. Turn ON this bit using the Programming Console.

03

CIO 1500

This bit saves parameters in the PCU's flash memory when it is turned ON.

SAVE DATA Bit

While data is being saved to flash memory, the Data Transferring Flag in the

Common Operating Memory Area turns ON. When data has finished being saved, the Data Transferring Flag turns OFF. For the PCU with unit number 0, the Data Transferring Flag is allocated in CIO 151514.

20


Section 2-2

14

CIO 1515

This flag is ON while data is being saved.

When data saving is completed, the flag turns OFF.


Restarting the PCU

Note

After the PCU settings have been saved, restart the PCU to enable the settings. Either cycle the power to the CPU Unit, or restart the PCU. For the PCU with unit number 0, the Restart Bit is allocated in A50100.

Do not turn OFF the power to the PLC or restart the PCU while data is being saved to the PCU’s flash memory. Doing so may corrupt the PCU’s memory.

Always make sure that the Data Transferring Flag is OFF before turning OFF the power to the CPU Unit or restarting the PCU.

2-2-4 Starting MECHATROLINK Communications

Communications are started with the Servo Drive connected to MECHA-

TROLINK based on the Common Parameter settings in the PCU.

MECHATROLINK communications are started by turning ON the CONNECT

Bit in the Common Operating Memory Area. For the PCU with unit number 0, the CONNECT Bit is allocated in CIO 150100. Turn ON this bit using the Programming Console.

CIO 1501

00

This bit starts MECHATOROLINK communications when it is turned ON.

CONNECT Bit

When connections are established, the PCU starts communications with the

MECHATROLINK devices (Servo Drives) registered in the scan list set in the

Common Parameters. When communications with the registered device are normal, the corresponding bits for the axes in the Axis Communications Status of the Common Operating Memory Area are turned ON. For the PCU with unit number 0, the Axis Communications Status is allocated in the bits of CIO

1522.

CIO 1522

00 Bits 00 to 15 show the communications status for axes 1 to 16, respectively. When an axis registered in the scan list is communicating normally, the corresponding bit turns ON.

Axis Communicating Bit for Axis 1

When communications with the registered devices are not normal, the corresponding bits for the axes in the Axis Communications Status bits of the Common Operating Memory Area are not turned ON and an MLK initialization error (Unit error code 0020 hex) occurs in the PCU. Any axis errors that occur can be checked using the Axis Error Flags and error codes in the Axis Operating Memory Areas.

The Connection Status Flag in the Common Operating Memory Area will turn

ON at the start of communications when the CONNECT Bit turns ON, regardless of whether communications with all registered devices are normal.

In this operation example, if MECHATROLINK communications are started normally, the status of each flag is as follows:

Connection status (CIO 151615): 1 (Connection established)

Axis communications status (CIO 1522): 0001 (bit 00 = Communications established with axis 1)

21


Section 2-2

Note

Unit Error Flag (CIO 151512): 0 (No error)

Unit error code (CIO 1521): 0000 (No error)

Axis Error Flag for axis 1 (CIO 50012): 0 (No error) (See note.)

Axis error code for axis 1 (CIO 504): 0000 (No error) (See note.)

The Axis Operating Memory Area for axis 1 depends on the Axis Operating

Input Memory Area settings in the Common Parameters.

2-2-5 Setting Servo Parameters

The Servo Parameters are set in the connected Servo Drive. The following table shows an example of settings for the Servo Drive's external input signal allocations (input signal selection).

40

41

Input terminal

(CN1)

Input signal name

---

DEC

Setting Servo Drive default setting

42

43

44

45

46

POT

NOT

EXT1

EXT2

EXT3

Not used

Origin return deceleration limit switch

(origin proximity input signal)

Forward drive prohibit input

(forward rotation limit input signal)

Reverse drive prohibit input

(reverse rotation limit input signal)

RUN (RUN command input)

MING (gain reduction input)

Not allocated.

Not allocated.

External latch signal 1

(external interrupt input signal 1)





RESET (alarm reset input)

PCL (forward rotation current limit input)

NCL (reverse rotation current limit input)

Transferring Servo

Parameters

These settings are standard for input signals when an R88D-WT @ Servo

Drive and FNY-NS115 MECHATROLINK-II I/F Unit are used together.

Servo Parameters are transferred to the Servo Drive via the PCU using the

SAVE SERVO PARAMETER Bits in the PCU's Axis Operating Output Memory Areas. The Servo Parameters are transferred one at a time. The following three parameters must be set as shown below to allocate the above input signals.

Parameter No.

Pn50A

Pn50B

Pn511

Parameter name

Input signal selection 1



Set value

2881

8883

6541

22


Preparing Servo

Parameters to Be Set in the Servo Drive

Writing Servo Parameters to the Servo Drive

Section 2-2

The settings for the parameter number, parameter size, and write data are set in the Axis Operating Output Memory Area as Servo Parameters to be set in the Servo Drive. In this operation example, the Common Parameters are set so that the beginning word of the Axis Operating Output Memory Area for axis

1 is allocated in CIO 100. Therefore, the setting words for the Servo Parameters for axis 1 are allocated as follows:

Word

CIO 117

CIO 118

CIO 119

CIO 120

Details

Servo Parameter No.

Parameter size (Unit: bytes)

Write data (rightmost word)

Write data (leftmost word)

The Servo Parameter settings in CIO 117 to CIO 120 are written to the Servo

Drive. In this example, to transfer three Servo Parameters, execute the operation to write to the Servo Drive three times.

Writing the Pn50A Set Value

To write the Pn50A settings, first make the settings for transferring Servo

Parameters to the PCU's Axis Operating Output Memory Areas as shown below.

Word

CIO 117

CIO 118

CIO 119

CIO 120

Set value Parameter transfer setting

050A hex

Details

Servo Parameter No. Write Servo Parameter No.:

Pn50A

0002 Parameter size Write parameter size: 2 (bytes)

2881 hex

---



Write Servo Parameter set value:

2881

Parameter size is 2 bytes (1 word, so this is not used.) The set value is ignored.

In this example, to keep the Servo Parameters even if the Servo Drive power is turned OFF, the Servo Parameters are saved in the non-volatile memory

(flash memory) in the Servo Drive. Servo Parameters are written from the

PCU to the non-volatile memory (flash memory) of the Servo Drive by turning

ON the SAVE SERVO PARAMETER Bit in the Axis Operating Output Memory Area.

In this operation example, the Common Parameters are set so that the beginning word of the Axis Operating Output Memory Area for axis 1 is allocated in

CIO 100. Therefore, the SAVE SERVO PARAMETER Bit for axis 1 is allocated in CIO 10114. Turn ON this bit using the Programming Console.

14

CIO 101

This bit saves the Servo parameters according to the parameter transfer settings when it is turned ON.

SAVE SERVO PARAMETER Bit

While Servo Parameters are being saved to the Servo Drive, the Servo

Parameter Transferring Flag in the Axis Operating Input Memory Area turns

ON. When the Servo Parameters have finished being saved, the Servo

Parameter Transferring Flag turns OFF.

In this operation example, the Common Parameters are set so that the beginning word of the Axis Operating Input Memory Area for axis 1 is allocated in

CIO 500. Therefore, the Servo Parameter Transferring Flag for axis 1 is allocated in CIO 50014.

23


Section 2-2

14

CIO 500

This flag is ON while Servo parameters are being saved, and turns OFF when saving is completed.

Servo Parameter Transferring Flag

The set values for Pn50B and Pn511 are written in the same way, i.e., by changing the details of the Servo Parameters to be transferred and turning

ON the WRITE DATA Bit.

Writing the Pn50B Set Value

Word

CIO 117

CIO 118

CIO 119

CIO 120


050B hex

Details

Servo Parameter No. Write Servo Parameter No.:

Pn50B

0002 hex

8883 hex

Parameter size


Write parameter size: 2 (bytes)

Write Servo Parameter setting:

8883

--Write data (leftmost word)

Parameter size is two bytes (one word, so this is not used.) The setting is ignored.

Writing the Pn511 Setting

Word

CIO 117

CIO 118

CIO 119

CIO 120


0511 hex

0002 hex

6541 hex

---

Details

Servo Parameter No. Write Servo Parameter No.: Pn511

Parameter size



Write parameter size: 2 (bytes)

Write Servo Parameter setting:

6541

Parameter size is two bytes (i.e., one word, so this is not used.) The setting is ignored.

The following diagram shows the operation used to transfer parameters to the

Servo Drive.

CPU Unit

Axis Operating Output Memory Area

(Axis 1)

14

CIO 101

Servo Parameters saved.

PCU Servo Drive (Axis 1)

MECHATROLINK

Non-volatile memory

CIO 117

CIO 118

CIO 119

CIO 120

050A hex Servo parameter No. (Pn50A)

0002 hex Parameter length (2 bytes)

2881 hex

---

Set value (2881)

Pn50A 2881

Axis Operating Input Memory Area

(Axis 1) 14

CIO 500

Servo Parameters Transferring Flag (ON while transferring)

24


Section 2-2

Ending MECHATROLINK Communications

The Servo Parameters written to the Servo Drive consist of online and offline parameters. Online parameters are enabled as soon as they are written, whereas offline parameters are not.

The input signal selection parameters set here are offline parameters that are enabled by cycling the power to the Servo Drive or executing the device setup operation. In this example, the Servo Drive power is cycled. First, stop

MECHATROLINK communications before turning OFF the power supply to the Servo Drive.

MECHATROLINK communications are stopped by turning OFF the CON-

NECT Bit in the Common Operating Memory Area. For the PCU with unit number 0, the CONNECT Bit is allocated in CIO 150100. Use the Programming Console to turn OFF this bit, which was turned ON at the start of

MECHATROLINK communications.

CIO 1501

00

MECHATROLINK communications stop when this bit is turned OFF.

CONNECT Bit

When MECHATROLINK communications stop, the Connection Status Flag in the Common Operating Memory Area turns OFF. For the PCU with unit number 0, the Connection Status Flag is allocated in CIO 151615.

15

CIO 1516

This flag turns ON when MECHATROLINK communications start and turns OFF when

MECHATROLINK communications stop.

Connection Status Flag

Turning the Servo Drive Power OFF and ON Again

After writing Servo Parameters, and when MECHATROLINK communications have stopped, enable the Servo Parameters by cycling the power to the

Servo Drive. This procedure completes settings for the PCU and Servo Drive.

Unless changes in installation, wiring, or parameter settings are required, the above operation does not need to be performed a second time.

2-2-6 Operating the Servomotor from the PCU

Starting MECHATROLINK Communications

Perform the operations described in

2-2-4 Starting MECHATROLINK Communications

and then start communications with the Servo Drive connected to

MECHATROLINK.

Servo Lock

The servo lock of the Servomotor connected to MECHATROLINK can be set by turning ON the SERVO LOCK Bit in the Axis Operating Output Memory

Area.


CIO 100. Therefore, the SERVO LOCK Bit for axis 1 is allocated in CIO

10100. Turn ON this bit using the Programming Console.

25


Section 2-2

CIO 101

00

This bit places the Servomotor in Servo lock status when it is turned ON.

SERVO LOCK Bit

When the servo lock operation is performed, the Servomotor is placed in servo lock status. The SVON (Servo ON) Flag indicating servo status in the

Axis Operating Input Memory Area turns ON when an R88D-WT @ Servo

Drive and FNY-NS115 MECHATROLINK-II I/F Unit are used together.


CIO 500. Therefore, the SVON Flag for axis 1 is allocated in CIO 50103.

CIO 501

03

When the Servomotor is in Servo lock status, this flag is ON. When the Servomotor is in Servo unlock status, this flag turns OFF.

SVON Flag

When the servo lock is no longer required, turn OFF the corresponding

SERVO LOCK Bit in the Axis Operating Output Memory Area.

Positioning Using the Direct Operation RELATIVE MOVEMENT Command

Positioning can be performed for axis 1 using the RELATIVE MOVEMENT command for direct operation. The RELATIVE MOVEMENT command for direct operation sends information on the target position and target speed to the Axis Operating Output Memory Area when the RELATIVE MOVEMENT

Bit turns ON.


CIO 100. Therefore, the target position and target speed are set as follows:

Word

CIO 102

CIO 103

CIO 104

CIO 105


A120 hex Position command value (rightmost word)

0007 hex

Details

Target position: 0007 A120 hex =

500,000 pulses

86A0 hex

Position command value (leftmost word)

Speed command value (rightmost word)

Target speed: 0001 86A0 hex =

100,000 pulses/s

0001 hex Speed command value (leftmost word)

The RELATIVE MOVEMENT Bit for axis 1 is allocated in CIO 10004. Therefore, turn this bit ON using the Programming Console.

04

CIO 100

This bit executes the RELATIVE MOVEMENT command for direct operation when it is turned ON.

RELATIVE MOVEMENT Bit

26


Section 2-2

The Servomotor starts rotating up to the target speed of 100,000 pulses/s and stops at 500,000 pulses. The acceleration/deceleration speed depends on the

Servo Parameters set for the Servo Drive. When a W-series Servo Drive and the FNY-NS115 are used together, the acceleration and deceleration speeds are set in the Servo Parameters as follows:

Unit Parameter

No.

Pn80A

Pn80B

Pn80C

Pn80D

Pn80E

Pn80F

Parameter name

First-step linear acceleration constant

Second-step linear acceleration constant

Acceleration constant switching speed

First-step linear deceleration constant

Second-step linear deceleration constant

Deceleration constant switching speed

0

Default

100

100

0

100

100


2


2

100 command units/s


2


2

100 command units/s

Setting in this example

Not used.

1,000,000 pulses/s

2

Default settings used.

Not used.

1,000,000 pulses/s

2

Default settings used.

In this operation example, the default settings are used for the acceleration/ deceleration constants. With the default settings, the acceleration/deceleration movement uses a linear acceleration/deceleration waveform, and the slope of the acceleration and deceleration is 1,000,000 pulses/s

2

.The target speed is 100,000 pulses/s, so after starting, the motor accelerates up to the target speed in 0.1 s, and decelerates to a stop from the target speed in 0.1 s.

Speed

Pn80B

(Second-step Linear Acceleration Constant)

Pn80C

(Acceleration Constant Switching Speed)

Pn80E

(Second-step Linear Deceleration Constant)

Pn80F

(Deceleration Constant Switching Speed)

Time

In this operation example, the acceleration/deceleration constant switching speed is 0. Therefore, from startup, the motor accelerates according to the

Second-step Linear Acceleration Constant and decelerates using the

Second-step Linear Deceleration Constant until stopping. The First-step

Acceleration/Deceleration Constants are not used.

The present position of each axis can be monitored in the Axis Operating

Input Memory Areas.


CIO 500. Therefore, the present position (feedback present position) for axis

1 is allocated in CIO 506 and CIO 507.

CIO 506

Feedback present position

(rightmost word)

CIO 507

Feedback present position (leftmost word)

27


Section 2-2

The following diagram shows the operation for the RELATIVE MOVEMENT command.

PCU CPU Unit


(Axis 1)

CIO 100

04

RELATIVE

MOVEMENT Bit

MECHATROLINK

Servo Drive/

Servomotor (Axis 1)

CIO 102

CIO 103

CIO 104

CIO 105

A120 hex

0007 hex

86A0 hex

0001 hex

Target position: 0007 A120 hex

= 500,000 pulses

Target speed: 0001 86A0 hex

= 100,000 pulses/s


(Axis 1)

CIO 506


(rightmost word)

CIO 507


100,000 pulses/s

500,000 pulses

Servo Unlock

The Servomotor connected to MECHATROLINK can be set to servo unlock status by turning ON the SERVO UNLOCK Bit in the Axis Operating Output

Memory Area.


CIO 100. Therefore, the SERVO UNLOCK Bit for axis 1 is allocated in CIO

10101. Turn ON this bit using the Programming Console.

01

CIO 101

This bit places the Servomotor in servo unlock status when it is turned ON.

SERVO UNLOCK Bit

When the servo unlock operation is performed, the Servomotor is placed in servo unlock status. The SVON (Servo ON) Flag indicating servo status in the

Axis Operating Memory Areas turns OFF when using an R88D-WT @ Servo

Drive with a FNY-NS115 MECHATROLINK-II I/F Unit.


CIO 500. Therefore, the SVON Flag for axis 1 is allocated in CIO 50103.

03

CIO 501

This flag turns ON when the Servomotor is in servo lock status, and turns OFF when the Servomotor is in servo unlock status.

SVON Flag

When the servo unlock status is no longer required, turn OFF the corresponding SERVO UNLOCK Bit in the Axis Operating Output Memory Area.

Stopping MECHATROLINK Communications

Always stop MECHATROLINK communications before turning OFF the power supply to the Servo Drive. MECHATROLINK communications are stopped by turning OFF the CONNECT Bit in the Common Operating Memory

Area.

28


Section 2-2

For the PCU with unit number 0, the CONNECT Bit is allocated in CIO

150100. Use the Programming Console to turn OFF this bit, which was turned

ON at the start of MECHATROLINK communications.

CIO 1501

00

This bit stops MECHATROLINK communications when it is turned OFF.

CONNECT Bit

When MECHATROLINK communications stop, the Connection Status Flag in the Common Operating Memory Area turns OFF. For the PCU with unit number 0, the Connection Status Flag is allocated in CIO 151615.

15

CIO 1516

This flag turns ON when MECHATROLINK communications start and turns OFF when

MECHATROLINK communications stop.


This completes the operations example for operating the Servomotor using the RELATIVE MOVEMENT command for direct operation. In this operation example, the commands are sent manually from the Programming Console, but the basic operation flow is the same when sequences are programmed into the ladder program. Other functions are also used in the same way by changing the parameter settings and manipulating bits.

29


Section 2-2

30

SECTION 3

Installation and Wiring

This section provides information on nomenclature and functions, and describes the procedures required for wiring and installation. Information on the MECHATROLINK-II I/F Unit is also provided.

3-1 Nomenclature and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-1-1 Nomenclature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-1-2 MECHATROLINK-II I/F Unit for W-series Servo Drives. . . . . . . .

3-2 Installing the Position Control Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-2-1 System Configuration Precautions . . . . . . . . . . . . . . . . . . . . . . . . . .

3-2-2 Unit Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-2-3 Installation Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-2-4 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-3 External I/O Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-3-1 PCU I/O Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-3-2 G5-series Servo Drive I/O Signals (R88D-KN@-

ML2 with Built-in MECHATROLINK-II Communications). . . . . .

3-3-3 G-series Servo Drive I/O Signals (R88D-GN@-ML2 with Built-in MECHATROLINK-II Communications) . . . . . . . . . .

3-3-4 W-series Servo Drive I/O Signals (R88D-WT@ with FNY-NS115)

3-3-5 W-series Servo Drive I/O Signals (R88D-WN@-ML2 with MECHATROLINK-II Built-in Communications) . . . . . . . . . .

3-3-6 SMARTSTEP Junior Servo Drive I/O Signals (R7D-ZN@-ML2 with Built-in MECHATROLINK-II Communications) . . . . . . . . . .

3-4 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-4-1 MECHATROLINK-II Communications Wiring . . . . . . . . . . . . . . .

3-4-2 Wiring the Servo Drive I/O Signals . . . . . . . . . . . . . . . . . . . . . . . . .

35

35

35

37

32

32

33

38

39

40

40

43

47

50

53

56

56

58

31

Nomenclature and Functions

3-1 Nomenclature and Functions

3-1-1 Nomenclature

CJ1W-NC @ 71

NCF71

MLK

9A

BCDEF

678

345

UNIT

No.

LED Indicators

Indicate the PCU's operating status.

Unit Number Setting Switch

Sets the PCU's unit number.

Section 3-1

CS1W-NC @ 71

NCF71

FEDCBA9876543210

LED Indicators

MLK

MECHATROLINK-II

Communications Connector

Connects to the MECHATROLINK-II

Connection Cable.

MLK

LED

RUN Run

Name

ERC

ERH

ERM MECHA-

TROLINK

Device Error

MLK

Unit Error

Color

Green Lit

Status

Red

Not lit

Lit

CPU Unit Error Red

Red

Flashing

Not lit

Lit

Not lit

Lit

Flashing

MECHA-

TROLINK Communications

Status

Not lit

Yellow Lit

Not lit

Details

The PCU is operating normally.

Other condition

A fatal error has occurred in the

PCU and operation cannot continue.

A non-fatal error has occurred in the PCU and operation can continue.

Other condition

An error has occurred in the PLC.

Other condition

An error has occurred in MECHA-

TROLINK communications.

An error has occurred in a connected MECHATROLINK device.

Other condition

MECHATROLINK communications in progress

MECHATROLINK communications stopped

For details on errors, refer to

SECTION 12 Troubleshooting

.

32


Section 3-1

Unit Number Setting

Switch (UNIT No.)

MECHATROLINK-II

Communications

Connector

Note

Note

Set the unit number using the rotary switch on the front of the PCU. The

PCU's unit number is a CPU Bus Unit unit number.

CJ1W-NC

@

71 CS1W-NC

@

71

AB

CDEF

567

234

UNIT

No.

UNIT

No.

654

3210

BA987

FEDC

Setting range: 0 to F (Unit numbers 0 to 15)

The factory default setting is 0.

0

3

4

1

2

5

6

7

The unit number setting determines which words are allocated to the PCU in the CPU Bus Unit Area within the CPU Unit's CIO Area.

The PCU uses this allocated area as the “Common Operating Memory Area.”

For details, refer to

4-6 Common Operating Memory Area

.

Unit number Unit number Allocated words

1500 to 1524

1525 to 1549

1550 to 1574

1575 to 1599

1600 to 1624

1625 to 1649

1650 to 1674

1675 to 1699

8

9

10

11

12

13

14

15

Allocated words

1700 to 1724

1725 to 1749

1750 to 1774

1775 to 1799

1800 to 1824

1825 to 1849

1850 to 1874

1875 to 1899

Always turn OFF the power supply before changing the Unit Number Setting

Switch's setting.

This connector connects the PCU with MECHATROLINK devices through the special MECHATROLINK-II Connection Cable.

For details on MECHATROLINK-II Connection Cable models and configuration, refer to

3-4-1 MECHATROLINK-II Communications Wiring

.

3-1-2 MECHATROLINK-II I/F Unit for W-series Servo Drives

The following MECHATROLINK-II I/F Unit must be mounted to a an R88D-

WT @ W-series Servo Drive without built-in MECHATROLINK-II communications to enable connection to the PCU through MECHATROLINK-II.

Name


Model number

FNY-NS115

When a MECHATROLINK-II I/F Unit must be mounted to a W-series Servo

Drive, use the following device versions.

Device

W-series Servo Drive


Compatible versions

Ver. 39 or later

VER. @@@ 03 or later

The versions of both the W-series Servo Drive and MECHATROLINK-II I/F

Unit can be found on the nameplate on the side of each device. If an earlier version of the device is used, it will not function properly. Always use products with versions listed in the table above (or later versions).

Nomenclature

This section provides a basic description of the FNY-NS115 MECHA-

TROLINK-II I/F Unit's LED Indicators and Setting Switches.

For details, refer to the Yaskawa Electric Corporation

JUSP-NS115 MECHA-

TROLINK-II I/F Unit User’s Manual

.

33


LED Indicators

Note

Note

Station Address Setting

Switch (SW1)

Note

Communications Setting

DIP Switch (SW2)

Section 3-1

Refer to the user’s manual for the Servo Drive for the nomenclature and functions of Servo Drives with Built-in MECHATROLINK-II Communications.

• G5-series Servo Drives with Built-in MECHATROLINK-II Communications

(R88D-KN @ -ML2)

• G-series Servo Drives with Built-in MECHATROLINK-II Communications

(R88D-GN @ -ML2)

• W-series Servo Drives with Built-in MECHATROLINK-II Communications

(R88D-WN

@

-ML2)

• SMARTSTEP Junior Servo Drives with Built-in MECHATROLINK-II Communications (R7D-ZN @ -ML2)

The LED Indicators show the operating status of the FNY-NS115.

A

R

A

LED Name

Alarm Status

R MECHA-

TROLINK-II

Communications Status

Color

Red Lit

Status

Not lit

Green Lit

Not lit

Details

An alarm occurred in the Servo

Drive. (See note.)

Other condition

MECHATROLINK communications in progress

MECHATROLINK communications stopped

The Alarm Status LED will also be lit when MECHATROLINK communications are not established with the PCU.

Set the Servo Drive's station address in conjunction with the MECHA-

TROLINK-II communications setting on pin 3 of the Communications Setting

DIP Switch (SW2).

4

5

6

7

3

2

1

8

9

A

B

C

0

F

E

D

Setting Range: 0 to F (See the following table.)

The factory default setting is 1.

Pin 3 of

SW2

OFF

ON

SW1

0

1 to F

0

1 to F

Station address

---

1 to 15

16

---

Note

Cannot be used. Do not set.

---

---

Cannot be used when connecting to the

PCU. Do not set.

Sets the MECHATROLINK-II communications settings.

O

N

1 2 3 4

34

Installing the Position Control Unit

Section 3-2

Note

1

2

3

4

Pin Function

Baud rate

Transmission bytes

Setting Contents Default setting

OFF

ON

4 Mbps

10 Mbps

ON

OFF

ON

Station address OFF

Reserved by the system.

ON

OFF

17 bytes

32 bytes

(See note.)

1 to 15

16 to 30

---

ON

OFF

OFF

See the explanation of

SW1.

Note

Turn ON this pin (10

Mbps) when connecting to the PCU.

Turn ON this pin (32 bytes) when connecting to the PCU.

Leave this pin OFF.

* In some devices, the number of transmission bytes is expressed as “30 bytes,” but the meaning is the same as this 32-byte setting.

The MECHATROLINK-II I/F Unit can be ordered from OMRON with the following model number.

Name


Yaskawa Electric Co. model number

JUSP-NS115

OMRON model number

FNY-NS115

3-2 Installing the Position Control Unit

3-2-1 System Configuration Precautions

• The I/O words allocated to the PCU as a CPU Bus Unit are not determined by the Unit's mounting order, but by the unit number set on the Unit

Number Setting Switch on the front of the Unit.

• The PCU can be mounted in either the CPU Rack or an Expansion Rack

(only up to 10 Units per Rack for a CJ-series PLC) and up to 16 Units can be controlled by one CPU Unit.

• The CS1W-NC

@

71 can be mounted to a CS1W-BC

@@

3 CPU Backplane or a CS1W-BI @@ 3 Expansion Backplane.

3-2-2 Unit Installation

Use the following procedure to install the PCU.

CJ1W-NC

@

71

1,2,3...

1.

Align the connectors correctly and mount the PCU.

35


Section 3-2

Connector

PA205R

POWER SYSMAC

CJ1G-CPU44

PROGRAMMABLE

CONTROLLER

RUN

ERR/ALM

INH

PRPHL

COMM

OPEN

MCPWR

BUSY

NCF71

MLK

AB

CDEF

67

RUN

ERC

ERH

ERM

UNIT

No.

AC100-240V

INPUT

L1

L2/N

PERIPHERAL

RUN

OUTPUT

AC240V

DC24V

MLK

PORT

2.

Secure the PCU by sliding the yellow latches on the top and bottom until they click and lock.

Latch

PA205R

POWER

SYSMAC

CJ1G-CPU44

PROGRAMMABLE

CONTROLLER

OPEN

RUN

ERR/ALM

INH

PRPHL

COMM

MCPWR

BUSY

NCF71

MLK

AB

CDEF

67

RUN

ERC

ERH

ERM

UNIT

No.

Release

Lock

AC100-240V

INPUT

L1

L2/N

PERIPHERAL

RUN

OUTPUT

AC240V

DC24V

MLK

Note

PORT

If the latches are not completely locked, the PCU may not function properly.

To remove the PCU, slide the latches in the “release” direction and remove the

PCU.

CS1W-NC

@

71

1,2,3...

1.

Catch the hook on the top back of the PCU on the Backplane to mount the unit.

Mounting hook

Backplane

36


Section 3-2

2.

Insert the connector on the back of the CPU properly into the connector on the Backplane.

Duct

20 mm min.

Backplane

PCU

20 mm min.

Note

Phillip’s screwdriver

3.

Tighten the screw on the bottom of the PCU using a Phillip’s screwdriver.

When mounting the PCU inside equipment, provide the minimum space indicated in the diagram to enable mounting/dismounting the PCU and to ensure proper ventilation.

Always tighten the mounting screw on the bottom of the PCU to a torque of

0.4 N

⋅ m.

To remove the PCU, loosen the screw at the bottom of the PCU using a Phillip’s screwdriver and then lift up on the bottom of the PCU.

3-2-3 Installation Precautions

• Always turn OFF the CPU Unit's power supply before connecting or disconnecting cables or the Unit itself.

• To minimize the effects of noise, place I/O wiring in a separate duct from high-voltage lines and power lines.

• Wire strands may be scattered around during wiring, so leave the protective label on top of the PCU to prevent any wire strands from getting inside the PCU. Once the wiring has been completed, be sure to remove the label to allow ventilation.

37


NCF71

MLK

9A

BC

DEF

3

456

UNIT

No.

Remove the label after wiring is completed.

NCF71

ERH

ERM

MLK

CS

UNIT

No.

10

98

Section 3-2

MLK

3-2-4 Dimensions

CJ1W-NC

@

71

2.7

31

NCF71

MLK

AB

CDEF

567

234

RUN

ERC

ERH

ERM

UNIT

No.

90

MLK

65

MLK

2.7

38

External I/O Circuits

CS1W-NC

@

71

35

NCF71

RUN

ERC

ERH

ERM

MLK

UNIT

No.

130

101

MLK

Dimensions Mounted to Backplane

6.2

Section 3-3

Backplane

Connecting Cable

123

Approx. 193

3-3 External I/O Circuits

This section describes the external I/O when a Position Control Unit is used with any of the following Servo Drives.

• G-series Servo Drives (R88D-GN @ -ML2 with built-in MECHATROLINK-II communications)

• W-series Servo Drives (equipped with R88D-WT @ and FNY-NS115)

• W-series Servo Drives (R88D-WN

@

-ML2 with built-in MECHATROLINK-II communications)

• SMARTSTEP Junior Servo Drives (R7D-ZN @ -ML2 with built-in MECHA-

TROLINK-II communications)

39


Section 3-3

3-3-1 PCU I/O Signals

MECHATROLINK Connector (MLK)

Connector specifications

Name

Connector used

Explanation

MLK MECHATROLINK-II connector

USB connector DUSB-ARA41-T11 (made by DDK) or equivalent

Applicable connector USB connector DUSB-APA41-B1-C50 (made by DDK), including shell

Pin arrangement

1

4

Pin

1

2

3

4

Shell

Name I/O

(NC)

---

SRD

−

I/O

SRD+ I /O

(NC)

Shield

---

---

Description

---

Send/receive data

−

Send/receive data +

---

Shield ground

3-3-2 G5-series Servo Drive I/O Signals (R88D-KN

@

-ML2 with Built-in

MECHATROLINK-II Communications)

This section describes the standard I/O signals used with a Position Control

Unit when using a G5-series Servo Drive with built-in MECHATROLINK-II communications.

Use the OMNUC G5 Series AC Servomotors/Servo Drives with Built-in

MECHATROLINK-II Communication User's Manual (Cat No. I566) together with this manual for information on I/O signals.

Terminal Arrangement of the Control I/O Connector (CN1)

When using G5-series Servo Drives with built-in MECHATROLINK-II communications, the default control I/O signal allocations are the standard Servo

Drive settings for using MECHATROLINK.

The following diagram shows the terminal arrangement of the Servo Drive's

Control I/O Connector (CN1) when MECHATROLINK is being used with the

Servo Drive's default settings.

This diagram shows only the I/O signals used when connecting to the PCU.

For details of the Servo Drive's standard settings, refer to

6-4 Standard Settings for Servo Drives Using MECHATROLINK

.

40


Section 3-3

2

4

6

8

10

12

14

STOP

EXT2

IN1

NCL

---

---

---

1

+24VIN

Emergency

Stop Input

External Latch

Signal 2

External

General-purpose

Input 1

Reverse Torque

Limit Input

5

EXT1

7

PCL

9

---

*

3

EXT3

11

---

*

13

---

*

15

/ALM

16 ALMCOM Alarm Output

17

---

18 --*

12 to 24-VDC

Power Supply

Input

20 NOT

External Latch

Signal 3

22 IN0

External Latch

Signal 1

24

Forward

Torque Limit

Input

26

---

---

*

28 ---

*

30 OUTM2

COM

*

32 OUTM3

COM

Alarm Output

34 BAT

*

36 OUTM1

19 POT

Reverse Drive

Prohibit Input

21 DEC

External

Generalpurpose Input 0

23 IN2

*

25 ---

*

27 ---

*

29 OUTM2

Generalpurpose

Output 2

Generalpurpose

Output 3

Backup

Battery Input

31

33

OUTM3

BATCOM

35 OUTM1COM

Generalpurpose

Output 1

Forward Drive

Prohibit Input

Origin Proximity

Input

External General-purpose Input 2

*

*

General-purpose Output 2


Backup Battery

Input


Note

(1) Do not connect anything to unused pins (*).

(2) Inputs for pins 1 to 8 are determined by parameter settings.The diagram shows the default configuration.

CN1 Connector (26 Pin)

Plug

Case

Name Model

10126-3000PE

10326-52A0-008

Manufacturer

Sumitomo 3M

41


Section 3-3

Control I/O Signals

The following table shows the names and functions of the Servo Drive’s control I/O signals.

CN1 Control Input Signals

Pin No.

Symbol

6

5

7

8

9

10

11

12

13

14

15

+24VIN

IN1

IN2

IN3

IN4

IN5

IN6

IN7

IN8

BAT

BATGND

Name

Signal name

Default setting

Function/Interface

12 to 24-VDC Power Supply Input Power supply +input terminal (12 to 24 VDC) for sequence inputs.

General-purpose input 1



Immediate stop

Forward drive prohibition

Reverse drive prohibition

This is a general-purpose input.

Functions can be selected by parameters.

Take note that, however, external latch inputs 1 to 3 can only be allocated to IN5 to IN7 (pin numbers 10 to 12)

Origin proximity General-purpose input 4




External latch 3

External latch 2

External latch 1


Monitor input 0

Backup battery input

ABS

Backup battery connection terminals when the absolute encoder power is interrupted.

(Connection to this terminal is not necessary if you use the absolute encoder battery cable for backup.)

CN1 Control Input Signal Connection Diagram

External power supply:

12VDC ±5% to

24VDC ±5%

Power supply capacity

50mA min. (per Unit)

+24VIN 6

IN1 5

4.7k

1.0k

Photocoupler input

4.7k

Photocoupler input

Signal Levels

ON level: 10 V min.

OFF level: 3 V max.

IN2

7

1.0k

Note

To other input circuit ground commons

To other input circuits

(1) If the limit input signal inputs (Servo Drive's forward drive prohibited signal and reverse drive prohibited signal) are not allocated, the Servo Drive will not stop the Servomotor when the signal is input, and the Position

Control Unit will also not detect limit inputs as errors. When using a Position Control Unit, always allocate the Servo Drive's forward drive prohibited signal and reverse drive prohibited signal to enable use of the limit input signals. (Refer to

6-4 Standard Settings for Servo Drives Using

MECHATROLINK

.)

(2) The signal width of the limit input signals (forward drive prohibited signal and reverse drive prohibited signal) and origin proximity input signal (origin return deceleration limit switch) must be longer than the MECHA-

42


Section 3-3

TROLINK communications cycle. If the input signal width is shorter than the communications cycle, the Position Control Unit will be unable to detect the input signal.

(3) When selecting a sensor for the origin proximity input signal (origin return deceleration LS), use a sensor such as a Photoelectric Sensor, which does not have chattering, because the origin signal is detected after the input goes from ON to OFF during the origin search. If a switch with contacts is used, the origin position may shift due to the switch contact's chattering.

CN1 Control Output

Signals

3

4

1

2

25

26

16

Control Output Circuits

Pin No.

Symbol

/ALM

ALMCOM

OUTM1

OUTM1COM

OUTM2

OUTM2COM

GND

Name

Signal name

Default setting

Alarm Output

General-purpose output 1

General-purpose output 2


The output is OFF when an alarm is generated for the

Servo Drive.

Brake interlock This is a general-purpose output.

Servo ready completed output

Functions can be selected by parameters.

Signal ground This is a signal ground.

Servo Drive

10

+

-

X

Di

External power supply

12 VDC to 24 VDC

Maximum operating voltage: 30 VDC

Maximum output current: 50 mA

Di: Diode for preventing surge voltage

(Use high-speed diodes.)

3-3-3 G-series Servo Drive I/O Signals (R88D-GN

@




Unit when using a G-series Servo Drive with Built-in MECHATROLINK-II

Communications.

Use the

OMNUC G Series AC Servomotors/Servo Drives with Built-in

MECHATROLINK-II Communications User's Manual

(Cat. No. I566) together with this manual for information on I/O signals.


When using G-series Servo Drives with built-in MECHATROLINK-II communications, the default control I/O signal allocations are the standard Servo Drive settings for using MECHATROLINK.

The following diagram shows the terminal arrangement of the Servo Drive's

Control I/O Connector (CN1) when MECHATROLINK is being used with the

Servo Drive's default settings.


43


Section 3-3

For details on the Servo Drive's standard settings, refer to


.

2

4

6

8

10

12

14

STOP

EXT2

IN1

NCL

---

---

---

1

+24VIN

Emergency

Stop Input

External Latch

Signal 2

External

General-purpose

Input 1

Reverse Torque

Limit Input

5

7

9

EXT1

PCL

---

*

3

EXT3

11

---

*

13

---

*

15

/ALM

16

ALMCOM Alarm Output

17

---

18 --*

12 to 24-VDC

Power Supply

Input

External Latch

Signal 3

20 NOT

22 IN0

External Latch

Signal 1

24

Forward

Torque Limit

Input

26

*

28

---

---

---

*

30 OUTM2

COM

*

32 OUTM3

COM

Alarm Output

34 BAT

*

36 OUTM1

19 POT

Reverse Drive

Prohibit Input

21 DEC

External

Generalpurpose Input 0

23 IN2

*

25 ---

*

27 ---

*

29 OUTM2

Generalpurpose

Output 2

Generalpurpose

Output 3

Backup

Battery Input

31

33

OUTM3

BATCOM

35 OUTM1COM

Generalpurpose

Output 1

Forward Drive

Prohibit Input

Origin Proximity

Input

External General-purpose Input 2

*

*



Backup Battery

Input


Note

(1) Do not connect anything to unused pins (*).

(2) Inputs for pins 19 and 20 are determined by parameter settings. The diagram shows the default configuration.


Name

Servo Drive Connector

Cable Connector

Cable Case (Shell Kit)

Model

52986-3679

10136-3000PE

10336-52A0-008

Manufacturer

Molex Japan

Sumitomo 3M

Sumitomo 3M

44

3

4

5

6

21

22

23

14

9

10

27

11

12

13

28

34

33

17

24

25

26

18




1

Pin No.

Symbol

+24VIN

Section 3-3

The following table shows the names and functions of the Servo Drive's control I/O signals.

2

7

8

19 to 20

STOP

PCL

NCL

POT

NOT

DEC

EXT3

EXT2

EXT1

IN1

IN0

IN2

---

---

---

---

---

---

---

---

---

---

---

---

---

BAT

BATCOM

Name

12 to 24-VDC

Power Supply

Input

Emergency

Stop Input

External Latch

Signal 3

External Latch

Signal 2

External Latch

Signal 1

External General-purpose

Input 1

Forward Torque

Limit Input


Input 2

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Not used

Backup battery input


Power supply input terminal (12 to 24 VDC) for sequence inputs.

Input for emergency stop.

When this signal is enabled and pin 1 is not connected to pin 2, an

Emergency Stop Input error (alarm code 87) occurs. Set this signal to be enabled or disabled in the Emergency Stop Input Setting

(Pn041). (Factory default: Enable)

This external signal input latches the current value feedback pulse counter.

The position data is obtained the moment the input is turned ON.

Minimal signal width must be 1 ms or more.

This input is used as external general-purpose input 1.

When the Torque Limit Selection (Pn003) is set to 3 or 5, this signal input selects the torque limit.

Reverse Torque

Limit Input

Forward Drive

Prohibit Input

Reverse Drive

Prohibit Input

Origin Proximity

Input


Input 0

Forward, reverse drive rotation overtravel Input.

Pn004 chooses between enable and disable.

Pn044 sets the function assignment for pins 19 and 20.

Pn066 selects the operation.

Connect the origin proximity input signal in the origin search operation.

Pn042 changes the logic of the sensor.



Do not connect anything.







Not used

Not used

Not used

Not used

Not used


Connect a battery to these terminals as a backup when the absolute encoder is stopped. A cable with a battery is not required if a battery is connected to these terminals. (Backup voltage: 3.6 V)






45


CN1 Control Input Signal Connection Diagram

External power supply:

12 VDC

±

5% to

24 VDC

±

5%

Power supply capacity:

50 mA min. (per Unit)

To other input circuit ground commons

Signal Levels

ON level: 10 V min.

OFF level: 3 V max.

+24VIN 1

4.7 k

Ω


Note

Section 3-3

Photocoupler input




MECHATROLINK

.)




CN1 Control Output

Signals

29

30

31

32

36

35

Pin No.

15

16

Symbol

/ALM

ALMCOM

OUTM2

OUTM2COM

OUTM3

OUTM3COM

OUTM1

OUTM1COM

Name

Alarm Output

General-purpose Output 2 (READY)

General-purpose Output 3 (CLIM)

General-purpose Output 1 (BKIR)


The output is OFF when an alarm is generated in the Servo

Drive.

This is a general-purpose output. The function for this output is selected by changing the parameter.

Refer to Output Signal Assignment Details on the next page.

46


Section 3-3

■

Output Signal Assignment Details

Pn112 (General-purpose Output 1

Function Selection)





0

1

2

3

4

5

6

7

8

9

OUTM1 (General-purpose Output 1)



Not assigned No output. Always OFF.

INP1

VCMP

TGON

READY

CLIM

VLIM

BKIR

WARN

Positioning Completed 1 output assignment.

Speed Conformity Signal output assignment.

Servomotor Rotation Speed

Detection output assignment.

Servo Ready output assignment.

Current Limit Detection output assignment.

Speed Limit Detection output assignment.

Brake Interlock output assignment.

Warning Signal output assignment.

INP2 Positioning Completed 2 output assignment.

Control Output Circuits

Servo Drive

+

−

To other output circuits

X

Di

+

X


24 VDC

±

1 V

Maximum operating voltage: 30 VDC


−

Di

Di: Diode for preventing surge voltage

(Use high-speed diodes.)

3-3-4 W-series Servo Drive I/O Signals (R88D-WT

@

with FNY-NS115)

This section explains the I/O signals used between the PCU and a W-series

Servo Drive equipped with a FNY-NS115 MECHATROLINK-II I/F Unit.

Use the

OMNUC W Series User's Manual

together with this manual for information on I/O signals.


The following diagram shows the terminal arrangement of the W-series Servo

Drive's Control I/O Connector (CN1) when MECHATROLINK is being used with the Servo Drive's standard settings.




.

47


Section 3-3

1

---

2 -----

3 ---

4 -----

5

---

6 -----

7 ---

8 -----

9

---

10 -----

11 ---

12 -----

13

---

14 -----

15 ---

16 -----

17

---

18 -----

19

---

20

-----

21

22 BATGND Backup battery

−

input

23

24 -----

BAT

---

25 INP1

---

27 BKIR

---

29 READY

---

31

ALM

---

33 ---

---

35 ---

---

37 ---

---

39 ---

---

41 DEC

---

43 NOT

---

45 EXT2

Backup battery

+ input

47 +24VIN

---

49 ---

Positioning completed output 1

26 INP1COM

Brake interlock output

28 BKIRCOM

Servo ready output

30 READYCOM

Alarm output

32 ALMCOM

---

34 ---

---

36 ---

---

38 ---

---

External latch 2 input

40

Origin return deceleration LS input

Reverse drive prohibit input

42 POT

44 EXT1

46 EXT3

---

+24 VDC control power supply input

---

48

---

50 ---

Positioning completed output 1 common

Brake interlock output common

Servo ready output common

Alarm output common

---

---

---

Unused input

Forward drive prohibit input



---

---

Note

(1) Do not connect wiring to unused pins.

(2) Connect the control I/O signal cable's shield wire to the connector shell.

The connector on the Servo Drive side is connected to the FG (frame ground).


Name

Receptacle on Servo Drive Side

Soldered Plug on Cable Side

Case on Cable Side

Model

10250-52A2JL

10150-3000VE

10350-52A0-008

Manufacturer

Sumitomo 3M

Sumitomo 3M

Sumitomo 3M

48


Section 3-3


The following tables show the names and functions of the Servo Drive's control I/O signals.


Pin no.

40 ---

Signal Name

41 DEC

42 POT

43 NOT

44 EXT1

45 EXT2

46 EXT3

47 +24VIN


Not used.

Origin return deceleration

LS

Forward drive prohibit input (Positive overtravel)

Reverse drive prohibit input (Negative overtravel)




+24 VDC control power supply

This control input signal is not used with the standard settings.

Used as the origin proximity input signal during the origin search operation.

With the standard settings, the signal is enabled when ON.

Used as the forward limit input.

With the standard settings, the input is normally closed and operates as follows:

OFF: Drive prohibited ON: Drive allowed

Used as the reverse limit input.

With the standard settings, the input is normally closed and operates as follows


Input signal used for external interrupts.

Used as an external interrupt input signal during interrupt feeding or an external origin input signal during an origin search.


This is the input terminal for the +24 VDC control input power supply.

---

Control mode

Position

All modes

All modes

Position

All modes

Control Input Circuit

+24VIN

Servo Drive

3.3 k

47


24

±

1 VDC



40

3.3 k Photocoupler input (24 VDC, 7 mA)

Minimum ON time: 2 ms

To other input circuits GND common


•

Signal levels ON: Min. voltage (+24VIN

−

11 V)

OFF: Max. voltage (+24VIN

−

1 V)

Note




MECHATROLINK

.)



49


Section 3-3


CN1 Control Output Signals

Pin no.

Signal Name

25

26

27

28

INP1

INP1COM

BKIR

BKIRCOM

29

30

31

32

Shell FG

READY

READYCOM

ALM

ALMCOM



Servo ready output

Alarm output

Frame ground


The position deviation is less than positioning completion range 1 (Pn500). (This signal is always OFF in control modes other than position control mode.)

This is the holding brake timing signal that is output according to the settings in parameters Pn506, Pn507, and Pn508.

Turned ON if there are no errors after the control and main circuit power supplies are turned ON.

Control mode

Position

All modes

All modes

This output turns OFF when there is a Servo Drive alarm.

All modes

Use this terminal to connect the cable's shield and FG wire.

All modes

Control Output Circuit

Servo Drive

+

To other output circuit

X

See note.

−

Di


24

±

1 VDC

Voltage: 30 VDC max.

Output current: 50 mA max.

Di: Diode providing surge-voltage protection (Use a high-speed diode.)

Note

The circuit is equipped with an auto-resetting circuit breaker to protect the output. Even if an overcurrent trips the breaker, the breaker will reset automatically after a certain time elapses with no current. (Ver. 37 and later Servo

Drives are equipped with the auto-resetting circuit breakers.)

3-3-5 W-series Servo Drive I/O Signals (R88D-WN

@

-ML2 with

MECHATROLINK-II Built-in Communications)

This section explains the I/O signals used between the PCU and a W-series

Servo Drive equipped with built-in MECHATROLINK-II communications.

Use the

OMNUC W Series User's Manual

(Cat. No. I544) together with this manual for information on I/O signals.


When using W-series Servo Drives equipped with built-in MECHATROLINK-II communications, the default control I/O signal allocations are the standard

Servo Drive settings for using MECHATROLINK.

The following diagram shows the terminal arrangement of the W-series Servo

Drive's Control I/O Connector (CN1) when MECHATROLINK is being used with the Servo Drive's default settings.


50


Section 3-3

1 BKIR

(SO1+)

3

5

13

ALM

---

7 POT

9 DEC

11 EXT2

---


2 BKIRCOM

(SO1

−

)

Alarm output

4

ALMCOM

---

6 +24VIN

Forward drive prohibited


External latch

2 input

Unused input

8 NOT

10 EXT1

12 EXT3



.

Brake interlock output common

14 BAT

16

Alarm output common

18

24-VDC control power supply 20

Reverse drive prohibited

22

External latch

1 input

---

---

---

---

24 SO2

−

External latch

3 input

26 SO3

−

Backup battery

+ input

15 BATGND

---

17 ---

---

19 ---

---

21

---

23 SO2+

Unused output

Unused output

25 SO3+

---

Backup battery

−

input

---

---

---

Unused output

Unused output

Note

(1) Do not connect wiring to unused pins.

(2) Connect the control I/O signal cable's shield wire to the connector shell.

The connector on the Servo Drive side is connected to the FG (frame ground).

CN1 Connector (26 Pins)

Name



Case on Cable Side

Model

10226-52A2JL

10126-3000VE

10326-52A0-008

Manufacturer

Sumitomo 3M

Sumitomo 3M

Sumitomo 3M


Control Input Signals

6

Pin No.

Symbol

+24VIN

7 POT

Name


Forward drive prohibited

8

9

NOT

DEC

The following tables show the names and functions of the Servo Drive's control I/O signals.




This is the input terminal for the +24 VDC control input power supply.

Used as the forward limit input.

With the standard settings, the input is normally closed and operates as follows:


Used as the reverse limit input.

With the standard settings, the input is normally closed and operates as follows


Used as the origin proximity input signal during the origin search operation.


Control mode

All modes

All modes

All modes

Position

51


Section 3-3

10

11

12

Pin No.

13

Symbol

EXT1

EXT2

EXT3

---

Name Function/Interface

External latch 1 input Input signal used for external interrupts.



Used as an external interrupt input signal during interrupt feeding or an external origin input signal during an origin search.

Not used.


This control input signal is not used with the standard settings.

Control mode

Position

---

Control Input Circuit

+24VIN

Servo Drive

3.3 k

6


24

±

1 VDC



9

3.3 k Photocoupler input (24 VDC, 7 mA)

Minimum ON time: 2 ms

To other input circuits GND common


•

Signal levels ON: Min. voltage (+24VIN

−

11 V)

OFF: Max. voltage (+24VIN

−

1 V)

Note




MECHATROLINK

.)




Control Output Signals

1

2

3

4

Pin No.

Symbol

BKIR

(SO1+)

BKIRCOM

(SO1

−

)

ALM

ALMCOM

Name


Alarm output


This is the holding brake timing signal that is output according to the settings in parameters Pn506,

Pn507, and Pn508.

This output turns OFF when there is a Servo Drive alarm.

Control mode

All modes

All modes

52


Section 3-3

23

24

25

Pin No.

26

Shell

Symbol

SO2+

SO2

−

SO3+

SO3

−

FG

Name

General-purpose output

Frame ground


These control input signals are not used with the standard settings.

Control mode

All modes

Use this terminal to connect the cable's shield and

FG wire.

All modes

Control Output Circuit

Servo Drive

+

To other output circuit

X

See note.

−

Di


24

±

1 VDC



Di: Diode providing surge-voltage protection (Use a high-speed diode.)

Note

The circuit is equipped with an auto-resetting circuit breaker to protect the output. Even if an overcurrent trips the breaker, the breaker will reset automatically after a certain time elapses with no current.

3-3-6 SMARTSTEP Junior Servo Drive I/O Signals (R7D-ZN

@

-ML2 with

Built-in MECHATROLINK-II Communications)


Unit when using a SMARTSTEP Junior Servo Drive with Built-in MECHA-

TROLINK-II Communications.

Refer also to the

SMARTSTEP Junior Servo Drive with MECHATROLINK-II

Communications User’s Manual

(Cat. No. I554).

Terminal Arrangement of Control I/O Connector (CN1)

The default control I/O signal allocations for a SMARTSTEP Junior Servo

Drive with MECHATROLINK-II Communications are set to the standard Servo

Drive settings for using MECHATROLINK. The default pin arrangement of the control I/O connector (CN1) on the Servo Drive are shown below.

Only the I/O signals that are connected to the Position Control Unit are shown.

Refer to


for

the standard Servo Drive settings for using MECHATROLINK.

2

4

DEC

POT

Origin proximity input

Forward drive inhibit input

6 STOP Emergency stop input

1 EXT1 External latch signal

1 input

3 NOT Reverse drive inhibit input

5 +24VIN

+

24 VDC control power supply input

7 0GND Output ground common

9 ---

11 ---

---

---

13 BKIR Brake interlock output

8 ---

10 ---

12 ALM

14 ---

Note

(1) Do not connect unused pins.

---

---

Alarm output

---

53


Section 3-3

(2) Connect the shield in the control I/O signal cable to the connector hood.

At the Servo Drive connector, connect it to the FG (Frame ground).

CN1 Connector (14 Pins)

Name



Case on Cable Side

Model

10226-52A2JL

10126-3000VE

10326-52A0-008

Manufacturer

Sumitomo 3M

Sumitomo 3M

Sumitomo 3M


The names and functions of Servo Drive control I/O signals are given in the following table.


1

2

3

4

5

6

Pin

No.

Signal Name

EXT1

DEC

NOT

POT

+24VIN

STOP

External latch signal 1 input An external interrupt input signal.

Use as an external interrupt signal for interrupt feeding or as external origin input signal for origin searches. The signal is valid when ON.


Reverse drive inhibit input

The origin proximity input signal for origin searches.

The signal is valid when ON.

The limit input in the reverse direction.

This input operates as follows (i.e., like a NC contact):

OFF: Drive prohibited, ON: Drive enabled

Forward drive inhibit input

+24-V power supply input for control DC

Emergency stop input

mode

Position

All modes

All modes

The limit input in the forward direction.


OFF: Drive prohibited, ON: Drive enabled

The +24 VDC input terminal for the control input power supply.

An external input signal used to stop power supply to the motor.

This input is used when an error occurs to unlock the Servo from a host controller.


OFF: Power to motor stopped (Servo cannot be locked).

ON: Power can be supplied to motor

(Servo can be locked).

All modes

All modes

All modes

Control Input Circuits

3.3 k

Ω

24

±

1 VDC


3.3 k

Ω

Signal Levels: ON: (+24 VIN

OFF: (+24 VIN

−

−

11) V min.

1) V max.

54


Section 3-3

Note




MECHATROLINK

.)




(4) The SMARTSTEP Junior Servo Drive's emergency stop input stops the

Servomotor using software processing. If required for system safety, add a safety circuit in an external circuit.

CN1 Control Output Signals

7

Pin No. Signal

0GND

Name

Output ground common

12

13

Shell

ALM

BKIR

FG

Alarm output


Frame ground

Function/interface

The ground common for control output signals.

Turns OFF when an alarm occurs in the

Servo Drive.

Output as a timing signal for a holding brake when the Servo is locked or unlocked.

The connection point for the cable shield and FG line.

Control mode

All modes

All modes

All modes

All modes

Control Input Circuits

Servo Drive

12 ALM

Di

Maximum applicable voltage: 30 VDC


13 BKIR

Di

External power supply: 24

±

1 VDC

7 0GND

Di: Diode to suppress surge voltage

(Use a high-speed diode.)

Note

The circuit is equipped with an auto-resetting circuit breaker to protect the output. Even if an overcurrent trips the breaker, the breaker will reset automatically after a certain time elapses with no current.

55

Wiring

Section 3-4

3-4 Wiring

This section provides examples of the connections between the PCU and

Servo Drive as well as the Servo Drive's control I/O connections.

3-4-1 MECHATROLINK-II Communications Wiring

Use the special MECHATROLINK-II Connection Cable to connect the PCU and Servo Drive (MECHATROLINK-II I/F Unit).

Connection Cable

Use the following cables (made by Yaskawa Electric) to connect MECHA-

TROLINK-II devices.

Name

MECHATROLINK-II

Connection Cable

(USB connectors and ferrite cores on both ends)

Model number Cable length

JEPMC-W6003-A5 0.5 m

JEPMC-W6003-01 1.0 m

JEPMC-W6003-03 3.0 m

JEPMC-W6003-05 5.0 m

JEPMC-W6003-10 10 m

JEPMC-W6003-20 20 m

JEPMC-W6003-30 30 m

Manufacturer

Yaskawa Electric

Corporation

Terminators

Repeaters

Note

Make sure to connect the following Terminator at the end of the MECHA-

TROLINK-II communications line.

Name Model number Manufacturer

MECHATROLINK-II Terminator JEPMC-W6022 Yaskawa Electric Corporation

The wiring distance for the MECHATROLINK-II can be extended to a maximum of 100 m by using Repeaters.

Name

MECHATROLINK-II Repeater

Model number Manufacturer

JEPMC-REP2000 Yaskawa Electric Corporation

MECHATROLINK-II Connection Cables and Terminators can be ordered from

OMRON with the following model numbers.

Name

MECHATROLINK-II Connection

Cable (USB connectors and ferrite cores on both ends)

Yaskawa Electric Co. model number

JEPMC-W6003-A5

JEPMC-W6003-01

JEPMC-W6003-03

JEPMC-W6003-05

JEPMC-W6003-10

JEPMC-W6003-20


MECHATROLINK-II Repeater

JEPMC-W6003-30

JEPMC-W6022

JEPMC-REP2000

OMRON model number

FNY-W6003-A5

FNY-W6003-01

FNY-W6003-03

FNY-W6003-05

FNY-W6003-10

FNY-W6003-20

FNY-W6003-30

FNY-W6022

FNY-REP2000

56

Wiring

Section 3-4

MECHATROLINK-II Communications Connections

The following example shows a PCU connected with several Servo Drives with the MECHATROLINK-II Connection Cables.


9A

BCDE

L1 L2 Ln

NS115 NS115 NS115

Terminator

MECHATROLINK-II

Note

Connection Cable Length

Note

Note

When not using Repeaters, the maximum total length of the Connection

Cable (L1 + L2 + ... + Ln) is 50 m when using fewer than 16 axes or 30 m when using 16 axes.

The maximum total length of the Connection Cables depends on the number of MECHATROLINK devices (Servo Drives) being connected, as shown in the following table.

Repeaters Number of MECHATROLINK devices

Without

Repeaters

With

Repeaters

15 or fewer

16

Between PCU and Repeater

Between

Repeater and

Terminator

14 or fewer

15

Minimum cable length between devices

0.5 m min.

0.5 m min.

0.5 m min.

0.5 m min.

15 or fewer 0.5 m min.

16 0.5 m min.

Maximum total cable length

50 m max.

30 m max.

50 m max.

30 m max.

50 m max.

30 m max.

The number of devices in the table for when Repeaters are used does not include the Repeaters. For example, if using one MECHATROLINK device between the PCU and the Repeater and 15 MECHATROLINK devices between the Repeater and the Terminator, there will be 16 MECHATROLINK devices and the maximum total cable length is 100 m.

Always turn OFF the power supply to the PCU and Servo Drives before connecting or disconnecting MECHATROLINK-II Connection Cables or the Terminator.

57

Wiring

Section 3-4

3-4-2 Wiring the Servo Drive I/O Signals

The following example shows a Servo Drive's control I/O signal connections when a Position Control Unit is connected to a G5-series Servo Drive, a Gseries Servo Drive, a W-series Servo Drive, or a SMARTSTEP Junior Servo

Drive.

For details on connecting the Servo Drive to the power supply or Servomotor, refer to the Servo Drive operation manual.

Control I/O Connector (CN1) Connection Example

R88D-KN

@

-ML2 (Equipped with Built-in MECHATROLINK-II Communications)

12 to 24 VDC

Generalpurpose

Input 1

+24VIN

IN1

6

5

4.7k

Ω

1k

Ω

4.7k

Ω

Generalpurpose

Input 2

IN2

7

1k

Ω

4.7k

Ω

Generalpurpose

Input 3

IN3

8

1k

Ω

4.7k

Ω

Generalpurpose

Input 4

IN4

9

1k

Ω

4.7k

Ω

Generalpurpose

Input 5

1k

Ω

IN5

10

4.7k

Ω

Generalpurpose

Input 6

1k

Ω

IN6

11

4.7k

Ω

Generalpurpose

Input 7

1k

Ω

IN7

12

4.7k

Ω

Generalpurpose

Input 8

IN8

13

1k

Ω

10

Ω

3

4

/ALM

Alarm Output

ALMCOM

10

Ω

1

2

OUTM1


OUTM1COM

10

Ω

25

26

OUTM2


OUTM2COM

16

GND



Backup

Battery

(See note 1.)

BAT

14

BATGND

15

Shell

FG

58

Wiring

R88D-GN @ -ML2 (Equipped with Built-in MECHATROLINK-II Communications)

12 to 24 VDC

Emergency

Stop

External

Latch 3

External

Latch 2

External

Latch 1

Generalpurpose

Input 1

Forward

Torque

Limit Input

Reverse

Torque-

Limit Input

Forward

Drive Prohibit Input

Reverse


Origin

Proximity

Input

Generalpurpose

Input0

Generalpurpose

Input 2

+24VIN

STOP

EXT3

EXT2

EXT1

IN1

1

2

3

4

5

6

4.7 k

1k

4.7k

1k

4.7k

1k

4.7k

1k

4.7k

1k

4.7k

PCL

NCL

7

8

POT 19

1k

4.7k

NOT 20

1k

4.7k

1k

4.7k

1k

4.7k

DEC 21

1k

4.7k

IN0 22

1k

4.7k

1k

IN2 23

Section 3-4

15 /ALM

Alarm Output

16 ALMCOM

36 OUTM1


35 OUTM1COM

29 OUTM2


30 OUTM2COM

31 OUTM3


32 OUTM3COM

34

Backup Battery (See note 1.)

BAT

33

BATCOM

Shell

FG

Note

(1) If a backup battery is connected, a cable with a battery is not required.

(2) Inputs for pins 19 and 20 are determined by parameter settings. The diagram shows the default configuration.

59

Wiring

Section 3-4

R88D-WT

@

with FNY-NS115

The following example shows the connections when the standard I/O signal settings are being used.

24 VDC +24VIN 47

Not used.

40

3.3 k

Ω

3.3 k

Ω

Origin return deceleration LS

Forward drive prohibited signal

DEC

POT

41

42

3.3 k

Ω

3.3 k

Ω

3.3 k

Ω

3.3 k

Ω

Reverse drive prohibited signal




NOT

EXT1

EXT2

EXT3

43

44

45

46

3.3 k

Ω

3.3 k

Ω

3.3 k

Ω

3.3 k

Ω

3.3 k

Ω

3.3 k

Ω

3.3 k

Ω

3.3 k

Ω

25

26

27

28

INP1


INP1COM

BKIR


BKIRCOM

Max. voltage:

30 VDC

Max. output current:

50 mA

29

30

READY

Servo ready output

READYCOM

31

32

ALM

Alarm output

ALMCOM

Shell

FG

Frame ground

R88D-WN

@


24 VDC

Forward drive prohibited signal

POT

Reverse drive prohibited signal

Origin return

+24VIN deceleration LS

DEC

6

7

8

9


EXT1 10


EXT2 11


EXT3 12

Not used.

13

3.3 k

Ω

3.3 k

Ω

3.3 k

Ω

3.3 k

Ω

3.3 k

Ω

3.3 k

Ω

3.3 k

Ω

3.3 k

Ω

3.3 k

Ω

3.3 k

Ω

3.3 k

Ω

3.3 k

Ω

3.3 k

Ω

3.3 k

Ω

1

2

SO1+


SO1

−

23

24

SO2+

Not used.

SO2

−

25

26

SO3+

Not used.

SO3

−

Max. voltage:

30 VDC

Max. output current:

50 mA

3

4

ALM

Alarm output

ALMCOM

Shell

FG

Frame ground

60

Wiring

R7D-ZN

@


24 VDC

+24VIN

5

12

/ALM

Alarm output


EXT1

1

3.3 k

Ω


DEC

2

3.3 k

Ω

13

7

BKIR

Brake interlock

0GND

Reverse rotation drive prohibit NOT

3

3.3 k

Ω

Forward rotation drive prohibit

POT

4

3.3 k

Ω


STOP

6

3.3 k

Ω

Shell

FG

Frame ground

Section 3-4

Maximum operating voltage:

30 V DC


Note

When a Servo Drive is controlled through MECHATROLINK-II communications, software processes are used to stop the Servomotor when the corresponding PCU control signal is received, the Servo Drive's drive prohibited input signal is received, or an error occurs. Use an external fail-safe circuit

(outside of the Servo Drive), such as a circuit that disconnects the Servo

Drive's main power supply, to stop the system in an emergency.

Components Provided to Wire Control I/O Signals

The following components are provided to wire the Control I/O Connector

(CN1) on a G5-series, a G-series, W-series, or SMARTSTEP Junior Servo

Drive.

Control I/O Connector

(R88A-CNU01C)

This connector connects to the Control I/O Connector (CN1) on a G-series

Servo Drive (R88D- GN @ -ML2).

Use this connector when making your own control cable.

Dimensions

39


(R88A-CNU11C)

Connector Plug model

10136-3000PE (Sumitomo 3M)

Connector Case model

10336-52A0-008 (Sumitomo 3M) t = 18

This connector connects to the W-series Servo Drive’s Control I/O Connector

(CN1).


61

Wiring

Section 3-4

Dimensions

39


(R88A-CNW01C)

Connector Plug model

10150-3000VE (Sumitomo 3M)

Connector Case model

10350-52A0-008 (Sumitomo 3M) t = 18

This connector connects to the R88D-KN

@

-ML2 G5-series Servo Drive or the

R88D-WN

@

-ML2 W-series Servo Drive's Control I/O Connector (CN1).


Dimensions

39

Connector plug: 10126-3000VE (Sumitomo 3M)

Connector case: 10326-52A0-008 (Sumitomo 3M)


(R7A-CNA01R)

t = 14

This connector connects to the R7D-ZN @ -ML2 SMARTSTEP Junior Servo

Drive's Control I/O Connector (CN1).


39

Driver end

R7D-ZP @ t = 12.7

General-purpose Control

Cable (R88A-CPW

@

S)

This cable has a connector already attached, which connects to the R88D-

WT @ W-series Servo Drive's Control I/O Connector (CN1). There is no connector attached to the other end of the cable. Attach an appropriate connector to connect the desired I/O device in order to use the cable.

Standard Cables

Model

R88A-CPW001S

R88A-CPW002S

Length (L) Sheath diameter

1 m 12.8-mm dia.

2 m

Approx. weight

0.3 kg

0.6 kg

62

Wiring

Section 3-4

Connection Configuration and Dimensions

L

Controller

39

Servo Drive

R88D-WT @ t = 18

20

21

22

23

16

17

18

19

24

25

26

12

13

14

15

8

9

10

11

6

7

4

5

1

2

3

No.

Wire/Marking colors

Yellow/Black (

− − −

)

Pink/Black (

− − − −

)

Yellow/Red (

− − − − −

)

Pink/Red (

− − − −

)

Orange/Red (

−

)

Orange/Black (

−

)

Gray/Red (

−

)

Gray/Black (

−

)

White/Red (

−

)

White/Black (

−

)

Yellow/Red (

−

)

Yellow/Black (

−

)

Yellow/Black (

− − − − −

)

Pink/Black (

−

)

Pink/Red (

−

)

Orange/Red (

− − − − −

)

Orange/Black (

− − − − −

)

Pink/Red (

− − − − −

)

Gray/Red (

− −

)

Gray/Black (

− −

)

Gray/Red (

− − − − −

)

Gray/Black (

− − − − −

)

White/Red (

− − − − −

)

White/Black (

− − − − −

)

Orange/Red (

− −

)

Orange/Black (

− −

)

Wiring

Signal

---

---

---

---

---

---

---

---

---

INP1

INP1COM

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

27

28

29

30

31

32

33

34

35

36

37

38

39

40

41

42

43

44

45

46

47

48

49

50

No.

Wire/Marking colors

White/Red (

− −

)

White/Black (

− −

)

Yellow/Red (

− −

)

Yellow/Black (

− −

)

Pink/Red (

− −

)

Pink/Black (

− −

)

Orange/Red (

− − −

)

Orange/Black (

− − −

)

Gray/Black (

− − −

)

Gray/Red (

− − −

)

White/Red (

− − −

)

White/Black (

− − −

)

Yellow/Red (

− − −

)

Pink/Red (

− − −

)

Pink/Black (

− − −

)

Orange/Red (

− − − −

)

Orange/Black (

− − − −

)

Gray/Black (

− − − −

)

White/Red (

− − − −

)

White/Black (

− − − −

)

Gray/Red (

− − − −

)

Yellow/Red (

− − − −

)

Yellow/Black (

− − − −

)

Pink/Black (

− − − − −

)

Shell ---

Connector Plug model: 10150-3000VE (Sumitomo 3M)

Connector Case model: 10350-52A0-008 (Sumitomo 3M)

Cable: 24 AWG, 25 wire, UL20276

Note

Connector-Terminal Block

Cables (XW2Z-

@

J-B34)

(1) Wires with the same wire color and number of marks make up a twisted pair.

For example, the Orange/Red (

−

) and Orange/Black (

−

) wires make up a twisted pair.

(2) The I/O signals listed in the table above are applicable only when connecting to the PCU. Do not wire any unused signals.

This cable connects to the R88D-KN

@

-ML2 G5 series Servo Drive’s connector terminal block.

POT

NOT

EXT1

EXT2

EXT3

+24VIN

---

---

---

FG

BKIR

Signal

BKIRCOM

READY

READYCOM

---

---

---

---

---

---

---

---

---

(Not used.)

DEC

63

Wiring

Connector terminal block

XW2B-20G4

XW2B-20G5

XW2D-20G6

Section 3-4

Standard Cables

Model

XW2Z-100J-B34

XW2Z-200J-B34

Length (L)

1 m

2 m

Outer diameter of cable

8.0 dia.


6 L 39

Approx. weight

0.1 kg

0.2 kg

Servo Drive

R88D-KN @ t=14

11

12

13

14

7

8

9

10

5

6

3

4

No.

1

2

15

16

17

18

19

20

Connector on Connector Terminal Block

Name

+24V

0V

+24V

0V

+24V

0V

STOP

DEC

POT

NOT

EXT1

EXT2

EXT3

BATGND

BAT

BKIRCOM

BKIR

ALMCOM

ALM

FG

*Set the signal names of driver

connectors shown above.

Connector on Servo Drive (CN1)

No.

6

Name

+24VIN

15

14

2

1

4

3

Shell

8

10

11

12

5

9

7

STOP

DEC

POT

NOT

EXT1

EXT2

EXT3

BATGND

BAT

BKIRCOM

BKIR

ALMCOM

ALM

FG

Connector on Servo Drive

Connector Plug: 10126-3000PE (Sumitomo 3M)

Connector Case: 10326-52A0-008 (Sumitomo 3M)

Connector on Connector Terminal Block

Connector Socket: XG4M-2030 (OMRON)

Strain Relief: XG4T-2004 (OMRON)

Cable: AWG28 x 3P + AWG28 x 7C UL2464

64

Wiring

Section 3-4

Connector-Terminal Block

Cables (XW2Z-

@

J-B33)

Connector terminal block end

XW2B-20G4

XW2B-20G5

XW2D-20G6

This cable connects to the R88D-WN @ -ML2 G series Servo Drive’s connector terminal block.

Standard Cables

Model Approx. weight

XW2Z-100J-B33

XW2Z-200J-B33

Length (L)

1 m

2 m

Outer diameter of cable

8.0 dia.

0.1 kg

0.2 kg


6 L 39

Servo Drive end

R88D-GN @ t=18

Terminal block

Signal

+24VIN

0V

+24VIN

0V

+24VIN

0V

STOP

DEC

POT

NOT

EXT1

EXT2

EXT3

BATCOM

BAT

OUTM1COM

OUTM1

ALMCOM

/ALM

FG

No.

11

12

13

14

15

16

17

18

19

20

7

8

9

10

1

2

3

4

5

6

Connector Terminal Block

Cables (XW2Z-

@

Connector

No.

11

12

13

14

15

16

17

18

19

20

7

8

9

10

1

2

3

4

5

6

Wiring

Servo Drive

No.

1

Wire/mark color

Blue/Red (1)

Blue/Black (1)

Pink/Red (1)

Pink/Black (1)

Green/Red (1)

Signal

+24VIN

Green/Black (1)

2

21

19

20

5

4

3

33

34

Orange/Red (1)

Orange/Black (1)

Gray/Red (1)

Gray/Black (1)

Blue/Red (2)

Blue/Black (2)

Pink/Red (2)

Green/Red (2)

Green/Black (2)

35

36

Orange/Red (2)

Orange/Black (2)

16

15

Gray/Red (2)

Gray/Black (2)

Shell

Not specified.

STOP

DEC

POT

NOT

EXT1

EXT2

EXT3

BATCOM

BAT

OUTM1COM

OUTM1

ALMCOM

/ALM

FG

J-B15)

• Wires with the same wire color and the same number of marks form a twisted pair.

A pink/red (1) wire and pink/black (1) wire form a twisted pair.

Servo Drive Connector

Connector plug: 10136-3000PE (Sumitomo 3M)

Connector case: 10336-52A0-008 (Sumitomo 3M)

Terminal Block Connector

Connector socket: XG4M-2030 (OMRON)

Strain relief: XG4T-2004 (OMRON)

Cable

AWG28

×

10P UL2464

This cable connects to the R88D-WT

@

W-series Servo Drive’s connector terminal block.

Standard Cables

Model

XW2Z-100J-B15

XW2Z-200J-B15

Length (L)

1 m

2 m

Approx. weight

0.1 kg

0.2 kg

6


L 39


XW2B-20G4

XW2B-20G5

XW2D-20G6

Servo Drive end

R88D-WT @ t=18

65

Wiring

Section 3-4


XW2B-20G4

XW2B-20G5

XW2D-20G6

Note


Cables (XW2Z-

@

J-B16)

6

Wiring


Name

+24 V

0 V

+24 V

0 V

+24 V

0 V

DEC

POT

NOT

EXT1

EXT2

EXT3

BATGND

BAT

BKIRCOM

BKIR

ALMCOM

ALM

FG

14

15

16

17

18

19

20

9

10

11

12

13

6

7

8

3

4

5

No.

1

2

Servo Drive end

No.

47

Name

+24 VIN

22

21

28

27

32

31

Shell

41

42

43

44

45

46

DEC

POT

NOT

EXT1

EXT2

EXT3

BATGND

BAT

BKIRCOM

BKIR

ALMCOM

ALM

FG

Connector on Servo Drive End

Connector Plug: 10150-300VE (Sumitomo 3M)


Connector on Connector Terminal Block End



Cable: AWG28

×

3P + AWG28

×

7C UL2464

Signal names for the connector on the Servo Drive end are for standard I/O allocations.

This is the Connector Terminal Block Cable for W-series Servo Drives (R88D-

WN @ -ML2 with built-in MECHATROLINK-II communications).

Standard Cables

Model

XW2Z-100J-B16

XW2Z-200J-B16

Length (L)

1 m

2 m

Approx. weight

0.1 kg

0.2 kg


L 39

Servo Drive end

R88D-WN @ -ML2 t=14

66

Wiring

Section 3-4

Note


Cable (XW2Z-

@

J-B19)

Wiring


Name

+24 V

0 V

+24 V

0 V

+24 V

0 V

DEC

POT

NOT

EXT1

EXT2

EXT3

BATGND

BAT

BKIRCOM

BKIR

ALMCOM

ALM

FG

14

15

16

17

18

19

20

9

10

11

12

13

6

7

8

3

4

5

No.

1

2

Servo Drive end

No.

6

Name

+24 VIN

15

14

2

1

4

3

Shell

10

11

12

9

7

8

DEC

POT

NOT

EXT1

EXT2

EXT3

BATGND

BAT

BKIRCOM

BKIR

ALMCOM

ALM

FG

Connector on Servo Drive End

Connector Plug: 10126-300VE (Sumitomo 3M)


Connector on Connector Terminal Block End



Cable: AWG28

×

3P + AWG28

×

7C UL2464

Signal names for the connector on the Servo Drive end are for standard I/O allocations.

This is the Connector Terminal Block Cable for the SMARTSTEP Junior Servo

Drive Control I/O Connector (CN1).

Standard Cables

Model

XW2Z-100J-B19

XW2Z-200J-B19

Length (L) Outer diameter of cable Approx. weight

1 m

2 m

8 dia.

0.1 kg

0.2 kg


XW2B-20G4

XW2B-20G5

XW2D-20G6


6 L 39 t=12.7

Servo Drive end

R7D-Z @

67

Wiring

Connector-Terminal

Conversion Units

Section 3-4

Wiring

Terminal Block

Signal

+24VIN

+24VIN

+24VIN

EXT1

DEC

NOT

POT

STOP

0GND

BKIR

/ALM

Shield

11

12

13

14

15

16

17

18

19

20

No.

1

2

6

7

8

3

4

5

9

10

Connector

11

12

13

14

15

16

17

18

19

20

No.

1

2

6

7

8

3

4

5

9

10

No.

5

Servo Drive end

Wire code/Mark color

Signal

Blue/Red (

−

) +24VIN

1

4

8

2

3

9

10

11

6

7

13

14

12

Shell

Pink/Red (

−

)

Pink/Black (

−

)

Green/Red (

−

)

Green/Black (

−

)

Orange/Red (

−

)

Orange/Black (

−

)

Grey/Red (

−

)

Grey/Black (

−

)

Blue/Red (

− −

)

Blue/Black (

− −

)

Pink/Red (

− −

)

Pink/Black (

− −

)

Green/Red (

− −

)

Shield

EXT1

DEC

NOT

POT

STOP

0GND

BKIR

/ALM

FG

Connector at Connector Terminal Block

Connector Socket: XG4M-2030

Strain Relief: XG4T-5004

Cable: AWG28-10P UL20276

Connector at Servo Drive

Connector Plug: 10114-3000PE (Sumitomo 3M)


The Connector-Terminal Block Conversion Unit can be used along with a

Connector Terminal Block Cable (XW2Z-

@

J-B15/B16/B19/B33/B34) to convert the control I/O connector (CN1) of a G5-series Servo Drive, G-series

Servo Drive, W-series Servo Drive, or SMARTSTEP Junior Servo Drive to a terminal block.

XW2B-20G4

The XW2B-20G4 is an M3 Screw Terminal Block.

68

Wiring

Note

Section 3-4

Dimensions

3.5

29.5

5.08

Flat cable connector (MIL plug)

67.5

3.5

20

19

19

20

15.5

Two,

3.5-dia.

45

Terminal Block

20.5

38.1

(45.3)

(1) Use 0.30 to 1.25 mm

2

wire (AWG22 to AWG16).

(2) The wire inlet is 1.8 mm (height)

×

2.5 mm (width).

(3) Strip the insulation from the end of the wire for 6 mm as shown below.

6 mm

XW2B-20G5

The XW2B-20G5 is an M3.5 Screw Terminal Block.

Two, 3.5-dia.

Dimensions

3.5

7

112.5

Flat cable connector (MIL connector)

3.5

7

8.5

7.3

Terminal block

• Terminal block pitch: 8.5 mm

69

Wiring

Note

Section 3-4

(1) When using crimp terminals, use crimp terminals with the following dimensions.

(2) When connecting wires and crimp terminals to a terminal block, tighten them with a tightening torque of 0.59 N·m.

Round Crimp Terminals

Fork Terminals

3.2-mm dia.

6.8 mm max.

Applicable Crimp Terminals

Round Crimp

Terminals

1.25-3

2-3.5

Fork Terminals 1.25Y-3

2-3.5

3.7 mm

6.8 mm max.

Applicable Wires

AWG22-16

(0.3 to 1.25 mm

2

)

AWG16-14

(1.25 to 2.0 mm

2

)

AWG22-16

(0.3 to 1.25 mm

2

)

AWG16-14

(1.25 to 2.0 mm

2

)

XW2D-20G6

The XW2D-20G6 is an M3 Screw Terminal Block.

A1 A2 A3 A4 A5 A6 A7 A8 A9 A10

B1 B2 B3 B4 B5 B 6 B7 B

8 B9

B10

Dimensions

79

57

Two, 4.5-dia.

(39.1)

17.6

Note

39

(1) When using crimp terminals, use crimp terminals with the following dimensions.

70

Wiring

Section 3-4

+24V

0V

(2) When connecting wires and crimp terminals to a terminal block, tighten them with a tightening torque of 0.7 N·m.

Round Crimp Terminals

3.2-mm dia.

Fork Terminals

5.8 mm max.

Applicable Crimp Terminals

Round Crimp

Terminals

1.25-3

Fork Terminals 1.25Y-3

3.2 mm

5.8 mm max.

Applicable Wires

AWG22-16

(0.3 to 1.25 mm

2

)

AWG22-16

(0.3 to 1.25 mm

2

)

The following diagrams show typical connections between a host device and

Servo Drives using a MECHATROLINK-II communications cable.

■

G5-series Servo Drives

Terminal Block Wiring Example (Same for XW2B-20G4, XW2B-20G5, and

XW2D-20G6)

+24V +24V STOP POT EXT1 EXT3 BAT

*1

BKIR ALM

0V 0V DEC NOT EXT2 BATGND BKIRCOM ALMCOM FG

*2

XB

*3

X1

DC24V DC24V

■

G-series Servo Drives

Terminal Block Wiring Example (Same for XW2B-20G4, XW2B-20G5, and

XW2D-20G6)

(See note 3.)

+24 V +24 V +24 V STOP POT EXT1 EXT3 BAT OUTM1 /ALM

0 V

0 V 0 V

DEC NOT EXT2

BAT

COM

OUTM1

COM

ALM

COM

FG

(See note

1.)

X1 XB

(See note 2.)

24 VDC

Note

24 VDC

(1) Absolute encoder backup battery 3.6 to 4.5 V

(2) The XB contacts are used to turn ON/OFF the electromagnetic brake.

(3) Assign BKIR (brake interlock) to CN1-36 pin to use.

(4) The absolute encoder backup battery is not required when using a Servomotor with an incremental encoder.

71

Wiring

Section 3-4

+24 V

0 V

+24 V

0 V

(5) Connect the absolute encoder backup battery to only one of either the connector terminal block or absolute encoder backup battery cable.

(6) Use cable clips with double-sided adhesive tape to secure the absolute encoder backup battery in place.

■

W-series Servo Drives

Terminal Block Wiring Example (Same for All Models; with Standard

Settings for I/O Allocations)

+24 V Not used POT EXT1 EXT3

BAT

BKIR ALM

0 V

DEC NOT EXT2

BAT

GND

BKIR

COM

ALM

COM

FG

X X

24 VDC

24 VDC

Note

(1) Absolute Encoder Backup Battery: 2.8 to 4.5 V

When using a motor with an absolute encoder, connect a backup battery to one of the following: The Servo Drive for the R88D-WT @ , the battery cable for the R88D-WN

@

-ML2, or the Connector Terminal Block.

(2) Do not connect anything to unused terminals.

Terminal Block Wiring Example (XW2B-20G4, XW2B-20G5, and XW2D-

20G6)

1

+24 V +24 V +24 V EXT1 NOT

2

0 V 0 V 0 V DEC POT

STOP BKIR ALM

19

0GND FG

20

Note

XB X

24 VDC 24 VDC

(1) Use a maximum of 300 mA total for the 24-VDC inputs.

(2) Do not use inputs other than sensor inputs.

72

Wiring

Wiring Precautions

Section 3-4

Terminal Block Signal Names

Terminal Block

Signal

+24VIN

+24VIN

+24VIN

EXT1

DEC

NOT

POT

STOP

0GND

BKIR

/ALM

Shield

10

11

12

13

14

15

16

17

18

19

20

7

8

9

4

5

6

No.

1

2

3

The electronic control devices may malfunction due to noise from nearby power supply lines, external loads, or other sources.

Malfunctions caused by noise can be troublesome because it can be difficult to recreate the situation and to identify the noise source.

Use the following methods to eliminate malfunctions due to noise and improve the system's reliability.

• When selecting wiring components, use wires or cables that meet or exceed the specifications listed in the Servo Drive User's Manual.

• Wire the control lines (communications lines, external I/O signal lines, etc.) separately from the power lines (AC power supply lines and motor power lines). Do not wire these lines together in the same duct or bundle them together.

• Use shielded cables for the control lines.

• Use the specified special cables to connect the PCU and Servo Drives.

• Always connect surge suppressors to nearby inductive loads (relays or solenoids).

DC relay

+

AC relay

DC

RY

Surgesuppressing diode

AC

RY

Surge suppressor

−

Solenoid

SOL Surge suppressor

(Example: Okaya Electric CR-50500 or equivalent)

73

Wiring

Note

Section 3-4

Connect surge-suppressing diodes or surge suppressors close to relays. Use surge-suppressing diodes with a dielectric strength of at least 5 times the circuit voltage.

• Noise may be transferred through the power line if there is nearby equipment that generates high-frequency noise or the power supply is shared with equipment such as an electric welder or electric discharge equipment. In this case, insert a noise filter in the power supply input line.

• Connect to a ground of 100

Ω

or less and use the thickest possible wire, greater than 1.25 mm

2

.

• Twisted-pair cable is recommended for power lines.

74

SECTION 4

Data Areas

This section provides an overview of the parameter and data settings used in Position Control Unit operation and provides information on memory allocations.

4-1 Overall Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-2 Data Areas. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-3 Common Parameter Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-3-1 Common Parameters Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-3-2 Common Parameter Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-4 Axis Parameter Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-4-1 Axis Parameters Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-4-2 Axis Parameter Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5 Servo Parameter Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5-1 G5-series Servo Drive (R88D-KN

@

-ML2 with Built-in

MECHATROLINK-II Communications) . . . . . . . . . . . . . . . . . . . . .

4-5-2 G-series Servo Drive (R88D-GN @ -ML2 with Built-in


4-5-3 W-series Servo Drives (R88D-WT

@

with FNY-NS115) . . . . . . . . .

4-5-4 W-series Servo Drive (R88D-WN @ -ML2 with Built-in


4-5-5 SMARTSTEP Junior Servo Drive (R7D-ZN

@

-ML2 with Built-in


4-6 Common Operating Memory Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-6-1 Common Operating Memory Area Overview . . . . . . . . . . . . . . . . .

4-6-2 Common Operating Memory Area Words . . . . . . . . . . . . . . . . . . . .

4-7 Axis Operating Output Memory Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-7-1 Axis Operating Output Memory Area Overview . . . . . . . . . . . . . . .

4-7-2 Axis Operating Output Memory Area Allocations. . . . . . . . . . . . . .

4-7-3 Axis Operating Output Memory Area Priority . . . . . . . . . . . . . . . . .

4-8 Axis Operating Input Memory Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-8-1 Axis Operating Input Memory Area Overview . . . . . . . . . . . . . . . .

4-8-2 Axis Operating Input Memory Area Allocations . . . . . . . . . . . . . . .

4-8-3 Axis Control Status Flags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-8-4 Servo Status Flags. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-8-5 External I/O Status Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-8-6 Expanded Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

104

116

132

151

96

97

101

101

76

79

96

102

104

194

194

195

200

206

211

212

185

185

186

190

174

179

179

181

75

Overall Structure

Section 4-1

4-1 Overall Structure

The PCU is used by exchanging data with the CPU Unit as shown in the following diagram.

CPU Unit PCU

Servo Drive

CPU Bus Unit Area

Common Operating

Memory Area

(Output)

(Input)

I/O refresh

Operating commands

Status

Communications cycle

Commands

Settings

Status

User-specified words

Axis Operating

Memory Areas

(Output)

(Input)

Servo parameter transfer data

Data transfer

Operating commands

Status

Status/Data

Servo

Parameters

(RAM)

Command execution

User-specified words

(for data transfer)

Common parameter area

Axis parameter area

PCU's Internal Memory

Common parameters

Axis parameters

Save data

Servo parameters

(non-volatile memory)

Result

Flash memory

76


Section 4-1

The data handled by the PCU can be classified into the following six types.

Data name

Common

Parameter Area

Axis Parameter

Areas

Servo Parameter Area

Common Operating Memory

Area

Axis Operating

Output Memory

Areas

Axis Operating

Input Memory

Areas

Contents

This area contains the parameters for basic setting of PCU operation, such as allocation of the Axis

Operating Memory Areas and


The common parameters must be set to use the PCU.

These areas contain the parameters for axis control settings, such as the origin input signal selection and origin search method.

Setting area

PCU's internal memory

(The parameter settings can be saved in the

PCU's flash memory.)

PCU's internal memory


PCU's flash memory.)

Enable timing

The settings saved in the PCU are enabled when read to the PCU internal memory at power ON or restart.

These parameters are for setting

Servo Drive operation.

This area is for settings for common PCU operations, such as communications control and transferring common parameters. The status of these operations is also input to this area.

These areas are for settings and operations of axis operation, such as positioning/speed commands and operating commands for direct operation, origin search, and jogging.

These areas are used to input status information for axis operations, such as present position and axis operation status.

Servo Drive's internal memory


Servo Drive's internal non-volatile memory.)

CPU Unit's CPU Bus Unit

Area

CPU Unit's memory area set in the common parameters.

CPU Unit's memory area set in the common parameters.

The settings saved in the PCU are read to the PCU internal memory at power

ON or restart.

When the settings are written, they are refreshed immediately and are enabled after they have been written.

Online Servo Parameters are enabled as soon as they are written, and offline

Servo parameters are enabled after the

Servo Drive power is turned OFF and

ON again, or after executing DEVICE

SETUP.

Data is updated with every I/O refresh of the CPU Unit.

The set data is enabled and used with the startup of each operation.


The set data is enabled and used with the startup of each operation.


Using these data/parameter settings, the PCU executes operation (1) using the operation settings specified in the common parameters, axis parameters, and Servo parameters (2) based on operating commands received from the

Axis Operating Memory Areas.

The common parameters, axis parameters, and certain Servo parameters are the basic settings for the PCU and the axes to be controlled. Therefore, these settings must be set when using the PCU. Make the settings for other data/ parameters according to the kind of operation required.

77


Section 4-1

PCU Setting Procedure

1

2

3

4

MECHA-

TROLINK communications in progress

Step

Set unit number.

Set common parameters.

Set axis parameters.

Operation

Set the unit number on the unit number setting switch and turn ON the power to the PCU.

Write the common parameters to the

PCU and save them in the internal flash memory using the WRITE DATA and SAVE DATA Bits in the Common


After saving the common parameters, restart the PCU or cycle the power to enable the parameters.

Write the axis parameters to the PCU and save them in the internal flash memory using the WRITE DATA and

SAVE DATA Bits in the Common Operating Memory Area. (These parameters are set at the same time as the common parameters.)

Result

The Common Operating Memory Area starts from the beginning word obtained using the following equation: n = CIO 1500 + (unit No. × 25)

The axes being used (scan list) and MECHA-

TROLINK communications settings are determined. The Axis Operating Output/Input

Memory Areas for the axes to be used are allocated.

The settings of the origin search operation and other parameters for the axes to be used are determined.

Start MECHA-


Start MECHATROLINK communications using the CONNECT Bit in the


5 Set Servo parameters.

Write the Servo parameters using the

WRITE SERVO PARAMETER Bit and

SAVE SERVO PARAMETER Bit in the

Axis Operating Output Memory Areas.

Read the Servo parameters using the

READ SERVO PARAMETER Bit in the

Axis Operating Input Memory Areas.

6 Operate axes. Start operating axes using the bits in the Axis Operating Output Memory

Areas.

Monitor the status of axes using the


When MECHATROLINK communications start, the axes are operated according to the bits in the Axis Operating Output Memory Areas and the status of the axes can be monitored using the bits in the Axis Operating Input Memory

Areas. Subsequent operations are performed with MECHATROLINK communications in progress.

The settings for each axis or each Servo Parameter are transferred. The transferred online parameters are enabled when writing is completed, and transferred offline parameters are enabled when the Servo Drive power is cycled or DEVICE SETUP is executed.

Commands are executed and status information is obtained when the PLC’s I/O is refreshed.

78

Data Areas

Section 4-2

4-2 Data Areas

The following tables provide the bit/word addresses for the parameters and data handled by the PCU. For further details, refer to the relevant sections.

Only the Servo parameters for applicable models are listed here. For details on Servo parameters, refer to the operation manual for the model being used.

Common Parameter Area

PCU's internal address

1838 hex

1839 hex

183A hex

183B hex

Name

Area allocations

183C hex Scan list

183D hex

183E hex

183F hex

1840 hex

1841 hex

1842 hex

1843 hex

1844 hex to

1855 hex

1856 hex

1857 hex


MECHA-

TROLINK communications setting

15 to 12

Transfer cycle

00 (fixed)

11 to 08

Bits

07 to 04 03 to 00

Axis Operating Output Memory Area designation

Beginning word of Axis Operating Output Memory Area

Axis Operating Input Memory Area designation

Beginning word of Axis Operating Input Memory Area

Axis 2 allocation

Axis 4 allocation

Axis 6 allocation

Axis 8 allocation

Axis 1 allocation

Axis 3 allocation

Axis 5 allocation

Axis 7 allocation

Axis 10 allocation

Axis 12 allocation

Axis 14 allocation

Axis 16 allocation

Set to 0000.

Axis 9 allocation

Axis 11 allocation

Axis 13 allocation

Axis 15 allocation


C2 master connection

Number of communications retries

1858 hex to

185F hex


Set to 0000.

Axis Parameter Area


1860 hex

1861 hex

Name

15 to 12 11 to 08

Axis 1 Input signal selection Origin input signal selection

Operation mode selection

Origin search direction

Origin search preset

0 (fixed)

Origin detection method

0 (fixed) 1862 hex

1863 hex to

1873 hex

1874 hex

1875 hex

1876 hex

1877 hex to

1887 hex

1888 hex to

189B hex


Set to 0000.

Axis 2 Input signal selection Origin input signal selection





0 (fixed)

Set to 0000.

0 (fixed)


Axis 3 Same as above Same as above

Bits

07 to 04 03 to 00

Interrupt input signal selection

Origin search operation

0 (fixed)


0 (fixed)

0 (fixed)

Encoder type


0 (fixed)

Encoder type

79

Data Areas

Section 4-2


189C hex to

18AF hex

18B0 hex to

18C3 hex

18C4 hex to

18D7 hex

Name

Axis 4 Same as above



18D8 hex to

18EB hex

18EC hex to 18FF hex

1900 hex to

1913 hex

1914 hex to

1927 hex





15 to 12

Same as above

Same as above

Same as above

Same as above

Same as above

Same as above

Same as above

11 to 08

1928 hex to

193B hex

Axis 11 Same as above Same as above

193C hex to

194F hex

1950 hex to

1963 hex

1964 hex to

1977 hex

1978 hex to

198B hex





Same as above

Same as above

Same as above

Same as above

198C hex Axis 16 Input signal selection Origin input signal selection

198D hex Operation mode selection




198E hex

198F hex to

199F hex


0 (fixed)

Set to 0000.

0 (fixed)

Bits

07 to 04 03 to 00



0 (fixed)

0 (fixed)

Encoder type

Servo Parameter Area

The following table provides information on the parameters for the main functions of the PCU that are described in this manual when using an R88D-WT @

OMRON W-series Servo Drive together with a FNY-NS115 MECHATROLINK-

II I/F Unit or an R88D-WN

@

-ML2 W-series Servo Drive with built-in MECHA-

TROLINK-II communications. A list of other parameters, G5-series Servo

Drive parameters, G-series Servo Drive parameters, and SMARTSTEP Junior

Servo Drive parameters are provided in


. For further details on each of the parameters, refer to the operation manuals for

OMRON G5-series Servo Drive, G-series Servo Drives, W-series Servo

Drives, SMARTSTEP Junior Servo Drives, and Yaskawa JUSP-NS115

MECHATROLINK-II I/F Unit.

The default settings for parameters Pn000 to Pn601 in the parameter tables for the R88D-WT @ W-series Servo Drive used with the FNY-NS115 are automatically set to the default parameter settings used when the FNY-NS115

MECHATROLINK-II I/F Unit is mounted to a W-series Servo Drive. Parameters from Pn800 onwards are enabled when the FNY-NS115 is installed. The parameter names and default settings used for these parameters follow those specified in the FNY-NS115 operation manual.

For details on information provided in the Enable Setting and Details columns, refer to


.

80

Data Areas

Section 4-2

Function Selection Parameters

■

R88D-WT

@

and R88D-WN

@

-ML2

Parameter No.

Parameter name

Pn001 Function selection application switch

1

2

Parameter size

0

Digit

No.

Name

Select stop if an alarm occurs when

Servomotor is

OFF

Contents

0

Setting

1

1

2

Select stop when prohibited drive is input

2

0

1

2

Explanation

Servomotor stopped by dynamic brake.

Dynamic brake OFF after Servomotor stopped.

Servomotor stopped with free run.

Stop according to

Pn001.0 settings

(release Servomotor after stopping)

Stop Servomotor using torque set in

Pn406, and lock

Servomotor after stopping.


Pn406, and release


---

2

0

0

Default setting


2

2

3

0

Select AC/DC power input

Select warning code output

Torque command input change (during speed control)

---

---

0

1

--1

1

2

3

2

3

Speed command input change (during torque control)

0

1

Operation switch when using absolute encoder

0

1

Fully-closed encoder usage method

---

Option command values not used.

Option command value 1 used as the torque limit input.

Option command value 1 used as the torque feed forward input.

Option command values 1 and 2 used as the torque limit input according to the forward/reverse rotation current limit setting.

Option command value not used.

Option command value 1 used as speed limit input.

Use as absolute encoder.

Use as incremental encoder.

---

0

0

0

0

---

---

---

---

---

---

---

---

---

---

---

---

Unit Setting range

Enable setting

Details

---

---

---

---

---

---

---

---

---

---

---

---

Offline ---

Offline ---

Offline ---

Offline ---

Offline ---

Offline ---

Offline ---

Offline ---

Position Control Parameters

■

R88D-WT

@

Parameter No.

Parameter name Parameter size

2 Pn202 Electronic gear ratio G1

(numerator)

Pn203 Electronic gear ratio G2

(denominator)

2

Explanation

Set the pulse rate for the command pulses and Servomotor travel distance.

0.01

≤

G1/G2

≤

100

4

1

Default setting

Unit

---

---

Setting range

Enable setting

Details

1 to 65535 Offline ---


81

Data Areas

Section 4-2

■

R88D-WN

@

-ML2

Parameter No.

Parameter name

Pn20E Electronic gear ratio G1

(numerator)

Pn210 Electronic gear ratio G2

(denominator)

Parameter size

4

4

Explanation

Sets the pulse rate for the command pulses and Servomotor movement distance.

0.01

≤

G1/G2

≤

1000

4

1

Default setting

Unit

---

---

Setting range

Enable setting

Details

1 to

1073741824

Offline ---

1 to

1073741824

Offline ---

Speed Control Parameters

■

R88D-WT

@

and R88D-WN

@

-ML2

Parameter No.


2 Pn305 Soft start acceleration time

Pn306 Soft start deceleration time

2

Explanation

Sets acceleration time during speed control soft start.

Sets deceleration time during speed control soft start.

0

0

Default setting

Unit

ms ms

Setting range

Enable setting

Details

0 to 10000 Online ---

0 to 10000 Online ---

Torque Control (Torque Limit) Parameters

■

R88D-WT

@

and R88D-WN

@

-ML2

Parameter No.

Parameter name

Pn402 Forward torque limit

Parameter size

2

Pn403 Reverse torque limit

Pn404 Forward rotation external current limit

2

Pn405 Reverse rotation external current limit

2

Pn406 Emergency stop torque

Pn407 Speed limit

2

2

2

Explanation Default setting

Forward rotation output torque limit

(rated torque ratio).

Reverse rotation output torque limit

(rated torque ratio).

Output torque limit during input of forward rotation current limit (rated torque ratio).

Output torque limit during input of reverse rotation current limit (rated torque ratio).

Deceleration torque when an error occurs (rated torque ratio).

Sets the speed limit in torque control mode.

350

350

100

100

350

3000

Unit

%

%

%

%

%

Setting range

0 to 800

0 to 800

0 to 800

0 to 800

0 to 800

Enable setting

Details

Online ---

Online ---

Online ---

Online ---

Online --r/min 0 to 10000 Online ---

I/O and Status Parameters

■

R88D-WT

@

Parameter No.

Parameter name

Parameter size

2

Contents

Digit

No.

Name Setting

Explanation

Sets the range of positioning completed.

Pn500 Positioning completion range 1

Pn502 Rotation speed for motor rotation detection

Pn503 Speed conformity signal output width


2

2

2

Sets the rotation speed for the Servomotor rotation detection output (TGON).

Sets the allowable fluctuation range (rotation speed) for the Speed Conformity Flag.

Sets the proximity range for the Positioning Proximity

Flag.

Default setting

3

20

10

3


Enable setting

Details

Command unit

0 to 250 Online r/min 1 to

10000

Online

---

--r/min 0 to 100 Online ---

Command unit

1 to 250 Online ---

82

Data Areas

Section 4-2

Parameter No.

Pn50A

Parameter name

Parameter size


2 0

Digit

No.

Name

Not used.

1

2

3

Not used.

Not used.

POT (forward drive prohibited input) signal Input terminal allocation

Contents

Setting

1

Explanation

(Do not change the setting.)

1

Default setting

---

8

8

0

1

2

3

4

5

6

7

8

9

A

B

C

D

E

F



8

8

Allocated to CN1, pin 40: Valid for low input







Always valid.

Always invalid.

Allocated to CN1, pin 40: Valid for high input







8


Enable setting

Details

---

---

---

---

---

---

---

---

---

Fixed setting:

1

Fixed setting:

8

--Fixed setting:

8

Offline Standard setting:

2

83

Data Areas

Section 4-2

Parameter No.

Pn50B

Pn50E

Pn50F

Parameter name

Parameter size


Output signal selection 1


2

2

2

0

Digit

No.

1

2

3

0

1

2

3

0

1

2

3

VCMP (speed conformity) signal output terminal allocation

TGON (Servomotor rotation detection) signal output terminal allocation

READY (Servomotor warmup complete) signal output terminal allocation

CLIMT (current limit detection) signal output terminal allocation

VLIMT (speed limit detection) signal output terminal allocation

BKIR (brake interlock) signal output terminal allocation

WARN (warning) signal output terminal allocation

Name

NOT (reverse drive prohibited) signal input terminal allocation

Not used.

Contents

Setting

Explanation

0 to F Same as Pn50A.3

8

8 (Do not change the setting.)

Default setting

8

---

---


---

---


5 -----

Enable setting

Details


3

--Fixed setting:

8

Offline Fixed setting:

8

PCL (forward rotation current limit) signal input terminal allocation

NCL (reverse rotation current limit) signal input terminal allocation

INP1 (positioning completed

1) signal output terminal allocation

0 to F

0

1

Same as Pn50A.3

Not used.

Allocated to CN1, pins 25, 26

6

1

2

3



0 to 3 Same as Pn50E.0

1

---

---

---

---

---

---

Offline

Offline

Fixed setting:

8

Standard setting:

1

0 to 3

0 to 3

0 to 3

0 to 3

0 to 3

0 to 3

Same as Pn50E.0

Same as Pn50E.0

Same as Pn50E.0

Same as Pn50E.0

Same as Pn50E.0

Same as Pn50E.0

2

3

0

0

0

0

---

---

---

---

---

---

---

---

---

---

---

---


0

Offline

Offline

Offline

Offline

Offline

Offline

Standard setting:

0

Standard setting:

3

Standard setting:

0

Standard setting:

0

Standard setting:

2

Standard setting:

0

84

Data Areas

Section 4-2

Parameter No.

Pn510

Pn511

Parameter name

Parameter size



2

2

0

Digit

No.

1

2

3

0

1

2

3

Name



Not used.

Contents

Setting

Explanation


0

Default setting

Not used.

Not used.

0

0

0




0

0

0


8 DEC (origin return deceleration limit switch) signal input terminal allocation

EXT1 (external latch 1 input) signal input terminal allocation


(0 to 3 and 9 to C are always disabled.)

8







8

8


---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

Enable setting

Details


0

---

---

---

---

---

---


1


4


5


6

■

R88D-WN

@

-ML2

Parameter No.

Parameter name

Parameter size

Digit

No.

Name

Contents

Setting

Explanation

Sets the number of rotations for the Servomotor rotation detection output (TGON).



2

2

Default setting

20

Sets the allowable fluctuation (number of rotations) for the speed conformity output (VCMP).

10


Enable setting

Details

r/min 1 to 10000 Online --r/min 0 to 100 Online ---

85

Data Areas

Section 4-2

Parameter No.

Pn50A

Parameter name

Input signal selections 1

Parameter size

2

Digit

No.

0

Name

Not used.

1 Not used.

Contents

Setting

1

Explanation


1

Default setting

Unit

---


8 ---

---

---

Pn50B Input signal selections 2

2

2

3

0

1

2

3

Not used.


8

POT (forward drive prohibited input) signal

Input terminal allocation

0

1

2

3

4

5

6

7

8

9

A

B

C








Always enabled.

Always disabled.





1

NOT (reverse drive prohibited input) signal


Not used.

8

D

E



F Allocated to CN1, pin 12: Valid for high input

0 to F Same as Pn50A.3.

2

8

Not used.

Not used.

8

8




8

8

---

---

---

---

---

---

Setting range

Enable setting

Details

---

---

---

---

---

---

---

---

Fixed setting:

1

Fixed setting:

8

--Fixed setting:

8


1

Offline

---

---

---

Standard setting:

2

---

---

---

86

Data Areas

Section 4-2

Parameter No.

Pn50E Output signal selections 1

2

Pn50F Output signal selections 2

2

Pn510 Output signal selections 3

2

Pn511

Parameter name


Parameter size

2

Digit

No.

0

Name

Contents

Setting



2

0

1

3

Explanation

Not used.

Allocated to CN1 pins 1, 2



1

2

3

0

1

0


0 to 3 Same as Pn50E.0.

0

TGON (servomotor rotation detection) signal output terminal allocation

READY (servo ready) signal output terminal allocation



0


0


0



0

Default setting

Unit

---

---

---

---

---

---

2

3

0

1

2

3

0





Not used.



0


0

0

1

0

Not used.

0



0

Not used.

DEC signal input terminal allocation


0


3

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

Setting range

Enable setting

Details

Offline

Offline

Offline

Offline

Offline

Offline

Offline

Standard setting:

0

Standard setting:

0

Standard setting:

0

Standard setting:

0

Standard setting:

0

Standard setting:

0

Standard setting:

1

Offline Stan-

Offline

---

---

--dard setting:

0

---

---

---

---

1

2

3

EXT1 signal input terminal allocation









4

5

6

---

---

---

---

---

---


3


4


5


6

87

Data Areas

Section 4-2

Parameter No.

Parameter name

Parameter size

4

Digit

No.

Name

Contents

Setting

Explanation

Setting range for positioning completed range Pn522 Positioning completed range 1

Pn524 Positioning completed range 2

4 Setting for proximity range for the Positioning Proximity Flag.

3

3

Default setting

Unit

Command unit

Command unit

Setting range

0 to

1,073,741,8

24

Online ---

1 to

1,073,741,8

24

Enable setting

Details

Online ---

88

Data Areas

Section 4-2

Control Function Parameters

■

R88D-WT

@

and R88D-WN

@

-ML2)

Parameter No.

Parameter name

Pn800 Communications control

Parameter size

2 0

Digit

No.

Name

MECHA-

TROLINK-II communications check mask

Contents

0

Setting

1

1

2

2

3

Warning check mask

0

1

2

3

4

5

6

7

Explanation

Detects both communications errors

(A.E6) and synchronization errors

(A.E5).

Ignores communications errors

(A.E6).

Ignores synchronization errors

(A.E5).

Ignores both communications errors


(A.E5).

Detects parameter setting warnings

(A.94), MECHA-

TROLINK command warnings

(A.95), and communications errors

(A.96).

Ignores parameter setting warnings

(A.94).

Ignores MECHA-

TROLINK-II command warnings

(A.95).

Ignores both parameter setting warnings (A.94) and MECHA-


(A.95).


(A.96).

Ignores both parameter setting warnings (A.94) and communications errors (A.96).

Ignores both

MECHATROLINK-

II command warnings (A.95) and communications errors (A.96).


(A.94), MECHA-



(A.96).

---

0

4

0

Default setting

3

Communications error count at single transmission

Not used.

---

--(Do not change the setting.)

0

---

---

---

---


Enable setting

Details

---

---

---

---

Online Always set to 0.

Online Always set to 4 or 0.

Online ---

-----

89

Data Areas

Section 4-2

Parameter No.

Pn801

Parameter name

Function selection application (software limits)

Parameter size

2 0

Digit

No.

Name

Software limit function

Contents

Setting

0

1

2

1

2

3

Not used.

Software limit check using references

Not used.

3

---

0

1

---

Explanation

Default setting

Software limit enabled.

Forward software limit disabled.

Reverse software limit disabled.

Software limit disabled in both directions.


No software limit check using references.

Software limit check using references.


(See note.)

0

0

0

---

---

---

---


Enable setting

Details

---

---

---

---

Online

---

Online

---

---

---

Always set to 0.

---

Note

R88D-WT @ with FNY-NS115: 0

R88D-WN @ -ML2: 3

Parameter No.

Pn803

Pn804

Pn806

Pn80A

Zero point width

Forward software limit

Reverse software limit

Pn808 Absolute encoder zero point position offset


Pn80B Second-step linear acceleration constant

2

Pn80C

Parameter name


Parameter size

2

4

4

4

2

Contents Default setting

Unit

Sets the detection range for the Origin Stop Flag.

Sets the forward software limit.

Sets the reverse software limit.

Sets the offset for the mechanical origin from the absolute encoder's absolute value data.

Sets the first-step acceleration speed for the acceleration/deceleration curve used in position control.

10 Command unit

819,191,808 Command unit

−


0 Command unit

100 ×10,000 command units/s

2

Setting range

0 to 250

Enable setting

Online ---

−

1,073,741,823 to

1,073,741,823

−

1,073,741,823 to

1,073,741,823

−

1,073,741,823 to

1,073,741,823

Online ---

Online ---

Offline ---

1 to 65535

2

Sets the second-step acceleration speed for the acceleration/deceleration curve used in position control.

Sets the speed for switching between firststep and second-step acceleration for the acceleration/deceleration curve used in position control.

100

0

×10,000 command units/s

×100 command units/s

2

1 to 65535

0 to 65535

Details

Online Settings can be changed when the axes are stopped

(Busy Flag for each axis = 0).





90

Data Areas

Section 4-2

Parameter No.

Pn80D

Pn80F

Pn810

Pn811

Pn812

Parameter

bias

name


Pn80E Second-step linear deceleration constant

2


Exponential acceleration/ deceleration

Exponential acceleration/ deceleration time constant

Movement average time

Pn814 Final travel distance for external positioning

Parameter size

2

Contents Default set-

Sets the first-step deceleration speed for the acceleration/deceleration curve used in position control.

100

ting

2

2

2

2

4

Sets the second-step deceleration speed for the acceleration/deceleration curve used in position control.

Sets the speed for switching between firststep and second-step deceleration for the acceleration/deceleration curve used in position control.

Sets the exponential acceleration/deceleration bias speed for the acceleration/deceleration curve used in position control.

Sets exponential acceleration/deceleration time constant for the acceleration/deceleration curve used in position control.

Sets the S-curve acceleration/deceleration moving average time for the acceleration/deceleration curve used in position control.

Sets the final travel distance for external positioning when performing interrupt feeding using direct operation.

100

0

0

0

0

100

Unit Setting range Enable setting

Details



2


2

Command units/s

×

×

0.1 ms

0.1 ms

Command unit

1 to 65535

1 to 65535

0 to 65535

0 to 32767

0 to 5100











0 to 5100

−

1,073,741,823 to

1,073,741,823





91

Data Areas

Section 4-2

Parameter No.

Parameter name

Pn816 Zero point return mode setting

2

Parameter size

0

Digit

No.

Contents

Name Setting

Zero point return direction

0

1

Explanation

Forward

Reverse

Default setting

0

Unit

-----

---

Setting range Enable setting

---

Online

---

Details

Set the same direction as the origin search direction set in the

Axis

Parameters.

Settings can be changed when the axes are stopped


---

Pn817 Zero point return approach speed 1

2

1 to 3 Not used. --(Do not change the setting.)

Sets the origin (zero point) input signal search speed used after the origin proximity signal has been detected in an origin search.

0

50


Pn819 Final travel distance to return to zero point

2

4

Sets the origin (zero point) return final travel distance positioning speed used after the origin input signal has been detected in an origin search.

Sets the amount of compensation positioning used after the origin input signal has been detected in an origin search.

5

100

×

100 command units/s

×

100 command units/s

Command unit

0 to 65535

0 to 65535

−

1,073,741,823 to

1,073,741,823







Note

The parameters for backlash compensation are different for the R88D-WT

@ and R88D-WN

@

-ML2.

■

R88D-WT

@

Parameter No.

Parameter name

Parameter size

2

Contents

Digit

No.

Name Setting

Explanation

Sets the amount of backlash compensation.

Pn81B Backlash compensation amount

Pn81D Compensation function selection

2 0 Backlash compensation selection

0

1

1 to 3 Not used.

---

Default setting

0

Compensates in forward direction.

Compensates in reverse direction.


0

0

---

---


Enable setting

Details

×

0.1 command unit

−

32,768 to

32,767

Online ---

---

---

Offline ---

-----

92

Data Areas

Section 4-2

■

R88D-WN

@

-ML2

Parameter No.

Parameter name

Parameter size

Pn207 Position control settings 2

2

Pn214 Backlash compensation amount

Pn215 Backlash compensation time constant

2

2

0

1

2

Digit

No.

Name

Contents

Not used.

0

Setting

Not used.

1

Explanation



Backlash compensation selection

0

1

Disabled

Compensates to forward rotation side.

2 Compensates to reverse rotation side.

--3 INP 1 output timing

---

Mechanical system backlash amount (the mechanical gap between the drive shaft and the shaft being driven)

0

1

0

0

0

Default setting

---

---

---

---


---

---

---

---

Command unit

−

32767 to

32767

Enable setting

---

---

Details

---

---

Offline ---

Offline ---

Online ---

Sets the backlash compensation time constant.

0

×

0.01 ms 0 to

65535

Online ---

Common Operating

Memory Area

Beginning word of Common Operating Memory Area: n = CIO 1500 + (unit number

×

25) n

Word

n+1

15

Not used (reserved by the system).

REJOI

N (See note.)

14 13 12 11


10 09

n+9 n+10 n+11 n+12 n+13 n+14 n+15 n+2 n+3 to n+5 n+6 n+7 n+8 n+16

Axes to connect (See note.)


Number of write words

Write source area

Write source word


Number of read words

Read source address

Read destination area

Read destination word


Not used

(reserved by the system).

Connection

Status

Flag

Data

Transferring

Flag

Unit

Busy

Flag

Not used


Not used


Unit

Error

Flag

Memory

Card transfer error



Reserved by the system. n+17 to n+20 n+21 Unit error code

08

Name

07

READ

BACK-

UP

DATA

06

WRITE

BACK-

UP

DATA

05 04 03

SAVE

DATA


02

READ

DATA

01 00

WRITE

DATA

UNIT

ERROR

RESET

CON-

NECT

93

Data Areas

Section 4-2

Word

n+22 n+23 n+24

15 14 13 12

Axis communications status


Note

11 10 09 08

Name

07 06 05 04 03 02 01 00

The REJOIN Bit and the Axes to Connect parameter are supported for unit version 2.0 or later. The allocated bit and word are not used for earlier unit versions.

Axis Operating

Output Memory Areas

Beginning Word of Axis Operating Output Memory Areas: a = Beginning word of Axis Operating Output Areas specified in Common

Parameters + (Axis No.

−

1)

×

25 a+10 a+11 a+12 a+13 a+14 a+15 a+16 a+6 a+7 a+8 a+9 a+2 a+3 a+4 a+5 a

Word

a+1

15

DE-

CEL-

ERA-

TION

STOP

EMER-

GEN-

CY

STOP

14 13 12 11 10 09 08

Name

07

Override Enable Bit

DEVIA-

TION

COUN-

TER

RE-

SET

(See note 4.)

SAVE

SER-

VO PA-

RAME-

TER

READ

SER-

VO PA-

RAME-

TER

ER-

ROR

RESET

WRITE

SER-

VO PA-

RAME-

TER

Not used


DE-

VICE

SETUP

Direction designation

JOG PRESENT

POSI-

TION

PRESET

ORI-

GIN

RE-

TURN


Position command value

06 05

ORIGIN

SEARCH

INTER-

RUPT

FEED-

ING

04 03 02 01 00

RELA-

TIVE

MOVE-

MENT

ABSO-

LUTE

MOVE-

MENT

Not used


LIN-

EAR

INTER-

POLA-

TION

START

(See note 1.)

LINEAR

INTER-

POLA-

TION

SET-

TING

(See note 1.)

TORQUE

CON-

TROL

SPEED

CON-

TROL

SER-

VO UN-

LOCK

SER-

VO

LOCK a+17 a+18 a+19 a+20 a+21

Speed command value (for position control)

Speed command value (for speed control)

Torque command value

Option command value 1


Override


Reverse rotation current limit

Forward rotation current limit


Servo Parameter No.

Parameter size

Write data (Servo Parameters)


Monitor 2 type

S-curve designation

Monitor 1 type

Exponential curve designation


a+22 Not used (reserved by the system).

Interpolation axis designation (See note 3.)

Interpolation position designation

(See note 3.)

Interpolation axis designation (See note 2.)


(See note 2.) a+23 a+24

Interpolation speed command value (See note 1.)

Note

(1) Allocated in Axis Operating Output Memory Areas for axis 1 and axis 5 for Position Control Unit Ver. 1.1 or later. These bits are not used in the

Axis Operating Output Memory Areas for other axes.

(2) Allocated in Axis Operating Output Memory Area for axis 1 for Position

Control Unit Ver. 1.1 or later. These bits are not used in the Axis Operating Output Memory Areas for other axes.

94

Data Areas

Section 4-2


Control Unit version 1.1 or later. These bits are not used in the Axis Operating Output Memory Areas for other axes.

(4) The DEVIATION COUNTER RESET can be used with unit version 1.3 or later. This bit is not used for earlier unit versions. b+4 b+5 b+6 b+7 b+8 b+9 b+10 b+11 b+12 b+13 b+14 b+15 b+16 to b+23 b+24

Axis Operating Input

Memory Areas

b

Word

b+1

15 14 13

Stop

Execution

Flag

Servo

Parameters

Transferring

Flag

Busy

Flag


Reverse

Software

Limit

Flag

12

Error

Flag

Forward

Software

Limit

Flag

Beginning Word of Axis Operating Input Memory Areas: b = Beginning word of Axis Operating Input Areas specified in Common


−

1)

×

25

11

Warning

Flag

Positioning

Proximity

Flag/

Speed

Limit

Status

Flag

Name

10 09 08 07

Axis Control Status Flags

06


Origin

Stop

Flag

No Origin

Flag

05

PCU

Positioning

Completed

Flag

Servo Status Flags (status particular to Servo Drive)


Torque

Limit

Status

Flag

Distribution

Completed

Flag/

Zero

Speed

Flag

Position

Completed

Flag/

Speed

Conformity Flag


04

Main

Power

ON

Flag

03

Servo

ON

Flag

02 01 00

Not used (reserved by the system). Receiving

Command

Flag


b+2 b+3




(See note

2.)

Brake output

External I/O Status Bits

External latch signal

3 input


2 input


1 input

Encoder

Phase

Z input

Encoder

Phase

B input

Encoder

Phase

A input




Axis error code



Command present position

Monitor 1

Monitor 2

Read data (Servo Parameters)



Linear interpolation executing

(See note

1.)


Monitor 2 type Monitor 1 type

Linear interpolation setting completed

(See note

1.)

Note

(1) Allocated in Axis Operating Input Memory Areas for axis 1 and axis 5 for

Position Control Unit Ver. 1.1 or later. These bits are not used in the Axis

Operating Output Memory Areas for other axes.

(2) The emergency stop input status is input only for SMARTSTEP Junior

Servo Drives. This status is not used (reserved by the system) by W-series Servo Drives.

95

Common Parameter Area

Section 4-3

4-3 Common Parameter Area

Common Parameters are used for basic settings for operating the PCU, such as allocation of the Axis Operating Memory Areas and settings for MECHA-

TROLINK communications. The common parameters must be set when using the PCU.

4-3-1 Common Parameters Overview

Common Parameters are transferred to the PCU's internal memory using the data transfer command and saved in the PCU's flash memory using the SAVE

DATA command. After setting and saving the Common Parameters, either cycle the power to the CPU Unit, or restart the PCU. This operation will enable the set parameters. The Common Parameter Area is used to set the following information.

PCU's address

1838 hex

1839 hex

Bits 08 to 15

Contents

Bits 00 to 07


Beginning word of Axis Operating Output

Memory Areas

183A hex Axis Operating Input Memory Area designation

183B hex Beginning word of Axis Operating Input

Memory Areas

183C hex to

1843 hex

1856 hex

Scan list

Transfer cycle Communications cycle

Setting

Specifies the area allocated for the Axis Operating Output

Memory Areas.

0000 hex: No setting

00B1 hex: Work Area

00B0 hex: CIO Area

00B2 hex: Holding Area

00B3 hex: Auxiliary Area 0082 hex: DM Area

0050 to 0059, 005A, 005B, 005C hex:

EM Area (5 @ : @ = EM Bank No.)

Specifies the beginning word of the Axis Operating Output

Memory Areas.

The beginning word of the Operating Output Memory Area for

Axis 1 is determined by the Axis Operating Output Memory

Area designation and the word determined using this parameter. Each Axis is allocated 25 words in sequence from this word.

Specifies the allocated area and beginning word for the Axis

Operating Input Memory Areas.

The setting method is the same as for the Axis Operating Output Memory Areas.

Sets the axis allocations for axes 1 to 16 with 8 bytes per axis, as follows:

00 hex: Axis not used (default setting)

40 hex: Allocates axis to the Servo Drive.

Transfer cycle:

00 hex: 1 ms (default setting)

01 hex: 1 ms 02 hex: 2 ms 03 hex: 3 ms

04 hex: 4 ms 05 hex: 5 ms 06 hex: 6 ms

07 hex: 7 ms 08 hex: 8 ms A2 hex: 0.25 ms

A5 hex: 0.5 ms

Communications cycle:

Sets a multiplier used to obtain integer multiples of the transfer cycle.

Set value: 00 to 20 hex

The default setting 00 is the same as when the cycle is set to

3.

Set as follows:

Transfer cycle x communications cycle (multiplier)

≤

32 ms

96


Section 4-3

PCU's address

1857 hex

Bits 08 to 15

00 (fixed)

Contents

Bits 00 to 07

Setting

07 to 04 03 to 00 C2 master connection:

C2 master con-

Number of com-

0: No C2 master (default setting)

1: C2 master connected nection munications

Number of communications retries:

Set value: 0 to 7, F retries The default setting 0 is the same as when the number of retries is set to 1.

4-3-2 Common Parameter Details

The data set in the Common Parameter Area is as follows:

Unit address

1838 hex

1839 hex

183A hex

183B hex

Name


Beginning word of Axis Operating Output Memory Areas


Beginning word of Axis Operating Input Memory

Areas

Enable timing

At powerup or restart.

Data configuration

1838 hex

15

1839 hex

08 07 00


Beginning word of Axis Operating Output Memory

Areas

Data setting range

00B0 to 00B3, 0082,

0050 to 005C hex

0000 to 7FFF hex

Default

0000

0000

183A hex

183B hex


Beginning word of Axis Operating Input Memory

Areas

00B0 to 00B3, 0082,

0050 to 005C hex

0000

0000 to 7FFF hex 0000

Data Details Axis Operating Output Memory Area Designation

Specifies the words allocated for the Axis Operating Output Memory Areas.

0000 hex:

00B0 hex:

00B1 hex:

No setting (default setting)

CIO Area

Work Area

00B2 hex:

00B3 hex:

Holding Area

Auxiliary Area

0082 hex: DM Area

0050 to 0059, 005A, 005B, 005C hex:

EM Area (005 @ hex: @ = EM Bank No.)

Beginning Word of Axis Operating Output Memory Areas

Specifies the beginning word of the Axis Operating Output Memory Areas.

The Axis Operating Output Memory Area designation and the word determined using this parameter are used as the beginning word of the Operating Output Memory Area for Axis 1. Each axis is allocated 25 words in sequence up to the highest axis number registered in the scan list.

97


Section 4-3

Axis

No.

Axis 1

Axis 2

Axis 3

Axis 4

:

Axis 14

Axis 15

Axis 16

MECHATROLINK station address No.

No. 1

No. 2

No. 3

No. 4

:

No. 14

No. 15

No. 16

Axis Operating Output Memory

Area Allocations

Axis 1

Operating

Output

Memory Area

Axis 2

Operating

Output

Memory Area

Axis N

Operating

Output

Memory Area

Axis 16

Operating

Output

Memory Area

Word a+0

Word a+1

:

Word a+24

Word a+25

Word a+26

:

Word a+49

Word a+(N

−

1)

×

25

Word a+(N

−

1)

×

25+1

:

Word a+(N

−

1)

×

25+24

Word a+375

Word a+376

:

Word a+399


Allocations

Axis 1

Operating

Input Memory

Area

Axis 2

Operating

Input Memory

Area

Axis N

Operating

Input Memory

Area

Axis 16

Operating

Input Memory

Area

Word b+0

Word b+1

:

Word b+24

Word b+25

Word b+26

:

Word b+49

Word b+(N

−

1)

×

25

Word b+(N

−

1)

×

25+1

:

Word b+(N

−

1)

×

25+24

Word b+375

Word b+376

:

Word b+399 a: Beginning word of Axis Operating Output Memory Areas specified in Common Parameters.

b: Beginning word of Axis Operating Input Memory Areas specified in Common Parameters.

Note

Axis Operating Input Memory Area Designation:

Specifies the words allocated for the Axis Operating Input Memory Areas.

The setting method is the same as for the Axis Operating Output Memory

Areas.

Beginning Word of Axis Operating Input Memory Areas:

Specifies the beginning word of the Axis Operating Input Memory Areas.

The setting method is the same as for the Axis Operating Output Memory

Areas.

(1) Set the beginning word of the Axis Operating Output Memory Areas and

Axis Operating Input Memory Areas in the Common Parameters so that the words allocated to each area do not exceed the upper limit of the range for each of the CPU Unit's I/O memory areas.

CPU Unit I/O Memory Areas

CIO Area: CIO 0000 to CIO 6143

Work Area: W000 to W511

Holding Area: H000 to H511

Auxiliary Area: A000 to A959

DM Area: D00000 to D32767

EM Area: E @ _00000 to E @ _32767 ( @ = EM Bank No.)

The maximum set value for the beginning word of the Axis Operating Output/Input Memory Area is calculated as follows:

Maximum number of words in each area

−

Highest axis No. registered in scan list

×

25 + 1

(2) If the setting exceeds the range of the I/O memory area, an Initialization

Common Parameter Check Error (Unit error code 0028) will occur when the PCU power is turned ON or the Unit is restarted.

Example:

Beginning word of the Axis Operating Output Memory Area: CIO 6100

Connected axes: 2 min.

Axis 1: Output Area: CIO 6100 to CIO 6124


The highest word in the CIO Area is CIO 6143. Therefore, an error will occur.

(3) If the ranges set for the Axis Operating Output Memory Area and Axis Operating Input Memory Area overlap, an Initialization Common Parameter

98


Section 4-3

Check Error (Unit error code 0028) will occur when the PCU power is turned ON or the Unit is restarted.

(4) Do not set the bank number of the EM Area that is being saved to file memory in the CPU Unit. When the EM Area for the bank saved to file memory has been specified, the information in the Operating Data Area will not be reflected, resulting in a malfunction. If multiple PCUs are mounted to a single PLC, make sure that the Operating Data Areas do not overlap. The PCU will not detect an error if the Operating Data Areas overlap, which may result in a malfunction.

Setting Example

CPU Unit

I/O memory

CIO 100

25 words:

Axis 1

CIO 125

25 words:

Axis 2

CIO 500

25 words:

Axis 1

CIO 525

25 words:

Axis 2

PCU

Common Parameters

Axis Operating Output Memory Area setting

1838 hex 00B0 (hex) : CIO Area

1839 hex 0064 (hex) : CIO 100

Function as Axis Operating Output Memory

Areas

CIO 100 to CIO 124: Axis 1

CIO 125 to CIO 149: Axis 2

etc.

Axis Operating Input Memory Area setting

183A (hex) 00B0 (hex) : CIO Area

183B (hex) 01F4 (hex) : CIO 500

Function as Axis Operating Input Memory

Areas

CIO 500 to CIO 524CH: Axis 1

CIO 525 to CIO 549CH: Axis 2

etc.

Details

Refer to

6-2-2 Scan List and PCU Area Allocations

.

Unit address

183C hex to

1843 hex

Scan list

Name Enable timing

At powerup or restart.


183C hex

15 08 07 00

Axis 2 allocation Axis 1 allocation


00 or 40

Default

0000

183D hex 00 or 40 0000


183E hex 00 or 40 0000


183F hex 00 or 40 0000


1840 hex 0000

1841 hex

1842 hex

1843 hex

00 or 40



00 or 40


00 or 40


00 or 40

0000

0000

0000

99


Data Details

Setting Example

Details

Data Details

Section 4-3

Set the allocations for the MECHATROLINK devices connected to the PCU.

Make the following settings using eight bits per axis for axes 1 to 16.

00 hex: Axis not used (no allocation).

40 hex: Axis allocated to the Servo Drive.

Up to 16 axes can be allocated for the CS1W/CJ1W-NCF71, up to 2 axes can be allocated for the CS1W/CJ1W-NC271, and up to 4 axes can be allocated for the CS1W/CJ1W-NC471. An error will occur if you allocate more axes than your Unit supports.

In this example, axes 1 to 3, axis 5, and axis 8 are allocated to the Servo

Drive. (The axis number corresponds to the station number for the MECHA-

TROLINK device.)

183C hex: 4040 hex

183D hex: 0040 hex

183E hex: 0040 hex

183F hex: 4000 hex

1840 to 1843 hex: 0000 hex

Refer to

6-2-1 Scan List

.

Unit address

1856 hex to

1857 hex

Name

MECHATROLINK communications setting

Enable timing

At Powerup or restart


1856 hex

15

Transfer cycle

1857 hex

00 (fixed)

08 07 04 03 00 Data setting range



No. of communications retries

Transfer cycle: 00 to

08, A2, A5

Communications cycle: 00 to 20 hex

C2 master connection: 0, 1

No. of communications retries: 0 to 7, F

Default

0000

0000

This parameter is used to make the settings for MECHATROLINK communi-

cations. For details on settings, refer to

6-2-3 MECHATROLINK Communications Settings

.

Transfer Cycle

This parameter is used to set the cycle for sending and receiving data with


00: 1 ms (default setting)

01: 1 ms 05: 5 ms

02: 2 ms

03: 3 ms

04: 4 ms

06: 6 ms

07: 7 ms

08: 8 ms

A2 hex: 0.25 ms A5 hex: 0.5 ms

Communications Cycle

This parameter sets the cycle for refreshing data in the PCU and MECHA-

TROLINK device. The communications cycle is set in the Common Parameters by setting the factor used to obtain integer multiples of the transfer cycle.


The default setting 00 is the same as when the cycle is set to 3. The communications cycle, however, is set as follows:

Transfer cycle

×

communications cycle (multiplier)

≤

32 ms

100

Axis Parameter Area

Setting Example

Section 4-4

Number of Communications Retries

This parameter is used to set the maximum number of stations that will perform communications retries when sending/receiving data between the PCU and MECHATROLINK devices.

Set value: 0 to 7, F

The default setting 0 is the same as when the number of retries is set to 1.

When F is specified, the number of retires is 0 (no retries).

C2 Master Connection

This parameter is used to set whether a separate communications master is connected to the PCU for MECHATROLINK system support. This parameter will be used for connecting future system support devices. Do not change the default setting of 0 (no C2 master).


1: C2 master connected

Default Settings

1856 hex: 0000 hex

1857 hex: 0000 hex

The MECHATROLINK communications settings are as follows:

Transfer cycle: 1.0 ms


×

3 (1.0 ms

×

3 = 3.0 ms)

Number of communications retries: 1

There is no C2 master.

Refer to


.

Details

4-4 Axis Parameter Area

The Axis Parameter Area is used to make settings for axis control, such as origin input signal selection and origin search method. The axis parameters for the axes to be used must be set.

4-4-1 Axis Parameters Overview

Axis Parameters are transferred to the PCU's internal memory using the data transfer command and saved in the PCU's flash memory using the SAVE

DATA command. Turn ON the power to the CPU Unit again, or restart the PCU to read the Axis Parameters saved in flash memory to the PCU's internal memory.

The Axis Parameters can be changed at any time by sending the WRITE

DATA command to the PCU. The changed parameters are enabled as soon as the data has been written without any errors. The addresses in the PCU's internal memory allocated for Axis Parameters are determined by the axis number of each axis using the following equation.

Beginning word of Axis Parameter Area for Axis N: d = 1860 hex + (N

−

1)

×

14 hex (N = 1 to 16)

The following table lists the beginning word of each Axis Parameter Area.

Axis No.

Axis 1

Axis 2

Axis 3

Axis 4

Beginning word d

1860 hex

1874 hex

1888 hex

189C hex

Axis No.

Axis 5

Axis 6

Axis 7

Axis 8


18B0 hex

18C4 hex

18D8 hex

18EC hex

Axis No.

Axis 9

Axis 10

Axis 11

Axis 12


1900 hex

1914 hex

1928 hex

193C hex

Axis No.

Axis 13

Axis 14

Axis 15

Axis 16


1950 hex

1964 hex

1978 hex

198C hex

101


Section 4-4

PCU's address

d d+1 d+2

15 to 14 13 12

Contents

Origin input signal selection

11 to 08 07 to 04 03 to 00


Setting

Select the origin input signal and interrupt input signal.

00: Phase Z (default setting)

01: External latch signal 1 input



0 (fixed) Set the origin search operation. 0 (fixed) Origin search preset





0: Reversal mode 1 (default setting)

1: Reverse mode 2

2: Single-direction mode

3: Reversal mode 3 (See note.)

Origin detection method (See note.)

0: With origin proximity input signal reversal

(default setting)

1: Without origin proximity input signal reversal

2: Not use origin proximity input signal


0: Forward (default setting)

1: Reverse

Origin search preset (See note.)

0: Not Set (default setting)

1: Set

0 (fixed) 0 (fixed) 0 (fixed) Encoder type

0: Incremental encoder (default setting)

1: Absolute encoder

Note

The reversal mode 3 setting for the origin search operation, the origin detection method, and the origin search preset can be used only with Position Control Units with unit version 2.0 or later. They cannot be used with Position

Control Units with unit version 1.3 or earlier.

For details on transferring data, refer to

SECTION 5 Transferring and Saving

Data

.

4-4-2 Axis Parameter Details

The data set in the Axis Parameter Area is as follows: d = 1860 hex + (Axis No.

−

1)

×

14 hex d

Unit address

Input signal selection

Name Enable timing

After completion of data writing

Data Details

d


15


08 07 00



Origin input signal selection: 00 to 03

Interrupt input signal selection: 00 to 03

Default

0000

Origin Input Signal Selection

Use this parameter to select the origin input signal to be used with origin search.

00: Phase Z




102


Setting Example

Details

Data Details

Note

Section 4-4

Interrupt Input Signal Selection

Select the interrupt input signal used for interrupt feeding.

00: Phase Z




(1) When 01, 02, or 03 (external latch signals 1 to 3) is selected in the origin input signal selection/interrupt input signal selection, the external latch signal to be used must be allocated in the Servo Drive's external input allocations. (Refer to


MECHATROLINK

.)

(2) When using a SMARTSTEP Junior Servo Drive, only 00 (phase Z) and

01 (external latch signal 1) can be used for the origin input signal selection and interrupt input signal selection. Do not select any other input signals.

In this example, the origin search is performed using the Servomotor's phase

Z as the origin input, and external latch signal 2 as the interrupt input signal for interrupt feeding.

Beginning word of Axis Parameter Area for axis 4: d = 1860 hex + (4

−

1)

×

14 hex = 189C hex

189C hex: 0002 hex = Origin input signal selection: Phase Z (00 hex); Interrupt input signal selection: External latch signal 2 (02 hex)

Refer to

8-2 Origin Search Operation

, and


.

d = 1860 hex + (Axis No.

−

1)

×

14 hex

Unit address

d+1, d+2

Name


Enable timing

After completion of data writing


d+1

15 12 11 08 07 04 03 00 Data setting range

d+2

Default

0 (fixed)

Origin search method


0 (fixed)

Bit 12: Origin search direction

Bit 13: Origin search preset

00 (fixed) 0 (fixed)

Encoder type

Origin search operation: 0 to 3

Origin detection method: 0 to 2

Origin search direction: 0, 1


: 0, 1

Encoder type: 0, 1

0000

0000

Use there parameters to make the operation mode settings (origin search operation mode) for each axis of the PCU. The bits specified as “0/00 (fixed)” are reserved by the system in the PCU and must always be set to 0. For details on settings, refer to

8-2-3 Data Settings Required for Origin Search

,

and

8-6-3 PCU Data Settings for Using Absolute Encoders

.

Origin Search Operation

Select the origin search operation pattern. For details on operation patterns, refer to


.

103

Servo Parameter Area

Setting Example

Details

Section 4-5

0: Reversal mode 1

1: Reversal mode 2


3: Reversal mode 3 (unit version 2.0 or later)

Origin Detection Method (Unit Version 2.0 or Later)

Select the origin detection method. For details on operation patterns, refer to


.




Origin Search Direction

This parameter sets the origin search direction to match the Zero Point Return

Direction setting (Pn816) in the Servo Parameters. This parameter and Servo

Parameter Pn816 must be set to the same value. For details on origin search operations, refer to


.

0: Forward direction

1: Reverse direction

Origin Search Preset (Unit Version 2.0 or Later)

The present position can be automatically set to a preset value when the origin search has been completed normally. Refer to


for details on the origin search preset.

0: Present position not set to preset value at completion of origin search

1: Present position set to preset value at completion of origin search

Encoder Type

Use this parameter to select incremental encoder or absolute encoder as the encoder for the Servomotor. Set the encoder type according to the functions of the Servomotor and Servo Drive being used, as follows.

0: Incremental encoder

1: Absolute encoder

In this example, an incremental encoder is used with axis 5, and origin search is set to reverse direction in single-direction mode.

18B1 hex: 1020 hex

18B2 hex: 0000 hex

•


•


•


.

•

8-6-3 PCU Data Settings for Using Absolute Encoders

4-5 Servo Parameter Area

4-5-1 G5-series Servo Drive (R88D-KN

@



The following table lists the Servo Parameters that can be read and written by the Position Control Unit of a G5-series Servo Drive (R88D-KN @ -ML2) with

Built-in MECHATROLINK-II Communications.

For details on each parameter, refer to the user’s manual of the respective

G5-series Servo Drives.

104


Relay area settings

Section 4-5

• Some parameters are enabled by turning the power supply OFF and then

ON again. (Those parameters are indicated in the table.)

After changing these parameters, turn OFF the power supply, confirm that the power supply indicator has gone OFF, and then turn ON the power supply again.

• Do not change the parameters marked "Reserved for manufacturer use" and "Reserved".

Do not change the set values marked “Not used” and “Reserved”.

• For details about the data attributes, refer to the information below.

A: Enabled at all time.

B: Changes are prohibited during motor operation and issuing of commands.

The timing will fluctuate if a change is made during motor operation and issuing of commands.

C: Enabled after a power reset or executing the CONFIG command in

MECHATROLINK-II communication.

R: Power reset.

Note that this is not enabled by the CONFIG command in MECHA-

TROLINK-II communication.

Set the servo parameter numbers in parentheses in the list for the Servo

Parameter number Relay area (a+17) when transferring Servo Parameters.

For example, when transferring the Error Counter Overflow Level, set "00E" for the Servo Parameter number Relay area (a+17).

105


Section 4-5

Parameter Tables

Basic Parameters

Parameter

No.

000

(000)

001

(001)

002

(002)

003

(003)

Parameter name

Rotation Direction

Switching

Control Mode Selection

Realtime Autotuning

Mode Selection

Realtime Autotuning

Machine Rigidity Setting

Inertia Ratio

2

2

Parameter size

2

2

2


Set the relation between the command direction and the motor rotation direction.

0: With a forward rotation command, the motor rotates

CW as viewed from the axis end.


CCW as viewed from the axis end.

Select the Servo Drive CONTROL mode.

0 to 5: Switch function

6: Full closing control

Set the OPERATION mode for realtime autotuning.

0: Disabled

1: Emphasizes stability

2: Emphasizes positioning

3: If there is an unbalanced load on the vertical axis or the like.

4: When friction is large.

5: If there is an unbalanced load on the vertical axis or the like and friction is too large.

6: When the realtime autotuning is customized.

Set the machine rigidity for executing realtime autotuning.

1

0

1

11/13

250 004

(004)

009

(009)

010

(00A)

013

(00D)

014

(00E)

015

(00F)

016

(010)

017

(011)

Electronic Gear

Ratio Numerator

Electronic Gear

Ratio Denominator

No. 1 Torque Limit

Error Counter Overflow Level

Operation Switch when Using Absolute

Encoder

Regeneration Resistor Selection

External Regeneration Resistor Setting

4

4

2

4

2

2

2

Set the load inertia as a percentage of the motor rotor inertia.

Set the electronic gear ratio.

If Pn009 = 0, the encoder resolution is set as the numerator.

Electronic Gear Ratio Numerator (Pn009)

Electronic Gear Ratio Denominator (Pn010)

Set the No. 1 limit value for the output torque of the motor.

1

1

500

-

-

-

-

-

-

Unit

%

%

Set the range of the error counter overflow level. Detection of error counter overflow level error is disabled if the set value is 0.

Select the absolute encoder usage method.

0: Used as absolute encoder.

1: Used as an incremental encoder.


(Multi-rotation counter overflows are ignored.)

100000

1

Select the Regeneration Resistor used.

0: Use the Built-in Resistor.

Triggering of regeneration overload protection

(Alarm No.18) depends on the Built-in Resistor (with approx. 1% duty).

1: Use an External Resistor.

The regeneration processing circuit operates and regeneration overload protection (Alarm No.18) is triggered when the operating rate of the Regeneration Resistor exceeds 10%.


Regeneration overload protection (Alarm No.18) does not operate.

3: No Regeneration Resistor

All regeneration power is processed with built-in capacitors.

Select the type of load ratio calculation for the External

Regeneration Resistor.

0: Regeneration load ratio is 100% when operating rate of the External Regeneration Resistor is 10%.

1 to 4: Reserved

0/3

0 -

-

-

Command unit

Setting range

0 to 1

0 to 6

0 to 6

0 to 31

0 to 10000

0 to 2

30

1 to 2

30

0 to 500

0 to 2

27

0 to 2

0 to 3

0 to 4

R

B

B

C

C

C

B

A

B

C

C

Data attribute

C

106


Section 4-5

Gain Parameter

110

(10A)

111

(10B)

112

(10C)

113

(10D)

114

(10E)

105

(105)

106

(106)

107

(107)

108

(108)

109

(109)

Parameter

No.

100

(100)

101

(101)

102

(102)

103

(103)

104

(104)


Position Loop Gain 1 2

Speed Loop Gain 1

Speed Loop Integral

Time Constant 1

Speed Feedback Filter Time Constant 1

Torque Command Filter Time Constant 1


Speed Loop Gain 2

Speed Loop Integration Time Constant 2


Torque Command

Filter Time Constant

2

Speed Feed-forward

Amount

2

2

2

2

2

2

2

2

2

Speed Feed-forward

Command Filter

Torque Feed-forward

Amount

Torque Feed-forward

Command Filter

Gain Switching Input

Operating Mode

Selection

2

2

2

2

115

(10F)

116

(110)

Switching Mode in

Position Control

2

Explanation

Set the position loop gain 1.

Set the speed loop gain 1.

Set the speed loop integration time constant 1.

The speed feedback filter 1 can be set to one of 6 values.

Set the time constant for the torque filter 1.






Set the speed feed-forward amount.

Set the speed feed-forward filter time constant.

Set the torque feed-forward amount.

Set the torque feed-forward filter.

Execute optimum tuning using the gain switching function.

0: Gain 1 (PI/P switching enabled)

1: Gain 1 and gain 2 switching available

Select the gain switching condition for position control.

It is necessary that Pn114 be set to 1.

0: Always gain 1

1: Always gain 2

2: Gain switching command input via MECHA-

TROLINK-II communications

3: Torque command change amount

4: Always gain 1

5: Command speed

6: Amount of position error

7: When the position command is received.

8: Positioning completion signal (INP) OFF

9: Actual motor speed

10:Combination of position command input and rotation speed

Set the delay time for switching from gain 2 to gain 1.

117

(111)

118

(112)

119

(113)

Gain Switching Delay

Time in Position Control

Gain Switching Level in Position Control

2

2

Gain Switching Hysteresis in Position

Control

Position Gain Switching Time

2

2

Set the gain switching level.

Set the hysteresis for gain switching.

Set the position gain switching time for gain switching.

Default setting

320/

480

180/

270

210/

310

0

84/126

380/

570

180/

270

-

10000 0.1ms

1 to 10000

0

84/126

300

50

0

0

1

0

50

50

33

33

-

-

-

-

-

0.01m

s

Unit

0.1/s

0.1Hz

0.1ms

0.01m

s

0.1/s

0.1Hz

0.01m

s

0.1%

0.01m

s

Setting range

0 to 6400

0.1% 0 to 1000

0.1ms

0.1ms

0 to 30000

1 to 32767

1 to 10000

0 to 5

0 to 2500

0 to 30000

1 to 32767

0 to 5

0 to 2500

0 to 1000

0 to 6400

0 to 1

0 to 10

0 to 10000

0 to 20000

0 to 20000

0 to 10000

B

B

B

B

B

B

B

B

B

B

B

B

B

B

B

B

B

B

B

Data attribute

B

107


Section 4-5

Parameter

No.

120

(114)

121

(115)

122

(116)

123

(117)

124

(118)

Parameter name

Switching Mode in

Speed Control


Time in Speed Control

Gain Switching Level in Speed Control

2

2

Gain Switching Hysteresis in Speed

Control

Switching Mode in

Torque Control

Parameter size

2

Explanation

Select the gain switching condition for speed control.


0: Always gain 1

1: Always gain 2




4: Speed command change amount

5: Command speed


2

2



125

(119)

126

(11A)

127

(11B)


Time in Torque Control

Gain Switching Level in Torque Control

Gain Switching Hysteresis in Torque

Control

2

2

2

Select the gain switching condition for torque control.


0: Always gain 1

1: Always gain 2







0

0

0

0

0

0

0

Default setting

Unit

0 -

Setting range

0 to 5

-

-

-

-

-

0.1ms

0.1ms

0 to 10000

0 to 20000

0 to 20000

0 to 3

0 to 10000

0 to 20000

0 to 20000

Data attribute

B

B

B

B

B

B

B

B

Damping Suppression Parameters

201

(201)

202

(202)

203

(203)

204

(204)

205

(205)

206

(206)

207

(207)

Parameter

No.

200

(200)

Parameter name

Adaptive Filter Selection

Parameter size

2

Notch 1 Frequency

Setting

2


Set the operation of the adaptive filter.

0: Disabled

1: One enabled.Frequency limited after adaptation.

2: Two enabled.Frequency limited after adaptation.

3: One enabled.Adaptation performed at all times.

4: Two enabled.Adaptation performed with 1 filter at all times.

Set the notch frequency of resonance suppression notch filter 1.

0

5000

208

(208)

209

(209)

Notch 1 Width Setting

Notch 1 Depth Setting

Notch 2 Frequency

Setting



Notch 3 Frequency

Setting



2

2

2

2

2

2

2

2

Set the notch width of the resonance suppression notch filter 1.

Set the notch depth of resonance suppression notch filter 1.

0




2

5000

2

0


This is set automatically when an adaptive notch is enabled.





5000

2

0

-

-

-

-

-

-

-

Unit

Hz

Hz

Hz

Setting range

0 to 4

50 to 5000

0 to 20

0 to 99

50 to 5000

0 to 20

0 to 99

50 to 5000

0 to 20

0 to 99

B

B

B

B

B

B

B

B

B

Data attribute

B

108


Section 4-5

Parameter

No.

210

(20A)

211

(20B)

212

(20C)

213

(20D)

214

(20E)

215

(20F)

216

(210)

217

(211)

218

(212)

219

(213)

220

(214)

221

(215)

222

(216)

Parameter name

Notch 4 Frequency

Setting



Damping Filter

Selection

Damping Frequency

1

Damping Filter 1 Setting

2

Damping Frequency

2


2

Damping Frequency

3


2

Damping Frequency

4


2

Position Command


Parameter size

2

2

2

2

2

2

2

2

2








Select the damping filter switching method.

0: Damping filter 1 or 2 enabled

1: Reserved for manufacturer use


3: Switch by the position command direction

•

Forward direction: Damping filter 1 or 3 is enabled.

•

Reverse direction: Damping filter 2 or 4 is enabled.

Set the damping frequency 1.

The function is enabled if the set value is 10 (= 1 Hz) or greater.

Finely adjust damping control function 1.

If torque saturation occurs, lower this setting; to increase responsiveness, raise this setting.













Set the time constant of the first-order lag filter for the position command.

5000

2

0

0

0

0

0

0

0

0

0

0

0

-

-

-

Unit

Hz

Setting range

50 to 5000

0 to 20

0 to 99

0 to 3

0.1Hz

0 to 2000

0.1Hz

0 to 1000

0.1Hz

0 to 2000

0.1Hz

0 to 1000

0.1Hz

0 to 2000

0.1Hz

0 to 1000

0.1Hz

0 to 2000

0.1Hz

0 to 1000

0.1Hz

0 to 10000

B

B

B

B

B

B

B

B

B

B

B

B

Data attribute

B

Parameter

No.

312

(30C)

Parameter name

Soft Start Acceleration Time

313

(30D)

314

(30E)

317

(311)

321

(315)

Soft Start Deceleration Time

2

S-curve Acceleration/Deceleration

Time Setting

Speed Limit Selection

Speed Limit Value

Setting

2

Analog Control Parameters

Parameter size

2

Explanation

Set the acceleration processing acceleration time for speed commands.

Set the deceleration processing acceleration time for speed commands.

0

Set the acceleration/deceleration processing S-curve time for speed commands.

0

Default setting

Unit

0

Setting range

ms/ motor

Maximum speed ms/ motor

Maximum speed ms

0 to 10000

0 to 10000

0 to 1000

2

2

Select the torque command and speed limit value.

0: Limit the speed by the limit set on the Speed Limit

Value Setting (Pn321).

1: Limit the speed by the speed limit value (VLIM) via

MECHATROLINK-II communications or by the value set by the Speed Limit Value Setting (Pn321).

Set the speed limit value.

0

50

r/min

0 to 1

0 to 20000

Data attribute

B

B

B

B

A

109


Section 4-5

Parameter

No.

323

(317)

Parameter name

External Feedback

Pulse Type Selection

324

(318)

Parameter size

2

4

Explanation

Select the external feedback pulse type.

0: 90

°

phase difference output type

1: Serial communications type (incremental encoder specifications)

2: Serial communications type (absolute encoder specifications)

Set the external feedback pulse dividing numerator.

325

(319)

326

(31A)

External Feedback

Pulse Dividing

Numerator

External Feedback

Pulse Dividing

Denominator

External Feedback

Pulse Direction

Switching

4

2

Set the external feedback pulse dividing denominator.

Default setting

0

0

10000

-

-

-

327

(31B)

328

(31C)

329

(31D)

External Feedback

Pulse Phase-Z Setting

Internal/External

Feedback Pulse


Internal/External

Feedback Pulse

Error Counter Reset

2

4

2

Reverse the direction to count the external encoder feed back.

0: Count direction not reversed

1: Count direction reversed

Set to enable or disable the Phase-Z disconnection detection when an external encoder of 90

°

phase difference output type is used.

0: Phase-Z disconnection detection enabled

1: Phase-Z disconnection detection disabled

Set the threshold for feedback pulse deviation errors.

0

0 -

-

16000 Command unit

Clear to 0 the feedback pulse error value for each set rotation speed.

0

Unit

Rotation

Setting range

0 to 2

0 to 2

20

1 to 2

20

0 to 1

0 to 1

1 to 2

27

0 to 100

R

R

R

R

C

C

Data attribute

R

Interface Monitor Setting Parameters

403

(403)

404

(404)

405

(405)

406

(406)

Parameter

No.

400

(400)

401

(401)

402

(402)

407

(407)

410

(40A)

411

(40B)

Parameter name

Input Signal Selection 1








Output Signal Selection 1


Parameter size

4

4

4

Explanation

Set the function and logic for the general-purpose input 1 (IN1).



4

4

4

4





4

4

4


Set the function assignment for the general-purpose output 1 (OUTM1)


Default setting

00949494h

00818181h

00828282h

00222222h

002B2B2Bh -

00212121h

00202020h

002E2E2Eh -

00030303h

00020202h

-

-

-

-

-

-

-

-


0 to

00FFFFFFh

0 to

00FFFFFFh

0 to

00FFFFFFh

0 to

00FFFFFFh

0 to

00FFFFFFh

0 to

00FFFFFFh

0 to

00FFFFFFh

0 to

00FFFFFFh

0 to

00FFFFFFh

0 to

00FFFFFFh

C

C

C

C

C

C

C

C

C

Data attribute

C

110


Section 4-5

417

(411)

418

(412)

419

(413)

421

(415)

Parameter

No.

416

(410)

Parameter name

Analog Monitor 1

Selection

Parameter size

2

4

Explanation

Select the type for analog monitor 1.

0: Motor speed

1: Position command speed

2: Internal position command speed

3: Speed control command

4: Torque command

5: Command position error

6: Encoder position error

7: Full close error

8: Hybrid error

9: P-N voltage

10:Regeneration load ratio

11: Motor load ratio

12:Forward direction torque limit

13:Reverse direction torque limit

14:Speed limit value

15:Inertia ratio

16 to 18: Reserved

19:Encoder temperature

20:Servo Drive temperature

21:Encoder 1-rotation data

Set the output gain for analog monitor 1.

Analog Monitor 1

Scale Setting

Analog Monitor 2

Selection

Analog Monitor 2

Scale Setting

Analog Monitor Output Selection

2

4

2


The set values for this parameter are the same as

Analog Monitor 1 Type (Pn416).

Select the output gain for analog monitor 2.

431

(41F)

432

(420)

433

(421)

434

(422)

435

(423)

436

(424)

437

(425)

438

(426)

439

(427)

Positioning Completion Range 1

Positioning Completion Condition Selection

Positioning Completion Hold Time

Zero Speed Detection

Speed Conformity

Detection Range

2

2

2

Rotation Speed for

Motor Rotation

Detection

Brake Timing when

Stopped

Brake Timing during

Operation

Brake Release

Speed Setting

4

2

2

2

2

2

Select the analog monitor output voltage method.

0: Output range is -10 to 10 V

1: Output range is 0 to 10 V

2: Output range is 0 to 10 V (5 V as the center)

Set the allowed number of pulses for the positioning completion range.

0

300

Set the judgment conditions for positioning completion output.

0: The Positioning completion output 1 becomes on when the positional error is lower than the value set on the Pn431.

1: The Positioning completion output 1 becomes on when there is no position command, and the positional error is lower than the value set on the

Pn431.

2: The Positioning completion output 1 becomes on when there is no position command, the zerospeed detection signal is on, and the positional error is lower than the value set on the Pn431.

3. The Positioning completion output 1 becomes on when there is no position command, and the positional error is lower than the value set on the

Pn431. The ON-state is retained until the Positioning Completion Hold Time (Pn433) elapses. After that, it is turned off or kept to be on, depending on the positional error then.

Set the positioning completion hold time.

0

0

Set the output timing of the Zero speed detection output (ZSP) in rotation speed [r/min].

50

Set the detection range for the speed conformity output (VCMP). Set the difference between the speed command and the actual speed.

Set the number of motor rotation for the Motor rotation detection output signal (TGON).

50

1000

Set the operation time for the mechanical brake at stop.

0

0

4

0

0

Set the operation time for the mechanical brake during operation.

0

Set the number of motor rotation to determine a mechanical brake output during rotation.

Default setting

Unit

-

Setting range

0 to 21

30

-

-

-

-

-

Command unit

1ms r/min r/min r/min

1ms

1ms r/min

0 to

214748364

0 to 21

0 to

214748364

0 to 2

0 to 262144

0 to 3

0 to 30000

10 to 20000

10 to 20000

10 to 20000

0 to 10000

0 to 10000

30 to 3000

Data attribute

A

A

A

A

A

A

A

A

A

A

A

B

B

B

111


Section 4-5

Parameter

No.

440

(428)

Parameter name

Warning Output

Selection 1

441

(429)

442

(42A)

Warning Output

Selection 2


Parameter size

2

2

4

Explanation

Select the warning type for warning output 1.

0: Output by all types of warnings.

1: Overload warning

2: Excessive regeneration warning

3: Battery warning

4: Fan warning

5: Encoder communications warning

6: Encoder overheating warning

7: Vibration warning

8: Life expectancy warning

9: External encoder error warning

10:External encoder communications error warning

11:Data setting warning

12:Command warning

13:MECHATROLINK-II communications warning


The relationships among the set values for this parameter are the same as for Warning Output Selection 1

(Pn440).

Set the allowable number of pulses for the second positioning completion range

.

0

0

10

Default setting

-

-


0 to 13

0 to 13

Command unit

0 to 262144

A

A

Data attribute

A

Extended Parameters

Parameter

No.

504

(504)

505

(505)

506

(506)

507

(507)

508

(508)

Parameter name

Drive Prohibition

Input Selection

Stop Selection for

Drive Prohibition

Input

Stop Selection with

Servo OFF

Stop Selection with

Main Power Supply

OFF

Undervoltage Alarm

Selection

Parameter size

2

2

2

2

2

Explanation

Set the operation to be performed upon forward/ reverse direction drive prohibition input.

0: Enable the Forward and Reverse drive prohibition inputs.

1: Disable the Forward and Reverse drive prohibition inputs.


Set the drive conditions during deceleration and after stopping, when the Forward or Reverse Drive Prohibition Inputs are enabled.

0: The torque in the drive prohibit direction is disabled, and the dynamic brake is activated.

1: The torque in the drive prohibit direction is disabled, and free-run deceleration is performed.

2: The torque in the drive prohibit direction is disabled, and an emergency stop is performed.

Set the stop operation when the servo is turned OFF.

0, 4:During deceleration: Dynamic brake

After stopping: Dynamic brake

Error counter: Clear

1, 5:During deceleration: Free-run



2, 6:During deceleration: Dynamic brake

After stopping: Servo free


3, 7:During deceleration: Free-run



8: During deceleration: Emergency stop






Set the stop operation when the main power supply is turned OFF.

The settable values are the same as those on the

Pn506.

Select either to let the servo off or to stop the alarm when a main power alarm occurs.

0: Bring the Servo-OFF state in accordance with the

Pn507 setting. Return to Servo on state by turning on the main power.

1: Main power supply undervoltage (Alarm No.13.1) occurs. Stop the alarm.

1

0

0

0

1

Default setting

-

-

-

-

-


0 to 2

0 to 2

0 to 9

0 to 9

0 to 1

C

B

B

B

Data attribute

C

112


Section 4-5

511

(50B)

512

(50C)

513

(50D)

514

(50E)

515

(50F)

521

(515)

522

(516)

525

(519)

526

(51A)

531

(51F)

Parameter

No.

509

(509)

510

(50A)

Parameter name

Momentary Hold

Time

Stop Selection for

Alarm Detection

2

Parameter size

2

Explanation

Set the main power supply alarm detection time.

Select the stopping method at an alarm.

0: During deceleration: Dynamic brake


1: During deceleration: Free-run






4: During deceleration due to emergency stop alarm:

Emergency stop

During deceleration: Dynamic brake


5: During Emergency stop alarm deceleration: Emergency stop

During deceleration: Free-run








Set the torque limit for emergency stops.

0

0

520

(514)

Emergency Stop

Torque

Overload Detection

Level Setting

2

2

Overspeed Detection Level Setting

2

Overrun Limit Setting 2

Control Input Signal

Read Setting

Position Setting Unit

Selection

Torque Limit Selection

No. 2 Torque Limit

Forward External

Torque Limit

Reverse External

Torque Limit

Axis Number

2

2

2

2

2

2

2

Set the overload detection level.

Set the overspeed error detection level.

Set the motor over-travel distance for position commands.

Set the forward external toque limit when the torque limit switch input is given.

Set the reverse external toque limit when the torque limit switch input is given.

Set the axis number for communication.

0

0

10

Select the cycle to read the control input signals from the four levels.

0: 0.166 ms

1: 0.333 ms

2: 1 ms

3: 1.666 ms

Select the setting units of Positioning Completion

Range 1 and 2 (Pn431 and Pn442) and of the Error

Counter Overflow Level (Pn014).

0: Command unit

1: Encoder unit

Select the method to set the forward and reverse torque limits, and the torque feed forward function during speed control.

Set the No. 2 limit value for the motor output torque.

0

0

1

0

Default setting

70


1ms 70 to 2000

0

0

1 -

-

-

-

-

%

% r/min

0.1 rotation

%

%

%

0 to 7

0 to 500

0 to 500

0 to 20000

0 to 1000

0 to 3

0 to 1

0 to 6

0 to 500

0 to 500

0 to 500

0 to 127

C

C

B

B

C

A

A

B

B

B

A

Data attribute

C

B

Special Parameters 1

Parameter

No.

605

(605)

606

(606)

607

(607)

608

(608)


Gain 3 Effective Time 2

Gain 3 Ratio Setting 2

Torque Command

Value Offset

Forward Direction

Torque Offset

2

2

Explanation

Set effective time of gain 3 of three-step gain switching.

Set gain 3 as a multiple of gain 1.

Set offset torque to add to torque command.

Set the value to add to a torque command for forward direction operation.

0

Default setting

100

0

0


0.1ms

0 to 10000

%

%

%

50 to 1000

-100 to 100

-100 to 100

B

B

Data attribute

B

B

113


Section 4-5

634

(622)

635

(623)

637

(625)

618

(612)

623

(617)

624

(618)

Parameter

No.

609

(609)

610

(60A)

611

(60B)

614

(60E)

615

(60F)

Parameter name

Reverse Direction

Torque Offset

Function Expansion

Setting

Electric Current

Response Setting

Alarm Detection

Allowable Time Setting

Overspeed Detection Level Setting at

Emergency Stop

Power Supply ON

Initialization Time

631

(61F)

Disturbance Torque

Compensation Gain

Disturbance

Observer Filter Setting

Realtime Autotuning

Estimated Speed

Selection

2

2

2

2

2

2

2

2

Parameter size

2

Explanation

Set the value to add to a torque command for reverse direction operation.

Set the filter time constant for disturbance torque compensation.

0

53

632

(620)

Set the load characteristics estimated speed when realtime autotuning is enabled.

0: Fixes estimated results at the time load estimation becomes stable.

1: Estimates in every minute from the load characteristic changes.

2: Estimates in every second from the load characteristic changes.

3: Estimates the optimum from the load characteristic changes.

Set the CUSTOMIZATION mode detail for realtime autotuning.

0

0

Default setting

Set the function expansion. The setting contents vary depending on the function.

0

Make fine adjustment on electric current response with default setting as 100%.

100

Set the allowable time until stopping when an emergency stop is actuated upon alarm detection.

200

During an emergency stop upon alarm detection, if the motor speed excess this set value, this is an overspeed 2 error.

Set initialization time after power supply ON to the standard 1.5 s plus some.

0

0

Set the compensation gain for disturbance torque.

0

638

(626)

Realtime Autotuing

Customization Mode

Setting

Hybrid Vibration

Suppression Gain

2

2

Hybrid Vibration

Suppression Filter

Vibration Detection

Threshold

2

2

Warning Mask Setting

2

Set the hybrid vibration suppression gain during full closing control.

Set the hybrid vibration suppression filter time constant during full closing control.

0

10

Set the vibration detection threshold.

If torque vibration that exceeds this setting is detected, the vibration detection warning occurs.

Set the warning detection mask setting.If you set the corresponding bit to 1, the corresponding warning detection is disabled.

0

4

-

-

-

-

%

%

Unit

ms r/min

0.1s

%

Setting range

-100 to 100

0 to 63

50 to 100

0 to 1000

0 to 20000

0 to 100

-100 to 100

0.01ms 10 to 2500

0.1s

0.01ms 0 to 6400

0.1%

0 to 3

-32768 to

32767

0 to 30000

0 to 1000

-32768 to

32767

B

A

B

B

B

B

C

-

B

R

B

B

B

Data attribute

B


Parameter

No.

700

(700)

701

(701)

703

(703)

Parameter name

Default Display

Power-ON Address

Display Duration Setting

Torque Limit Flag

Output Setting

2

2

Parameter size

2

Explanation

Select a data type to display on the 7-segment LED indicator on the front panel.

0: Normal state

1: Mechanical angle

2: Electric angle

3: Cumulative count of MECHATROLINK-II communications errors

4 Rotary switch setting value

5: Cumulative count of encoder communications errors

6: Cumulative count of external encoder communications errors

7: Z-phase counter

8 or over: Unused

Set the time to indicate the node address when the control power is turned on.

Set the condition for torque limit output during torque control.

0: On by the torque limit value including the torque command value.

1: On by the torque limit value excluding the torque command value.

0

0

0

Default setting

-

-


0 to 32767

100ms 0 to 1000

0 to 1

R

A

Data attribute

A

114


Section 4-5

Parameter

No.

704

(704)

705

(705)

706

(706)

710

(70A)

Parameter name

Backlash Compensation Selection

Backlash Compensation Amount

Backlash Compensation Time Constant

2

MECHATROLINK-II

Communication I/O

Monitor Setting

2

Parameter size

2

2

Explanation

Select to enable or disable the backlash compensation during position control.

Set the compensation direction when the compensation is enabled.

0: Disable the backlash compensation.

1: Compensate the backlash at the first forward operation after a Servo ON.

2: Compensate the backlash at the first reverse operation after a Servo ON.

Set the backlash compensation amount during position control.

0

0

Default setting

-


0 to 2

Command unit

-32768 to

32767

0.01ms 0 to 6400 Set the time constant to apply a backlash compensation during position control.

Select whether to reflect the inputs to the I/O monitor of MECHATROLINK-II communications, when either the forward or reverse drive prohibition input is assigned to the input signal and the Drive Prohibition

Input Selection (Pn504) is set to 1 (i.e. Disable).

0: Disable the one on the I/O monitor of MECHA-

TROLINK-II communications as well.

1: Enable the one on the I/O monitor of MECHA-

TROLINK-II communications.

0

0 0 to 1

B

B

A

Data attribute

C


Parameter

No.

800

(800)

801

(801)

803

(803)

804

(804)

806

(806)

808

(808)

811

(80B)

814

(80E)

818

(812)

820

(814)

822

(816)

823

(817)

824

(818)

825

(819)

Parameter name

Communications

Control

Soft Limit

Origin Range

Forward Software

Limit Value

Reverse Software

Limit

Absolute Encoder

Origin Offset

Linear Acceleration

Constant

Linear Deceleration

Constant

Position Command

FIR Filter Time Constant

Final Distance for

External Input Positioning

Origin Return mode

Setting

4

2

Origin Return

Approach Speed 1

Origin Return

Approach Speed 2

Final Distance for

Origin Return

Parameter size

2

Explanation

Controls the alarms and warnings over the MECHA-


2

2

4

0

Default setting

Select whether to enable or disable the Soft Limit

Function.

0: Enable the soft limits on both directions.

1: Disable the forward soft limit, but enable the reverse soft limit.

2: Enable the forward soft limit, but disable the reverse soft limit.

3: Disable the soft limits on both directions.

Set the threshold for detecting the origin in absolute values.

0

0

Set the forward soft limit.

500000

4

4

2

Set the reverse soft limit.

Set the offset volume between the encoder or external encoder position and the mechanical coordinate position, when an absolute encoder or an absolute external encoder is used.

Set the acceleration for positioning.

-500000

0

100

-

-

-

Unit

Command unit

Command unit

Command unit

2

2

Set the deceleration for positioning.

Set the time constant of FIR filter for the position command.

100

0 to to to

Setting range

-32768 to

32767

0 to 3

0 to 250

-1073741823

1073741823

-1073741823

1073741823

-1073741823

1073741823

*1

*1

-32768 to

32767

-32768 to

32767

0.1ms

0 to 10000

Data attribute

C

A

A

A

A

C

B

B

B

2

2

4

Sets the distance to travel after the latch signal input position is detected during the external input positioning.

Set the direction for origin return.

0: Positive direction

1: Negative direction

Set the operating speed for origin returns, from when the origin proximity signal turns on to when it turns off and the latch signal is detected.

Set the operating speed for origin returns, from when the latch signal is detected to when the motor stops at the position after travelling the distance set by Final

Distance for Origin Return (Pn825).

Set the distance from the position where the latch signal is entered to the origin during origin returns.

100

0

50

5

100

-

0.1ms

-1073741823 to

*2

*2

Command unit

1073741823

0 to 1

1 to 32767

1 to 32767

-1073741823 to

1073741823

B

B

B

B

B

115


Section 4-5

Parameter

No.

836

(824)

Parameter name

Option Monitor

Selection 1

837

(825)

Option Monitor

Selection 2

Parameter size

2

2

Explanation

The Monitor Selection Field of MECHATROLINK-II communications displays the monitoring data that is set on this parameter.


*1. 10,000 command unit/s

*2. 100 command unit/s

0

Default setting

-


-32768 to

32767

0 -32768 to

32767

4-5-2 G-series Servo Drive (R88D-GN

@



Data attribute

A

A

Note

Note

The Servo Parameters listed here can be used when the Position Control Unit is used with a G-series Servo Drive (R88D-GN @ -ML2) with built-in MECHA-


For further details on each of the parameters, refer to the user’s manual for Gseries Servo Drives.

The timing for Servo Parameters to be enabled are classified into the following two types.

Online (online parameters): Changed settings are enabled immediately after

Servo Parameters have been written.

Offline (offline parameters): Changed settings are enabled when the Servo

Drive power is cycled or DEVICE SETUP is executed.

The

Details

column indicates whether the following conditions apply to the corresponding parameter.

• Online parameters that can be changed when the axis is stopped (Busy

Flag = 0) only.

• Parameters with standard set values when using MECHATROLINK are indicated in the

Details

column as “standard” with the set value.

The standard settings are basic settings required when using the PCU.

This manual describes operations assuming standard settings are being used.

For details on fixed and standard settings, refer to


Servo Drives Using MECHATROLINK

.

Parameters marked with "(RT)" are automatically set during realtime autotuning. To set these parameters manually, disable realtime autotuning by setting the Realtime Autotuning Mode Selection (Pn021) to 0 before changing the parameter.

Make sure that the equipment will not be adversely affected before changing the Servo Parameters (WRITE SERVO PARAMETER, SAVE SERVO

PARAMETER). Refer to the

Servo Drive's operation manual

and always check the effect of changing the settings before changing the Servo Parameters.

116


Section 4-5


Parameter

No.

Parameter name

Pn000 Reserved

Pn001 Default Display

Parameter size

---

2

Pn002 Reserved

Pn003 Torque

Limit Selection

---

2

Setting Explanation

0

1

Do not change.

Selects the data to be displayed on the 7-segment LED display on the front panel.

Normal status ("--" Servo OFF, "00" Servo ON)

Indicates the machine angle from 0 to FF hex.

0 is the zero position of the encoder. The angle increases when the Servomotor turns forward.

The count continues from "0" after exceeding "FF".

When using an incremental encoder, the display shows

"nF" (not Fixed) until detecting the zero position on the encoder after the control power is turned ON.

2

3

Indicates the electrical angle from 0 to FF hex.

0 is the position where the inductive voltage on the U phase reaches the position peak. The angle increases when the Servomotor turns forward.


Indicates the number (total) of MECHATROLINKII communications errors from 0 to FF hex.

The communications error count (total) saturates at the maximum of FFFFh. "h" appears only for the lowest byte. The count continues from "00" after exceeding

"FF".

Note

The communications error count (total) is cleared by turning OFF the control power.

4

5 to

32767

Indicates the setting on the rotary switch (node address value) loaded at startup, in decimal.

This value does not change even if the rotary switch is turned after startup.

Reserved (Do not set.)

1

0

Do not change.

Selects the torque limit function, or the torque feed-forward function during speed control.

• Torque Limit Selection

For torque control, always select Pn05E. For position control and speed control, select the torque limit as follows.

1 Use Pn05E as the limit value for forward and reverse operations.

2

3

4

5

Forward: Use Pn05E.

Reverse: Use Pn05F.

Switch limits by torque limit values and input signals from the network.

Limit in forward direction:

PCL is OFF = Pn05E, PCL is ON = Pn05F

Limit in reverse direction:

NCL is OFF = Pn05E, NCL is ON = Pn05F

Forward: Use Pn05E as limit.

Reverse: Use Pn05F as limit.

Only in speed control, torque limits can be switched by torque limit values from the network as follows:


Use Pn05E command or option command value 1, whichever is smaller.


Use Pn05F command or option command value 2, whichever is smaller.



Only in speed control, torque limits can be switched by torque limit values and input signals from the network as follows:


PCL is OFF = Pn05E, PCL is ON = Pn05E command or option command value 1, whichever is smaller.


NCL is OFF = Pn05F, NCL is ON = Pn05F command or option command value 2, whichever is smaller.

0

1

1

Default setting

Unit

---

---

---

---

---

Setting range

---

0 to 4

---

---

1 to 5

Enable setting

Details

---

Online

---


(Busy

Flag for each axis

= 0).

117


Section 4-5

Parameter

No.

Parameter name

Pn003 Torque

Limit Selection

Parameter size

2

Pn004

Pn005


Selection

Communications

Control

2

2


Note

PCL ON: When either Forward Torque Limit (CN1 PCL: pin 7) or MECHATROLINKII Communications

Option Field (P-CL) is ON.

PCL OFF: When both Forward Torque Limit (CN1 PCL: pin 7) and MECHATROLINK-II Communications Option Field (P-CL) are OFF.

• Torque Feed-forward Function Selection

1 to 3

4 to 5

1

2

Enabled only during speed control. Disabled if not using speed control.

Always disabled

Sets the function for the Forward and Reverse Drive Prohibit

Inputs (CN1 POT: pin 19, NOT: pin 20)

0 Decelerates and stops according to the sequence set in the Stop Selection for Drive Prohibition Input (Pn066) when both POT and NOT inputs are enabled.

When both POT and NOT inputs are OPEN, the Drive

Prohibit Input Error (alarm code 38) will occur.

Both POT and NOT inputs disabled.

When either POT or NOT input becomes OPEN, the

Drive Prohibit Input Error (alarm code 38) will occur.

1

0

Controls errors and warnings for MECHATROLINK-II communications.

Note

Use with thi]s parameter set to 0. Program to stop immediately if using a value other than 0.

Set the Consecutive Communications Error Detection Count in

COM_ERR (bit 8 to 11). The communications error (alarm code

83) will occur when a communications error, which is assessed at every MECHATROLINK-II communications cycle, occurs consecutively for the number of the Consecutive Communications Error

Detection Count. The error and warning can be masked for debug purposes.

0

bits 15-12

---

bits 11-8

COM_ERR

bits 7-4

MSK COM

WARNG

bits 3-0

MSK COM

ALM

Default setting

Unit

---

---

---

Pn006 Power ON

Address

Display

Duration

Setting

2

• [bits 8-11] COM_ERR (Consecutive Communications

Error Detection Count)

Setting range: 0 to 15.

Consecutive Communications Error Detection

Count = COM_ERR + 2

Note

These bits are debug functions. Set to enable (0) when not debugging.

• [bits 0-3] MECHATROLINK-II Communications Alarms Mask

(MSK COM ALM)

[bit0]0: Communications error (alarm code 83) enabled

1: Communications error (alarm code 83) disabled

[bit1]0: Watchdog data error (alarm code 86) enabled

1: Watchdog data error (alarm code 86) disabled

• [bits 4-7] MECHATROLINK-II Communications Warnings Mask

(MSK COM WARNG)

[bit4]0: Data setting warning (warning code 94h) enabled

1: Data setting warning (warning code 94h) disabled

[bit5]0: Command warning (warning code 95h) enabled

1: Command warning (warning code 95h) disabled

[bit6]0: ML-II communications warning

(warning code 96h) enabled

1: ML-II communications warning

(warning code 96h) disabled

Sets the duration to display the node address when the control power is turned ON.

Note

The node address display has priority even if there are alarms or warnings at power ON.

0 to 6

7 to

1000

600 ms set value

×

100 ms

30 ms

Setting range

1 to 5

0 to 2

0 to 3955

0 to 1000

Enable setting

Offline

Details


(Busy

Flag for each axis

= 0).

Offline Always set to 0.

Offline

118


Section 4-5

Parameter

No.

Parameter name

Pn007 Speed monitor

(SP) Selection

Parameter size

2

Pn008

Pn009

Pn00A Prohibit

Parameter

Changes

Pn00B

Torque

Monitor (IM)

Selection

Reserved via Network

Operation

Switch

When

Using

Absolute

Encoder

2

---

2

2


2

3

4

Selects the output to the Analog Speed Monitor (SP on the front panel).

Note

This monitor output has a delay due to filtering. The Operating Direction Setting (Pn043) does not affect this monitor output. Thus, forward rotation is always positive (+), and reverse rotation is always negative (

−

).

0 Actual Servomotor speed: 47 r/min/6 V


Actual Servomotor speed: 750 r/min/6 V



7

8

5

6

Command speed: 47 r/min/6 V




1

2

3

9

10


Outputs the Issuance Completion Status (DEN).

0 V: Issuing

5 V: Issuance complete

11 Outputs the Gain Selection Status.

0 V: Gain 2

5 V: Gain 1

Selects the output to the Analog Torque Monitor (IM on the front panel)

Note


−

).

0 Torque command: 100%/3 V

Position deviation: 31 pulses/3 V



4

5

6 to 10

11

12



Reserved

Torque command: 200%/3 V


13

14


0 V: Issuing


Outputs the Gain Selection Status.

0 V: Gain 2

5 V: Gain 1

Do not change.

Allows/prohibits parameter changes via the network.

0 Allows parameter changes from the host controller via the network.

0

1

1 Prohibits parameter changes from the host controller via the network.

Attempting to change a parameter via the network when prohibited triggers the Command Warning (warning code 95h).

Selects how the an absolute encoder is used.

This parameter is disabled when using an incremental encoder.

Use as an absolute encoder.

Use an absolute encoder as an incremental encoder.

2 Use as an absolute encoder but ignore absolute multiturn counter overflow alarm (alarm code 41).

3

0

0

0

0

Default setting

Unit

---

---

---

---

---

Setting range

0 to 11

0 to 14

---

0, 1

0 to 2

Enable setting

Online

Online

---

Online

Online

Details

119


Section 4-5

Parameter

No.

Parameter name

Pn00C RS-232

Baud Rate

Setting

Parameter size

2

Pn00D

Pn00E

Pn00F

Pn010 Position

Pn011

Pn012

Pn013

Reserved

Reserved

Reserved

Loop Gain

(RT)

Speed Loop

Gain (RT)

Speed Loop

Integration

Time Constant (RT)

Speed

Feedback

Filter Time

Constant

(RT)

Pn014 Torque

Command

Filter Time

Constant

(RT)

Pn015 Speed

Feedforward

Amount

(RT)

Pn016 Feed-forward Filter

Time Constant (RT)

Pn017 Reserved

---

---

---

2

2

2

2

2

2

2

---

Setting Explanation Default setting

3

4

1

2

5

Sets the baud rate for RS-232 communications.

0 2,400 bps

4,800 bps

9,600 bps

19,200 bps

38,400 bps

57,600 bps

2

Do not change.

Do not change.

Do not change.

Sets the position loop responsiveness.

Increasing the gain increases position control responsiveness and shortens stabilization time.

Oscillation or overshoot will occur if set too high. Adjust for optimum responsiveness.

Sets the speed loop responsiveness.

If the Inertia Ratio (Pn020) is set correctly, this parameter is set to the Servomotor response frequency.

Increasing the gain increases the speed control responsiveness, but too much gain may cause oscillating.

Small gain may cause overshoot in the speed response.

Adjust for optimum responsiveness.

Adjusts the speed loop integration time constant.

Set a large value for large load inertia.

Decrease the setting for fast response with small inertia.

Set 9999 to stop integration operation while retaining the integration value. A setting of 10000 disables integration.

Sets the type of speed detection filter time constant.

Normally, use a setting of 0.

Increasing the value reduces the noise of the Servomotor but also reduces its responsiveness.

This parameter is disabled if the Instantaneous Speed Observer

Setting (Pn027) is enabled.

Adjusts the first-order lag filter time constant for the torque command section.

The torque filter setting may reduce machine vibration.

0

0

0

400

500

200

0

80

Sets the speed feed-forward amount.

This parameter is particularly useful when fast response is required.

Sets the time constant for the speed feed-forward first-order lag filter.

Do not change.

300

100

0

Unit

---

---

---

---

×

0.1

[1/s]

×

0.1

Hz

×

0.1 ms

---

×

0.01 ms

---

---

---

Setting range

0 to 30000

×

0.1 % 0 to 1000

×

0.01 ms

---

0 to 5

1 to 30000

1 to 10000

0 to 5

0 to 2500

0 to 6400

---

Enable setting

Online

Details

---

---

---

Online Settings can be changed when the

Online axes are stopped

(Busy

Flag for each axis

= 0).

Online

Online

Online

Online

Online

---

120


Section 4-5

Parameter

No.

Parameter name

Pn018 0 to 6400

Parameter size

2

Pn019 Speed Loop

Gain 2 (RT)

Pn01A Speed Loop

Integration

Time Constant 2 (RT)

Pn01B Speed

Feedback

Filter Time

Constant 2

(RT)

Pn01C Torque

Command

Filter Time

Constant 2

(RT)

Pn01D Notch Filter

1 Frequency

2

2

2

2

2


Sets the position loop gain when using gain 2 switching.

Same function as Pn010.

Sets the speed loop gain when using gain 2 switching.


200

800

Sets the speed loop integration time constant when using gain 2 switching.


Set 9999 to stop integration operation while retaining the integration value. Setting 10000 disables integration.

Sets the speed detection filter when using gain 2 switching.

Same function as Pn013. Normally, use a setting of 0.

When Instantaneous Speed Observer Setting (Pn027) is enabled, this parameter will be disabled.

500

0

Sets the first-order lag filter time constant for the torque command section when using gain 2 switching.


Default setting

100

Pn01E

Pn01F

Pn020 Inertia Ratio

Pn021

Notch Filter

1 Width

Reserved

(RT)

Realtime

Autotuning

Mode

Selection

2

---

2

2

0

3

4

1

2

5

6

7

Sets the notch frequency of notch filter 1 for resonance suppression.

This filter must be matched with the resonance frequency of the load.

Filter enabled 100 to

1499

1500 Filter disabled

Selects the notch width of notch filter 1 for resonance suppression.


Do not change.

Sets the load inertia as a percentage of the Servomotor rotor inertia.

Setting [%] = (Load inertia / Rotor inertia)

×

100

The inertia ratio estimated during realtime autotuning is stored in the EEPROM every 30 minutes.

Sets the operating mode for realtime autotuning.

A setting of 3 or 6 will provide faster response to changes in inertia during operation. Operation, however, may be unstable depending on the operating pattern.

Normally, use a setting of 1 or 4.

Set to 4 to 6 when the Servomotor is used as a vertical axis.

Gain switching is enabled at set values 1 to 6.

Use a setting of 7 if operation changes caused by gain switching are a problem.

1500

2

0

300

0

Realtime Autotuning

Disabled

Horizontal axis mode

Vertical axis mode

Gain switching disable mode

---

Degree of change in load inertia

Almost no change

Gradual changes

Sudden changes

Almost no change

Gradual changes

Sudden changes

Almost no change

Unit

×

0.1

[1/s]

×

0.1

Hz

×

0.1 ms

---

×

0.01 ms

Hz

---

---

%

---

Setting range

0 to 30000

1 to 30000

1 to 10000

0 to 5

0 to 2500

100 to 1500

2

---

0 to 10000

0 to 7

Pn022 Realtime

Autotuning

Machine

Rigidity

Selection

2 Sets the machine rigidity for realtime autotuning.

Increasing this value increases the responsiveness.

If the value is changed suddenly by a large amount, the gain will change rapidly, subjecting the machine to shock.

Always start by making small changes in the value, and gradually increase the value while monitoring machine operation.

Cannot be set to 0 when using the Parameter Unit.

2 --0 to F

Enable setting

Online

Online

Online

Online

Online

Online

Details


(Busy

Flag for each axis

= 0).

---

Online Settings can be changed

Online when the axes are stopped

(Busy

Flag for each axis

= 0).

Online

121


Section 4-5

Parameter

No.

Parameter name

Pn023 Adaptive

Filter Selection

Parameter size

2

Pn024 Vibration

Filter Selection

2


0

1

Enables or disables the adaptive filter.

The Adaptive Filter Table Number Display (Pn02F) will be reset to

0 when disabled.

Note

When the Vibration Filter Selection (Pn024) is set to a low-pass filter type (Pn024 = 3 to 5), the adaptive filter is forcibly set to disabled (Pn023 = 0).

Adaptive filter disabled.

Adaptive filter enabled.

Adaptive operation performed.

2 Adaptive filter enabled. Adaptive operation will not be performed (i.e., retained).

Selects the vibration filter type and switching mode.

• Filter type selection

• Normal type:

Vibration frequency setting range 10.0 to 200.0 Hz

• Low-pass type:


• Switching mode selection

• No switching: Both 1 and 2 are enabled

• Switching with command direction:

Selects Vibration Frequency 1 in forward direction

(Pn02B, Pn02C)

Selects Vibration Frequency 2 in reverse direction

(Pn02D, Pn02E)

0

0

Default setting

Unit

---

---

Filter type

Normal type

Switching mode

No switching 0

1

2

Low-pass type

Switching with command direction

No switching 3

4

5 Switching with command direction

Setting range

0 to 2

0 to 5

Pn025 Normal

Mode Autotuning

Operation

Setting

2

2

3

4

Sets the operating pattern for normal mode autotuning.

0

1

5

6

7

Number of rotations

Repeat cycles of 2 rotations

Repeat cycles of single rotation

Rotation direction

Forward and Reverse

(Alternating)

Reverse and Forward

(Alternating)

Forward only

Reverse only

Forward and Reverse

(Alternating)

Reverse and Forward

(Alternating)

Forward only

Reverse only

0 --0 to 7

Pn026 Overrun

Pn027 Instantaneous

Speed

Observer

Setting (RT)

Pn028

Limit Setting

Notch Filter

2 Frequency

2

2

2

Sets the Servomotor’s allowable operating range for the position command input range.

Set to 0 to disable the overrun protective function.

The Instantaneous Speed Observer improves speed detection accuracy, thereby improving responsiveness and reducing vibration when stopping.

When the instantaneous speed observer is enabled, both Speed

Feedback Filter Time Constant (Pn013) and Speed Feedback Filter Time Constant 2 (Pn01B) are disabled.

This feature cannot be used with realtime autotuning.

0

1

Disabled

Enabled


This parameter must be matched with the resonance frequency of the load.

100 to

1499

Filter enabled


10

0

1500

×

0.1 rotation

---

Hz

0 to 1000

0, 1

100 to 1500

Enable setting

Offline

Details


(Busy

Flag for each axis

= 0).


(Busy

Flag for each axis

= 0).

Online


(Busy

Flag for each axis

= 0).

Online

122


Section 4-5

Parameter

No.

Parameter name

Pn029 Notch Filter

2 Width

Parameter size

2

Pn02A

Pn02B

Pn02C

Notch Filter

2 Depth

Vibration

Frequency

1

Vibration

Filter 1 Setting

Pn02D Vibration

Frequency

2

Pn02E Vibration

Filter 2 Setting

Pn02F Adaptive

Filter Table

Number

Display

2

2

2

2

2

2

Setting


Increasing the value increases the notch width.

2

Selects the notch depth of notch filter 2 for resonance suppression.

Increasing this value decreases the notch depth, thereby reducing the phase lag.

Sets the vibration frequency 1 for damping control to suppress vibration at the end of the load.

Measure and set the frequency of the vibration.

The frequency setting range depends on the filter type selected in the Vibration Filter Selection (Pn024).

• Normal type

Setting frequency range: 10.0 to 200.0 Hz (Disabled when set to

0 to 99)

• Low-pass type

Setting frequency range: 1.0 to 200.0 Hz (Disabled when set to 0 to 9)

When setting Vibration Frequency 1 (Pn02B), reduce this setting if torque saturation occurs, or increase it to make the movement faster.


The setting range depends on the filter type selected in the Vibration Filter Selection (Pn024), and if Vibration Filter 1 is enabled, the ranges are as follows:

Note

This parameter is disabled when Vibration Filter 1 is disabled.

• Normal type

Setting range: 100

≤

Pn02B + Pn02C

≤

Pn02B

×

2 or 2000

• Low-pass type

Setting range: 10

≤

Pn02B + Pn02C

≤

Pn02B

×

6

Same function as Pn02B.

0

0

0

0

Same function as Pn02C.


0

Pn030 Gain

Switching

Operating

Mode

Selection

(RT)

2

Displays the table entry number corresponding to the frequency of the adaptive filter.

This parameter is set automatically when the adaptive filter is enabled (i.e., when the Adaptive Filter Selection (Pn023) is set to a value other than 0), and cannot be changed.

When the adaptive filter is enabled, this parameter will be saved in

EEPROM approximately every 30 min. If the adaptive filter is enabled the next time the power supply is turned ON, adaptive operation will start with the data saved in EEPROM as the default value.

To clear this parameter and reset the adaptive operation, disable the adaptive filter by setting the Adaptive Filter Selection (Pn023) to 0, and then enable it again.

0 to 4

5 to 48

Filter disabled

Filter enabled

49 to 64 Enable or disable the filter with Pn022

0

Enables or disables gain switching.

0 Disabled. Uses Gain 1 (Pn010 to Pn014).

PI/P operation is switched from MECHATROLINK-II.

1 The gain is switched between Gain 1 (Pn010 to Pn014) and Gain 2 (Pn018 to Pn01C).

1

Unit

---

---

×

0.1

Hz

×

0.1

Hz

×

0.1

Hz

×

0.1

Hz

---

--0, 1

Setting range

0 to 4

0 to 99

0 to 2000

0 to 2000

0 to 64

Enable setting

Details

Online Settings can be

Online

Online

−

200 to 2000 Online

Online

−

200 to 2000 Online

Online

Online changed when the axes are stopped

(Busy

Flag for each axis

= 0).

This is a read-only parameter. You cannot change the setting.


(Busy

Flag for each axis

= 0).

123


Section 4-5

Parameter

No.

Parameter name

Pn031 Gain Switch

Setting (RT)

Parameter size

2

Pn032

Pn033

Pn034

Pn035

Gain Switch

Time (RT)

Gain Switch

Level Setting (RT)

Gain Switch

Hysteresis

Setting (RT)

Position

Loop Gain

Switching

Time (RT)

Pn036 Reserved

Pn037 Reserved

Pn038 Reserved

Pn039 Reserved

Pn03A Reserved

Pn03B Reserved

2

2

2

2

---

---

---

---

---

---

Pn03C Reserved ---

Pn03D Jog Speed 2


2

3

0

1

Sets the trigger for gain switching.

The details depend on the control mode.

Always Gain 1

Always Gain 2

Switching from the network

Amount of change in torque command

2

4

5

6

Always Gain 1

Speed command

Amount of position deviation

7

8

9

10

Position command pulses received

Positioning Completed Signal (INP) OFF

Actual Servomotor speed

Combination of position command pulses received and speed

Enabled when the Gain Switch Setting (Pn031) is set to 3, or 5 to

10. Sets the lag time from the trigger detection to actual gain switching when switching from gain 2 to gain 1.

Sets the judgment level to switch between Gain 1 and Gain 2 when the Gain Switch Setting (Pn031) is set to 3, 5, 6, 9, or 10.

The unit for the setting depends on the condition set in the Gain

Switch Setting (Pn031).

Sets the hysteresis of the judgment level for the Gain Switch Level

Setting (Pn033) when the Gain Switch Setting (Pn031) is set to 3,

5, 6, 9, or 10. The unit for the setting depends on the condition set in the Gain Switch Setting (Pn031).

This parameter can prevent the position loop gain from increasing suddenly when the position loop gain and position loop gain 2 differ by a large amount.

When the position loop gain increases, it takes the duration of (set value + 1)

×

166

µ s.

Do not change.

Do not change.

Do not change.

Do not change.

Do not change.

Do not change.

30

600

50

20

0

0

0

0

0

0

Do not change.

Sets the jog operation speed with the Parameter Unit or CX-Drive.

Note

Jog operation is only available when the network is not established. Do not try to establish the network while using jog operation. Otherwise, command alarm (alarm code 27) will occur.

0

200

Unit

---

×

166

µ s

--

---

×

166

µ s

---

---

---

---

---

---

--r/min

Setting range

0 to 10

0 to 10000

0 to 20000

0 to 20000

0 to 10000

---

---

---

---

---

---

---

0 to 500

Pn03E

Pn03F

Pn040

Pn043

Reserved

Reserved

Reserved

Pn041 Emergency

Stop Input

Setting

Pn042 Origin Proximity Input

Logic Setting

Operating

Direction

Setting

---

---

---

2

2

2

0

1

Do not change.

Do not change.

Do not change.

Enables the Emergency Stop Input (STOP).

Note

If this function is disabled, the response status will always be 0 (disabled).

Disabled.

Enabled (alarm code 87 issued on OPEN)

Sets the logic for the Origin Proximity Input (DEC).

0 N.C contact (origin proximity detected on OPEN)

1 N.O contact (origin proximity detected on CLOSE)

Sets the relationship between polarity of operation data sent over the network and the direction of Servomotor rotation.

Note

In RS-232C communications and on the analog monitor

(SP, IM) on the front panel, forward direction is always positive (+), and reverse rotation is always negative (

−

).

0 Disabled.

1 Enabled (alarm code 87 issued on OPEN)

0

1

0

0

1

1

---

---

---

---

---

---

---

---

---

0, 1

0, 1

0, 1

Enable setting

Online

Online

Online

Online

Details


(Busy

Flag for each axis

= 0).

---

---

---

---

---

---

---


(Busy

Flag for each axis

= 0).

---

---

---

Offline

Offline

Offline

124


Section 4-5

Parameter

No.

Parameter name

Pn044 Input Signal Selection

Parameter size

2

Pn045

Pn046

Pn047

Pn048

Pn049

Pn04A

Pn04B

Pn04C

Pn04D

Pn04E

Pn04F

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Pn050 Reserved

Pn051 Reserved

Pn052 Reserved

---

---

---

---

---

---

---

---

---

---

---

---

---

---

Pn053 Speed Limit 2


Sets the terminal assignment for Drive Prohibit Input.

0 Sets CN1 pin 19 to POT, CN1 pin 20 to NOT.

1 Sets CN1 pin 19 to NOT, CN1 pin 20 to POT.

Do not change.

Do not change.

Do not change.

Do not change.

Do not change.

Do not change.

Do not change.

Do not change.

Do not change.

Do not change.

Do not change.

Do not change.

Do not change.

Do not change.

Sets the speed limit for torque control mode. (The value is an absolute value)

This parameter is limited by the Overspeed Detection Level Setting (Pn073).

0

0

0

50

0

0

0

0

0

0

0

0

0

0

0

Default setting

Unit

1 --0, 1

Setting range

---

---

---

---

---

---

---

---

---

---

---

---

---

--r/min

---

---

---

---

---

---

---

---

---

---

---

---

---

---

−

20000 to

20000

Pn054 Reserved

Pn055 Reserved

Pn056 Reserved

Pn057 Reserved

Pn058 Soft Start

Acceleration Time

Pn059 Soft Start

Pn05A

Pn05B

Pn05C

Pn05D

Pn05E

Pn05F

Deceleration Time

Reserved

Reserved

Reserved

No. 1

Torque

Limit

No. 2

Torque

Limit

Pn060 Positioning

Completion

Range 1

---

---

---

---

2

2

---

2

---

---

2

2

2

Do not change.

Do not change.

Do not change.

Do not change.

Sets the acceleration time for speed control mode.

Acceleration time [s] from 0 r/min to maximum speed [r/min] = Set value

×

2 ms

Sets the deceleration time for speed control mode.

Deceleration time [s] from maximum speed [r/min] to 0 r/min = Set value

×

2 ms

Do not change.

Selects the speed limit for torque control mode.

0

1

Use the Speed Limit (Pn053)

Use the speed limit value via MECHATROLINK-II or the

Speed Limit (Pn053), whichever is smaller.

Do not change.

Do not change.

Sets the No. 1 Torque Limit for the Servomotor output torque.

Refer to information on the Torque Limit Selection (Pn003) to select the torque limit.

The maximum value of the setting range depends on the applicable Servomotor.

Sets the No. 2 torque limit for the Servomotor output torque.



Sets the positioning completion range when Positioning Completion 1 (INP1) Output is selected.

Positioning is complete when all positioning command pulses are exhausted, and the absolute value of the position deviation converted into command units is less than this setting.

0

0

0

0

0

0

0

0

0

0

300

100

25

---

---

---

---

---

---

---

---

×

2 ms 0 to 5000

×

2 ms

---

---

---

---

%

%

Command units

0 to 5000

---

0, 1

---

---

0 to 500

0 to 500

0 to 10000

Enable setting

Offline

Details

---

---

---

---

---

---

---

---

---

---

---

---

---

---


(Busy

Flag for each axis

= 0).

---

---

---

---



(Busy

Flag for each axis

= 0).

---


(Busy

Flag for each axis

= 0).

---

---



(Busy

Flag for each axis

= 0).

Online

125


Section 4-5

Parameter

No.

Parameter name

Pn061 Speed Conformity Signal Output

Width

Parameter size

2

Pn062 Rotation

Speed for

Pn064

Pn065

Motor Rotation Detection

Pn063 Positioning

Completion

Range 2

Motor

Phase Current Offset

Re-adjustment Setting

Undervoltage Alarm

Selection

2

2

2

2


Sets the detection width for the speed conformity detection

(VCMP) signal.

Speed conformity is achieved when the absolute value of the difference between the internal speed command (before acceleration and deceleration limits are applied) and the Servomotor speed is less than the set speed.

Note

This setting has a hysteresis of 10 r/min.

Sets the threshold level for the speed reached (TGON) signal.

Speed reached is determined when the absolute value of the Servomotor speed is greater than the setting speed.

Note

Speed reached detection has a hysteresis of 10 r/min.

20

50

Sets the positioning completion range when Positioning Completion 2 (INP2) is selected.

Positioning is complete when the absolute value of the position deviation converted into command units is less than this setting, regardless of whether position command pulses are still being processed.

100

0

1

Enables or disables the offset component readjustment function of the Motor Phase Current Detector (CT) for Servo ON command inputs. The readjustment is made when control power is turned

ON.

Note

This adjustment is inaccurate if the offset is measured while the Servomotor is rotating. To enable this function, do not rotate the Servomotor when inputting the Servo ON command.

Disabled (only when turning ON control power)

Enabled (when turning ON control power, or at Servo

ON)

Selects whether to activate the main power supply undervoltage function (alarm code 13) when the main power supply is interrupted for the duration of the Momentary Hold Time (Pn06D) during Servo ON.

0 Turns the Servo OFF according to the setting for the Stop Selection with Main Power OFF (Pn067), interrupting the positioning command generation process (positioning operation) within the Servo

Drive. When the main power supply is turned back

ON, Servo ON will resume. Restart the positioning operation after performing the positioning operation and recovering from Servo OFF.

1 Causes an error due to main power supply undervoltage (alarm code 13).

This parameter is disabled if Pn06D = 1,000.

If Pn06D is set too long and the voltage between

P and N in the main power supply converter drops below the specified value before a main power supply interruption is detected, a main power supply undervoltage (alarm code 13) will occur.

0

1

Unit

r/min r/min

Command units

---

---

Setting range

10 to 20000

10 to 20000

0 to 10000

0, 1

0, 1

Enable setting

Online

Online

Online

Online

Details


(Busy

Flag for each axis

= 0).

126


Section 4-5

Parameter

No.

Parameter name

Pn066 Stop Selection for

Drive Prohibition

Input

Parameter size

2


Sets the deceleration stop operation to be performed after the Forward Drive Prohibit Input (POT) or Reverse Drive Prohibit Input

(NOT) is enabled.

0

0

1

2

During deceleration

Dynamic brake

Disables torque

Emergency

Stop Torque

(Pn06E)

After stopping

(30 r/min or less)

Disables torque command in drive prohibited direction


Servo locked

Deviation counter

Cleared while decelerating with dynamic brake. Retained after stopping.

Cleared while decelerating. Retained after stopping.

Retained while decelerating, cleared upon completion of deceleration, and retained after stopping.

Default setting

Unit

---

P067

Pn068

Stop Selection with

Main Power

OFF

Stop Selection for

Alarm Generation

Pn069 Stop Selection with

Servo OFF

2

2

2

Note 1.

The positioning command generation process (positioning operation) within the Servo Drive will be forcibly stopped once it enters the deceleration mode. Also, when the deceleration mode is activated during speed control or torque control, it will switch to position control. If a positioning operation command is received during deceleration, the internal positioning command generation process will be retained, and after deceleration is complete, positioning operation will be activated.

Note 2.

When the Servomotor rotation speed is 30 r/min or less

(stopped), the deceleration mode will not be activated even if the drive prohibit input is enabled.

Note 3.

When the parameter is set to 2 and an operation command in the drive prohibited direction is received after stopping, a command warning (warning code 95h) will be issued. When the parameter is set to 0 or 1, the operation command in the prohibited direction after stopping will be accepted, but the Servomotor will not operate and the position deviation will accumulate because the torque command is 0. Take measures such as issuing a command in the reverse direction from the host controller.

Note 4.

When the parameter is set to 2, MECHATROLINK-II communications are interrupted, and either Forward or

Reverse Drive Prohibit Input (POT or NOT) is turned ON, receiving an operation command (jog operation or normal mode autotuning) via RS232 will cause a Drive Prohibit

Input Error (alarm code 38). A Drive Prohibit Input Error

(alarm code 38) will also occur if either POT or NOT is turned ON while operating on an operation command received via RS232.

Sets the operation to be performed during deceleration and after stopping after the main power supply is turned OFF with the Undervoltage Alarm Selection (Pn065) set to 0. The deviation counter will be reset when the power OFF is detected.

0 and 4 Use dynamic brake to decelerate and remain stopped with dynamic brake.

1 and 5 Use free-run to decelerate and remain stopped with dynamic brake.

0

2 and 6 Use dynamic brake to decelerate, but free the motor when stopped.

3 and 7 Use free-run to decelerate, and free the motor when stopped.

Sets the deceleration process and stop status after an alarm is issued by the protective function. The deviation counter will be reset when an alarm is issued.

0

1

Use dynamic brake to decelerate and remain stopped with dynamic brake.

Use free-run to decelerate and remain stopped with dynamic brake.

2

3

Use dynamic brake to decelerate, but free the motor when stopped.

Use free-run to decelerate, and free the motor when stopped.

Sets the operational conditions to apply during deceleration and after stopping when the Servo is turned OFF.

The relationship between set values, operation, and deviation counter processing for this parameter is the same as for the Stop

Selection with Main Power OFF (Pn067).

0

0

---

---

---

Setting range

0 to 2

0 to 7

0 to 3

0 to 7

Enable setting

Offline

Details


(Busy

Flag for each axis

= 0).

Online

Online

127


Section 4-5

Parameter

No.

Parameter name

Pn06A Brake Timing When

Stopped

Parameter size

2

Pn06B

Pn06C

Pn06D

Pn06E

Brake Timing during

Operation

Regeneration Resistor

Selection

Momentary

Hold Time

Emergency

Stop Torque

2

2

2

2


Sets the duration from when the Brake Interlock (BKIR) signal turns OFF to when the Servomotor is de-energized when the RUN command is turned OFF with the Servomotor stopped.

Note

The brake interlock signal is the logical OR of the brake release request from the network and the release request from the Servo controller. Note, the brake release request from the network is OFF (operation request is ON) at power ON.

When the run command (RUN) is turned OFF during the Servomotor rotation, the Servomotor will decelerate reducing the rotation speed and the Brake Interlock Signal (BKIR) will turn OFF after the time set by this parameter has elapsed.

BKIR turns OFF if the Servomotor speed drops below 30 r/min before the set time.

Note


Sets the regeneration resistor operation and the regeneration overload (alarm code 18) operation.

Set this parameter to 0 if using the built-in regeneration resistor.

If using an external regeneration resistor, be sure to turn OFF the main power when the built-in thermal switch is activated.

0 Sets the regeneration overload to match the built-in regeneration resistor. (regeneration load ratio below

1%)

10

50

0

1

2

The regeneration overload (alarm code 18) occurs when the load ratio of the external regeneration resistor exceeds 10%.

The regeneration processing circuit by the external regeneration resistor is activated, but the regeneration overload (alarm code 18) does not occur.

3 The regeneration processing circuit is not activated.

All regenerative energy is absorbed by the built-in capacitor.

Sets the amount of time required to detect shutoff when the main power supply continues to shut off.

The main power OFF detection will be disabled if this parameter is set to 1000.

Sets the torque limit during deceleration because of the Drive Prohibition Input when the Stop Selection for Drive Prohibition Input

(Pn066) is set to 2.

When this parameter is set to 0, the normal torque limit will be set.

The maximum value of the setting range depends on the Servomotor.

35

0

Unit

2 ms

2 ms

---

2 ms

%

Setting range

0 to 1000

0 to 1000

0 to 3

35 to 1000

0 to 300

Pn06F Reserved

Pn070 Reserved

Pn071 Reserved

Pn072 Overload

Detection

Level Setting

Pn073 Overspeed

Detection

Level Setting

Pn074

Pn075

Pn07B

Pn07C

Pn07D

Reserved

Reserved

Pn076 Reserved

Pn077 Reserved

Pn078 Reserved

Pn079 Reserved

Pn07A Reserved

Reserved

Reserved

Reserved

---

---

---

2

2

---

---

---

---

---

---

---

---

---

---

Do not change.

Do not change.

Do not change.

Sets the overload detection level. The overload detection level will be set at 115% if this parameter is set to 0. Normally, use a setting of 0, and set the level only when reducing the overload detection level.

Sets the overspeed detection level. The overspeed detection level is 1.2 times the maximum Servomotor rotation speed when the parameter is set to 0. Normally, use a setting of 0, and set the level only when reducing the overspeed detection level.

Note

The detection margin of error for the setting is

±

3 r/min for a 7-core absolute encoder and

±

36 r/min for a 5-core incremental encoder.

Do not change.

Do not change.

0

Do not change.

Do not change.

Do not change.

Do not change.

Do not change.

Do not change.

Do not change.

Do not change.

0

0

0

0

0

0

0

0

0

0

0

0

0

0

---

---

---

% r/min

---

---

---

---

---

---

---

---

---

---

---

---

---

0 to 500

0 to 20000

---

---

---

---

---

---

---

---

---

---

Enable setting

Online

Offline

Offline

Details


(Busy

Flag for each axis

= 0).


(Busy

Flag for each axis

= 0).

---

---

---

Online

Online

---

---

---

---

---

---

---

---

---

---

128


Section 4-5

Parameter

No.

Parameter name

Pn07E Reserved

Pn07F Reserved

Pn100 Backlash

Compensation Selection

Parameter size

---

---

2

2


Do not change.

Do not change.

0

1

Enables or disables the backlash compensation for position control, and sets the compensation direction.

Disabled

Compensates in the initial positive direction after the

Servo ON.

2 Compensates in the initial negative direction after the

Servo ON.

Sets the backlash compensation amount for position control.

Pn101 Backlash

Compensation

Pn102 Backlash

Compensation

Time Constant

2 Sets the backlash compensation time constant for position control.

Pn101 = Negative number

Value of

Pn100

1

2

Pn101 = Positive number

Compensates in positive direction during rotation in positive direction

Compensates in positive direction during rotation in negative direction

Compensates in negative direction during rotation in positive direction

Compensates in negative direction during rotation in negative direction

0

0

0

0

0

Default setting

Unit

---

---

---

Command units

0.01 ms

---

---

Setting range

0 to 2

−

32768 to

32767

0 to 6400

Pn103 Reserved

Pn104 Soft Limit

Pn105

Pn106

Origin

Range

Reserved

Pn107 Linear

Acceleration

Constant

---

2

2

---

2

Do not change.

Enables or disables the soft limit.

When enabled, the soft limit values are set in Forward Software

Limit (Pn201) and Reverse Software Limit (Pn202).

Note

The response value for limit signals disabled by this setting will be set to 0. The response value for limit signals is also set to 0 when the Servomotor does not complete its return to origin.

0 Enable both the Forward / Reverse Software Limits

(Pn201 and Pn202)

1

2

Disable the Forward Software Limit (Pn201), enable the

Reverse Software Limit (Pn202)

Enable the Forward Software Limit (Pn201), disable the


3 Disable both the Forward / Reverse Software Limits

(Pn201 and Pn202)

Sets the threshold for detecting the origin (ZPOINT) in absolute values.

ZPOINT = 1 when the return to origin completes (coordinate system setup is complete) and the feedback position is within the setting range of this parameter.

Do not change.

Sets the acceleration for positioning operations.

A setting of "0" is regarded as "1".

The setting will be handled after conversion to an unsigned 16-bit data (0 to 65535).

Example:

−

32768

→

8000h = 32768

−

1

→

FFFFh = 65535

0

0

10

0

100

---

---

Command units

---

×

10000

[command units/ s

2

]

---

0 to 3

0 to 250

---

−

32768 to

32767

Pn108

Pn109

Pn10A Linear

Pn10B

Reserved

Reserved

Deceleration Constant

Reserved

Pn10C Reserved

Pn10D Reserved

---

---

2

---

---

---

Do not change.

Do not change.

Sets the deceleration for positioning operations.



Example:

−

32768

→

8000h = 32768

−

1

→

FFFFh = 65535

Do not change.

Do not change.

Do not change.

0

0

100

0

0

0

---

---

×

10000

[command units/ s

2

]

---

---

---

---

---

−

32768 to

32767

---

---

---

Enable setting

---

---

Offline

Details



(Busy

Flag for each axis

= 0).

---

Online

Online

---


(Busy

Flag for each axis

= 0).

---

---


(Busy

Flag for each axis

= 0).

---

---

---

129


Section 4-5

Parameter

No.

Parameter name

Pn10E Moving

Average

Time

Parameter size

2

Pn10F

Pn110

Pn111

Pn112

Origin

Return

Mode Settings

Origin

Return

Approach

Speed 1

Origin

Return

Approach

Speed 2

Generalpurpose

Output 1

Function

Selection

Pn113 Generalpurpose

Output 2

Function

Selection


Output 3

Function

Selection

Pn115 to

Pn13F

Reserved

Pn200 Absolute

Origin Offset

2

2

2

2

2

2

---

4

Setting

Selects the function for general-purpose output 3 (OUTM3).

The set values and the functions are the same as for general-purpose output 1 (OUTM1).

Explanation

Sets the offset amount for the encoder position and the mechanical coordinate system position when using an absolute encoder.

Default setting

Sets the moving average time for position commands.

Note

If the Moving Average Time is set, commands may not be executed seamlessly when switching the control mode, and when switching between interpolation feed motions and positioning motions (motions wherein the command waveforms are generated inside the Servo Drive).

Sets the direction for origin return.

0

1

Positive direction

Negative direction

Sets the operating speed for origin return from when the origin proximity signal is turned ON, to when it is turned OFF and the latch signal is detected.

This parameter can be set to a maximum value of 32767, but internally the speed is limited to the Servomotor's maximum speed.

Sets the operating speed for origin return, from when the point after the latch signal is detected to when the Origin Return Final

Distance (Pn204) is reached.


0

0

50

5


0 Always OFF

1 INP1 output.

Turn ON when position deviation is equal to or less than Pn060 for position control. Undefined when not using position control.

2

3

4

5

VCMP output.

Turn ON when the deviation between the Servomotor speed and commanded speed is within the range set by Pn061 for speed control. Undefined when not using speed control.

TGON output.

Turn ON when the absolute value of the Servomotor speed exceeds Pn062 setting in all control modes.

READY output.

Turn ON when the main power is supplied, there is no alarm, and Servo SYNC with a host controller is established in all control modes.

CLIM output.

Turn ON when torque limit is activated in all control modes.

6

7

8

VLIM output.

Turn ON when the Servomotor speed reaches the speed limit for torque control. Undefined when not using torque control.

BKIR output.

Turn ON with the release timing of the brake release signal in all control modes.

WARN output.

Turn ON when a warning is issued in all control modes.

9 INP2 output.

Turn ON when the position deviation is equal to or less than the Positioning Completion Range 2 (Pn063) for position control. Undefined when not using position control.



7

0

Do not change.

0

0

0

Unit

×

0.1

ms

---

100

[command units/ s]

100

[command units/ s]

---

---

---

---

Command units

0 to 5100

0, 1

1 to 32767

1 to 32767

0 to 9

0 to 9

0 to 9

---

Setting range

Enable setting

Details


Online

Online

Online

Offline

Offline

Offline

---

−

1073741823 to

1073741823

Offline changed when the axes are stopped

(Busy

Flag for each axis

= 0).

Standard setting

130


Section 4-5

Parameter

No.

Parameter name

Pn201 Forward

Software

Limit

Parameter size

4

Pn202

Pn203

Reverse

Software

Limit

Final Distance for

External

Input Positioning

4

4


Unit

Sets the soft limit in the forward direction.

If the Servomotor exceeds the limit, the network response status

(PSOT) will turn ON (=1).

Note

Be sure to set the limits so that Forward Software Limit >

Reverse Software Limit.

Note

PSOT is not turned ON when origin return is incomplete.

Sets the soft limit for the reverse direction.


(NSOT) will turn ON (=1).

Note



Note

NSOT is not turned ON when origin return is incomplete.

Sets the distance to travel after detecting the latch signal input position when performing external input positioning.

The operation after detecting the latch signal input position will be determined by the external input positioning direction and this parameter as follows.

500000

100

Command units

−

500000 Command units

Command units

Setting range

Enable setting

−

1073741823 to

1073741823

Online

−

1073741823 to

1073741823

Online

Details

−

1073741823 to

1073741823


(Busy

Flag for each axis

= 0).

External input positioning direction

Positive direction

Negative direction

Positive

Sign

Negative

Moves in the positive direction and stops

*1

Decelerates to a stop, reverses, then moves in the positive direction and stops

Decelerates to a stop, reverses, then moves in the negative direction and stops

Moves in the negative direction and stops

*1

Pn204 Origin

Return

Final Distance

4

*1. Reverses after decelerating to a stop if the final distance for external input positioning is short in comparison to the deceleration distance.

Sets the distance from the latch signal input position to the origin when performing origin return.

The operation after detecting the latch signal input position will be determined by the origin return direction and this parameter as follows.

100 Command units

−

1073741823 to

1073741823

Online

Pn205 Electronic

Gear Ratio

1 (Numerator)

Pn206 Electronic

Gear Ratio

2 (Denominator)

Pn207 Reserved

Pn208 Reserved

Pn209 Deviation

Counter

Overflow

Level

Pn20A to

Pn21F

Reserved

4

4

---

---

4

---

Origin return direction

Positive direction

Negative direction

Sign

Positive Negative

Moves in the positive direction and stops*1


*1



*1. Reverses after decelerating to a stop if the final travel distance for origin return is short in comparison to the deceleration distance.

Sets the numerator for the electronic gear ratio.

Setting this parameter to 0 automatically sets the encoder resolution as the numerator. (131072 for a 17-bit absolute encoder, or

10000 for a 2,500-p/r incremental encoder).

Note

Set the electronic gear ratio within the range of 1/100 to

100 times. A parameter setting alarm (alarm code 93) will occur if the ratio is set outside of this range.

Sets the denominator for the electronic gear ratio.

Note


100 times. A parameter setting alarm (Alarm code 93) will occur if the ratio is set outside of this range.

1

1

Do not change.

Do not change.

Sets the deviation counter overflow level.

The value will become saturated at 134217728 (= 2

27 multiplying with the electronic gear ratio.

) pulses after

Setting this parameter to 0 will disable deviation counter overflow.

Do not change.

0

0

---

---

20000 Command units

0

---

---

---

0 to 131072

1 to 65535

---

---

0 to

2147483647

---

Offline

Offline

---

---

Online

---

131


Section 4-5

4-5-3 W-series Servo Drives (R88D-WT

@

with FNY-NS115)

The Servo Parameters listed here can be used when the Position Control Unit is used with an OMRON W-series Servo Drive (R88D-WT @ ) with a MECHA-

TROLINK-II I/F Unit (FNY-NS115).

For further details on each of the parameters, refer to the user’s manuals for

W-series Servo Drives and MECHATROLINK-II I/F Unit (FNY-NS115).

The default settings for parameters Pn000 to Pn601 in the parameter tables for the R88D-WT @ W-series Servo Drive used with the FNY-NS115 are automatically set to the default parameter settings for when the FNY-NS115

MECHATROLINK-II I/F Unit is mounted to a W-series Servo Drive. Parameters from Pn800 onwards are enabled when the FNY-NS115 is mounted. The parameter names and default settings for these parameters follow those specified by the FNY-NS115.


Online (online parameter): Changed settings are enabled immediately after




The

Details



Flag = 0) only.

• Parameters that are automatically set when a FNY-NS115 MECHA-

TROLINK-II I/F Unit is installed and Parameters that are used with fixed set values are indicated in the

Details

column as "fixed" with the set value.


Details

column as "standard" with the set value. The standard settings are basic settings required when using the Position Control

Unit. This manual describes operations assuming standard settings are being used.




.

Note


PARAMETER). Refer to the Servo Drive's user’s manual and always check the effect of changing the settings before changing the Servo Parameters.

132


Section 4-5


Parameter No.

Parameter name

Pn000 Function selection basic switch


1

2

Parameter size

2 0

Digit

No.

1

2

3

0

1

2

3

Reverse rotation

Name

Contents

Setting

0

1

Explanation

Not used.

1 The setting is disabled. (Do not change the setting.)

Unit No. setting 0 to F Servo Drive communications unit number setting when using personal computer monitoring software

Not used. 0


Servomotor is

OFF

0

1



2


Dynamic brake released after stopping.



0

CCW direction is taken for positive command.

CW direction is taken for positive command.


1

2

0

Stop according to

Pn001.0 settings

(release Servomotor after stopping).


Pn406, and lock



Pn406, and release


AC power supply:

AC power supplied from L1, L2, (L3) terminals


1

0

1

DC power supply:

DC power supplied from +1,

−

terminals

Alarm code only output from ALO1,

ALO2, ALO3

Alarm code and warning code both output from ALO1,

ALO2, ALO3

0

1

0

0

2

0

0

1

Default setting

---

---

---

---

---

---

---

---


---

---

---

---

---

---

---

---

Enable setting

Details

Offline ---

---

---

---

Offline ---

---

Offline ---

Offline ---

Offline ---

Offline ---

133


Section 4-5

Parameter No.

Parameter name


2

2

Parameter size

0

Digit

No.

Name


Contents

Setting

0

1

1

2

3




2

3

0

1

0

1

0

1

2

3

4

Explanation


Option command value 1 used as torque limit input.


Option command values 1 and 2 used as torque limit inputs according to the forward/reverse rotation current limit setting.





Fully-closed encoder is not used.

Fully-closed encoder is used without phase Z.

Fully-closed encoder is used with phase Z.

Fully-closed encoder is used in

Reverse Rotation

Mode without phase Z.


Reverse Rotation

Mode with phase Z.

0

0

0

0

Default setting

---

---

---

---


Enable setting

Details

---

---

---

---

Offline

Offline

Offline

Offline

---

---

---

---

134


Section 4-5

Parameter No.

Parameter name

Pn003 Function

Pn004

Pn005 selection application switch

3

Not used.

Not used.

Parameter size

2

---

---

0

Digit

No.

---

Name

Analog monitor 1 (AM) allocation

Contents

Setting

0

1

2

3

Explanation

Servomotor rotation speed:

1 V/1,000 r/min

Speed command:

1 V/1,000 r/min

Torque command:

1 V/100%

Position deviation:

0.05 V/1 command unit

2

4

5

Position deviation:

0.05 V/100 command units

Command pulse frequency:

1 V/1,000 r/min

6

7


1 V/250 r/min


1 V/125 r/min

8 to F Not used.

0 to F Same as Pn003.0

0 1 Analog monitor 2 (NM) allocation

2 to 3 Not used.

---

0

---



Default setting

0

0200

---

---

---

---


---

---

---

---

------(Do not change the setting.)

0000 -----

Enable setting

---

---

---

Details

Online ---

Online ---

---

Fixed setting:

0200

---

Servo Gain Parameters

Parameter No.

Parameter name

Parameter size

Contents

Digit

No.

Name Setting

Adjusts speed loop responsiveness.

Explanation

Pn100 Speed loop gain

Pn101 Speed loop integration constant

Pn102 Position loop gain

Pn103 Inertia ratio

Pn104 Speed loop gain 2

Pn105 Speed loop integration constant 2

Pn106 Position loop gain 2

Pn107 Bias rotational speed

Pn108 Bias addition band

2

2

2

2

2

2

2

2

2

Speed loop integral time constant

Adjusts position loop responsiveness.

Default setting

80

2000

40

Sets using the ratio between the machine system inertia and the Servomotor rotor inertia.

Adjusts speed loop responsiveness (enabled by automatic gain switching input).

Speed loop integral time constant (enabled by automatic gain switching input)

300

80

2000

Adjusts position loop responsiveness (enabled by automatic gain switching input).

Sets position control bias.

Sets the position control bias operation start using deviation counter pulse width.

40

0

7

Pn109 Feed-forward amount

2 Position control feed-forward compensation value 0


Enable setting

Details

Hz

×

0.01 ms

1 to

2000

15 to

51200

1/s

%

Hz

×

0.01 ms

1 to

2000

0 to

20000

1 to

2000

15 to

51200

1/s 1 to

2000


Command unit

%

Online ---

Online ---

Online ---

Online ---

Online ---

Online ---

0 to 250 Online ---

0 to 100 Online ---

135


Section 4-5

Parameter No.

Parameter name

Parameter size

2

Digit

No.

Name

Contents

Setting

Explanation

Sets position control feed-forward command filter.

Pn10A Feed-forward command filter

Pn10B Speed control setting

2

Default setting

0

0 P control switching conditions

0

1

2

Sets internal torque command value conditions

(Pn10C).

Sets speed command value conditions (Pn10D).

Sets acceleration command value conditions

(Pn10E).

3

4

Sets deviation pulse value conditions (Pn10F).

No P control switching function

PI control

IP control

1 Speed control loop switching

0

1

0 2 Automatic gain switching

1

Automatic gain switching disabled

Gain switching using position commands

2

3

Gain switching using position deviation

Gain switching using position commands and position deviation

3 Not used.


Sets level of torque command to switch from PI control to P control.

4

0

0

0

200 Pn10C P control switching

(torque command)

2

2 Pn10D P control switching

(speed command)

Pn10E P control switching

(acceleration command)

Pn10F P control switching

(deviation pulse)

2

2

Sets level of speed command to switch from PI control to P control.

Sets level of acceleration command to switch from PI control to P control.

Sets level of deviation pulses to switch from PI control to P control.

0

0

10

Unit

---

---

---

---

%

10 r/ min/s

Command unit

Setting range

×

0.01 ms

0 to

6400

---

---

---

---

Online

Online

Offline

Offline

---


10000

0 to

3000

0 to

10000

Enable setting

Online

Online

Online

Details

---

---

---

---

---

---

---

---

---

136


Section 4-5

Parameter No.

Pn110

Parameter name

Online autotuning setting

Pn111 Speed feedback compensation gain

Pn112 to

Pn123

2

Not used.

---

Pn124 Automatic gain switching timer

Pn125 Automatic gain switching width

(amount of position deviation)

2

2

Parameter size

2 0

Digit

No.

1

2

Name

Select online autotuning

Select speed feedback compensation function

Select adhesive friction compensation function

Contents

Setting

0

1

2

0

1

0

1

Explanation

Autotunes initial operations only after power is turned ON.

Always autotunes.

No autotuning

ON

OFF

Friction compensation: OFF

Friction compensation: Rated torque ratio small

3 Not used.

2

0

Adjusts speed loop feedback gain.

Friction compensation: Rated torque ratio large


Default setting

2

1

0

0

100

---

---

---

---

%


---

---

---

---

Enable setting

Offline

Online

Online

---

1 to 500 Online

Details

---

---

---

---

---


Sets the switching delay after conditions have been met, when the automatic gain switching function is used.

(Pn10B.2 = 1 to 3).

Sets the position deviation used as the switching condition when the automatic gain switching function by position deviation (Pn10B.2 = 2, 3) is used.

---

100

7

--ms

Command unit

---

1 to

10000

---

Online

1 to 250 Online

---

---

---


Parameter No.

Parameter name

Pn200 Position control setting 1

2

Pn201 Encoder divider rate

2

Pn202 Electronic gear ratio

G1

(numerator)


G2

(denominator)

2

2

Pn204 Not used.

---

Parameter size

0

Digit

No.

1

2

Name

Not used.

Not used.

Not used.

Contents

0

Setting

0

1

Explanation




0

0

1

Default setting

---

---

---


Enable setting

Details

---

---

---

---

---

---

---

---

---

---

---

Fixed setting:

1

--3 Not used.


Sets the number of output pulses from the Servo

Drive.

0

1000

Sets the pulse rate for the command pulses and Servomotor travel distance.

0.01

≤

G1/G2

≤

100


4

1

0

Pulses

/rotation

---

---

---

16 to

16384

1 to

65535

1 to

65535

---

Offline

Offline

Offline ---

---

---

---

---

137


Section 4-5

Parameter No.

Parameter name

Pn205 Absolute encoder multi-turn limit setting

Pn206 Number of fullyclosed encoder pulses


2

2

2

Parameter size

Digit

No.

Name

Contents

Setting

Explanation

Sets the limit to the rotation speed when using a Servomotor with an absolute encoder.

Sets the number of fully-closed encoder pulses for each motor rotation.

0

1

Not used.

Not used.

0

1



Default setting

65535

16384

0

1

2 Not used.

0

Unit

Rotations

Setting range

0 to

65535

Pulses

/rotation

513 to

32768

---

---

---

---

---

---

Enable setting

Details

Offline

Offline

---

---

---

---

---

---

Fixed setting:

1

---

Pn208

Pn212

Pn217

Pn218

Not used.

Not used.

Not used.

Position control setting 3

---

---

---

2

3

0

1

2

3

Not used.

Not used.

Not used.

Not used.

Not used.

0




0

1

0

0



0

0

1

0

0

2048





0

0

0

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---


Parameter No.

Pn300

Pn301

Pn302

Pn303

Pn304

Parameter name

Not used.

Not used.

Not used.

Not used.

Jog speed

Pn305 Soft start acceleration time


Pn307 Not used.

Pn308 Speed feedback filter time constant

Pn309 Not used.

2

2

---

2

---

---

---

2

Parameter size

---

---






Sets the rotation speed used during jog operation (executed from the Servo

Drive's Parameter Unit).




Sets filter time constant for speed feedback.


1000

100

200

300

500

0

0

40

0

60


Enable setting

Details

---

---

---

---

---

---

---

--r/min 0 to

10000 ms ms

---

×

0.01

ms

---

0 to

10000

0 to

10000

---

0 to

65535

---

---

---

---

---

---

---

---

---

Online ---

Online ---

Online ---

-----

Online ---

-----


Parameter No.

Parameter name

Pn400 Not used. ---

Pn401 Torque command filter time constant

2


2

Parameter size

Digit

No.

Name

Contents

Setting

Explanation


Sets the filter time constant for the internal torque command.

Forward rotation output torque limit (rated torque ratio).

Default setting


Enable setting

Details

30

40

350

---

×

0.01

ms

---

0 to

65535

%

-----

Online ---

0 to 800 Online ---

138


Section 4-5

Parameter No.

Parameter name





Pn407 Speed limit

Pn408 Torque command setting

2

2

2

2

2

2

Parameter size

Digit

No.

Name

Contents

Setting

Explanation

Reverse rotation output torque limit (rated torque ratio).


Default setting

350

100

%

%


Enable setting

0 to 800 Online

0 to 800 Online

Details

---

---




100

350

3000

%

% r/min

---

0 to 800 Online

0 to 800 Online

0 to

10000

---

Online

Online

---

---

---

---

2

0

1

Selects notch filter 1 function

Not used.

0

1

0

Notch filter 1 not used.

Notch filter 1 used for torque commands.


2 Selects notch filter 2 function

0

1



3 Not used.


Sets notch filter 1 frequency for torque command.

0

0

0

0

2000

---

---

---

Hz

---

---

---

50 to

2000

---

Online

---

Online

---

---

---

--Pn409 Notch filter 1 frequency

Pn40A Notch filter 1 Q value

Pn40B Notch filter 2 frequency

Pn40C Notch filter 2 Q value

2

2

2

Sets Q value of notch filter 1.



70

2000

70

×

0.01

Hz

×

0.01

50 to

400

50 to

2000

50 to

400

Online

Online

Online

---

---

---


Parameter No.

Parameter name

Parameter size

Contents

Digit

No.

Name Setting

Explanation

Sets the width of the positioning completed range.


2

Pn501 Not used.

---


2

2 Pn503 Speed conformity signal output width


2


Sets the number of rotations for detecting the Zero

Speed Flag.



Flag.

Default setting

3

10

20

10

3


Enable setting

Details

Command unit

----r/min 1 to

10000

Command unit

0 to 250 Online ---

-----


1 to 250 Online ---

139


Section 4-5

Parameter No.

Parameter name

Pn505 Deviation counter overflow level

Pn506 Brake timing 1

Pn507 Brake command speed


Pn509 Momentary hold time

2

2

2

2

2

Parameter size

Digit

No.

Name

Contents

Setting

Explanation

Sets the detection level for the deviation counter over alarm.

Default setting

1024

Unit

×

256 pulses

Setting range

1 to

32767

Enable setting

Details

Online ---

Sets the delay from the brake command to the Servomotor turning OFF.

Sets the rotation speed for outputting the brake command.

Sets the delay from the Servomotor turning OFF to the brake command output.

Sets the time during which alarm detection is disabled when a power failure occurs.

0

100

50

20

×

10 ms r/min 0 to

10000

×

10 ms ms

0 to 50

10 to

100

20 to

1000

Online

Online

Online

Online

---

---

---

---

140


Section 4-5

Parameter No.

Pn50A

Parameter name


Parameter size

2 0

Digit

No.

Name

Not used.

1

2

3

Not used.

Not used.

POT (forward drive prohibited input) signal input terminal allocation

Contents

Setting

1

Explanation


1

Default setting

---

8

8

0

1

2

3

4

5

6

7

8

9

A

B

C

D

E

F



8

8








Always valid.

Always invalid.








8


Enable setting

Details

---

---

---

---

---

---

---

---

---

Fixed setting:

1

Fixed setting:

8

--Fixed setting:

8


2

141


Section 4-5

Parameter No.

Pn50B

Pn50C

Pn50D

Parameter name




Pn50E Output signal selection 1

2

Parameter size

2

2

2

0

Digit

No.

1

2

3

0

1

2

3

0

1

2

3

0

1

2

3

Name

NOT (reverse drive prohibited input) signal input terminal allocation

Not used.

Contents

Setting

Explanation


8


Default setting

8

---

---


---

---


5 -----

Enable setting

Details


3

--Fixed setting:

8


8



Not used.

0 to F

8

Same as Pn50A.3


6

8

---

---

---

---

Offline

---

Standard setting:

8

Not used.

Not used.

Not used.

Not used.

Not used.

Not used.

8

8

8

8

8






8

8

8

8

8

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

Fixed setting:

8

Fixed setting:

8

Fixed setting:

8

Fixed setting:

8

Fixed setting:

8

Fixed setting:

8

---

Not used.



0

1

8

8



Not used.


8

8

1

2

3




1

---

---

---

---

---

---

---

Offline

---

Standard setting:

1




0 to 3

0 to 3

Same as Pn50E.0

Same as Pn50E.0

2

3

---

---

---

---


0

Offline

Offline

Standard setting:

0

Standard setting:

3

142


Section 4-5

Parameter No.

Parameter name

Pn50F Output signal selection 2

2

Pn510 Output signal selection 3

2

Parameter size

0

Digit

No.

1

2

3

0

1

2

3

Name



Contents

Setting

Explanation


0


Default setting

0


0

---

---

--BKIR (brake interlock) signal output terminal allocation




Not used.

0 to 3

0 to 3

0

Same as Pn50E.0

Same as Pn50E.0

0

0

0


---

---

---

---

---

---

---

---

---

Not used.

Not used.

0

0




0

0

---

---

---

---

Enable setting

Details


0


0


2


0


0

---

---

---

---

---

---

143


Section 4-5

Parameter No.

Pn511

Parameter name


Parameter size

2 0

Digit

No.

Name


Contents

Setting

0

1

2

3

4

5

6

7

8

9

A

B

C

D

E

F

Explanation








Always enabled.

Always disabled.








8

Default setting

---


Enable setting

Details

--Offline Standard setting:

1

144


Section 4-5

Parameter No.

Pn511

Pn512 Output signal reverse

2

Pn513

Parameter name



Pn51A Motor-load deviation over level

2

Pn51B Not used.

---

Pn51C Not used.

---

Pn51E Deviation counter overflow warning level

2

Parameter size

2

2

1

2

3

Digit

No.

Name


Contents

Setting

0 to 3

4

Explanation

Always disabled.


5

6




Default setting

8

7

8

Always enabled.

Always disabled.

9 to C Always disabled.

D Allocated to CN1, pin 44: Valid for high input

E

F




8

---

---


---

---



8

0

---

---

---

---

Enable setting

Details


4


5


6

Offline --0

1

2

Output signal reverse for

CN1 pins 25,

26


CN1 pins 27,

28


CN1 pins 29,

30

Not used.

0

1

0, 1

0, 1

Not reversed.

Reversed.

Same as above

Same as above

3

0 Not used.

0

8



1

2

3

Not used.

Not used.

Not used.

8

0

0




Sets the allowable range for the number of pulses for fully-closed encoders and semi-closed encoders.

0

0

0

8

8

0

0

0

---

---

---

---

---

---

---

Pulse

---

---

---

---

---

---

---

0 to

32767

Offline

Offline

---

---

---

---

---

Online

---

---

---

---

---

---

---

---



Sets the detection level for the deviation counter overflow warning.

100

450

0

---

---

%

---

---

---

---

---

---

0 to 100 Online ---

145


Section 4-5

Other Parameters

Parameter No.

Parameter name

Pn600 Regeneration resistor capacity

Pn601 Not used.

Parameter size

2

Contents

Setting for the regeneration resistance load ratio monitoring calculations.

0

Default setting

--(Do not change the setting.) 0


Enable setting

Details

×

10 W From 0

(Varies by Unit.)

-----

Online ---

-----

146


Section 4-5


Parameter No.

Parameter name


Parameter size

2 0

Digit

No.

1

2

3

Name

MECHA-


Contents

Setting

0

1

Warning check mask


Not used.

Explanation

2

3

0

1

2

3

4

5

6

7

Ignores MECHA-


(A.95).



(A.95).


(A.96).


Ignores both

MECHATROLINK-



(A.94), MECHA-



(A.96).

0 to F Detects a communications error

(A.E6) when the number of errors specified by the set value + 2 have occurred continuously.




(A.E5).


(A.E6).


(A.E5).



(A.E5).


(A.94), MECHA-



(A.96).

Ignores parameters setting warnings (A.94).

0

4

0

0

Default setting

---

---

---

---


---

---

---

---

Enable setting

Details



Online ---

-----

147


Section 4-5

Parameter No.

Pn801

Parameter name

Function selection application (software limits)

Parameter size

2 0

Digit

No.

Name


Contents

Setting

0

1

2

1

2

3

Not used.


Not used.

3

0

0

1

0

Explanation









0

0

0

0

Default setting

---

---

---

---


Enable setting

Details

---

---

---

---

Online

---

Online

---

---

---

Always set to 0.

---

Parameter No.

Pn802

Pn803

Pn804

Pn806

Parameter

offset

name

Not used.

Zero point width



Pn808 Absolute encoder zero point position

Pn80A First-step linear acceleration constant

Pn80B Second-step lin-

Pn80C ear acceleration constant


Parameter size

---

2

4

4

4

2

2

2



Details







0000

100

---


2

---

10

819,191,808

−

0

819,191,808

Command unit

Command unit

Command unit

Command unit

0 to 250

−

1,073,741,823 to

1,073,741,823

−

1,073,741,823 to

1,073,741,823

−

1,073,741,823 to

1,073,741,823

1 to 65535



100

0


2


1 to 65535

0 to 65535

-----

Online ---

Online ---

Online ---

Offline ---







148


Section 4-5

Parameter No.

Parameter name

Pn80D First-step linear deceleration constant

Parameter size

2

Contents


Default set-

100

ting

Pn80E Second-step lin-

Pn80F Deceleration

Pn810

Pn811

Pn812

Pn813

Pn814 ear deceleration constant constant switching speed

Exponential acceleration/ deceleration bias



Not used.

Final travel distance for external positioning

2

2

2

2

2

---

4





Sets the average movement time for when Scurve acceleration/ deceleration is used, and an average movement filter is used for the position command filter.


Sets the final travel distance for external positioning when executing

INTERRUPT FEEDING using direct operation.

100

0

0

0

0

0010

100

Unit


2


2


Command units/s

×

×

0.1 ms

0.1 ms

-----

Setting range

1 to 65535

1 to 65535

0 to 65535

0 to 32767

0 to 5100

0 to 5100

Enable setting

Details













-----

Command unit

−

1,073,741,823 to

1,073,741,823



149


Section 4-5

Parameter No.

Parameter name

Parameter size

2 0

Digit

No.


Name

Contents

Setting


0

1

Explanation

Forward

Reverse

Default setting

0


---

---

---

---

Online

---

Details

Set the same direction as the origin search direction set in the Axis

Parameters.



---


2

1 to 3 Not used.



0

50




2

4

2

Pn81C Not used.

---


2





0

1 to 3


Not used.

0

1

0




5

100

0

0000

0

0



Command unit

0 to 65535

0 to 65535





−

1,073,741,823 to

1,073,741,823



−

32,768 to

32,767

Online ---

×

0.1 command unit

---

---

---

---

---

Offline

---

---

---------

Pn81E to

Pn823

Not used.

--(Do not change the setting.) 0000 ---------

150


Section 4-5

4-5-4 W-series Servo Drive (R88D-WN

@



The Servo Parameters listed here can be used when the Position Control Unit is used with a W-series Servo Drive with Built-in MECHATROLINK-II Communications (R88D-WN

@

-ML2).

For further details on each of the parameters, refer to the user’s manual for Wseries Servo Drives.






The

Details



Flag = 0) only.


Details






.

Note




Parameter No.

Parameter name

Parameter size

2 0

Digit

No.

Pn000 Function selection basic switches

1

2

3

Name

Reverse rotation

Contents

0

Setting

Explanation

CCW direction is taken for positive command

1 CW direction is taken for positive command

2 to 3 Not used.

Not used.

0

Unit No. setting 0 to F Servo Drive communications unit number setting

(necessary for multiple Servo Drive connections when using personal computer monitoring software)

Not used. 0



0

0

0

0

Default setting

---

---

---

---


---

---

---

---

Enable setting

Details

Offline ---

---

---

---

Offline ---

---

151


Section 4-5

Parameter No.

Parameter name

Pn001 Function selection application switches 1

2

Parameter size

0

Digit

No.

Name

Stop selection if an alarm occurs when

Servomotor is

OFF

Contents

Setting

0

1


2

1

2

3

0

1

2

3

Stop selection when drive prohibited is input

AC/DC power input selection

Not used.




Not used.

2

0

1

2

0

1

0

0

1

2

3

0

1

0

1

0

Explanation


Dynamic brake

OFF after Servomotor stopped

Servomotor stopped with free run

Stop according to

Pn001.0 setting



Pn406, and lock

Servomotor after stopping


Pn406, and release


AC power supply:


DC power supply:

DC power from +,

−

(2) terminals


Do not use option command value.

Use option command value 1 as the torque limit value.

Use option command value 1 as the torque feed forward command value.

Use option command value 1 or 2 as the torque limit value, according to the forward and reverse torque limits that are specified.


Use option command value 1 as the speed limit value.




2

0

0

0

0

0

0

0

Default setting

---

---

---

---

---

---

---

---


Enable setting

Details

---

---

---

---

---

---

---

---

Offline

Offline

Offline

---

Offline

Offline

Offline

---

---

---

---

---

---

---

---

---

152


Section 4-5

Parameter No.

Parameter name


2


Parameter size

2

0

Digit

No.

Name

Not used.

1

2

3

2

3

Not used.

Not used.

Not used.

0 to 1 Analog monitor 1 (AM) signal selection

Analog monitor 1 signal multiplier selection

Not used.

Contents

Setting

0

1

1

0

00

01

02

03

04

05

06

07

08

09

0A

4

0

0B to

1F

0

1

2

3





Servomotor rotation speed: 1 V/

1000 r/min

Speed command:

1 V/1000 r/min

Torque command: gravity compensation torque (Pn422)

(1 V per 100%)

Position deviation:


Position amplifier deviation (after electronic gear)

(0.05 V per encoder pulse unit)

Position command speed

(1 V/1,000 r/min)

Not used.

Not used.

Positioning completed command

(Positioning completed: 5 V; positioning not completed: 0 V

Speed feed forward

(1 V/1,000 r/min)

Torque feed forward (1 V per

100%)

Not used.

0

1

1

0

02

1x

10x

Explanation

100x

1/10x

1/100x


Default setting

0

0

---

---

---

---

---

---

---


Enable setting

Details

---

---

---

---

---

---

---

---

---

---

---

Online

Online

---

---

---

---

---

---

---

---

153


Section 4-5

Parameter No.

Parameter name


2

Parameter size

Digit

No.

Name

0 to 1 Analog monitor 2 (NM) signal selection

Contents

Setting

00

01

02

03

04

05

06

07

08

09

0A

Explanation

Default setting

Servomotor rotation speed: 1V/

1000 r/min

Speed command:

1 V/1000 r/min


(1 V per 100%)

Position deviation:





(1 V/1,000 r/min)

Not used.

Not used.



Speed feed forward

(1 V/1,000 r/min)


100%)

Not used.

00


2

2

3

0

1

2

3


Not used.

Lowered battery voltage alarm/warning selection

Not used.

Warning detection selection

Not used.

4

0

0B to

1F

0

1

2

3

0

1

0

0

1

4

1x

10x

100x

1/10x

1/100x


Regard battery voltage drop as alarm (A.830).

Regard battery voltage drop as warning (A.930).

0

0

0


0

Warnings detected. 0

Warnings not detected.


4

---

---

---

---

---

---

---


Enable setting

Details

---

---

---

---

---

---

---

Online

Online

---

Offline

---

Offline

---

---

---

---

---

---

---

---

154


Section 4-5


Parameter No.

Parameter name

Parameter size

Digit

No.

Name

Contents

Setting

Adjusts speed loop response.



2

2


2

Pn103 Inertia ratio 2


Adjusts position loop response.






2

2

2

2

2

Explanation

Adjusts position loop response (enabled by automatic gain switching input).


400

0


Default setting

800

2000

400

Set using the ratio between the machine system inertia and the Servomotor rotor inertia.

Adjusts speed loop response (enabled by automatic gain switching input).

Speed loop integral time constant (enabled by automatic gain switching input).

300

800

2000

7

Position control feed-forward compensation value 0


Enable setting

Details

×

0.1

Hz

×

0.01 ms

10 to

20000

15 to

51200

×

0.1/s 10 to

20000

% 0 to

20000

×

0.1

Hz

×

0.01 ms

10 to

20000

15 to

51200

Online ---

Online ---

Online ---

Online ---

Online ---

Online ---

×

0.1/s 10 to

20000


Command unit

%

0 to 250 Online ---

0 to 100 Online --Pn109 Feed-forward amount



2

2

2

2


0


0

1

2

3

4


(Pn10C).

Sets speed command value conditions (Pn10d).


(Pn10E).



1

2

Speed control loop switching

Position loop control method

0

1

PI control

IP control

2 to 3 Not used.

0 Standard position control

1 Less deviation control

2 to 3 Not used.

3 Not used.



4

0

0

0

200

×

0.01 ms

0 to

6400

---

---

---

---

%

---

---

---

---

Online ---

Online ---

Offline ---

Offline ---

-----

0 to 800 Online --Pn10C P control switching

(torque command)

Pn10D P control switching

(speed command)

2 Sets level of speed command to switch from PI control to P control.

0 r/min 0 to

10000

Online ---

155


Section 4-5

Parameter No.

Parameter name

Parameter size




(deviation pulse)

Pn110 Normal autotuning switches

2

2

2

Digit

No.

Name

Contents

Setting

Explanation


0

Default setting


r/min/s 0 to

30000

Enable setting

Details

Online ---


10

0

1

Not used.

Speed feedback compensation function selection


ON 0

1 OFF

2 to 3 Not used.

2

3

Not used.

Not used.

0

0




2

1

0

0

100

Command unit

---

---

---

---

%

0 to

10000

---

---

---

---

Online

Offline

Online

---

---

1 to 500 Online

---

---

---

---

---

--Pn111 Speed feedback compensating gain

Pn119 Not used.

Pn11A Not used.

Pn11E Not used.

Pn11F Position integral time constant

Pn12B Not used.

Pn12C Not used.

Pn12D Not used.

Pn12E Not used.

Pn12F Not used.

Pn130 Not used.

Pn131 Gain switching time 1


Pn135 Gain switching waiting time

1

Pn136 Gain switching waiting time

2

2

---

---

---

2

---

---

---

2

---

---

---

2

2

2




Position loop integral time constant







Switching time from No. 1 gain to No. 2 gain


The time from when gain switching condition A is satisfied until switching from the No. 1 gain to the No. 2 gain begins.

The time from when gain switching condition B is satisfied until switching from the No. 2 gain to the No. 1 gain begins.

500

1000

1000

0

400

2000

400

400

2000

400

0

0

0

0

---

---

---

×

0.1 ms

---

---

---

---

---

--ms ms ms ms

---

---

---

0 to

50000

---

---

---

---

---

---

0 to

65535

0 to

65535

0 to

65535

0 to

65535

---

---

---

Online ---

---

---

---

---

---

---

---

---

---

---

---

---

---

-----

Online ---

Online

Online

Online

---

---

---

156


Section 4-5

Parameter No.

Parameter name

Parameter size

Pn139 Automatic

Pn144 gain changeover related switches 1

Not used.

Pn150 Predictive control selection switches

2

---

2

0

1

Digit

No.

Name

Gain switching selection switch

Gain switching condition A

Contents

Setting

0

1

Explanation

Manual gain switching (automatic gain switching not used)

Automatic switching pattern 1

Automatic switching from No. 1 gain to No. 2 gain when gain switching condition A is satisfied.

Automatic switching from No. 2 gain to No. 1 gain when gain switching condition B is satisfied.

2 to 4 Not used.

0 Positioning completed output 1

(INP1) ON

1

2


(INP1) OFF


(INP2) ON

Default setting

0

0

3

4


(INP2) OFF

The position command filter output is

0, and also the position command input is 0.

5 The position command input is not 0.

0 to 5 Same as Pn139.1

0 2 Gain switching condition B

Not used.

3 0 (Do not change the setting.)


0

1

Predictive control selection

Predictive control type

0

1

2

0

Predictive control not used.

Predictive control used.

Not used.

Predictive control for tracking

2 Not used.

1

2

Predictive control for positioning


3 Not used.


Adjusts acceleration and deceleration response for predictive control.

0

1000

0

1

2

0

100

---

---

---

---

---

---

---

---

---

%


---

---

---

---

---

---

---

---

---

Enable setting

Offline

Offline

Offline

---

---

Offline

Offline

---

---

0 to 300 Online

Details

---

---

---

---

---

---

---

---

---

--Pn151 Predictive control acceleration/deceleration gain

Pn152 Predictive control weighting ratio

Pn1A0 Servo rigidity

Pn1A1 Servo rigidity 2

2

2

2

2

Adjusts position deviation for predictive control.

Adjusts the Servo rigidity for the No. 1 gain.


100

60

60

%

%

%

0 to 300 Online

1 to 500 Online

1 to 500 Online

---

---

---

157


Section 4-5

Parameter No.

Pn1A2

Parameter name

Parameter size

Speed feedback filter time constant

Pn1A3 Speed feedback filter time constant 2

Pn1A4 Torque command filter time constant 2

Pn1A7 Utility control switches

2

2

2

2

Digit

No.

Name

Contents

Setting

Explanation

Sets the filter time constant for No. 1 gain speed feedback.

Default setting

72


×

0.01 ms

30 to

3200

Enable setting

Details

Online ---


Sets the filter time constant for the torque command.

72

36

× ms

×

0.01

0.01 ms

---

30 to

3200

0 to

2500

---

Online

Online

Online

---

---

--0

1

Integral compensation processing

Not used.

0

1

2

3

2

Integral compensation processing not executed.

Integral compensation processing executed.

Integral compensation is executed for

No. 1 gain and not for No. 2 gain for less-deviation gain switching.




2

3

Not used.

Not used.

1

1



Adjusts the auxiliary integral responsive.

1

2

1

1

37

---

---

---

Hz

---

---

---

---

---

---

0 to 500 Online

---

---

---

--Pn1A9 Utility integral gain

Pn1AA Position proportional gain

Pn1AB Speed integral gain

Pn1AC Speed proportional gain

Pn1B5 Not used.

2

2

2

2

---

Adjusts the position proportional responsive.

Adjusts the speed integral responsive.

Adjusts the speed proportional responsive.


60

0

120

150

Hz

Hz

Hz

---

0 to 500 Online

0 to 500 Online

0 to

2000

---

Online

---

---

---

---

---


Parameter No.

Parameter name


Parameter size

Pn200 Not used.

2

2

0

1

2

Digit

No.

Name

Not used.

Not used.

Not used.

Contents

0

Setting

Explanation


0

1



Default setting

0

0

1

3 Not used.


Sets the multi-turn limit for when a Servomotor with an absolute encoder is used.

0

65535

Unit

---

---

---

---

Rotation

Setting range

Enable setting

Details

---

---

---

---

---

---

---

---

---

---

---

---


158


Section 4-5

Parameter No.

Pn207

Parameter name

Position control settings 2

Pn209 Not used.

---

Pn20A Not used.

---

4 Pn20E Electronic gear ratio

G1

(numerator)


G2

(denominator)


4

4

Parameter size

2 0

1

2

3

Digit

No.

Name

Not used.

Not used.


Contents

Setting

0

1

Explanation



0

1

INP 1 output timing

2

0

1

2

Disabled


Compensates to reverse rotation side.

When the position deviation is below the INP1 range

(Pn522).


(Pn522) and also the command after the position command filter is 0.

When the absolute value for the position deviation is below the INP1 range (Pn522) and also the position command input is

0.



Sets the pulse rate for the command pulses and

Servomotor movement distance.

0.001

≤

G1/G2

≤

1000

Default setting

0

1

0

0

0

32768

4

Unit

---

---

---

---

---

---

---

Sets the number of output pulses per Servomotor rotation.

1

1000

---


2


2

Pn216 Not used.

---

Pn217 Not used.

---

Pn281 Not used.

---

Sets mechanical system backlash amount (the mechanical gap between the drive shaft and the shaft being driven)





0

0

0

0

20

Setting

---

---

---

---

---

---

range

1 to

1073741824

---

---

---

Enable setting

---

---

Offline

Offline

---

---

---

---

---

Details

---

---

---

---

---

---

1 to

1073741824

Offline ---

Offline ---

Pulses

/rotation

Command unit

16 to

1073741824

Offline ---

−

32767 to

32767

Online ---

×

0.01 ms

---

---

---

0 to 65535 Online ---

---

---

---


Parameter No.

Parameter name

Parameter size

Pn300 Not used.

---

Pn301 Not used.

---

Pn302 Not used.

---

Pn303 Not used.

---

Digit

No.

Name

Contents

Setting





Explanation

Default setting


Enable setting

Details

600

100

200

300

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

159


Section 4-5

Parameter No.

Pn304

Parameter name

Jog speed

Parameter size

2

Digit

No.

Name

Contents

Setting

Explanation

Default setting

Sets rotation speed during jog operation (using Servo

Drive’s personal computer monitoring software)

500


0


r/min 0 to

10000 ms 0 to

10000

Enable setting

Details

Online ---

Online --Pn305 Soft start acceleration time

2


2

Pn307 Not used.

---

2 Pn308 Speed feedback filter time constant

Pn310 Vibration detection switches

2

Sets deceleration time during speed control soft start. 0


Sets constant during filter of speed feedback.

40

0 ms

---

×

0.01 ms

---

0 to

10000

---

0 to

65535

---

Online

---

Online

Online

---

---

---

---

2

0 Vibration detection selection

0

1

2

Vibration detection not used.

Gives warning

(A.911) when vibration is detected.

Gives warning


1

2

Not used.

Not used.

---

---



3 Not used.

--(Do not change the setting.)

Sets the vibration detection sensitivity.

0

0

0

0

100

---

---

---

%

---

---

---

50 to

500

---

---

---

Online

---

---

---

--Pn311 Vibration detection sensitivity

Pn312 Vibration detection level

2 Sets the vibration detection level 50 r/min 0 to 500 Online ---


Parameter No.

Parameter name

Pn400 Not used. ---

Pn401 1st step

1st torque command filter time constant

2

2 Pn402 Forward torque limit



2

2



Pn407 Speed limit

2

2

2

Parameter size

Contents

Digit

No.

Name


Setting

Explanation

Sets the filter time constant for internal torque commands.

Default setting

30

40



Output torque limit during input of forward rotation current limit (rated torque ratio)

350

350

100

Output torque limit during input of reverse rotation current limit (rated torque ratio)

100

Deceleration torque when an error occurs (rated torque ratio)


350

3000


Enable setting

Details

---

×

0.01

ms

%

%

%

%

%

---

0 to

65535

-----

Online ---

0 to 800 Online ---

0 to 800 Online ---

0 to 800 Online ---

0 to 800 Online ---

0 to 800 Online --r/min 0 to

10000

Online ---

160


Section 4-5

Parameter No.

Parameter name


2

Pn409 Notch filter 1 frequency


Pn40C Notch filter 2 frequency

Pn40D Notch filter 2 Q value

Pn40F 2nd step

2nd torque command filter frequency

Pn410 2nd step

2nd torque command filter Q value

2

2

2

2

2

2

Pn411 3rd step torque command filter time constant

Pn412 1st step

2nd torque command filter time constant

Pn422 Gravity compensation torque

Pn456 Sweep torque command amplitude

2

2

Pn413 Not used.

---

Pn414 Not used.

---

2 Pn420 Damping for vibration suppression on stopping

Pn421 Vibration suppression starting time

2

2

2

Parameter size

0

Digit

No.

1

2

Name

Selects notch filter 1 function.

Not used.

Contents

Setting


0

1

0

0

1

Explanation






3 Not used.



Default setting

0

0

0

0

2000

Unit

---

---

---

---

Hz

Setting range

---

---

---

---

50 to

2000

Enable setting

Details

Online ---

---

---

---

Online ---

---

Online ---


Sets the notch filter 2 frequency for torque commands.


Sets the filter frequency for internal torque commands.

Sets the torque command filter Q value.


Sets the filter time constant for No. 2 gain internal torque commands.



Sets the vibration suppression value while stopped.

Sets the time from when the position command becomes 0 until damping for vibration suppression on stopping begins.

Sets the gravity compensation torque.

Sets the sweep torque command amplitude.

70

2000

70

2000

70

0

100

100

100

100

1000

0

15

×

0.01

Hz

×

0.01

Hz

×

µ

× ms

---

---

% ms

×

0.01

s

0.01

0.01

%

%

50 to

1000

50 to

2000

50 to

1000

100 to

2000

50 to

1000

0 to

65535

0 to

65535

---

---

10 to

100

0 to

65535

−

20000 to

20000

Online

Online

Online

Online

Online

Online

Online

---

---

---

---

---

---

---

---

---

Online ---

Online

Online

1 to 800 Online

---

---

---

---

---

161


Section 4-5


Parameter No.

Parameter name

Parameter size

Pn501 Not used.

---


2



2

2

2 Pn507 Brake command speed



2

2

Digit

No.

Name

Contents

Setting


Explanation



10

Sets the delay time from the Servomotor turning

OFF to the brake command output.


Default setting

10

20


Sets the number of rotations for outputting the brake command.

0

100

50

20


Enable setting

Details

--------r/min 1 to 10000 Online --r/min 0 to 100

×

10 ms

0 to 50 Online --r/min 0 to 10000 Online ---

×

10 ms ms

Online ---

10 to 100 Online ---

20 to 1000 Online ---

162


Section 4-5

Parameter No.

Pn50A

Pn50B

Parameter name



Parameter size

2

2

0

Digit

No.

1

2

3

0

1

2

3

Name

Not used.

Not used.

Not used.


Contents

Setting

1

8

Explanation



8

0

1

2

3

4







5

6

7

8

9

A

B

C



Always enabled.

Always disabled.





1

8

8

1

D

E





2 NOT

(reverse drive prohibited input) signal Input terminal allocation

Not used.

8

Default setting

8

Not used.

Not used.

8

8




8

8

Unit

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

Setting range

Enable setting

Details

---

---

---

Offline

Offline

---

---

---

---

---

---

Standard setting:

1

Standard setting:

2

---

---

---

163


Section 4-5

Parameter No.

Pn50C

Pn50D

Parameter name




2


2

Parameter size

2

2

0

Digit

No.

1

2

3

0

1

2

3

0

1

2

3

0

1

2

3

VCMP

(speed conformity) signal output terminal allocation


READY

(servo ready) signal output terminal allocation


VLIMT

(speed limit detection) signal output terminal allocation


WARN

(warning) signal output terminal allocation

Name

Not used.

Not used.

Not used.

Not used.

Not used.

Not used.

Not used.

Not used.

INP1 (positioning completed 1) signal output terminal allocation

Contents

Setting

8

8

Explanation



8

8

8

8

8

8







8

8

8

8

8

8

8

8

0

1

Not used.


0

2

3




0

0 to 3

0 to 3

0 to 3

0 to 3

0 to 3

0 to 3

Same as Pn50E.0

Same as Pn50E.0

Same as Pn50E.0

Same as Pn50E.0

Same as Pn50E.0

Same as Pn50E.0

Default setting

0

0

0

0

0

0

Unit

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

Setting range

Enable setting

Details

---

---

---

---

---

---

---

---

Offline

Offline

Offline

Offline

Offline

Offline

Offline

Offline

---

---

---

---

---

---

---

---

Standard setting:

0

Standard setting:

0

Standard setting:

0

Standard setting:

0

Standard setting:

0

Standard setting:

0

Standard setting:

1

Standard setting:

0

164


Section 4-5

Parameter No.


2

Pn511

Parameter name


Parameter size

2

0

Digit

No.

1

2

3

0

Name


Not used.

Contents

Setting

Explanation


0

0

Default setting

0

Not used.

Not used.

0

0




0

0


0 3

Unit

---

---

---

---

---

1

2

3





4

5

6

7

8

9

A

B




Always enabled.

Always disabled.




C

D

E

F





---

---

---

---

---

Setting range

Enable setting

Details

Offline

---

---

---

Offline

Standard setting:

0

---

---

---

Standard setting:

3

165


Section 4-5

Parameter No.

Pn511

Parameter name


Parameter size

2 1

Digit

No.

2

Name


Contents

Setting

0 to 3

4

Explanation

Always disabled.


5

6




Default setting

4

7

8

Always enabled.

Always disabled.



E

F




5

Unit

---

---

---

---

Setting range

Enable setting

Details


4


2

3 EXT3 signal input terminal allocation


6

0

1

2


CN1 pins 1,

2


CN1 pins 23,

24


CN1 pins 25,

26

Not used.

0

1

0, 1

0, 1

Not reversed.

Reversed.

Same as above

Same as above






0

0

0

0

0321

8888

1000

100

---

---

---

---

---

---

---

---

%

---

---

---

---

---

---

---


5


6

Offline ---

Offline

Offline

---

---

---

---

---

---

---

---

-------


Pn513 Not used.

---

Pn515 Not used.

---

Pn51B Not used.

---


2

4 Pn520 Deviation counter overflow level


4


4

Sets the deviation counter overflow alarm detection level.

Setting range for positioning completed range 1

(INP1)


(INP2)

262144 Command

3

3 unit

Command unit

Command unit

1 to

1073741823

0 to

1073741824

1 to

1073741824

Online ---

Online ---

Online ---

166


Section 4-5

Parameter No.

Parameter name

Pn526 Deviation counter overflow level at

Servo-ON

Pn528 Deviation counter overflow warning level at

Servo-ON

4

2

Pn529 Speed limit level at Servo-

ON

2

Pn52A Not used.

---

Pn52F Not used.

---

Parameter size

Digit

No.

Name

Contents

Setting

Explanation

Sets the deviation counter overflow alarm detection level for Servo ON.

Default setting

Unit

262144 Command unit

Sets the deviation counter overflow warning detection level for Servo ON.

Sets the speed limit for when the Servo turns ON with position deviation accumulated.



100

10000

20

FFF

% r/min

---

---

Setting

1 to

1073741823

Online ---

10 to 100

0 to 10000 Online

---

---

range

Enable setting

Online

---

---

Details

---

---

---

---

167


Section 4-5

Parameter No.

Parameter name

Pn530 Program

JOG operation related switches

2

Pn531 Program

JOG movement distance

Pn533 Program

JOG movement speed

4

2

Parameter size

0

Digit

No.

Name

Program

JOG operating pattern

Contents

Setting

0

1

Explanation

(Waiting time

Pn535

→

Forward movement Pn531)

×

Number of movement operations

Pn536

(Waiting time

Pn535

→

Reverse movement Pn531)

×


Pn536

2

3

4

5

Waiting time Pn535

→


×


Pn536

(Waiting time

Pn535

→


×


Pn536

(Waiting time

Pn535

→


×


Pn536

(Waiting time

Pn535

→


×


Pn536

(Waiting time

Pn535

→

Forward movement Pn531

→

Waiting time

Pn535

→


×


Pn536

(Waiting time

Pn535

→

Reverse movement Pn531

→

Waiting time

Pn535

→


×


Pn536

1

2

Not used.

Not used.

0

0



3 Not used.


Sets the program JOG movement distance.

Default setting

0

0

0

0

32768

Unit

---

---

---

---

Command unit

Setting

---

---

---

---

range

Enable setting

Online

---

---

---

Details

---

---

---

---

1 to

1073741824

Online ---

Sets the program JOG operation movement speed.

500 r/min 1 to 10000 Online ---

168


Section 4-5

Parameter No.

Parameter name

Pn534 Program

JOG acceleration/deceleration time

Pn535 Program

JOG waiting time

2

2

Pn536 Number of program

JOG movements

2

Pn540 Gain limit 2

Pn550 Analog monitor 1 offset voltage


Parameter size

Digit

No.

Name

Contents

Setting

Explanation

Sets the acceleration/deceleration time for program

JOG operation.

Default setting

100

Unit

ms

2

2

Sets the delay time from the program JOG operation start input until operation starts.

Sets the number of repetitions of the program JOG operations.

Sets the gain limit.

Sets the analog monitor 1 offset voltage.


100

1

2000

0

0 ms

Times

×

0.1

Hz

×

0.1

V

×

V

0.1

2 to 10000 Online

0 to 10000 Online

1 to 1000

10 to 2000 Online

−

Setting range

10000

−

10000 to

10000 to

10000

Enable setting

Details

Online

Online

Online

---

---

---

---

---

---


Parameter No.

Parameter name


Parameter size

2

Contents

Setting for regeneration resistance load ratio monitoring calculations

Default setting


Enable setting

Details

0

×

10 W 0 to

(varies by model)

Online ---

169


Section 4-5


Parameter No.

Parameter name


Parameter size

2 0

Digit

No.

1

2

3

Name

MECHA-

TROLINK communications check mask

Warning check mask


Not used.

Contents

Setting

0

1

2

3

0

1

2

3

4

Explanation


(A.E6

@ ) and synchronization errors

(A.E5

@ ).


(A.E6

@ ).


(A.E5

@

).


(A.E6


(A.E5

@ ).

Detects all parameter setting warnings

(A.94

@ ), MECHA-


(A.95

@ ), and communications errors

(A.96

@ ).

Ignores parameter setting warning

(A. 94 @ ).

Ignores command warning (A.95

@

).

Ignores A.94

@ and

A.95

@ .

Ignores communications warning

(A.96

@ ).

5

6

7

Ignore A.94

@ and

A.96

@ .

Ignores A.95

@

and

A.96

@

.

Ignores A.94

@ ,

A.95

@ and A.96

@ .

0 to F Detects communications errors

(A.E60) if they occur consecutively for the set value plus two times.


0

4

0

0

Default setting

---

---

---

---


---

---

---

---

Enable setting

Details



Online ---

-----

170


Section 4-5

Parameter No.

Pn801

Parameter name

Function selection application 6

(software

LS)

Parameter size

2 0

Digit

No.

Name


Contents

Setting

0

1

2

1

2

3

Not used.

Software limit check using reference

Not used.

3

0

0

1

0

Explanation




Forward/reverse software limits disabled.


No software limit check using reference



3

0

0

0

Default setting

---

---

---

---


Enable setting

Details

---

---

---

---

Online

---

Online

---

---

---

Always set to 0.

---

Parameter No.

Pn802

Pn803

Pn804

Pn806

Pn808

Pn80A

Parameter

Not used.

Zero point width



Absolute encoder zero point position offset

name

First step linear acceleration constant

Pn80B Second step lin-



Parameter size

---

2

4

4

4

2

2

2



Details


Sets the origin position detection range.

Sets the software limit for the positive direction.

Sets the software limit for the negative direction.

Sets the encoder position and machine coordinate system offsets for when an absolute encoder is used.

Sets the step 1 acceleration for when two-step acceleration is used.

0000 ---------

10 Command unit


−

0


Command unit

0 to 250

−

1,073,741,823 to

1,073,741,823

−

1,073,741,823 to

1,073,741,823

−

1,073,741,823 to

1,073,741,823

Online ---

Online ---

Online ---

Offline ---


2

1 to 65535

Sets the step 2 acceleration for when two-step acceleration is executed, or the one-step acceleration constant for when one-step acceleration is executed.

Sets the switching speed for the step 1 and step 2 acceleration when twostep acceleration is executed.

100

0


2


1 to 65535

0 to 65535


(Busy Flag for each axis =

0).



0).



0).

171


Section 4-5

Parameter No.

Parameter name

Pn80D First step linear deceleration constant

Parameter size

2


Sets the step 1 deceleration for when two-step deceleration is used.

100

ting

Pn80E Second step linear deceleration constant

Pn80F Deceleration

Pn810

Pn811

Pn812

Pn813

Pn814 constant switching speed



Moving average time

Not used.


2

2

2

2

2

---

4

Sets the step 2 deceleration for when two-step deceleration is executed, or the one-step deceleration constant for when one-step deceleration is executed.

Sets the switching speed for the step 1 and step 2 deceleration when twostep deceleration is executed.

Sets the bias for when an exponential filter is used for the position command filter.

Sets the time constant for when an exponential filter is used for the position command filter.


100

0

0

0

0


Sets the distance from the external signal input position when external positioning is executed.

0

100

Setting range


2

1 to 65535



Command units/s

×

×

0.1 ms

0.1 ms

---

Unit

2

Command unit

1 to 65535

0 to 65535

0 to 32767

0 to 5100

0 to 5100

---

−

1,073,741,823 to

1,073,741,823

Enable setting

Online

Details



0).



0).



0).



0).



0).



0).

-----



0).

172


Section 4-5

Parameter No.

Parameter name

Parameter size

2 0

Digit

No.

Pn816 Zero point return mode settings

Name

Contents

Setting


0

1

Explanation

Forward direction

Reverse direction

Default setting

0


---

---

---

---

Online

---

Details


Parameters.


(Busy Flag for each axis

= 0).

---


2

1 to 3 Not used.


Sets the origin search speed after the deceleration limit switch signal turns ON.

0

50



2

4


Sets the distance from the latch signal input position to the origin, for when origin search is executed.


5

100

0000



Command unit

---

0 to 65535 Online Settings can be changed when the axes are stopped


= 0).



= 0).

−

1,073,741,823 to

1,073,741,823



= 0).

------Pn81B to

Pn825

Pn900 to

Pn910

Pn920 to

Pn95F

Not used.

---

Not used.

---

Not used.

---



---

----

---

---

---

---

---

---

---

---

173


Section 4-5

4-5-5 SMARTSTEP Junior Servo Drive (R7D-ZN

@



The Servo Parameters listed here can be used when the Position Control Unit is used with a SMARTSTEP Junior Servo Drive with Built-in MECHA-

TROLINK-II Communications (R7D-ZN

@

-ML2).

For further details on each of the parameters, refer to the user’s manual for

SMARTSTEP Junior Servo Drives.






The

Details



Flag = 0) only.


Details






.

Note



■


Parameter No.

Pn000

Pn00A

Parameter name

Function selection basic switch

Command filter setting

Parameter size

2

2

0

1

2

Digit

No.

Name

Reverse rotation

Not used.

Not used.

Contents

0

1

Setting

Explanation



2 to 3 Not used.

1

0



3 Not used.


Set the command filter constant.

When using this parameter, turn ON bit 4 on

SW2 on the SMARTSTEP Junior Servo

Drive.

Default setting

0

1

0

0

0000

---

---

---

---

---


---

---

---

---

0000 to 000F

Offline

---

---

---

Online

---

---

---

---

---

Details

174


Section 4-5

■


Parameter No.

Pn20E

Parameter name

Electronic gear ratio

G1

(numerator)


G2

(denominator)

Parameter size

4

Digit

No.

Name

Contents

Setting

Explanation

Set the pulse rate for the command pulses and Servomotor travel distance.

0.01

≤

G1/G2

≤

100

4

Default setting

1

1

---

---


1 to

1073741824

1 to

1073741824

Offline ---

Offline ---

Details

■


Parameter No.

Pn50A

Parameter name


Parameter size

2 0

Digit

No.

1

Name

Contents

Setting

Not used.

1

Not used.

8

Pn50B Input signal selection 2

2

Pn515 Input signal selection 7

2

2

3

0

1

2

3

0

1

2

3

Not used.

8

POT (forward drive prohibited input) signal


NOT

(reverse drive prohibited input) signal input terminal allocation

Not used.

2

8

3

8

8

Not used.

Not used.

Not used.

Not used.

8

8

8

8

STOP

(emergency stop input)

4

Not used.

8

Explanation

Default setting





Allocated to

CN1, pin 4:

Valid for low input

Always invalid.

1

8

8

2

Allocated to

CN1, pin 3:

Valid for low input

Always invalid.

3






Allocated to

CN1, pin 6:

Valid for low input

Always invalid.


8

8

8

8

8

4

8

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

Offline ---

---

---

---

---

---

---

---

Details

Offline Standard setting: 2



---

---

---

---

---

---

---

---

---

175


Section 4-5

Parameter No.

Pn522

Parameter name

Positioning completion width 1

Pn524 Positioning completion width 2

Parameter size

4

Digit

No.

Name

Contents

Setting

Explanation

Setting range for positioning completed range

4 Setting for proximity range for the Positioning

Proximity Flag.

Default setting

10

100

Unit

Command unit

Command unit

Setting range

0 to

1,073,741,824

1 to

1,073,741,824

Enable setting

Online

Online

---

---

Details

176


Section 4-5

■


Parameter No.

Pn800

Parameter name

Communications control

Parameter size

2 0

Digit

No.

1

Name

Contents

Setting

Not used.

0

Warning check mask

0

2

3

Not used.

Not used.

1

2

3

4

5

6

7

0

0

Explanation

Default setting



Ignores both command warnings

(A.95) and communications errors

(A.96).

Ignores parameter setting warnings (A.94), command warnings


(A.96).




Detects parameter setting warnings (A.94), command warnings


(A.96).


Ignores command warnings (A.95).

Ignores both parameter setting warnings (A.94) and command warnings (A.95).

Ignores communications errors (A.96).

1

4

0

0

---

---

---

---

---

---

---

---

-----

---

---

Details


---

---

177


Section 4-5

Parameter No.

Pn801

Parameter name


(software limits)

Parameter size

2 0

Digit

No.

2

Name

Contents

Setting


0

1

2

3

Explanation





1

2

Not used.

Not used.

0

0



3 Not used.


Sets the detection range for the Origin Stop

Flag.

Default setting

3

0

0

0

10 PN803 Zero point width

Pn804 Forward software limit

Pn806 Reverse software limit

Pn80B Linear acceleration constant

4

4

2



Sets the acceleration speed for the acceleration/deceleration curve used in position control.

107374

1823

−

10737

41823

100

Unit

---

---

---

---

Setting range

---

---

---

---

Command unit

Command unit

0 to 250

−

1073741823 to 1073741823

Command unit

−

1073741823 to 1073741823

× 10,000 command units/s

2

1 to 65535

Enable setting

Online

---

---

---

Online

Online

Online

---

---

---

---

---

---

---

Pn80E

Pn814

Linear deceleration constant


2

4

Sets the deceleration speed for the acceleration/deceleration curve used in position control.

Sets the final travel distance for external positioning when executing INTERRUPT

FEEDING using direct operation.

100

100

×


2

Command unit

1 to 65535

−

1073741823 to 1073741823

Details



= 0).



= 0).



= 0).

178

Common Operating Memory Area

Section 4-6

Parameter No.

Parameter name

Parameter size

2 0

Digit

No.


Name

Contents

Setting


0

1

Explanation

Forward

Reverse

Default setting

0


---

---

---

---

Online

---

Details


Parameters.



= 0).

---


2

1 to 3 Not used.



0

50


Pn819 Final

Pn820 to

Pn823 travel distance to return to zero point

Not used.

2

4

--




5

100

0000

×100 command units/ s

2

×100 command units/ s

2

0 to 65535

0 to 65535

Command unit

−

1073741823 to 1073741823

-----



= 0).



= 0).



= 0).

-----

4-6 Common Operating Memory Area

The Common Operating Memory Area is allocated to outputs used for common PCU operations and settings, such as communications control and transferring common parameters, and inputs used for monitoring the status of these operations.

4-6-1 Common Operating Memory Area Overview

The area allocated as the Common Operating Memory Area is contained in the CPU Bus Unit Area within the CPU Unit's CIO Area. The beginning word of the Common Operating Memory Area is determined by the unit number set for the PCU using the following equation.

Beginning word of Common Operating Memory Area: n = CIO 1500 + (unit number

×

25)

Unit number

0

1

Allocated words

CIO 1500 to CIO 1524


Unit number

8

9

Allocated words



179


Section 4-6

5

6

7

Unit number

2

3

4

Allocated words







13

14

15

Unit number

10

11

12

Allocated words







The Common Operating Memory Area is divided into outputs and inputs.

Commands for common PCU operations and settings, such as transferring

PCU data (reading, writing, and saving Common Parameters and Axis Parameters) and establishing connections with MECHATROLINK communications are allocated to the output memory area.

Commands are sent to the PCU when the respective bit in the output memory area turns ON or while the respective bit is ON. The common PCU status and

MECHATROLINK communications status are input from the PCU to the input memory area.

180


Section 4-6

4-6-2 Common Operating Memory Area Words


Output Memory Area

The memory allocation of the Common Operating Memory Area is shown in the following table. For details on functions and operations of each word, such as operation timing, refer to the section given in the

Details

column.

n = CIO 1500 + (unit number

×

25)

I/O

Output

(CPU

Unit to

PCU) n

Word

n+1 n+2

00

01

02

03

15

---

Bits

04 to 15

00

01 to 05

06

07

08 to 14

Category

---

Data transfer commands

---

Communications control commands

---

Name

UNIT ERROR

RESET

WRITE DATA

READ DATA

SAVE DATA

Operation

Resets the Unit common error when this bit turns ON.

Details

12-6 Error Reset

Writes data to the PCU from the CPU Unit when this bit turns ON.

Reads data from the PCU to the CPU Unit when this bit turns ON.

Saves the contents of the

PCU's internal memory to its flash memory when this bit turns ON.

5-2-1 Writing PCU

Parameters

5-2-2 Reading PCU

Parameters

5-2-3 Saving PCU

Parameters


CONNECT

These bits are reserved by the system. Do not use.

---


WRITE BACKUP

DATA

READ BACKUP

DATA

Starts/stops MECHA-



Writes data saved in the

PCU’s internal flash memory to the Memory Card installed in the CPU Unit when this bit turns ON.

Reads data from the Memory

Card installed in the CPU Unit to the PCU’s internal flash memory when this bit turns

ON.


Connections

---

13-4-2 Memory Card

Backup



REJOIN (See note.) Restarts MECHATROLINK communications.

Axes to connect

(See note.)

Specifies the axes for which to start MECHATROLINK communications.

---

6-3-4 Rejoining the

Connection

6-3-5 Specifying the

Axes to Connect

n+3 to n+5

----Not used (reserved by the system).


---

181


Section 4-6

I/O

Output

(CPU

Unit to

PCU)

Word

n+6 n+7

---

---

Bits

n+8 n+9

---

--n+10 --n+11 --n+12 --n+13 --n+14 ---

Note

Category

Operating data for data transfer

---

Name


Write source area

Write source word



Read source address




Operation

Specifies the number of words to be written from the CPU

Unit to the PCU.

Specifies the area containing the data to be written from the

CPU Unit to the PCU.

Specifies the beginning word of the data to be written from the CPU Unit to the PCU.

Details

5-2-1 Writing PCU

Parameters

Specifies the address in the

PCU to which the data is to be written.

Specifies the number of words to be read from the PCU to the CPU Unit.

Specifies the address in the

PCU from which the data is to be read.

Specifies the area used to store the data read from the

PCU.

Specifies the word used to store the data read from the

PCU.

5-2-2 Reading PCU

Parameters


---


182


Section 4-6

Common Operating Input

Memory Area

I/O

Input

(PCU to CPU

Unit)

Word Bits

n+15 00 to 11

12

13

14

15 n+16 00 to 11

12

13

14

15 n+17 to n+20

--n+21 --n = CIO 1500 + (unit number

×

25)

Category

PCU common status words

---

Name


Unit Error Flag

Operation


---

Details


Data Transferring

Flag


ON when a Unit common error has occurred.

This bit is reserved by the system. Do not use.

ON when data is being transferred between the CPU Unit and PCU, or when data is being saved in the PCU's internal flash memory.


12-1 Overview of

PCU Errors

---

5-2 Transferring PCU

Parameters

---



---

Memory Card Transfer Error


Unit Busy Flag

Connection Status

Flag


Unit error code

Indicates that an error occurred when writing/reading backup data to/from the Memory Card.


ON when PCU is processing command sent to the Common Operating Memory Area.

This flag also turns ON during initial processing when PCU power is turned ON or the Unit is restarted.

ON when PCU starts



Returns the error code when a Unit Common error occurs.

13-4-2 Memory Card

Backup

---

12-6 Error Reset

6-3-2 MECHA-

TROLINK Communications Status

---

12-4 Error Codes

183

I/O

Input

(PCU to CPU

Unit)

Word

n+22 00

Bits

01

02

03

04

05

06

07

15 n+23 to n+24

---

11

12

13

14

08

09

10


Section 4-6

Category

Axis communications status bits

Name

Axis 1 communications status











---







Operation

Bits 00 to 15 correspond to the communications status for axes 1 to 16.

The bits will turn ON if the corresponding axes registered in the scan list are communicating normally.

Details

6-3-2 MECHA-

TROLINK Communications Status


---

184

Axis Operating Output Memory Areas

Section 4-7

4-7 Axis Operating Output Memory Areas

The Axis Operating Output Memory Areas contain outputs used to set operation for the Servo Drive and Servomotor axes that are connected using

MECHATROLINK communications. These outputs include operating commands, such as direct operation, ORIGIN SEARCH, and JOG, and related position and speed command values.

4-7-1 Axis Operating Output Memory Area Overview

The Axis Operating Output Memory Areas are allocated 25 words per axis in the CPU Unit's memory area set in the PCU's Common Parameters (Axis

Operating Output Memory Area designation, beginning word of Axis Operating Output Memory Area).

The designated beginning word corresponds to the beginning word of the area for axis 1, and the other areas are allocated words in sequence up to the highest axis number registered in the scan list. For details on area allocations, refer to


.

The beginning words of the Axis Operating Output Memory Areas are determined by the axis number of each axis using the following equation.

Beginning Word of Axis Operating Output Memory Area for Axis N: a= Beginning word of Axis Operating Output Memory Area specified in Common Parameters + (N

−

1)

×

25 (N = 1 to 16)

Axis

No.

Axis 1

Axis 2

Axis 3

Axis 4

:

Axis 14

Axis 15

Axis 16


No. 1

No. 2

No. 3

No. 4

:

No. 14

No. 15

No. 16

Axis Operating Output Memory

Area Allocations

Axis 1

Operating

Output

Memory Area

Axis 2

Operating

Output

Memory Area

Axis N

Operating

Output

Memory Area

Axis 16

Operating

Output

Memory Area

Word a+0

Word a+1

:

Word a+24

Word a+25

Word a+26

:

Word a+49

:

Word a+(N-1)

×

25

Word a+(N-1)

×

25+1

:

Word a+(N-1)

×

25+24

:

Word a+375

Word a+376

:

Word a+399 a = Beginning word of Axis Operating Output Areas specified in Common Parameters

185


Section 4-7

4-7-2 Axis Operating Output Memory Area Allocations

I/O

Output

(CPU

Unit to

PCU) a

Word

00

01

02

03

04

05

06

07

08

09

10

11

12

13

14

15

Bits

The memory allocation of the Axis Operating Output Memory Areas is shown in the following table. For details on functions and operations of each word, such as operation timing, refer to the section given in the

Details

column.

a = Beginning word of Axis Operating Output Memory Areas specified in

Common Parameters + (Axis No.

−

1)

×

25

Category

Direct operation commands

Origin positioning commands

Commands for special functions

Name

LINEAR INTERPO-

LATION SETTING

(See note 1.)

LINEAR INTERPO-

LATION START (See note 1.)


ABSOLUTE MOVE-

MENT

RELATIVE MOVE-

MENT

Operation

Setting the linear interpolation operation is started when this bit turns ON.

Details


The linear interpolation operation that has been set is started when this bit turns

ON.


Starts positioning operation with the designated position treated as an absolute position when this bit turns ON.

Starts positioning operation with the designated position treated as a relative position when this bit turns ON.

---

9-4 Using Direct

Operation

INTERRUPT FEED-

ING

ORIGIN SEARCH

ORIGIN RETURN

PRESENT POSI-

TION PRESET

Interrupt feeding begins for

ABSOLUTE MOVEMENT and

RELATIVE MOVEMENT commands.

Executes an origin search when this bit turns ON.

Returns position to the origin when this bit turns ON.

Forcibly changes the present position to the designated position, and thus establishes an origin relative to the position when this bit turns ON.


8-2 Origin Search

Operation

8-4 Origin Return


Preset

JOG


ERROR RESET

Jogging is executed while this bit is ON.

Direction designation This bit designates the direction for when jogging is executed.


Resets (turns OFF) the error status for each axis when this bit turns ON.

10-2 Jogging

---

12-6 Error Reset

DEVIATION

COUNTER RESET

(See note 4.)

Resets the deviation counter to 0 when this bit turns ON.

Override Enable Bit This bit enables or disables the override.

DECELERATION

STOP

Starts decelerating positioning to a stop when this bit turns ON.

10-10 DEVIATION

COUNTER RESET

10-3 Override


186


Section 4-7

I/O

Output

(CPU

Unit to

PCU)

Word

a+1 00

01 a+2 a+3 a+4 a+5

02

03

15

---

---

---

---

Bits

04 to 10

11

12

13

14

Category


Servo

Parameter transfer commands

Special command

Operating data for position control

Name

SERVO LOCK

Operation

Executes SERVO LOCK when this bit turns ON.

SERVO UNLOCK Executes SERVO UNLOCK when this bit turns ON.

SPEED CONTROL Starts speed control using the speed command value for speed control as the target speed when this bit turns ON.

TORQUE CON-

TROL

Starts torque control using the torque command value when this bit turns ON.

Details

10-1 Servo Lock/

Unlock




DEVICE SETUP

WRITE SERVO

PARAMETER

READ SERVO

PARAMETER


Starts Servo Drive setup when this bit turns ON.

Writes data to the Servo Drive from the CPU Unit when this bit turns ON.

Reads data from the Servo

Drive to the CPU Unit when this bit turns ON.

---

5-3-4 Device Setup


Parameters

5-3-2 Reading Servo

Parameters

SAVE SERVO

PARAMETER

EMERGENCY

STOP

Position command value (rightmost word)



Speed command value (leftmost word)

Writes data to the Servo

Drive's non-volatile memory at the same time as writing the

Servo Parameters when this bit turns ON.

Executes emergency stop when this bit turns ON.

Specifies the position for performing present position preset and direct operation.


Parameters


Specifies the target speed for performing direct operation, jogging, origin searches, and origin returns.

9-4 Using Direct

Operation



Preset

8-2 Origin Search

Operation

8-4 Origin Return

9-4 Using Direct

Operation


10-2 Jogging

187


Section 4-7

I/O

Output

(CPU

Unit to

PCU)

Word

a+6 a+7 a+8 a+9 a+10 a+11 a+12 a+13 a+14

---

---

---

---

---

---

---

---

---

Bits

a+15 00 to 03

04 to 07

08 to 15

Category

Speed control data

Torque control data

Position/ speed/ torque control data

Operating data for special function

Operating data for expanded monitoring

Name

Speed command value for speed control (rightmost word)

Speed command value for speed control (leftmost word)


(rightmost word)

Torque command value (leftmost word)


(rightmost word)


(leftmost word)


(rightmost word)


(leftmost word)

Override

Monitor 1 type

Monitor 2 type


Operation

Specifies the target speed for performing speed control.

Specifies the torque for performing torque control.

This bit specifies the override rate.

Specifies the monitor type for monitor 1 in the Axis Operating Input Memory Areas.

Specifies the monitor type for monitor 2 in the Axis Operating Input Memory Area.

4-8-6 Expanded

Monitoring


---

Details



Set the command value of the auxiliary functions for position/ speed/torque control, such as the acceleration/deceleration for linear interpolation, torque feed forward command, the torque limit for speed control, and the speed limit for torque control.




10-3 Override

188


I/O

Output

(CPU

Unit to

PCU)

Word Bits

a+16 00 to 02

03

04

05 to 13

14

15 a+17 --a+18 --a+19 --a+20 --a+21 00 to 03

04 to 07

08 to 15 a+22 00 to 03

04 to 07

08 to 15 a+23 --a+24 ---

Section 4-7

Category

---


Name Operation




Specifies an exponential curve as the acceleration/ deceleration curve for executing direct operation, jogging, origin searches, and origin returns.

S-curve designation Specifies an S-curve (movement average) as the acceleration/deceleration curve for executing direct operation, jogging, origin searches, and origin returns.

---

Details

8-2 Origin Search

Operation

8-4 Origin Return

9-4 Using Direct

Operation

10-2 Jogging

---

Operating data for transferring

Servo

Parameters


Torque limit Forward rotation current limit designation


Specifies the torque limit in the forward direction for axis operation.

Reverse rotation current limit designation

Servo Parameter No. Specifies the parameter number for the Servo Parameters to be written from or read to the CPU Unit.

Parameter size

Specifies the torque limit in the reverse direction for axis operation.

Specifies the parameter size for the Servo Parameters to be written from or read to the

CPU Unit.

Write data

(rightmost word)

Write data

(leftmost word)

Specifies the data to be written to the Servo Drive from the CPU Unit.

Linear interpolation data

Interpolation axis designation for axes

1 to 4 (See note 2.)

Interpolation axis designation for axes

5 to 8 (See note 3.)


Interpolation position designation for axes 1 to 4 (See note

2.)

Interpolation position designation for axes 5 to 8 (See note

3.)


Specifies the axes for linear interpolation for combinations of axes 1 to 4.

Specifies the axes for linear interpolation for combinations of axes 5 to 8.


Specify absolute or relative positioning for the axes for linear interpolation.


Interpolation speed command value

(rightmost word)

(See note 1.)


(leftmost word)

(See note 1.)

Specifies the interpolation speed for linear interpolation.

---


5-3 Transferring

Servo Parameters


Parameters


Parameters


189


Section 4-7

Note

(1) Allocated in Axis Operating Output Memory Areas for axis 1 and axis 5 for Position Control Unit Ver. 1.1 or later. These bits are not used in the

Axis Operating Output Memory Areas for other axes.





(4) The DEVIATION COUNTER RESET can be used with unit version 1.3 or later. This bit is not used for earlier unit versions.

4-7-3 Axis Operating Output Memory Area Priority

The Position Control Unit performs exclusive control for the command executed for the axis operating output bits. Depending on the status of the Position Control Unit (i.e., the Servo locked/unlocked status, Busy Flag status, and

ON/OFF status of axis operating output bits), the command is disabled or detected as an error.

The operations that are performed when an attempt is made to execute more than one function are described depending on the operating status.

When Position Control Unit Is Not Executing a Function (When Busy Flag = 0)

The operation that is performed for each command when the Position Control

Unit is not executing a function (including when the Busy Flag is reset after completing or canceling operation) is shown below depending on the Servo locked/unlocked status and the ON/OFF status of axis operating output bits.

(Refer to

12-1 Overview of PCU Errors

for information on executing functions

when an error exists.)

Servo Unlocked

Function to be executed (See note.)

Executing function

SERVO UNLOCK Bit ON

DEVIATION COUNTER RESET

Bit ON

EMERGENCY STOP Bit ON

DECELERATION STOP Bit ON

Other than above status

-------------------------

❍ ❍

---

❍

-----------------------

❍ ❍

---

❍

-----------------------

❍ ❍

---

❍

-----------------------

❍ ❍

---

❍

-------

× × × × × × × ❍ ❍ ❍

❍

: Execution possible

×

: A servo unlock error (axis error code: 3040) will occur and the function will not be executed.

---: Execution not possible (ignored)

190


Section 4-7

Note:

The above table assumes that the conditions required for executing jogging, origin searches, origin returns, absolute/relative movements

(including interrupt feeding), speed control, or torque control, such as command values and origin establishment, have been met.

Servo Locked




Bit ON

EMERGENCY STOP Bit ON

DECELERATION STOP Bit ON

Other than above status

❍

-----------------------

❍ ×

---

❍ ❍

---------------------

❍ ×

---

❍ ❍ ❍

-------------------

❍ ×

---

❍ ❍ ❍ ❍ ❍ ❍ ❍ ❍ ❍ ❍ ❍ ❍ ❍ ×

---

❍


×

: A multistart error (axis error code: 3050) will occur and the function will not be executed.


Note:



When Position Control Unit Is Executing a Function (When Busy Flag = 1)

The operation that is performed for each command when the Position Control

Unit is already executing a function is shown below depending on the Servo locked/unlocked status and the ON/OFF status of axis operating output bits.



SERVO UNLOCK


EMERGENCY STOP

-------------------------------

❍

-----------------------------

❍ ❍

---------------------------

191



Section 4-7


DECELERATION STOP

JOG

ORIGIN SEARCH

ORIGIN RETURN

POSITION CONTROL (ABSO-

LUTE MOVEMENT)

POSITION CONTROL (RELA-

TIVE MOVEMENT)

INTERRUPT FEEDING

SPEED CONTROL

TORQUE CONTROL

PRESENT POSITION PRESET

DEVICE SETUP

SERVO LOCK

❍ ❍ ❍

-------------------------

❍ ❍ ❍ ❍

---

× × × × × × × × ×

---

❍ ❍ ❍ ❍ ×

❍ ❍ ❍ ❍ ×

×

×

×

×

×

×

×

×

×

×

×

×

×

×

×

×

×

×

---

---

❍ ❍ ❍ ❍ × × × ❍ ❍ × ❍ ❍ × ×

---

❍ ❍ ❍ ❍ × × × ❍ ❍ × ❍ ❍ × ×

---

❍ ❍ ❍ ❍ ×

❍

---

❍ ❍ ×

❍

---

❍ ❍ ×

❍ × ❍ ❍ ×

× × × × × ❍ ❍ ×

× × ❍ ❍ ❍ ❍ ❍ ×

× × ❍ ❍ ❍ ❍ ❍ ×

× × × × × × × ×

×

---

×

---

×

---

× ×

-------------------------------

❍

-------

× × × × × × × × × × ×

❍


×

: A multistart error (axis error code: 3050) will occur and the function will not be executed.


Note:



Executing Multiple Functions Simultaneously

The following table shows the PCU operations when multiple functions are executed at the same time for the same axis during a servo lock (including executing other functions while the Receiving Command Flag is ON.

Function

SERVO UNLOCK

DEVIATION COUNTER

RESET

EMERGENCY STOP

Operation for simultaneous execution

Takes priority over any other function executed at the same time.

All other operations are disabled while the SERVO

UNLOCK Bit is ON.

Takes priority over any other function executed at the same time except for SERVO UNLOCK.

The following functions will not be started while the DEVI-

ATION COUNTER RESET Bit is ON.

Executed before any other function executed at the same time, except SERVO UNLOCK or DEVIATION COUNTER

RESET.

All other operation functions are disabled while the

EMERGENCY STOP Bit is ON.

192


Section 4-7

Function Operation for simultaneous execution

DECELERATION STOP Executed before any other function executed at the same time, except SERVO UNLOCK, DEVIATION COUNTER

RESET, and EMERGENCY STOP.

All other operation functions are disabled while the

DECELERATION STOP Bit is ON.

A Multistart Error (error code: 3050) will occur if these commands are executed at the same time.

ABSOLUTE/RELATIVE

MOVEMENT (with

INTERRUPT FEEDING)

ORIGIN SEARCH

ORIGIN RETURN

PRESENT POSITION

PRESET

JOG

SPEED CONTROL

TORQUE CONTROL

DEVICE SETUP

SERVO LOCK

193

Axis Operating Input Memory Areas

Section 4-8

4-8 Axis Operating Input Memory Areas

The Axis Operating Input Memory Areas are allocated inputs for monitoring the status of axis operations of the Servo Drive and Servomotor axes that are connected using MECHATROLINK communications. These include present position and axis operating status.

4-8-1 Axis Operating Input Memory Area Overview

The Axis Operating Input Memory Areas are allocated 25 words for each axis in the CPU Unit's memory area set in PCU's Common Parameters (Axis

Operating Input Memory Area designation and beginning word of Axis Operating Input Memory Area).

The designated beginning word corresponds to the beginning word of the area for axis 1, and the other areas are allocated words in sequence up to the highest axis number registered in the scan list. For details on area allocations, refer to


.

The beginning words of the Axis Operating Input Memory Areas are determined by the axis number of each axis using the following equation.

Beginning Word of Axis Operating Input Memory Area for Axis N: b = Beginning word of Axis Operating Input Memory Area specified in Common Parameters + (N

−

1)

×

25 (N = 1 to 16)

Axis

No.

Axis 1

Axis 2

Axis 3

Axis 4

:

Axis 14

Axis 15

Axis 16


No. 1

No. 2

No. 3

No. 4

:

No. 14

No. 15

No. 16

Axis Operating Input Memory

Area Allocations

Axis 1

Operating

Input Memory

Area

Axis 2

Operating

Input Memory

Area

Axis N

Operating

Input Memory

Area

Axis 16

Operating

Input Memory

Area

Word b+0

Word b+1

:

Word b+24

Word b+25

Word b+26

:

Word b+49

Word b+(N-1)

×

25

Word b+(N-1)

×

25+1

:

Word b+(N-1)

×

25+24

Word b+375

Word b+376

:

Word b+399 b: Beginning word of the Axis Operating Memory Areas specified in the Common Parameters.

194


Section 4-8

4-8-2 Axis Operating Input Memory Area Allocations

I/O

Input

(PCU to CPU

Unit) b

Word

00

05

Bits

01 to 04

The memory allocation of the Axis Operating Input Memory Areas is shown in the following table. For details on functions and operations of each word, such as operation timing, refer to the section given in the

Details

column.

b = Beginning word of Axis Operating Input Areas specified in Common


−

1)

×

25

Category

Axis Control Status

Flags

Name

Receiving Command Flag

Function

ON when the PCU is in the process of receiving an operating command.

1: Receiving command

If another operating command with the same priority level is started while this flag is ON, a

Multistart Error (axis error code: 3050) will occur. (Refer to

4-7-3 Axis Operating Output Memory Area Priority

.)

The Receiving Command

Flag remains ON (1) for at least one cycle time, and turns OFF (0) when the command reception processing is completed.

Always 0.

Details

4-8-3 Axis Control

Status Flags

9-4 Using Direct

Operation



--Not used (reserved by the system).

PCU Positioning

Completed Flag

ON when a PCU operation executed in response to a positioning command is completed and the axis position is within the positioning completion range set for the target position.

1: Any of the following operations are completed:

Direct operation (ABSO-

LUTE MOVEMENT, REL-

ATIVE MOVEMENT,

INTERRUPT FEEDING),

ORIGIN SEARCH, ORI-

GIN RETURN

The flag turns OFF (0) when the power is turned ON, a connection is established, or when another axis operation is started.

This flag remains OFF if

EMERGENCY STOP or

DECELERATION STOP are executed while the axis is operating.


Status Flags

8-2 Origin Search

Operation

8-4 Origin Return

9-4 Using Direct

Operation

195


Section 4-8

I/O

Input

(PCU to CPU

Unit) b

Word

06

Bits

07

08 to 10

11

12

13

14

15

Category

Axis Control Status

Flags

Name

No Origin Flag

Origin Stop Flag

Function

ON when the origin is not established.

ON when the present position of the axis is stopped within the origin range set in

Zero

Point Width

.

Always 0.

Details


Status Flags

8-2 Origin Search

Operation


Preset


Status Flags

8-2 Origin Search

Operation


Warning Flag

Error Flag

ON when an axis warning has occurred.

ON when an axis error has occurred.

12-1 Overview of

PCU Errors

Busy Flag

Servo Parameter

Transferring Flag

ON during axis operation or processing.

ON during transfer of Servo

Parameters.

Stop Execution Flag ON when axis operation is stopped in response to

EMERGENCY STOP or

DECELERATION STOP.


Status Flags

5-3 Transferring

Servo Parameters


Status Flags


196


Section 4-8

I/O

Input

(PCU to CPU

Unit)

Word

b+1 b+2

Bits

00 to 02

03

04

05 and 06

07

08

09

10

11

12

13

14 to 15

---

Category

Servo Status Flags

---

Name


Servo ON (SVON)

Flag

Function

Used by the PCU system.

ON while Servo Drive is in

Servo lock status.

---

Details

4-8-4 Servo Status

Flags

10-1 Servo Lock/

Unlock


Flags

Main Power ON Flag

(PON)

Indicates the status of the main circuit power supply to the Servo Drive.



Positioning Completed (PSET) Flag/

Speed Conformity

(V-CMP) Flag

Distribution Completed (DEN) Flag/

Zero Speed (ZSPD)

Flag

The function of these flags depends on whether position control or speed control is being used.

For details, refer to the relevant sections.

---


Flags

10-5-2 Starting

Speed Control

Torque Limit (T_LIM)

Status Flag

ON when the torque limit function is enabled and activated.


Flags

10-4-3 Torque Limits

Set by Operating

Commands

--Reserved by the system.

Positioning Proximity (NEAR) Flag/

Speed Limit (V_LIM)

Status Flag

Forward Software

Limit Flag (P_SOT)

Reverse Software

Limit Flag (N_SOT)


The function of these flags changes according to whether position control or torque control is being used.

For details, refer to the relevant sections.


Flags

10-6-2 Starting

Torque Control

Indicates whether the present position is within the forward software limit range.

Indicates whether the present position is within the reverse software limit range.



Flags

10-8 Software Limits




---

197


Section 4-8

I/O

Input

(PCU to CPU

Unit)

Word

b+3 00

01

Bits

02

03

04

05

06

07

08

09

10 b+4 b+5

11 to 15

---

00 to 03 b+6 b+7 b+8 b+9

04 to 07

08 to 15

---

---

---

---

Category

External I/O status

Name




Encoder Phase A input

Encoder Phase B input

Encoder Phase Z input


1 input


2 input

Function

Returns the status of I/O signals for each axis.

1: Signal valid

0: Signal invalid

The external I/O status shows the enabled/disabled status of signals used for PCU control.

This status is different from the electrical ON/OFF status of the I/O signals.

Details

4-8-5 External I/O

Status Bits

Errors

Expanded monitoring

Present position


3 input

Brake output



Axis error code

Monitor 1 type

Monitor 2 type

Returns the error code for the axis error.

Indicates the monitor type for the present monitor 1 (b+10, b+11).

Indicates the monitor type for the present monitor 2 (b+12, b+13).

Always 0.

12-4 Error Codes

4-8-6 Expanded

Monitoring


Feedback present position (rightmost word)


Command present position (rightmost word)

Command present position (leftmost word)

Returns the feedback present position.

Returns the command present position.

7-3 Coordinate System and Present

Position

198


Section 4-8

I/O

Input

(PCU to CPU

Unit)

Word

b+10 --b+11 ---

Bits

b+12 --b+13 --b+14 --b+15 --b+16 to b+23

--b+24 00

01 to 12

13

14 and 15

Note

Category

Expanded monitoring

Name

Monitor 1 (rightmost word)

Monitor 1 (leftmost word)



Function

Returns the value for the monitor specified as monitor 1 type in the Axis Operating

Output Memory Areas.

Returns the value for the monitor specified as monitor 2 type in the Axis Operating

Output Memory Areas.

Details

4-8-6 Expanded

Monitoring

Servo

Parameter data

---

Linear interpolation status

Read data (rightmost word)

Read data (leftmost word)



(See note.)

Returns the data read to the

CPU Unit from the Servo

Drive.

Always 0.

Indicates when setting the

Position Control Unit has been completed for linear interpolation.

1: Linear interpolation setting completed.

Always 0.

5-3-2 Reading Servo

Parameters

---



Linear interpolation executing (See note.)


Indicates when linear interpolation is being performed.

Always 0.

Allocated in Axis Operating Input Memory Areas for axis 1 and axis 5 for Position Control Unit Ver. 1.1 or later. These bits are not used in the Axis Operating Output Memory Areas for other axes.

199


Section 4-8

4-8-3 Axis Control Status Flags

The Axis Control Status Flags in word b indicate the control status for each axis connected to the PCU. Use these flags to interface with the CPU Unit when using PCU functions.

Name


PCU Positioning

Completed Flag

No Origin Flag b

Word Bits

00

05

06

Contents

0: Command reception enabled.

0

→

1: Command reception started.

1: Receiving command (command reception disabled).

0

→

1: Positioning completed.

Origin Stop Flag

Warning Flag

Error Flag

Busy Flag

Servo Parameter

Transferring Flag

Stop Execution Flag

07

11

12

13

14

15

0: Origin established.

1: Origin not established.

0: Outside origin range.

1: Within origin range.

0: No warning.

1: Warning has occurred.

0: No axis error.

1: Axis error has occurred.

1: Axis busy (axis operation executing).

0: Powerup, transfer completed, or transfer failed.

1: Servo Parameter transferring.

0

→

1: Stop operation completed.



−

1)

×

25

The flags that are particularly for controlling axis operation are described next.

For details on timing charts for each flag operation, refer to the relevant section.

For details on the Error Flag and Warning Flag, refer to


. For details on the Servo Parameters Transferring Flag, refer to

5-3

Transferring Servo Parameters

.

Receiving Command Flag

Word

b

Bit

Function

00

This flag turns ON when the PCU is in the process of receiving any of the following operating commands.

ABSOLUTE MOVEMENT (including INTERRUPT FEEDING), RELATIVE

MOVEMENT (including INTERRUPT FEEDING), ORIGIN SEARCH, ORI-

GIN RETURN, PRESENT POSITION PRESET, JOG (JOG Bit ON), DE-

CELERATION STOP, EMERGENCY STOP, SERVO LOCK, SERVO

UNLOCK, SPEED CONTROL, TORQUE CONTROL, DEVICE SETUP,

ERROR RESET, or DEVIATION COUNTER RESET.

200


Section 4-8

The PCU turns ON the Receiving Command Flag when an operating command is received from the CPU Unit, and the flag remains ON for at least CPU

Unit cycle time. The flag turns OFF when the command reception processing is completed.

If another operating command with the same priority level is started while this

flag is ON, a Multistart Error (axis error code: 3050) will occur. (Refer to

4-7-3

Axis Operating Output Memory Area Priority

.)

Operating command


The Receiving Command Flag remains ON for either the length of one CPU Unit cycle time or for the time required by the PCU to process command reception, whichever is longer.

The Receiving Command Flag status does not change when changing the target speed during position control/speed control, changing the torque command value during torque control, switching override enable/disable, changing the override value, or transferring Servo Parameters.

The Receiving Command Flag is used mainly to determine ON/OFF timing of the operating command bits when sending more than one operating command at the same time during axis operation (i.e., while the Busy Flag is ON), such as changing the target position while using direct operation.

PCU Positioning Completed Flag

Word

b

Bit

05

Function

This flag turns ON when a PCU operation is completed normally in response to any of the following positioning commands and the feedback present position of the axis has reached a position within the range of the Servo Parameter

Positioning Completion Range 1

(Pn431 for R88D-KN @ , Pn060 for R88D-

GN @ , Pn500 for R88D-WT @ , and Pn522 for R88D-WN @ -ML2 and SMART-

STEP Junior) specified for the target position (command position). (The position deviation must be within the range of


.)


MOVEMENT (including INTERRUPT FEEDING), ORIGIN SEARCH, or

ORIGIN RETURN.

201


Section 4-8

Position (a+2,a+3)

Speed (a+4,a+5)

RELATIVE MOVEMENT command (a 04)

Speed

Receiving Command

Flag (b 00)

PCU Positioning

Completed Flag (b 05)

Example: Executing RELATIVE MOVEMENT COMMAND.

2710 hex (10000)

3E8 hex (1000)

Note

Target speed: 1000

(command units/s)

Travel distance

10000 (command unit)

Solid line: Command speed

Broken line: Feedback speed

Time

The Receiving Command Flag remains

ON for at least one cycle time after the positioning command is received.

The PCU Positioning Completed Flag is turned OFF when a movement command is executed.

The PCU Positioning Completed Flag is turned ON when the number of the Servo Drive's deviation counter residual pulses is less than the value set for the positioning completion range. Depending on the number of deviation counter residual pulses when pulse output has been completed, a delay may occur in the time between when the pulse output from the Position Control

Unit is completed until positioning has been completed.

The PCU Positioning Completed Flag will not turn ON when axis operation stops under the following conditions.

• Stops due to an error during positioning.

• Stops due to DECELERATION STOP or EMERGENCY STOP sent during positioning.

• Jogging (JOG) stops.

The PCU Positioning Completed Flag will also not turn ON when axis operation stops during positioning due to DECELERATION STOP or EMERGENCY

STOP, even if the position is within the


specified for the original target position.

The PCU Positioning Completed Flag will turn OFF when the power is turned

ON, a connection is released, another axis operation is started successfully

(including jogging, speed control, and torque control), or Servo Unlock is executed.

On machines for which position deviation occurs between the feedback position and target position (command position) when the axis is stopped, such as pushing a load or using a vertical axis, the PCU Positioning Completed Flag will not turn ON if the set value for the


is too small. Adjust the set value for the


to suit the operating conditions for the machine.

202


No Origin Flag

Word

Bit

Function

Section 4-8

Note

b

06

This flag turns ON when the origin is not established. Except when using Servomotors with absolute encoders, the PCU's No Origin Flag turns ON immediately after a connection is established, at which time the origin is not established. (The No Origin Flag turns OFF, however, immediately after the

PCU power is turned ON or the Unit is restarted, and the flag remains OFF until the first CONNECT is executed.) The origin for each axis is determined by either of the following origin positioning operations, after which the No Origin Flag turns OFF.

ORIGIN SEARCH, PRESENT POSITION PRESET

When using Servomotors with absolute encoders, the origin is established by reading the absolute value data when establishing a connection or executing

SERVO LOCK. The established origin is held even if SERVO UNLOCK is executed, and will not be set to no origin status. No origin status (No Origin Flag

ON) occurs under the following conditions.

• When DEVICE SETUP is executed (during Servo unlock status)

• When a connection is released (See note.)

When a connection is released (including a disconnection due to error), the status for each axis becomes undefined (non-execution), except for the Error

Flag and axis error code. The No Origin Flag turns ON while in no origin (origin not established) status.

Origin Stop Flag

Word

Bit

Function

b

07

This flag turns ON when the origin has been established and the present position of each axis is within the

Origin Range

set in Servo Parameter Pn105 for the R88D-G

@

or

Zero Point Width

set in Servo Parameter Pn803 for the

R88D-KN

@

, the R88D-WT

@

, the R88D-WN

@

-ML2, or a SMARTSTEP Junior

Servo Drive.

This flag turns ON for the interval in which the present position is within the

Origin Range

or

Zero Point Width

when it passes the

Origin Range

or

Zero

Point Width

during axis operation.

Origin range (Pn105) for G Series

Zero point width (Pn803) for G5 Series, W Series, SMARTSTEP Junior

Forward direction

Established origin

Origin Stop Flag

Origin range (Pn105) for G Series

Zero point width (Pn803) for G5 Series, W Series,

SMARTSTEP Junior

The Origin Stop Flag turns ON while the present position is within the range of

±

Pn105 for G-series Servo Drives or

±

Pn803 for G5-Series,

W-series and SMARTSTEP Junior Servo Drives from the established origin when traveling forward.

203


Busy Flag

Word

Bit

Function

Section 4-8

b

13

This flag turns ON to indicate that the Position Control Unit is executing one of the following operating commands. The flag will turn ON when the operation command is started and remain ON for at least one cycle time of the CPU

Unit. For commands associated with axis operations, the Busy Flag remains

ON during the axis operation.


MOVEMENT (including INTERRUPT FEEDING), ORIGIN SEARCH, ORI-

GIN RETURN, PRESENT POSITION PRESET, JOG (JOG ON, JOG

OFF), DECELERATION STOP, EMERGENCY STOP, SERVO LOCK,

SERVO UNLOCK, SPEED CONTROL, TORQUE CONTROL, DEVICE

SETUP, ERROR RESET, or DEVIATION COUNTER RESET.

For operating commands associated with axis operations, the Busy Flag status when the axis operation is completed (axis stops) depends on the operating command, as follows:

• ABSOLUTE MOVEMENT, RELATIVE MOVEMENT, ORIGIN SEARCH, or

ORIGIN RETURN:

The Busy Flag turns OFF when the axis feedback position reaches the

Servo Parameter


(Pn431 for R88D-KN @ ,

Pn060 for R88D-GN @ , Pn500 for R88D-WT @ , and Pn522 for R88D-

WN @ -ML2 and SMARTSTEP Junior) set for the target stop position. (The

Busy Flag turns OFF at the same time as the PCU Positioning Completed

Flag turns ON.)

• Jogging Stopped (JOG Bit OFF), DECELERATION STOP, EMERGENCY

STOP (Including Error Stop), or DEVIATION COUNTER RESET:

The Busy Flag turns OFF regardless of the axis feedback position when the command position reaches the target (stop) position (i.e., when sending the command to the Servo Drive is completed).

Speed



Time

Busy Flag

The Busy Flag turns OFF at completion of sending the command (i.e., when the command present position stops changing) when the axis stops due to jogging stop (JOG Bit OFF),

DECELERATION STOP, or EMER-

GENCY STOP (including error stop).

When positioning for ABSOLUTE

MOVEMENT, RELATIVE MOVEMENT,

ORIGIN SEARCH, or ORIGIN RETURN stops, the Busy Flag will not turn OFF until the feedback present position is within the

Positioning Completion Range

for the command position.

204


Stop Execution Flag

Word

Bit

Function

Details

Section 4-8

b

15

This flag turns ON in response to a DECELERATION STOP or EMERGENCY

STOP execution regardless of the axis operation status. If DECELERATION

STOP or EMERGENCY STOP is executed during axis operation, the Stop

Execution Flag turns ON when the command position reaches the target

(stop) position (i.e., when sending the command to the Servo Drive is completed) regardless of the axis feedback position.

This flag then turns OFF when the power is turned ON, a connection is released, or when another axis operation is started.

Refer to


.

205


Section 4-8

4-8-4 Servo Status Flags

The Servo Status Flags (word b+1) are flags that monitor the control status of the Servo Drive. This enables monitoring of the Servo Drive control status

(position, speed, torque control loop).

Name

Servo ON Flag

Main Power ON Flag

Positioning Completed Flag/Speed

Conformity Flag

Distribution Completed Flag/Zero

Speed Flag

Torque limit

Positioning Proximity Flag/Speed Limit

Status Flag

Forward Software

Limit Flag

Reverse Software

Limit Flag

Word

b+1

Bits

03

04

07

08

09

11

12

13

Contents

0: Servo unlocked.

1: Servo locked.

0: Main circuit power supply OFF.

1: Main circuit power supply ON.

During position control: Positioning Completed Flag

0: Sending position control command to

Servo Drive or the position is outside


.


Servo Drives completed and the position is within

Positioning Completion

Range 1

.

During speed control: Speed Conformity

Flag

0: Speed does not match the speed command value for speed control.

1: Speed matches the speed command value for speed control.

During position control: Distribution Completed Flag


Servo Drive.


Servo Drive completed.

During speed control: Zero Speed Flag

0: Not zero speed.

1: Detecting zero speed.

0: Torque limit function disabled.

1: Torque limit function enabled.

During position control: Positioning Proximity Flag

0: Outside Positioning

Completion Range

2

1: Within Positioning

Completion Range 2

During torque control: Speed Limit Status

Flag

0: Speed limit function disabled.

1: Speed limit function enabled.

0: Within forward software limit.

1: Forward software limit exceeded.

0: Within reverse software limit.

1: Reverse software limit exceeded.



−

1)

×

25

206


Note

Section 4-8

The functions of the bits shown in this table are applicable when the Position

Control Unit is connected to a G5-series Servo Drive, a G-series Servo Drive, a W-series Servo Drive combined with a FNY-NS115 MECHATROLINK-II I/F

Unit, a W-series Servo Drive with Built-in MECHATROLINK-II communications, or to a SMARTSTEP Junior Servo Drive. The functions of Servo Status

Flags 07, 08, and 11 depend on whether position control, speed control, or torque control is being used. (The SMARTSTEP Junior Servo Drive supports only position control.)

The Servo Status Flags are used to monitor the control status of the Servo

Drive. The Servo Status Flags may not reflect the Servo status for short-term changes in Servo Drive status, depending on the PLC cycle time and

MECHATROLINK communications cycle.

Servo ON Flag

Word

Bit

Function

b+1

03

ON while Servo Drive is in Servo lock status during position control or in

Servo ON status (Servomotor carrying current) during speed or torque control.

0: Servo unlocked (Servo OFF)

1: Servo locked (Servo ON)

This flag turns ON when the SERVO LOCK Bit (a+1, bit 00) in the Axis Operating Output Memory Area turns ON, and turns OFF when the SERVO

UNLOCK Bit (a+1, bit 01) turns ON or an error that sets the Servo in free run state occurs.

SERVO LOCK Bit

SERVO UNLOCK Bit

Servo ON Flag

Details

Main Power ON Flag

Word

Bit

Function

Refer to


.

b+1

04

Indicates the status of the main circuit power supply to the Servo Drive.

0: Main circuit power supply OFF

1: Main circuit power supply ON

Positioning Completed Flag (during Position Control)

Speed Conformity Flag (during Speed Control)

Word

b+1

Bit

07

Function


207


Section 4-8

During Position Control: Positioning Completed Flag

This flag turns ON when the command position reaches the target (stop) position (Sending position control command to Servo Drive completed), and the feedback position is within the range set for the target (stop) position Servo Parameter


(Pn431 for R88D-

KN @ , Pn060 for R88D-GN @ , Pn500 for R88D-WT @ , and Pn522 for R88D-

WN @ -ML2 and SMARTSTEP Junior).

0: Sending position control command to Servo Drive or the position is outside


.

1: Sending position control command to Servo Drive completed and the position is within


.

The Positioning Completed Flag in the Servo Status Flags is different to the

PCU Positioning Completed Flag in the Axis Control Status Flags (word b, bit

05). In addition to when positioning stops, this flag turns ON when the number of pulses remaining in the Servo Drive's deviation counter are within the


, even for jogging stops, deceleration stops, emergency stops, and error stops.

Speed



Details

Time

Positioning Completed Flag

The Positioning Completed Flag turns

ON when the position error is within the


.

During Speed Control: Speed Conformity Flag (G5-series Servo Drives,

G-series Servo Drives and W-series Servo Drives Only)

This flag turns ON when the feedback speed during speed control matches the target speed (speed command value for speed control), i.e., the speed is within the range of the Servo Parameter

Speed Conformity Signal Output Width

(Pn435 for R88D-KN @ , Pn061 for R88D-GN @ and Pn503 for

R88D-W @ ).

0: Speed does not match the speed command value for speed control.

1: Speed does match the speed command value for speed control.

Speed

Target speed

Speed Conformity Signal

Output Width

Feedback speed

Time

Speed Conformity Flag

The Speed Conformity Flag turns ON when the feedback speed is within the

Speed Conformity

Signal Output Width

for the target speed.

Refer to

10-5-2 Starting Speed Control

.

208


Section 4-8

Distribution Completed Flag (during Position Control)

Zero Speed Flag (during Speed Control)

Word

b+1

Bit

08

Function


During Position Control: Distribution Completed Flag

This flag turns ON when the command position reaches the target (stop) position (When sending the position control command to Servo Drive is completed).

0: Sending the position control command to Servo Drive.

1: Sending the position control command to Servo Drive completed.

Speed



Details

Time

Distribution Completed Flag

During Speed Control: Zero Speed Flag (G5-series Servo Drives, G-series

Servo Drives and W-series Servo Drives Only)

This flag turns ON when the feedback speed during speed control drops below the Servo Parameter

Rotation Speed for Motor Rotation Detection

(Pn436 for R88D-KN @ , Pn062 for R88D-GN @ and Pn502 for R88D-W @ ).

0: Not at zero speed

1: Detecting zero speed

Speed

Feedback speed

Rotation Speed for Motor

Rotation Detection

Time

Zero Speed Flag

The Zero Speed Flag turns ON when the feedback speed is lower than the

Rotation

Speed for Motor Rotation Detection

.

Refer to


.

209


Section 4-8

Torque Limit Status Flag

Word

b+1

Bit

Function

Details

09

This flag turns ON when the Servomotor's output torque is limited by the torque limit.

For W-series Servo Drives, the torque limit will be the lowest among all the limit values that are enabled for the torque limits specified in

Forward Torque

Limit

(Pn402),

Reverse Torque Limit

(Pn403),

Forward Rotation External Current Limit

(Pn404),

Reverse Rotation External Current Limit

(Pn405), or in the option command value for speed control.

For G5-series Servo Drives, the torque limit will be the lowest among all the limit values that are enabled for the torque limits specified in

No. 1 Torque

Limit

(Pn013),

No.2 Torque Limit

(Pn522),

Forward External Torque Limit

(Pn525),

Reverse External Torque Limit

(Pn526) or in the option command value for speed control.

For G-series Servo Drives, the torque limit will be the lowest among all the limit values that are enabled for the torque limits specified in

No.1 Torque Limit

(Pn05E),

No.2 Torque Limit

(Pn05F), or in the option command value for speed control.

0: Torque limit function disabled

1: Torque limit function enabled

Refer to


.

Positioning Proximity Flag (during Position Control)

Speed Limit Status Flag (during Torque Control)

Word

b+1

Bit

Function

Details

11

The function of these flags depends on whether position control or torque control is being used.

During Position Control: Positioning Proximity Flag

This flag turns ON when the feedback position is within the range for Servo

Parameter


(Pn442 for R88D-KN

@

-ML2,

Pn504 for R88D-WT

@

and Pn524 for R88D-WN

@

-ML2 and SMARTSTEP

Junior) for the target (stop) position.

0: Outside


1: Within


During Torque Control: Speed Limit Status Flag

This flag turns ON when the feedback speed during torque control is limited by the Servo Parameter

Speed Limit

(Pn407), or option command value.

0: Speed limit function disabled

1: Speed limit function enabled

Refer to

10-6-2 Starting Torque Control

.

210


Section 4-8

Forward Software Limit Flag and Reverse Software Limit Flag

Word

b+1

Bits

Function

12 and 13

These flags turn ON and OFF when the software limit function is enabled to indicate the present position status for the forward/reverse software limit.

Forward Software Limit Flag

0: Within forward software limit range

1: Forward software limit range exceeded

Reverse Software Limit Flag

0: Within reverse software limit range

1: Reverse software limit range exceeded

Reverse Software Limit (Pn806) Forward Software Limit (Pn804)

Forward direction Reverse direction


(b+1, bit 12)


(b+1, bit 13)

Feedback position

Details

Refer to


.

4-8-5 External I/O Status Bits

I/O

Input

(PCU to CPU

Unit)

Word

b+3

Bits

00

01

02

03

04

05

06

07

08

09

10

11 to 15

The External I/O Status Bits (word b + 3) show the I/O status of the I/O signals allocated to the Servo Drive.



−

1)

×

25

Category

External I/O status

Name







External latch signal 1 input



Brake output



Function


1: Signal valid

0: Signal invalid



Bit 10 (Emergency stop input) indicates the status of the emergency stop input signal input when using a G5-series Servo Drive, G-series Servo Drive or SMARTSTEP Junior Servo Drive. This bit is always 0 when using a Wseries Servo Drive, which does not have an emergency stop signal.

The SMARTSTEP Junior Servo Drive does not have inputs for external latch signals 2 and 3. When using a SMARTSTEP Junior Servo Drive, the input status for these signals will always be 0.

211


Section 4-8

When using a G5-series Servo Drive or W-series Servo Drive, the allocation and polarity of Servo Drive input signals can be set in the Servo Parameters, but the external I/O status depends on the polarity of the Servo Drive's input signals, as follows:

External I/O status







Signal Servo Drive I/O signal name

POT Forward drive prohibited

NOT

DEC



1

0

EXT1 External latch 1 input 0

1

Signal polarity:

Normal (Setting: 0 to 6)

Sensor status:

Base block

(not receiving power; Input open)

Sensor status:

0

In operation

(Input closed)

0

1

1

0

Signal polarity:

Reverse (Setting: 9 to F)

Sensor status:

Base block

(not receiving power; Input open)

Sensor status:

1

In operation

(Input closed)

0

1

1

1

0

0



1

1

1

1

0

0

External I/O status


POT


NOT

Origin proximity input DEC

External latch 1 input EXT1


STOP

Signal

The forward rotation limit input (forward drive prohibited signal), and reverse rotation limit input (reverse drive prohibited signal) are normally-closed contact inputs (N.C. inputs) when polarity is normal. The origin proximity input

(origin return deceleration limit switch), and external latch inputs (1 to 3) are normally-open contact inputs (N.O. inputs) when polarity is normal.

When using a SMARTSTEP Junior Servo Drive, the following status is shown.

(With the SMARTSTEP Junior, signal polarity is fixed.)

Servo Drive I/O signal name Sensor status: Base block (not receiving power; Input open)

Forward drive prohibited 1 0

Sensor status: In operation (Input closed)





1

0

0

1

0

1

1

0

4-8-6 Expanded Monitoring

The PCU has a fixed monitoring function that monitors the following control information for each axis and returns the result to the Axis Operating Input

Memory Areas.

Axis control status (word b)

Servo status (word b + 1)

External I/O status (word b + 3)

Present position (Feedback present position: Words b + 6, b + 7; Command present position: Words b + 8, b + 9)

212


Section 4-8

The PCU also has an expanded monitoring function that monitors control information selected from a number of categories, and returns the result to the


The expanded monitoring function provides two monitors in the Axis Operating Input Memory Areas (Monitor 1: Words b + 10, b + 11; Monitor 2: Words b

+ 12, b + 13). The information to be monitored by each is selected using Monitor 1 type (Word a + 15, bits 00 to 03) and Monitor 2 type (Word a + 15, bits

04 to 07) in the Axis Operating Output Memory Areas.

Axis Operating Output Memory Area (Operating Commands)

Name

Monitor 1 type

Monitor 2 type


Word Bits

a+15 00 to

03

04 to

07

08 to

15

Contents

Used to select the type of control information to be returned to monitor 1.

Used to select the type of control information to be returned to monitor 2.

Not used. The setting is disabled.

a = Beginning word of Axis Operating Output Areas specified in Common


−

1)

×

25

Axis Operating Input Memory Area (Monitoring)

Name

Monitor 1 type

Monitor 2 type

Not used.

Monitor 1

Monitor 2

Word Bits

b+15 00 to

03

04 to

07

08 to

15

--b+10 b+11 b+12 b+13

---

Contents

Indicates the type of control information selected by Monitor 1.

Indicates the type of control information selected by Monitor 2.

Always 0.





Monitor Type



−

1)

×

25

The following control information can be selected for Monitor 1 and Monitor 2.

0

Monitor

Type

1

2

Control information


Unit

Command unit


Position deviation

---

Command unit

Details

Returns the present position being sent to the Servo Drive.

This value is the same as the command present position in words b + 8 and b + 9.

Do not set.

3 Feedback present position

Command unit

Returns the number of pulses remaining in the deviation counter of the

Servo Drive in command units.

Position deviation = Command present position

−


Returns the actual position of the machine based on feedback from the

Servomotor's encoder.

This value is the same as the feedback present position in words b + 6 and b +

7.

213


Section 4-8

Note

Note

Monitor

Type

4 to 5

6

7

8

9

A

B

C to F

Control information

Unit Details


---

Target position Command unit


---

Do not set.

Returns the target position (position command value) during positioning.

Do not set.

Feedback speed See note 1. Returns the speed of the machine based on feedback from the Servomotor's encoder.

Command speed

Target speed

Torque command

See note 1. Returns the speed designated for the

Servo Drive.

See note 1. Returns the designated target speed

(speed command value).

See note 2. Returns the torque command for the

Servo Drive.


--Do not set.

(1) Speed Monitoring Unit

When the speed (feedback speed, command speed, or target speed) is selected for the monitor type, the monitoring unit for position control/ torque control, and speed control is as follows:

Control mode

Position control

Torque control

Speed control

Speed monitoring unit

Unit change timing

Command units/s The unit changes when the command to switch to position control or torque control is received (when the Receiving

Command Flag turns ON).

0.001%

(percentage of

Servomotor’s momentary maximum rotation speed)

The unit changes when the command for SPEED CONTROL is received

(when the Receiving Command Flag turns ON).

For further details on operation timing, refer to


.

(2) Torque Monitoring Unit

When the torque is selected for the monitor type, the monitoring unit for position control, speed control, and torque control is as follows:

Control mode Torque monitoring unit

% (1% unit) Position control

Speed control

(percentage of

Servomotor’s rated torque)

Torque control 0.001%

(percentage of

Servomotor’s momentary maximum torque)


The unit changes when the command to switch to position control or speed control is received (when the Receiving

Command Flag turns ON).

The unit changes when the command for TORQUE CONTROL is received

(when the Receiving Command Flag turns ON).

For further details on operation timing, refer to


.

(1) Control data is used to monitor the control status of the Servo Drive. The resolution of the monitor value depends on the specifications of the connected Servo Drive.

214


Section 4-8

Example: If a W-series Servo Drive equipped with a FNY-NS115

MECHATROLINK-II I/F Unit is connected, the minimum resolution of the monitor values for feedback speed and command speed during position/torque control is 1,000 command units/s.

Depending on the length of the PLC cycle and MECHATROLINK communications cycle short-term changes of the Servo Drive status may not be monitored successfully.

(2) If MECHATROLINK communications are stopped (connection released) during speed or torque control and MECHATROLINK communications are restarted to execute SERVO LOCK (Servo ON), the power to the Servomotor will be recovered with the previous control mode maintained. At this point, the PCU cannot obtain correct monitor values for speed or torque monitor in its expanded monitoring.

To stop MECHATROLINK communications during SPEED CONTROL or

TORQUE CONTROL execution, either execute DECELERATION STOP or EMERGENCY STOP, or execute SERVO UNLOCK, change to the position control mode, and then release the connection.

215


Section 4-8

216

SECTION 5

Transferring and Saving Data

This section explains how to transfer and save parameters and data using the data transfer bits.

5-1 Transferring Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-2 Transferring PCU Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-2-1 Writing PCU Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-2-2 Reading PCU Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-2-3 Saving PCU Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-3 Transferring Servo Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-3-1 Writing Servo Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-3-2 Reading Servo Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-3-3 Saving Servo Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-3-4 Device Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

218

220

220

223

225

226

227

229

231

234

217

Transferring Data

Section 5-1

5-1 Transferring Data

The following two types of data can be transferred by the Position Control Unit

(PCU).

1,2,3...

Transferring Parameters

Using Support Software

1.

PCU Parameters

• Common Parameters

• Axis Parameters

2.

Servo Drive Parameters

• Servo Parameters

There are two ways to transfer these parameters.

• Using the Support Software to transfer parameters to and from a Windows computer connected to the CPU Unit

• Using the bits in the Operating Memory Areas allocated to the PCU in the

CPU Unit to transfer parameters to and from I/O Memory in the CPU Unit

The CX-Motion-NCF Support Software can be used on a Windows computer to set and transfer parameters for the PCU, to save and print the parameters, and to monitor PCU status.

PCU parameters set and transferred.

PCU

NCF71

MLK

ABC

DEF

ERC

ERM

UNIT

No.

Windows computer

Transferring Parameters

Using Bits in Operating

Memory Areas

Transferring PCU

Parameters

MLK

PCU operating status monitored (e.g., monitoring present positions, I/O status, and errors).

Refer to the

CX-Motion-NCF Operation Manual

(Cat. No. W436) for operating procedures and other information on the CX-Motion-NCF.

Bits in the Operating Memory Areas can be manipulated to transfer data between the CPU Unit and the PCU (and Servo Drives). The Common Operating Memory Area is used for parameters held in the PCU and the Axis Operating Memory Areas are used for parameters held in the Servo Drives.

Common Parameters and Axis Parameters are saved in the PCU's internal memory and also in the PCU's flash memory. These parameters are read/ written, or saved to flash memory from the CPU Unit using the WRITE DATA,

READ DATA, and SAVE DATA Bits allocated in the Common Operating

Memory Area.

The number of transfer words, transfer source, and transfer destination are specified in the Common Operating Memory Area. It is possible to transfer multiple parameters at once.

For PCU parameters, the parameters stored in memory are saved altogether to the PCU's internal flash memory.

218

Transferring Data

Ladder program

MOV

MOV

WRITE DATA

MOV

MOV

READ DATA

SAVE DATA

Section 5-1

CPU Unit PCU

Writing data

Internal memory Flash memory

Powerup or restart

Reading data

Saving data

Transferring Servo Drive

Parameters

Servo Parameters are stored in internal memory of the Servo Drive connected to the PCU and then saved in the Servo Drive's non-volatile memory. These parameters are read/written or saved to the non-volatile memory from the

CPU Unit using the WRITE SERVO PARAMETER, READ SERVO PARAME-

TER, and SAVE SERVO PARAMETER Bits allocated in the Axis Operating

Memory Areas.

Servo Parameters for a single axis are written and read by parameter by specifying the parameter number. Parameters for different axes can be transferred at the same time.

Servo Parameters are saved by executing WRITE DATA to write them to the

Servo Drive's non-volatile memory. Therefore, SAVE SERVO PARAMETER must be executed for each parameter separately from writing them to the

Servo Drive's memory (WRITE SERVO PARAMETER).

Two types of Servo Parameters are transferred to the Servo Drive: online parameters with set values that are enabled immediately after they are written, and offline parameters, which are not enabled just by writing them. To enable set values for offline parameters in Servo Drive operations, save the parameters to the non-volatile memory, and then cycle the Servo Drive power. Alternatively, execute WRITE SERVO PARAMETER/SAVE SERVO

PARAMETER and then execute the Servo Drive's DEVICE SETUP.

When DEVICE SETUP is executed, the Servo Drive enables all the Servo

Parameters that are currently being transferred, and initializes the present position and output signal status to set the Servo Drive.

219

Transferring PCU Parameters

Ladder Program

MOV

MOV

WRITE SERVO

PARAMETER

MOV

MOV

READ SERVO

PARAMETER

MOV

MOV

SAVE SERVO

PARAMETER

DEVICE SETUP

Section 5-2

CPU Unit PCU

Writing Servo Parameter

Servo Drive

Internal memory

Reading Servo Parameter

Used as data for controlling

Servomotor.

Saving Servo Parameter

(Writing to non-volatile memory)

Device setup

(For offline parameters)

Power ON

Non-volatile memory

5-2 Transferring PCU Parameters

5-2-1 Writing PCU Parameters

The PCU's Common Parameters and Axis Parameters are written from the

CPU Unit using the WRITE DATA Bit in the Common Operating Memory

Area. The data to be transferred is set by specifying the number of transfer words, transfer source, and transfer destination in the Common Operating

Memory Area. Multiple parameters can also be transferred all at once.

The PCU reads the contents of the Common Parameters and Axis Parameters saved in the internal flash memory when the PCU power is turned ON or the Unit is restarted, and enables them as operating parameters. Parameters transferred to the PCU using the WRITE DATA Bit will be lost if the PCU power is turned OFF or the Unit is restarted.

Note

(1) The Common Parameter set values are enabled by cycling the PCU power or restarting the Unit after executing WRITE DATA. Therefore, when the WRITE DATA Bit is used to change the contents of the Common Parameters, execute SAVE DATA and save the Common Parameters to the

PCU's internal flash memory.

(2) The Axis Parameter settings are enabled when WRITE DATA execution has completed. To change Axis Parameter settings permanently, execute WRITE DATA followed by SAVE DATA (while MECHATROLINK communications are stopped) to save the Axis Parameter settings in the

PCU's internal flash memory.

(3) Execute WRITE DATA to write data to the PCU while the Data Transferring Flag is OFF. Writing data to the PCU is disabled while the Busy Flag

220


Section 5-2

is ON (when the PCU is in initial processing or reading or writing the backup data from or to the Memory Card).

(4) If data is written while different data is being transferred, a Multistart Error

(Unit error code: 0021) will occur and data will not be written to the PCU.

(5) Do not restart the PCU or turn OFF the power to the PLC while data is being written. The data will not be transferred correctly, and normal PCU operations may not be possible.

Data writing starts when the WRITE DATA Bit in the Common Operating

Memory Area turns ON. When writing data to the PCU, make sure the WRITE

DATA Bit remains ON until the Data Transferring Flag turns ON.

Up to 600 words can be transferred during a single data write operation. The maximum amount of data that can be transferred during a single CPU Unit cycle, however, is 20 words. When more than 20 words of data are transferred, the data is divided and WRITE DATA is executed over multiple cycles.

When writing data to the PCU is completed, the Data Transferring Flag turns

OFF.

Common Operating Memory Area (Output)

Name

WRITE DATA Bit


Write source area

Write source word n

Word

n+6

01

Bit

--n+7 n+8

---

---

Contents

0

→

1: Starts writing data.

Specifies the number of words to be written to the PCU. Up to 600 words can be transferred.

Specifies the area of the data to be written to the PCU.

The type of area set as the write source area is specified by specifying the beginning word of the area in the write source word in hexadecimal.

Write source area:

00B0 hex: CIO Area

00B1 hex: Work Area


00B3 hex: Auxiliary Area

0082 hex: DM Area

005

@

hex: EM Area

@

: EM bank No.= 0 to 9, A, B, C

Specifies the write destination address in the PCU.


Common Operating Memory Area (Input)

Name

Data Transferring

Flag

Unit Busy Flag n+9 --n = CIO 1500 + (unit number

×

25)

Word

n+15 14

Bit

n+16 14

Contents

0: Powerup, transfer completed, or transfer failed

1: Transferring data

0: PCU is not busy

1: PCU is busy n = CIO 1500 + (unit number

×

25)

The following diagram shows the operation for writing data to the PCU.

221


Section 5-2

Common Operating Memory Area n = CIO 1500 + (Unit No.

×

25)

Word n

Word n+6

Word n+7

Word n+8

Word n+9

000C hex

0082 hex

03E8 hex

1838 hex

14

Word n+15

CPU Unit

01

Data written.

No. of write words (12 words)

Write source area (D01000)

Write destination address (1838 hex)

Data Transferring Flag (ON while executing transfer)

DM Area

D01000

D01001

D01002

D01003

D01004

D01005

:

D01011

Data Transfer Example

00B0 hex

0064 hex

00B0 hex

01F4 hex

0040 hex

0000

:

0000

The data for the number of write words starting from the word of the write source area specified in the

Common Operating

Memory Area is transferred to the write destination address in the PCU.

PCU

Internal address

1838 hex

1839 hex

183A hex

183B hex

183C hex

183D hex

:

1843 hex

00B0 hex

0064 hex

00B0 hex

01F4 hex

0040 hex

0000

:

0000

Timing Chart for Writing

Data to the PCU

Note

Data can be written to the PCU during axis operation if the Unit Busy Flag is not ON (i.e., except when the PCU is initializing or reading/writing Memory

Card backup data). WRITE DATA, READ DATA, and SAVE DATA cannot be executed at the same time.

Number of write words (Word n+6)

000C hex

Write source area (Word n+7) 0082 hex

03E8 hex

Write source word (Word n+8)

Write destination address (Word n+9) 1838 hex

WRITE DATA Bit (Word n, bit 01)

Data Transferring Flag (Word n+15, bit 14)

Unit Busy Flag (Word n+16, bit 14)

The Data Transferring Flag turns ON for at least one cycle time when the command to transfer data is received from the PCU.

The status of the Unit Busy Flag does not change when data is being transferred.

Data writing completed

When writing data to the PCU is completed, the Data Transferring Flag (word n+15, bit 14) turns OFF. When an error occurs during data transfer, the Unit

Error Flag (word n+15, bit 12) turns ON, and the corresponding error code is input in word n+21 of the Common Operating Memory Area. Check the error code and perform appropriate troubleshooting.

If an error occurs while writing data (multistart error, write transfer error, Common Parameter check error during data transfer, or Axis Parameter check error during data transfer), the transferred set value will be destroyed, and the parameter will return to the set value before transferring data. WRITE DATA is still executed if an error occurs, but even if the data is transferred normally, the error that occurred will not be cleared. Make sure to execute ERROR

222


Section 5-2

RESET before WRITE DATA to enable identifying whether the data that was written has been transferred correctly.

5-2-2 Reading PCU Parameters

The PCU's Common Parameters and Axis Parameters are read to the CPU

Unit using the READ DATA Bit in the Common Operating Memory Area. The data to be transferred is set by specifying the number of transfer words, transfer source, and transfer destination in the Common Operating Memory Area.

Multiple parameters can also be transferred all at once.

Note

(1) Read data from the PCU when the Data Transferring Flag is OFF. READ

DATA cannot be executed from the PCU while the Unit Busy Flag is ON

(PCU initializing or reading/writing Memory Card backup data).

(2) If READ DATA is executed while data is being transferred, a Multistart Error (Unit error code: 0021) will occur and data will not be read from the

PCU.

Data reading starts when the READ DATA Bit in the Common Operating

Memory Area turns ON. When reading data from the PCU, make sure that the

READ DATA Bit remains ON until the Data Transferring Flag turns ON.

Up to 600 words can be transferred during a single data reading operation.

The maximum amount of data that can be transferred during a single CPU

Unit cycle, however, is 20 words. When reading more than 20 words of data, the data is divided and read over multiple cycles. When reading data from the

PCU is completed, the Data Transferring Flag turns OFF.


Name

READ DATA


Read source address


Read destination word n

Word

02 n+10 ---

Bit

n+11 --n+12 --n+13 ---

Contents

0

→

1: Starts reading data

Specifies the number of words to be read from the PCU.

Specifies the read source address in the

PCU.

Specifies the area used to store the data read from the PCU.

The type of area set as the read destination area is specified by specifying the beginning word of the area in the read destination word in hexadecimal.

Read destination area:

00B0 hex: CIO Area

00B1 hex: Work Area



0082 hex: DM Area

005 @ hex: EM Area

@ : EM bank No.= 0 to 9, A, B, C n = CIO 1500 + (unit number

×

25)


Name

Data Transferring

Flag

Word

n+15 14

Bit

Unit Busy Flag n+16 14

Contents


1: Transferring data

0: PCU is not busy

1: PCU is busy

223


Section 5-2


×

25)

The following diagram shows the operation for reading data from the PCU.

CPU Unit

Common Operating Memory Area n = CIO 1500 + (unit number

×

25)

Word n

02

Word n+10

Word n+11

Word n+12

Word n+13

000C hex

1838 hex

0051 hex

0064 hex

14

Word n+15

READ DATA Bit

Number of read words (12 words)

Read source address (1838 hex)

Read destination area (EM1_00100)

Data Transferring Flag (ON while transferring data)

PCU

Data Memory

EM1_00100

EM1_00101

EM1_00102

EM1_00103

EM1_00104

EM1_00105

:

EM1_00111

Data Transfer Example

00B0 hex

0064 hex

00B0 hex

01F4 hex

0040 hex

0000 hex

:

0000 hex

The data for the number of read words starting from the word of the read source address (PCU's internal address) specified in the Common Operating

Memory Area are transferred to the words starting from the set read destination area word.

Internal address

1838 hex 00B0 hex

1839 hex 0064 hex

183A hex

183B hex

183C hex

183D hex

:

1843 hex

00B0 hex

01F4 hex

0040 hex

0000 hex

:

0000 hex

Timing Chart for Reading

Data From the PCU

Data can be read from the PCU during axis operation if the Unit Busy Flag is not ON (i.e., except when the PCU is initializing or reading/writing Memory

Card backup data). READ DATA, WRITE DATA, and SAVE DATA cannot be executed at the same time.

Number of read words (Word n+10)

000C hex

Read source address (Word n+11)

1838 hex

0051 hex

Read destination area (Word n+12)

Example: EM1_00100

Read destination word (Word n+13)

READ DATA Bit (Word n, bit 02)

0064 hex



The Data Transferring Flag turns ON for at least one cycle time when the command to transfer data is received from the PCU.

The Unit Busy Flag does not change when data is being read.

Specified read destination area

(example)

(EM1_00100)

(EM1_00101)

etc.

00B0 hex Read data

0064 hex Read data

Data reading competed

When reading data from the PCU is completed, the Data Transferring Flag

(word n+15, bit 14) turns OFF. When an error occurs during data transfer, the

Unit Error Flag (word n+15, bit 12) turns ON, and the corresponding error code is input in word n+21 of the Common Operating Memory Area. Check the error code and perform appropriate troubleshooting.

224


Section 5-2

Note

If an error occurs when reading data (multistart error or read transfer error), the data will not be read from the PCU and the data in the read destination area will not be refreshed. READ DATA can still be executed if an error occurs, but even if the data is transferred normally, the error that occurred previously will not be cleared. Make sure to execute ERROR RESET before executing READ DATA to enable identifying whether the data that was read has been transferred correctly.

5-2-3 Saving PCU Parameters

When the power is turned ON, the PCU reads the Common Parameters and

Axis Parameters saved in the PCU's flash memory to the PCU's internal memory and starts operations. The PCU's parameters are saved to the PCU's internal flash memory using the SAVE DATA Bit in the Common Operating

Memory Area.

Note

(1) Save data to the PCU when MECHATROLINK communications are stopped and the Data Transferring Flag is OFF. The PCU's data cannot be saved while the Unit Busy Flag is ON (i.e., PCU initializing or reading/ writing Memory Card backup data).

(2) If SAVE DATA is executed during MECHATROLINK communications or while data is transferring, a Multistart Error (Unit error code: 0021) will occur and data will not be saved to the PCU.

(3) Do not restart the PCU or turn OFF the power to the PLC while data is being saved. Doing so may result in damage to the PCU's internal flash memory and the PCU may not operate normally.

Data saving starts when the SAVE DATA Bit in the Common Operating Memory Area turns ON, at which time the enabled Common Parameters and Axis

Parameters are saved to the PCU's internal flash memory all at once. When saving data to the PCU, make sure that the SAVE DATA Bit remains ON until the Data Transferring Flag turns ON.


Name

SAVE DATA n

Word

03

Bit Contents

0

→

1: Starts saving data n = CIO 1500 + (unit number

×

25)


Name

Data Transferring

Flag

Word

n+15 14

Bit

Unit Busy Flag

Connection Status

Flag n+16 14

15

Contents

0: Powerup, saving completed, or saving failed

1: Saving data

0: PCU is not busy

1: PCU is busy

0: MECHATROLINK communications stopped

1: MECHATROLINK communications executing n = CIO 1500 + (unit number

×

25)

225

Transferring Servo Parameters

Section 5-3

The following diagram shows the operation for saving data in the PCU.

CPU Unit

Common Operating Memory Area n = CIO 1500 + (unit number

×

25)

Word n

14

03

SAVE DATA Bit

PCU

Internal memory

Common Parameters

:

Axis Parameters

Etc.

Word n+15

Powerup or restart

15

Data Transferring Flag (ON while transferring data)

Word n+16


Data cannot be saved while this flag is ON

(MECHATROLINK communications executing).

Internal flash memory

Common Parameters

:

Axis Parameters

Etc.

Timing Chart for Saving

Data to the PCU

Note

Data can be saved to the PCU while MECHATROLINK communications are stopped if the Unit Busy Flag is not ON (i.e., except when the PCU is initializing or reading/writing Memory Card backup data). SAVE DATA, WRITE

DATA, and READ DATA cannot be executed at the same time.

SAVE DATA Bit (Word n, bit 03)



Connection Status Flag (Word n+16, bit 15)

Data saving completed

The Data Transferring Flag remains ON for at least one cycle time until data saving is completed when the command to transfer data is received from the PCU.

The status of the Unit Busy Flag does not change when data is being saved.

Execute the SAVE DATA command while

MECHATROLINK communications are stopped (Connection Status Flag OFF).

When saving data to the PCU is completed, the Data Transferring Flag (word n+15, bit 14) turns OFF. When an error occurs during data transfer, the Unit

Error Flag (word n+15, bit 12) turns ON, and the corresponding error code is input in word n+21 of the Common Operating Memory Area. Check the error code and perform appropriate troubleshooting.

If an error occurs while SAVE DATA is executing (multistart error), the data will not be saved to the PCU's internal flash memory, and the parameter set values saved in flash memory will be those before SAVE DATA was executed. SAVE DATA is still executed if an error occurs, but even if the data is saved normally, the error that occurred will not be cleared. Make sure that

SAVE DATA is executed after ERROR RESET to enable identifying whether data has been saved correctly.

5-3 Transferring Servo Parameters

Note


PARAMETER). Refer to the Servo Drive's operation manual and always check the effect of changing the settings before changing the Servo Parameters.

226


Section 5-3

5-3-1 Writing Servo Parameters

Servo Parameters are written from the CPU Unit using the WRITE SERVO

PARAMETER Bit in the Axis Operating Output Memory Area. Prepare the set values for the parameter number, parameter size (data length), and transfer data in the Axis Operating Output Memory Area and execute WRITE SERVO

PARAMETER.

One execution of WRITE SERVO PARAMETER transfers one parameter for each axis. To transfer multiple parameters, WRITE SERVO PARAMETER must be executed separately for each parameter. Parameters for different axes can be written at the same time.

Parameters transferred using WRITE SERVO PARAMETER are written to the control memory in the Servo Drive. Therefore, online parameters that are overwritten are used immediately in Servo Drive control of the Servomotor.

After executing WRITE SERVO PARAMETER for offline parameters,

DEVICE SETUP must be executed to enable the settings.

When WRITE SERVO PARAMETER is executed, however, the settings are not saved in the Servo Drive's non-volatile memory. When the Servo Drive power is turned OFF, the set parameter settings will be lost and the next time the power is turned ON, operation will be performed using the parameters saved in the non-volatile memory. To save parameters in the Servo Drive's non-volatile memory, SAVE SERVO PARAMETER must be executed for each parameter separately from WRITE SERVO PARAMETER.

Note

(1) Execute WRITE SERVO PARAMETER when the Servo Parameter

Transferring Flag for the corresponding axis is OFF. If WRITE SERVO

PARAMETER is executed while a Servo Parameter is being transferred, a Multistart Error (axis error code: 3050) will occur and the Servo Parameter will not be written.

(2) Do not restart the PCU or turn OFF the power to the PLC while writing a

Servo Parameter. Doing so may result in parameters not being transferred correctly and cause unexpected operations.

Servo Parameter writing starts when the WRITE SERVO PARAMETER Bit in the Axis Operating Output Memory Area turns ON. When executing WRITE

SERVO PARAMETER, make sure that the WRITE SERVO PARAMETER Bit remains ON until the Servo Parameter Transferring Flag turns ON.


Name

WRITE SERVO

PARAMETER Bit

Word

a+1 12

Servo Parameter No. a+17 ---

Bit Contents

0

→

1: Starts writing Servo Parameters

Parameter size a+18 ---


Write data (leftmost word) a+19 --a+20 ---

Specifies the parameter No. of the Servo

Drive to which the data is to be written.

Specifies the data length of the parameter to be written in byte units.

Specifies the setting data (hexadecimal) to be written to the Servo Parameters. For a parameter size of two bytes, the rightmost word is used only, and the data in the leftmost word is ignored. For a parameter size of four bytes, the four bytes of data from the rightmost to leftmost words are transferred.



−

1)

×

25

227


Section 5-3


Name

Servo Parameter

Transferring Flag b

Word

14

Bit Contents


1: Transferring Servo Parameter b = Beginning word of Axis Operating Input Areas specified in Common


−

1)

×

25

The following diagram shows the operation used to write parameters to the

W-series Servo Drive.

CPU Unit PCU Servo Drive


Memory Area

Word a+1

12

Internal memory

MECHATROLINK

Word a+17

Word a+18

Word a+19

Word a+20

050A hex

0002

2881 hex

---

WRITE SERVO PARAMETER Bit

Servo Parameter No. (Pn50A)

Parameter size (2 bytes)

Set value (2881)

Pn50A 2881

Axis Operating Input

Memory Area

Word b

14

Servo Parameter Transferring Flag (ON while transferring data) a = Beginning word of Axis Operating Output Areas specified in Common Parameters + (Axis No.

−

1)

×

25 b = Beginning word of Axis Operating Input Areas specified in Common Parameters + (Axis No.

−

1)

×

25

Timing Chart for Writing

Servo Parameters

WRITE SERVO PARAMETER can also be executed while the corresponding axis is operating (Busy Flag ON).

When using Position Control Units with unit version 2.0 or later, any Servo parameter write operations specified during an origin search will be performed after the origin search has been completed.

WRITE SERVO PARAMETER, READ SERVO PARAMETER, and SAVE

SERVO PARAMETER cannot be executed on one axis at the same time.

Servo Parameter No. (Word a+17)

Parameter size (Word a+18)

Write data (Words a+19, a+20)


(Word a+1, bit 12)


(Word b, bit 14)

Busy Flag (Word b, bit 13)

050A hex

2

00002881 hex

For a parameter size of two bytes, only the rightmost word (word a + 19) of the write data is used, and the data in the leftmost word (word a

+ 20) is ignored.

The Servo Parameter Transferring Flag turns ON for at least one cycle time when the command to transfer the parameter is received.

The status of the Busy Flag does not change when Servo Parameters are being written.

228


Section 5-3

• Writing Servo Parameters during Origin Searches for Position Control

Units with Unit Version 2.0 or Later

WRITE SERVO PARAMETER

Bit (word a+1, bit 12)


(word b, bit 14)

Busy Flag (word b, bit 13)

When using Position Control Units with unit version

2.0 or later, any Servo parameter write operations specified during an origin search will be performed after the origin search has been completed.

Note

Origin search operation in progress Origin search operation completed

When writing a Servo Parameter is completed, the Servo Parameter Transferring Flag (word b, bit 14) turns OFF. If an error occurs during Servo Parameter transfer, the Error Flag (word b, bit 12) or the Warning Flag (word b, bit 11) will turn ON, and the corresponding axis error (warning) code is input in word b+4 of the Axis Operating Input Memory Area. Check the error code and perform appropriate troubleshooting.

With PCUs of unit version 1.2 or earlier, WRITE SERVO PARAMETER cannot be executed when an axis error has occurred. WRITE SERVO PARAME-

TER will be ignored if it is executed when an axis error has occurred.

With PCUs of version 1.3 or later, WRITE SERVO PARAMETER can be executed even when an axis error has occurred. When the parameters are transferred, however, the Error Flag can no longer be used to determine if an error has occurred during the transfer. It is thus necessary to write Servo Parameters after resetting the error or, if parameters are written when there is an axis error, then steps must be taken to confirm that the parameters were transferred correctly.

5-3-2 Reading Servo Parameters

Servo Parameters are read to the CPU Unit using the READ SERVO

PARAMETER Bit in the Axis Operating Output Memory Area. Specify the parameter number and parameter size (data length) in the Axis Operating

Output Memory Area and execute READ SERVO PARAMETER. The read parameter will be input in the Read data word of the Axis Operating Input

Memory Area.

One execution of READ SERVO PARAMETER transfers one parameter for each axis. To transfer multiple parameters, READ SERVO PARAMETER must be executed separately for each parameter. Parameters for different axes can also be read at the same time.

Note

Execute READ SERVO PARAMETER when the Servo Parameter Transferring Flag for the corresponding axis is OFF. If READ SERVO PARAMETER is executed while a Servo Parameter is being transferred, a Multistart Error (axis error code: 3050) will occur and the Servo Parameter will not be read.

Servo Parameter reading starts when the READ SERVO PARAMETER Bit in the Axis Operating Output Memory Area turns ON. When executing READ

SERVO PARAMETER, make sure that the READ SERVO PARAMETER Bit remains ON until the Servo Parameter Transferring Flag turns ON.

229


Section 5-3


Name

READ SERVO

PARAMETER Bit

Word

a+1 13


Bit Contents

0

→

1: Starts reading Servo Parameter


Specifies the Servo Drive parameter No. from which the data is to be read.

Specifies the data length of the parameter to be read in byte units.



−

1)

×

25


Name

Servo Parameter

Transferring Flag b

Word

14

Bit


Read data (leftmost word) b+14 --b+15 ---

Contents


1: Transferring Servo Parameter

Contains the Servo Parameter (hexadecimal) that was read. For a parameter size of two bytes, the rightmost word is used only, and 0000 is stored in the leftmost word. For a parameter size of four bytes, four bytes of data from the rightmost to leftmost words are stored.



−

1)

×

25

READ SERVO PARAMETER can be executed while the corresponding axis is operating (Busy Flag ON). The following diagram shows the operation used to read parameters to the Servo Drive.

PCU Servo Drive CPU Unit


Memory Area

Word a+1

13

Word a+17

Word a+18


Memory Area

Word b

050A hex

0002

14

READ SERVO PARAMETER Bit



Word b+14

Word b+15

Servo Parameter Transferring Flag (ON while transferring data)

2881 hex

0000

When the length of the parameter to be read is two bytes (one word),

0000 is input in the leftmost word

(word b + 15).

MECHATROLINK

Internal memory

Pn50A 2881 a = Beginning word of Axis Operating Output Areas specified in Common Parameters + (Axis No.

−

1)

×


−

1)

×

25

Timing Chart for Reading


READ SERVO PARAMETER can be executed while the corresponding axis is operating (Busy Flag ON).

When using Position Control Units with unit version 2.0 or later, any Servo parameter read operations specified during an origin search will be performed after the origin search has been completed.

READ SERVO PARAMETER, WRITE SERVO PARAMETER, and SAVE


230


Section 5-3

Servo Parameter No. (Word a+17)

050A hex

Parameter size (Word a+18)


(Word a+1, bit 13)


(Word b, bit 14)

Busy Flag (Word b, bit 13)


(Word b+14)


(Word b+15)

2

2881 hex

0000

The Servo Parameter Transferring Flag turns ON for at least one cycle time when the command to transfer the parameter is received.

The status of the Busy Flag does not change when Servo Parameters are being read.

For a parameter size of two bytes, the read parameters are saved in rightmost word (word b

+ 14) of the read data, and 0000 is saved in the leftmost word (word b + 15).

• Reading Servo Parameters during Origin Searches for Position Control



(word a+1, bit 13)


(word b, bit 14)



2.0 or later, any Servo parameter read operations specified during an origin search will be performed after the origin search has been completed.

Note

Origin search operation completed Origin search operation in progress

When READ SERVO PARAMETER execution is completed, the Servo

Parameter Transferring Flag (word b, bit 14) turns OFF, and the contents of the parameter that has been read is stored in the read data words (words b+14, b+15).

If an error occurs while transferring Servo Parameters, the Error Flag (word b, bit 12) or the Warning Flag (word b, bit 11) will turn ON, and the corresponding axis error (warning) code will be input in word b+4 of the Axis Operating

Input Memory Area. Check the error code and perform appropriate troubleshooting.

With PCUs of unit version 1.2 or earlier, READ SERVO PARAMETER cannot be executed when an axis error has occurred. READ SERVO PARAMETER will be ignored if it is executed when an axis error has occurred.

With PCUs of version 1.3 or later, READ SERVO PARAMETER can be executed even when an axis error has occurred. When the parameters are transferred, however, the Error Flag can no longer be used to determine if an error has occurred during the transfer. It is thus necessary to read Servo Parameters after resetting the error or, if parameters are read when there is an axis error, then steps must be taken to confirm that the parameters were transferred correctly.

5-3-3 Saving Servo Parameters

When Servo Parameters are saved in the Servo Drive's non-volatile memory, the settings are held even after the power is turned OFF and the next time the power is turned ON, the previous settings will be recovered. Saving Servo

Parameter is treated as writing data to the Servo Drive's non-volatile memory.

Therefore, SAVE SERVO PARAMETER must be executed separately from

WRITE SERVO PARAMETER for each parameter.

231


Section 5-3

Servo Parameters are saved from the CPU Unit using the SAVE SERVO

PARAMETER Bit in the Axis Operating Output Memory Area. Specify the parameter number, parameter size (data length), and data to be transferred in the Axis Operating Output Memory Area and execute SAVE SERVO PARAM-

ETER (to write settings to non-volatile memory).

One execution of SAVE SERVO PARAMETER transfers one parameter for each axis. The parameter is written to the Servo Drive's internal memory at the same time as saving it in the non-volatile memory. To save multiple parameters, SAVE SERVO PARAMETER must be executed separately for each parameter. Parameters for different axes can be saved at the same time.

Note

(1) There is a limit to the number of times non-volatile memory in the Servo

Drive can be written (10,000 times). When Servo parameters are changed frequently during system operation, so not save the parameters, but rather just write them.

(2) Execute SAVE SERVO PARAMETER when the Servo Parameter Transferring Flag for the corresponding axis is OFF. If SAVE SERVO PARAM-

ETER is executed while the Servo Parameter Transferring Flag is ON, a

Multistart Error (axis error code: 3050) will occur and the Servo Parameter will not be saved.

(3) Do not restart the PCU or turn OFF the power to the PLC while a Servo

Parameter is being saved. Doing so may result in the parameter not being saved correctly and cause unexpected operations.

Servo Parameter saving starts when the SAVE SERVO PARAMETER Bit in the Axis Operating Output Memory Area turns ON. When executing SAVE

SERVO PARAMETER, make sure that the SAVE SERVO PARAMETER Bit remains ON until the Servo Parameter Transferring Flag turns ON.


Name Word

SAVE SERVO

PARAMETER Bit a+1 14


Bit



Write data (leftmost word a+19 --a+20 ---

Contents

0

→

1: Starts writing Servo Parameter to non-volatile memory.

Specifies the parameter No. of the Servo

Drive to which the data is to be written.

Specifies the data length of the parameter to be written in byte units.

Specifies the setting data (hexadecimal) to be written to the Servo Parameter. For a parameter size of two bytes, the rightmost word is used only, and the data in the leftmost word is ignored. For a parameter size of four bytes, four bytes of data from the rightmost to leftmost words are transferred.



−

1)

×

25


Name

Servo Parameter

Transferring Flag b

Word

14

Bit Contents


1: Transferring Servo Parameter b = Beginning word of Axis Operating Input Areas specified in Common


−

1)

×

25

232


Section 5-3

SAVE SERVO PARAMETER can be executed while the corresponding axis is operating (Busy Flag ON). The following diagram shows the operation used to save parameters to the W-series Servo Drive.

PCU Servo Drive CPU Unit


Memory Area

Word a+1

14

Word a+17

Word a+18

Word a+19

Word a+20

050A hex

0002 hex

2881 hex

---




Set value (2881)

MECHATROLINK

Internal memory and non-volatile memory

Pn50A 2881


Memory Area

Word b

14

Servo Parameters Transferring Flag (ON while transferring) a = Beginning word of Axis Operating Output Areas specified in Common Parameters + (Axis No.

−

1)

×


−

1)

×

25

Timing Chart for Saving


SAVE SERVO PARAMETER can be executed while the corresponding axis is operating (Busy Flag ON).

When using Position Control Units with unit version 2.0 or later, any Servo parameter save operations specified during an origin search will be performed after the origin search has been completed.

SAVE SERVO PARAMETER, WRITE SERVO PARAMETER, and READ


Servo Parameter No. (word a+17)

050A hex

Parameter size (word a+18)

2

Write data (words a+19, a+20)


(word a+1, bit 14)

00002881 hex

For a parameter size of two bytes, only the rightmost word (word a+19) of the write data is used, and the data in the leftmost word (word a+20) is ignored.


(word b, bit 14)


The Servo Parameter Transferring Flag turns

ON for at least one cycle time when the command to transfer the parameter is received.

The status of the Busy Flag does not change when Servo Parameters are being written.

• Saving Servo Parameters during Origin Searches for Position Control



(word a+1, bit 14)


(word b, bit 14)



2.0 or later, any Servo parameter save operations specified during an origin search will be performed after the origin search has been completed.


When execution of SAVE SERVO PARAMETER has completed, the Servo

Parameter Transferring Flag (word b, bit 14) turns OFF.

233


Section 5-3

Note

If an error occurs while executing SAVE SERVO PARAMETER, the Error

Flag (word b, bit 12) or the Warning Flag (word b, bit 11) will turn ON, and the corresponding axis error (warning) code will be input in word b+4 of the Axis

Operating Input Memory Area. Check the error code and perform appropriate troubleshooting.

With PCUs of version 1.2 or earlier, SAVE SERVO PARAMETER cannot be executed if an axis error has occurred. SAVE SERVO PARAMETER will be ignored if it is executed when an axis error has occurred.

With PCUs of version 1.3 or later, SAVE SERVO PARAMETER can be executed even when an axis error has occurred. When the parameters are saved, however, the Error Flag can no longer be used to determine if an error has occurred during the save. It is thus necessary to save Servo Parameters after resetting the error or, if parameters are saved when there is an axis error, then steps must be taken to confirm that the parameters were saved correctly.

5-3-4 Device Setup

Note

Two types of Servo Parameters are transferred to the Servo Drive: online parameters with set values that are enabled immediately after they are written, and offline parameters, which are not enabled just by writing them. To enable set values for offline parameters in Servo Drive operations, save the parameters to the non-volatile memory, and then cycle the Servo Drive power. Alternatively, execute WRITE SERVO PARAMETER/SAVE SERVO

PARAMETER and then execute the Servo Drive's DEVICE SETUP.

When DEVICE SETUP is executed, the Servo Drive enables all the Servo

Parameters that have been transferred to set the Servo Drive, and initializes the present position and output signal status. DEVICE SETUP can be executed in Servo unlock status. If DEVICE SETUP is executed while in Servo lock status, a Multistart Error (axis error code: 3050) will occur and DEVICE

SETUP will not be executed.

DEVICE SETUP is executed from the CPU Unit using the DEVICE SETUP Bit in the Axis Operating Output Memory Area. DEVICE SETUP can be executed for different axes at the same time.

Execute DEVICE SETUP when the Busy Flag for the corresponding axis is

OFF. If DEVICE SETUP is executed while the axis's Busy Flag is ON, a Multistart Error (axis error code: 3050) will occur and DEVICE SETUP will not be executed.

Device setup starts when the DEVICE SETUP Bit in the Axis Operating Output Memory Area turns ON. When executing the DEVICE SETUP command, make sure that the DEVICE SETUP Bit remains ON until the Busy Flag in the

Axis Operating Input Memory Area turns ON.


Name Word

DEVICE SETUP Bit a+1 11

Bit Contents

0

→

1: Starts device setup for the Servo

Drive. a = Beginning word of Axis Operating Output Areas specified in Common


−

1)

×

25

234


Section 5-3


Name

Receiving Command Flag b

Word

00

Bit Contents

0: Command reception enabled

0

→

1: Command reception started

1: Receiving command (command reception disabled)

1: Axis busy (axis operation executing) Busy Flag 13 b = Beginning word of Axis Operating Input Areas specified in Common


−

1)

×

25

The following diagram shows the device setup operation for the Servo Drive.

CPU Unit

11

PCU Servo Drive


Memory Area

Word a+1

MECHATROLINK

Online parameters etc.

Control processing

Reflected immediately

DEVICE SETUP Bit


Memory Area

Word b

13

00

Offline parameters etc.

Reflected when power is turned

ON or

DEVICE

SETUP is executed.

Busy Flag, Receiving Command Flag

(ON while executing) a = Beginning word of Axis Operating Output Areas specified in Common Parameters + (Axis No.

−

1)

×


−

1)

×

25

Timing Chart for DEVICE

SETUP

Note

DEVICE SETUP can be executed when the corresponding axis is in Servo unlocked status and the Busy Flag is not ON. If DEVICE SETUP is executed while in Servo lock status, a Multistart Error (axis error code: 3050) will occur and DEVICE SETUP will not be executed.

DEVICE SETUP Bit

(word a+1, bit 11)


(word b, bit 00)

No Origin Flag (word b, bit 06)


SVON (Servo ON) Flag

(word b+1, bit 03)

A Multistart Error occurs if DEVICE SETUP is executed during Servo lock status.

The Receiving Command

Flag and Busy Flag remain

ON during Servo Drive setup processing.

Executing DEVICE SETUP results in no origin (not established) status.

The Busy Flag remains ON for at least one cycle time until

Servo Drive setup processing is completed when the command for DEVICE SETUP is received.

If DEVICE SETUP is executed while in Servo lock status

(SVON Flag ON), the command is ignored and will not be executed.

During DEVICE SETUP processing, the Receiving Command Flag (word b, bit 00) and Busy Flag (word b, bit 13) remain ON. When DEVICE SETUP execution is completed, both of these Flags turn OFF. When DEVICE SETUP is executed, the origin is lost (No Origin Flag turns ON), and the present position becomes undefined. After DEVICE SETUP is executed, establish the origin again.

During execution of DEVICE SETUP, the Servo status and Servo Drive output signals become undefined.

DEVICE SETUP cannot be executed if an axis error has occurred. DEVICE

SETUP will be ignored if it is executed during an axis error.

235


Section 5-3

236

SECTION 6

MECHATROLINK

This section provides an overview of MECHATROLINK communications, and includes information on settings and procedures required to use MECHATROLINK with the Position Control Unit.

6-1 MECHATROLINK Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-2 MECHATROLINK Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-2-1 Scan List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-2-2 Scan List and PCU Area Allocations . . . . . . . . . . . . . . . . . . . . . . . .

6-2-3 MECHATROLINK Communications Settings. . . . . . . . . . . . . . . . .

6-3 MECHATROLINK Communications Control . . . . . . . . . . . . . . . . . . . . . . . .

6-3-1 Establishing Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-3-2 MECHATROLINK Communications Status . . . . . . . . . . . . . . . . . .

6-3-3 MECHATROLINK Communications Errors . . . . . . . . . . . . . . . . . .

6-3-4 Rejoining the Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-3-5 Specifying the Axes to Connect . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-4 Standard Settings for Servo Drives Using MECHATROLINK . . . . . . . . . . .

6-4-1 G5-series Servo Drive Settings (R88D-KN

@

-ML2 with Built-in MECHATROLINK-II Communications) . . . . . . . . . .

6-4-2 G-series Servo Drive Settings (R88D-GN

@


6-4-3 W-series Servo Drive Settings

(R88D-WT

@

Equipped with FNY-NS115) . . . . . . . . . . . . . . . . . . .

6-4-4 W-series Servo Drive Settings (R88D-WN

@


6-4-5 SMARTSTEP Junior Servo Drive Settings (R7D-ZN @ -ML2 with Built-in MECHATROLINK-II Communications) . . . . . . . . . .

238

239

239

241

243

248

248

249

254

258

261

263

263

264

265

268

269

237

MECHATROLINK Overview

Section 6-1

6-1 MECHATROLINK Overview

MECHATROLINK

MECHATROLINKcompatible Devices

Supported by PCU

Note

Note

Note

The Position Control Unit (PCU) uses MECHATROLINK (see note) to connect to the Servo Drive.

MECHATROLINK is a registered trademark of Yaskawa Electric Corporation.

MECHATROLINK is a high-speed field network developed by Yaskawa Electric Corporation. High-speed, high-precision motion control is possible for up to 30 (see note) MECHATROLINK-compatible devices connected to a single communications line using high-speed communications of up to 10 Mbps.

Up to 16 Servo Drives can be connected to the CS1W/CJ1W-NCF71, up to 2

Servo Drives can be connected to the CS1W/CJ1W-NC271, and up to 4

Servo Drives can be connected to the CS1W/CJ1W-NC471. The highest axis number that can be set in the Position Control Unit is 16.

MECHATROLINK is available with two baud rates: 4 Mbps for MECHA-

TROLINK-I and 10 Mbps for MECHATROLINK-II. This PCU is designed for

MECHATROLINK-II. The connected devices must be compatible with

MECHATROLINK-II.

In this manual, the use of MECHATROLINK refers to MECHATROLINK-II unless otherwise specified.

MECHATROLINK Specifications

Item

Communications protocol

Baud rate

Maximum transmission distance

Minimum distance between stations

Transmission media

Maximum No. of stations

Topology

Transfer cycle

Communications method

Encoding

Data length

Specifications

MECHATROLINK-II

10 Mbps

50 m (See note 1.)

0.5 m

Shielded, twisted-pair cables

30 slave stations max. (See note 2.)

Bus

250

µ s to 8 ms

Master-slave, totally synchronous

Manchester encoding

17 bytes/32 bytes selectable (See note 3.)

(1) This distance is the total length of the cable connected between devices.

However, the maximum length depends on the number of devices con-

nected and whether Repeaters are used. For details, refer to

3-4-1

MECHATROLINK-II Communications Wiring

.

(2) Up to 16 devices can be connected to the CS1W/CJ1W-NCF71, up to 2 devices can be connected to the CS1W/CJ1W-NC271, and up to 4 devices can be connected to the CS1W/CJ1W-NC471.

(3) The PCU data length is fixed at 32 bytes.

This PCU is designed to be used with MECHATROLINK-II. The maximum number of stations that can be connected to the PCU is 16, and the station addresses of the MECHATROLINK-compatible devices must be set in the range 1 to 16. The MECHATROLINK-II communications settings at the PCU are fixed, as follows:

Item

Baud rate

Data length

Specifications

10 Mbps

32 bytes (fixed) (See note.)

238

MECHATROLINK Settings

Note

Section 6-2

Some devices indicate the data length as 30 bytes, but the meaning is the same.

Make sure that the baud rates and number of transmission bytes for the

MECHATROLINK-compatible devices connected to the PCU are set to the same settings as shown in the above table.

The MECHATROLINK-compatible devices that can be connected to the PCU are shown in the following table.

Category

Servo Drive

Compatible devices

R88D-KN

@

-ML2 OMRON G5-series Servo Drives

(with MECHATROLINK-II communications)

R88D-GN

@

-ML2 OMRON G-series Servo Drives

(with MECHATROLINK-II communications)

R88D-WT

@

OMRON W-series Servo Drives

(equipped with FNY-NS115 MECHATROLINK-II I/F Unit)

R88D-WN

@

-ML2 OMRON W-series Servo Drives

(equipped with built-in MECHATROLINK-II communications)

R7D-ZN

@

-ML2 OMRON SMARTSTEP Junior Servo Drives

(equipped with built-in MECHATROLINK-II communications)

The version of R88D-WT @ W-series Servo Drives used must support FNY-

NS115 MECHATROLINK-II I/F Unit. FNY-NS115 MECHATROLINK-II I/F Unit can be installed in R88D-WT @ W-series Servo Drives with version 39 or later.

(For details, refer to

3-1-2 MECHATROLINK-II

I/F Unit.) The version of R88D-

WT @ W-series Servo Drives is shown on the nameplate located on the side of the Servo Drive. Make sure that the Servo Drive is version 39 or later. Earlier versions will not function properly.

6-2 MECHATROLINK Settings

The settings required to use MECHATROLINK with the PCU are described here.

6-2-1 Scan List

The scan list is used to register the MECHATROLINK devices connected to the PCU. The PCU connects the axes registered in the scan list to MECHA-

TROLINK communications, detects these axes, and monitors communications for them.

The PCU receives positioning commands allocated in the Work Area (Axis

Operating Memory Area) of the CPU Unit and controls positioning of the

Servo Drive. The Axis Operating Memory Areas are allocated based on the scan list that is saved in the PCU's internal flash memory. Therefore, to use the PCU, first the scan list must be created and saved, and the connected

Servo Drives must be registered in the list.

239


Section 6-2

PCU

Saved scan list

Axis 1: Yes

Axis 2: Yes

Axis 3: ---

Axis 4: Yes

Axis 5: ---

:

The Operating Memory

Area allocations based on the scan list.

No.

1

No.

2

No.

4

Changes, additions, to Servo Drive configuration

PCU

Saved scan list

Error

Axis 1: Yes

Axis 2: Yes

Axis 3: ---

Axis 4: Yes

Axis 5: ---

:

Scan list re-registered and saved

PCU

Saved scan list

Axis 1: ---

Axis 2: Yes

Axis 3: Yes

Axis 4: ---

Axis 5: Yes

:

The Operating

Memory Area allocations based on the scan list.

No.

2

No.

5

No.

3

No.

7

No.

8

No.

2

No.

5

No.

3

No.

7

No.

8

The station address numbers set at the MECHATROLINK device slave stations correspond to the axis numbers registered in the PCU's scan list, regardless of the physical order in which the devices are connected to the

MECHATROLINK communications line. The scan list is set as the Common

Parameters for the PCU.

The axes are allocated eight bits per axis in the eight words of data in the

PCU's internal addresses from 183C to 1843 hex, as shown in the following table. To allocate an axis to the Servo Drive, set the data to 40 hex and when an axis is not used, set the data to 00 hex. (Nothing is registered for the default setting.) Up to 16 axes can be allocated for the CS1W/CJ1W-NCF71, up to 2 axes can be allocated for the CS1W/CJ1W-NC271, and up to 4 axes can be allocated for the CS1W/CJ1W-NC471. An error will occur if you allocate more axes than your Unit supports. The Common Parameters settings saved in the PCU's internal flash memory are enabled when the PCU power is turned ON or the Unit is restarted.

Setting PCU's address

Bits 08 to 15

Contents

Bits 00 to 07

183C hex Axis 2 allocation

183D hex Axis 4 allocation

183E hex

183F hex

Axis 6 allocation

Axis 8 allocation

Axis 1 allocation

Axis 3 allocation

Axis 5 allocation

Axis 7 allocation

1840 hex

1841 hex

1842 hex

1843 hex

Axis 10 allocation

Axis 12 allocation

Axis 14 allocation

Axis 16 allocation

Axis 9 allocation

Axis 11 allocation

Axis 13 allocation

Axis 15 allocation

00 hex: Axis not used

(default setting).

40 hex: Allocates axis to the Servo Drive

240


Section 6-2

6-2-2 Scan List and PCU Area Allocations

Words are allocated to the PCU in the Work Area in the CPU Unit for use as

Axis Operating Output Memory Areas and Axis Operating Input Memory

Areas for the Servo Drives registered in the scan list. An output area of 25 words and an input area of 25 words are allocated to each axis according to the axis number registered in the scan list. The beginning word of these output areas and input areas can be set by the user in the Common Parameter

Area.

The output areas and input area allocations are specified in the four words of data in the PCU's internal addresses from 1838 to 183B hex, as shown in the following table. The Common Parameters settings saved in the PCU's internal flash memory are enabled when the PCU power is turned ON or the Unit is restarted.

PCU's address

1838 hex

Contents Setting

1839 hex


Beginning word of

Axis Operating Output Memory Areas

183A hex Axis Operating Input

Memory Area designation

183B hex Beginning word of


Memory Areas

Specifies the words allocated for the Axis Operating Output Memory Areas.

0000 hex: No setting (default)

00B0 hex: CIO Area

00B1 hex: Work Area



0082 hex: DM Area

0050 to 0059, 005A,005B, 005C hex:

EM Area (5

@

:

@

= EM Bank No.)

Specifies the beginning word of the Axis Operating Output Memory Areas. The beginning word of the Operating Output Memory Area for axis 1 is determined by the Axis Operating Output

Memory Area designation and the word determined using this parameter. Each axis is allocated 25 words in sequence from this word.

Specifies the words allocated for the Axis Operating Input Memory Areas. The setting method is the same as for the Axis Operating Output

Memory Areas.

Specifies the beginning word of the Axis Operating Input Memory Areas. The setting method is the same as for the Axis Operating Output Memory Areas.

The Axis Operating Memory Output and Input Areas are allocated words for each axis from axis 1 up to the highest axis number registered in the scan list.

Axis numbers between axis 1 and the highest registered axis number that are not registered as MECHATROLINK devices are also each allocated 25 output words and 25 input words.

241


Section 6-2

Note

Axis

No.

Axis 1

Axis 2

Axis 3

Axis 4

:

Axis 14

Axis 15

Axis 16


No. 1

No. 2

No. 3

No. 4

:

No. 14

No. 15

No. 16


Allocations

Axis 1

Operating

Output

Memory Area

Axis 2

Operating

Output

Memory Area

Word a+0

Word a+1

:

Word a+24

Word a+25

Word a+26

:

Word a+49

Axis N

Operating

Output

Memory Area

Word a+(N

−

1)

×

25

Word a+(N

−

1)

×

25+1

:

Word a+(N

−

1)

×

25+24


Allocations

Axis 1

Operating

Input Memory

Area

Axis 2

Operating

Input Memory

Area

Word b+0

Word b+1

:

Word b+24

Word b+25

Word b+26

:

Word b+49

Axis N

Operating

Input Memory

Area

Word b+(N

−

1)

×

25

Word b+(N

−

1)

×

25+1

:

Word b+(N

−

1)

×

25+24

Axis 16

Operating

Output

Memory Area

Word a+375

Word a+376

:

Word a+399

Axis 16

Operating

Input Memory

Area

Word b+375

Word b+376

:

Word b+399 a = Beginning word of Axis Operating Output Areas specified in Common Parameters b = Beginning word of Axis Operating Input Areas specified in Common Parameters

Example:

Beginning word of Axis Operating Output Memory Areas: CIO 100

Beginning word of Axis Operating Input Memory Areas: CIO 500

Station addresses of connected MECHATROLINK devices (registered in scan list): No. 2, No. 5, and No. 7

In this example, the words occupied as Axis Operating Memory Areas are as follows:

Axis Operating Output Memory Area: CIO 100 to CIO 274 (Axes 1 to 7)

Axis Operating Input Memory Area: CIO 500 to CIO 674 (Axes 1 to 7)

Axis 2 Output Area:CIO 125 to CIO 149;

Axis 2 Input Area:CIO 525 to CIO 549





Axes 1, 3, 4, and 6 are not used, but are still allocated words in the PCU.

These words cannot be used as work words.

Set the beginning word of the Axis Operating Output Memory Areas and Axis

Operating Input Memory Areas in the Common Parameters so that the words allocated to each area do not exceed the range for each of the CPU Unit's I/O memory areas. If the setting exceeds the range of the I/O memory area, an

Initialization Common Parameter Check Error (Unit error code: 0028) will occur when the PCU power is turned ON or the Unit is restarted.

Example:

Beginning word of the Axis Operating Output Memory Areas: CIO 6100

Connected axes: 2 min.



Etc.

Areas for subsequent axes are allocated in sequence. The highest word in the

CIO Area is CIO 6143. Therefore, an error will occur. If the ranges set for the

Axis Operating Output Memory Areas and Axis Operating Input Memory

Areas overlap, an Initialization Common Parameter Check Error (Unit error code: 0028) will occur when the PCU power is turned ON or the Unit is restarted.

242


Section 6-2

6-2-3 MECHATROLINK Communications Settings

In addition to the scan list, the following four PCU settings are also for


• Transfer cycle

• Communications cycle

• Number of communications retries

• C2 master connection

Of these settings, the transfer cycle and communications cycle must always be set when using the PCU. The settings for MECHATROLINK communications are set as the PCU's Common Parameters.

Set the two words of data in the PCU's internal addresses 1856 hex and

1857 hex as shown in the following table. The Common Parameters settings saved in the PCU's internal flash memory are enabled when the PCU power is turned ON or the Unit is restarted.

PCU's address

1856 hex

1857 hex

Bits 08 to 15

Transfer cycle

00 (fixed)

Contents

Bits 00 to 07


Setting

Transfer cycle:

00 hex: 1 ms (default setting)

01 hex: 1 ms05 hex: 5 ms




A2 hex: 0.25 msA5 hex: 0.5 ms


Sets a multiplier to obtain integer multiples of the transfer cycle.


The default setting 00 is the same as when the cycle is set to

3.

Set as follows:

G5 series/G Series

Transfer cycle

×


≤

16 ms.

Other Series

Transfer cycle

×


≤

32 ms

The transfer cycle must be between 1 and 4 ms.

07 to 04 03 to 00 C2 master connection:

C2 master con-

Number of com-


1: C2 master connected nection munica-

Number of communications retries: tions

Set value: 0 to 7, F retries

The default setting 0 is the same as when the number of retries is set to 1.

When F is specified, the number of retries is 0 (no retries).

Transfer Cycle

The transfer cycle is the cycle used for sending and receiving data with

MECHATROLINK communications. Data (sent and received) is constantly exchanged along the MECHATROLINK communications path during every transfer cycle. The set value and setting range for the transfer cycle depends on the type and number of MECHATROLINK devices connected. When a Wseries Servo Drive equipped with a FNY-NS115 MECHATROLINK-II I/F Unit or with built-in MECHATROLINK-II communications is connected to the PCU, the setting range for the transfer cycle is 0.5 to 4 ms. When a G5-series Servo

Drive or a G-series Servo Drive is connected to the PCU, the setting range for the transfer cycle is 1 to 4 ms.

243


Communications

Cycle

CPU Unit

Section 6-2

The communications cycle is the cycle used to refresh data in the PCU and

MECHATROLINK devices. The PCU sends operating commands to the connected MECHATROLINK devices and refreshes present positions, status, and other monitoring information every communications cycle.

The set value for the PCU's communications cycle is an integer used as a multiplier to obtain integer multiples of the transfer cycle. The actual communications cycle (data refresh cycle) is a time cycle that is a multiple of the transfer cycle's set value. The set value for the communications cycle is determined by the number of connected MECHATROLINK devices and depends on the PCU communications processing.

The actual communications cycle (data refresh cycle) is a time cycle calculated by multiplying the transfer cycle by a set value. The lower limit of the communications cycle is determined by the number of connected MECHA-

TROLINK devices and depends on the PCU communications processing.

When the default setting of 0 is used, the communications cycle is three times the length of the transfer cycle. Set the communications cycle so that the maximum value does not exceed 32 ms. When connecting a G5-series Servo

Drive or a G-series Servo Drive, set the communications cycle so that the maximum value does not exceed 16 ms.

The following diagram illustrates data exchange with the PCU.

PCU Servo Drive

Ladder processing PCU processing

MECHATROLINK

Servo processing

Cycle time

(end refresh)


(data refresh cycle in PCU)

Transfer cycle (data transfer cycle in

MECHATROLINK)

Servo Drive's data refresh cycle (by Servo

Drive)

Number of Communications Retries

The number of communications retries is the number of stations that will perform retries if data sending/receiving fails when transferring data that is exchanged between the PCU and MECHATROLINK devices using the transfer cycle. The set value is set as the maximum number of stations used to retry data transmission with the slave station for which data sending/receiving failed.

The number of communications retries can be set between 0 and 7 (communications retries for up to 7 stations). The set value for the number of retries, however, is added to the number of connected stations that determine the transfer cycle (e.g., for 3 retries, the transfer cycle must be considered as that for the number of stations connected plus 3). For normal use, use the default setting of 0 (1 communications retry).

C2 Master Connection

The C2 master is a separate communications master connected to the PCU for MECHATROLINK system support. This setting will be used when a future system support device is connected. Use the default setting 0 (No C2 master).

244


Section 6-2

Setting the Transfer Cycle and Communications Cycle

The transfer cycle and communications cycle are set as Common Parameters in the PCU. Set the PCU's transfer cycle and communications cycle according to the number of connected MECHATROLINK devices so that the set values are not lower than the values shown in the following table.

Note

Make sure that all of the axis number settings (station numbers of the MECHATROLINK devices) are set to values equal to or less than the number of connected devices for the transfer cycle. Here, the number of connected MECHATROLINK devices is not the actual number of MECHATROLINK devices connected, but the highest registered axis number. For example, when using

MECHATROLINK devices for axis number 9 or higher, the transfer cycle must be at least 2 ms even if less than nine devices are connected. If the set value for the transfer cycle is smaller than the number of connected devices or the axis number settings, a Transfer Cycle Setting Error (Unit error code: 0027) will occur when

CONNECT is executed.

For the communications cycle, set the multiplier of the transfer cycle set value so that the value is not lower than the values shown in the following table.

For example, if up to 3 Servo Drives (axis number 1 to 3) equipped with FNY-

NS115 MECHATROLINK-II I/F Unit are connected to the PCU, either set the transfer cycle to 0.5 ms min. and the communications cycle set value to 2

(multiplier) or higher, or set the transfer cycle to 1.0 ms min. and the communications cycle set value to 1 (multiplier) or higher.

13

14

15

16

9

10

11

12

7

8

5

6

3

4

1

2

Number of devices connected

R88D-KN

@

-ML2 G5series Servo Drive equipped with built-in

MECHATROLINK-II communications

R88D-GN

@

-ML2 G-series

Servo Drive equipped with built-in


1.0 ms

1.0 ms

2.0 ms

2.0 ms

2.0 ms

2.0 ms

2.0 ms

2.0 ms

2.0 ms

2.0 ms

Minimum transfer cycle set value

1.0 ms

1.0 ms

1.0 ms

1.0 ms

1.0 ms

1.0 ms

Minimum communications cycle value

1.0 ms (1)

1.0 ms (1)

1.0 ms (1)

1.0 ms (1)

2.0 ms (2)

2.0 ms (2)

2.0 ms (2)

2.0 ms (2)

2.0 ms (1)

2.0 ms (1)

4.0 ms (2)

4.0 ms (2)

4.0 ms (2)

4.0 ms (2)

4.0 ms (2)

4.0 ms (2)

R88D-WT

@

W-series

Servo Drive equipped with FNY-NS115

MECHATROLINK-II I/F

Unit

1.0 ms

1.0 ms

2.0 ms

2.0 ms

2.0 ms

2.0 ms

2.0 ms

2.0 ms

2.0 ms

2.0 ms


0.5 ms

0.5 ms

0.5 ms

1.0 ms

1.0 ms

1.0 ms


1.0 ms (2)

1.0 ms (2)

1.0 ms (2)

1.0 ms (1)

2.0 ms (2)

2.0 ms (2)

2.0 ms (2)

2.0 ms (2)

2.0 ms (1)

2.0 ms (1)

4.0 ms (2)

4.0 ms (2)

4.0 ms (2)

4.0 ms (2)

4.0 ms (2)

4.0 ms (2)

R88D-WN

@

-ML2 Wseries Servo Drive equipped with built-in


1.0 ms

1.0 ms

2.0 ms

2.0 ms

2.0 ms

2.0 ms

2.0 ms

2.0 ms

2.0 ms

2.0 ms


0.5 ms

0.5 ms

0.5 ms

1.0 ms

1.0 ms

1.0 ms

R7D-ZN

@

-ML2

SMARTSTEP Junior

Servo Drive equipped with built-in



0.5 ms (1)

1.0 ms (2)

1.0 ms (2)

1.0 ms (1)

2.0 ms (2)

2.0 ms (2)

2.0 ms (2)

2.0 ms (2)

2.0 ms (1)

2.0 ms (1)

4.0 ms (2)

4.0 ms (2)

4.0 ms (2)

4.0 ms (2)

4.0 ms (2)

4.0 ms (2)

1.0 ms

1.0 ms

2.0 ms

2.0 ms

2.0 ms

2.0 ms

2.0 ms

2.0 ms

2.0 ms

2.0 ms


1.0 ms

1.0 ms

1.0 ms

1.0 ms

1.0 ms

1.0 ms


1.0 ms (1)

1.0 ms (1)

1.0 ms (1)

1.0 ms (1)

2.0 ms (2)

2.0 ms (2)

2.0 ms (2)

2.0 ms (2)

2.0 ms (1)

2.0 ms (1)

4.0 ms (2)

4.0 ms (2)

4.0 ms (2)

4.0 ms (2)

4.0 ms (2)

4.0 ms (2)

245


Section 6-2

Note

(1) The set values in the above table apply when the default settings are used for the number of communications retries (once) and C2 master connection (No C2 master).

(2) The values in parentheses in the

Minimum communications cycle value

column are the PCU's communications cycle set value (multiplier to obtain integer multiples of the transfer cycle) used to set the minimum communications cycle for the minimum transfer cycle set value.

(3) When using the R88D-WT @ W-series Servo Drive and FNY-NS115 together, the SMARTSTEP Junior, or the R88D-GN @ , set the communications cycle so that it is an integer multiple of 1.0 ms. When using the

R88D-WN @ -ML2 W-series Servo Drive, set the communications cycle so that it is an integer multiple of 0.5 ms.

(4) When connecting a G5-series Servo Drive, a G-series Servo Drive, Wseries Servo Drive, or the SMARTSTEP Junior Servo Drive to the PCU, set the transfer cycle to 4 ms max.

The PCU default settings are 1.0 ms for the transfer cycle and 3 for the communications cycle (multiplier 3: 1.0 ms

×

3 = 3.0 ms). Without changing the default settings, the G5-series Servo Drive, the G-series Servo Drive, Wseries Servo Drive (equipped with FNY-NS115 MECHATROLINK-II I/F Unit or built-in MECHATROLINK-II communications), or the SMARTSTEP Junior

Servo Drive can be used for up to eight axes (axis numbers 1 to 8).

Note

(1) When using linear interpolation, set the communications cycle to a value

1 ms higher than the minimum value given in the above table. If the communications cycle setting is too small, the command response time of the

Position Control Unit function may be greatly extended.

(2) The command response time for axes not used for linear interpolation will be increased by up to four communications cycles per linear interpolation combination being executed. This applies from when setting the linear interpolation operation is started until linear interpolation is completed (i.e., while either the SETTING LINEAR INTERPOLATION Bit or the Linear Interpolation Executing Flag is ON).

Transfer Cycle and Communications Cycle When Setting the Absolute Encoder Zero Point Position

Offset Using an Origin Search Operation with Position Control Units with Unit Ver. 2.0

Make the settings according to the following table when using a Position Control Unit with unit version 2.0. For a Position Control Unit with unit version 2.1

or later, the same settings can be used for the communications cycle as when not setting the absolute encoder zero point position offset using an origin search operation.

If an absolute encoder zero point position offset is set using an origin search operation for a motor with an absolute encoder, set the transfer cycle and communications cycle according to the following table. The settings will depend on the number of axes used and other functions that are executed simultaneously. Refer to

8-6-5 Absolute Encoder's Origin (Zero Point) Position

Offset Setting

for details on the position offset setting.

246


Section 6-2

If the settings of the transfer cycle and communications cycle are smaller than the values given in the following table when the absolute encoder zero point position offset is set using an origin search operation, the offset may not be calculated correctly and the position of the origin may not be correct.

10

11

12

13

8

9

6

7

14

15

16

4

5

2

3

Number of devices connected

1

Min. set values when setting the absolute encoder zero point position offset using an origin search

Linear interpolation not performed at the same time

Linear interpolation performed at the same time for one set of axes

Linear interpolation performed at the same time for two sets of axes

During online monitoring with the CX-Motion-

NCF


0.5 ms



1.0 ms (2) 0.5 ms


3.0 ms (6) ---



--Communications cycle time on the left + 1.0 ms

0.5 ms

0.5 ms

1.0 ms

1.0 ms

1.0 ms (2) 0.5 ms

2.0 ms (4) 0.5 ms

2.0 ms (2) 1.0 ms

2.0 ms (2) 1.0 ms

4.0 ms (8) ---

5.0 ms (10) ---

5.0 ms (5) ---

6.0 ms (6) 1.0 ms

---

---

---

7.0 ms (7)

1.0 ms

1.0 ms

1.0 ms

2.0 ms

2.0 ms

2.0 ms

2.0 ms

2.0 ms

2.0 ms

2.0 ms

2.0 ms

3.0 ms (3)

3.0 ms (3)

3.0 ms (3)

4.0 ms (2)

4.0 ms (2)

4.0 ms (2)

4.0 ms (2)

6.0 ms (3)

6.0 ms (3)

6.0 ms (3)

6.0 ms (3)

1.0 ms

1.0 ms

1.0 ms

2.0 ms

2.0 ms

2.0 ms

2.0 ms

2.0 ms

2.0 ms

2.0 ms

2.0 ms

6.0 ms (6)

6.0 ms (6)

7.0 ms (7)

8.0 ms (4)

8.0 ms (4)

8.0 ms (4)

8.0 ms (4)

8.0 ms (4)

10.0 ms (5)

10.0 ms (5)

10.0 ms (5)

1.0 ms

1.0 ms

1.0 ms

2.0 ms

2.0 ms

2.0 ms

2.0 ms

2.0 ms

2.0 ms

2.0 ms

2.0 ms

8.0 ms (8)

9.0 ms (9)

10.0 ms (10)

12.0 ms (6)

12.0 ms (6)

12.0 ms (6)

12.0 ms (6)

12.0 ms (6)

12.0 ms (6)

12.0 ms (6)

14.0 ms (7)

Same as on the left

Communications cycle time on the left + 2.0 ms

Same as on the left

Note

(1) The values in parentheses in the

Minimum communications cycle value

column are the PCU's communications cycle set value (multiplier to obtain integer multiples of the transfer cycle) used to set the minimum communications cycle for the minimum transfer cycle set value.

(2) The above table gives values for when an absolute encoder zero point position offset is set using an origin search operation when a Position

Control Unit of unit version 2.0 is used. If this function is not being used, set the transfer cycle and communications cycle based on the table on

page 245.

(3) The communications cycle values shown in the above table are the set values for W-series Servo Drives. The minimum communications cycle values for G5-series Servo Drives and G-series Servo Drives are the same as those indicated in the table above, but refer to the table on page

245 for the minimum transfer cycles.

(4) The settings of the transfer cycle and communications cycle have a large effect on the PCU’s command response time. (Refer to

Command Response Time

in

Appendix A Performance Characteristics.

) As shown in the above table, the communications cycle (time) must be increased, e.g., particularly when linear interpolation is used at the same time as an origin search is used to set the absolute encoder zero point position offset

(for different axes). The affect on system performance must thus be considered when making the settings. If it is not possible to increase the communications cycle, provide an interlock circuit between the operation of different axes so that linear interpolation is not performed for one axis

247

MECHATROLINK Communications Control

Section 6-3

while an origin search is being performed for a motor with an absolute encoder on another axis.

6-3 MECHATROLINK Communications Control

MECHATROLINK communications control used for the PCU is described here.

6-3-1 Establishing Connections

Establishing a connection refers to starting communications between the PCU and the MECHATROLINK devices registered in the scan list. Connections are established by turning ON the CONNECT Bit in the Common Operating Output Memory Area. When CONNECT is executed, the PCU executes ERROR

RESET (UNIT ERROR RESET or AXIS ERROR RESET) for the PCU itself and all the axes registered in the scan list.

For any error that occurs in an axis, ERROR RESET is executed when the connection with the corresponding axis is established. Therefore, if the cause of an error is removed, unless an error occurs due to connection processing, the PCU will start MECHATROLINK communications with all errors reset when CONNECT is executed.

The PCU status is initialized when a connection is established, as follows:

• PCU Positioning Completed Flag OFF

• Origin not established (No Origin Flag ON)

When using Servomotors with absolute encoders for which the encoder type is set to absolute encoder in the axis parameters, however, the origin is established (No Origin Flag OFF) by reading the absolute value data when the connection is established.

• Stop Execution Flag OFF

For details on errors when establishing connections, refer to

6-3-3 MECHA-

TROLINK Communications Errors

. The CONNECT Bit is allocated in

CIO 1501 + (unit number

×

25), bit 00.


Name

CONNECT Bit

Word

n+1

Bits

00

Contents

0

→

1: Establishes connection.

1

→

0: Releases connection.


×

25)

00

Word n+1 n = CIO 1500 + (unit number

×

25)

MECHATROLINK communications start when this bit is turned ON.

CONNECT Bit

If the CONNECT Bit is turned OFF while a connection is established, the PCU will stop MECHATROLINK communications (connection released).

When a connection is released, the active axis is put in the Servo free run state.

For all axes registered in the scan list, the status that is input in the Axis Operating Input Memory Areas for each axis becomes the initial status (non-executing status), except for the Error Flag and axis error code. For example, the

No Origin Flag turns ON because the origin is not established.

248


Section 6-3

Note

When a connection is released, the PCU immediately stops controlling the active axes. If a connection is released while another command is being processed, the Servo Drive may not respond to the command properly. Make sure that command processing has been completed (Busy Flag = 0 and Servo

Parameter Transferring Flag = 0) before releasing a connection. When a connection is reestablished after recovering from an error that caused the PCU to release a connection, confirm that the settings and operating status of the

Servo Drive are correct before restarting operations. (If necessary, transfer the Servo parameters again and execute DEVICE SETUP.)

6-3-2 MECHATROLINK Communications Status

The MECHATROLINK communications status is given using the following two status flags allocated in the Common Operating Input Memory Area of the

PCU.

• Connection Status Flag

• Axis Communications Status Flags

Connection Status Flag

This status flag turns ON when the PCU has established a connection

(MECHATROLINK communications have started).

The PCU starts MECHATROLINK communications for the axes registered in the scan list. This status flag will turn ON, however, when CONNECT is executed, even if nothing is registered in the scan list.

The Connection Status Flag turns OFF when the connection is released. The

Connection Status Flag is allocated in CIO 1516 + (unit number

×

25), bit 15.


Name

Connection Status

Flag

Word Bits

n+16 15

Contents

0: MECHATROLINK communications stopped.

1: MECHATROLINK communications executing.


×

25)

Word n+16

15

This flag turns ON when MECHATROLINK communications start and turns OFF when MECHATROLINK communications stop.

Connection Status Flag n = CIO 1500 + (unit number

×

25)

Axis Communications

Status Flags

These status flags turn ON when a connection has been established between the PCU and the MECHATROLINK devices connected to the PCU. The Axis

Communications Status Flags are allocated in one word with 16 bits, with one bit assigned to each of the 16 axes showing the corresponding communications status.

The PCU connects the axes registered in the scan list to MECHATROLINK communications, recognizing those axes and monitoring their communications. Therefore, the Axis Communications Status Flags for axes not registered in the scan list are always OFF.

249


Section 6-3

The operation of the Axis Communications Status Flag depends on the unit version of the PCU as shown in the following table

Unit version

Unit version 1.3 or earlier

Unit version 2.0 or later

Setting conditions

• The flags will turn ON when connections are made for the axes registered in the scan list and MECHA-

TROLINK communications start.

• The flags will turn ON when connections are made for the axes registered in the scan list and MECHA-

TROLINK communications start.

• The flags will turn ON when the rejoin function is used to start MECHATROLINK communications for an axis registered in the scan list.

Resetting conditions

• The flags will remain OFF when MECHATROLINK communications cannot be started when connections are made for the axes registered in the scan list.

• The flags will turn OFF if

MECHATROLINK communications stop because the axis is disconnected.

• The flags will turn OFF if a

Unit error occurs that requires disconnection.

• The flags will remain OFF when MECHATROLINK communications cannot be started when connections are made for the axes registered in the scan list.

• The flags will turn OFF if

MECHATROLINK communications stop because the axis is disconnected.

• The flags will turn OFF if a

Unit error occurs that requires disconnection.

• The flags will turn OFF whenever a communications error occurs after

MECHATROLINK communications have been started for the axis.

With unit version 1.3 or earlier, once MECHATROLINK communications have been started by establishing connections, the Axis Communications Status

Flags will not change unless communications are disconnected (including

Unit errors that required disconnection).

With unit version 2.0 or later, the Axis Communications Status Flags will turn

OFF after connections have been established whenever axis operation becomes impossible due to a communications error (synchronous communications alarm or communications alarm).

Refer to

6-3-3 MECHATROLINK Communications Errors

for information on

errors that occur when establishing connections.

The Axis Communications Status Flags are allocated in CIO 1522 + (unit number

×

25).

250


Section 6-3


Name

Axis Communications Status Flags

Word Bits

n+22 00

10

11

12

13

06

07

08

09

14

15

01

02

03

04

05

Contents

0: Axis 1 communications stopped, or axis not registered in scan list.

1: Axis 1 communications executing.

Same as above for axis 2.















Word n+22

15 n = CIO 1500 + (unit number

×

25)

08

00

Bits 00 to 15 correspond to the communications status for axes 1 to

16.

The bits will turn ON (1) if the corresponding axes registered in the scan list are communicating normally.

Axis 1 communicating















Axis 16 communicating n = CIO 1500 + (unit number

×

25)

251


Section 6-3

Timing Chart

The following diagram shows the timing chart for establishing and releasing a connection.

CONNECT Bit (word n+1, bit 00)

Unit Error Flag (word n+15, bit 12)

Unit Busy Flag (word n+16, bit 14)

Connection Status Flag (word n+16, bit 15)

Axis Communications Status Flags (word n+22)

Receiving Command Flag (word b, bit 00)


When the PCU starts MECHATROLINK communications as a result of the CONNECT Bit turning ON, the Connection Status Flag turns ON. The

Axis Communications Status Flags turn ON when the connection is established for axes registered in the scan list only.

There is no change in status of the Unit Busy Flag, or the Receiving

Command Flags or Busy Flags for the connected axes when a connection is established or released. n = CIO 1500 + (unit number

×

25) b = Beginning word of Axis Operating Input Areas specified in Common Parameters + (Axis No.

−

1)

×

25

CPU Unit

MOV

MOV

WRITE DATA n = CIO 1500 + (unit number

×

25)

Common Operating Memory Area n+1

CONNECT Bit (word n+1, bit 00) n+16


(word n+16, bit 15)

Axis Communications Status

Flags (word n+22) n+22

PCU

When starting to use the

PCU, transfer using the

WRITE DATA Bit.

183C hex

183D hex

183E hex

:

Scan list

4 0

4 0

0 0

:

4 0

0 0

4 0

:

Communications parameters

1856 hex

1857 hex

0 0

0 0

0 0

0 0

Start MECHATROLINK communications with the

Servo Drives registered in the scan list according to the settings for the communications parameters.

Servo Drives

(station addresses)

No. 1

No. 2

No. 3

No. 4

The communications status of the Servo Drives registered in the scan list is shown by the Axis

Communications Status Flags.

No. 5

MECHATROLINK-II

In the above example, Servo Drives are registered to axes 1, 2, 4, and 5 in the scan list (set to 40 hex). Therefore, MECHATROLINK communications start with the Servo Drives with station addresses No. 1, No. 2, No. 4, and No. 5 when CONNECT is executed.

252


Section 6-3

Restrictions in Establishing a Connection According to Servo Drive Status

Functionality for axis operations after establishing a connection depends on the unit version of the PCU as described below if the following conditions exist when a connection is established for an axis (Servo Drive) registered in the scan list.

• Disconnection

• Control power supply interruption

• An alarm that cannot be reset (i.e., when the power must be cycled)

■

PCUs with Unit Version 1.2 or Earlier

An MLK initialization error (unit error code 0020 hex) will occur in these situations, and operation for MECHATROLINK communications will stop for all axes. To start MECHATROLINK communications normally, any errors must be cleared for all axes registered in the scan list before establishing a connection.

■

PCUs with Unit Version 1.3 or Later

Axis operation is possible for axes that are registered in the scan list and for which MECHATROLINK communications was started (i.e., axes for which

Axis Communications Status Flags are ON), regardless of whether an alarm is present in the Servo Drive or whether the connected axes match the scan list. If MECHATROLINK communications cannot be started for all axes registered in the scan list, an MLK initialization error (unit error code 0020 hex) will occur to provide notification of the inconsistency between the registered axes and the axes that are communicating.

The following example shows the restrictions in operations according to axis status when connections are established.

Example: When Axes 1 to 5 Are Registered in the Scan List

Axis 1 Axis 2 Axis 3 Axis 4 Axis 5

Axis No.

Axis status

(example)

No. 1

Normal

Function

Connection Possible

Axis Communications

Status Flag

ON

No. 2

Control power supply interrupted

(See note 1.)

No. 3

Normal

OFF

Possible

ON

No. 4

Alarm that cannot be reset (See note 2.)

No. 5

Disconnection

Possible

ON OFF

253


Section 6-3

Axis No.

Monitoring (including error codes)

Servo parameter transfer

Axis operating commands

No. 1

Possible

Possible

Possible

Note

No. 2

Not possible

Not possible

Not possible

No. 3

Possible

Possible

Possible

No. 4

Possible

Possible

Not possible

No. 5

Not possible

Not possible

Not possible

(1) It is assumed that the MECHATROLINK communications cable is connected.

(2) For example, when A.81 (backup error) occurs. MECHATROLINK communications may not be possible, depending on the individual Servo

Drive specifications and on the type of alarm that cannot be reset.

For axes 1 and 3, MECHATROLINK communications can be started and all axis operations can be executed if there is no Servo Drive error. For axis 2

(with no control power supply) and axis 5 (disconnected), MECHATROLINK communications cannot be started, and operations and monitoring are not possible. If MECHATROLINK communications can be started for axis 4

(alarm that cannot be reset), depending on the handling of the Servo Drive error, the axis can be monitored and parameters can be transferred but axis operations cannot be executed. In this example, the axes for which MECHA-

TROLINK communications can actually be started are 1, 3, and 4. This does not match the axes registered in the scan list (i.e., axes 1 to 5), so an MLK initialization error (unit error code 0020 hex) occurs.

6-3-3 MECHATROLINK Communications Errors

The PCU monitors and detects errors if they occur at the start of or during

MECHATROLINK communications. Detected errors are largely categorized as PCU common errors that stop MECHATROLINK communications and operation of all axes, and axis errors that stop individual axes. Moreover, they are classified into three types of error: Errors at Communications Startup,

Errors Detected by PCU during Communications, and Errors Detected in

MECHATROLINK Slave Stations Connected to PCU during Communications.

Errors that Stop MECHATROLINK Communications (Unit Common Errors)

Errors at Communications

Startup

The following errors in MECHATROLINK (MLK) communications are monitored by the PCU when CONNECT is executed.

Errors in MECHATROLINK slave station devices cannot be detected by the

PCU before a connection is established. The PCU will execute ALARM

RESET for the devices communicating with MECHATROLINK when a connection is established.

MLK Device Initialization Error (Unit Error Code: 0030 Hex)

This error occurs if initialization of MECHATROLINK communications fails when CONNECT is executed, and causes connection processing to stop.

When this error occurs, confirm that the PCU’s common parameters and

MECHATROLINK communications settings are set correctly, restart the PCU, and then execute CONNECT again. If the error occurs again, it is a result of an error in the MECHATROLINK communications section of the PCU and requires replacement of the PCU.

254


Section 6-3

MLK Initialization Error (Unit Error Code: 0020 Hex)

This error occurs if the MECHATROLINK slave station device corresponding to the axis number registered in the scan list is not detected within 10 seconds after CONNECT is executed. This error may occur if a MECHATROLINK slave station communications settings are not set, or if the settings for the

MECHATROLINK communications line connection and slave device's station address do not match the settings in the scan list. Verify that the contents registered in the scan list matches the MECHATROLINK device settings and connection configuration.

If this error occurs, the PCU will stop and the connection status will remain

ON (communications still in an executing state).

For PCUs with unit version 1.2 or earlier, operation will not be possible for all axes registered in the scan list. For PCUs with unit version 1.3 or later, all or part of the axis operations will be possible assuming that MECHATROLINK communications can be established (i.e., if the Axis Communications Status

Flag is ON). (Refer to

6-3-2 MECHATROLINK Communications Status

for axis

operation restrictions according to Servo Drive status.)

After recovering from the error, release the connection and then execute

CONNECT again. When using a Position Control Unit with unit version 2.0 or later, the REJOIN command can be used to rejoin the connection without breaking the connection.

MLK Communications Error (Unit Error Code: 0025 Hex)

This error occurs if two or more connected MECHATROLINK slave station devices have the same station number when CONNECT is executed. This error also occurs when communications errors that are not specific to a particular slave station occur during MECHATROLINK communications, and causes MECHATROLINK communications to stop (connection released).

This error may occur during MECHATROLINK communications as a result of a faulty communications path such as noise, breaks, or faulty connections in the communications line. After removing the cause of the error, restart the

PCU and execute CONNECT again.

MLK Device Error (Unit Error Code: 0026 Hex)

This error occurs if an error in the MECHATROLINK communications section of the PCU is detected, and causes MECHATROLINK communications to stop (connection released). This error will occur if the MECHATROLINK communications section of the PCU is faulty. Replace the PCU if this error occurs.

Transfer Cycle Setting Error (Unit Error Code: 0027 Hex)

This error may occur when establishing a connection if the transfer cycle set in the PCU's Common Parameters is unsuitable for the axis numbers or number of slave stations connected to MECHATROLINK, and causes MECHA-

TROLINK communications to stop (connection released). This error indicates that the set value for the transfer cycle is too small for the axis numbers or number of connected slave stations. Change the transfer cycle setting in the

Common Parameters. After removing the cause of the error, restart the PCU and execute CONNECT again.

If a Unit common error occurs, the Unit Error Flag in the Common Operating

Memory Area of the PCU turns ON, and the corresponding error code is input in the Unit Error Code Bits. After the cause of the error is removed, the Unit common error is cleared by turning ON the UNIT ERROR RESET Bit in the


When clearing a Unit common error, make sure that the UNIT ERROR

RESET Bit will remain ON until the Unit Busy Flag turns ON.

255


Section 6-3

The UNIT ERROR RESET Bit cannot be used to clear errors that require PCU replacement (MLK Device Initialization Error or MLK Device Error), or that cause MECHATROLINK communications to stop (MLK Communications

Error or Transfer Cycle Setting Error). After removing the cause of the error, turn ON the power to the PLC again or restart the PCU.


Name

UNIT ERROR

RESET Bit n

Word Bits


×

25)


Name

Unit Error Flag

Word Bits

n+15 12

Contents

0

→

1: Clears the Unit common error that occurred.

Unit Busy Flag

Connection Status

Flag

Unit error code n+16 14

15 n+21 00 to


×

25)

Contents

0: Unit common error has not occurred.

1: Unit common error has occurred.

0: PCU is not busy.

1: PCU is busy.



Indicates the error code for the common

Unit error that occurred.

Individual Axis Errors

Errors Detected by PCU during Communications

Synchronous Communications Alarm (Axis Error Code: 3010 Hex)

This error occurs for errors in synchronous MECHATROLINK communications processing with an axis.

If this error occurs, the corresponding axis will stop operating according to the stop method that is set in the Servo Drive for when alarms occur.

This error may occur as a result of a faulty communications path with the corresponding axis, such as noise, breaks, or faulty connections in the communications line.

If this error occurs, the corresponding axis may not be able to accept operations through MECHATROLINK communications such as ERROR RESET.

To recover from this error, release the connection and remove the cause of the error, and then execute CONNECT again. When using a Position Control

Unit with unit version 2.0 or later, the REJOIN command can be used to rejoin the connection without breaking the connection.

Communications Alarm (Axis Error Code: 3011 Hex)

This error occurs for errors in MECHATROLINK communications processing with an axis. The communications alarm will occur if the PCU fails twice in succession to exchange data using MECHATROLINK communications, such as not receiving communications data. The corresponding axis will stop operating if this alarm occurs according to the stop method that is set in the Servo

Drive for when alarms occur.

This error may occur as a result of a faulty communications path with the corresponding axis, such as noise, breaks, or faulty connections in the communications line.

256


Section 6-3

Errors Detected in

MECHATROLINK Slave

Station Connected to PCU during Communications

If this error occurs, the corresponding axis may not be able to accept operations through MECHATROLINK communications such as ERROR RESET.

To recover from this error, release the connection, remove the cause of the error, and then execute CONNECT again. When using a Position Control Unit with unit version 2.0 or later, the REJOIN command can be used to rejoin the connection without breaking the connection.

Errors detected in the slave stations connected to the PCU via MECHA-

TROLINK after a connection is established cause axis errors or axis warnings in the PCU, as follows:

MLK Device Alarm/Warning (Axis Error Code 40

@@

Hex)

The boxes ( @@ ) indicate the alarm number for the connected MECHA-

TROLINK devices. The operations of each axis when an error occurs depend on each of the MECHATROLINK slave station devices.

For errors in MECHATROLINK communications that occur in individual axes, the Error Flags for the corresponding axes turn ON in the Axis Operating Input

Memory Areas of the PCU, and the corresponding error code is input in the axis error code word.

After the cause of the error is removed, the axis error is cleared by turning ON the ERROR RESET Bit in the Axis Operating Output Memory Area. When clearing the axis error, make sure that the ERROR RESET Bit will remain ON until the Busy Flag for the corresponding axis turns ON.

The ERROR RESET Bit cannot be used to clear errors such as Synchronous

Communications Alarms or Communications Alarms. To recover from these errors, release the connection, remove the cause of the error, and then execute CONNECT again. When using a Position Control Unit with unit version

2.0 or later, the REJOIN command can be used to rejoin the connection without breaking the connection.

Axis Operating Output Memory Areas

Name

ERROR RESET Bit a

Word Bits

12

Contents

0

→

1: Clears the axis error that occurred.



−

1)

×

25

Axis Operating Input Memory Areas

Name

Warning Flag

Error Flag

Busy Flag

Axis error code b

Word Bits

11 b+4

12

13

00 to

15

Contents

0: Axis warning has not occurred.

1: Axis warning has occurred.

0: Axis error has not occurred.


0: Axis is not busy.

1: Axis is busy.

Indicates the axis error code/warning code for each axis.



−

1)

×

25

For details on indicators and troubleshooting for when errors occur in the

PCU, refer to


. For details on error displays and troubleshooting for MECHATROLINK slave station devices, refer to the operation manuals for the corresponding device.

257


Section 6-3

Note

If an axis warning occurs (Warning Flag = 1), the PCU’s command response time is delayed due to the PCU’s warning processing. The PCU processing time required after receiving a command from the CPU Unit until the command is sent using MECHATROLINK communications is one MECHA-

TROLINK communications cycle if an axis warning has not occurred, and three MECHATROLINK communications cycles if an axis warning has occurred. If the machine’s operation would be affected by the PCU’s command response time, clear the axis warning status using ERROR RESET or set the Servo Drive settings so that the warnings will not occur. For details on the PCU’s command response time, refer to

Command Response Time

in


.

6-3-4 Rejoining the Connection

Overview

The rejoin function can be used to rejoin the connection for an axis for which operations are not possible using MECHATROLINK communications either when initially establishing the connection or after the connection has been established.

This function can be used only with Position Control Units with unit version 2.0

or later.

If any axis registered in the scan list is in either of the following conditions, the error cannot be cleared with the normal error reset procedure and axis operations will not be possible from the Position Control Unit.

• If an axis cannot be detected and MECHATROLINK communications cannot be started within 10 s after executing the connection command (An MLK initialization error (Unit error code: 0020 (hex)) will occur.)

• If a synchronous communications alarm (axis error code: 3010 (hex)) occurs or a communications alarm (axis error: 3011 (hex)) occurs

To restart communications for the axis for which axis operations are not possible with Position Control Units with unit version 1.3 or earlier, the connection must be broken and MECHATROLINK communications must be stopped for all axes, and then connection must be re-established.

258


Section 6-3

With Position Control Units with unit version 2.0 or later, the rejoin function can be used to restart MECHATROLINK communications for specific axes without stopping MECHATROLINK communications for all axes.

Servo Drive

Communications disabled, e.g., power interrupted

PLC

(Position

Control Unit)

PLC

(Position

Control Unit)

Axis 1 Axis 2 Axis 3 Axis 4

Axis operation possible

Axis operation not possible



Axis operation

Releasing Connections

(communications temporarily stopped for all axes)






Establishing Connections

Rejoining Connections

PLC

(Position

Control Unit)






Using the Rejoin

Function

The rejoin function is used by turning ON the REJOIN command bit in the

Common Operating Output Memory Area of the Position Control Unit.

When the REJOIN command bit is turned ON, the process to start MECHA-

TROLINK communications is performed in the same way as when a connection is established. This can be used to restart communications for any axes registered in the scan list that are not part of the connection or for which axis operations are not possible due to a communications error.

When using the REJOIN command bit, the axis for which rejoin processing is to be performed can be specified in the Axes to Connect parameter. Refer to

6-3-5 Specifying the Axes to Connect

for details on the Axes to Connect

parameter.

When rejoining the connection, errors that occur in the Position Control Unit or the axes will be reset.

Functionality for axis operations after rejoining a connection are the same as when establishing the connection.

The REJOIN command bit is bit 15 of CIO 1501+ (unit number

×

25). Keep the REJOIN command bit ON until the Unit Busy Flag turns ON.



REJOIN

Name

n+1

Word

15

Bit Contents

Rejoining the connection is started when this bit is turned

ON.

259


Section 6-3

Common Operating Input

Memory Area

Note

n = 1500 + (unit number

×

25)

Name

Unit Busy Flag

Connection Status

Flag

Axis Communications Status Flags n+16 n+22

Word

14

15

Bit

00 to 15

Contents

0: PCU is not busy.

1: PCU is busy.



Indicate the communications status for each axis. n = 1500 + (unit number

×

25)

The REJOIN command bit can be used when the Connection Status Flag is

ON (i.e., when a connection is established).

When executing processing for an axis to rejoin a connection, the Unit Busy

Flag will turn ON for a minimum of one scan time and until the Axis Communications Status Flags turn ON for the axes being processed or until a MLK initialization error (Unit error code: 0020 (hex)) occurs after the REJOIN command bit is turned ON.

When the REJOIN command is executed, processing to restart MECHA-

TROLINK communications is performed for all specified axes. If there are any axes for which MECHATROLINK communications cannot be started, communications errors will not occur for individual axes, but rather an MLK initialization error (Unit error code: 0020 (hex)) will occur for the entire Unit. If

MECHATROLINK communications cannot be restarted when attempting to recover from communications errors for only specific axes, the error status will thus change from one for specific axes before rejoin processing to one for the entire Unit after rejoin processing. Monitor the status of these error flags to determine the result of rejoin processing.

260


Section 6-3

Timing Chart

A timing chart for rejoin processing is provided below for Position Control

Units with unit version 2.0 or later. In this example, axes 1 and 2 are registered in the scan list. After a connection is established, a communications error occurs for axis 2 (i.e., either a sync communications alarm or a communications alarm).

CONNECT (n+1 00)

REJOIN (n+1 15)

Unit Error Flag (n+15 12)

Unit Busy Flag (n+16 14)

Connection Status Flag (n+16 15)

Axis 1 Communications Status Flag (n+22 00)

Axis 2 Communications Status Flag (n+22 01)

Axis 2 Error Flag (b+4)

Communications error for axis 2 Communications restored for axis 2

When a communications error occurs for axis 2, the Axis 2 Error Flag and Axis 2

Communications Status Flag will turn OFF.

After removing the cause of the error, the REJOIN command bit is turned ON to clear the error for axis 2 and restart MECHATROLINK communications. The Axis Communications

Status Flag turns ON. n = CIO 1500 + (unit number

×

25) b = First word specified in the Common Parameters for the Axis Operating Input Memory Area + (Axis No.

−

1)

×

25

6-3-5 Specifying the Axes to Connect

The Axes to Connect parameter can be used to temporarily disable MECHA-

TROLINK communications for one or more axes registered in the scan list.

This enables starting MECHATROLINK communications without errors occurring for axes that are not connected without changing the scan list. This can be used, for example, during system design and startup when all axes are not yet connected.


or later.

The Axes to Connect parameter is in CIO 1502 + (unit number

×

25).

261




Note

Section 6-3

Name Word

Axes to connect n+2

Bit

00

11

12

13

14

07

08

09

10

15

01

02

03

04

05

06

Contents

The following settings apply if axis 1 is registered in the scan list:

0: MECHATROLINK communications started for axis 1

1: MECHATROLINK communications not started for axis 1

Same as above for axis 2














Same as above for axis 16 n = 1500 + (unit number

×

25)

The Axes to Connect parameter is valid only when establishing a connection or when rejoining a connection.

Example

This example shows how to use a scan list in which axes 1 to 5 are registered and connect only axes 1, 2, and 5.

• Establishing a Connection for All Axes (n+2 = 0000 (Hex))

Axes 1, 2, and 5: MECHATROLINK communications started

Axes 3 and 4: MECHATROLINK communications not started

In this case, the connection cannot be established for axes 3 and 4, causing an MLK initialization error (Unit error code: 0020 (hex)) to occur in the Position Control Unit.

• Establishing a Connection for All Axes Except Axes 3 and 4 (n+2 = 000C

(Hex))

Axes 1, 2, and 5: MECHATROLINK communications started

Axes 3 and 4: MECHATROLINK communications not started

In this case, axes 3 and 4 are treated as if they are not registered in the scan list and an MLK initialization error does not occur in the Position Control Unit.

The Axes to Connect parameter is valid only when using the CONNECT or

REJOIN command bits in the Common Operating Memory Area. When establishing connections from the CX-Motion-NCF, the Axes to Connect parameter is ignored and processing to start MECHATROLINK communications is performed for all axes registered in the scan list.

If MECHATROLINK communications cannot be started when establishing a connection from the CX-Motion-NCF, an MLK initialization error (Unit error code: 0020 (hex)) regardless of the setting of the Axes to Connect parameter.

Provide interlock circuits to allow for this as required by the system.

262

Standard Settings for Servo Drives Using MECHATROLINK

Section 6-4

6-4 Standard Settings for Servo Drives Using MECHATROLINK

6-4-1 G5-series Servo Drive Settings (R88D-KN

@



When an R88D-KN

@

-ML2 G5-series Servo Drive (with built-in MECHA-

TROLINK-II communications) is used, the default settings for the Servo Drive are the standard settings when the MECHATROLINK communications is used.

Compulsory Parameter

Settings

The following Servo Parameter must be set to enable PCU control. Do not change this setting.

Pn800 Communication Control

Parameter

No.

Pn800

Parameter name


---

Unit

0

Fixed setting

Details

0: MECHATROLINK-II communications errors and warnings are all detected.

0

Default setting

All MECHATROLINK communications errors and warnings are used when the

PCU is controlling communications. Set the parameter so that they are all detected. Leave Pn800 set to the default setting.

Standard Settings for I/O Signals Using MECHATROLINK

When an R88D-KN @ -ML2 G5-series Servo Drive (with built-in MECHA-

TROLINK-II communications) is used, the default settings for the Servo Drive are the standard settings for the I/O signal allocations when the MECHA-

TROLINK communications is used.

Standard I/O Signal Allocation

R88D-KN @ -ML2

CN1

General-purpose input

POT

NOT

DEC

EXIT1

EXIT2

EXT3

STOP

13

7

8

9

12

11

10

5

1

2

25

26

3

4

BKIR

BKIRCOM

READY

READYCOM

ALM

ALMCOM

Note

The PCU uses the forward drive prohibited input, reverse drive prohibited input, and origin return deceleration limit switch allocated in the Servo Drive's external inputs as the forward rotation limit input signal, reverse rotation limit input signal, and origin proximity input signal, respectively. The signal widths of these input signals must be longer than the MECHATROLINK communications cycle. If the input signal width is shorter than the communications cycle, the PCU will not be able to detect the input signal, and operation will not be performed normally.

263


Section 6-4

6-4-2 G-series Servo Drive Settings (R88D-GN

@



When an R88D-GN

@

-ML2 G-series Servo Drive (with built-in MECHA-

TROLINK-II communications) is used, the default settings for the Servo Drive are the standard settings when the MECHATROLINK communications is used.


Settings


Pn005 Communications Control

Parameter

No.

Pn005

Parameter name


---

Unit

0

Fixed setting

Details

0: MECHATROLINK-II communications errors and warnings are all detected.

0

Default setting

All MECHATROLINK communications errors and warnings are used when the

PCU is controlling communications. Set the parameter so that they are all detected. Leave Pn005 set to the default setting.

Standard Settings for I/O Signals Using MECHATROLINK

When an R88D-GN @ -ML2 G-series Servo Drive (with built-in MECHA-

TROLINK-II communications) is used, the default settings for the Servo Drive are the standard settings for the I/O signal allocations when the MECHA-

TROLINK communications is used.

The standard input signal settings are used for the PCU's positioning control functions, such as limit inputs, origin searches, and interrupt feeding. Use the default settings for I/O allocations of the Servo Drive.

Standard I/O Signal Allocation


POT

NOT

DEC

EXT1

EXT2

EXT3

PCL

NCL

STOP

5

4

20

21

3

7

8

2

R88D-GN @ -ML2

CN1

22,23 36

19 35

29

30

31

32

BKIR+

BKIR-

READY+

READY-

CLIM+

CLIM-

Note

The PCU uses the forward drive prohibited input, reverse drive prohibited input, and origin return deceleration limit switch allocated in the Servo Drive's external inputs as the forward rotation limit input signal, reverse rotation limit input signal, and origin proximity input signal, respectively. The signal widths of these input signals must be longer than the MECHATROLINK communications cycle. If the input signal width is shorter than the communications cycle,

264


Section 6-4

the PCU will not be able to detect the input signal, and operation will not be performed normally.

6-4-3 W-series Servo Drive Settings (R88D-WT

@

Equipped with FNY-

NS115)

When the R88D-WT @ W-series Servo Drive equipped with a FNY-NS115

MECHATROLINK-II I/F Unit is used, settings for some parameters of the Wseries user constants (Servo Parameters) may be limited.

Automatically Set Servo

Parameters

By equipping the W-series Servo Drive with the FNY-NS115, the Servo

Parameters in the following table will be automatically changed to the fixed settings and saved when the power to the W-series Servo Drive is turned ON for the first time. These parameters are used by the system as fixed settings and must not be changed. (The default settings are those used for W-series

Servo Drives before installing the FNY-NS115.)

Parameter

No.

Pn004

Parameter name


Pn200

Pn204


Position command filter time constant 1

Pn207.1


Speed command input switching

Pn50A.0


Input signal allocation mode

Pn50A.1


RUN signal (RUN command) input terminal allocation

Pn50A.2


MING (gain reduction) signal input terminal allocation

Pn50B.1


RESET (alarm reset) signal input terminal allocation

Pn50C Input signal selection 3

RDIR (rotation direction command signal)

SPD1 (speed selection command 1 signal)

SPD2 (speed selection command 2 signal)

TVSEL (control mode switching signal)

Pn50D.0


PLOCK (position lock command signal)

Pn50D.1


IPG (pulse disable signal)

Unit Fixed setting

0200 ---

--0100

×

0.01 ms 0

--1

---

---

---

---

---

---

---

1

8

8

8

8888

8

8

---

Details Default setting

0000

--1011

Sets soft start for command.

0

0 REF used as feed-forward input

User-defined sequence input signal allocation

0

Always invalid.

0

Always invalid.

Always invalid.

Always invalid.

Always invalid.

Always invalid.

1

4

8888

8

8


Settings


Pn800.0 Communications Control: MECHATROLINK Communications

Check Mask

Parameter

No.

Pn800.0

Parameter name


MECHATROLINK-II communications check mask

---

Unit

0

Fixed setting

Details

0: Communications errors

(A.E6) and synchronization errors (A.E5) both detected.

0

Default setting

265


Section 6-4

The MECHATROLINK communications errors A.E6 (communications errors) and A.E5 (synchronization errors) are used when the PCU is controlling communications. Make sure to set this parameter so that these errors are always detected. Leave Pn800.0 set to the default setting 0 (detects communications errors (A.E6) and synchronization errors (A.E5)).

Pn800.1 Communications Control: Warning Check Mask

Parameter

No.

Pn800.1

Parameter name


Warning check mask

---


4 or 0

Details

4: Communications warning

(A.96) ignored.

0: A.94, A.95, and A.96 all detected.

4

Default setting

Standard Settings for I/O

Signals Using

MECHATROLINK

The MECHATROLINK communications warnings A.94 (parameter setting warning) and A.95 (MECHATROLINK command warning) are used when the

PCU is controlling communications. Set the parameter so that they are not ignored. Either leave Pn800.1 set to the default setting 4 (ignores communications errors (A.96) only) or set to 0 (detects A.94, A.95, and A.96).

When MECHATROLINK communications are used by a W-series Servo Drive equipped with FNY-NS115, the standard settings for the Servo Drive's external I/O signal allocations are as follows:

The standard input signal settings are used for the PCU's positioning control functions such as limit inputs, origin searches, and interrupt feeding. When using a system configuration combining a W-series Servo Drive and FNY-

NS115, use the standard settings for the I/O signal allocations. (The following default settings are those used by W-series Servo Drives before installing the

FNY-NS115.)

Not used

DEC

POT

NOT

EXT1

EXT2

EXT3

I/O Signal Allocations (Standard Settings)

42

43

44

45

46

40

41

W-series Servo Drive

CN1

25

26

27

28

29

30

INP1

INP1COM

BKIR

BKIRCOM

READY

READYCOM

Parameter

No.

Parameter name

Pn50A.3



Pn50B.0



Pn50B.2



2

Standard setting

3

8

Details

Allocated to CN1, pin 42

Valid for low input (N.C. contact)


Valid for low input (N.C. contact)

Always invalid.

8

5

8

Default setting

266


Section 6-4

Parameter

No.

Parameter name

Pn50B.3

Pn511.0

Pn511.1

Pn511.2




DEC (origin return deceleration limit switch) signal input terminal allocation





Pn511.3



Pn50E.0



Pn50E.1



1

4

5

6

1

0

8

Standard setting

Pn50E.2



Pn50E.3



Pn50F.0



Pn50F.1

Pn50F.2





Pn50F.3

Pn510.0

Pn510.1

Pn510.2

Pn510.3





Not used.


PSON (command pulse factor enabled) signal output terminal allocation

Not used.

0

3

0

0

2

0

0

0

0

0

Always invalid.


Valid for low input (N.O. contact)







Allocated to CN1, pins 25 and 26

No output

No output


No output

No output


No output

No output

---

No output

---

Details

6

8

8

8

8

1

1

2

3

0

0

0

0

0

0

0

0

Default setting

Note

The PCU uses the forward drive prohibited input, reverse drive prohibited input, and origin return deceleration limit switch allocated in the Servo Drive’s external inputs as the forward rotation limit input signal, reverse rotation limit input signal, and origin proximity input signal, respectively. Make sure that these input signals maintain a signal width no shorter than the MECHA-

TROLINK communications cycle. If the input signal width is shorter than the communications cycle, the PCU is unable to detect the input signals, and operations cannot be performed normally.

267


Section 6-4

6-4-4 W-series Servo Drive Settings (R88D-WN

@



When the R88D-WN

@

-ML2 W-series Servo Drive equipped with built-in

MECHATROLINK-II communications is used, the Servo Drive’s default settings are used as the standard settings for MECHATROLINK communications.


Settings

The following Servo parameters must be set to enable PCU control. Do not change this setting.

Pn800.0 Communications Control: MECHATROLINK Communications

Check Mask

Parameter

No.

Pn800.0

Parameter name


MECHATROLINK communications check mask

---

Unit

0

Fixed setting

0: Communications errors

(A.E6

@

) and synchronization errors (A.E5

@

) both detected.

Details

0

Default setting

The MECHATROLINK communications errors A.E6

@ (communications errors) and A.E5

@ (synchronization errors) are used when the PCU is controlling communications. Make sure to set this parameter so that these errors are always detected. Leave Pn800.0 set to the default setting 0 (detects communications errors (A.E6

@ ) and synchronization errors (A.E5

@ )).


Parameter

No.

Pn800.1

Parameter name


Warning check mask

---


4 or 0

Details


(A.96

@

) ignored.

0: A.94

@

, A.95

@

, and A.96

@ all detected.

4

Default setting


Signals Using

MECHATROLINK

The MECHATROLINK communications warnings A.94

@

(parameter setting warning) and A.95

@

(MECHATROLINK command warning) are used when the PCU is controlling communications. Set the parameter so that they are not ignored. Either leave Pn800.1 set to the default setting 4 (ignores communications errors (A.96

@

) only) or set to 0 (detects A.94

@

, A.95

@

, and A.96

@

).

When the R88D-WN @ -ML2 W-series Servo Drive equipped with built-in

MECHATROLINK-II communications is used, the Servo Drive's default I/O signal allocations are used as the standard settings for MECHATROLINK communications.

The standard settings for input signals use the position control functions, such as PCU limit inputs, origin search inputs, and interrupt feeding inputs. The default I/O signal allocations of the Servo Drive should thus be used.

268



POT

NOT

DEC

EXT1

EXT2

EXT3

I/O Signal Allocations (Default Settings)

R88D-WN @ -ML2

CN1

9

10

11

13

7

8

12

24

25

26

1

2

23

BKIR+

BKIR

−

SO2+

SO2

−

SO3+

SO3

−

Section 6-4

Note

The PCU uses the forward drive prohibited input, reverse drive prohibited input, and origin return deceleration limit switch allocated in the Servo Drive’s external inputs as the forward rotation limit input signal, reverse rotation limit input signal, and origin proximity input signal, respectively. Make sure that these input signals maintain a signal width no shorter than the MECHA-

TROLINK communications cycle. If the input signal width is shorter than the communications cycle, the PCU is unable to detect the input signals, and operations cannot be performed normally.

6-4-5 SMARTSTEP Junior Servo Drive Settings (R7D-ZN

@

-ML2 with

Built-in MECHATROLINK-II Communications)

When the R7D-ZN

@

-ML2 SMARTSTEP Junior Servo Drive Settings equipped with built-in MECHATROLINK-II communications is used, the Servo

Drive’s default settings are used as the standard settings for MECHA-



Settings

The following Servo parameter must be set to enable PCU control. Do not change this setting.


Parameter

No.

Pn800.1

Parameter name


Warning check mask

---


4 or 0

Details


(A.96) ignored.

0: A.94, A.95, and A.96 all detected.

4

Default setting


Signals When Using

MECHATROLINK

The MECHATROLINK communications warnings A.94 (parameter setting warning) and A.95 (MECHATROLINK command warning) are used when the

PCU is controlling communications. Set the parameter so that they are not ignored. Either leave Pn800.1 set to the default setting 4 (ignores communications errors (A.96) only) or set to 0 (detects A.94, A.95, and A.96).

When the R7D-ZN

@

-ML2 SMARTSTEP Junior Servo Drive equipped with built-in MECHATROLINK-II communications is used, the Servo Drive's default settings are the standard settings for I/O signals for MECHATROLINK communications. The standard I/O signal settings are used for limit inputs, origin searches, interrupt feeding, and other position control functions of the Position Control Unit. Use the default settings for the I/O signal allocations for the

Servo Drive.

269


EXT1

DEC

NOT

POT

STOP

I/O Signal Allocations (Default Settings)

R7D-ZN @ -ML2

CN1

3

4

6

1

2

7

12

13

0GND

ALM

BKIR

Section 6-4

Note

The PCU uses the forward drive inhibit input, reverse drive inhibit input, and origin proximity input allocated in the Servo Drive’s external inputs as the forward rotation limit input signal, reverse rotation limit input signal, and origin proximity input signal, respectively. Make sure that these input signals maintain a signal width no shorter than the MECHATROLINK communications cycle. If the input signal width is shorter than the communications cycle, the

PCU is unable to detect the input signals, and operations cannot be performed normally.

270

SECTION 7

Position Control Structure

This section provides an overview of the control system used by the Position Control Unit, including information on the control units, coordinate system, acceleration/deceleration operations, and limit input operations.

7-1 PCU Control System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-1-1 Control System Configuration and Principles . . . . . . . . . . . . . . . . .

7-1-2 Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-2 Control Units. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-2-1 Control Units for Position Control . . . . . . . . . . . . . . . . . . . . . . . . . .

7-2-2 Control Units for Speed/Torque Control . . . . . . . . . . . . . . . . . . . . .

7-2-3 Units of the PCU's Main Controlled Variables . . . . . . . . . . . . . . . . .

7-3 Coordinate System and Present Position . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-4 Acceleration and Deceleration Operations . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-4-1 Overview of Acceleration/Deceleration Operations. . . . . . . . . . . . .

7-4-2 Acceleration/Deceleration Settings . . . . . . . . . . . . . . . . . . . . . . . . .

7-4-3 Acceleration/Deceleration Filter Settings. . . . . . . . . . . . . . . . . . . . .

7-4-4 Origin Search Acceleration/Deceleration Operations . . . . . . . . . . .

7-4-5 Acceleration and Deceleration Operations during Speed Control . .

7-5 Limit Input Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

272

272

272

273

273

274

275

276

277

277

278

280

284

285

286

271

PCU Control System

Section 7-1

7-1 PCU Control System

This section describes the configuration, principles, and basic information on position control when using a control system configured with a PCU and a

W-series Servo Drive.

7-1-1 Control System Configuration and Principles

CPU Unit

Sequence

(ladder program)

PCU

Start

I/O words

Status

Command interpretation and processing

Communications processing

MECHATROLINK-II

I/F Unit

Control commands

Interface

MECHATROLINK communications

Status

Command interpretation and positioning

Servo Drive

Position loop

Speed loop

Current loop

Servomotor

No feedback system configuration

Feedback system configuration

The control system configured using the PCU basically controls Servomotor operations using the semi-closed loop method. The semi-closed loop method detects the number of Servomotor rotations for the command value using the rotary encoder mounted to the Servomotor, and sends this feedback as the machine's travel distance. While calculating the deviation between the command value and actual number of Servomotor rotations, the machine is controlled so that the deviation is compensated to 0.

In the PCU system configuration, a feedback system is configured in the

Servo Drive, without using feedback information for the commands sent from the CPU Unit's ladder program to the PCU and Servo Drive.

7-1-2 Position Control

The control system configured using the PCU uses the Servo Drive's position loop to perform position control. The PCU achieves positioning by using the

Servo Drive's position control functions together with control units and coordinate systems.

CPU Unit PCU Servo Drive

Positioning


Sending command based on the positioning coordinate system managed by Servo Drive

I/O memory area


Monitoring the positioning coordinate system managed by Servo Drive

Present position

Coordinate calculations

Present position

272

Control Units

Section 7-2

7-2 Control Units

7-2-1 Control Units for Position Control

Control Units for

Position Control

Model

R88D-KN

@

-

ML2

R88D-GN

@

-

ML2

R88D-WT

R88D-

WN

@

-ML2

SMART-

STEP Junior

Parameter No.

Pn009

Pn010

Pn205

Pn206

@ Pn202

Pn203

Pn20E

Pn210

Pn20E

Pn210

The command units are used as the basic control units for the position command values and speed command values that the PCU uses in position control axis operations, such as direct operation, origin searches, and jogging.

(The unit for speeds is command units/s.) These units are determined by the electronic gear ratio in the Servo Parameters. The Servo Parameter settings such as

Positioning Completion Range

and

Software Limit

and the present position monitor unit input in the CPU Unit are also based on these command units.

The

Electronic Gear Ratio G1/G2

parameters determine the ratio between the command unit and travel distance (pulse unit) of the Servomotor.

Parameter name

Electronic gear ratio numerator

Electronic gear ratio denominator

Electronic gear ratio 1

(numerator)

Electronic gear ratio 2

(denominator)

Electronic gear ratio G1

(numerator)


(denominator)


(numerator)


(denominator)


(numerator)


(denominator)

---

Unit

---

---

---

---

---

---

---

---

---

Setting range Parameter size Default setting

1 to

1073741824

4 1

4 1 1 to

1073741824

0 to 131072 4 1

1 to 65535

1 to 65535

1 to 65535

1 to

1073741824

1 to

1073741824

1 to

1073741824

1 to

1073741824

4

2

2

4

4

4

4

1

4

1

4

1

1

1

Set the electronic gear ratio such that 0.01

≤

G1/G2

≤

100 when using R88D-

GN

@

G-series Servo Drives, R88D-WT

@

W-series Servo Drives, or SMART-

STEP Junior Servo Drives and such that 0.001

≤

G1/G2

≤

1000 when using

R88D-KN

@

-ML2 G5-series Servo Drives or R88D-WN

@

-ML2 W-series Servo

Drives.

In the Servo Drive, the control unit is the pulse unit determined by the Servomotor's encoder resolution. (The Servo Drive operates internally with a pulse multiplier of four. Therefore, the Servomotor's encoder resolution multiplied by four is the number of pulses in one rotation.) The electronic gear ratio is used to convert the command value (i.e., command units) handled by the PCU into the control unit (i.e., pulses) used in the Servo Drive (the G1/G2 unit is pulses/command unit.) When the Servo Drive’s default setting (G1/G2 = 4/1) is used, the command unit is the number of pulses equivalent to the Servomotor's encoder resolution.

Servomotor with 2,048

(Pulses/Rotation) Encoder

When set to G1/G2 = 8192/1000, the command units for which the Servomotor makes one rotation for a position command value of 1,000 can be obtained.

273

Control Units

Position command value: 1,000

(command unit)

Command Unit Setting

Example

Section 7-2

Servo Drive

Electronic gear

G1

=

Encoder resolution

G2 Command unit

×

4

1000

8,192 pulses

Servomotor

(Encoder resolution; 2,048 pulses/rotation)

1 rotation (8,192 pulses)

Consider the following positioning example.

N

V

Servomotor

M

Electronic gear ratio Object being positioned

P

Feed screw pitch

M: Deceleration gear ratio

V: Feed speed of object being positioned (mm/s)

P: Feed screw pitch (mm/rotation)

R: Servomotor encoder resolution (pulses/rotation)

The equation for calculating the distance traveled per Servomotor encoder resolution pulse is as follows:

Feed screw pitch

(Servomotor encoder resolution

×

4)

×

(deceleration ratio)

=

P (mm/rotation)

R (pulses/rotation)

×

4

×

M

(mm/pulse)

The Servo Drive performs control internally at four times the Servomotor's encoder resolution. Therefore, in the above equation, the Servomotor's encoder resolution is multiplied by four. If the command unit used is mm, the electronic gear ratio is set as the reciprocal of the above equation and G1/G2 is set as follows:

Command unit (mm):

G1

G2

=

R (pulses/rotation)

×

4

×

M

P (mm/rotation)

(pulses/mm)

If the command unit used is 0.01 mm (= 10

µ m), the unit is converted by multiplying the travel distance per encoder resolution pulse by 100, and the electronic gear ratio is set as follows:

Command unit (0.01 mm):

G1

=

G2

R (pulses/rotation)

×

4

×

M

P (mm/rotation)

×

100

(pulses/0.01 mm)

7-2-2 Control Units for Speed/Torque Control

The unit used for the speed command value in speed control is the percentage (unit: 0.001%) of the Servo Drive’s/Servomotor's momentary maximum rotation speed. The unit used for the torque command value in torque control is the percentage (unit: 0.001%) of the Servo Drive’s/Servomotor's momentary maximum torque. The Servomotor's momentary maximum rotation speed and momentary maximum torque depend on the Servomotor model.

274

Control Units

Section 7-2

For details on specifications, refer to the corresponding operation manuals for the Servo Drive and Servomotor.

7-2-3 Units of the PCU's Main Controlled Variables

Function

Common

Category

Servo Parameter data

Monitor value

Controlled variable

Torque limit value



Position deviation

Position control Command value Position command value

Servo Parameter data

Speed command value

Acceleration

Deceleration

Monitor value

Zero point return approach speed 1


Speed monitor value

Torque monitor value

%

Unit

Command unit

Command unit

Command unit

Command unit

Command units/s


2


2

100 command units/s

---

---

---

---

---

---

Details

(percentage of Servomotor's rated torque)

---

---

100 command units/s

Command units/s

%

---

Speed control Command value Speed command value (for speed control)

Monitor value

Monitor value

Torque limit value

(option command value)

Speed monitor value


Torque control Command value Torque command value

Speed limit value

(option command value)

Speed monitor value


0.001%

%

0.001%

%

0.001%

0.001%

Command units/s

0.001%

---








---


Note

The units for speed and torque depend on the control mode (position, speed, or torque control). For details, refer to


, and

10-6 Torque

Control

.

The resolution of the controlled variables that can be monitored by the PCU depends on the specifications of the connected Servo Drive.

For example, when using a W-series Servo Drive equipped with a FNY-

NS115 MECHATROLINK-II I/F Unit, the minimum resolution for the command speed monitor value and feedback speed in position/torque control is 1,000 command units/s.

275

Coordinate System and Present Position

Section 7-3

Depending on the PLC’s cycle time and MECHATROLINK communications cycle, short-term changes in status of the Servo Drive may not be monitored successfully.

7-3 Coordinate System and Present Position

The PCU uses a single coordinate system based on the origin determined for each axis using the origin defining functions. This coordinate system provides two types of present positions for each axis: a feedback present position and a command present position.

Feedback/Command

Present Position

The Servo Drive uses a rotary encoder to detect Servomotor rotations (providing feedback), and the Servomotor is controlled so that the deviation between the feedback and command values is compensated to 0. Therefore, while a position deviation remains in the Servo Drive, a difference equivalent to the position deviation between the position command value and the integrated value of the feedback, which indicates the actual machine (Servomotor) position, should exist.

The PCU outputs to the I/O memory area allocated for each axis in the CPU

Unit the amount of feedback indicating the actual position of the machine

(Servomotor) as the feedback present position and the position given in the command as the command present position.

Position

Target position

(position command value)

Command present position at t1

Feedback present position at t1

Solid line: Command present position

Broken line: Feedback present position

(Servomotor's actual position)

Speed

Target speed

(speed command value)

Position deviation t1

Time


Broken line: Servomotor's actual speed

Time

Start


Upper/Lower Limits

Note

Time

When executing speed control and torque control commands, there is no command present position because a positioning loop is not configured. A command present position calculated from the position deviation assumed from the current speed is output as monitor information.

The feedback present position and command present position can be displayed as values in the range

−

2,147,483,648 to 2,147,483,647 (command units). When an operation in a fixed direction without a target position using jogging, speed control, or torque control is continued, the present value that exceeds the above range and is not limited by limit input signals or software limits is given as follows:

276

Acceleration and Deceleration Operations

Present position

2,147,483,647

1,073,741,824

−

2,147,483,648

0

Section 7-4

P

2,147,483,647 4,294,967,296 6,442,450,943

5,368,709,120

Physical position

Note

−

2,147,483,648

Possible positioning range from point P

For example, if the physical position is 5,368,709,120 (command units), as indicated by point P in the above diagram, which exceeds 2,147,483,647

(command units), 1,073,741,824 will be given as the present position (command units).

The position range for the ABSOLUTE MOVEMENT and RELATIVE MOVE-

MENT commands is

−

2,147,483,648 to 2,147,483,647 (command units) for the command present position when they are not limited by limit input signals or software limits.

If the physical position is point P in the diagram, the physical position that can be moved to using ABSOLUTE MOVEMENT or RELATIVE MOVEMENT is

2,147,483,648 to 6,442,450,943 (command units). The PCU will treat the position command value and present position in the range as

−

2,147,483,648 to 2,147,483,647 (command units).

With the direct operation position range, the operation for position command values is different for ABSOLUTE MOVEMENT and RELATIVE MOVEMENT

commands. Refer to

9-4-1 Starting Direct Operation

for further details.

7-4 Acceleration and Deceleration Operations

The acceleration and deceleration operations that can be used when the PCU is connected to a G5-series Servo Drive, G-series Servo Drive, W-series

Servo Drive, or SMARTSTEP Junior Servo Drive are described here.

7-4-1 Overview of Acceleration/Deceleration Operations

The PCU creates the specified acceleration/deceleration curve for the operating commands performing position control, such as direct operation or origin searches. The acceleration/deceleration speed settings are set for each axis according to the Servo Parameters for acceleration/deceleration and are enabled for the following acceleration/deceleration operations.

Operating command

ABSOLUTE MOVEMENT/ RELA-

TIVE MOVEMENT

JOG

ORIGIN SEARCH

Acceleration operation

Starting

Changing speed (acceleration)

Changing override (acceleration)

Starting jogging

Changing speed (acceleration)

Changing override (acceleration)

See

7-4-4 Origin Search Acceleration/Deceleration Operations

Deceleration operation

Stopping positioning

Changing speed (deceleration)

Changing override (deceleration)

Stopping jogging

Changing speed (deceleration)

Changing override (deceleration)

See

7-4-4 Origin Search Acceleration/Deceleration Operations

277


Section 7-4


DECELERATION STOP

Errors with DECELERATION

STOP

---

---

Acceleration operation Deceleration operation

Decelerating to a stop

When errors occur

Acceleration/deceleration curves cannot be set for speed control or torque control. Continuous speed changes using speed control, however, are possible by setting the

Soft Start Acceleration Time

and

Soft Start Deceleration

Time

in the Servo Parameters.

7-4-2 Acceleration/Deceleration Settings

The acceleration/deceleration settings are set for each axis according to the

Servo Parameters for acceleration/deceleration. Set these Servo Parameters using WRITE/SAVE SERVO PARAMETER before sending operating commands.

Do not change the acceleration/deceleration constants during axis operation

(i.e., while the Busy Flag for the corresponding axis is ON due to execution of an operating command). Changing parameters while the axis is operating may result in incorrect positioning or other malfunction.

G5-series Servo Parameters

Type

Acceleration/ deceleration constants

Acceleration/Deceleration Constants

Parameter

No.

Pn811

Parameter name

Linear acceleration constant

Pn814 Linear deceleration constant

Unit


2


2

Setting range

−

32768 to 32767

−

32768 to 32767

2

2

Parameter size

Default setting

100

100

G Series

Supported

Supported

Note

When using G5-series Servo Drives, one-step linear acceleration/deceleration curves are set using only Pn811 and Pn814.

When the parameter is set to 0, it is taken as 1.

The setting will be used after conversion to unsigned 16-bit data (0 to 65536).

Examples:

−

32768 is converted to 8000 hex = 32768

−

1 is converted to FFFF hex = 65535

G-series Servo Parameters


Unit Type


Parameter

No.

Pn107

Parameter name


Pn10A Linear deceleration constant


2


2

Setting range

−

32768 to 32767

−

32768 to 32767

2

2

Parameter size

Default setting

100

G Series

Supported

100 Supported

Note

When using G-series Servo Drives, one-step linear acceleration/deceleration curves are set using only Pn107 and Pn10A.

When the parameter is set to 0, it is taken as 1.

The setting will be used after conversion to unsigned 16-bit data (0 to 65536).

Examples:

−

32768 is converted to 8000 hex = 32768

−

1 is converted to FFFF hex = 65535

278


Section 7-4

W-series and SMARTSTEP Junior Servo Parameters


Type Parameter

No.


Pn80A

Pn80B

Pn80C

Pn80D

Pn80E

Pn80F

Parameter name Unit








2


2

100 command units/s


2


2

100 command units/s

Setting range

1 to

65535

Parameter size

2

Default setting

100

W Series SMARTS

TEP

Junior

Supported

Not supported

1 to

65535

0 to

65535

1 to

65535

1 to

65535

0 to

65535

2

2

2

2

2

100

0

100

100

0

Supported

Supported

Supported

Supported

Supported

Supported

Not supported

Not supported

Supported

Not supported

The SMARTSTEP Junior Servo Drives do not support the following parameters: Pn80A, Pn80C, Pn80D, and Pn80F. One-step linear acceleration/deceleration curves are set using only Pn80B and Pn80E.

Speed

Speed command value

Pn80C




Pn80F


Time

To operate an axis using only a first-step acceleration/deceleration curve with a W-series Servo Drive, only settings for the parameters Pn80B and Pn80E are required if the default settings (0) are used for the Servo Parameters

Acceleration Constant Switching Speed

and

Deceleration Constant Switching

Speed

(Pn80C and Pn80F).

Unit for Acceleration/Deceleration Constants

The unit for the acceleration/deceleration filters set in the Position Control Unit is 10000 command units/s

2

using the command unit determined by the electronic gear ratio in the Servo parameters.

The setting of the command unit can cause the setting unit for the acceleration/deceleration constants to become imprecise or changes in the setting can greatly affect the size of accelerations/decelerations.

279


Section 7-4

To create a more precise setting unit for accelerations/decelerations, increase the resolution of the command unit (i.e., increase the number of digits).

Example

If the command unit is 0.1 mm, the target speed is 1,000 mm/s (1,000.0 mm/s

= 10,000 command units/s) and the target speed must be reached in 250 ms, the acceleration constant would be set to 4, as shown below.

1000 [command units/s]/250 [ms] = 40,000 [command units/s

2

]

= 4 [10,000 command units/s

2

]

If the acceleration constant is increased or decreased by only 1, the acceleration time required to reach the same target speed is greatly affected, as shown below:

Acceleration constant = 3:10000 [command units/s]/3 [10,000 command units/s

2

] = 333 [ms]

Acceleration constant = 5:10000 [command units/s]/5 [10,000 command units/s

2

] = 200 [ms]

If the precision of the command unit is increased by 2 digits to 0.001 mm, the acceleration constant would be set to 400 to reach the same target speed of

1,000 mm/s (1000.000 mm/s = 1,000,000 command units/s) in the same time of 250 ms.

1,000,000 [command units/s]/250 [ms] = 4,000,000 [command units/s

2

]

= 400 [10,000 command units/s

2

]

If the acceleration constant is increased or decreased by 1, the acceleration time required to reach the same target speed is affected very little, as shown below:

Acceleration constant = 399:1000000 [command units/s]/399 [10000 command units/s

2

] = 250.6 [ms]

Acceleration constant = 401:1000000 [command units/s]/401 [10000 command units/s

2

] = 249.3 [ms]

7-4-3 Acceleration/Deceleration Filter Settings

When a W-series Servo Drive is connected, acceleration/deceleration filters can be set for each axis to avoid rapid changes in acceleration or deceleration. A acceleration/deceleration filter can be set for each axis to enable nonlinear acceleration/deceleration curves. Using an acceleration/deceleration filter enables an exponential acceleration/deceleration curve and acceleration/deceleration S-curves using a movement (running) average.

The G5-series Servo Drives and the G-series Servo Drives do not support exponential filters, but acceleration/deceleration S-curves using a moving average can be used.

The SMARTSTEP Junior Servo Drives do not support acceleration/deceleration filters and the filters cannot be set.

To use the acceleration/deceleration filter, set the acceleration/deceleration curve designation in the Axis Operating Output Memory Area when specifying the operating command as well as setting the acceleration/deceleration filter settings in the Servo Parameters.

280


Section 7-4


Type

Acceleration/ deceleration filters


Parameter name for

G Series (Parameter name for W Series)

Exponential acceleration/deceleration bias

Exponential acceleration/deceleration time constant

Moving average time

(Movement average time)

Unit

0.1 ms

Setting range

Command units/s

0 to

32767

0.1 ms 0 to

5100

0 to

5100

Paramet er size

2

2

2

Default setting

0

G5

Series

G

Series

Not supported

Not supported

W

Series

SMART-

STEP

Junior

Pn810 Not supported

0

0

Not supported

Pn818

Not supported

Pn10E

Pn811

Pn812

Not supported

Not supported

For W-series Servo Drives, Pn810 and Pn811 must be set when using an exponential curve, and Pn812 must be set when using an S-curve for the acceleration/deceleration curve.

For G-series Servo Drives, Pn10E must be set when using an S-curve.

For G5-series Servo Drives, Pn818 must be set when using an S-curve.


Acceleration/deceleration curve designation

Name


S-curve designation

Word Bit

a+16

Contents

03 1: Use exponential acceleration/deceleration curve.

04 1: Use S-curve acceleration/deceleration curve.

G5 Series

G Series

Not supported

Supported

W Series

Supported

Supported

SMARTSTE

P Junior

Not supported

Not supported

Note



−

1)

×

25

The acceleration/deceleration curve designation setting is enabled when the bit for the movement command turns ON.

(1) Do not set both the exponential curve designation and S-curve designation to 1 (enabled) in the acceleration/deceleration curve designation. Enabling both settings may cause a malfunction.

(2) If an error occurs, the acceleration/deceleration curve for the deceleration stop operation will be that currently specified in the acceleration/deceleration curve designation, except for limit inputs and software limits. To use a non-linear acceleration/deceleration curve for the deceleration stop operation both when an error occurs and when operation is normal, make sure that the acceleration/deceleration curve designation is kept enabled during axis operations.

(3) Change the acceleration/deceleration constants using WRITE SERVO

PARAMETER while axis operation is stopped (Busy Flag =0). Do not change parameters during axis operation. Changing parameters of an active axis may result in incorrect positioning or other malfunction.

281


Exponential Acceleration/Deceleration Curve

Speed

(Speed command value

−

Pn810)

×

63.2%

(Speed command value

−

Pn810)

×

63.2%

Section 7-4

Pn811 Pn811

Time

The acceleration/deceleration for the exponential acceleration/deceleration curve is determined by the Servo Parameters

Exponential Acceleration/Deceleration Bias

(Pn810) and

Exponential Acceleration/Deceleration

Time Constant

(Pn811). The speed set in

Exponential Acceleration/Deceleration Bias

(Pn810) is used as the start speed. The time until reaching 63.2% of the difference between the speed command value and the start speed is set in the

Exponential Acceleration/Deceleration Time Constant

(Pn811).

When an exponential acceleration/deceleration curve is used, the acceleration/deceleration time is always fixed regardless of the speed command value.

S-curve (Movement Average) Acceleration/Deceleration Curve

Speed

The slope of the acceleration/deceleration speed for the

S-curve acceleration/deceleration curve is smaller than the maximum acceleration/deceleration of the linear acceleration/deceleration curve.

Speed command value

Pn80C

Pn80A

(Pn107)

[Pn811]

Pn80B

Pn80E

Note:

Use the parameter numbers in the parentheses ( ) for G series Servo Drives.

Note:

Use the parameter numbers in the parentheses [ ] for G5 series Servo Drives.

Pn80F

Pn80D

(Pn10A)

[Pn814]

Pn812

(Pn10E)

[Pn818]

Pn812

(Pn10E)

[Pn818]

Time

282


Section 7-4

In the S-curve acceleration/deceleration curve, a moving average is taken based on the Moving Average Time Interval (Pn812 (this is possible with

Pn10E in the G series Servo Drive and with Pn818 in the G5 series Servo

Drive)) for the linear acceleration/deceleration curve specified in Pn80A to

Pn80F (Pn106 to Pn10B when using a G series Servo Drive, Pn811 and

Pn814 when using a G5 series Servo Drive) to smooth out sudden changes in acceleration or deceleration (angles in the acceleration/deceleration curve).

The acceleration/deceleration for the S-curve acceleration/deceleration curve will not exceed the maximum acceleration/deceleration of the linear acceleration/deceleration of the linear acceleration/deceleration curve prior to taking the moving average.

The time width where the average of the acceleration/deceleration curve is taken is set as the Moving Average Time Interval (Pn812 (set by Pn10E in the

G series Servo Drive and by Pn818 in the G5 series Servo Drive)). For acceleration/deceleration curves having a fixed-speed region that is large enough for the target speed (speed command value), the time to reach the target speed by the S-curve acceleration/deceleration curve is slower than the linear acceleration/deceleration curve by the amount of the setting value of the Moving Average Time Interval (Pn812 (set by Pn10E in the G series Servo Drive and by Pn818 in the G5 series Servo Drive)).

If the constant speed interval for the target speed is less than the movement

(running) average time or a triangular acceleration/deceleration curve occurs, the achieved speed of S-curve acceleration/deceleration will be less than the target speed.

Speed

Speed command

The S-curve acceleration/deceleration for the acceleration/deceleration curve will not reach the target speed if the target speed (speed command value) constant interval is too short or a triangular acceleration/deceleration curve occurs.

Time

283


Section 7-4

7-4-4 Origin Search Acceleration/Deceleration Operations

The origin search operation of the PCU consists of the following three steps.

1,2,3...

1.

Search for origin proximity signal

2.

Search for origin signal after detection of origin proximity signal

3.

Positioning for final travel distance to return to zero point (origin) after detection of origin signal


1

0

Origin input signal/

Phase Z signal

1

0

Speed command value

Speed

Start

Zero point return approach speed 1 (Pn817) for W Series

Origin return approach speed 1 (Pn110) for G Series and (Pn823) for G5 Series



Final travel distance to return to zero point

(Pn819) for W Series

Origin return final distance (Pn204) for G Series

Final distance for Origin return (Pn825) for G5 Series


Stop

(1 ) (2 ) (3 )

For details on the origin search, refer to


.

The acceleration when origin search starts and the speed change when switching to another step depend on the acceleration/deceleration curve (circled in above diagram) determined by the acceleration/deceleration filter setting and acceleration/deceleration set in Servo Parameters (Pn80A to Pn812 for W Series, Pn107 and Pn10A for G Series, Pn811 and Pn814 for G5

Series).

When the final travel distance to return to zero point (origin) is a negative or small value, the axis will decelerate to a stop as shown in the following diagram, and then reverse and perform the set positioning. Both the deceleration and acceleration will be determined also by the set acceleration/deceleration curve (circled in following diagram).

Origin input signal/

Phase Z signal

1

0



Speed

Stop





(Pn819) for W Series

Origin return final distance (Pn204) for G Series

Final distance for Origin return (Pn825) for G5 Series

284


Section 7-4

If the reversal mode operation using limit input is set, however, the stop operation when a limit input signal is input will depend on the Servo Drive setting.

For details on stop operations when using limit input signal inputs, refer to

7-5

Limit Input Operations

and

Reversal Mode Operation Using Limit Inputs

in

8-


.

7-4-5 Acceleration and Deceleration Operations during Speed Control

When the speed control command is executed, the Servo Drive performs stepped speed control from the present feedback speed to the target speed specified in the speed command value for speed control. Apart from smoothly increasing/decreasing the speed command value (for speed control) when starting speed control, shock in acceleration/deceleration when performing speed control can also be minimized by setting the Servo Parameters

Soft

Start Acceleration Time

(Pn312 for G5 Series, Pn058 for G Series and Pn305 for W Series) and

Soft Start Deceleration Time

(Pn313 for G5 Series, Pn059 for G Series and Pn306 for W Series) to create a trapezoidal speed curve.

For details on speed control, refer to


.

G5-series Acceleration/Deceleration Constants for Speed Control

Parameter

No.

Pn312

Pn313

Parameter name

Soft start acceleration time

Soft start deceleration time


×

2ms 0 to 5000

×

2ms 0 to 5000

Parameter size

2 0

Default setting

2 0

G-series Acceleration/Deceleration Constants for Speed Control

Parameter

No.

Pn058

Pn059

Parameter name




×

2ms 0 to 5000

×

2ms 0 to 5000

2

Parameter size

0

Default setting

2 0

W-series Acceleration/Deceleration Constants for Speed Control

Parameter

No.

Pn305

Pn306

Parameter name



Unit

ms ms

Setting range

0 to 10000 2

Parameter size

0

Default setting

0 to 10000 2 0

The


and


are set respectively as the acceleration time and deceleration time between speed 0

(speed command value for speed control: 0%) and the maximum rotation speed of the Servomotor (speed command value for speed control: 100%).

The acceleration time and deceleration time for the actual target speed are as follows:

285

Limit Input Operations

Section 7-5

Actual acceleration (deceleration) time =

Speed command value for speed control (r/min)

Maximum rotation speed (r/min)

×

Soft start acceleration (deceleration) time

Servomotor speed

+r/min

Max. rotation speed

(See note.)

Speed command value for speed control

0

Actual acceleration time

Time

Actual deceleration time

W Series: Pn305

G Series: Pn058

G5 Series: Pn312

Note

W Series: Pn306

G Series: Pn059

G5 Series: Pn313

The maximum rotation speed depends on the Servomotor used. Refer to the maximum momentary rotation speed for the Servomotor used. The following values apply to W-series Servomotors.

3,000-r/min Servomotor (cylinder type or flat type): 5,000 r/min

1,000-r/min Servomotor: 2,000 r/min

1,500-r/min Servomotor (450 W to 7.5 kW): 3,000 r/min

1,500-r/min Servomotor (11 to 15 kW): 2,000 r/min

7-5 Limit Input Operations

The PCU uses the Servo Drive's internal forward drive prohibited signal input and reverse drive prohibited signal input as the forward rotation limit input signal and reverse rotation limit input signal, respectively. Additionally, the forward/reverse software limits can be used by setting the Servo Parameters.

The stop operation when the forward/reverse rotation limit input signal is input, and the forward/reverse software limit is reached depend on the Servo

Parameter settings, as shown in the following table.

Limit input signal

Software limit

Travel direction limit

The Servomotor operation is stopped at the Servo Drive according to the setting of Servo Parameter Pn001.1

(Pn504 for G5 Series, Pn004 for G

Series).

At the PCU, a limit input error occurs, causing an emergency stop, except when using the origin search operation's reversal mode.

The Servomotor operation is stopped at the Servo Drive according to the setting of Servo Parameter Pn001.1

(Pn504 for G5 Series, Pn004 for G

Series). (See note 2.)

At the PCU, a software limit error occurs, causing an emergency stop.

---

Reverse travel direction limit (See note 1.)

An emergency stop caused by a limit input error is executed at the

PCU, except when executing ORIGIN SEARCH.

1. This operation occurs when a limit input signal is input in the direction opposite to the travel direction due to incorrect wiring or other cause.

2. For details on software limit functions, refer to


.

286


Note


Note

Section 7-5

(1) If the limit input signal inputs (Servo Drive's forward drive prohibited signal and reverse drive prohibited signal) are not allocated, the Servo Drive will not stop the Servomotor when the signal is input, and the PCU will also not detect limit inputs as errors. When using a PCU, always allocate the Servo Drive's forward drive prohibited signal and reverse drive prohibited signal to enable use of the limit input signals. (Refer to

6-4 Standard

Settings for Servo Drives Using MECHATROLINK

.)

(2) Make sure that the limit input signals maintain a signal width no shorter than the MECHATROLINK communications cycle. Input signals that are shorter than the communications cycle cannot be detected by the PCU.

When using a G5-series Servo Drive, a G-series Servo Drive or a W-series

Servo Drive, the Servomotor's stop operation at the Servo Drive when a limit input signal is input or a software limit is reached is set in the Servo Parameters for limit input operations.

When using a SMARTSTEP Junior Servo Drive, the Servo is locked after decelerating to a stop with the maximum Servomotor torque. The following function cannot be used.

G5-series Limit Input Parameters

Parameter

No.

Pn505

Pn511

Parameter name

Stop selection for drive prohibition input

Emergency stop torque

---

%


0 to 2

0 to 500

Parameter size

2 0

Default setting

2 0

Pn505 is used to set the stop operation of the Servomotor when a forward/reverse rotation limit is input or a forward/reverse software limit is reached. The parameter size of Pn505 is the value to be specified when transferring the Servo Parameter Pn505 including the above settings.

The following table shows the Servomotor stop operations using Pn505 settings.

After stopping Deviation counter Parameter

No.

Pn505

Setting

0


Dynamic brake

1

2

Disables torque

Emergency stop torque (Pn511)



Servo lock

Cleared while decelerating with dynamic brake.

Retained after stopping.

Cleared while decelerating.



(1) If an operation command in the drive prohibited direction is received when the torque command of the drive prohibited direction is disabled, the Servomotor will not operate in the drive-prohibited direction, but the position deviation will accumulate because the position command is enabled. If drive prohibition is detected, stop the operation command from

287


Section 7-5

the host controller and take measures such as executing a command in the reverse direction.

(2) The positioning command generation process (positioning operation) in the Servo Drive will be forcibly stopped after it enters the deceleration mode. Also, when the deceleration mode is activated during speed control or torque control, it will switch to position control.

(3) When the Servomotor rotation speed is 30 r/min or less (stopped), the

Servomotor does not enter into deceleration mode even if the drive prohibit input is enabled.

Note

G-series Limit Input Parameters

Parameter

No.

Pn066

Pn06E

Parameter name



---

%


0 to 2

0 to 300

Parameter size

2 0

Default setting

2 0

Pn066 is used to set the stop operation of the Servomotor when a forward/reverse rotation limit is input or a forward/reverse software limit is reached. The parameter size of Pn066 is the value to be specified when transferring the Servo Parameter Pn066 including the above settings.

The following table shows the Servomotor stop operations using Pn066 settings.

After stopping Deviation counter Parameter

No.

Pn066

Setting

0


Dynamic brake

1

2

Disables torque

Emergency stop torque (Pn06E)



Servo lock

Cleared while decelerating with dynamic brake.


Cleared while decelerating.



(1) If an operation command in the drive prohibited direction is received when the torque command of the drive prohibited direction is disabled, the Servomotor will not operate in the drive-prohibited direction, but the position deviation will accumulate because the torque command is enabled. If drive prohibition is detected, stop the operation command from the host controller and take measures such as executing a command in the reverse direction.

(2) The positioning command generation process (positioning operation) within the Servo Drive will be forcibly stopped after it enters the deceleration mode. Also, when the deceleration mode is activated during speed control or torque control, it will switch to position control.

288


Note

Section 7-5

(3) When the Servomotor rotation speed is 30 r/min or less (stopped), the deceleration mode will not be entered even if the drive prohibit input is enabled.

W-series and SMARTSTEP Junior Limit Input Parameters

Parameter

No.

Pn001.1

Pn406

Parameter name

Function selection application switch 1



---

%


0 to 2

0 to 800

Parameter size

2 0

Default setting

2 350

The Pn406 default setting corresponds to that used for W-series Servo

Drives.

Pn001.1 is used to set the stop operation of the Servomotor when a forward/reverse rotation limit input is input or a forward/reverse software limit is reached. The parameter size of Pn001.1 in the above table is the set value to be specified when transferring the Servo Parameter Pn001 (including

Pn001.1).

The following table shows the Servomotor stop operations using Pn001.1 settings.

Details Parameter

No.

Pn001.1

0

Set value

Stops operation according to the setting in Pn001.0 (selects stop if an alarm occurs when Servomotor is OFF).

Puts Servomotor in Servo unlock status after stopping operation.

Parameter

No.

Set value

Details

Pn001.0

0 Servomotor stopped by dynamic brake.

Dynamic brake held after stopping.

1 Servomotor stopped by dynamic brake.

Dynamic brake OFF after stopping.

2 Servomotor stopped with free run.

1

2

Stops Servomotor using torque set in

Emergency Stop Torque

(

Pn406).

Puts Servomotor in Servo lock status after stopping operation.

Stops Servomotor using torque set in


(

Pn406).

Puts Servomotor in Servo unlock status after stopping operation.

289


Section 7-5

Stopping Methods when Forward/Reverse Drive Prohibit Is OFF

Deceleration method

Pn001.0

"0" or "1"

Dynamic brake

Pn001.1

"0"

POT (NOT) is OFF

"2"

Free run

"1" or "2"


(Pn406)

Pn001.1

"2"

"1"

Stopped status

Servo unlocked

Servo unlocked

Servo locked

Note

The brake interlock output (BKIR output) will not function while there is a limit input signal (Servo Drive's forwarded drive prohibited signal or reverse drive prohibited signal) or while the Servo is unlocked as the result of reaching a software limit. Unlock the Servo before activating a machine holding brake.

290

SECTION 8

Defining the Origin

This section provides information on the various operations used to determine the origin, including origin searches, origin returns, presetting the present position, calculating phase Z margins, and using the absolute encoder.

8-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-2 Origin Search Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-2-1 Origin Search Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-2-2 Origin Search Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-2-3 Data Settings Required for Origin Search . . . . . . . . . . . . . . . . . . . .

8-2-4 Origin Search Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-2-5 Starting Origin Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-2-6 Origin Search Preset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-3 Present Position Preset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-3-1 Outline of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-3-2 Data Settings for Present Position Preset . . . . . . . . . . . . . . . . . . . . .

8-4 Origin Return . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-4-1 Origin Return Data Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-5 Phase Z Margin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-5-1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-5-2 Calculating the Phase Z Margin (Example) . . . . . . . . . . . . . . . . . . .

8-5-3 Phase Z Margin for Specific Operation Patterns . . . . . . . . . . . . . . .

8-6 Absolute Encoder Origin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-6-1 Absolute Encoder Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-6-2 Absolute Encoder Operating Procedure . . . . . . . . . . . . . . . . . . . . . .

8-6-3 PCU Data Settings for Using Absolute Encoders. . . . . . . . . . . . . . .

8-6-4 Absolute Encoder Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-6-5 Absolute Encoder's Origin (Zero Point) Position Offset Setting . . .

8-6-6 Establishing the Origin Using an Absolute Encoder . . . . . . . . . . . .

319

319

324

324

315

317

317

317

292

293

293

294

295

305

314

327

329

331

332

334

324

325

326

326

291

Overview

8-1 Overview

Section 8-1

When performing positioning for a system in terms of absolute positions in that system, it is first necessary to define the origin. For example, in the X-Y plane shown below, before positioning to (X, Y) = (100 mm, 200 mm), the origin (0,0) of the machine must be established, i.e., it is necessary to define the origin.

Y axis

•

(100, 200)

X axis

(0, 0)

With the PCU, the mechanical origin can be defined using any of the following three methods.

Name

ORIGIN SEARCH

PRESENT POSI-

TION PRESET

ABSOLUTE

ENCODER ORIGIN

Contents

The origin is determined by actually operating the Servomotor and using the limit input signal, origin proximity input signal, and origin input signal.

A photoelectric sensor or the phase Z signal from an encoder can be used as the origin input signal.

Execute this function when using an incremental encoder Servomotor or Servomotor with absolute encoder used as an incremental encoder.

The origin can be determined by forcibly setting the position at which the Servomotor is stopped to a user-specified position.

By using a Servomotor with absolute encoder, the absolute value data saved in the encoder can be read and the mechanical origin can be established when starting to use the device.

The PCU also features a positioning function to return to the established origin.

Name

ORIGIN RETURN

Contents

Positioning is performed from the position where the Servomotor is stopped to the origin that has been established using

ORIGIN SEARCH or PRESENT POSITION PRESET.

The PCU can also be operated without defining the origin but the axis operation for each function is as follows:

Function

JOG

ORIGIN RETURN

Operation

Can be executed.

Cannot be executed.

If executed, a Present Position Unknown Error

(axis error code: 3030 hex) will occur.

292

Origin Search Operation

Section 8-2

Position control

Function

ABSOLUTE MOVE-

MENT

Operation

Cannot be executed.

If executed, a Present Position Unknown Error

(axis error code: 3030 hex) will occur.

Can be executed.

RELATIVE MOVE-

MENT

INTERRUPT FEED-

ING

SPEED CONTROL

TORQUE CONTROL

Can be executed only with RELATIVE MOVE-

MENT.

If executed with ABSOLUTE MOVEMENT, a

Present Position Unknown Error (axis error code: 3030 hex) will occur, and the function will not be executed.

Can be executed.

Can be executed.

For G5-series Servo Drives, G-series Servo Drives and W-series Servo

Drives used with incremental encoders or absolute encoders used as incremental encoders, the present position is taken as 0 when the power is turned

ON. When the executable functions shown in the above table are executed by the PCU without a defined origin, the present position will be calculated from the position of the axis (0) when the power was turned ON with no origin established.

8-2 Origin Search Operation

8-2-1 Origin Search Overview

Origin searches are performed by actually operating the Servomotor, searching for the mechanical origin based on the limit input signal, origin proximity input signal, and origin input signal, and to define the origin.

Note

In ORIGIN SEARCH execution, the present position is cleared to 0 at the same time when an origin is defined. Unless the Absolute Encoder Zero Point

Position Offset is set using an Origin Search Operation with Position Control

Units with unit version 2.0 or later, the absolute value data read to the PCU when SERVO LOCK was executed will be lost when the origin is established.

(The absolute data saved in the absolute encoder will not be lost and can be obtained by executing SERVO LOCK after SERVO UNLOCK.) When using a

Position Control Unit with unit version 2.0 or later and not setting an Absolute

Encoder Zero Point Position Offset, execute ORIGIN SEARCH using either a

Servomotor with incremental encoder or a Servomotor with absolute encoder that is used as an incremental encoder.

293


Section 8-2

CPU Unit

Ladder program

(1)

MOV

MOV

WRITE DATA/SERVO

PARAMETER

(2)

MOV

MOV

(3)

ORIGIN SEARCH

Origin Search Operation Diagram for W-series Servo Drives

PCU

Use WRITE SERVO

PARAMETER to transfer before executing ORIGIN

SEARCH. d+2

Axis Parameters

Encoder type

Servo Drive

Function selection application switch

1

Pn001.1

Function selection application switch

2

Pn002.2

Acceleration/deceleration parameter

Pn80A

Pn80B

Pn80C

:

Origin search parameters

Pn816

Pn817

Pn818

Pn819

Pn81A

(1) Transfer the Axis Parameters and Servo Parameters.

(2) Set the operating data in the Axis Operating Output Data Areas.

(3) Use the bit in the Axis Operating Output Memory Areas to start the origin search.

Speed

Select the type of encoder used.

Use WRITE DATA to transfer before executing ORIGIN

SEARCH.

Axis Operating Output Memory Areas a a+4 a+5

:

Speed command value

(rightmost word)

Speed command value

(leftmost word)

:

Axis Operating Input Memory Areas b

Control status

Output during I/O refresh

ORIGIN SEARCH Bit

(word a, bit 06)

Input during I/O refresh d d+1

Axis Parameters

Input signal selection



Forward

Forward rotation limit input b+6 b+7 b+8 b+9


(rightmost word)


(leftmost word)


(rightmost word)


(leftmost word)


Phase Z/origin input

Forward drive prohibited a: Beginning word of Axis Operating Output Areas specified in Common Parameters + (Axis No.

−

1)

×

25 b: Beginning word of Axis Operating Input Areas specified in Common Parameters + (Axis No.

−

1)

×

25 d: 1860 hex + (Axis No.

−

1)

×

14 hex

Note

The speed command value set in the Axis Operating Output Memory Area using the MOV instruction is output to the PCU automatically during I/O refresh.

The origin search is started when the ORIGIN SEARCH Bit allocated in the

Axis Operating Output Memory Area turns ON.

Once the origin is established by the PCU, it will not be lost if ORIGIN

SEARCH is executed again. If ORIGIN SEARCH is executed again, the search operation will be executed using the coordinates based on the previous origin until the new origin is established. If the software limits are enabled at this point, the software limits will apply to the origin search operation, causing operation to stop due to an error. (Positioning will not be reversed at the software limits when origin searches are performed in reversal mode.) To execute ORIGIN SEARCH again after the origin has been established, either disable the software limits, or execute DEVICE SETUP or another operation that will cancel the origin (No Origin Flag = 1) before executing ORIGIN

SEARCH.

8-2-2 Origin Search Procedure

Use the following procedure to perform an origin search.

1,2,3...

1.

Set the Common Parameters and save them.

2.

Set the Axis Parameters and save them.

294


Section 8-2

Note

3.

Turn ON the PCU again or restart the Unit.

The data for the Common Parameters and Axis Parameters set in steps 1 and 2 above are enabled.

4.

Start MECHATROLINK communications.

5.

Set the Servo Parameters and save them.

Set the Servo Parameters required to execute origin searches.

To set parameters permanently, execute SAVE SERVO PARAMETER

(writes to the non-volatile memory)

To enable changed offline parameters, turn the power to the Servo Drive

OFF and then ON again or execute DEVICE SETUP.



.

6.

Execute SERVO LOCK.

7.

Set the data used for origin search.

Set the origin search speed data in the speed command value of the Axis

Operating Output Memory Area.

8.

Execute ORIGIN SEARCH.

When using the PCU for the first time or to change the PCU parameter settings, steps 1 to 3 must be performed.

To specify the Servo Parameters for acceleration/deceleration every time, make sure that the axis operation is stopped (Busy Flag = 0) while changing the acceleration/deceleration constants using WRITE SERVO PARAMETER.

Do not change the settings during axis operation. Changing parameters while the axis is operating may result in incorrect positioning or other malfunction.

8-2-3 Data Settings Required for Origin Search

A simple explanation of the main parameters and data used to execute ORI-

GIN SEARCH is provided here. For details on the parameters required when using absolute encoders, refer to

8-6 Absolute Encoder Origin

.

To execute ORIGIN SEARCH, apart from the parameters explained here, the following parameters also need to be set as basic settings for operating the

PCU.

• External I/O Signal Allocations

Refer to


.

The origin proximity input signal must be allocated to execute ORIGIN

SEARCH.

• Command Unit

Refer to

7-2 Control Units

.

The setting units for parameters and data depend on the specified command unit.

295


Section 8-2


PCU's address

d+1

15 to 14 13

0 (fixed) Origin search preset d+2 0 (fixed) 0

Note

The following parameters are for the operation mode for origin searches.

0

12

Contents

11 to 08 07 to 04 03 to 00




Setting

0 (fixed) Set the origin search operation.


0: Reversal mode 1 (default setting)

1: Reverse mode 2



Origin detection method (See note.)

0: With origin proximity input signal reversal (default setting)





1: Reverse

Origin search preset (See note.)

0: Not Set (default setting)

1: Set

0 (fixed) 0 (fixed) Encoder type

0: Incremental encoder (default setting)

1: Absolute encoder d = 1860 hex + (Axis No.

−

1)

×

14 hex

* The reversal mode 3 setting for the origin search operation, the origin detection method, and the origin search preset can be used only with Position

Control Units with unit version 2.0 or later. They cannot be used with Position Control Units with unit version 1.3 or earlier.

(1) Set the origin search direction of the axis parameters and Origin Search

Direction for G5-series Servo Drives (Pn822), Origin Return Mode Settings for G-series Servo Drives (Pn10F) or Zero Point Return Mode Setting for W-series Servo Drives (Pn816) to the same direction. Setting different direction may result in a malfunction.

(2) When using an absolute encoder, make sure that the settings for the encoder type in the Axis Parameters and

Operation Switch when Using Absolute Encoder

(Pn002.2 for W Series, Pn00B for G Series and Pn015 for

G5 Series) in the Servo Parameters match. If the settings do not match,

ORIGIN SEARCH execution will not be possible, or another malfunction may occur.

(3) Make sure that the external input signals for origin searches (limit input signal and origin proximity input signal) maintain a signal width no shorter than the MECHATROLINK communications cycle. If the input signal width is shorter than the communications cycle, the PCU is unable to detect the input signals, and operations cannot be performed normally.

296


Section 8-2

Axis Parameter

Area

Encoder type

G5-series Servo Parameter Pn015 (Operation Switch when Using Absolute Encoder)

G-series Servo Parameter Pn00B (Operation Switch when

Using Absolute Encoder)

0: Use as an absolute encoder.

2: Use as an absolute encoder but ignore absolute multi-turn counter overflow alarm

1: Use as an incremental encoder.


Do not set this combination.

This setting is used when using an absolute encoder as an incremental encoder.


1: Absolute encoder This setting is used when using an absolute encoder as an absolute encoder.

Axis Parameter

Area

Encoder type

W-series Servo Parameter Pn002.2

(Operation switch when using absolute encoder)

0: Use as absolute encoder.

1: Use as incremental encoder.



This setting is used when using an absolute encoder as an incremental encoder.



When using a G5-series or G-series incremental encoder, only the encoder type setting in the Axis Parameters is required (When using the incremental encoder, the settings for the Servo Parameter Pn015 (G5 series) and Pn00B

(G series) are disabled).

When using a W-series incremental encoder, only the encoder type setting in the Axis Parameters is required (the Pn002.2 setting in Servo Parameters is disabled when an incremental encoder is used).

An absolute encoder cannot be used with a SMARTSTEP Junior Servo Drive, and Pn002.2 is not supported. Use the Servo Drive as if the axis parameters are set for an incremental encoder.

Origin Input Signal Parameters

d

PCU's address

Contents

Bits 15 to 08 Bits 07 to 00



Setting


00: Phase Z (default setting)



03: External latch signal 3 input d = 1860 hex + (Axis No.

−

1)

×

14 hex

Use this parameter to select the origin input signal to be used with origin search. When external latch signals 1 to 3 are used as the origin input signal, the external latch signal used must be allocated in the Servo Drive's external input allocations.

When using a SMARTSTEP Junior Servo Drive, only the Z phase or the external latch signal 1 input can be set for the origin input signal.

297


Section 8-2


G5-series Limit Input Operation Parameters

Parameter

No.

Pn505

Parameter name




--0 to 2

Parameter size

2 0

Default setting

% 0 to 500 2 0

G-series Limit Input Operation Parameters

Type Parameter No.

--Pn066

---

---

Pn06E

Pn004

Parameter name



Drive Prohibit Input Selection


--0 to 2

Parameter size

2 0

Default setting

%

---

0 to 500 2

0 to 2 2

0

0

W-series Limit Input Operation Parameters

Type Parame-

---

---

ter No.

Parameter name

Pn001.1


Pn406


Emergency stop torque %


--0 to 2

Parameter size

2 0

Default setting

W Series SMART-

STEP

Junior

Supported

Not supported

0 to 800 2 350 Supported

Not supported

* The Pn406 default setting corresponds to that used for W-series Servo

Drives.

The stop operation (Pn505 for G5 Series, Pn066 for G Series and Pn001.1 for

W Series) sets the stop operation of the Servomotor for forward/reverse rotation limit inputs when prohibited drive is input.

When reversal mode is used for the origin search, it is also used as the operation setting when limit inputs are input in the origin search direction. The parameter size for Pn001.1 for W-series Servo Drives is the value to be specified when transferring the Servo Parameter Pn001 (including Pn001.1).

The emergency stop torque (Pn511 for G5 Series, Pn06E for G Series and

Pn406 for W Series) sets the stopping torque when the stop operation for limit inputs is set to 1 (decelerates to a stop at set torque or lower, and locks Servo in zero clamp mode), or 2 (decelerates to a stop at set torque or lower, and puts Servo in free run state).

When using a SMARTSTEP Junior Servo Drive, the Servomotor will decelerate to a stop with the maximum Servomotor torque and the Servo will be locked when the forward or reverse rotation limit input is received.

Drive Prohibit Input Selection (G series: Pn004) sets the forward and reverse drive prohibition input (CH1 POT: pin 19, NOT: pin 20) functions.

If reversal mode 1 is used in origin search, set to 0 or 1.

Parameters for Using G5-series Absolute Encoders


--Pn015

Parameter name



--0 to 2

Parameter size

2 1

Default setting

298


Section 8-2

Parameters for Using G-series Absolute Encoders


--Pn00B

Parameter name



--0 to 2

Parameter size

2 0

Default setting

Parameters for Using W-series Absolute Encoders

Type Parame-

---

ter No.

Parameter name

Pn002.2




--0, 1

Parameter size

2 0

Default setting

W Series SMART-

STEP

Junior

Supported

Not supported

R88D-GN @ -

ML2

Pn205

Pn206

R88D-WT @ Pn202

Pn203

R88D-WN @ -

ML2

Pn20E

Pn210

SMART-

STEP Junior

Pn20E

Pn210

When using a Servomotor with absolute encoder, select whether the absolute encoder will be used as an absolute encoder or as an incremental encoder.

These parameter settings are disabled if a Servomotor with incremental encoder is used.

Set this parameter to 1 or 2 for a G-series Servo Drive, and 1 for a W-series

Servo Drive, if using a Servomotor with absolute encoder as a Servomotor with incremental encoder.

When using an absolute encoder, make sure that the settings for the encoder type in the Axis Parameters and

Operation Switch when Using Absolute

Encoder

(Pn00B for G Series and Pn002.2 for W Series) in the Servo Parameters match.

A motor with an absolute encoder cannot be used with a SMARTSTEP Junior

Servo Drive. When using a SMARTSTEP Junior Servo Drive, Pn002.2 is not supported. Use the Servo Drive as for an incremental encoder.

If the settings do not agree, origin searches may not be possible and other malfunctions may occur.

Command Unit Parameters

Model

R88D-KN @ -

ML2

Parameter

No.

Pn009

Parameter name


Pn010 Electronic gear ratio denominator

Electronic gear ratio 1 (numerator)

Electronic gear ratio 2 (denominator)

Electronic gear ratio G1 (numerator)

---

---

---

---

Electronic gear ratio G1 (numerator) ---

Electronic gear ratio G2 (denominator) ---

Electronic gear ratio G1 (numerator) ---


---



1 to

1073741824

1 to

1073741824

1 to

1073741824

1 to

1073741824

1 to 65535

1 to 65535

1 to

1073741824

1 to

1073741824

1 to

1073741824

1 to

1073741824

4

4

4

2

2

4

Parameter size

4 1

Default setting

4

4

4

1

1

1

4

1

4

1

1

1

The command unit default setting is pulses.

299


Section 8-2

G5-series Acceleration/Deceleration Constants


Pn811 Acceleration/ deceleration constants

Pn814


Pn818




Position command FIR filter time constant


2


2

0.1 ms

Setting range

−

32768 to 32767

2

Parameter size

Default setting

100

−

32768 to 32767

0 to

10000

2

2

100

0

G-series Acceleration/Deceleration Constants

Unit Type Parameter No.


Pn10A

Parameter name



Moving average time


2


2

0.1 ms

Setting range

−

32768 to 32767

2

Parameter size

Default setting

100

−

32768 to 32767

2

0 to 5100 2

100

0 Acceleration/ deceleration filters

Pn10E

W-series and SMARTSTEP Junior Acceleration/Deceleration Constants

Type



Parameter No.

Pn80A

Pn80B

Pn80C

Pn80D

Pn80E

Pn80F

Pn810

Pn811

Pn812

Parameter name Unit Setting range











2


2

100 command units/s


2


2

100 command units/s

Command units/s

0.1 ms

0.1 ms

1 to

65535

1 to

65535

0 to

65535

1 to

65535

1 to

65535

0 to

65535

2

2

2

2

2

2

0 to

32767

2

0 to 5100 2

0 to 5100 2

Parameter size

Default setting

100

W Series SMART-

STEP

Junior

Supported

Not supported

100

0

100

100

0

0

0

0

Supported

Supported

Supported

Supported

Supported

Supported

Supported

Supported

Supported

Not supported

Not supported

Supported

Not supported

Not supported

Not supported

Not supported

300


---

---

Type

Type

Section 8-2

Parameter

No.

Pn820

(See note.)

Parameter name

Final distance for external input positioning

Pn822

Pn823

When using W-series Servo Drives, the first-step acceleration/deceleration curve operations require parameter settings for Pn80B and Pn80E only.

When using an exponential curve for the acceleration/deceleration curve,

Pn810 and Pn811 must be set for W-series Servo Drives.

Movement Average

Time

for W-series Servo Drives (Pn812) or

Moving Average Time

for G-series

Servo Drives (Pn10E) must be set when using an S-curve for the acceleration/deceleration curve.

The second-step acceleration/deceleration constant cannot be set using a

G5-series Servo Drive or G-series Servo Drive. The exponential acceleration/ deceleration filter cannot be set because there is no exponential acceleration/ deceleration filter function.

The SMARTSTEP Junior Servo Drives do not support the following parameters: Pn80A, Pn80C, Pn80D, and Pn80F. They also do not support acceleration/deceleration filters, so the filters cannot be set. One-step linear acceleration/deceleration curves are set using only Pn80B and Pn80E.

For details on acceleration/deceleration curves, refer to



.

G5-series Origin Search Parameters

Origin return mode setting ---

Unit

Command unit

Setting range Parameter size

−

1,073,741,823 to

1,073,741,823

4

2 0000 hex or

0001 hex

1 to 32767 2

Default setting

100

0

50

Pn824

Pn825

Origin return approach speed 1


Final distance for Origin

Return

100 command units/s

100 command units/s

Command unit

1 to 32767 2

−

1,073,741,823 to

1,073,741,823

1

5

100

Parameter

No.

Pn203

(See note.)

Parameter name


Pn10F

Pn110

G-series Origin Search Parameters

Unit

Command unit

Origin return mode settings ---


−

1,073,741,823 to

1,073,741,823

4

2 0000 hex or

0001 hex

1 to 32767 2

Default setting

100

0

50

Pn111

Pn204


100 command units/s


100 command units/s

Origin return final distance Command unit

1 to 32767 2

−

1,073,741,823 to

1,073,741,823

1

5

100

301


---

Type

Section 8-2

Parameter

No.

Pn814 (See note.)

Parameter name


Pn816

Pn817

W-series Origin Search Parameters

Unit

Command unit

Zero point return direction ---


−

1,073,741,823 to

1,073,741,823

4

2 0000 hex or

0001 hex

0 to 65535 2

Default setting

100

0

50

Pn818

Pn819




100 command units/s

100 command units/s

Command unit

0 to 65535 2

−

1,073,741,823 to

1,073,741,823

4

5

100

Note

Starting in Position Control Unit with version 2.0 and later, the

Final Distance for External Input Positioning

(G5 series: Pn820, G series: Pn203) or

Final

Travel Distance for External Positioning

(W series: Pn814) is used for internal processing in the Position Control Unit when one of the following origin search operation patterns are selected.

• When the origin detection method is set to any value except for 0

(Origin proximity input signal reversal)

• When setting a zero point position offset for an origin search using an absolute encoder

Because the


(G5 series: Pn820,

G series: Pn203) or

Final Travel Distance for External Positioning

(W series:

Pn814) is automatically overwritten by the Position Control Unit when starting the origin search operation, if the interrupt feeding is used after origin search, the


(G5 series: Pn820, G series:

Pn203) or


(W series: Pn814) must be set again. Also, the Servo parameters are read out by the Position

Control Unit for the following parameters when the origin search operation is started.

Origin Return Approach Speed 1, Origin Return Approach Speed 2, Origin

Search Final Travel Distance

(Origin Search Approach Speed 1, Origin Search Approach Speed 2, Origin

Search Final Travel Distance (Pn823, Pn824, Pn825) for G5 Series, Origin

Return Approach Speed 1, Origin Return Approach Speed 2, Origin Return

Final Distance (Pn110, Pn111, Pn204) for G Series or Zero Point Return

Approach Speed 1, Zero Point Return Approach Speed 2, and Final Travel

Distance to Return to Zero Point (Pn817, Pn818, Pn819) for W Series)

Absolute Origin Offset

(Pn200) for G Series or

Absolute Encoder Zero Point

Position Offset

(Pn808) for G5 Series/W Series) (when using an absolute encoder)

Set the origin search direction of the axis parameters and Origin Search

Direction for G5-series Servo Drives (Pn822), Origin Return Mode Settings for

G-series Servo Drives (Pn10F) or Zero Point Return Mode Setting for Wseries Servo Drives (Pn816) to the same direction. Setting different directions may result in a malfunction.

302


Section 8-2

Control Status Parameters

Type Parameter

No.

R88D-KN @ -

ML2

Pn431

R88D-GN @ -

ML2

Pn803

Pn060

Pn105

R88D-WT @ Pn500

R88D-WN

ML2

@ -

Pn803

Pn522

SMART-

STEP Junior

Pn803

Pn522

Parameter name

Positioning completion range 1

Origin range


Origin range


Zero point width


Unit

Command unit

Command unit

Command unit

Command unit

Command unit

Command unit

Command unit

Zero point width Command unit

Positioning completion range 1 Command unit

Pn523 Zero point width Command unit

Setting range

0 to 262144 4

Parameter size

Default setting

300

0 to 250 2

0 to 10000 2

0 to 250

0 to 250

2

2

0 to 250

0 to

1073741824

0 to 250

0 to

1073741824

2

4

2

4

0 to 250 2

0

25

10

3

10

3

10

10

10

Axis Operating Output Memory Areas (Operating Commands)

Name

ORIGIN SEARCH a

Position command value a+2 a+3

Speed command value

Word

a+4 a+5

06

---

---

Bits

a+16 03

Contents

0

→

1: Starts origin search



Unit: Command units/s

Command range:

−

2,147,483,648 to 2,147,483,647

(80000000 hex to 7FFFFFFF hex)

This value is also used as the preset value when a preset value is being set after completing an origin search.




Command range: 1 to

2,147,483,647 (00000001 hex to

7FFFFFFF hex)

This value is also used as the preset value when a preset value is being set after completing an origin search.

1: Use exponential acceleration/ deceleration curve.

G Series W Series SMARTSTE

P Junior

Supported Supported Supported

Supported Not supported

Supported


Not supported


Acceleration/ deceleration curve designation


S-curve designation



04

14

15

1: Use S-curve acceleration/ deceleration curve.

1: Use forward torque limit

1: Use reverse torque limit

Supported Supported Not supported


Supported Supported Not supported a = Beginning word of Axis Operating Output Areas specified in Common


−

1)

×

25

303


Section 8-2

Note

The speed command value specifies the initial origin search speed until the origin proximity signal is input. When an origin search is started with the speed command set to 0 (command units/s), a Speed Designation Error (axis error code: 3061) will occur and the origin search will not be executed.

Torque limit during operation is possible with origin searches. For further

details on the torque limit function, refer to


.

The speed command value, acceleration/deceleration curve designation, and forward/reverse rotation current limit designation data are enabled when the

ORIGIN SEARCH Bit turns ON.

The SMARTSTEP Junior Servo Drives do not support acceleration/deceleration filters and torque limits. When using a SMARTSTEP Junior Servo Drive, do not attempt to use an acceleration/deceleration curve designation or forward/reverse torque limit designation.

Do not set both the exponential curve designation and S-curve designation to

1 (enabled) in the acceleration/deceleration curve designation. Enabling both settings may cause a malfunction.

Axis Operating Input Memory Areas (Monitor)

Name

PCU Positioning Completed Flag

No Origin Flag b

Word Bits

05

06

Contents

0

→


Origin Stop Flag

Error Flag

Busy Flag


Command present position b+6 b+7 b+8 b+9

07

12

13

---

---


1: No origin established.



0: No axis error.

1: Axis error.

1: Axis busy (axis operation executing)

Present position:

Feedback position (rightmost word)

Feedback position (leftmost word)

Present position:

Command position (rightmost word)

Command position (leftmost word) b = Beginning word of Axis Operating Input Areas specified in Common


−

1)

×

25

304


Section 8-2

8-2-4 Origin Search Operation

Origin Search

Operation Summary

1,2,3...

Basically, the PCU’s origin search operation consists of the following three steps.

1.

Search for origin proximity signal

2.

Search for origin signal after detection of origin proximity signal

3.

Positioning for final travel distance to return to zero point after detection of origin signal

Each of these steps is executed using the operation direction and speed according to the Axis Parameters, Servo Parameters, and speed command value for origin search as shown in the following diagram.

The origin proximity signal is not always used in the origin search operation pattern and an origin search can be started at the zero point return approach speed. For details on origin search operation patterns, refer to

Origin Search

Operation Modes

on page 306.


Origin input signal

(Phase Z signal)

1

0

1

0

Speed

Speed command value

Zero point return approach speed 1 (Pn817)


Final travel distance to return to zero point (Pn819)

Start


(1) (2) (3)

Stop


Note

Zero point return direction (Pn816)

Origin search direction (See note.)

(Axis Parameters)

(1) The operation direction for origin search is determined by the setting in

Servo Parameter

Zero Point Return Direction

(Pn816).

(2) The parameters shown above are different for G-series Servo Drives.

Make sure that the same direction is set for

Origin Search Direction

in the

Axis Parameters and

Zero Point Return Direction

(Pn816) in the Servo

Parameters. Setting different directions may result in a malfunction.

The override function is disabled during origin searches.

The parameter

Final Travel Distance to Return to Zero Point

(Pn819) sets the amount of compensation positioning used after the origin input signal has been detected. The value is set as the relative travel distance in the origin search direction.

When


(Pn819) is set to a negative or small value, the axis will decelerate to a stop, and then reverse and perform the set positioning.

305


Origin input signal

1

(Phase Z signal)

0

Speed


Section 8-2


Stop



For details on the acceleration/deceleration operation during origin search, refer to

7-4 Acceleration and Deceleration Operations

.

Origin Search

Operation Modes

The following four modes are available for origin search operation.

Origin search operation Reversal modes The operation is reversed in the direction opposite to the origin search direction.

Reversal mode 1

Reversal mode 2

Reversal mode 3

Single-direction mode

Direction reversed when limit input is input in the origin search direction.

Operation is stopped and an error is generated when limit input is input in the origin search direction.

The operation is basically the same as that for reversal mode 2, but shock on the machine is reduced when reversing at the origin proximity input.

Origin search is always performed in one direction only.

Note

The parameter numbers shown above are different for G-series Servo Drives.

Select the origin search operation by setting

Origin Search Operation

in the

Axis Parameters.

0: Reversal mode 1

1: Reversal mode 2


3: Reversal mode 3 (Can be used only for Position Control Units with unit version 2.0 or later.)

* If reversal mode 1 is used in the G series, set the Servo Parameter Drive

Prohibit Input Selection (Pn004) to 0 or 1.

Origin Detection method

Setting

0

The Origin Detection Method parameter determines how the origin proximity input signal is used. Any of the following three patterns can be selected in the

Axis Parameters.

Remarks Origin detection method

With origin proximity input signal reversal

Origin input signal detection

The origin input signal is detected after the origin proximity input signal turns ON and then OFF.

---

306


Setting

1

2

Section 8-2


Without origin proximity input signal reversal

Not use origin proximity input signal

Origin input signal detection

The origin input signal is detected after the origin proximity input signal turns ON.

The origin proximity input signal is not used.

Remarks

This setting is possible only for Position Control Units with unit version 2.0 or later.

The origin search operation is started at the zero point return approach speed 1.

If this setting is used along with reversal mode 3, and axis parameter check error

(error code: 3091) will occur when the data is transferred.

This setting is possible only for Position Control Units with unit version 2.0 or later.

Note

(1) The Servo Drive’s origin proximity input signal (origin return deceleration limit switch signal) must be allocated to execute ORIGIN SEARCH. The forward/reverse rotation limit signal (forward/reverse drive prohibited signal) must be allocated to use a reversal mode. If these input signals are not allocated, ORIGIN SEARCH cannot be executed properly. For details on allocating Servo Drive input signals, refer to



.

(2) Make sure that the external input signals for origin searches (limit input signal and origin proximity input signal) maintain a signal width no shorter than the MECHATROLINK communications cycle. If the input signal width is shorter than the communications cycle, the PCU is unable to detect the input signals, and operations cannot be performed normally.

(3) For origin searches, the origin signal is detected after the origin proximity input signal (origin return deceleration limit switch) changes from ON to

OFF. Therefore, be sure to use a sensor for the origin proximity input signal, such as a photoelectric switch, that does not produce chattering.

Chattering from contact switches may result in the displacement of the origin position.

307


Section 8-2

Origin search operation mode



0: Reversal mode 1


1

0

Origin input signal

(Phase Z signal)

1

0

Speed command value Zero point return approach speed 1



Origin search reverse direction

Start Stop




(See note 1.)

Start Stop




(See note 1.)

Stop Start


Limit input signal in origin search direction

1: Without origin proximity input signal reversal (unit version 2.0 or later)


1

0

Origin input signal

(Phase Z signal)

1

0

Speed command value



Start




Stop


(See note 1.)



Start

Stop



(See note 1.)


Stop

Start


2: Not use origin proximity input signal (unit version 2.0 or later)

Origin input signal

(Phase Z signal)

1

0



Start






Stop



Stop

Start



Stop

(See note 2.)

Start


308


Note

Section 8-2

To use a motor with absolute encoders with the OMNUC G series and G5 series Servo Drives, use the motor as described below when setting the absolute PG origin offset using origin search.

• If the limit input in the origin search direction is ON when executing the origin search, origin search does not operate normally.

Start the origin search after moving the position where the limit input in the origin search direction does not turn ON by jogging.

• If the origin search is started when the limit input is ON in the origin search direction, an error terminates when the origin search operation is completed (data setting error, error code: 3099).






1

0

Origin input signal

(Phase Z signal)

1

0

Speed command value Zero point return approach speed 1



Origin search reverse direction Origin search direction

Start

Stop




Start

(See note 1.)

Stop

Error stop



Start


309


Section 8-2





1

0

Origin input signal

1

(Phase Z signal)

0

Speed command value





Start

(See note 1.)





Stop



Start Stop

Error stop


Start



Origin input signal

(Phase Z signal)

1

0



Start






Stop



Stop

Start

Error stop

(See note 2.)


Start


310


Section 8-2




2: Single-direction mode


1

0

Origin input signal

(Phase Z signal)

1

0

Speed command value


Start





Stop




Start Stop

Error stop


Start





1

0

Origin input signal

1

(Phase Z signal)

0

Speed command value


Start Speed command value





Stop





Start

Speed command value

Error stop


Start


Origin input signal

(Phase Z signal)

1

0





Start


Stop



Error stop

Start

Start



Error stop



Origin input signal

1

(Phase Z signal)

0



Start




Stop

311


Section 8-2





(unit version 2.0 or later)


1

0

Origin input signal

1

(Phase Z signal)

0

Speed command value




Start



Stop



Stop


(See note 1.)

Start

Error stop


Start





1

0

Origin input signal

(Phase Z signal)

1

0

Speed command value


Start





Stop



(See note 1.)



Start

Stop

Error stop



Start


Cannot be set. (An axis parameter check error (error code: 3091) will occur when the data is transferred.)

Limit input in opposite direction from origin search direction

1


0

1

0

Speed

Note

(1) The reversal operation for an origin search in the reverse direction is executed either when the origin proximity input signal turns OFF during the origin search in the reverse direction, or when the limit input signal turns

ON during the origin search in the reverse direction while the origin proximity input signal is ON, whichever occurs first.

Limit input in opposite direction from origin

1 search direction

0

1

Origin proximity

0 input signal

Speed

Origin search direction Origin search direction

(2) The signal width of the origin input signal must be longer than the

MECHATROLINK communications cycle when the Origin Proximity Input

Signal parameter is set to 2 (Not use origin proximity input signal) during

312


Section 8-2

Reversal Mode Operation

Using Limit Inputs

the origin search for the Reversal Mode 1 and Reversal Mode 2 origin search operation modes. If the origin input signal length is shorter than the communications cycle, the PCU will be unable to detect the origin input signal when in reversal operation. If the established origin position is not aligned, the origin search function will not operate correctly. If using this function with this setting, use an external sensor for the origin input signal or select an origin search method that uses the origin proximity input signal because the signal width of the Servo Drive's Z-phase signal is too short.

When the origin search operation mode is set to reversal mode 1 to 3, axis operation stops or changes to the opposite direction when the limit input signal turns ON.

When using a W-series Servo Drive, the axis will operate according to the

Select Stop when Prohibited Drive Is Input

(Pn001.1) setting in the Servo

Parameters after the limit input signal turns ON and until the axis operation stops.

When using a SMARTSTEP Junior Servo Drive, the Servomotor will decelerate to a stop using the maximum Servomotor torque.

Reverse Pattern

For reversal mode 1, the positioning relationship between the limit input and the origin proximity signal is as shown by the two patterns in the following diagram. For reversal mode 2 or 3, only the bottom pattern is possible. When these modes are used, the axis operates according to the

Stop Selection for

Drive Prohibit Input

for G-series Servo Drives (Pn066) or

Select Stop when

Prohibited Drive Is Input

for W-series Servo Drives (Pn001.1) for the shaded areas in the diagram.

Origin search direction limit input

1

0

Speed


Limit input in opposite direction

1 from origin search direction 0

1

Origin proximity

0 input signal

Speed


Note

If the Servo Parameter (Pn505 for G5 Series, Pn066 for G Series and

Pn001.1 for W Series) is set to stop operation with a free run when a limit input is input when using a G-series or a W-series Servo Drive, the momentum of the previous operation may cause the machine to run in the limit input direction.

313


Section 8-2

8-2-5 Starting Origin Search

Origin search is performed according to the speed command value set in the

Axis Operating Output Memory Areas and started when the ORIGIN

SEARCH Bit turns ON. Execute ORIGIN SEARCH when the Busy Flag for the corresponding axis is OFF. If ORIGIN SEARCH is executed while the axis's

Busy Flag is ON, a Multistart Error (axis error code: 3050) will occur and ORI-

GIN SEARCH will not be executed.

When starting ORIGIN SEARCH, make sure that the ORIGIN SEARCH Bit will remain ON until the Busy Flag turns ON.

If the SERVO UNLOCK, DEVIATION COUNTER RESET, EMERGENCY

STOP, OR DECELERATION STOP command bit is turned ON, the ORIGIN

SEARCH command will be ignored. Be sure that all of these command bits are OFF before executing an origin search.

Timing Chart

When origin searches are performed using reversal mode 1 to 3 as the operation mode, either enable the Servo Drive's dynamic brake, or set the

Stop

Selection for Drive Prohibition Input

for G5-series Servo Drives (Pn505), the

Stop Selection for Drive Prohibit Input


Select Stop when Prohibited Drive is Input

for W-series Servo Drives

(Pn001.1) to 1 (decelerates to a stop using the immediate stop torque set in

Pn511 for G5 Series, the emergency stop torque set in Pn06E for G Series or

Pn406 for W Series or lower and locks Servo in zero clamp mode) or 2 (decelerates to a stop using the immediate stop torque set in Pn511 for G5 Series, the emergency stop torque set in Pn06E for G Series or Pn406 for W Series or lower and puts Servo in free run state) so that the Servomotor stops properly when a limit input is received.

The following timing charts are for when ORIGIN SEARCH is executed with the origin search operation set to reversal mode 1, the origin detection mode set to origin proximity input signal reversal, and the origin search direction set to forward.

Timing Chart Operation


Origin input signal

(Phase Z signal)

1

0

1

0




Stop Start


314


Timing Chart

Speed command value

(words a+4, a+5)

ORIGIN SEARCH

(word a, bit 06)


1

0


1

0

Origin input

1

0

Speed

3E8 hex (1000)

Section 8-2

Time

PCU Positioning Completed

Flag (word b, bit 05)

No Origin Flag

(word b, bit 06)

Origin Stop Flag

(word b, bit 07)

Busy Flag

(word b, bit 13) a = Beginning word of Axis Operating Output Areas specified in Common Parameters + (Axis No.

−

1)

×


−

1)

×

25

The PCU Positioning Completed Flag is turned ON when the number of the Servo Drive's deviation counter residual pulses is less than the value set for the positioning completion range.

Depending on the number of deviation counter residual pulses when pulse output has been completed, a delay may occur in the time between when the pulse output from the Position

Control Unit is completed until positioning has been completed.

After starting the origin search, the Busy Flag turns ON until the origin search operation has completed.

Make sure that the ORIGIN SEARCH Bit remains ON until the Busy Flag turns ON.

Note

If the origin search preset is used, the PCU Positioning Completed Flag, No

Origin Flag, and Busy Flag will change status only after the present position preset operation is completed after finishing the origin search operation.

Transferring Parameters during Origin Search Operations

The Position Control Unit can transfer Servo Parameters during axis operations (i.e., while the Busy Flag is ON). With Position Control Units with unit version 2.0 or later, Servo Parameter transfers specified during origin search operation are performed after completing the origin search.

Example: The following example illustrates reading Servo Parameters during an origin search operation.


(word a+1, bit 13)


(word b, bit 14)



2.0 or later, any Servo parameter read operations specified during an origin search will be performed after the origin search has been completed.


8-2-6 Origin Search Preset

The present position can be set to any desired position after completing an origin search. This enables setting an arbitrary electrical origin point corresponding to the mechanical origin point.


or later.

The origin search preset operation is selected using the following Origin

Search Preset parameter in the Axis Parameters.

315


Section 8-2

Axis Parameters

PCU's address

d+1

15 to 14 13

0 (fixed) Origin search preset

The following parameters are used to set the origin search operation mode.

12

Contents

11 to 08 07 to 04 03 to 00




Setting

0 (fixed) Bit 13: Origin Search Preset

0: Do not set the present position to the preset position after completing the origin search (default setting).

1: Set the present position to the preset position after completing the origin search. d = 1860 hex + (Axis No.

−

1)

×

14 hex

The position command value set in the Axis Operating Output Memory Areas is used as the preset value to be set after completing an origin search.

Axis Operating Output

Memory Areas (Operating

Commands)

Note

Name Word


---

Bits Contents




Command range:

−

2,147,483,648 to

2,147,483,647 (80000000 hex to

7FFFFFFF hex)

This value is also used as the preset value when a preset value is being set after completing an origin search. a = Beginning word of Axis Operating Output Areas specified in Common


−

1)

×

25

The position command value that is set when the ORIGIN SEARCH command bit turns ON is used as the origin search preset.

The origin search preset operation is executed only after the origin search operation has been completed normally, i.e., when positioning for the final travel distance to return to zero point has entered the positioning completion range after the origin signal has been detected.

If an absolute encoder is used, the origin search operation is set to reversal mode 1, and the origin search preset is enabled, a zero point position offset for the absolute encoder can be automatically set. Refer to

8-6-5 Absolute

Encoder's Origin (Zero Point) Position Offset Setting

for details.

The origin search preset function of the Position Control Unit cannot be used with the function block for origin searches in the OMRON FB Library

(_NCF05

@

_Home) if the Library is version is 1.13 or lower. Use the present value preset function provided in the library. To use the origin search function block and enable the origin search preset, the OMRON FB Library with a version higher than 1.13 must be used.

316

Present Position Preset

Section 8-3

8-3 Present Position Preset

PRESENT POSITION PRESET changes the present position to any position and then establishes the origin.

8-3-1 Outline of Operation

When the PRESENT POSITION PRESET Bit is turned ON, the present position is changed to the value set as the position command value in the Axis

Operating Output Memory Areas. during present position preset, the Busy

Flag is ON (1 cycle time min.). The Busy Flag turns OFF to indicate that preset operation has been completed. After this, the origin is established. If the present position is changed to “0,” then that position will become the origin.

8-3-2 Data Settings for Present Position Preset

A simple explanation of the main parameters and data used to execute

PRESENT POSITION PRESET is provided here. For details on command

units, refer to

7-2 Control Units

.



Model

R88D-KN

@

-

ML2


Parameter

No.

Pn009

Parameter name



R88D-GN @ -

ML2

R88D-WT

@

R88D-WN @ -

ML2

SMART-

STEP Junior

Pn205

Pn206

Pn202

Pn203


Electronic gear ratio G2 (denominator)

Pn20E Electronic gear ratio G1 (numerator)

Pn210


Pn210





Unit

---

---

---

---

---

---

---

---

---

---

Setting range

1 to

1073741824

1 to

1073741824

1 to

1073741824

1 to

1073741824

1 to 65535

1 to 65535

1 to

1073741824

1 to

1073741824

1 to

1073741824

1 to

1073741824

Parameter size

4

4

4

4

2

2

4

4

4

4

Default setting

1

1

1

1

4

1

4

1

1

1


317

Present Position Preset

Section 8-3


Name

PRESENT POSITION

PRESET a

Word


Bits

08

---

Contents

0

→

1: Starts present position preset



Unit: Command unit

Command range:

−

2,147,483,648 to

2,147,483,647 (80000000 hex to

7FFFFFFF hex) a = Beginning word of Axis Operating Output Areas specified in Common


−

1)

×

25

Present position preset is performed according to the position command value set in the Axis Operating Output Memory Area and started when the

PRESENT POSITION PRESET Bit turns ON.

Execute PRESENT POSITION PRESET when the Busy Flag for the corresponding axis is OFF. If PRESENT POSITION PRESET is executed while the axis's Busy Flag is ON, a Multistart Error (axis error code: 3050) will occur and

PRESENT POSITION PRESET will not be executed. When executing

PRESENT POSITION PRESET, make sure that the PRESENT POSITION

PRESET Bit will remain ON until the Busy Flag turns ON.


Name

No Origin Flag

Origin Stop Flag

Error Flag

Busy Flag


Command present position b

Word Bits

06 b+6 b+7 b+8 b+9

07

12

13

---

---

Contents





0: No axis error.

1: Axis error.


Present position:



Present position:




−

1)

×

25

Timing Chart

In the following timing chart, the present position is changed to “0.” When the present position changes to “0,” that position becomes the origin, so the Origin Stop Flag turns ON. The status of the PCU Positioning Completed Flag

(word b, bit 05) does not change.

318

Origin Return

Section 8-4


(word a+2, a+3)

PRESENT POSITION

PRESET (word a, bit 08)

Origin Stop Flag

(word b, bit 07)

No Origin Flag

(word b, bit 06)

0

Busy Flag

(word b, bit 13)

1 cycle time min.

a = Beginning word of Axis Operating Output Areas specified in Common Parameters + (Axis No.

−

1)

×


−

1)

×

25

8-4 Origin Return

Note

The origin return operation is used to return the axis to the origin from any position. ORIGIN RETURN is executed when the ORIGIN RETURN Bit turns

ON.

Execute ORIGIN RETURN when the origin has been established. If ORIGIN

RETURN is executed when the origin has not been established, a Present

Position Unknown Error (axis error code: 3030) will occur.

8-4-1 Origin Return Data Settings

A simple explanation of the main parameters and data used to execute ORI-

GIN RETURN is provided here. To execute ORIGIN RETURN, apart from the parameters explained here, the following parameters also need to be set as basic settings for operating the PCU.

For details on command units, refer to

7-2 Control Units

. The setting units for

parameters and data depend on the specified command unit.


Model

R88D-KN @ -

ML2


Parameter

No.

Pn009

Parameter name



R88D-GN @ -

ML2

R88D-WT @

R88D-WN @ -

ML2

SMART-

STEP Junior

Pn205

Pn206

Pn202 Electronic gear ratio G1 (numerator)

Pn203 Electronic gear ratio G2 (denominator)


Pn210


Pn210





Unit

---

---

---

---

---

---

---

---

---

---

Setting range

1 to

1073741824

1 to

1073741824

1 to

1073741824

1 to

1073741824

1 to 65535

1 to 65535

1 to

1073741824

1 to

1073741824

1 to

1073741824

1 to

1073741824

Parameter size

4

4

4

4

2

2

4

4

4

4

Default setting

1

1

1

1

4

1

4

1

1

1

319

Origin Return





Pn814


Pn818


Linear acceleration constant 10,000 command units/s

2

Linear deceleration constant 10,000 command units/s

2


0.1 ms

Setting range

−

32768 to 32767

Parameter size

2

Default setting

100

−

32768 to 32767

0 to

10000

2

2

100

0

Section 8-4




Pn10A


Linear acceleration constant 10,000 command units/s

2

Linear deceleration constant 10,000 command units/s

2

Moving average time 0.1 ms Acceleration/ deceleration filters

Pn10E

Setting range

−

32768 to 32767

Parameter size

2

Default setting

100

−

32768 to 32767

2

0 to 5100 2

100

0



Pn80A

Pn80B

Pn80C

Pn80D

Pn80E

Pn80F


Parameter name



1 to

65535

Parameter size

2

Default setting

100

W Series SMART-

STEP

Junior

Supported

Not supported







2


2

100 command units/s


2


2

100 command units/s

1 to

65535

0 to

65535

1 to

65535

1 to

65535

0 to

65535

2

2

2

2

2

100

0

100

100

0

Supported

Supported

Supported

Supported

Supported

Supported

Not supported

Not supported

Supported

Not supported

320

Origin Return

Section 8-4



Pn810

Pn811

Pn812

Parameter name




Unit

Command units/s

0.1 ms

0.1 ms

Setting range

0 to

32767

Parameter size

2

0 to 5100 2

0 to 5100 2

0

0

0

Default setting

W Series SMART-

STEP

Junior

Supported

Supported

Supported

Not supported

Not supported

Not supported

When using W-series Servo Drives, the first-step acceleration/deceleration curve operations require parameter settings for Pn80B and Pn80E only.

When using an exponential curve for the acceleration/deceleration curve,

Pn810 and Pn811 must be set for W-series Servo Drives.

Movement Average

Time

for W-series Servo Drives (Pn812) or


for G-series

Servo Drives (Pn10E) must be set when using an S-curve for the acceleration/deceleration curve.

The second-step acceleration/deceleration constant cannot be set using a

G5-series Servo Drive or G-series Servo Drive. The exponential acceleration/ deceleration filter cannot be set because there is no exponential acceleration/ deceleration filter function.


Refer to


for details on accelera-

tion/deceleration curves.


Model

R88D-KN

ML2

R88D-GN

ML2

R88D-WT

@

@

@

-

-

R88D-WN @ -

ML2

Parameter

No.

Pn431

Pn803

Pn060

Parameter name


Origin range


Pn105

Pn500

Pn803

Pn522

Origin range


Zero point width


SMART-

STEP Junior

Pn803

Pn522

Zero point width


Pn803 Zero point width


Command unit 0 to 262144



Command unit

Command unit

Command unit

Command unit

0 to 250

0 to 250

0 to 250

0 to

1073741824

Command unit

Command unit

Command unit

0 to 250

0 to

1073741824

0 to 250

Parameter size

4

2

2

2

4

2

2

2

4

2

Default setting

300

0

25

10

3

10

3

10

10

10

321

Origin Return

Section 8-4


Name

ORIGIN RETURN Bit a

Word Bits

Speed command value a+4 a+5

07

---

Contents

0

→

1: Starts origin return operation




Command range: 1 to

2,147,483,647 (00000000 hex to

7FFFFFFF hex)

The upper limit setting for the speed command value depends on the Servo Drive specifications.

1: Use exponential acceleration/ deceleration curve.

G Series W Series SMARTSTEP

Junior



Not supported

Supported Not supported Acceleration/deceleration curve designation


S-curve designation


Reverse rotation current limit a+16 03

04

14

15

1: Use S-curve acceleration/deceleration curve.

1: Use forward torque limit



1: Use reverse torque limit Supported Supported Not supported a = Beginning word of Axis Operating Output Areas specified in Common


−

1)

×

25

Origin return is performed according to the speed command value set in the

Axis Operating Output Memory Areas and started when the ORIGIN

RETURN Bit turns ON.

Execute ORIGIN RETURN when the Busy Flag for the corresponding axis is

OFF. If ORIGIN RETURN is executed while the axis's Busy Flag is ON, a Multistart Error (axis error code: 3050) will occur and ORIGIN RETURN will not be executed. When starting ORIGIN RETURN, make sure that the ORIGIN

RETURN Bit will remain ON until the Busy Flag turns ON.


STOP, OR DECELERATION STOP command bit is turned ON, the ORIGIN

RETURN command will be ignored. Be sure that all of these command bits are OFF before executing an origin return.

The target speed for an origin return operation can be changed while ORIGIN

RETURN is being executed by setting the new speed command value in the

Axis Operating Output Memory Area. (For details on changing the target

speed, which is the same as positioning operations, refer to

9-4-4 Changing

Target Speed

.)

Torque limit during operation is possible with origin return operations. For fur-

ther details on the torque limit function, refer to


.

The acceleration/deceleration curve designation, and forward/reverse rotation current limit designation data are enabled when the ORIGIN RETURN Bit turns ON.


322

Origin Return

Section 8-4

Note




Name


No Origin Flag

Origin Stop Flag

Error Flag

Busy Flag



Word Bits

05 b+6 b+7 b+8 b+9

06

07

12

13

---

---

Contents

0

→






0: No axis error.

1: Axis error.


Present position:



Present position:




−

1)

×

25

Timing Chart

Speed command value

(words a+4, a+5)

ORIGIN RETURN

(word a, bit 07)

Speed

The following timing chart is for when ORIGIN RETURN is executed.

3E8 hex (1000)

Target speed: 1,000

(command units/s)



PCU Positioning Completed Flag (word b, bit 05)

Time

Origin Stop Flag

(word b, bit 07)


The PCU Positioning Completed Flag is turned ON when the number of the Servo Drive's deviation counter residual pulses is less than the value set for the positioning completion range. Depending on the number of deviation counter residual pulses when pulse output has been completed, a delay may occur in the time between when the pulse output from the Position

Control Unit is completed until positioning has been completed. a = Beginning word of Axis Operating Output Areas specified in Common Parameters + (Axis No.

−

1)

×


−

1)

×

25

323

Phase Z Margin

Section 8-5

8-5 Phase Z Margin

8-5-1 Description

Although there are some variations for different settings, the PCU's origin search basically works by latching (detecting) the first encoder phase Z after confirming ON/OFF status of the origin proximity signal, performing positioning for the final travel distance to return to the origin, and then setting that position as the origin.

When the time (distance) from when the origin proximity signal changes from

ON to OFF until the first phase Z is detected is extremely short or is almost the same as the time taken for one rotation of the Servomotor, the position at which the phase Z is detected may be displaced by one phase due to discrepancies in the ON response of the origin proximity sensor or the Servo Drive speed. This displacement is prevented by confirming the “phase Z margin.”

The phase Z margin indicates the amount by which the Servomotor rotated during the time from when the origin proximity signal changed from ON to

OFF until the phase Z was detected.

If this value is close to 0 or close to one motor rotation, there is a possibility of origin displacement during origin search. A simple way of reducing the probability of this is to adjust the Servomotor's mounting angle or the origin proximity sensor's mounting position so that this value is approximately half a rotation of the Servomotor.

Example: Final travel distance to return to zero point = 0

Servomotor rotation

Time

Origin proximity

1 input signal

0

Phase Z signal

This distance is the phase Z margin.

8-5-2 Calculating the Phase Z Margin (Example)

One method used to obtain the phase Z margin is to perform jogging after origin search in the opposite direction to origin search, with the final travel distance to return to origin set to 0. Then stop operation at the point where the origin proximity signal changes from OFF to ON, and read the value of the present position at that point. The value of this present position is equal to the phase Z margin.

If the speed at the point when the origin proximity signal turns ON is fast, there will be some inaccuracy in the value read for the phase Z margin.

Reduce the speed of the jogging in the vicinity of the point where the origin proximity signal turns ON.

The required phase Z margin can be obtained by adjusting mounting positions and angles so that this position corresponds to approximately half the distance moved for one rotation of the motor.

324

Phase Z Margin

Servomotor rotation

Origin proximity 1 signal

0

Phase Z signal

Section 8-5


Time

Return using JOG at low speed.

8-5-3 Phase Z Margin for Specific Operation Patterns

Phase Z Margin Required for Origin Search Settings

Up to a maximum of two MECHATROLINK communications cycles plus 4 ms may be required to start searching for the origin signal after detecting the origin proximity signal for the following origin search operation patterns.

• When the origin detection method is set to any setting other than 0 (Origin proximity input signal reversal)

• When an absolute encoder zero point position offset is set for the origin search

When performing an origin search with one of the above operation patterns, the following margin must be provided in the phase Z signal after the origin proximity input signal turns ON.

Motor rotation

Time

1


0

Phase Z signal

Phase Z Margin Required for External Input Signals

Provide a margin in the phase Z signal of at least two

MECHATROLINK communications cycles plus 4 ms.

If the limit input signal in opposite direction from origin search direction and the origin proximity signal are close or overlapping, up to a maximum of two

MECHATROLINK communications cycles plus 4 ms may be required to start searching for the origin signal after detecting the origin proximity signal.

In this case, the following margin must be provided in the phase Z signal after the limit input signal in opposite direction from origin search direction turns

OFF.

325

Absolute Encoder Origin

Motor rotation

Section 8-6

Time

Limit input in opposite direction from origin search direction

1

0


1

0

1

0

Phase Z signal

Note:

The origin search operation settings determine the motor operation and phase Z signal detection operation when the origin proximity input signal turns ON or OFF.

Provide a margin in the phase Z signal of at least two

MECHATROLINK communications cycles plus 4 ms.

8-6 Absolute Encoder Origin

8-6-1 Absolute Encoder Overview

The absolute encoder's battery backup enables absolute value data to be held even if the power to the CPU Unit (PCU) or Servo Drive is turned OFF.

Therefore, after turning ON the power to the CPU Unit (PCU), the saved absolute value data can be read, enabling positioning at the present position that existed before the power was turned OFF.

The Servo Parameter


for G-series Servo Drives

(Pn200) or

Absolute Encoder Zero Point Position Offset

for G5-series/Wseries Servo Drives (Pn808) for absolute value data that is read can be used to offset the mechanical origin.

When an absolute encoder is used to determine the origin, it is not necessary to perform origin searches every time the power is turned ON, as is required for devices such as incremental encoders.

326


CPU Unit

The following is an example for using a W-series Servo Drive.

PCU Servo Drive

Section 8-6

MOV

MOV

Use WRITE SERVO

PARAMETER to transfer before executing ORIGIN

SEARCH.

WRITE DATA/SERVO

PARAMETER

CONNECT/SERVO LOCK

Use WRITE DATA to transfer before executing ORIGIN

SEARCH. n+1


Axis Operating Output Memory Areas a+1


CONNECT Bit

(word n+1, bit 00)


SERVO LOCK

(word a+1, bit 00) b

Axis Operating Input Memory Areas

Control status d+3

Axis Parameter Area

Encoder type


Pn002.2

Servomotor

M

Select the type of encoder to be used. b+6 b+7 b+8 b+9


(rightmost word)


(leftmost word)


(rightmost word)


(leftmost word)

Input during I/O refresh

Origin offset

Pn808

+

+

PG

Reading absolute value data

Absolute encoder n: Beginning word of Common Operating Memory Area: n = CIO 1500 + (unit number

×

25) a = Beginning word of Axis Operating Output Areas specified in Common Parameters + (Axis No.

−

1)

×


−

1)

×

25

Applicable Servomotors

The following Servomotors with absolute encoders support this function.

OMRON G5-series Servomotors

Model: R88M-K @ S/K @ T/K @ C

OMRON G-series Servomotors

Model: R88M-G @ S/G @ T

OMRON W-series Servomotors

Model: R88M-W @ S/W @ T

The SMARTSTEP Junior Servo Drives cannot be used with motors with absolute encoders.

8-6-2 Absolute Encoder Operating Procedure

The procedure for using an absolute encoder is as given below. The following procedure is performed just once when using the absolute encoder for the first time, when replacing the Servomotor, when the absolute encoder's battery expires, or when another reason occurs that results in loss of absolute value data.

1,2,3...

1.


2.

Set the Axis Parameters and save them.

3.

Turn the PCU OFF and then ON again or restart the Unit.

The data for the Common Parameters and Axis Parameters set in steps 1 and 2 above are enabled.

327


Establishing the Origin with an Absolute Encoder

Note

Section 8-6

4.


5.

Set the absolute encoder type to be used in

Operation Switch When Using

Absolute Encoder

(Pn002.2 for W Series and Pn00B for G Series).

This step is not required if using the default setting.

6.

Setup the absolute encoder.

After setting up the absolute encoder, the power to the Servo Drive must be turned OFF and then ON again.

7.


When the connection is established, the absolute value data is read from the absolute encoder.

8.

Set the mechanical origin.

9.

Set the origin position offset for the absolute encoder.

After completing this procedure, the mechanical origin will be set whenever the power is turned ON or MECHATROLINK communications are started.

The following differences exist in origin searches when using a motor with an absolute encoder depending on the unit version of the Position Control Unit.

Position Control Units with Unit Version 1.3 or Earlier

Position Control Units with unit version 1.3 or earlier do not support origin search operations for absolute encoders.

When the origin search operation is executed, the present position is cleared to 0 or, if the origin search preset function is enabled, it is set to the present command value after the origin has been established. Any absolute value data previously read by the Position Control Unit is lost. If the absolute value data is later read from the absolute encoder, e.g., when the Servo is unlocked and locked, the coordinate system based on the absolute value data previously saved in the absolute encoder will be used instead of the origin established by the origin search operation.

Position Control Units with Unit Version 2.0 or Later

When the origin search operation is executed, the present position is cleared to 0 or, if the origin search preset function is enabled, it is set to the present command value after the origin has been established. If the origin search operation pattern is set to reversal mode 1, the zero point position offset of the absolute encoder will be set automatically and saved in the Servo Parameters. The mechanical origin and the zero point position offset in the absolute encoder can thus be set simultaneously by using a Position Control Units with unit version 2.0 or later and reversal mode 1 with an absolute encoder.

Refer to

8-6-5 Absolute Encoder's Origin (Zero Point) Position Offset Setting

for details on setting the zero point position offset using an origin search.

ORIGIN SEARCH can also be executed when using Servomotors with absolute encoders. By executing ORIGIN SEARCH, however, the present position will be cleared to 0 when the origin is established. Therefore, the absolute data read to the PCU in Servo lock status will be lost unless the zero point position offset is set using the origin search operation for a Position Control

Units with unit version 2.0 or later. The absolute data saved in the absolute encoder will not be lost and can be obtained by executing SERVO UNLOCK after the origin search has been completed, and then executing SERVO

LOCK again. The origin position detected, however, will be displaced due to

SERVO UNLOCK execution. Therefore, do not execute ORIGIN SEARCH when using a Servomotor with absolute encoder unless you set the zero point position offset using the origin search operation for a Position Control Units with unit version 2.0 or later.

328


Section 8-6

8-6-3 PCU Data Settings for Using Absolute Encoders

The parameters and data required when using absolute encoders are as follows:


PCU's address

d+2

15 to 12

0 (fixed)

The following parameters are for the operation mode for origin searches.

Contents

11 to 08 07 to 04

0 (fixed) 0 (fixed)

Setting

03 to 00

Encoder type 0: Incremental encoder (default setting)


−

1)

×

14 hex

When using an absolute encoder, make sure that the settings for the encoder type in the Axis Parameters and

Operation Switch When Using Absolute

Encoder

in the Servo Parameters match.

Axis Parameter

Area

Encoder type

G5-series Servo Parameter Pn015


G-series Servo Parameter Pn00B


1: Use as an incremental encoder.

0: Use as an absolute encoder.

2: Use as an absolute encoder but ignore absolute multi-turn counter overflow alarm.



This setting is used when using an absolute encoder as an incremental encoder



(Set this combination when using an absolute encoder.)

Axis Parameter

Area

Encoder type

W-series Servo Parameter Pn002.2



0: Use as absolute encoder.

1: Use as incremental encoder.


This setting is used when using an absolute encoder as an incremental encoder



(Set this combination when using an absolute encoder.)

If the settings do not match, reading absolute data will not be possible, or another malfunction may occur.


Type

---

Parameters for Using G5-series Absolute Encoders

Parameter

No.

Pn015

Parameter name


---


0 to 2

Parameter size

2 1

Default setting

329


Section 8-6

---

---

---

Type

Type

Type

Parameters for Using G-series Absolute Encoders

Unit Parameter

No.

Pn00B

Parameter name


---

Setting range

0 to 2

Parameter size

2 0

Default setting

Parameters for Using W-series Absolute Encoders

Unit Parameter

No.

Pn002.2

Parameter name


(operation switch when using absolute encoder)

---

Setting range

0, 1

Parameter size

2 0

Default setting

When using a Servomotor with an absolute encoder, select whether the absolute encoder will be used as an absolute encoder or as an incremental encoder. Set this parameter to 0 if using the absolute encoder as an absolute encoder.

When using W-series Servo Drives, the parameter size is the value to be specified when transferring the Servo Parameter including Pn002.

G-series Origin Position Offset Parameters

Parameter

No.

Pn200

Parameter name

Absolute origin offset

Unit

Command unit


−

1,073,741,823 to

1,073,741,823

4 0

Default setting

---

Type

G5-series/W-series Origin Position Offset Parameters

Parameter

No.

Pn808



Command unit


−

1,073,741,823 to

1,073,741,823

4 0

Default setting

Note

This parameter sets the offset for the mechanical origin from the absolute encoder's absolute value data. The present position will be the absolute value data that was read added to the value in this parameter, and that position is set as the origin.

When using the zero point position offset setting function with Position Control

Units with unit version 2.0 or later, Pn808 is automatically overwritten when an origin search is performed with an absolute encoder. (Refer to

8-6-5 Absolute Encoder's Origin (Zero Point) Position Offset Setting

) To achieve this, the

Position Control Unit reads and writes Servo Parameter for Pn808 when the origin search operation is started and when it is completed.


Name

No Origin Flag

Origin Stop Flag

Error Flag

Busy Flag b

Word Bits

06

07

12

13

Contents





0: No axis error.

1: Axis error.


330


Section 8-6

Name


Word

b+6 b+7

---

Bits

Command present position b+8 b+9

---

Contents

Present position:



Present position:




−

1)

×

25

8-6-4 Absolute Encoder Setup

The absolute encoder setup must be performed when using the absolute encoder for the first time, initializing the rotation amount to 0, or having left the absolute encoder for a long time without connecting a battery.

The following methods can be used to set up the absolute encoder when using a Position Control Unit with unit version 1.2 or later.

• The absolute encoder can be set up using the CX-Motion-NCF.

• The absolute encoder can be set up from the user program using a function block from the OMRON FB Library.

• The absolute encoder can be set up using the Servo Drive's Setting Tool.

Note

Refer to the

SYSMAC CX-Motion-NCF Programmable Controller Operation

Manual

(Cat. No. W436) for information on setting up the absolute encoder from the CX-Motion-NCF.

When setting up an absolute encoder using the function block from the

OMRON FB Library, use a CPU Unit with unit version 3.0 or later.

Absolute Encoder Setup Function Block in OMRON FB Library:

_NCF700_InitializeAbsEncoder

Start Bit

Busy Flag

Unit No.

Axis No.

(BOOL)

EN

_NCF700_InitializeAbsEncoder

(BOOL)

ENO

(INT)

UnitNo

(INT)

Axis

(BOOL)

Busy

(BOOL)

Done

(BOOL)

Error

(WORD)

ErrorID

Busy Flag

Setup completed

Error Flag

Error Code

(Can be omitted)

The absolute encoder setup can be executed by specifying the unit number and axis number for the function block, and setting the Start Bit.

For information on function block operating requirements and precautions, refer to the

OMRON FB Library Reference Manual

(Cat. No. W442).

When using a PCU with unit version 1.1 or earlier, absolute encoder setup is executed using the Servo Drive’s Setting Tool. For details on absolute encoder setup operations using the Servo Drive Setting Tool, refer to the operation manual for the connected Servo Drive.

After executing absolute encoder setup, be sure to turn ON the Servo Drive’s control power supply again. Not doing so will prevent the Servo Drive’s response to PCU commands, and normal operation will not be possible.

331


Section 8-6

8-6-5 Absolute Encoder's Origin (Zero Point) Position Offset Setting

When Absolute Origin Offset for G Series (Pn200) or Absolute Encoder Zero Point Position Offset for

G5 Series/W Series (Pn808) = 0 (Default)

1,2,3...

1.

Start MECHATROLINK communications (establish a connection using

CONNECT).

2.

Use jogging or other operation to place the machine in the mechanical origin position. ORIGIN SEARCH cannot be used when using an absolute encoder.

3.

Confirm the feedback present position in the Servo unlocked state and set the origin position offset based on this present position. When the Servo is locked, the present position may oscillate, or deviation will accumulate in the Servo Drive, which may prevent the correct set value from being obtained for the origin position offset, causing displacement of the origin.

4.

Reverse the sign of the value for the feedback present position read in step

3 and write this value in


(Pn808). Use SAVE SERVO PARAMETER to write the value to the Servo

Drive's non-volatile memory.

5.

Execute DEVICE SETUP or turn the power to the Servo Drive OFF and then ON again.

The absolute encoder origin position offset that has been set is now enabled.

When Absolute Origin Offset for G Series (Pn200) or Absolute Encoder Zero Point Position Offset for

G5 Series/W Series (Pn808) = Not 0

When the


for G Series (Pn200) or

Absolute Encoder

Zero Point Position Offset

for G5 Series/W Series (Pn808) is set to a value other than 0, such as when replacing the Servomotor, use either of the following methods to set the origin position offset.

Method 1: First set the origin position offset to 0 (set


for

G Series (Pn200) or


for G5 Series/W Series (Pn808) to 0) using SAVE SERVO

PARAMETER), and then set it according to the setting method for when Pn808 is 0.

Method 2: Use the above setting method for when the absolute encoder zero point position offset is 0, and calculate the set value in step 4 using the following equation.

New zero point position offset value = Present zero point position offset value

−


Note

There is a limit to the number of times non-volatile memory in the Servo Drive can be written (10,000 times). Do not save


(Pn200) for

G Series or


(Pn808) for G5

Series/W Series too frequently.

Setting the Absolute Encoder Zero Point Position Offset Using an Origin Search Operation

The


for G Series (Pn200) and

Absolute Encoder Zero

Point Position Offset

for W Series (Pn808) can be automatically set at the end of an origin search by executing the origin search with the following operation pattern with a Position Control Unit with unit version 2.0 or later.

Operation pattern: Reversal mode 1

Origin detection method: Origin proximity input signal reversal, No origin proximity input signal reversal, or Do not use origin proximity input signal

332


Section 8-6

PCU's address

d+1

15 to 14 13

0 (fixed) Origin search preset d+2 0 (fixed) 0

To enable setting the absolute encoder zero point position offset with an origin search operation, the following axis parameter settings must be used with the above origin search operation pattern.

Origin search preset: Set.

Encoder type: Absolute Encoder

Axis Parameters

The following parameters are used to set the origin search operation mode.

0

12

Contents

11 to 08 07 to 04 03 to 00



0 (fixed)


0 (fixed)

Setting

0 (fixed) Set the origin search operation.


0: Reversal mode 1

Encoder type


0: With origin proximity input signal reversal (default setting)





1: Reverse


1: Set


−

1)

×

14 hex

Note

When setting the absolute encoder's zero point position offset using an origin search, set the position command value (i.e., the present position preset value) to 0 and enable the origin search preset even when the preset value is not being used for the origin search.

• Each time the absolute encoder zero point position offset is set using an origin search operation, the


for G Series (Pn200) or


for G5 Series/W Series

(Pn808) is saved to non-volatile memory in the Servo Drive. There is a limit to the number of times non-volatile memory in the Servo Drive can be written (10,000 times). Do not save the


for G

Series (Pn200) or


for W

Series (Pn808) too frequently.

• The absolute encoder zero point position offset will not be set correctly using an origin search operation if an error occurs before origin search operation is completed. Repeat the operation if an error occurs.

• If the absolute encoder PG zero point position offset is set using an origin search operation, the MECHATROLINK transfer cycle and communications cycle settings will need to be changed. Refer to

Transfer Cycle and

Communications Cycle When Setting the Absolute Encoder Zero Point

Position Offset Using an Origin Search Operation with Position Control

Units with Unit Ver. 2.0

on page 246 and set the transfer cycle and com-

munications cycle correctly. If the transfer cycle and communications cycle are not set correctly, the function to set the absolute encoder PG zero point position offset using an origin search operation will not operate correctly.

333


Section 8-6

• To use a motor with absolute encoders with the OMNUC G series and G5 series Servo Drives, use the motor as described below when setting the absolute PG origin offset using origin search.

• If the limit input in the origin search direction is ON when executing the origin search, origin search does not operate normally.

Start the origin search after moving the position where the limit input in the origin search direction does not turn ON by jogging.

• If the origin search is started when the limit input is ON in the origin search direction, an error terminates when the origin search operation is completed (data setting error, error code: 3099).

8-6-6 Establishing the Origin Using an Absolute Encoder

The Position Control Unit establishes the origin by reading the absolute value data saved in the absolute encoder using the following timing.

The zero point position offset that is set as a Servo parameter is added to the absolute value data that is read and input to the Axis Operating Input Memory

Areas as the present position of the Position Control Unit.

In the following sections, the present position is given as the sum of the travel distances for the operations for each axis.

G5-series/G-series Servo

Drives

Turning ON the Servo Drive

When the control power supply is turned ON, the G5-series Servo Drive or Gseries Servo Drive reads the absolute value data of the Servomotor with the absolute encoder to the Servo Drive. When MECHATROLINK communications start (i.e., when a connection is established), the Position Control Unit updates the present position using the absolute value data read from the

Servo Drive.

Servo Drive Power Supply Input



Present Position Preset (word a, bit 08)

Positioning Completed (word b, bit 05)



Feedback Present Position (words b+6, b+7)

Absolute value data

Preset data

Position data invalid

Preset data

(See note.)

Command Present Position (words b+8, b+9)

Absolute value data

Preset data


Preset data

(See note.)

The present position data will be read from the

Servo Drive and the origin will be established when

CONNECTION Bit is set and the MECHATROLINK is in communications status (the Connection Status

Flag is ON).

The origin will not be established (the No Origin Flag will be ON) and the present position will become invalid data when CONNECTION Bit is set and

MECHATROLINK communications are stopped (the

Connection Status Flag is OFF).

Note:

Once the Present Position

Preset has been executed, the preset data will be read when the connection is established until the absolute value data is read again. n = Beginning word of Common Operating Memory Area: n = 1500 + (unit number

×

25) b = Beginning word of Axis Operating Input Memory Areas specified in Common Parameters + (Axis No.

−

1)

×

25

334


Section 8-6

Executing DEVICE SETUP

The absolute value data for the axis for which DEVICE SETUP was executed is read.

DEVICE SETUP (word a+1, bit 11)

SERVO LOCK (word a+1, bit 00)

SERVO UNLOCK (word a+1, bit 01)





Servo ON (word b+1, bit 03)


Absolute value data Preset data Rereading absolute value data

Command Present Position (words b+8, b+9) Absolute value data Preset data

Rereading absolute value data

Once the connection has been established, the zero point position offset will be set, and the origin will not be established (the No Origin Flag will be

OFF) if the offset is enabled using the device setup with MECHATROLINK in communications status. Then, the origin will be updated using the set present position offset when SERVO LOCK is executed.

n = Beginning word of Common Operating Memory Area: n = 1500 + (unit number

×

25) a = Beginning word of Axis Operating Output Memory Areas specified in Common Parameters + (Axis No.

−

1)

×

25 b = Beginning word of Axis Operating Input Memory Areas specified in Common Parameters + (Axis No.

−

1)

×

25

W-series Servo Drives Starting MECHATROLINK Communications (When a Connection Has

Been Established)

Absolute value data is read for all axes of the Servomotors with absolute encoders that are registered in the scan list.








Absolute value data

Preset data




Absolute value data

Preset data



The absolute value data will be read and the origin will be established when the CONNECTION Bit is set and MECHATROLINK is in communications status (the Connection Status Flag is ON).

The origin will not be established (the No Origin

Flag will be ON) and the present position will become invalid data when the CONNECT Bit is

OFF and the MECHATROLINK communications are stopped (the Connection Status Flag is n = Beginning word of Common Operating Memory Area: n = 1500 + (unit number

×

25)

OFF). b = Beginning word of Axis Operating Input Memory Areas specified in Common Parameters + (Axis No.

−

1)

×

25

335


Section 8-6


Executing SERVO LOCK

Absolute value data for the axis for which SERVO LOCK was executed is read.

If the absolute encoder zero point offset or other offline parameter is set and

DEVICE SETUP is executed to enable the absolute encoder zero point offset while continuing MECHATROLINK communications, the origin for that axis will not be established. In that case, the absolute value data will be read again and the origin will be established based on the new parameter setting by executing SERVO LOCK.

However, for W-series Servo Drives with built-in MECHATROLINK communications (R88D-WN

@

-ML2), the multiturn limit that is set is not applied to absolute value data that is read when SERVO LOCK is re-executed. (Refer to the

note on page 337.)


SERVO LOCK (word a+1, bit 00)

SERVO UNLOCK (word a+1, bit 01)

DEVICE SETUP (word a +1, bit 11)





Servo ON (word b+1, bit 03)



Absolute value data

Absolute value data



Preset data

Preset data



Once the connection has been established, the zero point position offset will be set, and the origin will not be established (the No Origin Flag will be OFF) if the offset is enabled using the device setup while continuing MECHATROLINK communications. Then, the absolute value data will be read again and the origin updated with the set present position offset will be established by executing SERVO LOCK.

n = Beginning word of Common Operating Memory Area: n = 1500 + (unit number

×

25) a = Beginning word of Axis Operating Output Memory Areas specified in Common Parameters + (Axis No.

−

1)

×


−

1)

×

25

Note

(1) Parameters that are not saved in the non-volatile memory built into the

Servo Drive will be lost when DEVICE SETUP is executed. If data must be saved to the non-volatile memory, execute SAVE SERVO PARAME-

TER first.

(2) The set data will be overwritten with the present position data of the Servo

Drive when PRESENT POSITION PRESET is executed. To read the absolute value data again, turn OFF and ON again the power supply of the

Servo Drive or execute DEVICE SETUP for a G5-series Servo Drive or

G-series Servo Drive, and start MECHATROLINK communications or execute SERVO LOCK for a W-series Servo Drive.

336


Section 8-6

(3) When the setting of the Absolute Encoder Multi-turn Limit Setting parameter (Pn205) is changed from the default setting (65,535), the absolute data that is read depends on the model of the W-series Servo Drive.

Read timing

When MECHA-

TROLINK communications is started

W-series Servo Drive with

MECHATROLINK-II Interface

Unit R88D-WT @

Absolute data is read with the limit set in Pn205 applied.

W-series Servo Drive with

Built-in MECHATROLINK-II

Communications R88D-

WN @ -ML2

Same as at the left.

When unlocking and then locking the servo during operation

Same as above.

Absolute data for the current present value is read. The limit set in Pn205 is not applied.

With a W-series Servo Drive with Built-in MECHATROLINK-II Communications (R88D-WN @ -ML2), if the servo is unlocked and then locked during operation, the present position with the absolute encoder multi-turn limit applied is not restored. The present position that is restored when the servo is locked will be the present position from the immediately previous operation. To apply the absolute encoder multi-turn limit with an

R88D-WN @ -ML2 Servo Drive, stop MECHATROLINK communications and then start communications again, or execute DEVICE SETUP while the servo is unlocked. If the servo is locked after completing DEVICE

SETUP, a present position with the absolute encoder multi-turn limit applied will be restored.

337


Section 8-6

338

SECTION 9

Positioning

This section provides an overview of direct operation and describes the parameter settings, data settings, and procedures required to perform direct operation. Information on interrupt feeding and torque limits is also provided here.

9-1 Direct Operation Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-2 Direct Operation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-3 PCU Data Settings for Direct Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-4 Using Direct Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-4-1 Starting Direct Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-4-2 Direct Operation Timing Charts . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-4-3 Changing Target Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-4-4 Changing Target Speed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-5 Interrupt Feeding. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-5-1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-5-2 Interrupt Feeding Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-5-3 Data Settings for Using Interrupt Feeding . . . . . . . . . . . . . . . . . . . .

9-5-4 Timing Chart for Interrupt Feeding . . . . . . . . . . . . . . . . . . . . . . . . .

9-5-5 Present Position during Interrupt Feeding . . . . . . . . . . . . . . . . . . . .

9-6 Torque Limit Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-7 Linear Interpolation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-7-1 Overview of Linear Interpolation Function . . . . . . . . . . . . . . . . . . .

9-7-2 Linear Interpolation Operation Procedure . . . . . . . . . . . . . . . . . . . .

9-7-3 Setting Data for Linear Interpolation Operation. . . . . . . . . . . . . . . .

9-7-4 Linear Interpolation Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

340

341

341

345

345

346

350

352

353

353

353

354

355

356

356

357

357

359

360

365

339

Direct Operation Overview

Section 9-1

9-1 Direct Operation Overview

Direct operation of the PCU enables positioning by simply writing target position data and target speed data directly from a ladder program to a specified area in the CPU Unit.

Positioning operations using direct operation are executed according to the position command value and speed command value in the Axis Operating

Memory Area set in Common Parameters and the acceleration/deceleration constants set in the Servo Parameters.

The following is an example for a W-series Servo Drive.

CPU Unit

Ladder program

(1)

MOV

(1) Transfer the Servo Parameters for acceleration/deceleration.

(2) Set the operating data in the Axis Operating Output Data Areas.

(3) Use the bits in the Axis Operating Output Memory Areas to start the positioning operation.

MOV

PCU Servo Drive


(2)

MOV

MOV

(3)

ABSOLUTE MOVEMENT/

RELATIVE MOVEMENT

Execute WRITE SERVO

PARAMETER to transfer before starting positioning operations.

Acceleration/ deceleration parameters

Pn80A

Pn80B

Pn80C

:

Speed

Time a+2 a+3 a+4 a+5 a



(rightmost word)


(leftmost word)

Speed command value

(rightmost word)

Speed command value

(leftmost word)


ABSOLUTE MOVEMENT

(word a, bit 03)

RELATIVE MOVEMENT

(word a, bit 03)

Output during I/O refresh b


Control status

Input during I/O refresh b+6 b+7 b+8 b+9


(rightmost word)


(leftmost word)


(rightmost word)


(leftmost word)

Input during I/O refresh a = Beginning word of Axis Operating Output Areas specified in Common Parameters + (Axis No.

−

1)

×


−

1)

×

25

The position command value and speed command value set in the Axis Operating Output Memory Area using the MOV instruction are output to the PCU automatically during I/O refresh. Direct operation is started when the ABSO-

LUTE MOVEMENT Bit or RELATIVE MOVEMENT Bit allocated in the Axis

Operating Output Memory Area turns ON.

340

Direct Operation Procedure

Section 9-2

9-2 Direct Operation Procedure

The procedure for using direct operation is as follows:

1,2,3...

Note

1.


2.


The data for the Common Parameters set in step 1 above is enabled.

3.


4.


Set the Servo Parameters required to execute direct operation.


(writes to the non-volatile memory).

To enable changed offline parameters, turn ON the power to the Servo

Drive again or execute DEVICE SETUP.



.

5.

Execute SERVO LOCK.

6.

Set the data used for direct operation.

Set the positioning data for direct operation in the position command value of the Axis Operating Output Memory Area.

Set the speed data for direct operation in the speed command value of the

Axis Operating Output Memory Area.

7.

Start ABSOLUTE MOVEMENT or RELATIVE MOVEMENT.

When using the PCU for the first time or to change the Common Parameter data, steps 1 and 2 must be performed.

After executing SERVO LOCK, WRITE SERVO PARAMETER can be executed to set the acceleration/deceleration used each time positioning is performed.

When specifying the Servo Parameters for acceleration/deceleration every time, make sure that the axis operation is stopped (Busy Flag = 0) while changing the acceleration/deceleration constants using WRITE SERVO

PARAMETER. Do not change parameters during axis operation.

Changing parameters while the axis is operating may result in incorrect positioning or other malfunction.

9-3 PCU Data Settings for Direct Operation

A simple explanation of the main parameters and data used to execute direct operation is provided here. To execute direct operation, apart from the parameters explained here, the following parameters also need to be set as basic settings for operating the PCU.


Refer to


.

• Command Unit

Refer to

7-2 Control Units

.


341

PCU Data Settings for Direct Operation

Section 9-3

G5-series Acceleration/Deceleration Servo Parameters



Pn811

Parameter name

Linear acceleration constant Acceleration/deceleration constants

Acceleration/deceleration filters

Pn814

Pn818



Unit


2


2

0.1 ms

−

32767

−

Setting range

32768 to

32768 to

32767

0 to 10000

2

Parameter size

Default setting

100

2

2

100

0

G-series Servo Parameters

Type

Acceleration/deceleration constants

Pn10A

Pn10E


Parameter name



Moving average time

Unit


2


2

0.1 ms

Setting range

−

32768 to

32767

−

32768 to

32767

0 to 5100 Acceleration/deceleration filters

Parameter No.

Pn107 2

Parameter size

Default setting

100

2

2

100

0

W-series and SMARTSTEP Junior Servo Parameters





Pn80A

Pn80B

Pn80C

Pn80D

Pn80E

Pn80F

Pn810

Pn811

Pn812












2


2

100 command units/s


2


2

100 command units/s

Command units/s

0.1 ms

0.1 ms

1 to 65535

1 to 65535

0 to 65535

1 to 65535

1 to 65535

0 to 65535

0 to 32767

0 to 5100

0 to 5100

2

2

2

2

2

2

2

2

2

Parameter size

Default setting

100

W Series SMART-

STEP

Junior

Supported

Not supported

100

0

100

100

0

0

0

0

Supported

Supported

Supported

Supported

Supported

Supported

Supported

Supported

Supported

Not supported

Not supported

Supported

Not supported

Not supported

Not supported

Not supported

342


Section 9-3

First-step acceleration/deceleration curve operations require parameter settings for Pn80B and Pn80E only. For the acceleration/deceleration curve,

Pn810 and Pn811 must be set when using an exponential curve, and Pn812 must be set when using an S-curve.





.


Model Parameter

No.

Pn431 R88D-KN @ -

ML2

R88D-GN

@

-

ML2

Pn060

R88D-WT @ Pn500

R88D-WN

ML2

@ Pn522

SMART-

STEP Junior

Pn522


Positioning completion range 1 Command unit 0 to 262144 4

Positioning completion range 1 Command unit 0 to 10000 2

Positioning completion range 1 Command unit 0 to 250

Positioning completion range 1 Command unit 0 to

1073741824

Positioning completion range 1 Command unit 0 to

1073741824

2

4

Parameter size

4

Default setting

300

25

3

3

10

Minimum Limit Settings

Under the following conditions, the Servo Parameters listed above, apart from

Pn80B, Pn80E, and Pn500/Pn522, are used with the default settings and do not need to be changed.

• Command unit: Pulse

• Acceleration/deceleration curve: Linear acceleration/deceleration for a single step only (trapezoidal curve)


Name Word

ABSOLUTE MOVEMENT a

RELATIVE MOVEMENT

INTERRUPT FEEDING


Bits

03

04

05

---

Contents G5 Series

G Series

W Series SMARTST

EP Junior

0

→

1: Starts absolute movement. Supported Supported Supported

0

→

1: Starts relative movement.


1: Enables interrupt feeding.


Supported Supported Supported Position command value (rightmost word)


Unit: Command unit

Command range:

−

2,147,483,648 to 2,147,483,647 (80000000 hex to 7FFFFFFF hex)

The command value is limited by the allowable positioning range when using RELATIVE MOVE-

MENT.


9-4-1 Starting

Direct Operation

.)

343


Section 9-3

Name

Speed command value

Word

a+4 a+5

---



S-curve designation



04

14

15

Bits Contents G5 Series

G Series

W Series SMARTST

EP Junior

Supported Supported Supported Speed command value (rightmost word)



Command range:

0

to

2,147,483,647 (00000000 hex to

7FFFFFFF hex)

The upper limit setting of the speed command value depends on the Servo Drive specifications.

1: Use exponential acceleration/deceleration curve.

Not supported




1: Use forward torque limit.

1: Use reverse torque limit.



Note



−

1)

×

25

The settings of the following are enabled when the movement command start bit turns ON: Position command value, Acceleration/Deceleration Curve Designation Bit, Interrupt Feeding Designation Bit, and Forward/Reverse Rotation

Current Limit Designation Bit.

The speed command value can always be changed during operation. By overwriting the speed command value, the speed for the positioning operation can be changed.

The G5-series Servo Drives and G-series Servo Drives do not support exponential curve designation filters. When using a G5-series Servo Drive or

G-series Servo Drive, do not attempt to use an exponential curve designation.




344

Using Direct Operation

Section 9-4

Axis Operating Input Memory Areas (Monitoring)

Name

Receiving Command

Flag b

Word Bits

00


Contents


0

→



0

→

1: Positioning is completed.


No Origin Flag

Error Flag

Busy Flag

Feedback present position b+6 b+7

05

06

12

13

---

---



0: No axis error.



Present position:



Present position:




−

1)

×

25

The Receiving Command Flag turns ON for at least one cycle time when the command to start direct operation is received by the PCU. Use the Receiving

Command Flag when starting and changing target positions to control the

ON/OFF timing for ABSOLUTE MOVEMENT and RELATIVE MOVEMENT.

9-4 Using Direct Operation

9-4-1 Starting Direct Operation

Two methods for starting direct operation are available, as follows:

1,2,3...

Executing ABSOLUTE

MOVEMENT

1.

When the ABSOLUTE MOVEMENT Bit turns ON

2.

When the RELATIVE MOVEMENT Bit turns ON

When starting direct operation, make sure that the ABSOLUTE MOVE-

MENT/RELATIVE MOVEMENT Bit remains ON until the Receiving Command

Flag or the Busy Flag in the Axis Operating Input Memory Area turns ON.

Direct operation commands will be ignored if the SERVO UNLOCK, DEVIA-

TION COUNTER RESET, EMERGENCY STOP, or DECELERATION STOP

Bit is ON. Be sure these bits remain OFF while performing direct operation.

ABSOLUTE MOVEMENT positions the axis at the specified position using the position command value in the Axis Operating Output Memory Area as absolute data. If ABSOLUTE MOVEMENT is started without the origin established

(No Origin Flag = 1), a Present Position Unknown Error (axis error code:

3030) will occur, and positioning will not be executed.

The positioning range for ABSOLUTE MOVEMENT is any absolute position for which the travel amount from the present position is between

−

2,147,483,648 and 2,147,483,647 (command units).

345


Section 9-4

If ABSOLUTE MOVEMENT is executed for an absolute position that exceeds this range, positioning will be performed not to a position based on the present origin, but to a position exceeding the upper or lower limit of the command present position.

ABSOLUTE MOVEMENT execution


−

2,147,483,648

Position command value for

ABSOLUTE MOVEMENT

−

1,747,483,648

0

Example: 400,000,000

In this example, positioning is possible between

−

1,747,483,648 and 2,147,483,647.

2,147,483,647

If ABSOLUTE MOVEMENT is executed with a position command value of

−

2,147,483,648 to

−1

,747,483,649 in the above example, positioning will be performed to the specified position.

Note

If ABSOLUTE MOVEMENT is executed for an absolute position that exceeds the positioning range, the positioning operation will be in the reverse direction to the present origin and the origin will be offset. Do not allow the position command value for ABSOLUTE MOVEMENT to exceed the positioning range.

Also, set limit input signals and software limits so that operation will not be performed outside the present positioning range.

Executing RELATIVE

MOVEMENT

RELATIVE MOVEMENT positions the axis at the specified position using the position command value in the Axis Operating Output Memory Area as incremental data. RELATIVE MOVEMENT can be executed without the origin established (No Origin Flag = 1), and the position command value will be added to the present position (relative travel distance).

The positioning range for RELATIVE MOVEMENT is a command present position range of

−

2,147,483,648 to 2,147,483,647 (command units) when it is not limited by limit input signals or software limits. (For details on the command present position, refer to

7-3 Coordinate System and Present Position

.)

The position command value used as the relative travel distance can be specified in the range

−

2,147,483,648 to 2,147,483,647 (command units), but if the positioning is started with a position command value such that the target position exceeds the positioning range for RELATIVE MOVEMENT, a Position

Designation Error (axis error code: 3060) will occur, and the positioning operation will not be executed.

RELATIVE MOVEMENT execution


−

2,147,483,648

Position command value for

RELATIVE MOVEMENT

−

2,147,483,648

0

0

2,147,483,647

2,147,483,647

Positioning is possible.

Positioning is not possible

(Position Designation error).

For details on acceleration/deceleration operations during direct operation, refer to


.

9-4-2 Direct Operation Timing Charts

Timing Chart for

Movement Command

Execution

The following timing chart is for when RELATIVE MOVEMENT is executed.

The timing chart for ABSOLUTE MOVEMENT is the same, except that positioning is executed with the absolute position.

346



(words a+2, a+3)

Speed command value

(words a+4, a+5)

RELATIVE MOVEMENT

(word a, bit 04)

Speed

2710 hex (10000)

3E8 hex (1000)

Target speed: 1,000

(command units/s)

Travel distance: 10,000

(command units)



Section 9-4


(word b, bit 00)




Time

The Receiving Command Flag turns ON for at least one cycle time when the movement command is received.


The PCU Positioning Completed Flag is turned ON when the number of the Servo Drive's deviation counter residual pulses is less than the value set for the positioning completion range. Depending on the number of deviation counter residual pulses when pulse output has been completed, a delay may occur in the time between when the pulse output from the Position Control Unit is completed until positioning has been completed.

After direct operation starts, the Busy Flag remains ON until the positioning operation has been completed.

Make sure that the bit for the direct operation movement command remains ON until the Receiving Command Flag or Busy Flag turns ON. a = Beginning word of Axis Operating Output Areas specified in Common Parameters + (Axis No.

−

1)

×


−

1)

×

25

Timing Chart for Zero or

Minute Travel Distance

The following timing chart applies when ABSOLUTE MOVEMENT is executed to move to the same position as the present position, or RELATIVE MOVE-

MENT is executed for position data of 0 (i.e., direct operation executed for travel distance of 0), or the positioning operation is ABSOLUTE or RELATIVE

MOVEMENT for a minute travel distance that will finish in less than one CPU

Unit cycle time.


(words a+2, a+3)

Speed command value

(words a+4, a+5)

RELATIVE MOVEMENT

(word a, bit 04)

Receiving Command


0

3E8 hex (1000)

The Receiving Command Flag and Busy Flag remain

ON for at least one cycle time when the movement command is received.



The PCU Positioning Completed Flag turns OFF during execution of the movement command. When the travel distance is 0, the PCU Positioning Completed Flag remains OFF for at least one cycle time. a = Beginning word of Axis Operating Output Areas specified in Common Parameters + (Axis No.

−

1)

×


−

1)

×

25

Even for a zero or minute travel distance, the Receiving Command Flag and

Busy Flag for the movement command will remain ON for at least one CPU

Unit cycle time.

The PCU Positioning Completed Flag for the movement command will remain

OFF for at least one cycle time if positioning stops within the positioning completion range for the target position.

347


Section 9-4

Timing Chart for

Error/Warning Flag during

Command Execution

If an error occurs due to an illegal command value when a direct operation command is executed, the command will not be executed, and the timing chart will be as follows:


(words a+2, a+3)

Speed command value

(words a+4, a+5)

2710 hex (10000)

3E8 hex (1000)

RELATIVE MOVEMENT

(word a, bit 04)

AXIS ERROR RESET

(word a, bit 12)


(word b, bit 00)

The Receiving Command Flag and Busy Flag turn

ON for at least one cycle time when the command is received.




The PCU Positioning Completed Flag will not change if direction operation is not performed due to an illegal movement command.

Error Flag (word b, bit 12)

Axis error code (word b+4) 0000

3040 hex (Example: Servo unlocked)

0000

If an illegal movement command is received, the

Error Flag will turn ON, and the movement command will not be executed. The Error Flag will turn OFF when the AXIS ERROR RESET Bit is turned ON.

If an error occurs, after the Busy Flag turns ON, the Error Flag will turn ON and the axis error code will be set after either one cycle time or

MECHATROLINK communications cycle, whichever is longer.


−

1)

×


−

1)

×

25

Timing Chart for Errors or

Warnings during Axis

Operation

If a Servo Drive warning occurs when a movement command is being executed, such as the speed command value exceeding the Servo Drive's limit value, the Error Flag in the above timing chart is replaced by the Warning Flag

(word b, bit 11). After the command has been executed and the Busy Flag has been ON for at least one CPU Unit cycle time, the Error Flag and Warning

Flag will turn ON at the same time as the Receiving Command Flag and Busy

Flag turn OFF after either one PLC cycle time or after one MECHATROLINK communications time, whichever is longer.

When an error occurs during direct operation, such as a limit input during axis operation, the axis will either decelerate to a stop, immediately stop (emergency stop), or continue operation, depending on the error.

The timing charts when an error occurs during axis operation are provided below.

348


Section 9-4

When an Error that Stops (Deceleration/Emergency Stop) Axis Operation

Occurred

Example: Limit Input Error


RELATIVE MOVEMENT

(word a, bit 04)

AXIS ERROR RESET Bit

(word a, bit 12)


(word b, bit 00)



Error Flag (word b, bit 12)

Axis error code (word b+4)

0000

3000 hex (Example:

Forward rotation limit)

0000

The PCU Positioning Completed Flag turns OFF during execution of the movement command. This flag will not turn ON if the executed positioning command is not completed due to an error.

If an error occurs, the Error Flag will turn ON, the axis error code stored, and the axis will stop according to the stopping method set for when errors occur. The Error Flag will turn OFF when

AXIS ERROR RESET is executed. If an error occurs, after the Busy Flag turns ON, the Error

Flag and axis error code will remain ON and set for either one cycle time or MECHATROLINK communications cycle, whichever is longer. a = Beginning word of Axis Operating Output Areas specified in Common Parameters + (Axis No.

−

1)

×


−

1)

×

25

When a Warning Allowing Axis Operation to Continue Occurred

Example: Parameter Setting Warning during Servo Parameter Transfer

RELATIVE MOVEMENT

(word a, bit 04)

AXIS ERROR RESET

(word a, bit 12)


(word a+1, bit 12)


(word b, bit 00)




Servo Parameter Transferring


Warning Flag (word b, bit 11)

Axis error code (word b+4) 0000

Axis operation continues

4094 hex (Example:

Parameter setting warning)

0000

The PCU Positioning Completed Flag turns

OFF during execution of the movement command. This flag will not turn ON if the executed positioning command is not completed due to an error.

When a warning occurs, the Warning Flag turns

ON and the axis error code (warning code) is stored. The Warning Flag will turn OFF when

AXIS ERROR RESET is executed.

If an error occurs, after Busy Flag turns ON, the

Warning Flag will turn ON and the axis error code will be set after either one cycle time or

MECHATROLINK communications cycle, whichever is longest. a = Beginning word of Axis Operating Output Areas specified in Common Parameters + (Axis No.

−

1)

×


−

1)

×

25

349


Section 9-4

9-4-3 Changing Target Position

during direct operation, the target position for the positioning operation can be changed by setting a new position command value in the Axis Operating Output Memory Area and executing ABSOLUTE MOVEMENT or RELATIVE

MOVEMENT again.

The Busy Flag remains ON during direct operation until the positioning operation is completed. The Receiving Command Flag in the Axis Operating Input

Memory Area is used to control the ON/OFF timing of the ABSOLUTE/RELA-

TIVE MOVEMENT Bit to change the target position. The target position can be changed when the Receiving Command Flag is OFF. When executing the target position change, make sure that the ABSOLUTE/RELATIVE MOVE-

MENT Bit remains ON until the Receiving Command Flag turns ON.


(words a+2, a+3)

Speed command value

(words a+4, a+5)

RELATIVE MOVEMENT

(word a, bit 04)

Receiving Command



Speed

Target speed: 1,000

(command units/s)

2710 hex (10000)

3E8 hex (1000)

2EE0 hex (12000)

The Receiving Command Flag turns ON for at least one cycle time when a command is received to start direct operation or change the target position. During direct operation, the Busy Flag remains ON until positioning is completed. Therefore, control the movement command timing for changing target positions using the Receiving Command Flag.



Previous target position

(absolute position: 10,000)

Time

Final position: 12,000 (command units)



Target position changed a = Beginning word of Axis Operating Output Areas specified in Common Parameters + (Axis No.

−

1)

×


−

1)

×

25

Note

(1) When executing movement commands sequentially, make sure that the movement command bit remains OFF for a minimum of either the PLC cycle time

×

2 or the MECHATROLINK communications cycle

×

2, whichever is longer. If the time when the movement command bit is OFF is too short, the PCU will not be able to detect the rising edge of the movement command bit, preventing reception of the command.

(2) When executing the movement command again during axis operation to change the target position, do not change the acceleration/deceleration curve designation from the original setting when operation was started.

Changing the acceleration/deceleration curve designation when changing the target position during axis operation may result in displaced positioning or other malfunction.

350


Operation Pattern when Changing the Target Position

Without Reversal Operation

Speed

New command (position change)

↓

With Reversal Operation

Speed

New command (position change)

↓

Section 9-4

↑

Start

Executing Change to

Target Position for Small

Travel Distance

↑

First command position

↑

New command rotation position position

Forward

↑

Start

↑

|

|

|

New command position

↑

First command position

Forward rotation position

If the target position is changed using RELATIVE MOVEMENT executed for a zero or minute travel distance or ABSOLUTE MOVEMENT executed to a position near the present position, positioning will be performed to the target position after decelerating to a stop and reversing direction.

RELATIVE MOVEMENT for position command value 0

Speed

Travel direction

Stop

351


Section 9-4

9-4-4 Changing Target Speed

during direct operation, by setting a new speed command value in the Axis

Operating Output Memory Area, the target speed for the positioning operation can be changed. The speed command value is enabled at the I/O refresh after it is set in the Axis Operating Memory Area. The PCU starts changing to the new target speed at the acceleration/deceleration set in the Servo Parameters when the new speed command value is enabled.


(words a+2, a+3)

Speed command value

(words a+4, a+5)

ABSOLUTE MOVEMENT

(word a, bit 03)

Speed

2710 hex (10000)

3E8 hex (1000) 7D0 hex (2000)

2000

1000

The target speed can be changed at any time by overwriting the speed command value.

If the positioning travel distance is not sufficient to change the speed, the axis will decelerate and positioning will stop, without reaching the target speed.

Receiving Command



Absolute position: 10,000

Time

The Receiving Command Flag does not turn ON when changing the target speed.

Target speed changed

(The Busy Flag turns OFF when positioning is completed.)

Timing Chart for Changing Target Position and Target Speed


(words a+2, a+3)

Speed command value

(words a+4, a+5)

ABSOLUTE MOVEMENT

(word a, bit 03)

Speed

1500

1000

2710 hex (10000) 4E20 hex (20000) 7530 hex (30000)

3E8 hex (1000) 5DC hex (1500)

The target position change, is executed according to the position command value when the ABSOLUTE MOVEMENT or

RELATIVE MOVEMENT Bit turns ON.

In the example here, positioning is performed to 20000 and changing the target position to 30000 is not executed.




Previous target position

(absolute position: 10,000)

Receiving Command





Absolute position:

20000

Time

Target position changed Target speed changed

352

Interrupt Feeding

Section 9-5

9-5 Interrupt Feeding

9-5-1 Overview

The PCU's interrupt feeding is a positioning operation that moves the axis for a specified amount, separate from the position command value, from the position at which the external interrupt signal was input either in the same direction as the direction of travel or in the opposite direction. The specified amount of travel is performed at the speed being used when the external interrupt signal was input.

Moving for a Specified Distance in the Direction of Travel Moving for a Specified Distance in Opposite Direction

Speed

Target speed

Acceleration


Speed

Position control

(traveling a specified distance)

Deceleration

Target speed

Acceleration


Deceleration


Deceleration


Acceleration

Position control

(traveling a specified distance)

When an interrupt input signal is not input, positioning is performed to the target position specified in the position command value, as normal.

A rising edge of the interrupt input signal after ABSOLUTE MOVEMENT or

RELATIVE MOVEMENT has started is treated as an input.

9-5-2 Interrupt Feeding Procedure

The interrupt feeding function is a supplementary function for positioning operations using direct operation (ABSOLUTE MOVEMENT, RELATIVE

MOVEMENT). Interrupt feeding can be executed using the same procedure as for direct operation by simply specifying interrupt feeding at the start of direct operation.

The following procedure omits the steps up to SERVO LOCK, showing the start procedure only.

1,2,3...

1.

Transfer the Servo Parameters for interrupt feeding.



2.

Set the data used for direct operation.

Set the positioning data for direct operation in the position command value of the Axis Operating Output Memory Area.

Set the speed data for direct operation in the speed command value of the


3.

Turn ON the INTERRUPT FEEDING Bit.

4.

Start ABSOLUTE MOVEMENT or RELATIVE MOVEMENT.

353


Section 9-5

9-5-3 Data Settings for Using Interrupt Feeding

To execute interrupt feeding, the following parameters and data must be set in addition to the parameters and data required for direct operation.

Axis Parameter Area Interrupt Input Signal Parameters

d

PCU's address

Contents

Bits 08 to 15 Bits 00 to 07



Setting


00: Phase Z





Parameter name for G

Series (Parameter name for W Series)


−

1)

×

14 hex

When using external latch signals 1 to 3, the external latch signal to be used must be allocated in the Servo Drive's external input allocations.

When using a SMARTSTEP Junior Servo Drive, only 00 (phase Z) and 01

(external latch signal 1) can be used for the origin input signal selection.

Interrupt Feeding Parameters

Unit Setting range Paramet er size

Default setting

G5

Series


(Final travel distance for external positioning)

Command unit

−

1,073,741,823 to

1,073,741,823

4 100 Pn820

G Series W Series and

SMARTS

TEP

Junior

Series

Pn203 Pn814

Note

Set the travel distance from the position at which the interrupt input signal is input. The travel direction for when the interrupt input signal is input is determined by the sign (positive or negative) in the set value. The operation performed when the interrupt input signal is input depends on the sign for this parameter and the sign of the position command value for direct operation, as follows:

Position command value for direct operation

Positive value

Negative value

Servo parameter Pn203/Pn814/Pn820 (External

Positioning Final Travel Distance)

Positive value Negative value

When the interrupt input signal is input, interrupt feeding is executed in the same direction as the travel direction when movement was started.

When the interrupt input signal is input, interrupt feeding is executed in the opposite direction from the travel direction when movement was started.

(Reversal mode operation)

When the interrupt input signal is input, interrupt feeding is executed in the opposite direction from the travel direction when movement was started.

(Reversal mode operation)

When the interrupt input signal is input, interrupt feeding is executed in the same direction as the travel direction when movement was started.

Starting in Position Control Unit with version 2.0 and later, the

External Positioning Final Travel Distance


Final

Distance for External Input Positioning


354


Section 9-5



(Pn814) is used for internal processing in the Position Control Unit when one of the following origin search operation patterns are selected.

• When the origin detection method is set to any value except for 0 (Origin proximity input signal reversal)

• When setting a zero point position offset for an origin search using an absolute encoder

Because Pn814 is automatically overwritten by the Position Control Unit when starting the origin search operation, if using the interrupt feeding after executing the origin search in the above operation pattern, be sure to set the

External Positioning Final Travel Distance




(Pn203) or


for W-series Servo

Drives (Pn814) again.


Name

INTERRUPT FEEDING a

Word Bits

05

Contents

1: Enables interrupt feeding a = Beginning word of Axis Operating Output Areas specified in Common


−

1)

×

25

9-5-4 Timing Chart for Interrupt Feeding

Interrupt feeding is executed by turning ON the INTERRUPT FEEDING Bit in the Axis Operating Output Area and starting direct operation.

Timing Chart for Interrupt

Feeding Using

ABSOLUTE MOVEMENT

The following timing chart is for when INTERRUPT FEEDING is executed with

ABSOLUTE MOVEMENT. The timing chart for RELATIVE MOVEMENT is the same, except that positioning is executed with the relative position if no interrupt input signal is input.


(words a+2, a+3)

Speed command value

(words a+4, a+5)

ABSOLUTE MOVEMENT

(word a, bit 03)

INTERRUPT FEEDING

(word a, bit 05)

2710 hex (10000)

3E8 hex (1000)

The INTERRUPT FEEDING is enabled when the bit for the movement command turns ON.


Speed

Target speed: 1,000

(command units/s)



Time

Final travel distance for external positioning (Pn814)


(word b, bit 00)




Positioning when internal input signal is input

Positioning when no internal input signal is input

(absolute position: 10000 (command unit))

355

Torque Limit Function

Section 9-6

In interrupt feeding as well as normal direct operations, the target position

(target position for when no interrupt input signal is input), target speed, and override value can be changed by executing another movement command.

Note that, however, in the interval of positioning for the final travel distance for external positioning after the input of the interrupt input signal, another

INTERRUPT FEEDING cannot be executed (it will be ignored).

9-5-5 Present Position during Interrupt Feeding

The positioning range for direct operation (ABSOLUTE MOVEMENT and

RELATIVE MOVEMENT) is a command present position range of

−

2,147,483,648 to 2,147,483,647 (command units) when it is not limited by limit input signals or software limits. (For details on the command present

position, refer to


. For details on

RELATIVE MOVEMENT, refer to

Executing RELATIVE MOVEMENT

in

9-4-1

Starting Direct Operation

.)

When INTERRUPT FEEDING is executed, the positioning range and position command value setting range are the same, but the positioning range is subject to the following conditions when interrupt input signals are input near the upper limit/lower limit of the positioning range.

When the interrupt feeding operation after interrupt input exceeds the upper or lower limit of the positioning range due to the

Final Travel Distance for

External Positioning

setting and the input position of the interrupt input signal, the current position reference point (i.e., the origin) and the positioning range change and positioning to the original position is no longer possible.


Positioning without input of internal input signal


Physical position

−

2,147,483,648

PCU present position

−

2,147,483,648

0

2,147,483,647

4,294,967,296

0

Interrupt feeding start

2,147,483,647

−

2,147,483,648

P

0

Position after interrupt feeding

Positioning range when interrupt feeding is started Positioning range from point P

2,147,483,647

When interrupt feeding is used, set the limit inputs, software limits, and other required settings, and make sure that the positioning range is not exceeded due to the interrupt feeding operation.

9-6 Torque Limit Function

When using a W-series Servo Drive, set Servo Parameters

Forward Rotation

External Current Limit

(Pn404) and


(Pn405), and turn ON the Forward Rotation External Current Limit Designation Bit and Reverse Rotation External Current Limit Designation Bit in the

Axis Operating Output Memory Area when starting a direct operation to apply a current (torque) limit during direct operation.

356

Linear Interpolation

Section 9-7

When using a G-series Servo Drive, set Servo Parameter

No. 2 Torque Limit

(Pn05F) and turn ON the Forward Rotation External Current Limit Designation

Bit and Reverse Rotation External Current Limit Designation Bit in the Axis

Operating Output Memory Area when starting a operation to apply a current or torque limit during direct operation.

When using a G5-series Servo Drive,set Servo Parameter No.1 Torque Limit

(Pn013) and turn ON the Forward rotation output torque limit and Reverse rotation torque limit in the Axis Operating Output Memory Area when starting a operation to apply torque limit during direct operation.

If another direct operation command is executed at this point, the torque limit function can be switched during operation.

For further details on the torque limit function, refer to


.

The SMARTSTEP Junior Servo Drives do not support torque control.

9-7 Linear Interpolation

With unit version 1.1 or later of the Position Control Unit, a linear interpolation function that can perform linear interpolation using multiple axes in combination has been added.

Linear interpolation can be executed for the axes of a Servo Drive connected to the Position Control Unit, using up to four axes in any combination for axes

1 to 4 or axes 5 to 8.

Note

Do not write data to the CJ1W-NC @ 71 unit version 1.1 or later that has been backed up from the CJ1W-NC @ 71 unit version 1.0 to a Memory Card in the

CPU Unit (using either the CPU Unit’s simple backup function or the Position

Control Unit’s backup function). When unit version 1.0 backup data is restored to unit version 1.1 or later, the linear interpolation function cannot be used. To transfer unit version 1.0 settings to unit version 1.1 or later, use the parameter transfer function using the READ DATA, WRITE DATA, or SAVE DATA Bit in the Common Operating Memory Area.

9-7-1 Overview of Linear Interpolation Function

Linear interpolation operates according to the following settings data for axes

1 to 4 or axes 5 to 8.

•

Designation of axes to combine for linear interpolation (Interpolation axis designation)

•

Position command values for individual interpolation axes

•

Designation of absolute and relative positions for position command values for individual interpolation axes (interpolation position designation)

•

Interpolation speed command values and speed command values for individual interpolation axes

•

Interpolation acceleration and deceleration times

Based on these commands, the respective linear interpolation operations are started by the LINEAR INTERPOLATION START Bit allocated in the Axis

Operating Output Memory Area (axis 1 for interpolation operations using axes

1 to 4, and axis 5 for interpolation operations using axes 5 to 8).

357


CPU Unit


PCU

Section 9-7

Servo Drive (Axis No.)

#1

Axis 1 Operating Output


Linear interpolation operations are possible using any combination of axes 1 to 4.

Linear interpolation operations are possible using any combination of axes 5 to 8.

#4

#5

#6

#7

#2

#3

#8

MECHATROLINK-II

The speeds for individual axes in linear interpolation are determined by the following equations. (The same equations are used for 2-axis or 3-axis linear interpolation.)

Example: Linear Interpolation for 4-axis (Axis 1 to Axis 4) Operation

Axis 1 speed = Interpolation speed

×

Movement of Axis 1 / Total movement


×



×



×


Total movement = (Movement of Axis 1)

2

+ (Movement of Axis 2)

2


2


2

If speeds set using speed command values for individual interpolation axes are exceeded when interpolation speed command values are resolved into individual axis speeds by the above equations, those speeds are automatically lowered so that each axis involved in linear interpolation is moved at the set speed command value.

358


Example: Linear Interpolation for 2-axis (Axis 1 and Axis 2) Operation

Axis 2

Axis 2 target position

Interpolation speed

Axis 2 speed

Interpolation end point

Section 9-7

Start Point

Speed

Interpolation speed

Axis 1 speed

Axis 2 speed

Axis 1 Speed Axis 1 target position

Axis 1

Note

Interpolation acceleration time

Time

Interpolation deceleration time

In the linear interpolation function of the Position Control Unit, the acceleration and deceleration operations for each axis based on the interpolation acceleration time and interpolation deceleration time that were set are performed by using the

Second-step Linear Acceleration Constant

for W-series Servo

Drives (Pn80B),

Linear Acceleration Constant


(Pn107) or


for G5-series Servo Drives (Pn811) and

Second-step Linear Deceleration Constant


(Pn80E),

Linear Deceleration Constant

for G-series Servo Drives (Pn10A), or


for G5-series Servo Drives (Pn814).

The setting unit for the Second-step Linear Acceleration Constant and Second-step Linear Deceleration Constant is 10,000 command units/s

2

. In operation, the actual acceleration and deceleration times are thus affected by the precision of the command unit.

9-7-2 Linear Interpolation Operation Procedure

Just as with direct operation (absolute and relative movement commands), linear interpolation is executed by setting operation commands in the Axis Operating Output Memory Area.

Common commands for linear interpolation operations, such as designation of interpolation axis combinations, interpolation speeds, and interpolation acceleration and deceleration times, are set in the Axis Operating Output

Memory Area for axis 1 or axis 5, and position and speed command values for individual linear interpolation axes are set in the Axis Operating Output Memory Area for those particular axes. Then linear interpolation operations are started by using the LINEAR INTERPOLATION SETTING and LINEAR

INTERPOLATION START Bits.

The following procedure describes the steps related to starting linear interpolation operations, from servolock onwards.

359


Section 9-7

1,2,3...

Note

1.

Set the data for linear interpolation operation.

Set the axis combination designation, the absolute and relative positioning designation for individual interpolation axes, the interpolation acceleration and deceleration times, and the interpolation speed command value in the

Axis Operating Output Memory Area for axis 1 (when using any combination of axes 1 to 4 for linear interpolation) or axis 5 (when using any combination of axes 5 to 8 for linear interpolation).

↓

2.

Set the data for individual axis interpolation operations.

In the Axis Operating Output Memory Area, for each axis specified for interpolation, set the position data in the position command value and the speed data in the speed command value.

↓

3.

Set linear interpolation.

Turn ON the LINEAR INTERPOLATION SETTING Bit in the Axis Operating Output Memory Area for axis 1 (or axis 5).

↓

4.

Start linear interpolation operation.

Turn ON the LINEAR INTERPOLATION START Bit in the Axis Operating

Output Memory Area for axis 1 (or axis 5).

(1) When the linear interpolation function is used, set the communications cycle (PCU address 1856 hex: bits 07 to 00) in the MECHATROLINK communications settings in the CPU’s Common Parameter Area to a value at least one greater than the normal minimum value. If the communications cycle is set too low, the command response times for PCU functions may become too long.

(2) From the point where linear interpolation is first set until axis operation is finished (i.e., while the LINEAR INTERPOLATION SETTING Bit is ON or until the Linear Interpolation Executing Flag turns OFF), command response times for the other axes not involved in the linear interpolation are delayed by up to four communications cycles per combination of axes executing linear interpolation.

9-7-3 Setting Data for Linear Interpolation Operation

PCU linear interpolation operations can be executed simultaneously for two combinations of axes, from axes 1 to 4 and axes 5 to 8. For a combination of axes 1 to 4, set the following linear interpolation-related data in the Axis 1

Operating Output Memory Area, and for a combination of axes 5 to 8 set the data in the Axis 5 Operating Output Memory Area.

•

Interpolation acceleration and deceleration times

•

Interpolation axis designation

•


•


Also, in the Axis Operating Output Memory Area for each axis, make the following settings related to individual axes specified for linear interpolation.

•

Position command value (Command value absolute and relative positions are handled according to the interpolation position designation.)

•

Speed command value (Functions as the maximum speed designation for individual interpolation axes, with respect to the interpolation speed command value.)

360


Section 9-7

Once the above settings have been made, then execute linear interpolation operations by using the following two bits allocated in the Axis Operating Output Memory Area for axis 1 or axis 5.

•

LINEAR INTERPOLATION SETTING

•

LINEAR INTERPOLATION START

Example: Linear Interpolation for 4-axis (Axis 1 to Axis 4) Operation

+0

+2

+3

+4

+5


Axis 1 Position command value

Axis 1 Speed command value (for position control)

Axis 2 Operating Output Axis 3 Operating Output

00 LINEAR INTERPOLATION SETTING

01 LINEAR INTERPOLATION START








+10

+11

+12

+13



15 Reverse rotation current limit

14 Forward rotation current limit

Linear interpolation acceleration time

Not used

Linear interpolation deceleration time

Not used

04 15 14

+16

+21

+22

+23

+24

04 S-curve designation

Interpolation Speed command value

03 Axis 4

02 Axis 3

01 Axis 2

00 Axis 1

Interpolation axis designation


04 15 14 04

Note

(1) When executing interpolation operations using a combination of axes 5 to

8, the interpolation axis designation and interpolation position designation are made for axes 5 to 8 respectively in the Axis 5 Operating Output

Memory Area, in bits 04 to 07 in the corresponding words in the above diagram.

(2)

Set the acceleration/deceleration curve designation (the S-curve designation) and the forward/reverse torque designation for each designated interpolation axis.

Common Parameter Area MECHATROLINK Communications Settings

Setting PCU's address

1856 hex

Contents

Bits 08 to 15 Bits 00 to 07

Transfer cycle Communications cycle

Set the communications cycle to a value one greater than the minimum communications cycle value determined by the number of connected devices. (Refer to


.)

Servo Parameter Area Acceleration/Deceleration Constants

Unit Setting range Type

Acceleration/deceleration constants

Parameter

No.

Pn80C

Pn80F

Parameter name



100 command units/s

100 command units/s

Must be set to 0.

Must be set to 0.

Parameter size

2 0

Default setting

2 0

361


Section 9-7

Note

When executing linear interpolation operations, the Acceleration Constant

Switching Speed (Pn80C) and the Deceleration Constant Switching Speed

(Pn80F) in the Servo Parameter Area must each be set to 0. Linear interpolation operations cannot be properly executed if any number other than 0 is set.

Linear interpolation operations can be executed for this PCU only with a

1-step acceleration/deceleration curve.

Axis Operating Output

Memory Areas (Operating

Commands)

Name

LINEAR INTERPO-

LATION SETTING

LINEAR INTERPO-

LATION START

Option Command

Value 1 a

Word

00

01 a+10 ---

Option Command

Value 2

Interpolation Axis

Designation

Interpolation Position Designation

Interpolation Speed

Command Value a+11 --a+12 --a+13 --a+21 00 to 03

(Axis 1 to

Axis 4) a+23 a+24

04 to 07

(Axis 5 to

Axis 8) a+22 00 to 03

(Axis 1 to

Axis 4)

04 to 07

(Axis 5 to

Axis 8)

---

Settings for Linear Interpolation Operations: Axis 1, Axis 5 Operating

Output Memory Areas

Bits Contents

0

→

1: Starts linear interpolation setting

1: LINEAR INTERPOLATION START valid.

0

→

1: Starts linear interpolation movement

(Valid only when LINEAR INTERPOLATION SETTING = 1)

Linear interpolation acceleration time

Unit: ms

Command range: 0 to 65535 (0000 hex to FFFF hex)

Not used (Set value disabled.)

Linear interpolation deceleration time

Unit: ms

Command range: 0 to 65535 (0000 hex to FFFF hex)

Not used. (Set value disabled.)

0: Not designated as interpolation axis.

1: Designated as interpolation axis.

Designates axes for executing linear interpolation.

Combinations of axes 1 to 4 are designated in bits 00 to 03 (Axis 1 Operating Output Memory Area), and combinations of axes 5 to 8 are designated in bits 04 to 07 (Axis 5 Operating Output Memory Area).

Bits 00 to 03, and bits 04 to 07, correspond respectively to axes 1 to 4 and axes 5 to 8.

0: Execute interpolation operations using absolute position.

1: Execute interpolation operations using relative position.

Specifies, for axes designated by the interpolation axis designation, whether positioning in interpolation operations is to be executed using absolute or relative positions.

Positions for axes 1 to 4 are designated in bits 00 to 03 (Axis 1 Operating

Output Memory Area), and positions for axes 5 to 8 are designated in bits

04 to 07 (Axis 5 Operating Output Memory Area). These bits correspond respectively to axes 1 to 4 and axes 5 to 8.




Command range: 0 to 2,147,483,647 (00000000 hex to 7FFFFFFF hex)

For details on speeds for interpolation operations, refer to

Linear Interpolation Operation Speeds

on page 368.



−

1)

×

25

362


Section 9-7

Settings for Interpolation Axis Operations: Axis Operating Output

Memory Areas for Axes Designated by Interpolation Axis Designation

Name

Speed Command Value

(for Position Control)

Word Bits

Position Command Value a+2 a+3 a+4 a+5

---

---

Contents



Unit: Command unit

Command range:

−

2,147,483,648 to

2,147,483,647 (80000000 hex to

7FFFFFFF hex)

The command value is limited by the allowable positioning range.


9-4-1 Starting Direct

Operation

.)




Command range: 0 to 2,147,483,647


For details on speeds for interpolation operations, refer to

Linear Interpolation

Operation Speeds

on page 368.

1:

Use exponential acceleration/deceleration curve.

G Series W Series SMART-

STEP

Junior



Not supported




S-curve designation



04

14

15






Supported Supported Not supported a = Beginning word of Axis Operating Output Areas specified in Common


−

1)

×

25

The G5-series Servo Drives and G-series Servo Drives do not support exponential curve designation filters. When using a G-series Servo Drive, do not attempt to use an exponential curve designation filter.


Note

(1) For interpolation acceleration and deceleration time settings, the upper and lower limits for axis acceleration and deceleration speeds are restricted to a range of 1 to 65,535 [

×


2

]. If the acceleration or deceleration speeds calculated from the linear interpolation operation settings for an interpolation axis are extremely low or high, the linear interpolation following may not be correct.

(2) The interpolation acceleration time and interpolation deceleration time are set by converting to the units [

×

10,000 command unit/s2] of the



(Pn80B),







(Pn80E),



363


Section 9-7

Axis Operating Input

Memory Areas

(Monitoring)

Name

Linear Interpolation

Setting Completed

Flag

Word

b+24


Executing Flag

(Pn10A), or


for G5-series Servo Drives

(Pn814).

(3) If the linear interpolation operation is performed using an S-curve, be sure to set the

Movement Average Time


(Pn812),


for G-series Servo Drives (Pn10E), and

Moving Average Time Interval

for G5-series Servo Drives (Pn818) to the same value before for all axes that are specified an interpolation axes, and specify the S-curve for all interpolation axes when starting the linear interpolation operation. If different movement average times are set for interpolation axes, and the S-curve designation does not match, operation will not be possible using the linear interpolation following.

(4) With linear interpolation operations, an exponential curve cannot be designated. In the acceleration/deceleration curve designation, the designation of an exponential curve will be disabled.

Linear Interpolation Operation Status: Axis 1, Axis 5 Operating Input

Memory Areas

00

Bits

13

Contents

0: Linear interpolation setting command reception enabled.

0 to 1: Linear interpolation setting completed.

1: Linear interpolation setting completed

(setting command reception disabled).

1: Linear interpolation operation executing

Name

Receiving Command Flag b

PCU Positioning

Completed Flag

No Origin Flag

Error Flag

Busy Flag

Feedback Present

Position

Command Present

Position b+6 b+7 b+8 b+9

Word



−

1)

×

25

Interpolation Axis Operation Status: Axis Operating Input Memory Areas for Axes Designated by Interpolation Axis Designation

00

05

Bits Contents


0 to 1: Command reception started.


0 to 1: Positioning is completed.

06

12

13

---

---

0: Origin established. 1: No origin established.

0: No axis error. 1: Axis error has occurred.


Present position:



Present position:




−

1)

×

25

When a linear interpolation operation command (LINEAR INTERPOLATION

SETTING or LINEAR INTERPOLATION START) is executed, the linear interpolation operation status can be checked in the Axis Operating Input Memory

Area of the axis (Axis 1 or Axis 5) for which the command was executed. The operation status of axes designated by linear interpolation designation can be checked in the Axis Operating Input Memory Areas for individual interpolation axes.

364


Section 9-7

9-7-4 Linear Interpolation Operation

After the data related to linear interpolation has been set, linear interpolation operation is started by means of the following two operations.

Executing LINEAR INTERPOLATION SETTING

Turn ON the LINEAR INTERPOLATION SETTING Bit in the Axis 1 (or Axis 5)

Operating Output Memory Area.

When this bit is turned ON, the settings for linear interpolation operation that have been set in the Axis Operating Output Memory Area for axis 1 (or axis 5) are obtained, along with the position command values and position speed values for individual interpolation axes, and preparations will be executed for linear interpolation operation. Execute LINEAR INTERPOLATION SETTING when the Linear Interpolation Setting Completed Flag in the Axis Operating

Input Memory Area for axis 1 (or axis 5), and the Busy Flag and Error Flag for the axes designated by the interpolation axis designation, are reset. If the Linear Interpolation Setting Completed Flag for axis 1 (or axis 5) is set, or if an axis designated by the interpolation axis designation is busy (i.e., Busy Flag

ON), or if an error has occurred (i.e., Error Flag ON), the LINEAR INTERPO-

LATION SETTING command will be ignored and will not be executed.

When LINEAR INTERPOLATION SETTING has been successfully completed, the Linear Interpolation Setting Completed Flag for axis 1 (or axis 5) will be set.

Note

(1) LINEAR INTERPOLATION SETTING is automatically written from the

PCU to the Servo Parameters. When executing LINEAR INTERPOLA-

TION SETTING, do not execute any of the Servo Parameter transfer operations (WRITE, READ, or SAVE).

(2) When LINEAR INTERPOLATION SETTING is executed, the



(Pn80B),






for W-series (Pn80E),

Linear

Deceleration Constant

for G-series Servo Drives (Pn10A) or


for G5-series Servo Drives (Pn814) parameters in the Servo Parameters are changed. Be careful of changes to acceleration and deceleration speed settings if interpolation axes are operated independently (by direct operation, JOG, etc.) after LINEAR INTERPOLA-

TION SETTING has been executed (regardless of whether LINEAR

INTERPOLATION START has been executed). Change the

Second-step


for W-series Servo Drives (Pn80B),

Linear

Acceleration Constant




Second-step


for W-series (Pn80E),

Linear Deceleration

Constant

for G-series Servo Drives (Pn10A) or


for G5-series Servo Drives (Pn814) as required, by using a WRITE

SERVO PARAMETERS command.

Executing LINEAR INTERPOLATION START

Turn ON the LINEAR INTERPOLATION START Bit in the Axis 1 (or Axis 5)

Operating Output Memory Area. Linear interpolation operation will start, based on the settings from when the LINEAR INTERPOLATION SETTING Bit was turned ON just before. If the LINEAR INTERPOLATION SETTING Bit is

OFF, LINEAR INTERPOLATION START will be disabled.

365


Note

Example: Linear

Interpolation Operation.

1,2,3...

Section 9-7

Execute LINEAR INTERPOLATION START when the Linear Interpolation

Executing Flag in the Axis Operating Input Memory Area for axis 1 (or axis 5), and the Busy Flag and Error Flag for the axes designated by the interpolation axis designation, are reset. If the Linear Interpolation Setting Executing for axis 1 (or axis 5) is set, or if an axis designated by the interpolation axis designation is busy (i.e., Busy Flag ON), or if an error has occurred (i.e., Error Flag

ON), the LINEAR INTERPOLATION START command will be ignored and will not be executed.

(1) From the time that the LINEAR INTERPOLATION SETTING Bit turns ON until the LINEAR INTERPOLATION START Bit turns ON, do not make changes to any data related to linear interpolation operations. In addition, do not make any changes to speed command values for individual axes while linear interpolation operations are in progress (i.e., while the Busy

Flag for any interpolation axis is ON).

(2) For an axis designated as 0 (absolute position) by the interpolation position designation, the origin must be established. If the origin is not established (i.e., if the No Origin Flag is ON), a Present Position Unknown Error

(axis error code: 3030) will occur when LINEAR INTERPOLATION

START is executed (i.e., when linear interpolation operation is started), and the axis will not be operated. At that time, the other interpolation axes will also be decelerated to a stop.

The basic flow of operations for linear interpolation is shown below.

In this example, “a” indicates the beginning word of the Axis Operating Output

Memory Area for axis 1 when a combination of axes 1 to 4 is used for linear interpolation, and axis 5 when a combination of axes 5 to 8 is used. Likewise,

“b” indicates the beginning word of the Axis Operating Input Memory Area for axis 1 when a combination of axes 1 to 4 is used, and axis 5 when a combination of axes 5 to 8 is used.

1.

With the bits in the interpolation axis designation (word a+21), designate the axes to be combined for the linear interpolation operation.

2.

With the bits in the interpolation position designation (word a+22), designate either absolute or relative position for the position command values for the axes designated as interpolation axes.

3.

With the interpolation speed command value (words a+23, a+24), designate the interpolation speed (i.e., the integrated speed). With the speed command values for the axes designated as interpolation axes, designate the maximum speed for each axis.

For details on the relation between linear interpolation operation speeds and interpolation speed command values and individual axis speed com-

mand values, refer to the

Linear Interpolation Operation Speeds

on page 368.

4.

With option command value 1 (word a+10) and option command value 2

(word a+12), set the interpolation acceleration time and the interpolation deceleration time.

5.

Turn ON the LINEAR INTERPOLATION SETTING Bit (word a, bit 00).

6.

When the linear interpolation operation settings have been completed, the

Linear Interpolation Setting Completed Flag (word b+24, bit 00) will turn

ON.

366


Section 9-7

7.

After the above settings have been completed, turning ON the LINEAR IN-

TERPOLATION START Bit (word a, bit 01) while the LINEAR INTERPO-

LATION SETTING Bit (word a, bit 00) is still ON will start positioning for the designated axes, to the position designated in the interpolation position designation.

during the linear interpolation operation, the Linear Interpolation Executing

Flag (word b+24, bit 13) will turn ON. When executing a linear interpolation operation, leave the LINEAR INTERPOLATION SETTING Bit and the LIN-

EAR INTERPOLATION START Bit ON until the Linear Interpolation Executing Flag turns ON.

Timing Charts

• When LINEAR INTERPOLATION START is Executed After Linear Interpolation Settings are Completed

LINEAR INTERPOLATION

SETTING (a 00)


START (a 01)

Linear Interpolation Setting

Completed Flag (b+24 00)


Executing Flag (b+24 13) a = Beginning Word of Axis 1 (Axis 5) Operating Output Memory Areas b = Beginning Word of Axis 1 (Axis 5) Operating Input Memory Areas

Make sure that LINEAR INTERPOLATION

SETTING and LINEAR INTERPOLATION START remain ON until the Linear Interpolation

Executing Flag turns ON.

The Linear Interpolation Setting Completed Flag turns ON until LINEAR INTERPOLATION

SETTING turns OFF or errors occur on the axes specified in the Interpolation axis designation.

The Linear Interpolation Executing Flag turns ON until the interpolation operation has completed or

LINEAR INTERPOLATION START turns OFF.

If the LINEAR INTERPOLATION SETTING Bit turns OFF before LINEAR

INTERPOLATION START is executed, LINEAR INTERPOLATION START is disabled.

• When LINEAR INTERPOLATION SETTING and LINEAR INTERPOLA-

TION START are Executed Simultaneously


SETTING (a 00)


START (a 01)

Linear Interpolation Setting

Completed Flag (b+24 00)


Executing Flag (b+24 13) a = Beginning Word of Axis 1 (Axis 5) Operating Output Memory Areas b = Beginning Word of Axis 1 (Axis 5) Operating Input Memory Areas

Make sure that LINEAR INTERPOLATION

SETTING and LINEAR INTERPOLATION

START remain ON until the Linear Interpolation

Executing Flag turns ON.

The Linear Interpolation Setting Completed Flag turns ON until LINEAR INTERPOLATION

SETTING turns OFF or errors occur on the axes specified in the interpolation axis designation.

The Linear Interpolation Executing Flag turns ON until the interpolation operation has completed or

LINEAR INTERPOLATION START turns OFF.

Note

If the LINEAR INTERPOLATION SETTING and LINEAR INTERPOLA-

TION START Bits are turned ON simultaneously, the linear interpolation operation is started after the linear interpolation settings are completed.

(1) The same LINEAR INTERPOLATION START cannot be executed again with a new command while linear interpolation operation is in progress

(i.e., while the Linear Interpolation Executing Flag is ON). If it is executed again, it is disabled. It is possible, however, to start an independent linear interpolation for a combination of axes 1 to 4, or of axes 5 to 8, while an operation involving the other combination is already in progress.

(2) While a linear interpolation operation is in progress, do not make changes to the speed command value for any axis involved in that operation (i.e., for any axis designated in the interpolation axis designation). If a speed command value is changed during operation, the operation will not be executed correctly.

367



Operation Speeds

Example

Section 9-7

If direct operation (absolute movement or relative movement) is executed for an axis designated in the interpolation axis designation while a linear interpolation operation is in progress, that axis will start operation separately from the linear interpolation operation. The acceleration and deceleration speeds at that time will follow the acceleration and deceleration speeds set by the execution of LINEAR INTERPOLATION SETTING (determined from the speed resolved with the interpolation acceleration and deceleration times). The Linear Interpolation Executing Flag will stay ON, however, until the operations of all the originally designated interpolation axes (including this axis) are completed, or until the LINEAR INTERPOLATION START Bit turns OFF.

If MECHATROLINK communications are interrupted while the Linear Interpolation Setting Completed Flag and the Linear Interpolation Executing Flag are

ON, the flags will hold their status until MECHATROLINK communications are resumed, regardless of the status of the LINEAR INTERPOLATION SETTING and LINEAR INTERPOLATION START Bits.

There are two types of settings related to linear interpolation operation speeds: interpolation speed command values and speed command values for individual axes designated by the interpolation axis designation.

The interpolation speed command value designates the integrated speed for linear interpolation. This command value is resolved for the individual interpolation axes and becomes the speed command value for each axis.

The speed command values for individual axes at the time of linear interpolation operation, on the other hand, are the maximum speed settings for the individual axes. For all of the interpolation axes, the linear interpolation speed is lowered so that the speed resolved from the interpolation speed command value does not exceed this set value. (The axis with the longest movement time is operated at 100% of the speed command value, and the speeds for the other axes are lowered in order to perform the linear interpolation.)

2-axis interpolation (axis 1 and axis 2), with target positions of 3,000 and

4,000 (command units) respectively, and with relative positioning designated and the following speed command values set:

Interpolation speed command value:2,000 (command units/s)

Axis 1 speed command value: 600 (command units /s)

Axis 2 speed command value: 1,000 (command units /s)

The speeds resolved from the interpolation speed command value (in command units/s) are 1,200 for axis 1 and 1,600 for axis 2, but for linear interpolation operation the speeds are reduced to the following values in order for the maximum speeds set by the speed command values for individual axes to not be exceeded.

Interpolation speed command value:1,000 (command units/s)

Axis 1 speed command value:

Axis 2 speed command value:

600 (command units/s)

800 (command units/s)

If a speed command value for an individual axis is set to 0, no maximum speed limit will set for that interpolation axis and the speed resolved from the interpolation speed command value will be used as is.

If the interpolation speed command value is set to 0, there is no interpolation speed designation and the interpolation speed is determined by the speed command values for the individual interpolation axes.

368


Stopping during

Note


Section 9-7

If either the interpolation speed command value or a speed command value for an individual interpolation axis is set to 0, the individual interpolation axes are operated at the same speed, at the minimum unit (1 command unit/s) for the speed command value.

If less than the minimum unit (1 command unit/s) for an individual axis speed command value results when the interpolation speed command value is resolved for individual interpolation axes, that axis will be operated at the minimum unit (1 command unit/s) for the speed command value.

Do not use an override during linear interpolation operation. The linear interpolation operation will not be executed correctly if an override is used.

If a stop command, error, or Servo unlock command occurs for one of multiple axes for which linear interpolation is being performed, the operation of the axes will be as follows and the axes will not stop at the same time.

Axis Error Occurs in One of the Interpolated Axes:

The other interpolated axes will be decelerated to a stop when the Error Flag turns ON for the axis in which the error has occurred.

Stop Command Given for One of the Interpolated Axes:

The other interpolated axes will be decelerated to a stop when the Stop Execution Flag turns ON for the axis for which the stop command was given.

Servo Unlock Command Given for One of the Interpolated Axes:

The other interpolated axes will be decelerated to a stop when the Servo ON

Flag turns OFF for the axis for which the servo unlock command was given.

If a stop command is given for only one axis to stop a linear interpolation operations, the axes will not stop at the same time, as described above. To stop all of the interpolated axes at the same time, stop commands must be given for all interpolated axes at the same time.

If an alarm in the Servo Drive results in an axis error, the axis for which the error occurred will be stopped according to the stop method set in the Servo

Drive, but the other interpolated axes will be decelerated to a stop. The distances required to stop will thus be different.

369


Section 9-7

370

SECTION 10

Other Operations

This section describes the following operations: servo lock/unlock, jogging, override, torque limits, speed control, torque control, backlash compensation, software limits, and stop functions.

10-1 Servo Lock/Unlock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-1-1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-1-2 Servo Lock/Unlock Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-2 Jogging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-2-1 Overview of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-2-2 Procedure for Jogging Operations . . . . . . . . . . . . . . . . . . . . . . . . . .

10-2-3 PCU Data Settings for Jogging Operations . . . . . . . . . . . . . . . . . . .

10-2-4 Starting Jogging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-3 Override . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-3-1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-3-2 Override Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-4 Torque Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-4-1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-4-2 Constant Torque Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-4-3 Torque Limits Set by Operating Commands . . . . . . . . . . . . . . . . . .

10-5 Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-5-1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-5-2 Starting Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-5-3 Switching Control Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-6 Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-6-1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-6-2 Starting Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-7 Backlash Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-7-1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-7-2 Backlash Compensation Procedure . . . . . . . . . . . . . . . . . . . . . . . . .

10-7-3 Backlash Compensation Data Settings . . . . . . . . . . . . . . . . . . . . . . .

10-8 Software Limits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-8-1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-8-2 Procedure for Using Software Limits . . . . . . . . . . . . . . . . . . . . . . . .

10-8-3 Software Limit Data Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-8-4 Software Limit Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-9 Stop Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-9-1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-9-2 Deceleration Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-9-3 Emergency Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-9-4 Stop Function Timing Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-10 DEVIATION COUNTER RESET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-10-1 Overview of DEVIATION COUNTER RESET. . . . . . . . . . . . . . . .

10-10-2 Using DEVIATION COUNTER RESET . . . . . . . . . . . . . . . . . . . . .

414

414

414

416

417

410

410

410

411

412

420

420

421

400

400

400

407

407

407

408

387

387

387

398

379

379

380

381

372

372

372

373

373

373

374

377

378

378

378

371

Servo Lock/Unlock

Section 10-1

10-1 Servo Lock/Unlock

10-1-1 Overview

The Servo lock/unlock function either creates a Servo Drive position loop

(SERVO LOCK) or releases the position loop (SERVO UNLOCK).

10-1-2 Servo Lock/Unlock Operation

The SERVO LOCK/UNLOCK operations start when the SERVO

LOCK/UNLOCK Bit in the Axis Operating Output Memory Area turns ON.

When a Servomotor with absolute encoder is used, the absolute value data is read by executing SERVO LOCK. For details, refer to

8-6-6 Establishing the

Origin Using an Absolute Encoder

.


Note

Name

SERVO LOCK

SERVO UNLOCK

Word

a+1

Bits

00

01

Contents

0

→

1: Starts SERVO LOCK.

0

→

1: Starts SERVO UNLOCK. a = Beginning word of Axis Operating Output Areas specified in Common


−

1)

×

25

Execute SERVO LOCK when the Busy Flag for the corresponding axis is

OFF. If SERVO LOCK is executed while the axis's Busy Flag is ON, a Multistart Error (axis error code: 3050) will occur and SERVO LOCK will not be executed. When executing SERVO LOCK, make sure that the SERVO LOCK

Bit remains ON until the Receiving Command Flag or Busy Flag turns ON.


STOP, OR DECELERATION STOP command bit is turned ON, the SERVO

LOCK command will be ignored. Be sure that all of these command bits are

OFF before attempting to lock the Servo.

SERVO UNLOCK can be executed in any PCU status. When executing

SERVO UNLOCK, make sure that the SERVO UNLOCK Bit remains ON until either the Receiving Command Flag turns ON, or the Busy Flag turns OFF after executing SERVO UNLOCK.

Other axis operation commands will be ignored while SERVO UNLOCK is being executed and while the SERVO UNLOCK Bit is ON.

When executing SERVO UNLOCK, the PCU executes DECELERATION

STOP for the Servo Drive, followed immediately (without waiting for the axis to stop) by SERVO UNLOCK. If SERVO UNLOCK is executed during axis operation, the corresponding axis will be put in Servo free run state. Therefore, prevent the machine from moving due to momentum by using the dynamic brake or executing DECELERATION STOP before executing

SERVO UNLOCK to stop axis operation. Movement of the machine due to momentum may result in damage to the machine or an accident. When executing SERVO UNLOCK during speed control or torque control, the Servo

Drive will recover in the position control mode’s Servo lock status the next time SERVO LOCK is executed.

372

Jogging

Section 10-2


Name

Receiving Command

Flag

Error Flag b

Word Bits

00

Busy Flag

SVON (Servo ON) Flag b+1

12

13

03

Contents


0

→



0: No axis error



0: Servo unlocked.

1: Servo locked.



−

1)

×

25

The Servo lock status of each axis can be confirmed by checking the SVON

Flag in the Axis Operating Input Memory Areas.

Timing Chart

The following timing chart is for when SERVO LOCK and SERVO UNLOCK are executed.

SERVO LOCK

(word a+1, bit 00)

SERVO UNLOCK

(word a+1, bit 01)

When SERVO UNLOCK is executed, the PCU Positioning Completed Flag turns OFF.



No Origin Flag

(word b, bit 06)

The status of the No Origin Flag and

Stop Execution Flag do not change when SERVO UNLOCK is executed.


STOP Execution Flag

(word b, bit 15)

Servo ON (SVON) Flag

(word b+1, bit 03)

For details on the flag operations when using Servomotors with absolute encoders, refer to

8-6-6 Establishing the Origin Using an Absolute Encoder

.

The SVON Flag turns ON/OFF when the processing at the Servo Drive is finished (e.g., reading absolute encoder data, turning ON brake).


−

1)

×


−

1)

×

25

10-2 Jogging

10-2-1 Overview of Operation

The axis travels in the specified direction at the specified speed while the JOG

Bit is ON, and decelerates to a stop when the JOG Bit turns OFF. Jogging operations can be executed even if the origin has not been established.

10-2-2 Procedure for Jogging Operations

The procedure for using jogging is as follows:

1,2,3...

1.


2.


The data for the Common Parameters set in step 1 above is enabled.

3.


373

Jogging

Section 10-2

Note

4.


Set the Servo Parameters required to execute direct operation.



To enable changed offline parameters, turn ON the power to the Servo

Drive again or execute DEVICE SETUP.



.

5.

Execute SERVO LOCK.

6.

Set the data used for the jogging operation.

Set the jogging operation speed data in the speed command value of the


7.

Start the jogging operation.

When using the PCU for the first time or to change the Common Parameter data, steps 1 and 2 must be performed. After executing SERVO LOCK,

WRITE SERVO PARAMETER can be executed to set the acceleration/deceleration used each time the jogging operation is performed.

When specifying the Servo Parameters for acceleration/deceleration every time, make sure that the axis operation is stopped (Busy Flag = 0) while changing the acceleration/deceleration constants using WRITE SERVO

PARAMETER. Do not change parameters during axis operation. Changing parameters while the axis is operating may result in displaced positioning or other malfunction.

10-2-3 PCU Data Settings for Jogging Operations

A simple explanation of the main parameters and data used to execute the jogging operation is provided here. To execute jogging operations, apart from the parameters explained here, the following parameters also need to be set as basic settings for operating the PCU.


Refer to


.

• Command Unit

Refer to

7-2 Control Units

.


Type




Parameter

No.

Pn811

Parameter name


Unit

Pn814

Pn818




2


2

0.1 ms

Setting range

−

32768 to

32767

−

32768 to

32767

2

2

Data length

0 to 10000 2

Default setting

100

100

0

374

Jogging

Section 10-2

Type


Pn10A

Pn10E


Unit Parameter

No.

Pn107

Parameter name



Moving average time


2


2

0.1 ms

Setting range

−

32768 to

32767

2

Data length

−

32768 to

32767

2

0 to 5100 2

Default setting

100

100


Type Parameter

No.


Pn80A

Pn80B


Pn810

Pn811

Pn812



Data length

Default setting

100

W

Series

Supported

SMART-

STEP

Junior

Not supported







2


2

Command units/s

0.1 ms

0.1 ms

1 to

65535

1 to

65535

2

2

0 to

32767

2

0 to 5100 2

0 to 5100 2

100

0

0

0

Supported

Supported

Supported

Supported

Supported

Not supported

Not supported

Not supported

First-step acceleration/deceleration curve operations require parameter settings for Pn80B and Pn80E only. For the acceleration/deceleration curve,

Pn810 and Pn811 must be set when using an exponential curve, and Pn812 must be set when using an S-curve.





.


JOG

Name


Speed command value

Word Bits

a a+4 a+5

09

10

---

Contents

0

→

1: Starts jogging.

1

→

0: Stops jogging.

0: Forward rotation direction

1: Reverse rotation direction




Command range: 0 to 2,147,483,647


The upper limit setting of the speed command value depends on the specifications of the Servo Drive.


STEP

Junior

Supported

Supported

Supported

Supported

Supported

Supported

Supported

Supported

Supported

375

Jogging

Section 10-2

Name



S-curve designation



Word Bits

a+16 03

04

14

15

Contents



STEP

Junior

Not supported

Supported

Not supported




Supported

Supported

Supported

Supported

Supported

Supported

Not supported

Not supported

Not supported

Note



−

1)

×

25

The direction designation setting when the jogging operation starts (JOG Bit turns ON) is enabled. Even if the designation is changed during jogging, the direction will not change.

The settings for the Acceleration/Deceleration Curve Designation Bit, and

Forward/Reverse Rotation Current Limit Designation Bit when jogging starts

(JOG Bit turns ON) and stops (JOG Bit turns OFF) are enabled.

The speed command value can always be changed during operation. By overwriting the speed command value, the speed for the jogging operation can be changed.

The G5-series Servo Drives and G-series Servo Drives do not support exponential curve designation. When using a G-series Servo Drive, do not attempt to use an exponential curve designation.





Name

Receiving Command

Flag

Error Flag

Busy Flag



Word Bits

00 b+6 b+7 b+8 b+9

12

13

---

---

Contents


0

→



0: No axis error.



Present position



Present position




−

1)

×

25

376

Jogging

Section 10-2

10-2-4 Starting Jogging

Jogging is performed according to the direction designation and speed command value set in the Axis Operating Output Memory Areas and started when the Jog Bit turns ON. Execute JOG when the Busy Flag for the corresponding axis is OFF. If the jogging operation is started while the axis's Busy Flag is

ON, a Multistart Error (axis error code: 3050) will occur and JOG will not be executed.


STOP, OR DECELERATION STOP command bit is turned ON, the jog command will be ignored. Be sure that all of these command bits are OFF before attempting a jog operation.

The jogging operation will continue while the Jog Bit is ON. To enable the

PCU to receive the JOG command correctly, make sure that the Jog Bit remains ON while the Receiving Command Flag is ON.

The direction designation setting when the jogging operation starts (Jog Bit turns ON) is enabled. Even if the designation is changed during jogging, the direction will not change. Jogging decelerates to a stop when the Jog Bit turns

OFF.

The Busy Flag remains ON during the jogging operation. The PCU Positioning Completed Flag does not turn ON when jogging stops.

Timing Chart

The following timing chart is for when JOG is executed in the forward rotation direction.

Speed command value

(words a+4, a+5)

JOG (word a, bit 09)


(word a, bit 10)

Speed

1500

1000

3E8 hex (1000) 5DC hex (1500)


The direction designation setting at the start of the jogging operation is enabled. Even if the designation is changed during jogging, the direction of operation will not change.



Receiving Command





Direction designation changed

Time

Target speed changed

Jogging stopped

(JOG Bit OFF)

The Receiving Command Flag turns ON for at least one cycle time when the command to start jogging is received.

The PCU Positioning Completed Flag turns OFF when jogging starts. The PCU

Positioning Completed Flag does not turn

ON when the jogging operation stops.

The Busy Flag remains ON during the jogging operation.

When jogging stops, the Busy Flag turns

OFF when sending the command is completed, regardless of the number of pulses remaining in the Servo Drive. a = Beginning word of Axis Operating Output Areas specified in Common Parameters + (Axis No.

−

1)

×


−

1)

×

25

377

Override

Section 10-3

10-3 Override

10-3-1 Overview

The override operation is used to change the speed of an active axis. While the Override Enable Bit is ON, the target speed is changed by applying the override value that is set in the Axis Operating Output Memory Area.

The override can be set from 0.01% to 327.67% in units of 0.01%. The speed command values (Speed command value for speed control in speed control mode) set for direct operation, origin return, jogging, and speed control operations are taken to be 100%.

The override function is disabled during origin search or torque control.

The target speed when override is enabled is as follows:

Target speed = Speed command value

×

Override

10000

10-3-2 Override Operation

The override function can be used for the following operations.

• Enabling an Override for a Series of Operations

Set the override beforehand, and execute each operating command with the Override Enable Bit turned ON. The target speed for the operation will be the initial speed command value multiplied by the override.

• Switching between Enabling and Disabling Override during Axis Operation

When the Override Enable Bit is turned ON for an active axis performing direct operation, origin return, or jogging operation, the speed will change to the above target speed using the acceleration/deceleration set in the

Servo Parameters for acceleration/deceleration (the acceleration/deceleration speed enabled for the present operation).

When using speed control, the speed can be changed without using acceleration/deceleration by using the Override Enable Bit during axis operation, however, the linear acceleration/deceleration curve can be applied to the speed change by setting the

Soft Start Acceleration/Deceleration Time

in the Servo Parameters. (For details on the acceleration/deceleration curve, refer to


. For details

on speed control, refer to


.)

If the Override Enable Bit is turned OFF, the speed is changed in the same way as when the Override Enable Bit was ON from the present target speed (speed command value multiplied by override value) to the speed set in the speed command value.


Name

Override Enable Bit a

Word Bits

14

Override a+14 ---

Contents

0: Override disabled.

1: Override enabled.

Override ratio

Unit: 0.01%

Command range: 1 to 32,767 (0001 hex to 7FFF hex) a = Beginning word of Axis Operating Output Areas specified in Common


−

1)

×

25

378

Torque Limits

Section 10-4

The override can be set in the range 1 to 32767 (0.01% to 327.67%). The actual Servomotor speed control range and minimum control unit depend on the Servo Drive specifications.

While override is enabled, any changes to the override value are enabled immediately. While override is enabled, the override ratio can be changed during operation by setting a new override value in the Axis Operating Output

Memory Area.

Timing Chart

The following timing chart is for when the override function is executed during a jogging operation.

Speed command value

(words a+4, a+5)

3E8 hex (1000)

JOG (word a, bit 09)

Override Enable Bit

(word a, bit 14)

Override (word a+14)

Speed

Receiving Command


1500

1000

500

1388 hex (5000 = 50.00%) 3A98 hex (15000 = 150.00%)

Time

While override is enabled, the target speed is obtained by multiplying the speed command value by the override ratio.

Changes to the override value while override is enabled are immediately effective in operations.

The acceleration/deceleration used to change the speed when switching between enabling and disabling override or changing the override value depends on the acceleration/deceleration operation setting for the operation being performed.


Jogging starts

(JOG Bit ON)

Override disabled

Override enabled

Override changed

Jogging stops

(JOG Bit OFF)

The Receiving Command Flag turns ON for at least one cycle time when the command to start axis operation is received. The status of this flag does not change when the override value is changed.

The status of the Busy Flag does not change when switching between enabling or disabling override, or when the override value is changed. a = Beginning word of Axis Operating Output Areas specified in Common Parameters + (Axis No.

−

1)

×


−

1)

×

25

10-4 Torque Limits

10-4-1 Overview


Servo Drive, torque limits can be applied to Servomotor axis operation in position control functions (ABSOLUTE MOVEMENT, RELATIVE MOVEMENT),

ORIGIN SEARCH, ORIGIN RETURN, JOG, SPEED CONTROL, TORQUE

CONTROL, and Stop Functions (DECELERATION STOP, EMERGENCY

STOP).

There are two types of torque limit, one that constantly functions for forward and reverse rotation and the other that can be disabled/enabled in operating commands. For speed control, torque limits can also be added to option command values. (For details, refer to

Option Command Value during Speed Control

in


.)

When enabling multiple torque limit functions simultaneously, the Servomotor's output torque is limited by the minimum torque limit setting.

379

Torque Limits

Section 10-4

The SMARTSTEP Junior Servo Drives do not support torque control. The following settings and functions cannot be used.

10-4-2 Constant Torque Limits


To apply a constant torque limit to axis operation, set the Servo Parameters

No.1 Torque Limit

(Pn013) and

No.2 Torque Limit

(Pn522). By setting these parameters, the output torque of the operating Servomotor will always be limited by the set ratio of the rated torque. Also by setting the

Torque Limit Selection

(Pn521), the forward torque limit and reverse torque limit will be as shown in the following table.

Set value Reverse torque limit Parameter

No.

Pn521 0.1

2

Forward torque limit

Pn013

Pn013

Pn013

Pn522

Type

---

---


Torque Limit Parameters

Parameter

No.

Pn013

Pn522

Parameter name

No.1 torque limit

No.2 torque limit

%

%


0 to 500

0 to 500

2

2

Data length

Default setting

500

500

To apply a constant torque limit to axis operation, set the Servo Parameters

No.1 Torque Limit

(Pn05E) and

No.2 Torque Limit

(Pn05F). By setting these parameters, the output torque of the operating Servomotor will always be limited by the set ratio of the rated torque. Also by setting the


(Pn003), the forward torque limit and reverse torque limit will be as shown in the following table.

Set value Reverse torque limit Parameter

No.

Pn003 1

2

Forward torque limit

Pn05E

Pn05E

Pn05E

Pn05F

---

---

Type


Parameter

No.

Pn05E

Pn05F

Parameter name

No.1 torque limit

No.2 torque limit

%

%


0 to 500

0 to 500

2

2

Data length

Default setting

300

100


---

---

Type

To apply constant torque limits to axis operation, set the Servo Parameters

Forward Torque Limit

(Pn402) and

Reverse Torque Limit

(Pn403). By setting this parameter, the output torque of the operating Servomotor will always be limited by the set ratio of the rated torque.


Parameter

No.

Pn402

Pn403

Parameter name

Forward torque limit

Reverse torque limit

%

%


0 to 800

0 to 800

2

2

Data length

Default setting

350

350

380

Torque Limits

Section 10-4

10-4-3 Torque Limits Set by Operating Commands

Torque limit functions set by operating commands are executed by turning ON the Forward/Reverse Rotation Current Limit Bit in the Axis Operating Output

Area and starting the operating command. The

Forward/Reverse Rotation

Current Limit

setting is enabled when the Start Bit for the operating command turns ON.

When using a G5-series Servo Drive, the output torque is limited when the

Torque Limit Selection (Pn521) is set to 3 or 6. The Forward Rotation Current

Limit Designation Bit is enabled when PCL is ON. The Reverse Rotation Current Limit Designation Bit is enabled when NCL is ON.

Note

PCL ON: When either the PCL external input signal or P-CL in the MECHA-

TROLINK-II Communications Option Field is ON. NCL ON: When either the

NCL external input signal or N-CL in the MECHATROLINK-II Communications

Option Field is ON.

The following tables give examples for when the Torque Limit Selection


Forward Torque Limit

PCL OFF

Pn013

PCL ON

Pn522

Reverse Torque Limit

NCL OFF

Pn013

NCL ON

Pn522

When using W-series Servo Drives, the output torque is limited when the Servomotor is operating according to the set values in the Servo Parameters


(Pn404) and

Reverse Rotation External

Current Limit

(Pn405) by turning ON the Forward/Reverse Current Limit Designation Bit when using operating commands.

When using G-series Servo Drives, the output torque is limited when the

Servo Parameter


(Pn003) is set to 3. The Forward

Rotation Current Limit Designation Bit will be enabled when the PCL is turned

ON. The Reverse Rotation Current Limit Designation Bit will be enabled when the NCL is turned ON.

PCL ON: When either the Forward Torque Limit (CN1 PCL: Pin 7) or Axis

Output Operating Area is turned ON.

NCL ON When either the Reverse Torque Limit (CN1 NCL: Pin 8) or Axis

Output Operating Area is turned ON.

Forward Torque Limit

PCL OFF

Pn05E

PCL ON

Pn05F

Reverse Torque Limit

NCL OFF

Pn05E

NCL ON

Pn05F

A torque limit that has been enabled will continue to function until the Forward/Reverse Current Limit Designation Bit is turned OFF and the next operating command is sent (the specified torque limits continue to be applied even in Servo lock status after positioning stops).

381

Torque Limits

Section 10-4

Note

If the axis stops due to an error during axis operation with the torque limit function enabled, the torque limit when stopped will depend on the setting of the Forward/Reverse Current Limit Designation Bit. When the Current Limit

Designation Bit is turned ON only at the start of axis operation, and turned

OFF during axis operation, the torque limit will be disabled if the axis stops due to an error. Make sure that the Current Limit Designation Bit remains ON for the interval that the torque limit needs to be enabled.

The Torque Limit Status Flag in the Servo Status Flags in the Axis Operating

Input Memory Area turns ON for the time the torque limit is functioning.

G5-series Servo

Parameters

Type

---

---


Parameter

No.

Pn013

Pn522

Parameter name

No. 1 Torque Limit

No. 2 Torque Limit

%

%


0 to 500

0 to 500

2

2

Data length

Default setting

500

500

G-series Servo Parameter

Area

Type

---

---


Parameter

No.

Pn05E

Pn05F

Parameter name

No.1 torque limit

No.2 torque limit

W-Series Servo Parameter

Area

Type

---

---


Parameter

No.

Pn404

Pn405

Parameter name

Forward rotation external current limit

Reverse rotation external current limit

%

%


0 to 500

0 to 500

%

%


0 to 800

0 to 800

2

2

Data length

2

2

Data length

Default setting

300

100

Default setting

100

100


Name

ABSOLUTE MOVE-

MENT

RELATIVE MOVEMENT

ORIGIN SEARCH

ORIGIN RETURN

JOG

Direction designation a

Word Bits

03

04

06

07

09

10

DECELERATION STOP

SPEED CONTROL

TORQUE CONTROL

EMERGENCY STOP

Forward rotation current limit designation

Reverse rotation current limit designation a+1

15

02

03

15 a+16 14

15

Contents

0

→

1: Starts absolute movement.

0

→

1: Starts relative movement.

0

→

1: Starts origin search.

0

→

1: Starts origin return.

0

→

1: Starts jogging.

1

→

0: Stops jogging

0: Forward rotation direction


0

→

1: Starts deceleration stop.

0

→

1: Starts speed control.

0

→

1: Starts torque control.

0

→

1: Starts emergency stop.





−

1)

×

25

382

Torque Limits

Section 10-4


Note

Name Word

Torque Limit Status Flag b+1

Bits

09

Contents

1: Torque limit in progress b = Beginning word of Axis Operating Input Areas specified in Common


−

1)

×

25

When using W-series Servo Drives, the set values for Servo Parameters


(Pn404) and


Current Limit

(Pn405) can be overwritten at any time to change the torque limit value while the torque limit function is enabled.

When using G-series Servo Drives, the set values for Servo Parameters

No.1

Torque Limit

(Pn05E) and

No.2 Torque Limit

(Pn05F) can be overwritten at any time to change the torque limit value.

During ABSOLUTE MOVEMENT, RELATIVE MOVEMENT (except for INTER-

RUPT FEEDING), SPEED CONTROL, and TORQUE CONTROL execution, the Current Limit Designation Bit setting can be changed while the axis is active by turning ON the command's start bit again.

For ORIGIN SEARCH, ORIGIN RETURN, and JOG, torque limits can be specified only at the start of operation.

When executing movement commands sequentially, make sure that the movement command bit remains OFF for a minimum of either the PLC cycle time × 2 or the MECHATROLINK communications cycle × 2, whichever is longer. If the time that the movement command bit is OFF is too short, the

PCU will not be able to detect the rising edge of the movement command bit, preventing reception of the command.

383

Torque Limits

Section 10-4

Timing Charts

Example: Using Torque

Limit during Position

Control Execution


(words a+2, a+3)

Speed command value

(words a+4, a+5)

RELATIVE MOVEMENT

(word a, bit 04)

Forward Rotation Current Limit

Designation Bit (word a+16, bit 14)

Speed

The following timing chart is for when RELATIVE MOVEMENT is executed.

The timing chart for ABSOLUTE MOVEMENT is the same, except that positioning is executed with the absolute position.

2710 hex (10000)

3E8 hex (1000)

Target speed: 1,000

(command units/s)

Travel distance: 10,000

(command units)

The torque (current) limit designated at the time the movement command turned ON is effective, and functions until the setting is changed with another movement command.



Time


(word b, bit 00)




Torque Limit Status Flag

(word b+1, bit 09)

The Torque Limit Status Flag turns ON when the torque limit function is operating.

This flag does not turn ON if the torque limit function is not ON because the output torque reaches the limit value or lower during Servomotor rotation.


−

1)

×


−

1)

×

25

Example: Enabling Torque Limit during Positioning


(words a+2, a+3)

Speed command value

(words a+4, a+5)

ABSOLUTE MOVEMENT

(word a, bit 03)



2710 hex (10000)

3E8 hex (1000)

Speed

Target speed:

1,000 (command units/s)

The torque limit operation can be enabled and disabled during operation by changing the current (torque) limit designation for the active axis, and resending the movement command.



Absolute position: 10,000

(command units/s)

Time


(word b, bit 00)





(word b+1, bit 09)

Torque limit not used Torque limit used

The Torque Limit Status Flag turns ON when the torque limit function is operating.

This flag does not turn ON if the torque limit function is not ON because the output torque reaches the limit value or lower during

Servomotor rotation.


−

1)

×


−

1)

×

25

384

Torque Limits

Section 10-4

Positioning that Does Not Reach Target Position (Example: Pushing a Load)

ABSOLUTE MOVEMENT

(word a, bit 03)

Forward Rotation Current

Limit Designation Bit (word a+16, bit 14)


(word b, bit 00)



(word b+1, bit 09)

Position

Pushing direction target position (position command value)

When position deviation has accumulated due to pushing, torque in the pushing direction that is greater than the limit value will be generated if the forward rotation current limit is cleared, which may result in damage to the device.

Therefore, specify a torque limit in the pushing direction also when starting operation in the opposite direction.

This flag remains ON for the time the output torque is limited by the limit value.

When positioning is not completed and the position deviation due to pushing remains, the axis's Busy

Flag will remain ON until

DECELERATION STOP or other stop operation is executed.


Pushing stop position



Speed

Pushing direction target speed (speed command value)

Position deviation


Time

Time


Start Pushing

Start in opposite direction

Time in which accumulated position deviation is consumed a = Beginning word of Axis Operating Output Areas specified in Common Parameters + (Axis No.

−

1)

×


−

1)

×

25

Note

Time

In applications such as pushing a load, when using the torque limit function to limit the output torque of the Servomotor and stop the machine, the command present position reaches the target position while the feedback present position does not, which causes the pulses to accumulate for the position deviation in the Servo Drive’s deviation counter. To change movement to the opposite direction, send the operating command with the Current Limit Designation Bit setting enabled in the pushing direction.

If the Current Limit Designation Bit setting is disabled for the direction in which the load is being pushed when operation is started in the opposite direction

(i.e., an operating command is sent without specifying the torque limit), torque will be generated in the pushing direction at the start of operation. This is due to the position deviation accumulated in the pushing direction and may result in damage to the machine or an accident.

385

Torque Limits

Section 10-4

Position

Pushing direction target position



When performing an operation to return from the pushing position, the Servomotor will remain stopped for the movement command while the position deviation accumulated due to pushing is distributed. When the difference between the pushing operation target position and pushing stop position is large (the accumulated position deviation is large), the Servomotor will immediately accelerate to the target speed after the accumulated position deviation is distributed.

To prevent this from occurring, set the positioning target position as close to the pushing stop position as possible to minimize the accumulated position deviation during pushing. (See below.)




Speed

Pushing direction target speed


Time



Time

Position deviation

Start Pushing Start in opposite direction

Time

Alternatively, before performing the return operation, send a movement command to move the axis to the pushing stop position (feedback present position at pushing stop) and distribute the accumulated position deviation beforehand, as shown in the following diagram.

386

Speed Control

Position

Pushing direction target position (position command value)


Section 10-5




Speed

Pushing direction target speed (speed command value)

Position deviation

Time



Time

Start

Note

Pushing Start in opposite direction

(deviation consumption)

Start in opposite direction

Time

The DEVIATION COUNTER RESET can be used to reset the remaining position deviation to 0 for PCUs with unit version 1.3 or later. Refer to

10-10 DEVI-

ATION COUNTER RESET

for details on DEVIATION COUNTER RESET.

10-5 Speed Control

10-5-1 Overview

In Speed control, the PCU controls the rotation speed of the Servomotor by directly executing speed commands in a speed loop without using the Servo

Drive's position loop.

Speed control can be used when a G5-series Servo Drive, a G-series Servo

Drive, or a W-series Servo Drive is connected.

With the SMARTSTEP Junior Servo Drives, speed commands cannot be given directly for a speed loop. When using a SMARTSTEP Junior Servo

Drive, position control can be performed while changing the speed using jogging or direct operation to achieve feeding at desired speeds.

10-5-2 Starting Speed Control

Speed control is performed by setting the target speed in the speed command value for speed control in the Axis Operating Output Memory Areas and started when the SPEED CONTROL Bit turns ON. When starting speed control, make sure that the SPEED CONTROL Bit remains ON until the Receiving Command Flag or Busy Flag in the Axis Operating Input Memory Area turns ON.

387

Speed Control

Section 10-5


STOP, OR DECELERATION STOP command bit is turned ON, the SPEED

CONTROL command will be ignored. Be sure that all of these command bits are OFF before executing speed control.

The speed command value for speed control is set in units of 0.001% as a ratio of the Servomotor's momentary maximum rotation speed. (The unit is different from that used for the speed command value for position control

(command units/s).) The speed command value is specified in the range

−

199.999% to 199.999%, and the rotation direction is determined by the sign

(positive or negative) of the speed command value.

The actual Servomotor speed control range and minimum control unit depend on the Servo Drive specifications.

To stop speed control, execute DECELERATION STOP or EMERGENCY

STOP. (For details on stop functions, refer to


.)


Type

---

---

---

G5-series Servo Drive Speed Control Parameters

Parameter

No.

Pn521

Pn436

Pn435


0 to 6 Torque limit selection --2

Rotation speed for motor rotation detection r/min 10 to 20000 2

Speed conformity detection range r/min 10 to 20000 2

Data length

Default setting

1

1000

50

Pn521 is used to select the function of the option command value for speed control.

The option command value for speed control is described on the following pages.

Pn436 is set as the detection threshold of the Zero Speed Flag (word b+1, bit

08) in the Axis Operating Input Memory Area.

Pn435 is set as the detection width of the Speed Conformity Flag (word b+1, bit 07) in the Axis Operating Input Memory Area.


Type

---

---

---

G-series Servo Drive Speed Control Parameters

Parameter

No.

Pn003

Pn062

Pn061


Torque limit selection --1 to 5 2


Speed conformity signal output width r/min 10 to 20000 2

Data length

1

50

20

Default setting

---

---

---

Type

Pn003 is used to select the function of the option command value for speed control.

The option command value for speed control is described on the following pages.


08) in the Axis Operating Input Memory Area. Pn061 is set as the detection width of the Speed Conformity Flag (word b+1, bit 07) in the Axis Operating

Input Memory Area.

W-series Servo Drive Speed Control Parameters

Parameter

No.

Pn002.0

Pn502

Pn503


0 to 3 Function selection application switch 2

Torque command input change

--2


Speed conformity signal output width r/min 0 to 100 2

Data length

0

Default setting

20

10

388

Speed Control

Section 10-5

Pn002.0 is used to select the function of the option command value for speed control. The option command value for speed control is described in the following pages.

The data length for Pn002.0 is the set value specified to transfer Pn002

(including Pn002.0) when transferring Servo Parameters.


08) in the Axis Operating Input Memory Area. Pn503 is set as the detection width of the Speed Conformity Flag (word b+1, bit 07) in the Axis Operating

Input Memory Area.


Name

DECELERATION STOP a

Word

a+1 SPEED CONTROL

EMERGENCY STOP

Speed command value

(for speed control) a+6 a+7

Option command value 1 a+10 a+11


Bits

15

02

15

---

---

---

Contents

0

→


0

→

1: Starts speed control.

0

→




Unit: 0.001%

(percentage of Servomotor's momentary maximum rotation speed)

Command range:

−

199.999% to 199.999%

(FFFCF2C1 to 00030D3F hex)

Note

The rotation direction is determined by the sign.

Torque limit/torque feed forward (rightmost word)

Torque limit/torque feed forward (leftmost word)

Unit: %

(percentage of Servomotor’s momentary maximum torque)

Command range: 0% to 399% (See note.)

(00000000 to 0000018F hex)

When using G5-series Servo Drives, the option command value 1 can be used as the torque limit command value or torque feed forward command value by setting the Servo Parameter


(Pn521).

When using G-series Servo Drives, the option command value 1 can be used as the torque limit command value or torque feed forward command value by setting the Servo Parameter


(Pn003).

When using W-series Servo Drives, the option command value 1 can be used as the torque limit command value or torque feed forward command value by setting

Torque Command Input Change

in Servo Parameter

Function Selection Application Switch 2

(Pn002.0).

Torque limit (rightmost word)

Torque limit (leftmost word)

Unit: %


Command range: 0 to 399% (See note.)

(00000000 to 0000018F hex)

When using G5-series Servo Drives, the option command value 2 can be used as the torque limit command value or torque feed forward command value by setting the Servo Parameter


(Pn521).

When using G-series Servo Drives, the option command value 2 can be used as the torque limit command value or torque feed forward command value by setting the Servo Parameter


(Pn003).

When using W-series Servo Drives, the option command value 2 can be used as the torque limit command value by setting

Torque Command Input

Change

in Servo Parameter


(Pn002.0).

389

Speed Control

Section 10-5

Name



Word Bits

a+16 14

15



Note

Note

Note

Contents



−

1)

×

25

The torque limit for option command values during speed control can be specified between 0 and 399 for the PCU, but the effective command value depends on Servo Drive specifications. The following command range restrictions are for W-series Servo Drives.

R88D-WT @ + FNY-NS115

Command range: 0% to 199% (00000000 to 000000C7 hex)

Torque limits will not be set correctly for command values between 200% ad 399%. Use values between 0% and 199%.

R88D-WN

@

-ML2 (built-in MECHATROLINK-II Communications)

Command range: 0% to 199% (00000000 to 000000C7 hex)

Torque limits will not be set correctly for command values between 200% ad 399%. Use values between 0% and 199%.

A command range check (0 to 399) is performed for the option command value for speed control when the speed control command is given. If the option command value is out of range, an option command value error (error code: 3064 or 3065) will occur. The command range check will be performed even if the Speed Command Input Change parameter in the Function Selection Application Switches 2 is set to disable using the option command value.

Always set the option command value to 0 when it is not being used.

The same option command value parameter is used for both speed and torque control. The allowable setting ranges for speed and torque control, however, are different. When switching between speed and torque control, be sure that the option command value is set within the proper range for the current type of control.

Changes to the speed command value for speed control during operation are always effective. During speed control, by setting a new speed command value for speed control in the Axis Operating Output Memory Area, the target speed for speed control can be changed.

The settings for option command values 1 and 2 (torque limit/torque feed forward command values) and Forward/Reverse Rotation Current Limit Designation Bits are enabled when the SPEED CONTROL Bit turns ON. Changing these command values while speed control is being executed and then turning ON the SPEED CONTROL Bit again enables the option command values and Current Limit Designation Bits to be changed during operation.

It is necessary to pay attention to the change of output torque when switching from the speed control mode to the position control mode with deceleration stop. For details, refer to

10-5-3 Switching Control Mode

.



390

Speed Control

Section 10-5


Name

Receiving Command

Flag

Error Flag b

Word Bits

00

Busy Flag

Speed Conformity Flag b+1

Zero Speed Flag




12

13

07

08

09

---

---

Contents


0

→



0: No axis error.



1: Speed matches the speed command value for speed control.


1: Torque limit in progress.

Present position



Present position




−

1)

×

25

The Receiving Command Flag turns ON for at least one cycle time when the command to start speed control is received by the PCU. Use the Receiving

Command Flag when starting and changing option commands to control the

ON/OFF timing for SPEED CONTROL.

During speed control, bits 07 and 08 in the Servo Status Flags (word b+1) of the Axis Operating Input Memory Area function as the Speed Conformity Flag and Zero Speed Flag respectively.

The command present position that is output during speed control is calculated from the feedback position and the position deviation that is inferred from the current speed.

Acceleration and Deceleration during Speed Control

When SPEED CONTROL is executed, the Servo Drive performs stepped speed control from the present feedback speed to the target speed specified in the speed command value for speed control. Apart from smoothly increasing/decreasing the speed command value (for speed control) when starting speed control, shock in acceleration/deceleration when performing speed control can also be minimized by setting the Servo Parameters

Soft Start

Acceleration Time

and


to create a trapezoidal speed curve.

---

---

Type

G5-series Acceleration/Deceleration Constants for Speed Control

Parameter

No.

Pn312

Pn313

Parameter name



Unit

ms ms

Setting range

0 to 10000 2

0 to 10000 2

Data length

0

0

Default setting

---

---

Type

G-series Acceleration/Deceleration Constants for Speed Control

Parameter

No.

Pn058

Pn059

Parameter name



Unit

ms ms

Setting range

0 to 5000

0 to 5000

2

2

Data length

0

0

Default setting

391

Speed Control

Section 10-5

---

---

Type

W-series Acceleration/Deceleration Constants for Speed Control

Parameter

No.

Pn305

Pn306

Parameter name



Unit

ms ms

Setting range

0 to 10000 2

Data length

0 to 10000 2

0

0

Default setting

The


and


are set respectively as the acceleration time and deceleration time between speed 0

(speed command value for speed control: 0%) and the momentary maximum rotation speed of the Servomotor (speed command value for speed control:

100%).

The acceleration time and deceleration time for the actual target speed are as follows:

Actual acceleration (deceleration) time =

Speed command value for speed control (r/min)

×

Soft start acceleration (deceleration) time

Momentary maximum rotation speed (r/min)

Servomotor speed

+r/min

Momentary maximum rotation speed (See note.)

Speed command value for speed control

0

Actual acceleration time

Pn305

Time

Actual deceleration time

Pn306

Note

The momentary maximum rotation speed depends on the Servomotor used.

Refer to the momentary maximum rotation speed for the Servomotor used.

The following values apply to W-series Servomotors.

3,000-r/min Servomotor (cylinder type or flat type): 5,000 r/min

1,000-r/min Servomotor: 2,000 r/min

1,500-r/min Servomotor (450 W to 7.5 kW): 3,000 r/min

1,500-r/min Servomotor (11 to 15 kW): 2,000 r/min

Option Command Value during Speed Control

When speed control is used, the torque limit and torque feed forward functions can be applied during speed control by setting Servo Parameter

Torque

Limit Selection

(Pn521) when using G5-series Servo Drives, Servo Parameter


(Pn003) when using G-series Servo Drives or Servo

Parameter

Torque Command Input Change

of

Function Selection Application

Switch 2

(Pn002.0) when using W-series Servo Drives and setting the Current

Limit Designation Bits and option command values in the Axis Operating Output Memory Area.

392

Speed Control

1

Torque Limit

Selection (Pn521)

---

PCL

2

3

4

5

6

---

---

OFF

OFF

ON

ON

---

---

OFF

OFF

ON

ON

---

OFF

OFF

Section 10-5

When using G5-series Servo Drives, the torque limit/torque feed forward function depends on the Servo Parameter and output bit combinations, as follows:

NCL

---

---

---

OFF

ON

OFF

ON

---

---

OFF

ON

OFF

ON

---

OFF

ON

R88D-GN

@

-ML2

(with built-in MECHATROLINK-II communications)

Option command value 1 (words a+10, a+11) functions as a torque feed forward command value when the torque feed forward function is enabled. Pn013 functions as a forward torque limit value/reverse torque limit value when the torque limit function is enabled.

Option command value 1 (words a+10, a+11) functions as a torque feed forward command value when the torque feed forward function is enabled. Pn013 functions as a forward torque limit value, and Pn522 functions as a reverse torque limit value when the torque limit function is enabled.

Option command value 1 (words a+10, a+11) functions as a torque feed forward command value when the torque feed forward function is enabled.

Pn013 functions as a forward torque limit value/reverse torque limit value when the torque limit function is enabled.

Pn013 functions as a forward torque limit value, and Pn522 functions as a reverse torque limit value when the torque limit function is enabled.


Pn522 functions as a forward torque limit value/reverse torque limit value when the torque limit function is enabled.

The torque feed forward function is disabled. Whichever is smaller of the

Servo Parameter Pn013 and option command value 1 (word a+10, a+11) functions as a forward torque limit value, and whichever is smaller of the Servo Parameter Pn522 and option command 2 (word a+12, a+13) functions as a reverse torque limit value when the torque limit function is enabled.

The torque feed forward function is disabled.

Pn013 functions as a forward torque limit value when the torque limit function is enabled.

Pn522 functions as a reverse torque limit value when the torque limit function is enabled.

Pn013 functions as a forward torque limit value when the torque limit function is enabled.

Whichever is smaller of the Servo Parameter Pn522 and option command value 2 (word a+12, a+13) functions as a reverse torque limit value when the torque limit function is enabled.

Whichever is smaller of the Servo Parameter Pn013 and option command value 1 (word a+10, a+11) functions as a forward torque limit value when the torque limit function is enabled.

Pn522 functions as a reverse torque limit value when the torque limit function is enabled.

Whichever is smaller of the Servo Parameter Pn013 and option command value 1 (word a+10, a+11) functions as a forward torque limit value when the torque limit function is enabled.

Whichever is smaller of the Servo Parameter Pn522 and option command value 2 (word a+12, a+13) functions as a reverse torque limit value when the torque limit function is enabled.

Option command value 1 (words a+10, a+11) functions as a torque feed forward command value when the torque feed forward function is enabled.



393

Speed Control

Section 10-5

Torque Limit


ON

ON

PCL

Note

NCL

OFF

ON

R88D-GN

@

-ML2




PCL ON: When either the external signal Forward Torque Limit or the Forward Rotation Current Designation (a+1614) is ON.

NCL ON: When either the external signal reverse torque limit or the Forward

Rotation Current Designation (a+1615) is ON.

1

Torque Limit


---

PCL

2

3

4

---

---

OFF

OFF

ON

ON

---

When using G-series Servo Drives, the torque limit/torque feed forward function depends on the Servo Parameter and output bit combinations, as follows:

NCL

---

---

---

OFF

ON

OFF

ON

---

R88D-GN

@

-ML2


Option command value 1 (words a+10, a+11) functions as a torque feed forward command value and the torque feed forward function is enabled. Pn05E functions as a forward torque limit value/reverse torque limit value and the torque limit function is enabled.

Option command value 1 (words a+10, a+11) functions as a torque feed forward command value and the torque feed forward function is enabled. Pn05E functions as a forward torque limit value, Pn05F functions as a reverse torque limit value and the torque limit function is enabled.

Option command value 1 (words a+10, a+11) functions as a torque feed forward command value and the torque feed forward function is enabled.

Pn05E functions as a forward torque limit value/reverse torque limit value and the torque limit function is enabled.

Pn05E functions as a forward torque limit value, Pn05F functions as a reverse torque limit value and the torque limit function is enabled.

Pn05F functions as a forward torque limit value, Pn05E functions as a reverse torque limit value and the torque limit function is enabled.

Pn05F functions as a forward torque limit value/reverse torque limit value and the torque limit function is enabled.

The torque feed forward function is disabled. Whichever is smaller of the

Servo Parameter Pn05E and option command value 1 (word a+10, a+11) functions as a forward torque limit value, whichever is smaller of the Servo Parameter Pn05F and option command 2 (word a+12, a+13) functions as a reverse torque limit value and the torque limit function is enabled.

394

Speed Control

Section 10-5

5

Torque Limit


PCL

---

OFF

OFF

ON

ON

Note

---

OFF

ON

NCL

OFF

ON

R88D-GN

@

-ML2


The torque feed forward function is disabled.

Pn05E functions as a forward torque limit value and the torque limit function is enabled.

Pn05F functions as a reverse torque limit value and the torque limit function is enabled.

Pn05E functions as a forward torque limit value and the torque limit function is enabled.

Whichever is smaller of the Servo Parameter Pn05F and option command value 2 (word a+12, a+13) functions as a reverse torque limit value and the torque limit function is enabled.

Whichever is smaller of the Servo Parameter Pn05E and option command value 1 (word a+10, a+11) functions as a forward torque limit value and the torque limit function is enabled.

Pn05F functions as a reverse torque limit value and the torque limit function is enabled.

Whichever is smaller of the Servo Parameter Pn05E and option command value 1 (word a+10, a+11) functions as a forward torque limit value and the torque limit function is enabled.

Whichever is smaller of the Servo Parameter Pn05F and option command value 2 (word a+12, a+13) functions as a reverse torque limit value and the torque limit function is enabled.

PCL ON: When either the Forward Torque Limit (CN1 PCL: Pin 7) or Forward

Rotation Current Limit Designation (word a+1614) is turned ON.

NCL ON: When either the Reverse Torque Limit (CN1 NCL: Pin 8) or

Reverse Rotation Current Limit Designation (word a+1615) is turned ON.

0

1

2

Torque command input change

(Pn002.0)

When an R88D-WT @ W-series Servo Drive equipped with a FNY-NS115

MECHATROLINK-II I/F Unit or an R88D-WN @ -ML2 W-series Servo Drive with built-in MECHATROLINK-II communications is connected to the PCU, the torque limit/torque feed forward function depends on the Servo Parameter and output bit combinations, as follows:

Forward rotation current limit designation

(word a+16, bit

14

---

Reverse rotation current limit designation

(word a+16, bit

15)

---

---

---

---

---

R88D-WT

@

+ FNY-NS115 R88D-WN

@

-ML2 with built-in


Option command values 1 and

2 are disabled. Use set value

0.


(words a+10, a+11) functions as a torque limit value and the torque limit function is enabled in both directions.


(words a+10, a+11) functions as a torque feed forward command value and torque feed forward is enabled.



0.


(words a+10, a+11) functions as a forward torque limit value, option command value 2

(words a+12, a+13) functions as a reverse torque limit value and the torque limit function is enabled.


(words a+10, a+11) functions as a torque feed forward command value and torque feed forward is enabled.

395

Speed Control

Section 10-5

3

Torque command input change

(Pn002.0)

Forward rotation current limit designation

(word a+16, bit

14

0

Reverse rotation current limit designation

(word a+16, bit

15)

0

0

1

1

1

0

1

R88D-WT

@

+ FNY-NS115 R88D-WN

@

-ML2 with built-in




0.




(words a+10, a+11) functions as a forward torque limit value and the torque limit function is enabled.


(words a+10, a+11) functions as a torque limit value and the torque limit function is enabled in both directions.



0.




(words a+10, a+11) functions as a forward torque limit value and the torque limit function is enabled.


(words a+10, a+11) functions as a forward torque limit value, option command value 2


The settings for option command values 1 and 2 (torque limit/torque feed forward command values) and Forward/Reverse Rotation Current Limit Designation Bits are enabled when the SPEED CONTROL Bit turns ON. Changing these command values while speed control is being executed and then turning ON the SPEED CONTROL Bit again enables the option command values and Current Limit Designation Bits to be changed during operation.

The torque limit for speed control set in the option command values can be

used together with the torque limit function (refer to


). When

enabling multiple torque limit functions simultaneously, the Servomotor's output torque is limited by the minimum torque limit setting.

396

Speed Control

Section 10-5

Example Timing Chart for W-series Speed Control

Speed command value for speed control (words a+6, a+7)


(words a+10, a+11)

Monitor type (word a+15)

SPEED CONTROL

(word a+1, bit 02)

DECELERATION STOP

(word a, bit 15)



0000C350 hex (50.000%)

32 hex (50)

0 000124F8 hex (75.000%)

0008 hex (Monitor 1: Feedback speed)

The target speed can be changed at any time during speed control by overwriting the speed command value.

The torque limit operation can be switched between enabled and disabled status during operation by changing the option command value and Current

Limit Designation Bit settings during speed control, and executing SPEED CONTROL.

The function combination depends on the setting in

Pn002.0 (torque command input change).

Axes operating with speed control are stopped using

DECELERATION STOP or EMERGENCY STOP.

In this example, the Servo Parameter Pn002.0

(torque command input change) is set to 3: Current

Limit Designation Bit are used.

Speed

75%

50%



The acceleration/deceleration during speed control depends on the setting in the Servo Parameter

Soft Start

Acceleration/Deceleration Time

, and the deceleration for deceleration stop depends on the settings in the Servo

Parameters related to acceleration/deceleration.

Time



(word b, bit 00)




Stop Execution Bit

(word b, bit 15)


(word b+1, bit 07)

Zero Speed Flag

(word b+1, bit 08)


(word b+1, bit 09)

Bits 07 and 08 in the Servo Status Flags (word b+1) function, respectively, as the Speed Conformity Flag and Zero Speed Flag from the time when SPEED

CONTROL is received (when the Receiving Command

Flag turns OFF) until the command to switch to position control, such as DECELERATION STOP, is received (when the Receiving Command Flag turns

OFF), as indicated by the shaded area.

The Torque Limit Status Flag is ON when the torque limit function is enabled and operating. This flag does not turn ON if the output torque reaches the limit value or lower during Servomotor rotation and thus the torque limit function is not ON.

Monitor 1: Feedback speed

(words b+10, b+11)

Control mode

(Position control)

Torque limit enabled

Monitor unit: 0.001% (percentage of Servomotor's momentary maximum rotation speed)

Speed control

Monitor unit: Command units/s

Position control a = Beginning word of Axis Operating Output Areas specified in Common Parameters + (Axis No.

−

1)

×


−

1)

×

25

When the speed (feedback speed, command speed, or target speed) is selected for monitor 1 or 2, the monitoring unit for position control/torque control, and speed control will change. The speed command value for speed control (unit: 0.001%) is used from when the speed control command is received (when the

Receiving Command Flag turns OFF) and the speed command value for position control (command units/s) is used from when the command to switch to position control or torque control is received.

397

Speed Control

Section 10-5

Status and Monitoring during Speed Control

When SPEED CONTROL is executed, some of the Status Flags, monitoring functions, and display units change.

Servo Status Flags in Axis

Operating Input Memory

Area (Word b+1)

Word

b+1

Bits

07

08

The functions of bits 07 and 08 in the Servo Status Flags of the Axis Operating Input Memory Area change depending on whether position control or speed control is used.

Control mode

Position control

Speed control

Position control

Flag name

Positioning Completed (PSET) Flag

Speed Conformity

(V-CMP) Flag

Distribution Completed (DEN) Flag

Speed control

Zero Speed (ZSPD)

Flag

Function Function change timing

Sending the position control command to the Servo Drive completed and the position is within


(in position).

Speed matches the speed command value for speed control.

Sending the position control command to the Servo Drive completed (operating for the number of pulses remaining in the deviation counter).

Speed control with zero speed in progress.

The function changes when the command to switch to position control has been received (when the Receiving

Command Flag turns OFF).

The function changes when

SPEED CONTROL has been received (when the Receiving





SPEED CONTROL has been received (when the Receiving


Monitors 1 and 2 in Axis


Areas

When the speed (feedback speed, command speed, or target speed) is selected for monitor 1 or 2, the monitoring unit for position control/torque control, and speed control will change, as follows:

Control mode

Position control/Torque control

Speed control


Command units/s

0.001%



The unit changes when the command to switch to position control/torque control has been received (when the

Receiving Command Flag turns OFF).

The unit changes when SPEED CON-

TROL has been received (when the


10-5-3 Switching Control Mode

The PCU's operating commands can be used to switch between position control, speed control, and torque control of active axes, as follows:


ABSOLUTE

MOVEMENT

RELATIVE

MOVEMENT

ORIGIN

SEARCH

ORIGIN

RETURN

Control mode Operation when operating command is executed

Position control Switches to position control from any control mode when the command starts and executes positioning with an absolute position.

Position control Switches to position control from any control mode when the command starts and executes positioning with a relative position.

Position control A multistart error occurs when the command starts from any control mode, and deceleration stop is executed in position control mode.


398

Speed Control

Section 10-5


JOG

DECELERA-

TION STOP

SPEED CON-

TROL

TORQUE CON-

TROL

Control mode

Torque control

Operation when operating command is executed


Position control Switches to position control when the command starts from any control mode, and deceleration stop is executed.

Speed control Switches to speed control when the command starts from any control mode.

Switches to torque control when the command starts from any control mode.

EMERGENCY

STOP

SERVO

UNLOCK

Position control Switches to position control when the command starts from any control mode, and emergency stop is executed.

Position control When executing SERVO UNLOCK, the PCU executes DECELERATION STOP for the Servo

Drive, followed immediately (without waiting for the axis to stop) by SERVO UNLOCK. When

SERVO UNLOCK is executed during speed control or torque control, the Servo Drive will recover in the position control mode's Servo lock status the next time the SERVO LOCK command is executed.

DEVICE SETUP Position control Switches to position control when the command starts, and recovers in position control mode when SERVO LOCK is executed.

If operation stops due to an error (except stopping that puts Servo in free run state), the Servomotor stops in position control mode (deceleration stop or emergency stop) and remains in position control mode (Servo lock status) after stopping. After turning ON the power to the PCU or restarting the Unit and executing CONNECT or SERVO LOCK, the PCU will be put in the position control mode and in Servo lock status.

Note

When SERVO UNLOCK is executed during speed control or torque control, the Servo Drive will recover in the position control mode and in Servo lock status the next time the SERVO LOCK command is executed. If MECHATROLINK communications are stopped

(connection released) or the power to the PCU is interrupted during speed control or torque control, the Servo Drive will be put in Servo free run state in the previous control mode. While in this state, if

MECHATROLINK communications are started (connection established) and SERVO LOCK is executed, the Servomotor starts operating immediately in the previous command state. The speed monitor and torque monitor in the PCU’s expanded monitoring functions will also not function properly. To stop MECHATROLINK communications while in speed control or torque control mode, use

DECELERATION STOP or another command that will switch the

Servo Drive to position control, and execute the next SERVO

LOCK command in position control mode. If the Servo is in a free run state during speed control or torque control (due to an error or other cause), execute DEVICE SETUP before the next SERVO

LOCK and switch the Servo Drive to position control mode.

When switching to position control from speed control or torque control, the feedback speed for executing operating commands in position control is used as the start speed. Movement to the position control target speed or stop operation is then performed using the acceleration/deceleration set in the

Servo Parameters for acceleration/deceleration.

399

Torque Control

Changes in Torque when

Switching Control Modes

Note

Section 10-6

When switching to another control mode during torque control, position control with the torque limit enabled, or speed control, the torque in the control mode to be switched to must be considered. For example, if DECELERATION

STOP is executed with the torque limit disabled during speed control with the torque limit enabled, position control will be used without the output torque limit during the time deceleration stop is executed.

When switching from the control mode that requires a constant torque limit, such as for pushing or pulling a load, make sure that the torque limit is also enabled for the next operating command to be executed to prevent a sudden change in output torque.

In speed control mode, axis stop operations due to errors are executed after switching to position control. The torque limit for these stop operations depends on the setting of the Current Limit Designation Bit at when the error occurred. When executing speed control with the torque limit enabled using the option command value, if the Current Limit Designation Bit is not set to

ON, the axis stop operation due to error will be executed with the torque limit disabled. To enable the torque limit for axis stop operations due to errors, turn

ON the Current Limit Designation Bit and set Servo Parameters

No.1 Torque

Limit

(Pn013) or

No.2 Torque Limit

(Pn522) when using G5-series Servo

Drives, Servo Parameters

No.1 Torque Limit

(Pn05E) or

No.2 Torque Limit

(Pn05F) when using G-series Servo Drives, and

Forward Rotation External

Current Limit

(Pn404) or


(Pn405) when using W-series Servo Drives.

10-6 Torque Control

10-6-1 Overview

In torque control, the PCU controls the output torque of the Servomotor by directly executing torque commands in a torque (current) loop without using the Servo Drive's position loop or speed loop.

Torque control can be used when a G5-series Servo Drive, a G-series Servo

Drive or a W-series Servo Drive is connected. The SMARTSTEP Junior Servo

Drives do not support torque control.

10-6-2 Starting Torque Control

Torque control is performed according to the target torque set in the torque command value in the Axis Operating Output Memory Areas and started when the TORQUE CONTROL Bit turns ON. When starting torque control, make sure that the TORQUE CONTROL Bit remains ON until the Receiving

Command Flag or Busy Flag in the Axis Operating Input Memory Area turns

ON.


STOP, OR DECELERATION STOP command bit is turned ON, the TORQUE

CONTROL command will be ignored. Be sure that all of these command bits are OFF before executing torque control.

The torque command value is set in units of 0.001% as a percentage of the

Servomotor's momentary maximum torque. The torque command value is specified in the range

−

199.999% to 199.999%, and the rotation direction is determined by the sign (positive or negative) of the torque command value.

The actual Servomotor torque control range and minimum control unit depend on the Servo Drive specifications.

400


Section 10-6

To stop torque control, execute DECELERATION STOP or EMERGENCY

STOP. (For details on stop functions, refer to


.)


---

---

Type

G5-series Torque Control Parameters

Parameter

No.

Pn317

Pn321

Parameter name

Speed limit selection

Speed limit value setting


--0, 1 2 r/min 0 to 20000 2

Data length

0

50

Default setting

---

---

---

Type

Type

Pn317 is used to select the function of the option command value for torque control.

The option command value for torque control is described in the following pages.

Pn321 is used to set the fixed speed limit for torque control.

G-series Torque Control Parameters

Parameter

No.

Pn05B

Pn053

Parameter name

Speed limit selection

Speed limit


--0, 1 r/min

−

20000 to

20000

2

2

Data length

0

50

Default setting

Pn05B is used to select the function of the option command value for torque control.

The option command value for torque control is described in the following pages.

Pn053 is used to set the fixed speed limit for torque control.

W-series Torque Control Parameters

Parameter

No.

Pn002.1

Pn407

Parameter name


Speed command input switching

Speed limit

---


0, 1 2 r/min 0 to 10000 2

Data length

0

Default setting

3000 ---

Note

The default settings correspond to those used for W-series Servo Drives.

Pn002.1 is used to select the function of the option command value for torque control. The option command value for torque control is described in the following pages.

The data length for Pn002.1 is the set value specified to transfer Pn002

(including Pn002.1) when transferring Servo Parameters. Pn407 is used to set the fixed speed limit for torque control.


Name Word

DECELERATION STOP a

TORQUE CONTROL a+1

EMERGENCY STOP

Bits

15

03

15

0

→


0

→

1: Starts torque control.

0

→


Contents

401


Section 10-6

Name Word

Torque command value a+8 a+9

---

Bits


---

Contents

Torque command value (rightmost word)


Unit: 0.001%


Command range:

−

199.999 to 199.999%

(FFFCF2C1 hex to 00030D3F hex)

Note

The rotation direction is determined by the sign.

Speed limit value (rightmost word)

Speed limit value (leftmost word)

Unit: 0.001%


Command range: 0 to 100.000% (See note 1.)

(00000000 hex to 000186A0 hex)

The option command value 1 can be used as the speed limit value during torque control by setting the Servo Parameter

Speed Limit Selection

(Pn317) when using G5-series Servo Drives,


(Pn05B) when using G-series Servo Drives, and the

Speed Command Input

Change

in Servo Parameter


(Pn002.1) when using W-series Servo Drives.



Reverse rotation current limit designation a+16 14

15 1: Use reverse torque limit.

Note



−

1)

×

25

(1) A command range check (0 to 10,000) is performed for the option command value for torque control when the torque control command is given.

If the option command value is out of range, an option command value error (error code: 3064) will occur. The command range check will be performed even if the Servo Parameter


(Pn317) when using G5-series Servo Drives, Servo Parameter


(Pn05B) when using G-series Servo Drives, or the Torque Command Input Change parameter in the Function Selection Application Switches 2 when using W-series Servo Drives is set to disable using the option command value. Always set the option command value to 0 when it is not being used.

(2) The same option command value parameter is used for both speed and torque control. The allowable setting ranges for speed and torque control, however, are different. When switching between speed and torque control, be sure that the option command value is set within the proper range for the current type of control.

Changes to the torque command value during operation are always effective.

during torque control, by setting a new torque command value in the Axis

Operating Output Memory Area, the target torque for torque control can be changed.

The data for option command value 1 (speed limit value) is enabled when the start bit for TORQUE CONTROL turns ON. Changing these set values while torque control is being executed and then turning ON the TORQUE CON-

TROL Bit again enables the speed limit value to be changed during operation.

The torque limit can also be applied by turning ON the Forward/Reverse

Rotation Current Limit Designation Bit when executing TORQUE CONTROL.


10-4-3 Torque Limits Set by Operating Commands

.)

402


Section 10-6


Note

Name

Receiving Command

Flag

Error Flag b

Word Bits

00

Busy Flag

Torque Limit Status Flag b+1

Speed Limit Status Flag



12

13

09

11

---

---

Contents


0

→



0: No axis error.



1: Torque limit in progress.

1: Speed limit in progress.

Present position



Present position




−

1)

×

25

The Receiving Command Flag turns ON for at least one cycle time when the command to start torque control is received by the PCU. Use the Receiving

Command Flag when starting and changing option commands to control the

ON/OFF timing for TORQUE CONTROL.

During torque control, bit 11 in the Servo Status Flags (word b+1) of the Axis

Operating Input Memory Area functions as the Speed Limit Status Flag.

The command present position that is output during torque control is calculated from the feedback position and the position deviation that is inferred from the current speed.

Changes in output torque may affect operation when switching to speed control or position control with deceleration stop, while torque control is being per-

formed. For details, refer to


.



Option Command Value during Torque Control

A speed limit can be applied during torque control by setting Servo Parameter


(Pn317) when using G5-series Servo Drives, Servo

Parameter


(Pn05B) when using G-series Servo Drives, and the

Speed Command Input Change

in Servo Parameter


(Pn002.1) when using W-series Servo Drives and the option command value.

The speed limit functions depend on the Servo Parameter and output bit combinations, as follows:

403


Note

Section 10-6


Speed command input change

(Pn317)

0

1

Function

Option command values 1 and 2 are disabled. Use set value 0.

Limits speed during torque control, using option command value

1 (words a+10, a+11) as the speed limit value.

Option command value 2 is not used. Use set value 0.


0

1


(Pn05B)

Function






0

1


(Pn002.1)

Function





The data for option command value 1 (speed limit value) is enabled when the bit for TORQUE CONTROL turns ON. Changing option command value 1 while torque control is being executed and then turning ON the TORQUE

CONTROL Bit again enables the speed limit value to be changed during operation.

The speed limit for torque control set in the option command value can be used together with a Servo Parameter (Pn321 for the G5 Series, Pn053 for the G Series and Pn407 for the W Series) (speed limit). When both speed limit functions are enabled at the same time, the Servomotor's rotation speed is limited by the lowest speed limit setting.

The speed limit functions for torque control are used to limit the Servomotor's rotation speed in a steady state, and not the upper limit (maximum value) of the Servomotor's rotation speed. Transitional overshooting may occur in the

Servomotor's rotation speed and the speed limit value may be exceeded due to conditions such as the torque command value, Servomotor load, and inertia.

404


Section 10-6

Example Timing Chart for Torque Control


(words a+8, a+9)


(words a+10, a+11)

00002710 hex (10.000%) 00013880 hex (80.000%)

0000C350 hex (50.000%) 000124F8 hex (75.000%)

The target output torque can be changed at any time during torque control by overwriting the torque command value.

Monitor type (word a+15)

TORQUE CONTROL

(word a+1, bit 03)

DECELERATION STOP

(word a, bit 15)



Speed

75%

50%

000B hex (Monitor 1: Torque command)

Changing option command value 1 while torque control is being executed and then executing

TORQUE CONTROL again enables the speed limit value to be changed during operation.

Axes operating with torque control are stopped using DECELERATION STOP or EMERGENCY

STOP.

When the torque limit is disabled for position control commands such as DECELERATION

STOP, the torque may suddenly change when switching from torque control.



The speed and acceleration/deceleration used during torque control depend on the torque command value and Servomotor load, within the range limited by the speed limit value in option command value 1.

Time



(word b, bit 00)




Stop Execution Bit

(word b, bit 15)


(word b+1, bit 11)


(word b+1, bit 09)

Bit 11 in the Servo Status Flags (word b+1) functions as the Speed Limit Status Flag from the time when

TORQUE CONTROL is received (when the Receiving

Command Flag turns OFF) until the command to switch to position control, such as DECELERATION

STOP, is received (when the Receiving Command

Flag turns OFF), as indicated by the shaded area.

The Torque Limit Status Flag is ON when the torque limit function is enabled and operating. This flag does not turn ON if the output torque reaches the limit value or lower during Servomotor rotation and thus the torque limit function is not ON.

Torque limit enabled

Monitor 1: Torque command

(words b+10, b+11)

Control mode

(Position control)

Monitor unit: 0.001% (percentage of Servomotor's momentary maximum torque)

Torque control

Monitor unit: 1% (percentage of Servomotor's rated torque)

Position control a = Beginning word of Axis Operating Output Areas specified in Common Parameters + (Axis No. b = Beginning word of Axis Operating Input Areas specified in Common Parameters + (Axis No.

−

−

1)

1)

×

×

25

25

When the torque is selected for monitor 1 or 2, the monitoring unit for position control/speed control, and torque control changes. The monitor uses a unit of

0.001% from when the torque control command is received (when the Receiving Command Flag turns

OFF) and 1% from when the command to switch to position control or speed control is received (when the


Note

For details on switching to torque control from position control or speed control, refer to


.

(1) When SERVO UNLOCK is executed during speed control or torque control, the Servo Drive will recover in the position control mode and in Servo lock status the next time SERVO LOCK is executed. If MECHATROLINK communications are stopped (connection released) or the power to the

PCU is interrupted during speed control or torque control, the Servo Drive will be put in Servo free run state in the previous control mode. While in this state, if MECHATROLINK communications are started (connection established) and SERVO LOCK is executed, the Servomotor starts operating immediately in the previous command state. The speed monitor and torque monitor in the PCU’s expanded monitoring functions will also not function properly. To stop MECHATROLINK communications while in speed control or torque control mode, use DECELERATION STOP or other command that will switch the Servo Drive to position control, and execute the next SERVO LOCK in position control mode. If the Servo is in a free run state during speed control or torque control (due to an error or other cause), execute DEVICE SETUP before the next SERVO LOCK and switch the Servo Drive to position control mode.

405


Section 10-6

(2) In torque control mode, axis stop operations due to errors are executed after switching to position control. The output torque for these stop operations depends on the setting for error operation in the Current Limit Designation Bit. during torque control execution, if the Current Limit

Designation Bit is not set to ON, the axis stop operation due to error will be executed with the torque limit disabled. To enable the torque limit for axis stop operations due to errors, turn ON the Current Limit Designation

Bit while torque control is being executed and set Servo Parameters

No.2

Torque Limit

(Pn05F) when using G-series Servo Drives, and

Forward

Rotation External Current Limit

(Pn404) or


Current Limit

(Pn405) when using W-series Servo Drives.

Status and Monitoring during Torque

Control

When TORQUE CONTROL is executed, some of the Status Flags, monitoring functions, and display units change.

Servo Status Flags in Axis


Area (Word b+1)

Word Bits

b+1 11

Control mode

Position control

Torque control

The function of bit 11 in the Servo Status Flags of the Axis Operating Input

Memory Area depends on whether position control or torque control is used.

Flag name Function Function change timing

Positioning Proximity (NEAR) Flag

ON when within

pletion Range 2

Positioning Com-

Speed Limit (V_LIM)

Status Flag

ON when speed limit in progress using speed limit value specified in option command value 1.




TORQUE CONTROL has been received (when the


Monitors 1 and 2 in Axis


Areas

When the torque is selected for monitor 1 or 2, the monitoring unit for position control/speed control, and torque control changes, as follows:

Control mode

Position control/speed control

Torque control


% (1% unit)

(percentage of Servomotor’s rated torque)

0.001%



The unit changes when the command to switch to position control or speed control has been received (when the


The unit changes when TORQUE

CONTROL has been received (when the Receiving Command Flag turns

OFF).

406

Backlash Compensation

Section 10-7

10-7 Backlash Compensation

10-7-1 Overview

"Backlash" is the play between the driving axis and the mechanical system being driven. If there is backlash in positioning from the positive or negative direction, it will cause a discrepancy of the same extent in the positioning.


Servo Drive, backlash compensation can be used to make this discrepancy as small as possible.

Backlash

Positioning from positive side:

Position on drive side = Position on driven side

Positioning from positive side

Driven side

Positioning from negative side:

Position on drive side = Position on driven side

−

Amount of backlash compensation

Positioning from negative side

Driving side

Same position

In the above diagram, after positioning from the positive side, backlash is compensated for up to the amount of the output of pulses set for the backlash compensation either when positioning in the negative direction or when the positioning direction is reversed.

The SMARTSTEP Junior Servo Drives do not support backlash compensation.

10-7-2 Backlash Compensation Procedure

The PCU uses the Servo Drive's backlash compensation function. The Servo

Parameters for backlash compensation must be set to enable the backlash compensation function. After setting the Servo Parameters, execute SERVO

LOCK, and then perform backlash compensation with the following position control operations.

ABSOLUTE MOVEMENT, RELATIVE MOVEMENT, ORIGIN SEARCH,

ORIGIN RETURN, and JOG

Backlash compensation is disabled when executing SPEED CONTROL or

TORQUE CONTROL. Backlash compensation operation functions as follows:

• After SERVO LOCK (First Position Control Operating Command)

Compensation is applied to the first operating command that operates in the specified backlash compensation direction. Compensation is not applied to operations prior to this that moved axes in the opposite direction to backlash.

407


Section 10-7

• After Backlash Compensation

Backlash compensation is applied for the first operating command that operates in the opposite direction from which backlash compensation was previously applied. Once backlash compensation has been applied, it will not be applied again as long as operation is continued in the same direction.

Compensation amount

(4)

(3)

(2)

Compensation amount

(1)

Start (1)

(First time after

SERVO LOCK)

Start (2) Start (3) Start (4) Number of Servomotor rotations

Specified backlash compensation direction

Note

The PCU's present position compensation according to the backlash compensation function is applied to both the feedback present position and command present position.

10-7-3 Backlash Compensation Data Settings

When a G5-series Servo Drive, a G-series Servo Drive or a W-series Servo

Drive is connected, the data settings for backlash compensation are as follows:


Type

---

---

Backlash Compensation Parameters (R88D-KN

Parameter

No.

Pn704

Pn705



---

Backlash compensation amount Command unit

Setting range

0 to 2

@

-ML2)

2

Data length

--Pn706 Backlash compensation time constant

0.01ms

−

32,768 to

32,767

0 to 6400

2

2

0

Default setting

0

0

---

Type

The backlash compensation amount is set in Pn705 in command units. The minimum setting unit for the backlash compensation amount, however, depends on the encoder resolution.

Backlash Compensation Parameters (R88D-GN

@

-ML2)

Parameter

No.

Pn100

Parameter name


---


0 to 2 2

Data length

0

Default setting

408


Section 10-7

---

---

---

---

---

---

---

Type

Type

Type

Parameter

No.

Pn101

Parameter name


Unit

Command unit

Setting range

−

32,768 to

32,767

0 to 6400

2

2

Data length

0

Default setting


0.01ms

0

The backlash compensation amount is set in Pn101 in command units. The minimum setting unit for the backlash compensation amount, however, depends on the encoder resolution.

Backlash Compensation Parameters (R88D-WT

@

+ FNY-NS115)

Parameter

No.

Pn81B

Pn81D.0


Backlash compensation amount 0.1 command unit

−

32,768 to

32,767

Compensation function selection --0, 1

2

2

Data length

0

Default setting

0

Pn215

The backlash compensation amount is set in Pn81B in 0.1 command units.

The minimum setting unit for the backlash compensation amount, however, depends on the encoder resolution.

Backlash Compensation Parameters (R88D-WN

@

-ML2)

Parameter

No.

Pn207.2

Pn214



---

Backlash compensation amount Command unit

Backlash compensation constant

0.01 ms

Setting range

0 to 2 2

−

32,768 to

32,767

2

0 to 65535 2

Data length

0

Default setting

0

0

The backlash compensation function is set in Pn214 in command units. The minimum setting unit for the backlash compensation amount, however, depends on the encoder resolution.

The direction in which backlash compensation is first applied after execution of SERVO LOCK using the backlash compensation function is set in Servo

Parameters

Backlash Compensation Selection

(Pn704) when using

R88D-KN @ -ML2,


(Pn100) when using

R88D-GN @ -ML2,

Backlash Compensation Direction

(Pn81D.0) when using

R88D-WT @ , and


(Pn207.2) when using

R88D-WN @ -ML2, as follows:

0

1

R88D-KN

@

-ML2

Pn704

0

1

R88D-GN

@

-ML2

Pn100

---

0

R88D-WT

@

+

FNY-NS115

Pn81D.0

2 2 1

0

1

R88D-WN

@

-ML2

Pn207.2

2

Function

No backlash compensation

Compensates in the forward direction.

The first backlash compensation direction is forward.

Compensates in the reverse direction.

The first backlash compensation direction is forward.

Note

When using R88D-WT @ + FNY-NS115 without backlash compensation, set the backlash compensation amount to (Pn81B) to 0.

409

Software Limits

Section 10-8

10-8 Software Limits

10-8-1 Overview

To prevent or reduce damage to external devices due to unexpected positioning operations when there is a malfunction, in addition to the forward rotation and reverse rotation limit input signals, the PCU also has a function that monitors positioning at a software level. This function is called the “software limit” function.

The range in which the software limit function monitors the position is determined by the values of two settings: the forward software limit and the reverse software limit. Normally, positioning is only possible within the range determined by these software limit settings. The relationship between the forward rotation and reverse rotation limit input signals, the software limits, and the mechanical stoppers used in the system is shown below.

Reverse software limit Forward software limit

Software level operating range

Reverse rotation limit input signal Forward rotation limit input signal

Electrical level operating range

Mechanical stopper Mechanical stopper

Mechanical level operating range

The software limit function is enabled if an origin has been established (i.e., the No Origin Flag is OFF). The software limit function is disabled when the origin has not been established.

When the Servo Drive power is turned ON, the PCU's present position is set to 0, and the origin is not established. RELATIVE MOVEMENT can be executed under these conditions, but the positioning range (present position range possible for positioning) will be

−

2,147,483,648 to 2,147,483,647 (command units), and the present position will be refreshed by adding the travel distance without an established origin.

If RELATIVE MOVEMENT is executed using a position command value that exceeds the positioning range, a Position Designation Error (error code:

3060) will occur when the command is executed.

When a command such as JOG continues to be executed, the present position will be repeated between

−

2,147,483,648 and 2,147,483,647 (command units). (Refer to


.)

10-8-2 Procedure for Using Software Limits

The PCU uses the Servo Drive's software limit function. The Servo Parameters for software limits must be set to enable the software limit function. After setting the Servo Parameters, the software limit function is enabled by executing ORIGIN SEARCH and PRESENT POSITION PRESET, or detecting the origin using the absolute encoder.

410


Section 10-8

10-8-3 Software Limit Data Settings


Type

---

---

---

G5-series Software Limit Parameters

Parameter

No.

Pn801

Parameter name

Soft limit



Unit

---

Command unit

Command unit


2 0 to 3

−

1,073,741,823 to

1,073,741,823

−

1,073,741,823 to

1,073,741,823

4

4

0

Default setting

500000

−

500000

---

---

---

---

---

---

---

Type

Type

Pn202

G-series Software Limit Parameters

Unit Parameter

No.

Pn104

Pn201

Parameter name




---

Command unit

Command unit


0 to 3

−

1,073,741,823 to

1,073,741,823

−

1,073,741,823 to

1,073,741,823

2

4

4

0

Default setting

500000

−

500000

Pn804

Pn806

W-series and SMARTSTEP Junior Software Limit Parameters

Unit Parameter

No.

Pn801.0

Parameter name


Pn801.2




---

---

Command unit

Command unit


0 to 3 2

(See note

1.)


−

1,073,741,823 to

1,073,741,823

−

1,073,741,823 to

1,073,741,823

4

4

Default setting

(See note 2.)

0

819,191,808

−

819,191,808

Note

(1) The data length for Pn801.0 and Pn801.2 is that specified when Servo

Parameter Pn801 is transferred.

(2) The default setting for Pn801.0 is 0 when using R88D-WT @ , and 3 when using the R88D-WN @ -ML2 or a SMARTSTEP Junior Servo Drive.

The software limit settings are provided in the following pages. Set the software limits so that the reverse software limit is less than the forward software limit. If the forward software limit is less than or equal to the reverse software limit, the software limit will always be enabled.

When the software limit function is enabled, the status is indicated by the Forward/Reverse Software Limit Flags in the Axis Operating Input Memory Area, as follows:

411


Section 10-8


Name

Forward Software Limit

Flag

Reverse Software Limit

Flag

Word

b+1

Bits

12

13

Contents

0: Within forward software limit range

1: Forward software limit range exceeded

0: Within reverse software limit range

1: Reverse software limit range exceeded b = Beginning word of Axis Operating Input Areas specified in Common


−

1)

×

25

10-8-4 Software Limit Operation

0

1

2

3

Software limit function

Software limit enabled

Forward software limit disabled

Reverse software limit disabled

Software limit disabled in both directions

The software limit function operates as described in the following table for the present position when the software limits are set.

Software limit by command

0: No software limit check using references. (Default setting)

When the feedback present position for the active axis reaches the forward/reverse software limit, in the same way as when forward/reverse rotation limit input signals are input, the axis will stop and a Forward/Reverse Software Limit Error (error code: 3002/3003) will occur.

The forward software limit is disabled.

When the feedback present position for the active axis reaches the reverse software limit, the axis will stop and a Reverse Software Limit Error (error code: 3003) will occur in the same way as when a reverse rotation limit input signal is input.

The reverse software limit is disabled.

When the feedback present position for the active axis reaches the forward software limit, the axis will stop and a Forward Software Limit Error (error code: 3002) will occur in the same way as when a forward rotation limit input signal is input.

1: Software limit check using references.

Do not use this setting. Otherwise, the axis operation will not be performed properly.

The software limits are disabled in both directions.

The refresh range and positioning range for the present position is

−

2,147,483,647 to

2,147,483,647 (command units), and the possible operating range is within the forward/reverse rotation limit input signal range.

When a movement command is executed using direct operation for which the target position will exceed the software limit range, the operation when the software limit is reached will be as shown in the following diagram.

412


Speed

Section 10-8

Operation will start stopping from the software limit position. (See note.)

Original movement command

Target position

Forward rotation direction

Movement command Forward software limit

If RELATIVE MOVEMENT is executed using a position command value that exceeds the positioning range (

−

2,147,483,647 to 2,147,483,647 command units), a Position

Designation Error (error code: 3060) will occur when the command is executed.

Note

The stop operations when the software limit is reached is the same as when limit input signals are input. For details, refer to

7-5 Limit Input Operations

.

When the axis movement command is executed (after alarm reset) from the position at which the software limit is exceeded (software limit has been detected), the operation will depend on the direction in which the software limit is detected, as follows:

Movement command Opposite direction of software limit

ABSOLUTE MOVE-

MENT

RELATIVE MOVEMENT

Operation is possible.

Even if the target position is still beyond the software limit in the direction that has been detected, positioning will be performed to the target position and a Software Limit Error will not be detected even after positioning is completed.

If the target position is beyond the software limit in the other direction, a Software Limit Error will occur when the other software limit is reached.

If, however, RELATIVE MOVEMENT is executed using a position command value that exceeds the positioning range

(

−

2,147,483,647 to 2,147,483,647), a Position Designation Error

(error code: 3060) will occur when the command is executed.

INTERRUPT FEEDING Operation depends on ABSOLUTE MOVEMENT or RELATIVE

MOVEMENT.

ORIGIN RETURN

If the interrupt feeding direction after an interrupt input is opposite to the starting movement direction (reversal operation), the operation is as follows:

• If interrupt feeding is performed after passing the software limit in the direction that has been detected. When the interrupt feeding position does not reach the software limit, positioning will be completed. If the software limit will be exceeded due to interrupt feeding, a Software Limit Error will occur when the software limit position is reached again.

• If interrupt feeding is executed without passing the software limit in the direction that has been detected, positioning will stop at the reversal position and reverse operation will not be executed due to the Driver’s drive prohibited status. In this state, a Software

Limit Error will not be detected.

Origin return operations are possible when performed in the opposite direction of the software limit that has been detected. If the origin position exceeds the other software limit, however, a Software

Limit Error will occur when the other software limit is reached.

Direction of software limit

A Software Limit Error will occur when the command is executed.



413

Stop Functions

Section 10-9

Movement command

JOG

SPEED CONTROL

TORQUE CONTROL

PRESENT POSITION

PRESET

SERVO LOCK

Opposite direction of software limit


A Software Limit Error will not be detected even if jogging is stopped, or if DECELERATION STOP or EMERGENCY STOP is executed, at a position that is still beyond the software limit in the direction that has been detected.

Direction of software limit


If operation is not stopped, a Software Limit Error will occur when the other software limit is reached.


A Software Limit Error will not be detected even if DECELERA-

TION STOP or EMERGENCY STOP is executed at a position that is still beyond the software limit in the direction that has been detected.

If operation is not stopped, a Software Limit Error will occur when the other software limit is reached.


If PRESENT POSITION PRESET is executed for a position beyond the software limit in the present travel direction, the present position will change and a Software Limit Error will not be detected. If PRESENT POSITION PRESET is executed for a position beyond the software limit in the direction opposite to the travel direction, the present position will change and a

Software Limit Error will occur for the software limit in the opposite direction.

SERVO LOCK can be executed regardless of software limit detection status when using an

Incremental Encoder or when using an Absolute Encoder as an Incremental Encoder. When using an Absolute Encoder, operation depends on the unit version of the PCU as follows:

PCUs with Unit Version 1.2 or Earlier

A software limit error will be detected when SERVO LOCK is executed and the SERVO

LOCK operation will be cancelled. Disable the software limit to enable executing SERVO

LOCK.

PCUs with Unit Version 1.3 or Later

SERVO LOCK can be executed regardless of software limit detection status in the same way as when using an Incremental Encoder.

10-9 Stop Functions

10-9-1 Overview

The stop function is used to stop active axes operated by position control, speed control, or torque control. Axis operation can be stopped using the deceleration stop method, which stops the axis using a specified deceleration, or the emergency stop method, which cancels the operating command immediately and stops operation after moving for the remaining pulses in the Servo

Drive's deviation counter. Axis operations are also stopped by the PCU if an error occurs.

For details on PCU operations when errors occur, refer to


.

10-9-2 Deceleration Stop

Deceleration stop stops the active axis using the deceleration set in the Servo

Parameters when the DECELERATION STOP Bit turns ON in the Axis Operating Output Memory Area. The deceleration stop operation is executed using position control with the specified deceleration curve.

When DECLARATION STOP is executed during speed control or torque control, the feedback speed at that point is used as the start speed, the control mode switches to position control, and operation decelerates to a stop.

414


Section 10-9

Speed

Regardless of the previous control mode,

DECELERATION STOP is executed after switching to position control.

Operation decelerate to a stop according to the deceleration set in the Servo

Parameters for acceleration/deceleration.

The Servomotor is set to Servo lock status after operation stops.

Movement command DECELERATION

STOP executed

Time

DECELERATION STOP can be executed for an axis that is servo-locked as long as SERVO UNLOCK, DEVIATION COUNTER RESET, or EMERGENCY

STOP is not being executed and the command bits for these commands are not ON and as long as an axis error has not occurred.

When executing DECELERATION STOP, make sure that the DECELERA-

TION STOP Bit remains ON until the Receiving Command Flag or Stop Execution Flag in the Axis Operating Input Memory Area turns ON.

All axis operation commands except for SERVO UNLOCK, DEVIATION

COUNTER RESET, and EMERGENCY STOP will be ignored during DECEL-

ERATION STOP execution or while the DECELERATION STOP Bit is ON.

Servo Parameter Area G5-series Acceleration/Deceleration Parameters

Unit Type Parameter No.


Pn814

Parameter name




Pn818 Position command FIR filter time constant


2


2

0.1 ms

Setting range

−

32768 to

32767

2

Parameter size

−

32768 to

32767

2

0 to 10000 2

Default setting

100

100

0



Pn10A

Parameter name



Pn10E

G-series Acceleration/Deceleration Parameters

Unit

Moving average time

Setting range

−

32768 to

32767

2

Parameter size

−

32768 to

32767

2

0 to 5100 2

Default setting

100

100



2


2

0.1 ms



Pn80D

Pn80E

Pn80F

W-series and SMARTSTEP Junior Acceleration/Deceleration Parameters

Parameter name



1 to

65535

Parameter size

2

Default setting

100

W

Series

Supported

SMART

STEP

Junior

Not supported




2


2

100 command units/s

1 to

65535

0 to

65535

2

2

100

0

Supported

Supported

Supported

Not supported

415


Section 10-9



Pn810

Pn811

Parameter name




Unit

Command units/s

0.1 ms

Setting range

Parameter size

0 to

32767

2

0 to 5100 2

0

0

Default setting

W

Series

Supported

Supported

SMART

STEP

Junior

Not supported

Not supported

Pn812 0.1 ms 0 to 5100 2 0 Supported

Not supported

First-step deceleration curve operations require parameter settings for Pn80E only. For the acceleration/deceleration curve, Pn810 and Pn811 must be set when using an exponential curve, and Pn812 must be set when using an

S-curve.

The SMARTSTEP Junior Servo Drives do not support the following parameters: Pn80D and Pn80F. They also do not support acceleration/deceleration filters, so the filters cannot be set. A one-step linear deceleration curve is set using only Pn80E.


Name

DECELERATION STOP a

Word Bits

15

Contents

0

→




−

1)

×

25


Name

Receiving Command

Flag

Busy Flag

Stop Execution Flag b

Word Bits

00

13

15

Contents


0

→




0

→




−

1)

×

25

The Stop Execution Flag turns ON when DECELERATION STOP or EMER-

GENCY STOP is received, but does not check whether the remaining pulses in the Servo Drive are within the positioning completion range, unlike the PCU

Positioning Completed Flag in direct operation.

The Stop Execution Flag turns OFF when direct operation, jogging, speed commands or other movement commands are executed.

10-9-3 Emergency Stop

The emergency stop operation cancels the operating command immediately and stops the active axis when the EMERGENCY STOP Bit turns ON in the


When EMERGENCY STOP is executed, axis operation switches to position control mode, and stops in Servo locked status. When EMERGENCY STOP is executed during position control, the axis operation distributes the pulses remaining in the Servo Drive's deviation counter and then stops.

416


Section 10-9

Speed

Movement command

Regardless of the previous control mode,

EMERGENCY STOP is executed after switching to position control.

When pulses remain in the Servo Drive's deviation counter, after EMERGENCY STOP is executed, the remaining pulses are distributed and operation is stopped.

The Servomotor is set to Servo lock status after operation stops.

Time

EMERGENCY

STOP executed

EMERGENCY STOP can be executed for an axis that is servo-locked as long as SERVO UNLOCK or DEVIATION COUNTER RESET is not being executed and the command bits for these commands are not ON and as long as an axis error has not occurred.

When executing EMERGENCY STOP, make sure that the EMERGENCY

STOP Bit remains ON until the Receiving Command Flag or Stop Execution

Flag in the Axis Operating Input Memory Area turns ON.

All axis operation commands except for SERVO UNLOCK and DEVIATION

COUNTER RESET will be ignored during EMERGENCY STOP execution or while the EMERGENCY STOP Bit is ON.


Name

EMERGENCY STOP

Word

a+1

Bits

15

Contents

0

→




−

1)

×

25


Name

Receiving Command

Flag

Busy Flag

Stop Execution Flag b

Word Bits

00

13

15

Contents


0

→




0

→




−

1)

×

25

The Stop Execution Flag turns ON when DECELERATION STOP or EMER-

GENCY STOP is received, but does not check whether the remaining pulses in the Servo Drive are within the positioning completion range, unlike the PCU

Positioning Completed Flag in direct operation.

The Stop Execution Flag turns OFF when direct operation, jogging, speed commands or other movement commands are executed.

10-9-4 Stop Function Timing Chart

The following timing chart is for when DECELERATION STOP is executed.

The timing chart for EMERGENCY STOP is the same, except that operation is stopped after distributing the pulses remaining in the Servo Drive.

417


RELATIVE MOVEMENT

(word a, bit 04)

DECELERATION STOP

(word a, bit 15)

Speed

Section 10-9




(word b, bit 00)



Time

The Receiving Command Flag turns ON for at least one cycle time when the movement command or

DECELERATION STOP is received.

When DECELERATION STOP is executed during a positioning operation, the PCU Positioning

Completed Flag will not turn ON.


Stop Execution Flag

(word b, bit 15)

The Stop Execution Flag will change from ON to

OFF when a movement command is executed.

The Stop Execution Flag will turn ON when

DECELERATION STOP has been received.

The positioning completion range for the pulses remaining in the Servo Drive is not checked. a = Beginning word of Axis Operating Output Areas specified in Common Parameters + (Axis No.

−

1)

×


−

1)

×

25

When DECELERATION STOP or EMERGENCY STOP is executed during direct operation (ABSOLUTE MOVEMENT/RELATIVE MOVEMENT) or ORI-

GIN SEARCH, the PCU Positioning Completed Flag will not turn ON when operation stops. Even if the stop position for DECELERATION STOP/EMER-

GENCY STOP is within the positioning completion range of the target position for the initial positioning operation, the PCU Positioning Completed Flag will not turn ON.

The status of the Receiving Command Flag, Busy Flag, and Stop Execution

Flag will change if DECELERATION STOP or EMERGENCY STOP is executed when an axis operating command is not being executed.

The stop operation will also be performed in the same way as for an active axis if still in the controlled status while the axis is being stopped (Busy Flag is

ON), such as during direct operation, jogging, when the speed command value is set to 0 for speed control, or when the axis is being stopped during torque control.

418


Speed command value for speed control (words a+6, a+7)

SPEED CONTROL

(word a+1, bit 02)

DECELERATION STOP

(word a, bit 15)

Speed

Section 10-9

Example: Executing DECELERATION STOP for Speed Control with a Speed

Command Value of 0

0


(word b, bit 00)




Stop Execution Flag

(word b, bit 15)

If DECELERATION STOP is executed for an axis that is not being controlled, while the command is being received, the Busy Flag will turn ON at least for one scan and then the Stop Execution

Flag will turn ON.

Time

The Receiving Command Flag turns ON for at least one cycle time when the movement command or stop command is received.

If DECELERATION STOP is executed during control (Busy Flag is ON) even though the axis is stopped, such as speed control with a speed command value of 0, the stop operation will be executed and the status of flags will change.


−

1)

×


−

1)

×

25

419

DEVIATION COUNTER RESET

Section 10-10

10-10 DEVIATION COUNTER RESET

10-10-1 Overview of DEVIATION COUNTER RESET

The deviation counter can be reset during position control for PCUs with unit version 1.3 or later.

The deviation counter reset function resets to 0 the position deviation accumulating in the Servo Drive’s position loop deviation counter during position control. When pressing using torque control, when the machine catches and stops moving, or in other cases when the command present position and the feedback present position vary greatly, the positioning operation may not finished because the position deviation never becomes less than the completion width. DEVIATION COUNTER RESET can be used in such cases to reset the accumulated position deviation to 0 and thus complete the positioning operation.

With this function, the PCU’s deviation counter reset function uses a movement command in the direction opposite to and the same size as the accumulated position deviation so that the command present position will match the feedback present position.

Position

Target position in pressing direction



Dotted line: Feedback present position

(actual motor position)

Pressing stop position

Speed

Target speed in pressing direction


Dotted line: Actual motor speed


Time

Position deviation

Time

Command proportional to position deviation executed.

Note

Start

Pressing

DEVIATION COUNTER RESET

Time

DEVIATION COUNTER RESET is valid only during position control after the servo has been locked and will be ignored if executed during speed control or torque control, or when the servo is unlocked.

Execute the PCU’s DEVIATION COUNTER RESET only while the motor axis

(machine) is stopped, by being pressed against something for example. This function executes a movement command in the direction opposite to and of the same size as the accumulated position deviation, so the machine may be subjected to shock if a movement command in the opposite direction is suddenly executed for a rotating axis. Also, do not execute DEVIATION

COUNTER RESET for a vertical axis that is stopped by a servo lock only, without being held mechanically. While the vertical axis is servo-locked, the axis is controlled so that the vertical position is held using the accumulated position deviation. Therefore, executing a deviation counter reset may cause the motor load to fall.

420


Section 10-10

10-10-2 Using DEVIATION COUNTER RESET

DEVIATION COUNTER RESET is executed by turning ON the DEVIATION

COUNTER RESET Bit in the Axis Operating Output Area to execute a movement command that effectively cancels the position deviation.

DEVIATION COUNTER RESET executes position control according to the position deviation at a maximum speed of 128,000. If the accumulated position deviation is large, processing time equivalent to several MECHA-

TROLINK communications cycles will be required to complete resetting the deviation counter.

Example

MECHATROLINK communications cycle: 2 ms

Position deviation: 800 (command units)

The movement command executed for DEVIATION COUNTER RESET will be as shown below for the above conditions. The direction will be so that the position deviation is eliminated.

DEVIATION COUNTER RESET Bit

(word a, bit 13)

Command speed


The following command is executed for a position deviation of 800 command units/s: 128,000 command units/s

×

0.002 s/cycle

×

3 cycles +


×

0.002 s/cycle

×

1 cycle


Time

MECHATROLINK communications cycle

(example: 2 ms)

In this example, four MECHATROLINK communications cycles are required to process

DEVIATION COUNTER RESET.

In this example, the movement command to eliminate the position deviation of

800 command units exceeds the movement possible in one MECHA-

TROLINK communications cycle at a speed of 128,000 command units/s, so the command is executed over multiple cycles (four total).

When DEVIATION COUNTER RESET is executed, the torque limit does not depend on the setting of the Torque Limit Designation Bit, but on the status in the previous axis operation. (The previous torque limit status is continued, and DEVIATION COUNTER RESET is executed.)

Axis Operating Output Area (Operation Commands)

Name

DEVIATION

COUNTER RESET Bit

Word Bit

a 13

Description

0

→

1: Deviation counter reset started.

a = Beginning word of Axis Operating Output Area specified in Common Parameters +

(Axis No.

−

1) x 25

A deviation counter reset can be executed for any axis for which position control that includes a Servo lock is being executed, as long as there is no axis error, the Servo is locked, and the Servo Unlock Bit is not ON. The command is invalid if executed during speed control or torque control, or when the Servo is unlocked.

When executing a deviation counter reset, keep the Deviation Counter Reset

Bit ON until Receiving Command Flag turns ON in the Axis Operating Output

Area or until the Busy Flag is turned OFF.

421


Section 10-10

While the Deviation Counter Reset Bit is ON and a deviation counter reset is being executed, all operation commands other than SERVO UNLOCK are disabled.

Axis Operating Input Area (Monitoring)

Name

Receiving Command

Flag

Error Flag b

Word Bits

00

12

Contents


0

→



0: No axis error



Busy Flag 13 b = Beginning word of Axis Operating Input Areas specified in Common Parameters +

(Axis No.

−

1)

×

25

The status of the PCU Positioning Completed Flag, the No Origin Flag, and the Stop Execution Bit are not changed by turning ON the DEVIATION

COUNTER RESET Bit. When the DEVIATION COUNTER RESET is executed, the Busy Flag is held.

Timing Chart

The timing chart for DEVIATION COUNTER RESET is shown below.

DEVIATION COUNTER RESET Bit

(word a, bit 13)

Speed

Time

Position deviation

Receiving Command Flag (word b, bit 00)


No Origin Flag (word, b, bit 06)


Time

The Receiving Command Flag is set for at least one cycle when DEVIATION COUNTER

RESET is received.

The status of the PCU Positioning Completed

Flag, the No Origin Flag, and the Stop

Execution Bit are not changed by executing

DEVIATION COUNTER RESET.

When DEVIATION COUNTER RESET is executed, the Busy Flag is set while the movement command is executed to eliminate the position deviation.

Stop Execution Bit (word b, bit 15) a = Beginning word of Axis Operating Output Area specified in Common Parameters + (Axis No.

−

1)

×

25 b = Beginning word of Axis Operating Input Area specified in Common Parameters + (Axis No.

−

1)

×

25

422

SECTION 11

Sample Programs

This section provides basic program examples and application examples for using the Position Control Unit.

11-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11-2 Basic Program Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11-2-1 Transferring PCU Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11-2-2 Starting and Stopping MECHATROLINK Communications. . . . . .

11-2-3 Transferring Servo Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11-2-4 Servo Lock/Unlock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11-2-5 Origin Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11-2-6 Positioning (Absolute Movement or Relative Movement) . . . . . . . .

11-2-7 Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11-2-8 Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11-2-9 Deceleration Stop or Emergency Stop . . . . . . . . . . . . . . . . . . . . . . .

11-2-10 Jogging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11-3 Application Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11-3-1 Initial PCU Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11-3-2 Servo Parameter Backup. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11-3-3 Switching among Position, Speed, and Torque Control . . . . . . . . . .

448

450

450

456

468

441

444

445

447

424

425

425

430

431

438

440

423

Overview

Section 11-1

11-1 Overview

Note

This section shows sample programs that execute the various PCU functions from the ladder program.

Refer to

11-2 Basic Program Examples

for descriptions of the sample ladder

program sections containing the functions. Refer to

11-3 Application Examples

for sample programs that combine those various program sections.

This section explains the example system and conditions used for the sample programs.

The sample programs shown in this section use the PCU's functions and are configured only with ladder programs related to the interface between the PLC and PCU.

When creating the program for the actual equipment in the system, add program sections to perform tasks such as interlocking the equipment's movement, managing I/O from other equipment, and controlling operation so that the program will provide the required operating commands to the PCU.

In addition, always test the new program thoroughly to verify proper operation before switching to full-scale operation in the system.

Devices in the Sample System

Position Control Unit

MECHATROLINK Devices

(Servo Drives)

CJ1W-NCF71

Unit number: 0 (Beginning word of Common Operating Memory Area: CIO

1500)

Only one PCU is used in the PLC.

When a different unit number is required, use the following equation to determine the beginning word of Common Operating Memory Area.

Beginning word of Common Operating Memory Area: n = 1500 + (unit number

×

25)

W-series Servo Drive (R88D-WT @ )

FNY-NS115 MECHATROLINK-II I/F Unit mounted to Servo Drive

Axis 1 (MECHATROLINK-II station address 1) is used to demonstrate axis operation in these sample ladder programs.

When a different number of axes or station number is required, use the following equation to determine the beginning CIO word addresses for each axis.

Beginning word of Axis Operating Output Memory Area for Axis N:

Beginning word of Axis Operating Output Areas specified in Common Parameters + (Axis No.

−

1)

×

25

Beginning word of Axis Operating Input Memory Area for Axis N:

Beginning word of Axis Operating Input Areas specified in Common Parameters + (Axis No.

−

1)

×

25

Refer to

11-3-1 Initial PCU Settings

for an example that shows how to set the

beginning words of Axis Operating Input/Output Areas.

The standard settings are used for the Servo Drive's I/O signals; for details on the standard settings, refer to


MECHATROLINK

.

CPU Unit

Model number: CJ1H-CPU @@

In

11-3 Application Examples

, the CPU Unit's EM Area is used to store the

PCU's Common Parameter, Axis Parameter, and Servo Parameter data.

If the CJ1H-CPU @@ CPU Unit being used is not equipped with an EM Area, change the storage area to an unused section of the DM Area.

424

Basic Program Examples

Installation and

Wiring

Section 11-2

Install and wire the devices according to the directions in

SECTION 3 Installation and Wiring

.

Connect a 24-VDC control input power supply for the Servo Drive's I/O signals and connect normally closed switches/sensors for the positive and negative overtravel inputs (forward drive prohibited and reverse drive prohibited signals).

Also, when an origin search operation is to be executed, connect a normally open switch/sensor for the origin proximity input signal (origin return deceleration LS).

11-2 Basic Program Examples

This section provides sample ladder programs related to the PCU's basic functions.

11-2-1 Transferring PCU Parameters

Overview

The parameters set in the PCU (Common Parameters and Axis Parameters) can be transferred to and from the CPU Unit's EM Area using the READ DATA

Bit and WRITE DATA Bit.

Also, the parameters that have been written to the PCU can be saved to the

PCU's internal flash memory using the SAVE DATA Bit.

These sample programs use the following parts of the CPU Unit's I/O memory.

CPU Bus Unit Area


These word addresses are contained in the CPU Bus Unit Area words allocated to unit number 0.

Data Memory Area (DM Area)

D10000 to D10039

These words contain the write data when writing or the read data when reading.

In this sample program, 40 words of data are written and read, and D10000 is specified as the starting word, so D10000 to D10039 are used.

Work Area (WR Area)

Writing data: W300.00 to W300.06

Reading data: W301.00 to W301.06

Saving data: W302.00 to W302.06

These Work Area bits are used to show the progress of function execution and the execution status.

Writing Data

Use the WRITE DATA Bit in the Common Operating Memory Area to write the write data prepared in the DM Area of the CPU Unit to the PCU.

When the execution condition for the write operation goes ON, the 40 words of write data (preset in the CPU Unit's DM Area starting at D10000) are transferred to the PCU's internal memory starting at address 1838 hex.

When the data has been written, W300.05 is turned ON for one cycle.

425


Sample Ladder Program

Program name: Write Data

Section name: Write Data

000000

(000000)

Write Data execution condition

Write Data

000001

(000006)

W300.00

1515.12

1515.14

Start Unit Data

Write

Unit Error Flag Data

Transferring

Flag

1500.01

WRITE DATA Bit

000002

(000012)

000003

(000015)

W300.02

1515.14

Waiting for Unit

Data Write

Received

W300.04


1515.12

1515.14

Waiting for Unit

Data Write End

Unit Error Flag Data Transferring Flag

000004

(000019)

W300.02

1515.12

Waiting for Unit

Data Write

Received

W300.04

Unit Error Flag

000005

(000023)

Waiting for Unit

Data Write End

W300.01

W300.03

Execute Unit

Data Write

W300.02

Unit Data

Write

Received

W300.06

Unit Data Write Error End

000006

(000028)

Waiting for Unit Data

Write Received

W300.03

W300.05

Unit Data Write

Received

Unit Data

Write End

W300.04

Waiting for Unit

Data Write End

W300.06


426

Section 11-2

MOV

(021)

&40

1506

MOV

(021)

#0082

1507

MOV

(021)

#2710

1508

MOV

(021)

#1838

1509

W300.00

[OP1]

[OP2]

Number of words to write

[OP1]

[OP2]

Write source area

[OP1]

[OP2]

Write source word

[OP1]

[OP2]


Start Unit Data Write

1500.01

WRITE DATA Bit

W300.01

Execute Unit Data Write

W300.03

Unit Data Write Received

W300.05

Unit Data Write End

W300.06


W300.02

Waiting for Unit Data Write

Received

W300.04

Waiting for Unit Data Write

End


Reading Data

Section 11-2

Use the READ DATA Bit in the Common Operating Memory Area to read the read data from the PCU's internal memory to the CPU Unit's DM Area.

When the execution condition for the read operation goes ON, the 40 words of read data are read from the PCU's internal memory (starting at address 1838 hex) to the CPU Unit's DM Area (starting at D10000).

When the data has been read, W301.05 is turned ON for one cycle.

427



Program name: Read Data

Section name: Read Data

000000

(000000)

Read Data execution condition

Read Data

000001

(000006)

W301.00

1515.12

1515.14

Start Unit Data

Read


Transferring

Flag

1500.02

READ DATA Bit

000002

(000012)

W301.02

Waiting for Unit

Data Read

Received

W301.04

000003

(000015)

1515.14


1515.12

1515.14

Waiting for Unit

Data Read End


000004

(000019)

W301.02

Waiting for Unit

Data Read

Received

W301.04

1515.12

Unit Error Flag

000005

(000023)

Waiting for Unit

Data Read End

W301.01

W301.03

Execute Unit

Data Read

Unit Data

Read

Received

W301.02

W301.06

Unit Data Read Error End


Read Received

000006

(000028)

W301.03

Unit Data Read

Received

W301.05

Unit Data

Read End

W301.04

W301.06

Unit Data Read Error End

Waiting for Unit

Data Read End

428

Section 11-2

MOV

(021)

&40

1510

[OP1]

[OP2]

Number of words to read

MOV

(021)

#1838

1511

MOV

(021)

#0082

1512

MOV

(021)

#2710

1513

W301.00

[OP1]

[OP2]

Read source address

[OP1]

[OP2]


[OP1]

[OP2]


Start Unit Data Read

1500.02

READ DATA Bit

W301.01

Execute Unit Data Read

W301.03

Unit Data Read Received

W301.05

Unit Data Read End

W301.06

Unit Data Read Error

End

W301.02


Read Received

W301.04


Read End


Saving Data

Section 11-2

Use the SAVE DATA Bit in the Common Operating Memory Area to save the

PCU's Common Parameters and Axis Parameters to the PCU's flash memory.

The PCU's Save Data operation is executed when the Save Data execution condition goes from OFF to ON.

When the data has been saved, W302.05 is turned ON for one cycle.

The Save Data operation cannot be executed while MECHATROLINK communications are active. If the Save Data is executed during MECHATROLINK communications, a Multi-start Error (Unit error code: 0021).

Execute this sample program only when MECHATROLINK communications are stopped.


Program name: Save Data

Section name: Save Data

W302.00

Start Unit Data Save

000000

(000000)

000001

(000002)

Save Data execution condition

Save Data

W302.00

1515.12

1515.14

Start Unit

Data Save

1500.03


Transferring

Flag

SAVE DATA Bit

000002

(000008)

W302.02

1515.14

000003

(000011)

Waiting for Unit

Data Save

Received

W302.04


1515.12

1515.14

Waiting for Unit

Data Save End


000004

(000015)

W302.02

1515.12

Waiting for Unit

Data Save

Received

W302.04

Unit Error Flag

000005

(000019)

Waiting for Unit

Data Save End

W302.01

W302.03

Execute Unit

Data Save

W302.02

Unit Data

Save

Received

W302.06

Unit Data Save Error End

000006

(000024)


Save Received

W302.03

W302.05

W302.06

Unit Data Save

Received

W302.04

Unit Data

Save Normal

End


Waiting for Unit

Data Save End

1500.03

SAVE DATA Bit

W302.01

Execute Unit Data Save

W302.03

Unit Data Save Received

W302.05

Unit Data Save Normal End

W302.06


W302.02

Waiting for Unit Data Save

Received

W302.04

Waiting for Unit Data Save

End

429


Section 11-2

11-2-2 Starting and Stopping MECHATROLINK Communications

Overview

This program starts MECHATROLINK communications (establishes a connection) based on the MECHATROLINK communications settings and the scan list set in the PCU's Common Parameters; the program can also stop communications (release the connection).

While the PCU connection is established, MECHATROLINK communications will be stopped automatically if normal communications are not established with all of the axes registered in the scan list within the preset timeout time.

(If the PCU cannot start communications with an axis registered in the scan list within 10 seconds, an MLK Initialization Error will occur. This sample program contains a timer function that stops communications before the MLK Initialization Error is detected.)

This program uses the MECHATROLINK communications settings and the scan list that are already set in the PCU's Common Parameters.

This sample program uses the following parts of the CPU Unit's I/O memory.





W303.00 to W303.04


Timer Area

TIM0000

Used as a watchdog timer to monitor the establishment of a connection.

This program uses the CONNECT Bit in the Common Operating Memory

Area to start and stop MECHATROLINK communications.

When the Start Communications condition goes ON, MECHATROLINK communications are started (a connection is established). Likewise, when the

Stop Communications condition goes ON, MECHATROLINK communications are stopped (the connection is released).

In this sample program, only Axis 1 is registered in the scan list.

If MECHATROLINK communications start normally with Axis 1, Work Area bit

W303.03 will be turned ON.

The connection will be stopped and Work Area bit W303.04 will be turned ON if MECHATROLINK communications do not start with Axis 1 5 seconds after execution of CONNECT.

Since the PCU will continue MECHATROLINK communications while the

CONNECT Bit (CIO 1501.00) is ON, the CONNECT Bit is programmed as a self-holding bit in the ladder program. If an error occurs that stops communications, such as a communications error, the PCU will release the connection regardless of the status of the CONNECT Bit.

To reestablish the connection after eliminating the cause of the error, the

CONNECT Bit must be turned OFF and then ON again. When releasing the connection after an error occurs, use W303.02 to turn OFF the self-holding circuit that holds the CONNECT Bit.

430



Program name: Start Communications

Section name: Start Communications

000000

(000000)

1515.12

000001

(000003)

Start Communications execution condition

Unit Error Flag

Stop Communications execution condition

1516.15

000002

(000005)


000003

(000007)

W303.00

Establish

Connection

1501.00

CONNECT Bit

W303.01

W303.02

Release

Connection

Turn OFF

CONNECT

Bit

W303.04

Connection

Timeout

000004

(000014)

000005

(000017)

1516.15

Connection

Status Flag

T0000

1522.00

Axis 1 Communicating

W303.03

Connection

Timeout Timer

All Axes Communicating

Section 11-2

W303.00

Establish Connection

W303.01

Release Connection

DIFD

(014)

W303.02

Turn OFF CONNECT Bit

1501.00

CONNECT Bit

TIM

0000

#50

W303.03

[OP1]

Connection Timeout Timer

[OP2]


W303.04

Connection Timeout

11-2-3 Transferring Servo Parameters

Overview

The Servo Parameters in Servo Drives connected through MECHATROLINK communications can be transferred to and from the CPU Unit's DM Area with the PCU's WRITE SERVO PARAMETER Bit, READ SERVO PARAMETER

Bit, and SAVE SERVO PARAMETER Bit.

The application example shown in

11-3-2 Servo Parameter Backup

incorpo-

rates this sample program to transfer all the W-series Servo Drive's Servo

Parameters at once between the Servo Drive (equipped with a FNY-NS115

I/F Unit) and the CPU Unit's EM Area.

Execute these sample programs only after starting MECHATROLINK communications (establishing a connection).

In these examples, the Servo Parameters are transferred to and from the

Servo Drive registered as axis 1.

The Axis Operating Output/Input Memory Areas for the axis are based on the settings of the Common Parameter Area, as shown below. The application example in


shows a sample program that can be

used to make the following settings.

Beginning word of Axis Operating Output Memory Area: CIO 0000

(Axis 1 Operating Output Memory Area: CIO 0000 to CIO 0024)

Beginning word of Axis Operating Input Memory Area: CIO 1000

(Axis 1 Operating Input Memory Area: CIO 1000 to CIO 1024)

This sample program uses the following parts of the CPU Unit's I/O memory in addition to the CIO Area words listed above.

431


Writing Servo

Parameters

Section 11-2


D10500 to D10503

These words are used to store the data required for a single Servo Parameter transfer, including the Servo Parameter number, parameter size, and transfer data (2 words).


Writing Servo Parameters: W400.00 to W400.06

Reading Servo Parameters: W401.00 to W401.06

Saving Servo Parameters: W402.00 to W402.06


Use the WRITE SERVO PARAMETER Bit in the Axis Operating Output Memory Area to write the Servo Parameter data (preset in the CPU Unit's DM

Area) to the Servo Drive.

When the Servo Parameter transfer operation's execution condition goes ON, the Servo Parameters preset in the following DM Area words will be transferred to the Servo Drive.

Word

D10500

D10501

D10502

D10503

Details

Servo Parameter No.




When the Servo Parameter data has been written, W400.05 is turned ON for one cycle.

When the write operation was not completed normally, i.e., an error occurred during the transfer, W400.06 will be turned ON for one cycle. (There must be no axis error before execution of this sample program.)

432



Program name: Write Servo Parameter

Section name: Write Axis 1 Servo Parameter

000000

(000000)

Transfer Servo

Parameter execution condition

W400: Write Axis 1 Servo Parameter

000001

(000005)

W400.00

1522.00

1000.12

1000.14

Start Axis 1

Write

1.12

Axis 1

Communicating

Axis 1 Error Axis 1 Servo

Parameter

Transferring

Axis 1 WRITE SERVO

PARAMETER

1000.14

000002

(000012)

W400.02

Waiting for

Axis 1 Write

Received

W400.04

000003

(000015)

Waiting for

Axis 1 Write

End

W400.02

000004

(000019)

Waiting for

Axis 1 Write

Received

W400.04

Axis 1 Servo Parameter Transferring

1000.12

Axis 1

Error Flag

1000.12

Axis 1

Error Flag

1522.00

1000.14


Waiting for

Axis 1 Write

End

W400.01

000005

(000025)

Execute Axis 1

Servo Parameter Write

W400.02


W400.03

Axis 1 Write

Received

W400.06

Axis 1 Write Error End

000006

(000030)

Waiting for Axis 1

Write Received

W400.03

W400.05

Axis 1 Write

Received

Axis 1 Write

Normal End

W400.04

W400.06


Waiting for Axis

1 Write End

Section 11-2

MOV

(021)

D10500

17

[OP1]

Parameter Number to Transfer

[OP2]

Axis 1 Servo Parameter number

MOV

(021)

D10501

18

[OP1]

Parameter Size to Transfer

[OP2]

Axis 1 Parameter size

MOVL

(498)

D10502

19

W400.00

[OP1]

Transfer Data

[OP2]

Axis 1 Write Data

Start Axis 1 Write

1.12

Axis 1 WRITE SERVO

PARAMETER

W400.01

Execute Axis 1 Write

W400.03

Axis 1 Write Received

W400.05

Axis 1 Write Normal End

W400.06


W400.02

Waiting for Axis 1 Write

Received

W400.04


End

433


Reading Servo

Parameters

Section 11-2

Use the READ SERVO PARAMETER Bit in the Axis Operating Output Memory Area to read the Servo Parameters from the Servo Drive to the CPU Unit's

DM Area.

When the Servo Parameter transfer operation's execution condition goes ON, the Servo Parameter (specified in the DM Area as shown below) will be read.

Word

D10500

D10501

Details

Servo Parameter No.


When the Servo Parameter data has been read normally, W401.05 is turned

ON for one cycle and the parameter is stored in the DM Area as shown in the following table.

Word

D10502

D10503

Details

Read data (rightmost)

Read data (leftmost)

When the read operation was not completed normally, i.e., an error occurred during the transfer, W401.06 will be turned ON for one cycle. (There must be no axis error before execution of this sample program.)

434



Program name: Read Servo Parameter

Section name: Read Axis 1 Servo Parameter

000000

(000000)

Transfer Servo


000001

(000004)

W401.05

Axis 1 Read

Normal End

W401: Read Axis 1 Servo Parameter

000002

(000006)

W401.00

1522.00

1000.12

Start Axis 1

Read

1.13

Axis 1

Communicating

Axis 1 Error

1000.14

Axis 1 Servo

Parameter

Transferring

Axis 1 READ SERVO

PARAMETER

000003

(000013)

W401.02

Waiting for

Axis 1 Read

Received

W401.04

000004

(000016)

Waiting for Axis

1 Read End

1000.14


1000.12

Axis 1

Error Flag

1000.14


W401.02

1000.12

000005

(000020)

Waiting for

Axis 1 Read

Received

W401.04

Axis 1

Error Flag

1522.00

000006

(000026)

Waiting for Axis

1 Read End


W401.01

W401.03

W401.06

Execute Axis

1 Read

W401.02

Axis 1 Read

Received

Axis 1 Read Error End

000007

(000031)

Waiting for Axis 1

Read Received

W401.03

W401.05

Axis 1 Read

Received

Axis 1 Read

Normal End

W401.04

W401.06


Waiting for Axis

1 Read End

Section 11-2

MOV

(021)

D10500

17

[OP1]


[OP2]


MOV

(021)

D10501

18

[OP1]


[OP2]


W401.00

Start Axis 1 Read

@MOVL

(498)

1014

D10502

[OP1]

Axis 1 Read Data

[OP2]

Transfer Data

1.13

Axis 1 READ SERVO

PARAMETER

W401.01

Execute Axis 1 Read

W401.03

Axis 1 Read Received

W401.05

Axis 1 Read Normal End

W401.06


W401.02

Waiting for Axis 1 Read

Received

W401.04


End

435


Saving Servo

Parameters

Section 11-2

Use the SAVE SERVO PARAMETER Bit in the Axis Operating Output Memory Area to write the transfer data (preset in the CPU Unit's DM Area) to the

Servo Drive's non-volatile flash memory.

When the Servo Parameter transfer operation's execution condition goes ON, the Servo Parameters preset in the following DM Area words will be transferred to the Servo Drive and written to the Servo Drive's non-volatile flash memory at the same time.

Word

D10500

D10501

D10502

D10503

Details

Servo Parameter No.




When the Servo Parameter data has been saved normally, W402.05 is turned

ON for one cycle.

When the save operation was not completed normally, i.e., an error occurred during the transfer, W402.06 will be turned ON for one cycle. (There must be no axis error before execution of this sample program.)

436



Program name: Save Servo Parameter

Section name: Save Axis 1 Servo Parameter

000000

(000000)

Transfer Servo


W402: Save Axis 1 Servo Parameter

000001

(000005)

W402.00

1522.00

1000.12

1000.14

Start Axis 1

Save

1.14

Axis 1

Communicating


Parameter

Transferring

Axis 1 SAVE SERVO

PARAMETER

000002

(000012)

W402.02

1000.14

Waiting for

Axis 1 Save

Received

W402.04


000003

(000015)

1000.12

Waiting for Axis

1 Save End

Axis 1 Error

1000.14


1000.12

000004

(000019)

W402.02

Waiting for

Axis 1 Save

Received

W402.04

Axis 1 Error

1522.00

Waiting for Axis

1 Save End


W402.03

W402.06

000005

(000025)

W402.01

Execute Axis

1 Save

W402.02

Axis 1 Save

Received

Axis 1 Save Error End

000006

(000030)

Waiting for Axis 1

Save Received

W402.03

W402.05

Axis 1 Save

Received

Axis 1 Save

Normal End

W402.04

W402.06


Waiting for Axis

1 Save End

Section 11-2

MOV

(021)

D10500

17

[OP1]


[OP2]


MOV

(021)

D10501

18

[OP1]


[OP2]


MOVL

(498)

D10502

19

[OP1]

Transfer Data

[OP2]

Axis 1 Write Data

W402.00

Start Axis 1 Save

1.14

Axis 1 SAVE SERVO

PARAMETER

W402.01

Execute Axis 1 Save

W402.03

Axis 1 Save Received

W402.05

Axis 1 Save Normal End

W402.06


W402.02

Waiting for Axis 1 Save

Received

W402.04


End

437


Section 11-2

11-2-4 Servo Lock/Unlock

Overview

This sample program executes the Servo Lock/Unlock function on a Servo

Drive connected through MECHATROLINK communications.

Also, timeout processing will be performed when the Servo Lock function has been executed but the Servo Lock did not engage for the axis within a preset time.

Execute this sample program only after starting MECHATROLINK communications (establishing a connection).

In this example, the Servo Lock/Unlock function is executed on the Servo

Drive registered as axis 1 using the SERVO LOCK Bit or SERVO UNLOCK Bit in the Axis Operating Output Memory Area.

The Axis Operating Output/Input Memory Areas are based on the settings of the Common Parameter Area, as shown below. The application example in


shows a sample program that can be used to

make the following settings.







W305.00 to W305.05


Timer Area

TIM0001

Used as a watchdog timer to monitor the execution of the Servo Lock function.

This sample program alternately executes the Servo Lock and Servo Unlock functions each time that the Servo Lock Switch execution condition goes from

OFF to ON.

If the Axis 1 Servo Lock is not engaged within 5 seconds after the Servo Lock function is executed, a Servo Lock Execution Timeout will occur, bit W305.05

will be turned ON for one cycle, and the Servo Unlock function will be executed.

438



Program name: Servo Lock

Section name: Servo Lock

000000

(000000)

Servo Lock

Switch execution condition

W305.04

1000.12

1000.13

1001.03

Axis 1

Servo Lock

Command

W305.04

Axis 1 Error Axis 1 Busy Axis 1 Servo ON

Axis 1 Servo

Lock Command

1522.00

1000.13

000001

(000010)

W305.00

Execute Axis 1

Servo Lock

Axis 1

Communicating

Axis 1 Busy

1.00

W305.05

Axis 1 Servo Lock Execution Timeout

000002

(000016)

Axis 1 SERVO LOCK

W305.01

1522.00

W305.03

Execute Axis 1

Servo Unlock

Axis 1

Communicating

Axis 1 Servo Unlock End

W305.05

Axis 1 Servo

Lock Execution

Timeout

1.01

Axis 1 SERVO UNLOCK

000003

(000022)

1.01

1000.13

Axis 1 SERVO

UNLOCK

Axis 1 Busy

1.00

1.01

000004

(000025)

W305.05

Axis 1 SERVO

LOCK

Axis 1 SERVO

UNLOCK

Axis 1 Servo

Lock Execution

Timeout

W305.04

Axis 1 Servo

Lock Command

1000.12

Axis 1 Error

1001.03

Axis 1 Servo ON

1522.00

Axis 1

Communicating

000005

(000034)

1.00

1.01

W305.05

1001.03

Axis 1 SERVO

LOCK

Axis 1 SERVO

UNLOCK

Axis 1 Servo

Lock Execution

Timeout

W305.06

Axis 1 Servo ON

Axis 1 SERVO

Locking

000006

(000041)

T0001

Servo Lock Execution

Watchdog Timer

Section 11-2

W305.00

Execute Axis 1 Servo Lock

W305.01

Execute Axis 1 Servo Unlock

1.00

Axis 1 SERVO LOCK

1.01

Axis 1 SERVO UNLOCK

DIFD

(014)

W305.03


W305.04

Axis 1 Servo Lock

Command

W305.06

Axis 1 SERVO

Locking

TIM

0001

#50

W305.05

Servo Lock Execution

Watchdog Timer

Axis 1 Servo

Lock Execution

Timeout

Note

With the above programming example, if the Servo is unlocked by any means other than the SERVO UNLOCK command bit (e.g., if a Driver main circuit

OFF error occurs), the status of the work bit will be held. When using this programming example as reference for actual programming, add interlocks suitable for the operating conditions of the equipment.

439


Section 11-2

11-2-5 Origin Search

Overview

This sample program executes an origin search on a Servo Drive connected through MECHATROLINK communications.

Execute this sample program only after starting MECHATROLINK communications (establishing a connection), executing the Servo Lock function, and verifying that the Servo Lock is engaged.

In these examples, the origin search is performed on the Servo Drive registered as axis 1.











W350.00 to W350.02


Timer Area

TIM0002

Used as a watchdog timer to detect an origin search timeout error.

This sample program starts an origin search on axis 1 when the Origin Search execution condition goes from OFF to ON. The speed command value and origin search speed must be set in advance in the Axis 1 Operating Output

Memory Area before executing this sample program.

If the Axis 1 origin is not established within 10 seconds after the origin input signal is detected and the


positioning is performed, the Origin Search Timeout will occur and W305.02 will be turned ON for one cycle.

440



Program name: Origin Search

Section name: Origin Search

000000

(000000)

000001

(000005)

Origin Search execution condition

W350.01

Searching for

Axis 1 Origin

1000.06

Axis 1 No

Origin

1001.08

1000.13

Axis 1 Busy

1000.06

Axis 1

Distribution

Completed

Axis 1 No Origin

000002

(000009)

T0002

000003

(000012)

Origin Search

Watchdog

Timer

0.06

Axis 1 ORIGIN

SEARCH

1000.06

Axis 1 No Origin

1000.06

Axis 1 No

Origin

1000.13

Axis 1 Busy

W350.01

1000.12

Axis 1 Error

1000.15

1000.12

Axis 1 STOP

EXECUTION

Axis 1 Error

W350.02

Axis 1 Origin Search Timeout

Searching for

Axis 1 Origin

000004

(000020)

W350.00

1.01

Execute Axis

1 Origin

Search

0.06

Axis 1 SERVO

UNLOCK

1.15

0.15

1522.00

Axis 1

EMERGENCY

STOP

Axis 1 DE-

CELERATION

Axis 1

Communicating

STOP

1000.13

Axis 1 Busy

1000.12

Axis 1 Error

Axis 1 ORIGIN SEARCH

Section 11-2

W350.00

Execute Axis 1 Origin

Search

TIM

0002

#100

W350.02

[OP1]

Origin Search Watchdog Timer

[OP2]

Axis 1 Origin Search

Timeout

W350.01

Searching for Axis 1

Origin

0.06

Axis 1 ORIGIN SEARCH

11-2-6 Positioning (Absolute Movement or Relative Movement)

Overview

This sample program sends a positioning command to a Servo Drive connected through MECHATROLINK communications.


In addition, when executing ABSOLUTE MOVEMENT, establish the origin by performing an origin search before sending the position command.

In this example, positioning is performed on the Servo Drive registered as axis

1 using the ABSOLUTE MOVEMENT Bit or RELATIVE MOVEMENT Bit in the






Beginning word of Axis Operating Output Memory Areas: CIO 0000


Beginning word of Axis Operating Input Memory Areas: CIO 1000




W201.00 to W201.03

441


Section 11-2


Holding Area (HR Area)

H1.00

This bit is used as a switch to indicate whether positioning is performed with

ABSOLUTE MOVEMENT or RELATIVE MOVEMENT.

Timer Area

TIM0003

Used as a watchdog timer to monitor the positioning operation.

This sample program starts Axis 1 positioning when the Positioning execution condition goes ON.

The position command value must be set to the target position and the speed command value must be set to the target speed in the Axis Operating Output

Memory Area before executing this sample program.

At this point, the ON/OFF status of HR1.00 determines whether the positioning is executed with RELATIVE MOVEMENT (HR1.00 OFF) or ABSOLUTE

MOVEMENT (HR1.00 ON).

If axis 1 positioning is not completed within 10 seconds after completion of sending the positioning command, i.e., after pulse distribution is completed, a

Positioning Timeout will occur and bit W201.03 will be turned ON for one cycle.

The target position can be changed during an Absolute Movement or Relative

Movement positioning operation by setting a new position command value and turning ON the ABSOLUTE or RELATIVE MOVEMENT Bit. Torque limits can also be enabled/disabled during positioning by turning ON/OFF the forward and reverse rotation current limit bits in the Axis Operating Output Memory Area and turning ON the ABSOLUTE or RELATIVE MOVEMENT Bit.

This sample program allows the target position to be changed during an operation by turning the execution condition OFF and then ON again.

A Multistart Error will occur if a Movement command is sent while the PCU's

Receiving Command Flag is already ON, so the Receiving Command Flag is

ANDed with the Positioning execution condition (in the W201.00 output circuit). An OR circuit containing the ABSOLUTE MOVEMENT Bit and RELA-

TIVE MOVEMENT Bit has been added so that the W201.00 is not output again when the Receiving Command Flag goes from ON to OFF.

The target speed can be changed sequentially during operation by overwriting the speed command value in the Axis Operating Output Memory Area.

442



Program name: Positioning

Section name: Positioning

Section 11-2

000000

(000000)

Positioning execution condition

1000.00

1000.12

Axis 1 Receiving Command Flag

0.03

Axis 1 Error

Axis 1 ABSO-

LUTE MOVE-

MENT Bit

0.04

000001

(000007)

W201.02

Controlling

Axis 1

Position

Axis 1 RELATIVE

MOVEMENT Bit

1001.08

1000.05

Axis 1 Pulse

Distribution

Complete

Axis 1 PCU Positioning Completed

000002

(000011)

T0003

Positioning

Watchdog

Timer

0.03

000003

(000014)

Axis 1 ABSO-

LUTE MOVE-

MENT Bit

0.04

1000.05

Axis 1 PCU Positioning Completed

1000.05

Axis 1 PCU

Positioning

Completed

1000.13

Axis 1 Busy

1000.15

Axis 1 Stop

Execution

1000.12

Axis 1 Error

W201.03

Positioning Timeout

Axis 1 RELA-

TIVE MOVE-

MENT Bit

W201.02

Controlling Axis 1 Position

000004

(000023)

W201.00

Execute Axis 1

Movement

Command

0.03

Axis 1 ABSOLUTE

MOVEMENT Bit

0.04

1.01

1.15

0.15

1522.00

W201.01

Axis 1

SERVO

UNLOCK

Axis 1

EMERGENCY

STOP

Axis 1 DE-

CELERATION

STOP

Axis 1

Communicating

Axis 1

Movement

Command

Reception

Complete

1000.12

Axis 1 Error

Axis 1 RELATIVE

MOVEMENT Bit

1000.00

000005

(000038)

0.03

Axis 1 ABSO-

LUTE MOVE-

MENT Bit

0.04

Axis 1 Receiving

Command Flag

Axis 1 RELATIVE

MOVEMENT Bit

H1.00

Movement

Command

Switch

H1.00

Movement

Command

Switch

DIFU

(013)

W201.00

TIM

0003

#100

W201.03

W201.02

0.03

0.04

DIFD

(014)

W201.01

Execute Axis 1

Movement Command

[OP1]

Positioning Watchdog Timer

[OP2]

Positioning Timeout


Axis 1 ABSOLUTE

MOVEMENT Bit

Axis 1 RELATIVE

MOVEMENT Bit

Axis 1 Movement Command Reception Complete

443


Section 11-2

11-2-7 Speed Control

Overview

This sample program performs speed control on a Servo Drive connected through MECHATROLINK communications.


In this example, speed control is performed on the Servo Drive registered as axis 1 using the SPEED CONTROL Bit in the Axis 1 Operating Output Memory Area.











W202.00 to W202.02


This sample program starts Axis 1 speed control when the Speed Control execution condition goes ON.

The speed command value in the Axis 1 Operating Output Memory Area must be set to the target speed in advance before executing this sample program.

The target speed can be changed sequentially during operation by overwriting the speed command value for speed control in the Axis Operating Output

Memory Area.

Torque limits can be enabled/disabled and the torque limits can be changed during operation by turning ON/OFF the forward and reverse rotation current limit bits and changing the option command values in the Axis Operating Output Memory Area and then turning ON the SPEED CONTROL Bit.

This sample program allows the speed control command to be sent again during an operation by turning the Speed Control execution condition OFF and then ON again.

A Multistart Error will occur if a Speed Control command is sent while the

PCU's Receiving Command Flag is already ON, so the condition that the

Receiving Command Flag is OFF is ANDed with the Speed Control execution condition (in the W202.00 output circuit). The Axis 1 SPEED CONTROL Bit has been added as an OR condition so that the W202.00 is not output again when the Receiving Command Flag goes from ON to OFF.

444



Program name: Speed Control

Section name: Speed Control

000000

(000000)

Speed Control execution condition

1000.00

Axis 1 Receiving Command

Flag

1.02

1000.12

Axis 1 Error

Axis 1 SPEED

CONTROL Bit

000001

(000006)

1.02

1000.13

Axis 1 SPEED

CONTROL Bit

Axis 1 Busy

1000.15

Axis 1 Stop

Execution

W202.02

1000.12

Axis 1 Error

000002

(000012)

Controlling

Axis 1 Speed

W202.00

Execute Axis 1

Speed Control

Command

1.02

1.01

Axis 1

SERVO

UNLOCK

000003

(000021)

Axis 1 SPEED

CONTROL Bit

1.02

1000.00

Axis 1 SPEED

CONTROL Bit

Axis 1 Receiving

Command Flag

1.15

0.15

1522.00

W202.01

1000.12

Axis 1

EMERGENCY

STOP

Axis 1 DE-

CELERATION

STOP

Axis 1

Communicating

Axis 1 Speed

Control

Command

Reception

Complete

Axis 1 Error

Section 11-2

DIFU

(013)

W202.00

Execute Axis 1 Speed

Control Command

W202.02

Controlling Axis 1 Speed

1.02

Axis 1 SPEED

CONTROL Bit

DIFD

(014)

W202.01

Axis 1 Speed Control

Command Reception

Complete

11-2-8 Torque Control

Overview

This sample program performs torque control on a Servo Drive connected through MECHATROLINK communications.


In this example, torque control is performed on the Servo Drive registered as axis 1 using the TORQUE CONTROL Bit in the Axis 1 Operating Output Memory Area.











W203.00 to W203.02


445


Section 11-2

This sample program starts Axis 1 torque control when the Torque Control execution condition goes ON.

The torque command value in the Axis 1 Operating Output Memory Area must be set to the desired output torque in advance before executing this sample program.

The torque control's output torque can be changed sequentially during operation by overwriting the torque command value in the Axis Operating Output

Memory Area.

Torque limits can be enabled/disabled and the speed limit value can be changed during operation by turning ON/OFF the forward and reverse rotation current limit bits and changing the option command values in the Axis Operating Output Memory Area and then turning ON the TORQUE CONTROL Bit.

This sample program allows the TORQUE CONTROL command to be sent again during an operation by turning the Torque Control execution condition

OFF and then ON again.

A Multistart Error will occur if a TORQUE CONTROL command is sent while the PCU's Receiving Command Flag is already ON, so include an AND of the

Receiving Command Flag OFF in the execution condition for Torque Control execution (i.e. from the W203.00 output in the following example). The

TORQUE CONTROL Bit has been added as an OR condition so that the

W203.00 is not output again when the Receiving Command Flag goes from

ON to OFF.


Program name: Torque Control

Section name: Torque Control

DIFU

(013)

W203.00

Execute Axis 1 Torque

Control Command

000000

(000000)

Torque Control execution condition

1000.00

Axis 1 Receiving Command Flag

1.03

1000.12

Axis 1 Error

Axis 1 TORQUE

CONTROL Bit

000001

(000006)

1.03

Axis 1 TORQUE

CONTROL Bit

1000.13

Axis 1 Busy

1000.15

Axis 1 Stop

Execution

W203.02

1000.12

Axis 1 Error

000002

(000012)

Controlling Axis 1 Torque

W203.00

1.01

Execute Axis 1

Torque Control

Command

1.03

Axis 1

SERVO

UNLOCK

000003

(000021)

Axis 1 TORQUE

CONTROL Bit

1.03

1000.00

Axis 1

TORQUE

CONTROL Bit

Axis 1 Receiving

Command Flag

1.15

0.15

1522.00

W203.01

Axis 1

EMERGENCY

STOP

Axis 1 DE-

CELERATION

STOP

Axis 1

Communicating

Axis 1 Torque

Control

Command

Reception

Complete

1000.12

Axis 1 Error

W203.02


1.03

Axis 1 TORQUE

CONTROL Bit

DIFD

(014)

W203.01

Axis 1 Torque Control

Command Reception

Complete

446


Section 11-2

11-2-9 Deceleration Stop or Emergency Stop

Overview

This sample program performs a deceleration stop or emergency stop on a

Servo Drive connected through MECHATROLINK communications. Execute this sample program only after starting MECHATROLINK communications with the servo locked (i.e., after establishing a connection).

In this example, a deceleration stop or emergency stop is performed on the

Servo Drive registered as axis 1 using the DECELERATION STOP Bit or

EMERGENCY STOP Bit in the Axis 1 Operating Output Memory Area.











Deceleration Stop:W204.00 and W204.01

Emergency Stop: W205.00 and W205.01


This sample program executes a deceleration stop or emergency stop on Axis

1 when the Deceleration Stop or Emergency Stop execution condition goes

ON.

Sample Ladder Program (Deceleration Stop)

Program name: Deceleration Stop

Section name: Deceleration Stop

DIFU

(013)

W204.00

Execute Axis 1

Deceleration Stop

W204.01

Executing Axis 1

Deceleration Stop

000000

(000000)

000001

(000003)

Deceleration

Stop execution condition

0.15

Axis 1 DECEL-

ERATION STOP

W204.01

1000.12

Axis 1 Error

1000.13

Axis 1 Busy

1000.15

Axis 1 Stop

Execution

1000.12

Axis 1 Error

Executing Axis 1

Deceleration Stop

000002

(000009)

W204.00

Execute Axis 1

Deceleration

Stop

0.15

1.01

Axis 1

SERVO

UNLOCK

1.15

1522.00

1000.15

1000.12

Axis 1

EMERGENCY

STOP

Axis 1

Communicating

Axis 1 Stop

Execution

Axis 1 Error

1001.03

Axis 1 Servo

ON Flag

Axis 1

DECELERATION

STOP

0.15

Axis 1

DECELERATION

STOP

447


Sample Ladder Program (Emergency Stop)

Program name: Emergency Stop

Section name: Emergency Stop

000000

(000000)

000001

(000003)

Emergency

Stop execution condition

1.15

Axis 1 EMER-

GENCY STOP

W205.01

1000.12

Axis 1 Error

1000.13

Axis 1 Busy

1000.15

Axis 1 Stop

Execution

1000.12

Axis 1 Error

Executing Axis 1

Emergency Stop

000002

(000009)

W205.00

Execute Axis 1

Emergency

Stop

1.15

1.01

1522.00

1000.15

Axis 1 SERVO

UNLOCK

Axis 1

Communicating

Axis 1 Stop

Execution

1000.12

Axis 1 Error

Axis 1 EMERGENCY

STOP

1001.03

Axis 1 Servo

ON Flag

Section 11-2

DIFU

(013)

W205.00

Execute Axis 1

Emergency Stop

W205.01

Executing Axis 1

Emergency Stop

1.15

Axis 1

EMERGENCY

STOP

11-2-10 Jogging

Overview

Note

Deceleration and emergency stops are possible only when the Servo is locked. If the Servo is unlocked, these stop commands will be ignored. In the above programming example, the Servo ON Flag is inserted as an output condition so that DECELERATION STOP, EMERGENCY STOP, and work bits do not remain ON even if a deceleration stop or emergency stop is executed when the Servo is not locked.

This sample program performs jogging with the Servo Drive connected via

MECHATROLINK communications. MECHATROLINK communications start

(i.e., a connection is established), and after executing SERVO LOCK, jogging is executed while the Servomotor is in a servo locked state.

In this programming example, jogging is executed for the Servo Drive registered at axis 1 when the Jog Bit turns ON in the Axis Operating Output Memory Area. The Axis Operating Output/Input Memory Areas are based on the settings of the Common Parameter Area, as shown below. The application example in


shows a sample program that can be

used to make the following settings.







W206.00 to W206.01

These Work Area bits are used to create the operation timing for function execution.

448


Section 11-2

Ladder Programming Example

Program name: Jogging

Section name: Jogging

In this program example, jogging starts when the jogging condition turns ON, and stops when the jogging condition turns OFF. Jogging is performed in the forward direction when the jogging direction is OFF at the start of jogging.

Jogging is performed in the reverse direction when the jogging direction is ON at the start of jogging.

When executing this programming example, the target speed must be set in the speed command value of the Axis 1 Operating Output Memory Area. The target speed for jogging can be changed successively during operation by writing the speed command value to the Axis Operating Output Memory Area.

In this programming example, application in combination with the PCU jogging (adjustment operation) Smart Active Parts Library provided in the

OMRON NS-series Programmable Terminals has been considered and thus the program is constructed with self-holding bits for the Jog Bit and Direction

Designation Bit in the Axis Operating Output Memory Area. Therefore, the command for the jogging condition is sent via the Work Area bit W206.00.

The output circuit of Work Area bit W206.00 is also provided with a self-holding circuit that operates according to the Receiving Command Flag and Busy

Flag to enable the JOG command to be received correctly at the PCU.

1000.13

000000

(000000)

Jogging condition

W206.00

Axis 1

Busy

Axis 1 Jogging Jogging condition

1000.00

Axis 1

Receiving

Command

1000.13

1.01

1.15

0.15

1522.00

1000.12

Axis 1 SERVO

UNLOCK

Axis 1

EMERGENCY

STOP

Axis 1 Axis 1

DECELERATION Communicating

STOP

Axis 1 Error

000001

(000014)

W206.00

Axis 1 Jogging

Axis 1 Busy

0.09

Axis 1 JOG

W206.01

Axis 1

Jogging Stop

000002

(000019)

Jogging direction

W206.00

Axis 1 Jogging

000003

(000025)

0.09

0.10

Axis 1 JOG

W206.00

Axis 1 Direction Designation

Axis 1 Jogging

W206.00

Axis 1 Jogging

0.09

Axis 1 JOG

Axis 1 Direction

Designation

DIFD

(014)

W206.01

Axis 1 Jogging Stop

449

Application Examples

Section 11-3

11-3 Application Examples

This section shows sample application programs created by combining the basic sample programs introduced in the previous section.

To make the basic sample programs easier to understand, the basic sample programs reused in this section's application examples keep the same Work

Area word and bit addresses that were allocated in the previous section.

11-3-1 Initial PCU Settings

Overview

This application combines the data-writing and data-saving functions from

11-

2-1 Transferring PCU Parameters

with the communications function from

11-

2-2 Starting and Stopping MECHATROLINK Communications

to make the Ini-

tial PCU Settings. The 80 words of parameter data (including unused words) must be preset in EM Area words E0_00000 to E0_00079 with the 40 words of Common Parameters and 40 words of Axis Parameters (20 words each for axes 1 and 2).

In this program, the initial PCU settings are made when H0.00 is OFF and the task switches from INI to RUN status. After the initial settings are made, the

PCU is restarted. The transferred and saved parameters are enabled and

H0.00 is turned ON (Set) at the same time so that the initial settings are not made again.

To make the initial settings again, reset H0.00 and execute the program again.

When H0.00 is reset, the Initial Task Execution Flag is used as the Write Data execution condition and the Unit Data Write End Flag (W300.05) is used as the Save Data execution condition. When the Save Data operation is completed (W302.05 ON), the Unit is restarted and H0.00 is turned ON.

MECHATROLINK communications will be controlled by the new Common

Parameters in the PCU either after the Unit restart at the end of initial settings if H0.00 is OFF, or after starting the program (task) if H0.00 is ON.





EM Area bank 0

E0_00000 to E0_00079

These 80 EM words are used to transfer to the PCU the 40 words of Common

Parameters and 40 words of Axis Parameters (20 words each for axes 1 and

2).


Writing Data:

Saving Data:

W300.00 to W300.06

W302.00 to W302.06

Starting Communications: W303.00 to W303.04

Restarting the Unit: W304.00 to W304.03


The following parts of I/O memory are used in the combined program example.

450


EM word

E0_00000

E0_00001

E0_00002

E0_00003

E0_00004

E0_00005 to

E0_00011

E0_00012 to

E0_00029

Section 11-3


H0.00

Used as a switch to enable/disable the initial PCU settings function.

I/O Bits

Restart Communications:400.00

Stop Communications: 400.01

When the corresponding I/O bit goes ON, stopped MECHATROLINK communications are restarted or established MECHATROLINK communications are stopped.

This sample program writes the following Common Parameters and Axis

Parameters (initial settings).

Common Parameters

Scan List: Registers Servo Drives to axes 1 and 2 (station numbers 1 and

2).



MECHATROLINK communications settings:

Transfer cycle: 1 ms


×

2 (1 ms

×

2 = 2 ms)

Number of communications retries: 0 (1 retry)

C2 Master connection: 0 (No C2 Master)

Axis Parameters for Axes 1 and 2 (Shared by both Axes.)

Origin input signal selection: 00 (Phase Z)

Interrupt input signal selection: 01 (External latch signal 1 input)

Origin search direction: 0 (Forward)

Origin search operation mode: 1 (Reversal mode 2)

Encoder type: 0 (Incremental encoder)

The following parameter settings must be written in advance to the CPU Unit's

EM Area words E0_00000 to E0_00079.

Set value Item

00B0 hex Common Parameters

0000 hex


Common Parameters


00B0 hex Common Parameters


03E8 hex Common Parameters

Beginning word of Axis Operating Input

Memory Areas

4040 hex Common Parameters

Scan list setting (axes 1 and 2)

0000 hex

0000 hex

Common Parameters

Scan list setting (axes 3 to 16)

Not used.

Details

Sets the beginning word of the Axis Operating

Output Memory Areas to CIO 0000.

Axis 1 output words: CIO 0000 to CIO 0024

Axis 2 output words: CIO 0025 to CIO 0049

Sets the beginning word of the Axis Operating

Input Memory Areas to CIO 1000.



Allocates axes 1 and 2 to the Servo Drive.

This part of the Common Parameters is unused.

Set all words to 0000 hex.

451


Section 11-3

EM word

E0_00030

E0_00031

E0_00032 to

E0_00039

E0_00040

E0_00041

E0_00042

E0_00043 to

E0_00059

E0_00060

E0_00061

E0_00062

E0_00063 to

E0_00079

Set value

0102 hex

0000 hex

0000 hex

0001 hex

0010 hex

0000 hex

0000 hex

0001 hex

0010 hex

0000 hex

0000 hex

Item

Common Parameters

MECHATROLINK communications settings

Transfer cycle and communications cycle

Common Parameters

MECHATROLINK communications settings

Number of communications retries and C2 Master connection

Not used.

Details

Transfer cycle: 01 (1 ms)

Communications cycle: 02 (

×

2)

Number of communications retries: 0 (1 retry)

C2 Master connection: 0 (No C2 Master)

Axis 1 Parameters

Origin input signal selection and Interrupt input signal selection

Axis 1 Parameters

Origin search direction and Origin search operation

Axis 1 Parameters

Encoder type

Not used.








Axis 2 Parameters

Origin input signal selection and Interrupt input signal selection

Axis 2 Parameters

Origin search direction and Origin search operation

Axis 2 Parameters

Encoder type

Not used.










The PCU does not use regions E0_00012 to E0_00029, E0_00032 to

E0_00039, E0_00043 to E0_00059, and E0_00063 to E0_00079 in the Common Parameter Area and Axis Parameter Areas.

These unused areas are reserved because this program transfers all 80 words (40 words of Common Parameters and 40 words of Axis Parameters for axes 1 and 2) to the PCU's internal addresses at once.

Set all words in the unused addresses to 0000 hex.

When Axis Parameters are being transferred for axis 3 or higher axes, prepare the parameter settings in 20-word regions for each axis (starting from

E0_00080) with the same data configuration as axis 1. This sample program can be used to make the initial settings for multi-axis operation by changing the number of write words to 40 words (Common Parameters) + 20 words

×

Number of axes (Axis Parameters).

Conversely, when only axis 1 is being used, set the number of write words to

60 words and prepare only EM words E0_00000 to E0_00059 from the table above. (Change the scan list in the Common Parameters so that only axis 1 is used.)

452


Section 11-3

When the initial PCU settings have been made, W304.03 is turned ON for one cycle.

Also, W303.03 will be turned ON when MECHATROLINK communications have started and all axes (axes 1 and 2 in this case) are communicating normally.

453



Program name: Initial Settings

Section name: Initial Settings

000000

(000000)

A200.15

P_First_Cycle_

Task

Initial Task

Execution

Flag

H0.00

Execute

Initial

Settings

Switch

Write Data

000001

(000007)

W300.00

1515.12

1515.14

Start Unit

Data Write

1500.01


Transferring

Flag

WRITE DATA Bit

000002

(000013)

W300.02

Waiting for Unit

Data Write

Received

1515.14


000003

(000016)

W300.04

Waiting for

Unit Data

Write End

W300.02

000004

(000020)

Waiting for Unit

Data Write

Received

W300.04

1515.12

Unit Error Flag

1515.12

Unit Error Flag

1515.14


000005

(000024)

Waiting for Unit

Data Write End

W300.01

W300.03

Execute Unit

Data Write

Unit Data

Write

Received

W300.02

W300.06

Unit Data Write

Error End


Write Received

000006

(000029)

W300.03

Unit Data Write

Received

W300.05

Unit Data

Write End

W300.04

W300.06

Unit Data Write

Error End

000007

(000034)

Waiting for Unit

Data Write End

W300.05

Unit Data

Write End


454

Section 11-3

MOV

(021)

#0000

1508

MOV

(021)

#1838

1509

W300.00

MOV

(021)

&80

1506

MOV

(021)

#0050

1507

[OP1]

[OP2]

Number of words to write

[OP1]

[OP2]

Write source area

[OP1]

[OP2]

Write source word

[OP1]

[OP2]


Start Unit Data Write

1500.01

WRITE DATA Bit

W300.01

Execute Unit Data Write

W300.03

Unit Data Write Received

W300.05

Unit Data Write End

W300.06


W300.02


Write Received

W300.04


Write End

W302.00

Start Unit Data Save


Save Data

000008

(000036)

W302.00

Start Unit

Data Save

1500.03

1515.12

1515.14


Transferring

Flag

SAVE DATA Bit

000009

(000042)

W302.02

Waiting for Unit

Data Save

Received

1515.14


000010

(000045)

W302.04

Waiting for Unit

Data Save End

1515.12

Unit Error Flag

1515.14


000011

(000049)

W302.02

Waiting for Unit

Data Save

Received

W302.04

1515.12

Unit Error Flag

Waiting for Unit

Data Save End

000012

(000053)

W302.01

Execute Unit

Data Save

W302.02

W302.03

Unit Data

Save

Received

W302.06

Unit Data Save

Error End


Save Received

W302.05

000013

(000058)

W302.03

Unit Data Save

Received

W302.04

Unit Data

Save Normal

End

W302.06

Unit Data

Save Error

End

000014

(000063)

Waiting for Unit

Data Save End

Restart PCU

W304.00

Start Unit

Restart

A302.00

CPU Bus Unit

Initializing Flag

000015

(000068)

W302.05

Unit Data Save

Normal End

W304.01

Execute Unit Restart

W304.00

Start Unit Restart

000016

(000072)

W304.01

W304.03

Execute Unit

Restart

Unit Restart Complete

W304.02

000017

(000076)

Restarting Unit

W304.02

A302.00

1516.14

Restarting Unit

CPU Bus Unit

Initializing

Flag

Unit Busy Flag


Section 11-3

1500.03

SAVE DATA Bit

W302.01

Execute Unit Data Save

W302.03

Unit Data Save Received

W302.05

Unit Data Save Normal End

W302.06


W302.02


Save Received

W302.04


Save End

SET

H0.00

A501.00

W304.01

Execute Initial Settings

Switch

CPU Bus Unit Restart Bit

Execute Unit Restart

W304.00

Start Unit Restart

W304.02

Restarting Unit

W304.03

Unit Restart Complete

455


Start Communications

000018

(000080)

A200.15

H0.00

1515.12

P_First_Cycle_

Task

Initial Task

Execution Flag

W304.03

Execute Initial Unit Error Flag

Settings

Switch

Unit Restart

Complete

400.00

Restart Communications

000019

(000086)

400.01

Stop Communications

000020

(000088)

1516.15


000021

(000090)

W303.00

Establish

Connection

1501.00

CONNECT Bit

W303.01

Release

Connection

W303.02

Turn OFF

CONNECT

Bit

W303.04

Connection

Timeout

000022

(000097)

000023

(000101)

1516.15

Connection

Status Flag

T0000

Connection

Timeout Timer

1522.00

Axis 1

Communicating

W303.03

All Axes

Communicating

1522.01

Axis 2

Communicating

Section 11-3

W303.00

Establish Connection

W303.01

Release Connection

DIFD

(014)

W303.02

Turn OFF CONNECT Bit

1501.00

CONNECT Bit

TIM

0000

#50

W303.03

[OP1]

Connection Timeout Timer

[OP2]


W303.04

Connection Timeout

11-3-2 Servo Parameter Backup

Overview

This application incorporates the Servo Parameter transfer functions from

11-


to transfer (write, read, or save) all of the

Servo Drive's Servo Parameters at one time with the CPU Unit's EM Area.

This application example is normally executed after the initial PCU settings

application shown in


.

The Servo Parameters to be transferred are set in the CPU Unit's EM Area as a parameter list.

When reading Servo Parameters, the parameter data read from the Servo

Drive is stored in the specified EM words based on this parameter list.

When writing/saving Servo Parameters, the parameter data is stored in the

EM Area in the prescribed format and written to the Servo Drives in order.

In this program example, the Servo Drives connected as axes 1 and 2 are both W-series Servo Drives and the same Servo Parameter list is transferred to both.

456


CPU Unit

E1_00000 to E1_00257

Parameter list

PCU

E1_01000 to E1_01511

Axis 1 Servo Parameter

Backup

E1_02000 to E1_02511


Backup

Read together

Axis 1 Servo Drive

Servo Parameters

Section 11-3

Axis 2 Servo Drive

Servo Parameters

Written/Saved together

The Axis Operating Output/Input Memory Areas for axes 1 and 2 are based on the settings of the Common Parameter Area, as shown below. The applica-

tion example in


shows a sample program that can be used to make the following settings.












Axis 1 Servo Parameter words: D10500 to D10503

Axis 2 Servo Parameter words: D10600 to D10603

These words are used to store the data required for a single Servo Parameter transfer, including the Servo Parameter number, parameter size, and transfer data (2 words).

EM Area bank 1

Servo Parameter list: E1_00000 to E1_00257

Axis 1 Servo Parameter words: E1_01000 to E1_01511

Axis 2 Servo Parameter words: E1_02000 to E1_02511

457


Parameter List

Section 11-3

When the Servo Parameters are being read, these EM words are used to store the parameter list read from the Servo Drive. These words are also used to store the Servo Parameters that were read and set the Servo Parameters that will be written.

Index Registers (IR)

IR6 to IR8

The Index Registers are used to reference the Servo Parameter list and reference the EM Area addresses that contain the parameter data being read/written.


Write Axis 1 Servo Parameters: W400.00 to W400.06

Read Axis 1 Servo Parameters: W401.00 to W401.06

Save Axis 1 Servo Parameters: W402.00 to W402.06

Write Axis 2 Servo Parameters: W410.00 to W410.06

Read Axis 2 Servo Parameters: W411.00 to W411.06

Save Axis 2 Servo Parameters: W412.00 to W412.06

Batch transfer sequence stepping: W500.00 to W500.10



Axis 1 Transfer Function Selection: H10.00 to H10.02

Axis 2 Transfer Function Selection: H11.00 to H11.02

These bits are used to select the Servo Parameter transfer function for each axis.

The following table shows how the status of bits H10.00 to H10.02 and

H11.00 to H11.02 specify the Servo Parameter transfer function in this sample program.

Transfer function

Write Servo Parameter

Read Servo Parameter

Save Servo Parameter

Axis 1 Axis 2

H10.00 H10.01 H10.02 H11.00 H11.01 H11.02

1 0 0 1 0 0

0

0

1

0

0

1

0

0

1

0

0

1

A different transfer function can be selected for each axis and executed for 2 axes simultaneously.

Different transfer functions cannot be performed at the same time on a single axis. If bits 00 to 02 are all OFF or more than one bit is ON, the transfer function will not be executed for that axis.

Also, when executing this sample program, always transfer the Servo Parameters for 2 axes.

CIO 0510.00 is used as the Servo Parameter Batch Transfer Start Switch.

In this program, the parameter list for the Read Servo Parameters function is stored in the CPU Unit's EM Area as follows.

The beginning words of the parameter list specify the parameter number and parameter size of each parameter.

+0: Parameter number (hex)

+1: Parameter size

The parameter number and size are specified in order for all of the parameters being transferred.

At the end of the parameter list, the parameter size is set to 0000 hex.

458

E1_00130

E1_00140

E1_00150

E1_00160

E1_00170

E1_00180

E1_00190

E1_00200

E1_00210

E1_00220

E1_00230

E1_00240

E1_00250

Word

E1_00000

E1_00010

E1_00020

E1_00030

E1_00040

E1_00050

E1_00060

E1_00070

E1_00080

E1_00090

E1_00100

E1_00110

E1_00120

Read/Write Parameter

Format

0405

040A

0502

0507

050C

0511

051C

0801

0808

080E

0813

0819

081F

0113

0118

0123

0202

0207

0300

0305

0400

+0

0000

0005

0104

0109

010E


Section 11-3

0002

0002

0002

0002

0002

0002

0002

0002

0004

0002

0002

0004

0002

0002

0002

0002

0002

0002

0002

0002

0002

+1

0002

0002

0002

0002

0002

The following table shows a setting example for the parameter list in this program.

The Servo Parameters listed here are for an OMRON W-series Servo Drive with a FNY-NS115 MECHATROLINK-II I/F Unit mounted. All 256 parameter

numbers and parameter sizes shown in the table in


are included even if the parameters are not being used.

When the two-word end code (0000 0000) at the end of the parameter list is included, a total of 256 words (including unused words) are used, from

E1_00000 to E1_00257.

0406

040B

0503

0508

050D

0512

051E

0802

080A

080F

0814

081B

0820

0114

0119

0124

0203

0208

0301

0306

0401

+2

0001

0100

0105

010A

010F

0002

0002

0002

0002

0002

0002

0002

0002

0002

0002

0004

0002

0004

0002

0002

0002

0002

0002

0002

0002

0002

+3

0002

0002

0002

0002

0002

0407

040C

0504

0509

050E

0513

0600

0803

080B

0810

0816

081C

0822

0115

0120

0125

0204

0212

0302

0307

0402

+4

0002

0101

0106

010B

0110

0002

0002

0002

0002

0002

0002

0002

0002

0002

0002

0002

0002

0004

0002

0002

0002

0002

0002

0002

0002

0002

+5

0002

0002

0002

0002

0002

0408

0500

0505

050A

050F

051A

0601

0804

080C

0811

0817

081D

0000

0116

0121

0200

0205

0217

0303

0308

0403

+6

0003

0002

0107

010C

0111

0002

0002

0002

0002

0002

0002

0002

0004

0002

0002

0002

0002

0000

0002

0002

0002

0002

0002

0002

0002

0002

+7

0002

0002

0002

0002

0002

0409

0501

0506

050B

0510

051B

0800

0806

080D

0812

0818

081E

0000

0117

0122

0201

0206

0218

0304

0309

0404

+8

0004

0103

0108

010D

0112

0002

0002

0002

0002

0002

0002

0002

0004

0002

0002

0002

0002

0000

0002

0002

0002

0002

0002

0002

0002

0002

+9

0002

0002

0002

0002

0002

This program stores the Servo Parameters with the following format (read according to the parameter list above) in the specified part of the EM Area.

The parameter number, parameter size, and set value of each parameter are stored in four-word sets.

+0: Parameter number (hex)

+1: Parameter size

+2: Servo Parameter set value (rightmost word)

+3: Servo Parameter set value (leftmost word)

These four-word sets are stored in the order that the parameters appear in the parameter list.

When the parameter size is 2 bytes (0002 hex), the leftmost word of the set value in “+3: Servo Parameter set value” will be set to 0000 hex.

459


Sample Ladder

Program

Note

Section 11-3

Example: First Part of Default Settings Read from an OMRON W-series Servo

Drive

Word

E1_01000

E1_01008

E1_01016

E1_01024

E1_01032

E1_01040

E1_01048

E1_01056

:

E1_01064

+0 +1 +2 +3 +4 +5 +6 +7

0000 0002 0010 0000 0001 0002 1002 0000

0002 0002 0000 0000 0003 0002 0002 0000

0004 0002 0200 0000 0005 0002 0000 0000

0100 0002 0050 0000 0101 0002 07D0 0000

0102 0002 0028 0000 0103 0002 012C 0000

0104 0002 0050 0000 0105 0002 07D0 0000

0106 0002 0028 0000 0107 0002 0000 0000

0108 0002 0007 0000 0109 0002 0000 0000

010A 0002 0000 0000 010B 0002 0004 0000

All of the data is expressed in hexadecimal.

For example, the data in E1_01024 to E1_01027 indicates parameter Pn100, a parameter size of 2 bytes, and a set value of 0050 hex (80 decimal).

This data format is also used in the sample program when writing or saving data from the CPU Unit's EM Area to the Servo Drive. (The parameter size at the end of the transfer data is 0000 hex, which is the end code.)

Consequently, this program can be used to read the Servo Parameters to the

CPU Unit's EM Area to back up the Servo Parameters and those Servo

Parameters can be transferred to a new Servo Drive if it is necessary to replace the Servo Drive in the future.

This sample program will start transferring the Servo Parameters when the

Servo Parameter Batch Transfer Bit (CIO 510.00) is ON and W303.03 has been turned ON (indicating that axes 1 and 2 are both communicating normally) by the application example shown in


.

When this program is completed (Servo Parameter Transfer Complete),

W500.05 is turned ON for one cycle. If an error occurs while the Servo Parameters are being transferred (Error Flag ON), the transfer will be cancelled at that point and W500.10 will be turned ON for one cycle.

The Write Servo Parameters, Read Servo Parameters, and Save Servo

Parameters functions for axis 1 (program steps 000016 to 000033) are the same as the functions described in

11-2-3 Transferring Servo Parameters

.

The functions for axis 2 (program steps 000034 to 000051) are the same as the functions for axis 1, except for the different I/O words. To prevent duplications, be sure to change the axis 1 output words (CIO 0000 to CIO 0024) to the corresponding axis 2 output words (CIO 0025 to CIO 0049) and change the axis 1 input words (CIO 1000 to CIO 1024) to the corresponding axis 2 input words (CIO 1025 to CIO 1049).

460


Program name: Servo Parameter Backup

Section name: Servo Parameter Backup

000000

(000000)

510.00

W303.03

1000.12

Servo Parameter

Batch Transfer

Start Switch

All Axes

Communicating

Axis 1 Error

W500.00

000001

(000005)

Servo

Parameter

Batch Transfer

Start

1025.12

Axis 2 Error

000002

(000009)

W500.01

H10.00

Servo

Parameter

Transfer

Selection

Write Axis 1

Servo

Parameters

Selected

H11.00

H10.01

Read Axis 1

Servo

Parameters

Selected

H11.01

H10.02

Save Axis 1

Servo

Parameters

Selected

H11.02

Write Axis 2

Servo

Parameters

Selected

Read Axis 2

Servo

Parameters

Selected

Save Axis 2

Servo

Parameters

Selected

000003

(000022)

W500.01

Servo

Parameter

Transfer

Selection

H10.00

H10.01

Write Axis 1

Servo

Parameters

Selected

H10.02

Read Axis 1

Servo

Parameters

Selected

Save Axis 1

Servo

Parameters

Selected


Section 11-3

DIFU

(013)

W500.00

Servo Parameter Batch

Transfer Start

MOVR

(560)

E1_0

IR6

[OP1]

First Word of Parameter List

[OP2]

MOVR

(560)

E1_1000

IR7

[OP1]

First Word of Axis 1 Servo Parameters

[OP2]

MOVR

(560)

E1_2000

IR8

[OP1]

First Word of Axis 2 Servo Parameters

[OP2]

@MOV

(021)

,IR6+

D10500

[OP1]

[OP2]

Axis 1 Transfer

Parameter Number

@MOV

(021)

,IR6+

D10501

[OP1]

[OP2]

Axis 1 Transfer

Parameter Size

MOV

(021)

D10500

D10600

[OP1]

Axis 1 Transfer Parameter Number

[OP2]


MOV

(021)

D10501

D10601

[OP1]

Axis 1 Transfer Parameter Size

[OP2]


@MOV

(021)

,IR7+

D10500

[OP1]

[OP2]

Axis 1 Transfer

Parameter Number

@MOV

(021)

,IR7+

D10501

[OP1]

[OP2]

Axis 1 Transfer

Parameter Size

@MOVL

(498)

,IR7++

D10502

[OP1]

[OP2]

Axis 1 Transfer Data

461


000004

(000030)

W500.01

Servo

Parameter

Transfer

Selection

H11.00

Write Axis 2

Servo

Parameters

Selected

H11.02

H11.01

Read Axis 2

Servo

Parameters

Save Axis 2

Servo

Parameters

Selected

000005

(000038)

W500.01

Servo

Parameter

Transfer

Selection

<>

(305)

#0

D10501

[OP1]

[OP2]

Axis 1 Transfer

Parameter Size

=

(300)

#0

D10501

[OP1]

[OP2]

Axis 1 Transfer

Parameter Size

000006

(000045)

W500.03

Execute Servo

Parameter

Transfer

H10.00

H10.01

H10.02

Write Axis 1

Servo Parameters

Selected

Read Axis 1

Servo Parameters Selected

H10.00

H10.01

Save Axis 1 Servo

Parameters

Selected

H10.02

Write Axis 1

Servo

Parameters

Selected

Read Axis 1

Servo

Parameters

Selected

Save Axis 1

Servo

Parameters

Selected

W401.05

Axis 1 Read

Normal End

462

H10.00

H10.01

H10.02

Write Axis 1

Servo

Parameters

Selected

Read Axis 1

Servo

Parameters

Selected


Save Axis 1

Servo

Parameters

Selected

Section 11-3

@MOV

(021)

,IR8+

D10600

[OP1]

[OP2]

Axis 2 Transfer

Parameter Number

@MOV

(021)

,IR8+

D10601

[OP1]

[OP2]

Axis 2 Transfer

Parameter Size

@MOVL

(498)

,IR8++

D10602

[OP1]

[OP2]


W500.02

Continue Parameter

Transfer

W500.05

Stop Parameter Transfer

MOV

(021)

D10500

17

[OP1]


[OP2]

Axis 1 Servo Parameter Number

MOV

(021)

D10501

18

[OP1]


[OP2]

Axis 1 Parameter Size

MOVL

(498)

D10502

19

[OP1]


[OP2]

Axis 1 Write Data

DIFU

(013)

W400.00

Start Axis 1 Write

DIFU

(013)

W401.00

Start Axis 1 Read

MOV

(021)

17

,IR7+

[OP1]


[OP2]

MOV

(021)

18

,IR7+

[OP1]


[OP2]

MOVL

(498)

1014

,IR7++

[OP1]

Axis 1 Read Data

[OP2]

DIFU

(013)

W402.00

Start Axis 1 Save


000007

(000068)

W500.03

Execute

Servo

Parameter

Transfer

H11.00

H11.01

H11.02

Write Axis 2

Servo Parameters

Selected

H11.00

Read Axis 2


H11.01

Save Axis 2 Servo

Parameters

Selected

H11.02

Write Axis 2

Servo

Parameters

Selected

Read Axis 2

Servo

Parameters

Selected

Save Axis 2

Servo

Parameters

Selected

W411.05

Axis 2 Read

Normal End

Section 11-3

MOV

(021)

D10600

42

[OP1]


[OP2]


MOV

(021)

D10601

43

[OP1]


[OP2]


MOVL

(498)

D10602

44

[OP1]


[OP2]

Axis 2 Write Data

DIFU

(013)

W410.00

Start Axis 2 Write

DIFU

(013)

W411.00

Start Axis 2 Read

MOV

(021)

42

,IR8+

[OP1]


[OP2]

MOV

(021)

43

,IR8+

[OP1]


[OP2]

MOVL

(498)

1039

,IR8++

[OP1]

Axis 2 Read Data

[OP2]

DIFU

(013)

W412.00

Start Axis 2 Save

W500.06

Axis 1 Transfer End

H11.00

H11.01

H11.02

000008

(000091)

W500.03

Execute Servo

Parameter

Transfer

Write Axis 2

Servo Parameters

Selected

Read Axis 2


W400.05

W401.05

Axis 1 Write

Normal End

H10.00

Axis 1 Read

Normal End

H10.01

Save Axis 2 Servo

Parameters

Selected

W402.05

W500.04

Axis 1 Save

Normal End

H10.02

W500.10

All Axes

Transfer End

Stop Servo

Parameter Transfer

W500.06

Write Axis 1

Servo

Parameters

Selected

Read Axis 1

Servo

Parameters

Selected

Save Axis 1

Servo

Parameters

Selected

Axis 1 Transfer End

W500.03

W410.05

000009

(000105)

Execute Servo

Parameter

Transfer

Axis 2 Write

Normal End

H11.00

W411.05

Axis 2 Read

Normal End

H11.01

W412.05

Axis 2 Save

Normal End

H11.02

W500.04

All Axes

Transfer End

W500.10

Stop Servo

Parameter Transfer

Write Axis 2

Servo

Parameters

Selected

W500.07

Axis 2 Transfer End

Read Axis 2

Servo

Parameters

Selected

Save Axis 2

Servo

Parameters

Selected


W500.07

Axis 2 Transfer End

463


000010

(000119)

W500.03

Execute Servo

Parameter

Transfer

W400.06

Axis 1 Write

Error End

W401.06

Axis 1 Read

Error End

W402.06


000011

(000125)

W500.03

Execute Servo

Parameter

Transfer

W410.06

Axis 2 Write

Error End

W411.06

Axis 2 Read

Error End

W412.06


000012

(000131)

000013

(000134)

W500.06

Axis 1 Transfer

End

W500.08

Axis 1 Transfer

Error End

W500.07

Axis 2 Transfer End

W500.09

Axis 2 Transfer Error End

000014

(000137)

W500.00

Servo Parameter

Batch Transfer

Start

W500.01

W500.02

Continue

Servo

Parameter

Transfer

Servo Parameter

Transfer Selection

W500.04

W500.05

Stop Servo

Parameter

Transfer

All Axes Transfer End

000015

(000143)

W500.02

Continue Servo

Parameter

Transfer

W500.03

W500.04

All Axes

Transfer End

W500.10

Stop Servo

Parameter Transfer

000016

(000148)

Execute Servo

Parameter Transfer


W400.00

1522.00

1000.12 1000.14

Start Axis 1

Write

1.12

Axis 1

Communicating


Parameter

Transferring

Axis 1 WRITE SERVO

PARAMETER

1000.14

000017

(000155)

W400.02

Waiting for

Axis 1 Write

Received

W400.04

000018

(000158)

Waiting for

Axis 1 Write

End


1000.12

Axis 1

Error Flag

1000.14



464

Section 11-3

W500.08


W500.09


W500.04

All Axes Transfer End

W500.10

Stop Servo Parameter

Transfer

W500.01

Servo Parameter

Transfer Selection

W500.03

Continue Servo

Parameter Transfer

1.12

Axis 1 WRITE SERVO

PARAMETER

W400.01


W400.03


W400.05



000019

(000162)

W400.02

Waiting for

Axis 1 Write

Received

W400.04

1000.12

Axis 1 Error

Flag

1522.00

Waiting for

Axis 1 Write

End

000020

(000168)

W400.01

Execute Axis 1

Servo

Parameter Write

W400.02


W400.03

Axis 1 Write

Received

W400.06

Axis 1 Write

Error End

000021

(000173)

Waiting for Axis 1

Write Received

W400.03

W400.05

Axis 1 Write

Received

W400.04

Axis 1 Write

Normal End

W400.06

Axis 1 Write

Error End

000022

(000178)

Waiting for Axis 1

Write End


W401.00

1522.00

1000.12

Start Axis 1

Read

1.13

Axis 1

Communicating

Axis 1 Error

1000.14

Axis 1 Servo

Parameter

Transferring

Axis 1 READ SERVO

PARAMETER

000023

(000185)

W401.02

Waiting for

Axis 1 Read

Received

W401.04

000024

(000188)

Waiting for Axis

1 Read End

1000.14


1000.12

Axis 1

Error Flag

1000.14


W401.02

1000.12

000025

(000192)

Waiting for

Axis 1 Read

Received

W401.04

Axis 1

Error Flag

1522.00

Waiting for Axis

1 Read End


W401.03

W401.06

000026

(000198)

W401.01

Execute Axis

1 Read

W401.02

Axis 1 Read

Received


000027

(000203)

Waiting for Axis 1

Read Received

W401.03

W401.05

Axis 1 Read

Received

W401.04

Axis 1 Read

Normal End

W401.06


Waiting for Axis

1 Read End


Section 11-3

W400.06


W400.02

Waiting for Axis 1

Write Received

W400.04

Waiting for Axis 1

Write End

1.13

Axis 1 READ SERVO

PARAMETER

W401.01

Execute Axis 1 Read

W401.03


W401.05


W401.06


W401.02


Received

W401.04


End

465



000028

(000208)

W402.00

1522.00

1000.12

1000.14

Start Axis 1

Save

1.14

Axis 1

Communicating


Parameter

Transferring

Axis 1 SAVE SERVO

PARAMETER

000029

(000215)

W402.02

000030

(000218)

Waiting for

Axis 1 Save

Received

W402.04

1000.14


1000.12

Waiting for Axis

1 Save End

Axis 1 Error

1000.14


1000.12

000031

(000222)

W402.02

Waiting for

Axis 1 Save

Received

W402.04

Axis 1 Error

1522.00

Waiting for Axis

1 Save End


W402.03

W402.06

000032

(000228)

W402.01

Execute Axis

1 Save

W402.02

Axis 1 Save

Received


000033

(000233)

Waiting for Axis 1

Save Received

W402.03

W402.05

Axis 1 Save

Received

Axis 1 Save

Normal End

W402.04

W402.06


000034

(000238)

Waiting for Axis

1 Save End


W410.00

1522.01

1025.12

1025.14

Start Axis 2

Save

26.12

Axis 2

Communicating


Parameter

Transferring

Axis 2 SAVE SERVO

PARAMETER

000035

(000245)

W410.02

000036

(000248)

Waiting for

Axis 2 Save

Received

W410.04

1025.14


1025.12

Waiting for Axis

2 Save End

Axis 2 Error

1025.14


1025.12

000037

(000252)

W410.02

Waiting for

Axis 2 Save

Received

W410.04

Axis 2 Error

1522.01

Waiting for Axis

2 Save End



466

Section 11-3

1.14

Axis 1 SAVE SERVO

PARAMETER

W402.01

Execute Axis 1 Save

W402.03


W402.05


W402.06


W402.02


Received

W402.04


End

26.12

Axis 2 WRITE SERVO

PARAMETER

W410.01


W410.03


W410.05


W410.06



000038

(000258)

W410.01

Execute Axis 2

Servo

Parameter Write

W410.03

Axis 2 Write

Received

W410.02

W410.06

Axis 2 Write

Error End

000039

(000263)

Waiting for Axis 2

Write Received

W410.03

W410.05

Axis 2 Write

Received

W410.04

Axis 2 Write

Normal End

W410.06

Axis 2 Write

Error End

000040

(000268)

Waiting for Axis 2

Write End


W411.00

1522.01

1025.12

Start Axis 2

Read

26.13

Axis 2

Communicating

Axis 2 Error

1025.14

Axis 2 Servo

Parameter

Transferring

Axis 2 READ SERVO

PARAMETER

000041

(000275)

W411.02

Waiting for

Axis 2 Read

Received

000042

(000278)

W411.04

Waiting for Axis

2 Read End

1025.14


1025.12

Axis 2

Error Flag

1025.14


W411.02

1025.12

000043

(000282)

Waiting for

Axis 2 Read

Received

W411.04

Axis 2

Error Flag

1522.01

000044

(000288)

Waiting for Axis

2 Read End


W411.01

W411.03

W411.06

Execute Axis

2 Read

W411.02

Axis 2 Read

Received


000045

(000293)

Waiting for Axis 2

Read Received

W411.03

W411.05

Axis 2 Read

Received

W411.04

Axis 2 Read

Normal End

W411.06


000046

(000298)

Waiting for Axis

2 Read End


W412.00

1522.01

1025.12

1025.14

Start Axis 2

Save

26.14

Axis 2

Communicating


Parameter

Transferring

Axis 2 SAVE SERVO

PARAMETER

1025.14

000047

(000305)

W412.02

Waiting for

Axis 2 Save

Received



Section 11-3

W410.02

Waiting for Axis 2

Write Received

W410.04

Waiting for Axis 2

Write End

26.13

Axis 2 READ SERVO

PARAMETER

W411.01

Execute Axis 2 Read

W411.03


W411.05


W411.06


W411.02


Received

W411.04


End

26.14

Axis 2 SAVE SERVO

PARAMETER

W412.01

Execute Axis 2 Save

W412.03


467


000048

(000308)

W412.04

1025.12

Waiting for Axis

2 Save End

Axis 2 Error

1025.12

000049

(000312)

W412.02

Waiting for

Axis 2 Save

Received

W412.04

Axis 2 Error

1522.01

1025.14


000050

(000318)

Waiting for Axis

2 Save End


W412.01

W412.03

W412.06

Execute Axis

2 Save

W412.02

Axis 2 Save

Received


000051

(000323)

Waiting for Axis 2

Save Received

W412.03

W412.05

Axis 2 Save

Received

Axis 2 Save

Normal End

W412.04

W412.06


Waiting for Axis

2 Save End

Section 11-3

W412.05


W412.06


W412.02


Received

W412.04


End

11-3-3 Switching among Position, Speed, and Torque Control

Overview

The basic program examples introduced in the following sections are combined to perform position, speed, and torque control.

11-2-3 Transferring Servo Parameters

(Used to transfer acceleration/de-

celeration constants for positioning.)

11-2-4 Servo Lock/Unlock

11-2-6 Positioning (Absolute Movement or Relative Movement)

11-2-7 Speed Control

11-2-8 Torque Control

11-2-9 Deceleration Stop or Emergency Stop

This program uses I/O bits to execute the Servo Lock/Unlock function, start controlling an axis (positioning, speed control, or torque control), or switch the control status of an operating axis.

In this example, only axis 1 is controlled.

This application example is normally executed after the initial PCU settings

application shown in


.










468


Section 11-3





Axis operation command settings: D1000 to D1011

Units conversion calculation:

Expanded Monitoring:

D1500 to D1515

D1020 to D1023

Axis 1 Servo Parameter transfer: D10500 to D10503

These words are used to store the axis operation command values, calculate the command's units, store expanded monitoring values, and store the Servo

Parameter transfer information (parameter number, parameter size, and twoword transfer data).


Servo Lock/Unlock:

Positioning:

W305.00 to W305.06

W201.00 to W201.03

Speed Control:

Torque Control:

Deceleration Stop:

Emergency Stop:

W202.00 to W202.02

W203.00 to W203.02

W204.00 and W204.01

W205.00 and W205.01

Expanded Monitoring Switch:

Axis 1 Write Servo Parameters:

W210.00 to W210.02

W400.00 to W400.06

Change Acceleration/Deceleration Constant: W501.00 to W501.06



H1.00

This bit is used as a switch to indicate whether the positioning command is

ABSOLUTE MOVEMENT or RELATIVE MOVEMENT.

Timer Area

TIM0003

Used as a watchdog timer to monitor the positioning operation.

I/O Bits

CIO 500.00 to CIO 500.05 and CIO 500.14 to CIO 500.15

469


Word/bit

CIO 050000

CIO 050001

CIO 050002

CIO 050003

CIO 050004

CIO 050005

CIO 050014

CIO 050015

D1000

D1001

D1002

D1003

D1004

D1005

Section 11-3

The following table shows the axis 1 operations that can be started by this program as well as the I/O bit operations and command values (in the DM

Area), which start that axis 1 operation.

ing

Function

Axis 1 Servo Lock/

Unlock Switch

Start Axis 1 Position-

Start Axis 1 Speed

Control

Start Axis 1 Torque

Control

Explanation

Each time this bit is turned ON, it switches axis 1 between Servo Lock and Servo

Unlock.

When the Servo Unlock is executed during speed control or torque control, the

Servo Unlock is executed after executing an Emergency Stop.

When this bit goes from OFF to ON, positioning starts according to the position command value in D1000 and D1001 or the speed command value in D1002 and D1003.

The positioning method can be switched between absolute/relative movement by turning H1.00 ON/OFF.

H1.00 ON: ABSOLUTE MOVEMENT

H1.00 OFF: RELATIVE MOVEMENT

Also, the acceleration constant (deceleration constant) can be set to the value in

D1010 (D1011) before starting the positioning operation if CIO 0500.14 (CIO

0500.15) is turned ON before turning this bit from OFF to ON.

When positioning is started with CIO 0500.14 and/or CIO 0500.15 OFF, positioning will be performed with the acceleration constant and/or deceleration constant set in the Servo Drive.

When this bit goes from OFF to ON, speed control starts according to the speed command value in D1002 and D1003.

When this bit goes from OFF to ON, torque control starts according to the torque command value in D1004 and D1005, with the speed command value in D1002 and D1003 as the speed limit value.

A Deceleration Stop is executed when this bit goes from OFF to ON.

Start Axis 1 Deceleration Stop

Start Axis 1 Emergency Stop

Specify Axis 1 Acceleration Constant

Specify Axis 1


An Emergency Stop is executed when this bit goes from OFF to ON.

If CIO 0500.01 (Axis 1 Start Positioning) is turned from OFF to ON while this bit is ON, positioning will be executed with the acceleration constant specified in

D1010. (Before positioning is started, the new constant is written to the acceleration constant Servo Parameter.)

If CIO 0500.01 (Axis 1 Start Positioning) is turned from OFF to ON while this bit is ON, positioning will be executed with the deceleration constant specified in

D1011. (Before positioning is started, the new constant is written to the deceleration constant Servo Parameter.)

Axis 1 Position Command Value

Axis 1 Speed Command Value

Axis 1 Torque Command Value

These words contain the position command value used in positioning. Set in the

“command units.”

These words contain the speed command value used in positioning and speed control.

This value is also used as the speed limit value during torque control.

Set in “command units/s.”

Speed command value for speed control and speed limit value for torque control are calculated in this program from this set value and the Servomotor's momentary maximum rotation speed, encoder resolution, and electronic gear ratio.

This is the torque command value used in torque control.

Set the torque command value as a percentage of the Servomotor's momentary maximum torque, in units of 0.001%.

470


Section 11-3

Word/bit

D1010

D1011

Function

Axis 1 Acceleration

Constant

Axis 1 Deceleration

Constant

Explanation

This word contains the acceleration constant for positioning.

If CIO 0500.14 is ON when positioning is started, the contents of this word are written to the Servo Parameter to change the acceleration rate.

Set in units of “

×


2

.”

This word contains the deceleration constant for positioning.

If CIO 0500.15 is ON when positioning is started, the contents of this word are written to the Servo Parameter to change the deceleration rate.

Set in units of “

×


2

.”

The setting value in D1002 and D1003 is used as the speed command value in position and speed control. In torque control, it is used as the speed limit value.

The PCU's speed command value for speed control and the speed limit value for torque control (option command value 1) are set as a percentage of the

Servomotor's momentary maximum rotation speed (units: 0.001%), so they are calculated as follows in this program.

Use the following equation as a template and change the equation in this program when the Servomotor's momentary maximum rotation speed, encoder resolution, or electronic gear ratio are different.

Speed command value for speed control and speed limit value for torque control = Speed command value (command units/s)

×

60 (s) / (Servomotor momentary maximum rotation speed (r/min)

×

Encoder resolution (pulses/ rotation)

×

4/Electronic gear ratio)/0.001%

An R88M-W10030L W-series Servomotor is used in this sample program. In this case,

Momentary maximum rotation speed:5,000 r/min

Encoder resolution: 2,048 pulses/rotation

The electronic gear ratio is contained in Servo Parameters (Pn202/Pn203) and the default setting is 4 (Pn202 = 4 and Pn203 = 1).

Consequently, the units calculation is as follows:

Speed command value for speed control and speed limit value for torque control

= Speed command value (command units/s)

×

60/ (5,000

×

2,048

×

4/4)

×

100,000

= Speed command value (command units/s)

×

6,000,000 / 10,240,000

In this program, the fraction is reduced to 1,200/2,048 to prevent the multiplication or division from overflowing.

Note

When torque control is being performed, option command value 1 is used as the speed limit value, so set parameter Pn002.1 (Speed command input change) to 1 to select option command value 1.

If the Servo Unlock function is executed during speed control or torque control, this program will output the Servo Unlock command after executing an

Emergency Stop (see the output circuit for W305.06).

In addition, the feedback speed and torque command are monitored in this program with the PCU's Expanded Monitoring function.

Since the speed and torque units used for monitoring depend on the control mode (position control, speed control, or torque control), the monitoring units are converted in this program and output to D1020 to D1021 and D1022 to

D1023. Refer to

4-8-6 Expanded Monitoring

for details on the monitoring units

used in each control mode.

471


Section 11-3

In this program, the unit conversion methods are switched at the start of axis operation. The speed monitoring units are converted (0.001%

→

command units/s) during speed control and the torque monitoring units are converted

(0.001%

→

%) during torque control.

(The conversion of speed monitoring units is performed by reversing the equation used to convert the speed command value for speed control.)

472



Program name: Switching Control Mode

Section name: Switching Control Mode

000000

(000000)

500.01

Positioning

Start Switch

500.14

Specify Axis 1

Acceleration Constant

500.15

Specify Axis 1


500.14

500.15

Specify Axis 1

Acceleration

Constant

W501.03

Specify Axis 1

Deceleration

Constant

W501.05

W501.01

Execute Axis 1

Deceleration Constant Transfer

W501.01

Execute Axis 1

Deceleration

Constant Transfer

W501.03

Axis 1 Acceleration Constant

Transfer End

W501.06

000001

(000019)

Execute Axis 1

Deceleration Constant Transfer

Execute Axis 1

Deceleration

Constant Transfer

Servo Lock/Servo Unlock

500.00

W305.04

Axis 1 Deceleration

Constant Transfer End

1000.12

1000.13

Servo Lock/

Unlock Switch

Axis 1 Servo

Lock Command

Axis 1 Error

W305.04

Axis 1 Busy

1001.03

Axis 1 Servo ON

Axis 1 Servo

Lock Command

000002

(000029)

W305.00

1522.00

1000.13

Execute Axis 1

Servo Lock

Axis 1

Communicating

Axis 1 Busy

1.00

W305.05

Axis 1 Servo Lock

Execution Timeout

Axis 1 SERVO LOCK

000003

(000035)

W305.01

1522.00

Execute Axis 1

Servo Unlock

Axis 1

Communicating

W305.03

Axis 1 Servo

Unlock End

W202.02

Controlling

Axis 1 Speed

W203.02


W305.05

W202.02

Axis 1 Servo

Lock Execution

Timeout

1.01

Axis 1 SERVO

UNLOCK

W305.06

Controlling

Axis 1 Speed

W203.02

Controlling

Axis 1 Torque

Stop Speed/

Torque Control

000004

(000050)

1.01

1000.13

Axis 1 SERVO

UNLOCK

Axis 1 Busy

1.00

1.01

000005

(000053)

Axis 1 SERVO

LOCK

W305.04

Axis 1

SERVO

UNLOCK

W305.05

Axis 1 Servo

Lock Execution

Timeout

Axis 1 Servo

Lock Command


Section 11-3

W501.00

Start Axis 1 Acceleration

Constant Setting

W501.02

Start Axis 1 Deceleration

Constant Setting

W200.00

Positioning Execution

Condition

W305.00

Execute Axis 1 Servo

Lock

W305.01

Execute Axis 1 Servo

Unlock

1.00

Axis 1 SERVO LOCK

1.01

Axis 1 SERVO UNLOCK

W305.06

Stop Speed/Torque

Control

DIFD

(014)

W305.03


W305.04

Axis 1 Servo Lock

Command

TIM

0001

#50

[OP1]

Servo Lock Execution Watchdog Timer

[OP2]

473


Section 11-3

000006

(000059)

000007

(000062)

T0001 1001.03

Servo Lock

Execution

Watchdog Timer

Axis 1 Servo ON

Position Control

W200.00

1000.00

1000.12

Positioning execution condition

Axis 1

Receiving

Command Flag

0.03

Axis 1 Error

Axis 1

ABSOLUTE

MOVEMENT Bit

0.04

000008

(000069)

W201.02

Controlling

Axis 1 Position

Axis 1

RELATIVE

MOVEMENT Bit

1001.08

1000.05

Axis 1 Pulse

Distribution

Complete

Axis 1 PCU

Positioning

Completed

000009

(000073)

T0003

000010

(000076)

Positioning

Watchdog

Timer

0.03

1000.05

Axis 1 PCU

Positioning

Completed

Axis 1 ABSOLUTE

MOVEMENT Bit

0.04

1000.05

1000.13

Axis 1 PCU

Positioning

Completed

Axis 1 Busy

1000.15

1000.12

Axis 1 Stop

Execution

Axis 1 Error

Axis 1 RELATIVE

MOVEMENT Bit

W201.02

W202.02

W203.02

000011

(000088)

Controlling

Axis 1

Position

W201.00

Execute Axis

1 Movement

Command

0.03

Controlling

Axis 1

Speed

1.01

Axis 1

SERVO

UNLOCK

Controlling

Axis 1 Torque

1.15

0.15

1522.00

W201.01

1000.12

Axis 1

EMERGENCY

STOP

Axis 1 DE-

CELERATION

STOP

Axis 1

Communicating

Axis 1

Movement

Command

Reception

Complete

Axis 1 Error

Axis 1 ABSOLUTE

MOVEMENT Bit

0.04

W201.03

Positioning

Timeout

W305.05

TIM

0003

#100

W201.03

W201.02

Movement

Command Switch

DIFU

(013)

W201.00

H1.00

0.03

Movement

Command Switch

H1.00

0.04

Axis 1 Servo Lock

Execution Timeout

Execute Axis 1

Movement Command

[OP1]

Positioning Watchdog Timer

[OP2]

Positioning Timeout


Axis 1 ABSOLUTE

MOVEMENT Bit

Axis 1 RELATIVE

MOVEMENT Bit

Axis 1 RELATIVE

MOVEMENT Bit

1000.00

000012

(000103)

0.03

Axis 1

ABSOLUTE

MOVEMENT

Bit

0.04

Axis 1 Receiving

Command Flag

000013

(000107)

Axis 1 RELATIVE

MOVEMENT Bit

Speed Control

500.02

1000.00

1000.12

Speed Control

Start Switch

Axis 1 Receiving

Command Flag

Axis 1 Error

1.02

Axis 1 SPEED

CONTROL Bit


DIFD

(014)

W201.01

DIFU

(013)

W202.00

Axis 1 Movement

Command Reception

Complete

Execute Axis 1 Speed

Control Command

474


000014

(000113)

1.02

Axis 1 SPEED

CONTROL Bit

W201.02

W202.02

W203.02

1000.13

1000.15

1000.12

Axis 1 Busy Axis 1 Stop

Execution

Axis 1 Error

Controlling

Axis 1

Position

W202.00

000015

(000122)

Execute Axis 1

Speed Control

Command

1.02

Controlling

Axis 1 Speed

1.01

Axis 1

SERVO

UNLOCK

Controlling

Axis 1 Torque

1.15

Axis 1

EMERGENCY

STOP

0.15

1522.00

W202.01

1000.12

Axis 1 DE-

CELERATION

STOP

Axis 1

Communicating

Axis 1 Speed

Control

Command

Reception

Complete

Axis 1 Error

Axis 1 SPEED

CONTROL Bit

000016

(000131)

1.02

Axis 1 SPEED

CONTROL Bit

Torque Control

000017

(000134)

1000.00

Axis 1 Receiving

Command Flag

500.03

1000.00

1000.12

Torque Control

Start Switch

Axis 1 Receiving

Command Flag

Axis 1 Error

1.03

Axis 1 TORQUE

CONTROL Bit

000018

(000140)

1.03

Axis 1 TORQUE

CONTOL Bit

W201.02

W202.02

W203.02

1000.13

Axis 1 Busy

1000.15

1000.12

Axis 1 Stop

Execution

Axis 1 Error

000019

(000149)

Controlling

Axis 1

Position

W203.00

Execute Axis 1

Torque Control

Command

1.03

Controlling

Axis 1

Speed

1.01

Axis 1

SERVO

UNLOCK

Axis 1 Torque

Control Bit

000020

(000158)

1.03

1000.00

Axis 1 TORQUE

CONTROL Bit

Axis 1 Receiving

Command Flag

Deceleration Stop

000021

(000161)

500.04

1000.12

Controlling

Axis 1 Torque

1.15

0.15

1522.00

W203.01

Axis 1

EMERGENCY

STOP

Axis 1 DE-

CELERATION

STOP

Axis 1

Communicating

Axis 1

Torque

Control

Command

Reception

Complete

1000.12

Axis 1 Error

Deceleration

Stop Switch

000022

(000164)

0.15

Axis 1 DECEL-

ERATION STOP

W204.01

Axis 1 Error

1000.13

Axis 1 Busy

1000.15

Axis 1 Stop

Execution

1000.12

Axis 1 Error

Executing Axis 1

Deceleration Stop

000023

(000170)

W204.00

Execute Axis 1

Deceleration

Stop

0.15

1.01

Axis 1

SERVO

UNLOCK

1.15

1522.00

1000.15

Axis 1

EMERGENCY

STOP

Axis 1

Communicating

Axis 1

Stop

Execution

Axis 1 DECELERATION STOP

1000.12

1001.03

Axis 1 Error Axis 1 Servo ON Flag


Section 11-3

W202.02

Controlling Axis 1 Speed

1.02

Axis 1 SPEED

CONTROL Bit

DIFD

(014)

W202.01

Axis 1 Speed Control

Command Reception

Complete

DIFU

(013)

W203.00

Execute Axis 1 Torque

Control Command

W203.02


1.03

Axis 1 TORQUE

CONTROL Bit

DIFD

(014)

W203.01

Axis 1 Torque Control

Command Reception

Complete

DIFU

(013)

W204.00

Execute Axis 1

Deceleration Stop

W204.01

Executing Axis 1

Deceleration Stop

0.15

Axis 1 DECELERATION

STOP

475


000024

(000178)

0.15

Axis 1 DECEL-

ERATION STOP

1000.00

Axis 1 Receiving

Command Flag

Emergency Stop

000025

(000181)

500.05

1000.12

Emergency

Stop Switch

W305.06

Axis 1 Error

Stop Speed/Torque Control

000026

(000185)

1.15

Axis 1 EMER-

GENCY STOP

W205.01

1000.13

Axis 1 Busy

1000.15

1000.12

Axis 1 Stop

Execution

Axis 1 Error

Executing Axis 1

Emergency Stop

000027

(000191)

W205.00

Execute Axis 1

Emergency

Stop

1.15

1.01

Axis 1 SERVO

UNLOCK

1522.00

1000.15

1000.12

Axis 1

Communicating

Axis 1 Stop

Execution

Axis 1 Error

1001.03

Axis 1 Servo ON Flag

000028

(000198)

Axis 1 EMERGENCY STOP

1.15

Axis 1 EMER-

GENCY STOP

1000.00

Axis 1 Receiving

Command Flag

Axis 1 Operation Command Setting

000029

(000201)

W201.00

Execute Axis 1 Operation Command

000030

(000203)

W201.00

Execute Axis 1

Operation

Command

W201.02


000031

(000206)

W202.00

Execute Axis 1

Speed Control

Command

W202.02

Controlling

Axis 1 Speed


Section 11-3

DIFD

(014)

W204.02

Axis 1 Deceleration Stop

Reception Complete

DIFU

(013)

W205.00

Execute Axis 1

Emergency Stop

W205.01

Executing Axis 1

Emergency Stop

1.15

Axis 1 EMERGENCY

STOP

DIFD

(014)

W205.02

Axis 1 Emergency Stop

Reception Complete

MOVL

(498)

D1000

2

MOVL

(498)

D1002

4

[OP1]


[OP2]


[OP1]


[OP2]


*L

(421)

&1200

D1002

D1500

[OP1]

[OP2]


[OP3]

/L

(431)

D1500

&2048

D1504

MOVL

(498)

D1504

6

[OP1]

[OP2]

[OP3]

[OP1]

[OP2]

Speed Command Value for Axis 1 Speed Control

476


000032

(000211)

W202.00

Execute Axis 1

Speed Control

Command

000033

(000214)

W203.00

Execute Axis 1

Torque Control

Command

W203.02


000034

(000217)

W203.00

Execute Axis 1

Torque Control

Command

000035

(000222)

W202.00

Execute Axis 1

Speed Control

Command

W203.00

Execute Axis 1

Torque Control

Command

000036

(000226)

Acceleration and Deceleration Constant Setting

W501.00

W501.05

Start Axis 1

Acceleration

Constant Setting

W501.01

Axis 1 Acceleration


Execute Axis 1 Acceleration

Constant Transfer

000037

(000230)

W501.02

Start Axis 1

Deceleration

Constant Setting

W501.03

W501.06

Axis 1 Deceleration


Execute Axis 1 Deceleration

Constant Transfer


Section 11-3

MOVL

(498)

&0

D1508

MOVL

(498)

&0

D1510

MOVL

(498)

D1004

8

[OP1]

[OP2]

[OP1]

[OP2]

[OP1]


[OP2]


MOVL

(498)

&0

D1510

MOVL

(498)

D1508

10

*L

(421)

&1200

D1002

D1500

[OP1]

[OP2]


[OP3]

/L

(431)

D1500

&2048

D1504

[OP1]

[OP2]

[OP3]

MOVL

(498)

D1504

D1508

[OP1]

[OP2]

[OP1]

[OP2]

[OP1]

[OP2]

Axis 1 Option Command

Value 1

MOVL

(498)

D1510

12

[OP1]

[OP2]

Axis 1 Option Command

Value 2

W501.01

Execute Axis 1

Acceleration Constant

Transfer

W501.03

Execute Axis 1


Transfer

477


000038

(000234)

W501.01

Execute Axis 1

Acceleration

Constant

Transfer

000039

(000238)

W501.01

W501.03

Execute Axis

1 Acceleration

Constant

Deceleration

Constant

Transfer

Execute Axis 1

Transfer

000040

(000243)

W501.01


Constant Transfer

W501.01

W501.03

W501.05

Execute Axis

1 Acceleration

Constant

Deceleration

Constant

Transfer

Execute Axis 1

Transfer

Axis 1

Acceleration

Constant

Transfer End

000041

(000252)

W501.01


Constant Transfer

W501.01

W501.03

Axis 1 WRITE SERVO

PARAMETER


W400.05

Axis 1 Write

Normal End

000042

(000260)

Execute Axis 1

Acceleration Constant Transfer

Execute Axis 1

Deceleration

Constant Transfer


W400.00

1522.00

1000.12

Start Axis 1

Write

1.12

Axis 1

Communicating

Axis 1 Error

W501.01


Constant Transfer

1000.14

Axis 1 Servo

Parameter

Transferring

478

Section 11-3

MOV

(021)

#080B

D10500

[OP1]

[OP2]

Axis 1 Transfer

Parameter Number

MOV

(021)

#0002

D10501

[OP1]

[OP2]

Axis 1 Transfer

Parameter Size

MOVL

(498)

D1010

D10502

[OP1]

Axis 1 Acceleration Constant

[OP2]


MOV

(021)

#080E

D10500

[OP1]

[OP2]

Axis 1 Transfer

Parameter Number

MOV

(021)

#0002

D10501

[OP1]

[OP2]

Axis 1 Transfer

Parameter Size

MOVL

(498)

D1011

D10502

[OP1]

Axis 1 Deceleration Constant

[OP2]


MOV

(021)

D10500

17

[OP1]


[OP2]


Number

MOV

(021)

D10501

18

[OP1]


[OP2]


MOVL

(498)

D10502

19

[OP1]


[OP2]

Axis 1 Write Data

DIFU

(013)

W400.00

Start Axis 1 Write

W501.05

Axis 1 Acceleration


W501.06

Axis 1 Deceleration


1.12

Axis 1 WRITE SERVO

PARAMETER

W400.01



000043

(000267)

W400.02

Waiting for

Axis 1 Write

Received

000044

(000270)

W400.04

Waiting for Axis

1 Write End

1000.14


Transferring

1000.12

Axis 1

Error Flag

1000.14


Transferring

1000.12

000045

(000274)

W400.02

Waiting for

Axis 1 Write

Received

W400.04

Axis 1

Error Flag

1522.00

Waiting for

Axis 1 Write

End

W400.01

000046

(000280)

Execute Axis 1

Servo Parameter Write

W400.02


W400.03

Axis 1 Write

Received

W400.06

Axis 1 Write

Error End

Waiting for Axis 1

Write Received

W400.05

000047

(000285)

W400.03

Axis 1 Write

Received

Axis 1 Write

Normal End

W400.04

W400.06

Axis 1 Write

Error End

000048

(000290)

Waiting for Axis 1

Write End

Switch Monitoring Units

CF113

P_On

Always ON Flag

000049

(000292)

A200.15

P_First_Cycle_

Task

Initial Task

Execution Flag

W201.01

W202.01

Axis 1 Speed

Control

Command

Reception

Complete

W203.01

Axis 1 Torque

Control Command

Reception Complete

Axis 1 Movement

Command Reception Complete

W204.02

Axis 1 Deceleration Stop Reception Complete

W205.02

Axis 1 Emergency

Stop Reception

Complete

W210.00

Position Control Monitor

000050

(000300)

W202.01

Axis 1 Speed Control Command Reception Complete

W210.01

W201.01

Axis 1

Movement

Command

Reception

Complete

000051

(000307)

Speed Control Monitor

W203.01

Axis 1 Torque Control Command Reception Complete

W210.02

W201.01

Axis 1

Movement

Command

Reception

Complete

Torque Control Monitor


W203.01

W204.02

Axis 1 Torque

Control

Command

Reception

Complete

Axis 1

Deceleration

Stop

Reception

Complete

W202.01

W204.02

W205.02

Axis 1 Emergency

Stop Reception

Complete

W205.02

Axis 1 Speed

Control

Command

Reception

Complete

Axis 1

Deceleration

Stop Reception

Complete

Axis 1 Emergency

Stop Reception

Complete

W210.01

Speed Control Monitor

W210.02

Torque Control Monitor

479

Section 11-3

W400.03


W400.05


W400.06


W400.02


Received

W400.04


End

MOV

(021)

#00B8

15

W210.00

[OP1]

[OP2]

Axis 1 Monitor Type

Position Control Monitor


000052

(000314)

W210.00

Position Control

Monitor

000053

(000317)

W210.01

Speed Control

Monitor

000054

(000321)

W210.02

Torque Control

Monitor

Section 11-3

*L

(421)

&2048

1010

D1512

/L

(431)

D1512

&1200

D1020

MOVL

(498)

1010

D1020

MOVL

(498)

1012

D1022

MOVL

(498)

1012

D1022

MOVL

(498)

1010

D1020

/L

(431)

1012

&1000

D1022

[OP1]

Axis 1 Monitor 1

[OP2]

Axis 1 Feedback Speed;

(command units/s)

[OP1]

Axis 1 Monitor 2

[OP2]

Axis 1 Torque Command

(%)

[OP1]

[OP2]

Axis 1 Monitor 1

[OP3]

[OP1]

[OP2]

[OP3]


(command units/s)

[OP1]

Axis 1 Monitor 2

[OP2]


(%)

[OP1]

Axis 1 Monitor 1

[OP2]


(command units/s)

[OP1]

Axis 1 Monitor 2

[OP2]

[OP3]


(%)

480

SECTION 12

Troubleshooting

This section provides information on troubleshooting errors that may occur, including details on the meaning of indicator displays and error codes, and the procedures required to reset errors in the Unit or axes.

12-1 Overview of PCU Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12-2 Troubleshooting Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12-3 LED Error Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12-3-1 Error Indicators at Powerup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12-3-2 Error Display for CPU Unit Errors . . . . . . . . . . . . . . . . . . . . . . . . . .

12-3-3 Error Display for PCU Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12-3-4 Error Display for MECHATROLINK Communications Errors . . . .

12-3-5 Error Display for PCU Settings and Operations. . . . . . . . . . . . . . . .

12-3-6 Error Display for MECHATROLINK Slave Station Device Errors .

12-4 Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12-4-1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12-4-2 List of Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12-5 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12-5-1 Initial Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12-5-2 Troubleshooting during PCU Operations . . . . . . . . . . . . . . . . . . . . .

12-5-3 Troubleshooting Communications Errors. . . . . . . . . . . . . . . . . . . . .

12-6 Error Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12-6-1 Resetting Unit Common Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12-6-2 Resetting Individual Axis Errors and Warnings . . . . . . . . . . . . . . . .

12-6-3 Restarting the PCU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12-7 CPU Unit Error Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

482

486

487

487

488

488

489

489

490

490

490

491

503

503

504

506

508

508

509

510

510

481

Overview of PCU Errors

Section 12-1

12-1 Overview of PCU Errors

The PCU detects errors that occur in the PCU, MECHATROLINK communications, or the MECHATROLINK slave device and sends notification of the error to the CPU Unit.

The errors that are detected by the PCU can be divided broadly into problems common to the PCU and those in each of the controlled axes. The CPU Unit is notified of any errors according to the cause of the detected error and its location, as shown in the following table.

Category Source of error

Error/ warning

Unit common

PCU

Axis errors PCU

Error

Error

MECHA-

TROLINK slave device

Error

Warning

Errors at powerup

(initialization errors)

Causes

Unit common error

CPU Unit errors

Causes

Unit common error

Does not cause axis error






Cause of error

PCU internal errors

Causes

Unit common error




MECHA-

TROLINK communications errors

Causes

Unit common error

Causes axis error

Causes axis error


PCU settings/ operation errors

Causes

Unit common error

Causes axis error

Causes axis error


MECHA-

TROLINK slave device errors

Does not cause Unit common error

Notification from

PCU

Unit Error

Flag, Unit error code


Causes axis error

Causes axis error

(Axis)

Error Flag,

Axis error code

(Axis)

Warning

Flag, Axis error code

Interface area

Common

Operating

Memory

Area


Memory

Areas

Note

(1) MECHATROLINK communications errors are either related to all communications or occur in individual axes, and are notified either as Unit common errors or as axis errors.

(2) The PCU settings/operation errors are caused due to operations either common to the PCU or in each axis, and are notified either as Unit common errors or as axis errors.

The following diagram shows the operation error notification.

Common Operating

Memory Area

Word n+15

12

CPU Unit PCU

MECHATROLINK

Servo Drive

Unit Error Flag

Errors common to PCU

Word n+21 Unit error code


Memory Areas

Word b

12 11

Warning Flag

Error Flag

Errors/warnings occurring in each axis

Word b+4 Axis error code n = CIO 1500 + (unit number

×

25) b = Beginning word of Axis Operating Input Areas specified in Common Parameters + (Axis No.

−

1)

×

25

If an error occurs, the PCU operates according to the following table depending on the cause of the detected error.

482


Section 12-1

The errors common to the PCU can be cleared by setting the UNIT ERROR

RESET Bit in the Common Operating Memory Area, and errors that occur in axes are cleared by setting the ERROR RESET Bit in the Axis Operating Output Memory Areas.

Operation after error

System stopped

Connection released suddenly

Connection released after deceleration stop

Emergency stop

Deceleration stop

Maintains

Errors at powerup

(initialization errors)

Causes

PCU operation on the left

Does not cause PCU operation on the left


Servo OFF Does not cause PCU operation on the left




CPU Unit

left

errors



Causes

PCU operation on the





Cause of error

PCU internal errors

MECHA-

TROLINK communications errors

Causes









Causes





Causes


Causes


PCU Settings/operation errors


Causes




MECHA-

TROLINK slave device errors



Causes


Status after error

MECHA-

TROLINK communications


Connection released.

Servomotor carrying current



Servomotor not carrying current

(See note

2.) (Servo

OFF)


(See note

2.) (Servo

OFF)

Connection not released.


(See note

2.) (Servo

OFF)


(Servo

OFF)

Maintains previous status


Causes


Causes


Causes


Causes




See note 1.




ERROR

RESET

Not possible

Not possible

Possible only for

CPU Unit monitor errors.

Possible

Possible

Possible

(See note

4.)

Possible

Note

(1) If a warning occurs in a MECHATROLINK slave device, the Warning Flag will turn ON and operation will continue.

(2) When a connection is released by the PCU, the Servo Drive will be put in the Servo OFF state.

(3) The operations and status for MECHATROLINK slave device errors above indicate the PCU operation (i.e., the command sent to the slave device when an error occurs). The operation of the MECHATROLINK slave device in which the error occurred depends on the device's specifications.

(4) MECHATROLINK communications errors that occur in individual axes cannot be cleared by setting the AXIS ERROR RESET Bit in the Axis Operating Output Memory Areas. (For details, refer to

Errors in MECHA-

TROLINK Communications

in this section.)

If two or more errors occur at the same time, the errors are processed in the order of priority starting from the most important error, as shown in the following table, and the error codes are refreshed.

483


Note

Note

Section 12-1

If two or more errors of the same priority level occur at the same time, the error status of the error that was detected first will be maintained (the error code for the error that was detected first will be held).

Category Details

Unit common errors

Individual axis error

PCU operation if error occurs

System stopped



MECHATROLINK communications error (See note.)

Servo OFF

Emergency stop

Deceleration stop

Operation continues

Priority level

High

Low

If a Unit common error occurs while an individual axis error has occurred, the status of the Error Flag and axis error code for the axis error will be held.

MECHATROLINK communications errors that occur in individual axes are processed in order of highest priority among the errors that occur in each axis. (For details, refer to

Errors in MECHATROLINK Communications

in this

section.)

The PCU functions are limited when an error occurs, as follows:

Unit common errors

(Unit Error Flag ON in the Common

Operating Memory

Area)

Error

Axis error

(Error Flag ON in the


Memory Area)

Functions that can be performed

• UNIT ERROR RESET

• WRITE DATA

• READ DATA

• SAVE DATA

• Releasing connection (CON-

NECT Bit OFF)

• ERROR RESET

• SERVO UNLOCK

• WRITE SERVO PARAME-

TER (See note.)

• READ SERVO PARAME-

TER (See note.)

• SAVE SERVO PARAME-

TER (See note.)

• Switching between Monitor type 1 and 2.

For details on MECHA-

TROLINK communications errors, refer to

Errors in

MECHATROLINK Communications

in this section.

Functions that cannot be performed

• Establishing connection

(CONNECT Bit ON)

• ABSOLUTE/RELATIVE

MOVEMENT (with INTER-

RUPT FEEDING)

• ORIGIN SEARCH

• ORIGIN RETURN

• PRESENT POSITION PRE-

SET

• JOG

• DEVIATION COUNTER

RESET

• Changing override

• DECELERATION STOP

• SERVO LOCK

• SPEED CONTROL

• TORQUE CONTROL

• DEVICE SETUP

• WRITE SERVO PARAME-

TER (See note.)

• READ SERVO PARAME-

TER (See note.)

• SAVE SERVO PARAMETER

• EMERGENCY STOP (See note.)

For PCUs with unit version 1.2 or earlier, parameters cannot be read, written, or saved when there is an axis error. Attempts to execute these commands

484


Section 12-1

will be ignored. For PCUs with unit version 1.3 or later, parameters can be read, written, or saved even when there is an axis error.

Functions that cannot be performed during errors can be performed after executing ERROR RESET to clear the error.

Errors in MECHATROLINK Communications

The following errors are MECHATROLINK communications errors that occur in individual axes.

• Synchronous Communications Alarm (axis error code: 3010 hex)

• Communications Alarm (axis error code: 3011 hex)

• Command timeout (axis error code: 3012 hex)

These errors cannot be cleared using the AXIS ERROR RESET Bit in the

Axis Operating Output Memory Areas.

These errors are related to the interface between the PCU and Servo Drive and are, therefore, given the highest priority in error processing of individual axis errors.

If these errors occur, the PCU will execute DECELERATION STOP for the corresponding axis (Servo Drive operation will depend on the stop method that is specified to be used when alarms occur in the Servo Drive) and operation of the axis will be prohibited.

To clear this error, stop MECHATROLINK communications (release connection) and then execute CONNECT again.

PCU Operation when CPU Unit Load Is Turned OFF

When the CPU Unit turns OFF the load, the PCU decelerates the active axis to a stop and releases the MECHATROLINK communications connection.

After recovering from the load OFF status, reestablish the MECHATROLINK communications connection by turning the CONNECT Bit OFF and then ON again.

Warnings

The MECHATROLINK slave device warnings that occur indicate that an error will occur if operation is continued without correcting the problem.

The type of warning and detection conditions depend on the connected

MECHATROLINK slave device (Servo Drive).

When the PCU detects a warning for the MECHATROLINK slave station device, the PCU notifies the CPU Unit, by turning ON the Warning Flag for the corresponding axis, and stores the warning code in the axis error code.

When a warning is detected, the Unit continues operation unchanged.

When a warning is detected and then the associated error occurs for the same axis, the Error Flag turns ON and the PCU performs error processing.

The axis error code will be overwritten by the error code for the error that has occurred.

485

Troubleshooting Procedure

Section 12-2

Timing Chart for Axis Errors and Warnings

ERROR RESET Bit

(word a, bit 12)

Warning Flag

(word b, bit 11)

Error Flag

(word b, bit 12)

Busy Flag

(word b, bit 13)

Axis error code

(word b+4)

0000 4096 (Hex)

(Example)

Communications warning

0000 4096 (Hex) 40E6 (Hex)


Communications error

The Busy Flag remains ON for at least one cycle time when ERROR

RESET is executed.

If the Error Flag turns ON while the

Warning Flag is already ON, the axis error code will be overwritten.


−

1)

×


−

1)

×

25

Note

If an axis warning occurs (Warning Flag = 1), the PCUs’ command response time will be delayed due to the warning processing. The PCU processing time required from receiving a command from the CPU Unit until the command is sent using MECHATROLINK communications is one MECHATROLINK communications cycle if an axis warning has not occurred, and three MECHA-

TROLINK communications cycles if an axis warning has occurred. If the machine's operation is affected by the PCU's command response time, clear the axis warning status using ERROR RESET or disable the warnings using the Servo Drive settings.

For details on the PCU's command response time, refer to

Command

Response Time

in


.

12-2 Troubleshooting Procedure

PCU

The basic flow of troubleshooting errors that occur in the PCU is as follows:

User application

Error occurs

Operation when error occurs

Error Flag turns ON

Error code stored

ERROR RESET executed

Recovery

Notification

ERROR

RESET

Error evasion operation in application (as required)

Cause of error investigated

Cause of error removed

ERROR RESET executed

Cause of error isolated using PCU display

Cause of error determined using error code

Countermeasure determined according to each error cause

12-3 LED Error Indicators

12-4 Error Codes

12-4 Error Codes


12-6 Error Reset

486

LED Error Indicators

Section 12-3

12-3 LED Error Indicators

The status of the LED indicators on the front of the PCU can be used to diagnose the following errors.

NCF71

MLK

RUN

ERC

ERH

ERM

RUN: The PCU is operating.

ERC: An error has occurred in the PCU.

ERH: An error has occurred in the CPU Unit.

ERM: An error has occurred in the MECHATROLINK device.

MLK: Indicates MECHATROLINK communications status

The indicator displays indicate the first error that is detected.

If the cause of an error has been cleared using ALARM RESET when two or more errors have occurred at the same time, the PCU will detect the next error with the highest priority and the indicator display will switch to show the new error. If multiple errors occur with the same priority level, the error for the smaller axis number will be displayed first.

12-3-1 Error Indicators at Powerup

RUN

Not lit

ERC

Indicator status

ERH ERM

Not lit Not lit Not lit

MLK

Not lit

Not lit Not lit Lit Not lit Not lit

Category Probable cause of error

Countermeasure

CPU Unit power interruption

Unit system error

Setting error

Data transfer error

Power is not being supplied correctly to the

CPU Unit.

Check the power supply voltage being supplied to the CPU Unit and make sure the correct power is being supplied.

The PCU system is not operating correctly.

The PCU's unit number is the same as another

Unit.

The PCU is not registered in the CPU Unit's

I/O tables, or the registered status does not match.

After changing the unit number, cycle the power and create the I/

O tables from the CPU

Unit.

Create the I/O tables for the CPU Unit again.

The transfer of data between the PCU and

CPU Unit could not be executed correctly.

Make sure that the

PCU is installed correctly, and turn the power OFF and ON again. If the error occurs again, replace the PCU.

Make sure that the

PCU is installed correctly, and turn the power OFF and ON again. If the error occurs again, replace the PCU or CPU Unit.

487


Section 12-3

RUN

Not lit

Not lit

Lit

ERC


ERH

Not lit

ERM

Not lit

Lit Lit Not lit

MLK

Not lit

Not lit


Countermeasure

Unit malfunction The internal circuits of the PCU have malfunctioned.

Unit recognition error

The CPU Unit has not recognized the PCU correctly.

Replace the PCU.

Replace the PCU.

12-3-2 Error Display for CPU Unit Errors

Lit

RUN


ERC

Flashing Lit

ERH ERM

Not lit

MLK

Not lit


CPU Unit error The CPU Unit system is not operating correctly.

A PLC bus operation error has occurred.

A fatal error has occurred in the CPU

Unit.

Countermeasure

Make sure that the

CPU Unit and PCU are installed correctly, and turn the power OFF and ON again. If the error occurs again, replace the CPU Unit.

Remove the cause of the CPU Unit stopping.

The indicator displays shown in the above table indicate errors that have occurred in the CPU Unit. Check the Unit's installation status and causes for the errors in the CPU Unit.

12-3-3 Error Display for PCU Errors

Lit

RUN

Lit

ERC


ERH ERM

Not lit Not lit

MLK

Not lit

Category

Data corrupted

Unit error

Probable cause of error

The data saved in the

PCU is corrupted.

An error has occurred in the internal circuits of the PCU.

Countermeasure

Transfer and save the

PCU data again, and then restart the Unit or turn the power OFF and ON again.

Replace the PCU.

The indicator displays shown in the above table indicate that data in the PCU is corrupted or the PCU's internal circuits have malfunction.

Data may be corrupted if the PCU power is interrupted while data is being saved to the PCU's internal flash memory. Use PCU's SAVE DATA or the CPU

Unit's simple backup function to restore (read) data saved in the Memory

Card or perform another process to recover saved data.

If the error occurs again, the probable cause is a faulty PCU. Replace the

PCU.

488


Section 12-3

12-3-4 Error Display for MECHATROLINK Communications Errors

Lit

RUN ERC


ERH ERM

Flashing Not lit Lit

Category

MLK

Undetermined


Scan list mismatch

Probable cause of error

Countermeasure

MECHATROLINK communications cannot be performed correctly.

The MECHATROLINK slave station device corresponding to the axis number registered in the PCU scan list is not connected.

Check the connection of the MECHA-

TROLINK communications cable.

Check whether the settings for the MECHA-

TROLINK communications line connection or slave device's station address match the settings in the scan list.

This display occurs when MECHATROLINK communications are started (connection established), or during communications when MECHATROLINK communications are not connected correctly.

Check for disconnected, broken, or faulty contact in the MECHATROLINK communications cables, and check the status (power interruption, etc.) of the connected MECHATROLINK slave station devices.

Also check whether the actual connection status matches the connections registered in the scan list.

Communications errors, scan list mismatches, or other error types, and the axis in which the error has occurred can be checked using the PCU Error

Flags and error codes.

12-3-5 Error Display for PCU Settings and Operations

Lit

RUN ERC


ERH ERM

Flashing Not lit Not lit


Countermeasure

MLK

Undetermined

Illegal operation An operation command that cannot be executed has been sent to the PCU.

Illegal data Illegal parameters have been set for the PCU, or an operation command has been sent with illegal parameters.

Check the timing of the last command and change the operation sequence.

Check the contents of the last command, and correct the contents of the data.

The indicator display shown in the above table indicates that illegal data is set in the PCU parameters or an illegal operation has been attempted, such as multistart.

This error will occur if a problem has occurred in the use of the PCU, which requires the PCU settings or user program to be corrected.

The error types, and the axis in which the error has occurred can be checked using the PCU Error Flags and error codes.

489

Error Codes

Section 12-4

12-3-6 Error Display for MECHATROLINK Slave Station Device Errors

Lit

RUN ERC


Flashing

ERH

Not lit

ERM

Flashing Lit

MLK


Countermeasure

External sensor input

Servo Drive error

An error has occurred due to external sensor input detection.

The main circuit power of the Servo Drive has been turned OFF.

Check the machine status and remove the cause of the error.

Check the power supply voltage being supplied to the Servo

Drive's main circuit power supply and make sure the correct power is being supplied.

The indicator display shown in the above table indicates that the limit input has been detected, Servo Drive's main circuit power supply is OFF, or an error specific to the Servo Drive or another error in the machine or Servo Drive has occurred.

Check whether the cause of the error is a machine error, a faulty sensor, disconnection, or Servo Drive error.

The error types, and the axis in which the error has occurred can be checked using the PCU Error Flags and error codes.

12-4 Error Codes

12-4-1 Overview

When an error occurs in the PCU, an Error Flag is turned ON and an error code is input in the Common Operating Memory Area or the Axis Operating

Input Memory Areas.

The area in which the Error Flag is turned ON and the input error code indicate the type of error and in which axis the error occurred.

Common Operating Memory Area

Name

Unit Error Flag

Unit error code

Word

n+15 12

Bit

n+21 ---

Contents



Stores the error code when a Unit common error occurs.


×

25)

Error information in this area indicates errors that occur in the PCU or that are not specific to a particular axis.

The Unit common error code is indicated as 00

@@

hex.

If the Unit Error Flag turns ON, error processing must be performed for the

PCU or the whole system including the PCU.


Name

Error Flag

Axis error code b

Word

12

Bit

b+4 ---

Contents

0: No error

1: Error has occurred

Stores the error code for the error that occurred in an individual axis.

490

Error Codes

Section 12-4



−

1)

×

25

Error information in this area indicates errors that have occurred in individual axes.

The Axis error code is indicated as 3 @@@ hex or 4 @@@ hex.

If an Axis Error Flag turns ON, error processing must be performed for the corresponding axis.

Determine the cause of the error using the indicator display and error code, isolating the location of the error as either in the PCU or in the Servo Drive/

Machine.

12-4-2 List of Error Codes

PCU Common Errors

Indicator status Category

RUN ERC ERH ERM MLK

Not lit Not lit Not lit Not lit Not lit CPU Unit power interruption

Error name

Power interruption

Not lit Not lit Lit

Not lit Lit

Not lit Lit Lit

Unit system error

Not lit Not lit Setting error

Data transfer error

Not lit Not lit Not lit Unit malfunction

Not lit Not lit Unit recognition error

Watchdog timer operation

Unit number error

Unit recognition incomplete

Data transfer error

Common memory error


Error code

---

---

---

---

---

---

---

Probable cause

Clearing method Operation after error

Power is not being supplied correctly to the CPU Unit.

The PCU system is not operating correctly.

The PCU's unit number is the same as another Unit.

The PCU is not registered in the CPU

Unit's I/O tables, or the registered status does not match.

The transfer of data between the PCU and

CPU Unit at initialization of the PCU could not be executed correctly.

The internal circuits of the

PCU have malfunctioned.

The CPU Unit has not recognized the PCU correctly.

Check the power supply voltage being supplied to the CPU Unit and make sure the correct power is being supplied.

Make sure that the PCU is installed correctly, and turn the power OFF and

ON again. If the error occurs again, replace the PCU.

After changing the unit number, cycle the power and create the I/O tables from the CPU Unit.

Create the I/O tables for the CPU Unit again.

Make sure that the PCU is installed correctly, and turn the power OFF and

ON again. If the error occurs again, replace the PCU or CPU Unit.

Replace the PCU.

Replace the PCU.

---

System stopped

System stopped

System stopped

System stopped

System stopped

System stopped

The above errors for which the RUN indicator is not lit occur when starting

PCU operations, such as turning ON the power or restarting the Unit. The

PCU system does not start correctly if any of these errors occurs, so the Error

Flags and error codes cannot be checked from the CPU Unit.

491

Error Codes

Section 12-4



Lit Flashing

Lit

Category

Not lit Not lit CPU Unit error

Error name

Error code

CPU fatal error

000A

Lit Lit Not lit Not lit Not lit Unit error

Data corrupted

CPU Unit watchdog timer error

CPU Unit monitor error

Bus error

MLK device error

MLK device initialization error

Memory error

000B

000C

000D

0026

0030

00F1

Probable cause


An error causing the CPU

Unit to stop has occurred.

The CPU Unit system is not operating correctly.

The cyclic refresh from the CPU Unit to the PCU has stopped.

PLC bus operation error

Remove the cause of the CPU Unit stopping.

Make sure that the CPU

Unit and PCU are installed correctly, and turn the power OFF and

ON again. If the error occurs again, replace the CPU Unit.

Check the error status of the CPU Unit and perform appropriate error processing. After restarting the cyclic refresh with the CPU Unit, execute PCU's ERROR

RESET.

Make sure that the CPU

Unit and PCU are installed correctly, and turn the power OFF and

ON again. If the error occurs again, replace the CPU Unit.

Replace the PCU.





System stopped

An error has occurred in the internal circuits of the

PCU.

An error has been detected in the

MECHA-

TROLINK communications part during PCU initialization processing.

The data saved in the

PCU is corrupted.

Check the MECHA-

TROLINK communications settings in the

Common Parameters, and then restart the Unit or turn the power OFF and ON again. If the error occurs again, replace the PCU.

System stopped

Transfer and save the

PCU data again, and then restart the Unit or turn the power OFF and

ON again. If the error occurs again, replace the PCU.

System stopped

492

Error Codes

Section 12-4



Lit Flashing

Not lit Lit Undetermined

Category

Scan list mismatch

Error name

MLK initialization error

Error code

0020


MLK communications error

0025

Probable cause


The MECHA-

TROLINK slave station device corresponding to the axis number registered in the PCU scan list is not connected.

MECHA-

TROLINK communications cannot be performed correctly, or two or more

MECHA-

TROLINK slave station devices are using the same station number.

Check whether the settings for the MECHA-

TROLINK communications line connection or slave device's station address match the settings in the scan list, and then execute CONNECT again.

Check the connection of the MECHATROLINK communications cable.

After removing the noise or other the cause preventing communications, restart the PCU.

Maintains

(Axes that have a connection established cannot be operated for PCUs with unit version 1.2 or earlier.)


493

Error Codes

Section 12-4



Lit Flashing

Not lit Not lit Undetermined

Category

Illegal operation

Error name

Multistart error

Error code

0021

Illegal data

FINS command time monitoring error

Write transfer error

Read transfer error

Transfer cycle setting error

Initialization common parameter check error

Data transfer common parameter check error

0024

0022

0023

0027

0028

0029

Probable cause


An attempt has been made for the

PCU to read data from an illegal address, or to read data with an illegal data size.

The set value for the transfer cycle set in the PCU's

Common

Parameters is too small for the number and type of connected

MECHA-

TROLINK devices or the maximum axis number.

An illegal set value has been detected in the Common Parameters during

PCU initialization. (See note.)

An operation command that cannot be executed has been sent to the PCU.

Communications between the computer and PCU were interrupted for more than 5 s after switching the CX-

Motion-NCF to an operation monitor window.

An attempt has been made for the

PCU to write data to an illegal address, or to write data using an illegal data size.

An illegal set value in the

Common

Parameters was transferred to the

PCU using

WRITE DATA.

(See note.)

The operation command that was sent cannot be executed. Check the last command timing and change the operation sequence.

Check the communications path between the computer and PLC and remove any problems.

The Position Control

Unit is set to continue monitoring communications with the computer.

Restart the PCU to clear the communications monitoring status.

Maintains


The data transfer for the command cannot be executed. Check the contents of the last command, and correct the data transfer settings.

Maintains

The data transfer for the command cannot be executed. Check the contents of the last command, and correct the data transfer settings.

Set and save a transfer cycle set value in the

Common Parameters that is suitable for the number and type of connected MECHA-

TROLINK devices and the maximum axis number, and then restart the

PCU.

When this error occurs, the corresponding setting in the Common

Parameters is set to the default value (0). After executing ERROR

RESET, transfer and save the correct Common Parameter setting and restart the PCU.

The transferred set value is discarded and the set value in the Common Parameters before the transfer is restored.

After executing ERROR

RESET, transfer the correct Common Parameters setting.

Maintains


Maintains

Maintains

Note

An error will occur if the scan list contains more than the maximum number of axes for the CS1W-NC271/NC471 or CJ1W-NC271/NC471.

494

Error Codes

Section 12-4




Lit Flashing


Category Error name


Synchronous communications alarm

Error code

3010

Communications alarm

3011

Command timeout

3012

Probable cause


MECHA-

TROLINK communications cannot be performed correctly with the corresponding axis.

MECHA-

TROLINK communications cannot be performed correctly with the corresponding axis.

No MECHA-

TROLINK communications response has been received from the corresponding axis.

When connected to an

R88D-WN @ -

ML2 Servo

Drive, this error will occur if a Servo

Parameter is transferred with an illegal parameter size.


After removing the cause preventing communications, such as breaks or noise in the connection, execute

CONNECT again.


After removing the cause preventing communications, such as breaks or noise in the connection, execute

CONNECT again.

After checking that no error has occurred in the

MECHATROLINK device connected to the corresponding axis, execute

CONNECT again.

If this error occurs when transferring a Servo

Parameter to the R88D-

WN @ -ML2 Servo Drive, check whether the Servo

Parameter is being transferred with an illegal parameter size.

Operation stops according to the method set in the

Servo

Drive for alarms.

(The PCU executes

DECELER-

ATION

STOP.)

Operation of the corresponding axis is prohibited.

Operation stops according to the method used when the Servo

Drive alarm occurs.

(The PCU executes

DECELER-

ATION

STOP.)


Operation stops according to the method used when the Servo

Drive alarm occurs.

(The PCU executes

DECELER-

ATION

STOP.)


495

Error Codes

Section 12-4



Lit Flashing

Not lit Not lit Lit

Category

Illegal operation

Error name

Present position unknown error

Error code

3030

Servo unlock error

Multistart error

3040

3050

Probable cause


ABSOLUTE

MOVEMENT or ORIGIN

RETURN was executed before the origin was established.

A command to start the axis was executed while in Servo unlock status.

Execute ORIGIN

SEARCH or PRESENT

POSITION PRESET and after defining the origin, execute the previously unsuccessful command again.

Deceleration stop

Execute the SERVO

LOCK and then execute the previously unsuccessful command again.

The command to start the axis is ignored and the

Servo

Drive remains in

Servo unlock status.

Deceleration stop

An attempt was made to execute two or more of the following commands at the same time for the same axis.

ABSOLUTE

MOVE-

MENT, REL-

ATIVE

MOVE-

MENT, ORI-

GIN

SEARCH,

ORIGIN

RETURN,

PRESENT

POSITION

PRESET,

JOG, SPEED

CONTROL,

TORQUE

CONTROL, or DEVICE

SETUP

An attempt was made to execute one of the following commands for a busy axis.

ORIGIN

SEARCH,

ORIGIN

RETURN,

PRESENT

POSITION

PRESET,

JOG, or

DEVICE

SETUP

After editing the ladder program so that multiple command bits do not turn ON at the same time for the same axis, execute the previously unsuccessful command again.

After editing the ladder program so that command bits do not turn

ON for a busy axis, execute the previously unsuccessful command again.

496

Error Codes

Section 12-4



Lit Flashing

Not lit Not lit Lit

Category

Illegal data

Error name

Position designation error

Speed designation error

Speed control speed designation error

Torque command value error

Error code

3060

3061

3062

3063

Probable cause


An attempt was made to execute REL-

ATIVE MOVE-

MENT using a position command value for the target position that is outside the positioning range.

An attempt was made to execute one of the following commands with a negative value as the speed command value.

ABSOLUTE

MOVE-

MENT, REL-

ATIVE

MOVE-

MENT, ORI-

GIN

SEARCH,

ORIGIN

RETURN, and JOG

An attempt was made to execute ORI-

GIN SEARCH with a speed command value of 0.

An attempt was made to execute

SPEED CON-

TROL using a command value that exceeds the speed command range.


TORQUE

CONTROL using a command value that exceeds the torque command range.

Edit the position command value to be within the positioning range and execute the command again.

Edit the speed command value to be within the setting range and execute the command again.



Edit the torque command value to be within the setting range and execute the command again.

Deceleration stop

Deceleration stop

Deceleration stop

Deceleration stop

497

Error Codes

Section 12-4



Lit Flashing

Not lit Not lit Lit

Category

Illegal data

Error name

Error code

Option command value 1 error

3064

Option command value 2 error

Override

Initialization axis parameter check error

Data transfer axis parameter check error

Data setting error

3065

3070

3090

3091

3099

Probable cause



SPEED/

TORQUE

CONTROL using a command value that exceeds the command range in option command value 1.


SPEED CON-

TROL using a command value that exceeds the command range in option command value 2.

An attempt was made to execute the override using an override value outside the setting range.

An illegal set value has been detected in the Axis

Parameters during PCU initialization.

Edit the option command value to be within the setting range and execute the command again.

Edit the option command value to be within the setting range and execute the command again.

Edit the override value to be within the setting range and execute the command again.

Deceleration stop

Deceleration stop

Deceleration stop

An illegal set value in the

Axis Parameters was transferred to the PCU using

WRITE DATA.

An attempt was made to transfer data for an illegal parameter number and outside the setting range using SERVO

PARAMETER

TRANSFER.

A function not supported by

SMARTSTEP

Junior Servo

Drives (e.g., torque control commands) was executed.

When this error occurs, the corresponding setting in the Axis Parameters is set to the default value (0). After executing

ERROR RESET, transfer the correct Axis Parameter.

The transferred set value is discarded and the set value in the Axis

Parameters before the transfer is restored. After executing ERROR

RESET, transfer the correct Axis Parameter.

The transferred set value is discarded and the set value for the

Servo Parameter before the transfer is restored.


RESET, transfer the correct Servo Parameter.

Check the commands for the relevant axis and correct the ladder program so that only supported functions are used.

Deceleration stop

Deceleration stop

Deceleration stop

498

Error Codes

Section 12-4



Lit Flashing

Not lit Flashing

Lit

Category


Error name


Error code

3000




Emergency stop signal input

3001

3002

3003

3004

Probable cause


A forward rotation limit input signal was detected.

A reverse rotation limit input signal was detected.

The forward software limit was reached or exceeded during axis movement.

The reverse software limit was reached or exceeded during axis movement.

The emergency stop input signal

(an external control input signal) was detected when the

Servo was locked or an attempt was made to lock the Servo while the emergency stop input signal was ON.


RESET, perform movement in the reverse rotation direction.


RESET, perform movement in the forward rotation direction.

After checking the position command value and executing ERROR

RESET, execute a movement command to move the axis to a correct position within the software limit range.

After checking the position command value and executing ERROR

RESET, execute a movement command to move the axis to a correct position within the software limit range.

Turn OFF the emergency stop input signal, reset the axis error, and repeat the operation from locking the Servo.

(This error will not occur if the EMERGENCY

STOP command in the

Axis Operating Memory

Area is used.)

Operation stops according to the

Servo

Drive's specified stop method for limit inputs.

(The PCU executes

EMER-

GENCY

STOP.)


Servo


(The PCU executes

EMER-

GENCY

STOP.)


Servo

Drive’s specified stop method for limit inputs.

(The PCU executes

EMER-

GENCY

STOP.)


Servo


(The PCU executes

EMER-

GENCY

STOP.)

Servo OFF

499

Error Codes

Section 12-4



Lit Flashing

Not lit Flashing

Lit

Category Error name

Error code

Probable cause


Origin search error

Servo

Drive error

No origin proximity or origin input signal

Limit input already

ON

Limit input signal ON in both directions

Drive main circuit OFF error (See note.)

MECHA-

TROLINK device alarm

---

3020

3021

3022

3080

4000 +

Alarm code for each device

The origin proximity input signal could not be detected within the range of both limit input signals during an origin search.

After detecting the origin proximity input signal during an origin search operation, a limit input signal was detected before detecting the origin input signal.

The limit input signal in the origin search direction has already been input during a single-direction origin search.

Check the origin proximity input signal wiring and the signal's allocation setting in the Servo

Parameters. Check that the dog width of the origin proximity input signal is no shorter than the communications cycle.

Check that the origin input signal selection in the PCU's Axis Parameters is correct. When the external latch signal is selected as the origin input signal, check the external latch signal wiring and the allocation setting in the Servo

Parameters.

Check the limit input signal wiring for the corresponding direction and check the limit input signal's allocation setting in the Servo Parameters.

Origin search cannot be executed due to limit input signals being input in both directions.

The main circuit power of the Servo

Drive has been turned

OFF.

Check the limit input signal wiring in both directions and check the limit input signal allocation settings in the Servo

Parameters.

Check the power supply voltage being supplied to the Servo Drive's main circuit power supply and make sure the correct power is being supplied.

The error processing depends on the device.


Servo


(The PCU executes

EMER-

GENCY

STOP.)

Emergency stop

(the operation command is not executed)

Emergency stop

(the operation command is not executed)

Servo OFF

Operation stops according to the specified method when the

Servo

Drive alarm occurs.

(The PCU executes

DECELER-

ATION

STOP.)

Note

For PCUs with unit version 1.2 or earlier, driver main circuit OFF errors can be detected regardless of whether the axis is servo-locked. For PCUs with unit version 1.3 or later, driver main circuit OFF errors will be detected only when the axis is servo-locked and will not be detected when the axis is not servolocked.

500

Error Codes

Section 12-4

Individual Axis Warnings



Lit Not lit Not lit Not lit Lit

Category

MECHA-

TROLINK device warning

---

Error name

Error code

Probable cause

Clearing method

4000 +

Warning code for each device

The error processing depends on the device.

Operation after error

Operation continues

MECHATROLINK Device Alarms (Alarm Code 4

@@@

Hex)

When an alarm or warning occurs for one of the connected MECHATROLINK slave station devices, the PCU turns ON the Error Flag or Warning Flag and returns the following error code.

G5-series Servo Drives/G-series Servo Drives

Error code: 4 @@@ hex

The numbers in the boxes of the error codes displayed for alarms are given as decimal numbers for the Servo Drives and as hexadecimal numbers for the

Position Control Units.

The same numbers are given in the boxes of the error codes displayed for warnings for the Servo Drives and the Position Control Units.

Example: Position deviation overflow alarm (deviation counter overflow)

Servo Drive alarm display: A.24

The PCU's error code in this example is 4018.

Servo Drive warning display: A.92


For details on alarm display and warning display numbers, and the difference

between Servo Drives and Position Control Units, refer to the list in

Appendix

D List of Error Codes

.

W-series and SMARTSTEP Junior Servo Drives

Error code: 40 @@ hex

The boxes ( @@ ) indicate the alarm/display number for the Servo Drive.

When using an R88D-WN @ -ML2 W-series Servo Drive (with built-in MECHA-

TROLINK-II communications), however, only the upper two digits of the display number's three digits will be displayed.


R88D-WT @ W-series Servo Drive:

Servo Drive alarm display: A.D0

The PCU's error code in this example is 40D0 hex.

R88D-WN @ -ML2 W-series Servo Drive:

Position deviation overflow alarm: A.D00

Servo ON position deviation overflow alarm: A.D01

Servo ON speed limit position deviation overflow alarm: A.D02

501

Error Codes

Section 12-4

With the R88D-WN @ -ML2 W-series Servo Drives, more detailed information is provided for position deviation overflow alarms, as shown above, but only the upper two digits of the alarm code (40D0 hex) are displayed as the

PCU’s error code for any of these alarms.

For details on alarm displays and warning displays in Servo Drives, refer to the list in

Appendix D List of Error Codes

.

For details on alarm/warning contents, refer to the operation manual for the

Servo Drive being used.

502

Troubleshooting

Section 12-5

12-5 Troubleshooting

This section provides troubleshooting flowcharts when Servo Drive communications cannot be established or movement is not possible even when movement commands are sent from the ladder program.

12-5-1 Initial Troubleshooting

The following troubleshooting flowchart is for errors that occur during initial checking.

This flowchart can be used to determine whether the PCU is faulty and cannot be started.

The Servo Drive cannot communicate.

The Servomotor will not operate in response to commands.

Y

Is the RUN indicator lit?

N

Y

Are any other indicators lit?

N

Is power being supplied to the PLC correctly?

N

Y

Is the ERH indicator lit?

N

Y

Is the unit number set correctly?

Y

Are the I/O tables set correctly?

Y

N

N

Supply the correct power supply voltage to the PLC.

Make sure that the PCU is installed correctly, and turn the power OFF and ON again.

If the problem occurs again, the probable cause is a faulty PCU

Unit. Replace the PCU.

Create the I/O tables for the CPU

Unit again.

Check whether the

PCU's unit number is the same as another

Unit.

See

12-5-2

Troubleshooting during PCU

Operations

.

503


Section 12-5

12-5-2 Troubleshooting during PCU Operations

The following troubleshooting flowchart is for problems that occur after the

PCU has been started (RUN indicator is lit).

Use this flowchart to determine whether the error is a CPU Unit error, a setting or usage problem, or a MECHATROLINK communications error.

An error has occurred while the PCU is operating.

RUN indicator: Lit

Y

Is the ERH indicator lit?

N

Y

Is the ERC indicator lit?

N

Y

Is the ERC indicator flashing?

N

Y

Is the MLK indicator lit?

N Y

Is the CONNECT Bit in the

Common Operating Memory

Area turned ON?

N

Y

Are the axis communications status flags in the Common Operating Memory Area turned ON?

N

Is the corresponding axis registered in the scan list in the

Common Parameters?

N

Y

Bit for relative axis = 0 in Axes to

Connect parameter?

N

Y

Axis Operating Memory Areas in

Common Parameters set correctly?

SERVO

UNLOCK, DEVIATION

COUNTER RESET, EMERGENCY STOP, or

DECELERATION STOP bit

ON?

Turn ON the

CONNECT Bit in the Common

Parameters and start


The axis is not registered in the scan list in the PCU's

Common Parameters.

Register the axes being used in the scan list, and save the settings in the PCU's internal flash memory.

Then restart the Unit or cycle the power and execute CONNECT again.

Correct the scan list settings in the PCU's

Common Parameters.

If the scan list has been changed, save the settings in the

PCU's internal flash memory. Then restart the Unit or cycle the power and execute

CONNECT again.

With Position Control Units with unit version 2.0 or later, all axes with the corresponding bit turned

ON in the Axes to Connect parameter will not be included in the connection even if they are registered in the scan list.

Confirm equipment safety, and then turn ON the corresponding bit and execute CONNECT again.

The scan list may not be enabled. To enable the scan list, save it in the flash memory in the Position Control

Unit and then either restart the Unit or cycle the power supply.

If the problem recurs, the Position Control

Unit may be faulty.

Replace the Position

Control Unit.

Set the Axis

Operating Memory

Areas correctly and then restart the

Position Control Unit.

Axis operation is not possible if nothing is specified in the settings of the Axis

Operating Output

Memory Area.

Check the outputs from the user program to see if they function correctly.

If there is no problem in the user program, the probable cause is a MECHATROLINK slave station device malfunction. Replace the slave station device and turn ON the power again.

504


Section 12-5

Y

Is the ERM indicator lit?

N

Is the ERM indicator flashing?

N

Y

Y

Check the Unit error code.

Has the Memory Error (00F1) occurred?

N

Check the Unit error code. Has the

MLK Device Initialization Error (0030) occurred?

N

Y

SERVO LOCK,

DEVIATION

COUNTER RESET,

EMERGENCY

STOP, and DECEL-

ERATION STOP are given priority over other axis commands. Refer to

4-

7-3 Axis Operating

Output Memory

Area Priority

and add suitable interlocks to the user program.

Illegal data is set in the PCU or an illegal operation was executed. Check the

Unit Error Flag and

Error Flags. Check the Unit for which the Error Flag is ON or the axis error code and clear the error according to the method shown in the list of error codes.

The limit input was detected or Servo

Drive's main circuit power supply is OFF, an error specific to the Servo Drive or another error in the machine or Servo

Drive has occurred.

Check the Error Flag status and clear the error using the method shown in the list of error codes for the corresponding axis error code.

An error in

MECHATROLINK communications occurred.

Check the Error

Flag status and clear the error using the method shown in 12-5-3

Troubleshooting

Communications

Errors and the list of error codes for the corresponding axis error code.

Make sure that the

PCU is installed correctly, and turn the power OFF and

ON again.

If the problem occurs again, the probable cause is a faulty

PCU Unit.

Replace the PCU.

Check the

MECHATROLINK communications settings in

Common

Parameters set in the PCU. Transfer and save the correct data again, and then restart the

Unit or turn the power OFF and ON again.

If the error occurs again, replace the

PCU.

The data saved in the PCU is corrupted.

Transfer and save the PCU data again, and then restart the

Unit or turn the power OFF and ON again.

If the error occurs again, replace the

PCU.

An error has occurred in the CPU

Unit.

Check the error code at the CPU Unit or the PCU's Unit error code, and then remove the cause of the error in the CPU

Unit.

505


Section 12-5

12-5-3 Troubleshooting Communications Errors

The following troubleshooting flowchart is for when MECHATROLINK communications errors occur.

Use this flowchart to determine the cause, such as whether the error is due to

MECHATROLINK communications settings or installation.

An error in MECHATROLINK communications has occurred.

RUN indicator: Lit

ERC indicator: Flashing

ERM indicator: Lit

Y

Is the Unit Error Flag turned ON?

N

Y

Is the Error Flag turned ON?

N

Check the error code for the corresponding axis. Has the

Synchronous Communications Alarm

(3010) occurred?

N

Y

Check the Unit error code. Has an

MLK Initialization Error (0020) occurred?

N

Check the Unit error code. Has an

MLK Communications Error

(0025) occurred?

N

Check the error code for the corresponding axis. Has a

Communications Alarm (3011) occurred?

N

Y

Y

Check the error code for the corresponding axis. Has a Command

Timeout (3012) occurred?

N

Y

Has the error occurred in all axes?

N

Y

Has the error occurred in the corresponding axis only?

N

Illegal data is set in the PCU or an illegal operation was executed.

Check the Unit Error

Flag and Error

Flags.

Check the Unit for which the Error Flag is ON or the axis error code and clear the error according to the method shown in the list of error codes.

Check the Error Flags for all axes being used, check the axes in which the MECHATROLINK communications error occurred, and then follow the steps in the troubleshooting flowchart related to communications again.

(MECHATROLINK communications errors are given a high level of priority among axis errors and are indicated by the indicator display in order of priority.)

No MECHATROLINK communications response has been received from the corresponding axis. Check that no error has occurred in the MECHATRO-

LINK device connected to the corresponding axis.

Release the connection and execute CONNECT again to enable the

PCU to recover.

If the error has occurred in all the axes connected before the specified axis, the probable cause of the error is in the communications line between the specified axis and the immediately previous (normal) axis.

Check that there are no disconnections, faulty contacts or breaks in the communications cable.

Release the connection and execute CONNECT again to enable the PCU to recover.

The probable cause is due to the external environment such as noise or an interruption to the

MECHATROLINK device power supply, preventing the corresponding axis from communicating normally. Check the installation environment and grounding status of the

MECHATROLINK device for the corresponding axis. Release the connection and execute

CONNECT again to enable the PCU to recover.

MECHATROLINK communications are not being performed normally due to disconnections, faulty contacts, or breaks in the terminating resistance or

MECHATROLINK communications cables.

Check the communications connection conditions.

Release the connection and execute CONNECT again to enable the PCU to recover.

Check the Unit

Error Flag and Unit error code again.

If the problem occurs again, the probable cause is a faulty PCU. Replace the PCU.

Y

Y

506


Section 12-5

Do two or more MECHATROLINK slave station devices have the same station number?

N

Y

Is the power ON for every

MECHATROLINK slave station device?

N

Y

Are the MECHATROLINK communications cables or terminating resistance loose or disconnected?

Y

N

Are the communications settings for every MECHATROLINK slave station device set to 10 Mbps and

32 bytes?

N

Y

Do the station addresses of the

MECHATROLINK slave station devices match the axis numbers registered in the scan list?

N

Y

MECHATROLINK communications are not being performed normally due to disconnections, faulty contacts, or breaks in the terminating resistance or

MECHATROLINK communications cables.

Check the communications connection conditions.

Restart the Unit or cycle the power, and then execute CONNECT again to enable the PCU to recover.

Check the station number of the

MECHATROLINK slave station device, and set a unique number for each device.

Restart the Unit or cycle the power, and then execute

CONNECT again to enable the PCU to recover.

Turn ON the power to every

MECHATROLINK slave station device.

Release the connection and then execute CONNECT again to enable the

PCU to recover.

Make sure that the

MECHATROLINK communications cables and terminating resistance are inserted securely so that they are locked.

Release the connection at the

PCU and then execute CONNECT again.

Set the

MECHATROLINK slave station device communications settings to 10 Mbps and 32 bytes, and then cycle the power.

Release the connection at the

PCU, cycle the power to the slave station device, and then execute

CONNECT again.

Reset the station number setting switch on the slave station device or change the scan list settings in the PCU's

Common Parameters, making sure that the station numbers of the

MECHATROLINK slave station devices match the axis numbers registered in the scan list.

If the scan list has been changed, save the settings in the PCU's internal flash memory.

Then restart the Unit or cycle the power and execute CONNECT again.

Check that an error has not occurred in the

MECHATROLINK slave station device that cannot be cleared.

Example: Servo

Drive encoder communications error (A.C9), etc.

507

Error Reset

Section 12-6

12-6 Error Reset

The PCU indicates Unit common errors and individual axis errors in the Common Operating Memory Area and Axis Operating Input Memory Areas, respectively, using Error Flags and error codes.

These errors can be cleared by removing the cause of the error and executing

ERROR RESET.

The methods for resetting Unit common errors and individual axis errors are different.

12-6-1 Resetting Unit Common Errors

Unit common errors are cleared by turning ON ( ) the UNIT ERROR RESET

Bit in the Common Operating Memory Area.

Reset Unit common errors when the Unit Busy Flag for the Position Control

Unit is OFF. If errors are reset when the Unit Busy Flag is ON, a multistart error (Unit error code: 0021) will occur and it will not be possible to reset Unit common errors.

When clearing Unit common errors, make sure that the UNIT ERROR RESET

Bit in the Common Operating Memory Area remains ON until the Unit Busy

Flag turns ON.


Name

UNIT ERROR

RESET Bit n

Word

00

Bit Contents

: Resets Unit common error n = CIO 1500 + (unit number

×

25)


Name

Unit Error Flag

Unit Busy Flag

Unit error code

Word

n+15 12

Bit

n+16 14 n+21 ---

Contents



0: PCU is not busy

1: PCU is busy

Stores the error code when a Unit common error occurs.


×

25)

Timing Chart Example for UNIT ERROR RESET

UNIT ERROR RESET Bit

(word n, bit 00)

Unit Error Flag

(word n+15, bit 12)

Unit Busy Flag

(word n+16, bit 14)

Unit Error Code

(word n +21)

0000 0021 hex 0000

(Example) Multistart Error n = CIO 1500 + (unit number

×

25)

The Unit Busy Flag remains ON for at least one cycle time when

UNIT ERROR RESET is executed.

508

Error Reset

Section 12-6

12-6-2 Resetting Individual Axis Errors and Warnings

Individual axis errors/warnings are cleared by turning ON ( ) the ERROR

RESET Bits in the Axis Operating Output Memory Areas.

Reset individual axis errors and warning when the Axis Busy Flag for the Axis is OFF. If errors are reset when the Axis Busy Flag is ON, a multistart error

(Axis error code: 3050) will occur and it will not be possible to reset errors/ warnings.

When clearing individual axis errors/warnings, make sure that the ERROR

RESET Bit remains ON until the Busy Flag in the Axis Operating Input Memory Areas turns ON.


Name

ERROR RESET Bit a

Word

12

Bit Contents

: Resets axis error a = Beginning word of Axis Operating Output Memory Areas specified in

Common Parameters + (Axis No.

−

1)

×

25


Name

Warning Flag

Error Flag

Busy Flag

Axis error code b

Word

11

Bit

b+4

12

13

---

Contents

0: No warning

1: Warning has occurred

0: No error

1: Error has occurred

1: Axis busy (AXIS ERROR RESET executing)

Stores the error code for the error that occurred in an individual axis.

b = Beginning word of Axis Operating Input Memory Areas specified in Common Parameters + (Axis No.

−

1)

×

25

Timing Chart Example for ERROR RESET

ERROR RESET Bit

(word a, bit 12)

Warning Flag

(word b, bit 11)

Error Flag

(word b, bit 12)

Busy Flag

(word b, bit 13)

Axis error code

(word b+4)

0000 4096 hex

(Example)


0000 4096 hex 40E6 hex



The Busy Flag remains ON for at least one cycle time when ERROR RESET is executed.

If the Error Flag turns ON while the Warning

Flag is already ON, the axis error code will be overwritten.

a = Beginning word of Axis Operating Output Memory Areas specified in Common Parameters + (Axis No.

−

1)

×


−

1)

×

25

509

CPU Unit Error Display

Section 12-7

12-6-3 Restarting the PCU

For errors that cannot be cleared using ERROR RESET, remove the cause of the error and either cycle the power to the CPU Unit or restart the CPU Bus

Unit to enable the PCU to recover from the error.

Name

CPU Bus Unit

Restart Flag

Word

A50100 to

A50115

Details

The CPU Bus Unit is restarted when this flag is set from 0 to 1. Each bit corresponds to the unit number. Bits 00 to

15: Unit numbers 0 to F

Read/write

Read/write possible

12-7 CPU Unit Error Display

The CPU Unit monitors the PCU, which is a CPU Bus Unit, as follows:

• Monitors PCU for hardware errors

• Monitors unit number duplication

• Monitors refreshing between the CPU Unit and PCU.

If an error is detected during the above monitoring operations, the corresponding flag in the Auxiliary Area of the CPU Unit will turn ON (for details on each flag, refer to the CPU Unit's operation manual). The flags are as follows:

• CPU Bus Unit Number Duplication Flags (A41000 to A41015)

• CPU Bus Unit Error, Unit Number Flags (A41700 to A41715)

• CPU Bus Unit Setting Error, Unit Number Flags (A42700 to A42715)

• CPU Bus Unit Setting Error Flag (A40203)

• CPU Bus Unit Error Flag (A40207)

Perform error processing according to the tables provided in

12-3 LED Error

Indicators

and

12-4-2 List of Error Codes

.

510

SECTION 13

Maintenance and Inspection

This section describes methods for inspecting and maintaining the Position Control Unit and the procedure required to replace a Position Control Unit.

13-1 Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13-2 Inspection Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13-3 Handling Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13-4 Procedure for Replacing a PCU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13-4-1 Procedure for Replacing a PCU . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13-4-2 Memory Card Backup. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

512

512

513

513

513

514

511

Inspection

13-1 Inspection

Section 13-1

Perform daily or periodic inspections to make sure that the PCU continues operating in its optimum condition.

13-2 Inspection Points

The main components of the PCU are semiconductors, which have a long service life. These components may deteriorate faster, however, due to factors such as the operating environment. Therefore, routine inspection is required.

The standard inspection schedule is once every six months to one year. More frequent inspections may be advisable depending on the operating environment.

Maintain the inspection schedule once it has been set.

Routine Inspection Points

No.

Inspection point

1 I/O Power Supply

2 Environment conditions

Details Criteria Remarks

Measure the voltage variations at the I/O power supply terminal block. Do they meet the standards?

Is the ambient temperature within the acceptable range?

(When used in a panel, the ambient temperature of the

PCU inside the panel must be checked.)

24 V DC:

21.6 to 26.4 V DC

0 to 55

°

C

Using a voltage tester, check between the terminals adjusting to make sure that the power supply is within the acceptable range.

Using a thermometer, check the ambient temperature inside the panel and make sure that it is within the acceptable range.

Is the ambient humidity

(humidity within panel) within the acceptable range? (When used in a panel, the ambient humidity of the PCU inside the panel must be checked.)

Is the PCU exposed to direct sunlight?

10% to 90% (with no condensation)

Using a hygrometer, check the ambient humidity inside the panel and make sure that it is within the acceptable range. In particular, check that there is no condensation due to sudden changes in temperature.

Shield the PCU from direct sunlight.

Is there any accumulation of dust (including iron dust) or salts?

Is the PCU exposed to any sprays of water, oil, or chemicals?

Is the PCU installed in a location subject to corrosive or flammable gases?

Is the PCU installed in a location subject to shock or vibration?

Is the PCU installed in a location near any source of noise?

The PCU must not be exposed to direct sunlight.

There must be none of these present.

The PCU must not be exposed to any of these.

The PCU must not be exposed to any of these.

Remove any accumulation of dust

(including iron dust) or salts and protect the PCU against them.

Protect the PCU against water, oil, and chemicals.

Check for odors by smelling or using a gas sensor.

The amount of shock or vibration must be within the acceptable ranges given in the specifications.

Install a cushion or other device to reduce shock and vibration.

There must be no noise.

Remove the PCU from the noise source or take countermeasures to protect the PCU from noise.

512

Handling Precautions

Section 13-3

No.

Inspection point

3

Details

Installation and wiring

Is the PCU securely mounted?

Are the cable connectors properly inserted and locked?

Are any external cables disconnected?

Criteria

The mounting must not be loose.

The mounting must not be loose.

There must be no external abnormalities.

Remarks

Lock the sliders securely.

Insert and lock all cable connectors properly.

Do a visual check and connect or replace cables as required.

Required Inspection Tools

The following tools, materials, and equipment are required for performing inspections.

• Voltage tester or digital voltage meter

• Industrial alcohol and a clean cotton cloth

The following measuring devices may be required when performing an inspection.

• Oscilloscope

• Memory recorder

• Thermometer

• Hygrometer

13-3 Handling Precautions

• Turn OFF the power before replacing the PCU.

• If a PCU is found to be faulty and is replaced, also check the new PCU to make sure that there are no errors.

• When returning a faulty PCU for repair, make a detailed record of the

PCU's malfunction and take it together with the PCU to your nearest

OMRON office or sales representative.

• If a contact is faulty, clean the contact by applying some industrial alcohol to a clean cotton cloth and wiping the surface, and then install the PCU.

13-4 Procedure for Replacing a PCU

Use the following procedure when it is necessary to replace a PCU due to malfunction or other cause. The method for backing up data saved in the

PCU's internal flash memory is also provided here.

13-4-1 Procedure for Replacing a PCU

Use the following procedure to replace a PCU.

1,2,3...

1.

Make a note of the unit number of the PCU to be replaced.

2.

Use the READ DATA Bit to read the parameters saved in the PCU to be replaced to the PLC's DM Area first. Then save the DM Area data to a floppy disk or hard disk using, for example, CX-Programmer. Alternatively, use the CPU Unit's simple backup function or the PCU's backup function to back up (write) the PCU parameter data to the Memory Card installed in the CPU Unit.

3.

Turn OFF the power to the CPU Unit.

4.

Disconnect the MECHATROLINK-II communications cables that are connected to the Servo Drive.

513

Procedure for Replacing a PCU

Section 13-4

Note

5.

Replace the PCU and reconnect the MECHATROLINK-II communications cables, making sure that they are securely locked.

6.

Set the unit number for the PCU.

7.

Turn ON the power supply to the CPU Unit.

8.

Transfer the saved parameters and operating data to the CPU Unit's DM

Area using, for example, CX-Programmer, and then transfer them to the

PCU using the WRITE DATA Bit. After transferring, save the parameters and operating data to the flash memory. When the PCU's parameter data has been saved to the Memory Card using the CPU Unit's simple backup function or the PCU's backup function, execute the command to restore

(read) the data from the Memory Card. Save the backed up parameters to the PCU's flash memory by reading them from the Memory Card.

9.

Turn OFF the power supply to the CPU Unit, and then turn it ON again.

For details on transferring PCU data to the Memory Card installed in the CPU

Unit, refer to the next section

13-4-2 Memory Card Backup

.

The above procedure is used when replacing the PCU, and transferring only the parameters saved in the PCU. This procedure is not used to transfer

Servo Parameters saved in the Servo Drive.

When replacing the Servo Drive, use the PCU's READ SERVO PARAMETER

Bit to read the parameters saved in the Servo Drive to be replaced to the CPU

Unit's DM Area first. Then save the DM Area data to a floppy disk or hard disk using, for example, CX-Programmer. After replacing the Servo Drive, transfer the saved Servo Parameters to the CPU Unit's DM Area using, for example,

CX-Programmer, and then write them to the Servo Drive's non-volatile memory using the PCU's SAVE SERVO PARAMETER Bit.

13-4-2 Memory Card Backup

The following data can be saved to the PCU's internal flash memory.

• Common Parameters

• Axis Parameters

The PCU can save this data to the Memory Card installed in the CPU Unit by using the CPU Unit's simple backup function or the PCU's backup function.

The data saved to the Memory Card can also be read to the PCU's flash memory.

Note

Do not read out data backed up to a Memory Card installed in the CPU Unit from a Position Control Unit with unit version 1.0 to a Position Control Unit with unit version 1.1 or later (for both the simple backup function and the

PCU’s backup function). If Position Control Unit Ver. 1.0 backup data is restored for Position Control Unit Ver. 1.1 or later, the linear interpolation function will be disabled. To transfer setting data from Position Control Unit

Ver. 1.0 to Position Control Unit Ver. 1.1 or later, use the parameter transfer function using the data transfer bits (WRITE DATA, READ DATA, and SAVE

DATA) in the Common Operating Memory Area.

CPU Unit's Simple

Backup Function

CS/CJ-series CPU Units have a simple backup function that enables all the setup data in the CPU Unit for every Unit to be backed up (written) to the

Memory Card that is installed in the CPU Unit or restored (read) from the

Memory Card at the same time by simply operating a switch on the front of the

CPU Unit.

When replacing the PCU, the time required to reset each Unit can be shortened by reading the backup file.

514


Section 13-4

Note

Note

The CJ1W-NC @ 71/CS1W-NC @ 71 PCUs described in this manual support the CS/CJ-series CPU Unit simple backup function.

The simple backup function can be used to back up the PCU’s Common

Parameters and Axis Parameters. The Servo Parameters for each Servo

Drive connected to the PCU will not be saved to the Memory Card.

The PCU data backed up using the CPU Unit's simple backup function is stored in the Memory Card under the following filename.

File name: BACKUP @@ .PRM

(

Note:

The boxes indicate the PCU's unit number + 10 hex)

For details on the CPU Unit's simple backup function, refer to

5-2-6 Simple

Backup Function

in the

CS/CJ-series Programmable Controllers Programming Manual

(Cat. No. W394).

The CPU Unit's simple backup function is used to backup or restore data for the entire CPU Unit's system at the same time. Changing the system configuration may prevent restoration of the PCU's data. To backup or restore data for a single PCU, use the PCU's backup function as described next.

PCU's Backup

Function

The PCU has a backup function for separately transferring data that has been saved in the PCU's internal flash memory to the Memory Card installed in the

CPU Unit using the READ BACKUP DATA Bit and WRITE BACKUP DATA

Bit in the Common Operating Memory Area.

The PCU's backup function can be executed while MECHATROLINK communications are stopped (connection released) and the Unit Busy Flag is OFF. If this command is executed during MECHATROLINK communications, the command will be ignored and backup will not be performed.

Writing and reading of backup data starts at the rising edge ( ) when the

WRITE BACKUP DATA Bit and READ BACKUP DATA Bit turn ON, respectively, in the Common Operating Memory Area.


Name

WRITE BACKUP

DATA

READ BACKUP

DATA

Word

n+1 06

Bit

07

Contents

: Starts writing backup data

: Starts reading backup data n = CIO 1500 + (unit number

×

25)

When executing the PCU's backup function, make sure that the WRITE

BACKUP DATA Bit or READ BACKUP DATA Bit remains ON until the Unit

Busy Flag turns ON.

The Unit Busy Flag is ON while data is being transferred between the PCU and Memory Card. When transferring data is completed, the Unit Busy Flag turns OFF.


Name

Memory Card Transfer Error Flag

Word

n+16 12

Bit

Unit Busy Flag 14

Contents

0: No Memory Card transfer error

1: A Memory Card transfer error has occurred

0: PCU is not busy

1: PCU is busy n = CIO 1500 + (unit number

×

25)

515


Note

Section 13-4

If an error occurs in transferring data between the PCU and Memory Card when using the PCU's backup function, the data transfer will be cancelled, and the Memory Card Transfer Error Flag in the Common Operating Memory

Area will turn ON.

If a Memory Card Transfer Error occurs, execute UNIT ERROR RESET and after the error is reset, execute the backup function again.

The PCU data backed up using the PCU's backup function is stored in the

Memory Card under the following filename.

File name: UNIT

@@

.PRM

(

Note:

The boxes indicate the PCU's unit number + 10 hex)

(1) Execute PCU's READ BACKUP DATA to restore (read) data from the

Memory Card to the PCU's internal flash memory. The data restored in the internal flash memory is enabled by restarting the PCU or cycling the power to the CPU Unit.

(2) If a Memory Card Transfer Error occurs while using the PCU's backup function, the backup to the Memory Card or restoration of data to the

PCU's internal flash memory will not be executed correctly. If such an error occurs, always execute the backup function again, and backup or restore the correct data.

516

Appendix A

Performance Characteristics

The performance characteristics of the CJ1W-NCF71 are described here.

Refer to these characteristics when building applications.

The numerical values for each performance characteristic are obtained using the following machines and configuration.

CPU Unit: CJ1H-CPU @@ H (without an Expansion Rack)

Position Control Unit: A single PCU installed on the CPU Rack.

Servo Drive: R88D-WT01HL Servo Drive equipped with a FNY-NS115 MECHATROLINK-II I/F

Unit

Note

The performance values shown in this Appendix will depend on conditions such as the CPU Unit, user program, and other installed Units used. Therefore, these values are for reference purposes only.

Power Up Time

When the PCU is powered up or restarted, the time required for the Unit to complete its initial processing and be ready to receive commands from the CPU Unit is 500 ms max.

The Unit Busy Flag turns ON during initial processing after turning ON the PCU power or restarting the Unit.

Restart completed (Unit reset released)

Reset

Unit initial processing

Unit Busy Flag

Command Response Time

The PCU's command response time is the time from when the CPU Unit (user program) sends a command to the PCU until the Servo Drive actually starts operating in response to the command, and the changes in Servo

Drive, such as the present position and statuses are reflected in the CPU Unit's user program.

The command response time depends on the CPU Unit's cycle time, MECHATROLINK's transfer time and communications cycle, and the command processing time of MECHATROLINK slave station device.

517

Performance Characteristics

Appendix A

Servo Drive's Response Time for Commands from the CPU Unit

The response time starts with refreshing outputs for the cycle in which the command was sent from the CPU

Unit and continues until the Servo Drive starts operating in response to the command.

Command sent

CPU Unit cycle time

Cycle time

CPU

→

NC

PCU processing

T

OUT_REF

T

NC

= Communications cycle


T

MLK

=

Transfer cycle

Servo Drive processing

T

SRV_OUT

Servo Drive operation

(e.g., axis operation)

T

CMD

The maximum time from the end refresh of the user program's cycle in which the command was sent until the command is actually received by the PCU is indicated as T

OUT_REF

:

(CPU cycle time or MECHATROLINK communications cycle, whichever is longer) + communications cycle

×

1

The PCU processing time from when the command is received by the PCU until it is sent using MECHA-

TROLINK communications is indicated as T

NC

:


×

1

Note

If a warning occurs, PCU retry processing is required, so the value for T

NC communications cycle

×

3.

is the MECHATROLINK

The time for a command sent from the PCU using MECHATROLINK communications to reach the Servo Drive is indicated as T

MLK

:

MECHATROLINK transfer cycle

×

1

The processing time until execution of the command received by the Servo Drive is indicated as T

SRV_OUT

:

250

µ s (using an R88D-GN @ -ML2 to send commands relating to interpolation feed, speed control and torque control)

1,250

µ s (using an R88D-GN @ -ML2 to send commands other than those described above)

625

µ s (using an R88D-WT @ and FNY-NS115 or the SMARTSTEP Junior)

425

µ s (using an R88D-KN @ -ML2 or an R88D-WN @ -ML2)

The maximum value for the time until the Servo Drive actually starts operating in response to the command sent from the CPU Unit's user program, as indicated by T

CMD

, is calculated as the total of these values, as follows:

T

CMD(MAX)

= T

OUT_REF

+ T

NC

+ T

MLK

+ T

SRV_OUT

Note

T

CMD

varies depending on the width of T

OUT_REF

.

518


Appendix A

Response Time to Reflect Servo Drive Status Changes in CPU Unit

The response time starts when status transmitted via MECHATROLINK communications is sampled and continues until that status is refreshed in the CPU Unit's input status.

Cycle time Reflected in ladder program

CPU Unit cycle time

NC

→

CPU

PCU processing

T

IN_REF


T

MLK

=

Transfer cycle

Servo Drive processing

T

SRV_IN

Servo Drive status change sampling

(e.g., changing status)

T

RES

The processing time for the changes in status detected in the Servo Drive to be sent using MECHATROLINK communications is indicated as T

SRV_IN

:

250

µ s + transfer cycle (using R88D-GN

@

-ML2)

625

µ s (using an R88D-WT @ and FNY-NS115 MECHATROLINK-II I/F Unit or the SMARTSTEP Junior)

450

µ s (using an R88D-WN

@

-ML2)

300

µ s (using an R88D-KN @ -ML2)

The time for the Servo Drive status to reach the PCU via MECHATROLINK communications is indicated as

T

MLK

:

MECHATROLINK transfer cycle

×

1

The maximum time from the end refresh of the user program's cycle in which the command was sent until the command is actually received by the PCU is T

IN_REF

:

(CPU cycle time or MECHATROLINK communications cycle, whichever is longer) + CPU Unit's cycle time

×

1

The maximum value for the time until changes in the Servo Drive status are reflected in the CPU Unit's user program, as indicated by T

RES

, is a total of these values, as follows:

T

RES(MAX)

= T

SRV_IN

+ T

MLK

+ T

IN_REF

Note

T

RES

varies depending on the width of T

IN_REF

.

Example:

CPU Unit cycle time: 1 ms

PCU communications setting: Transfer cycle: 1 ms

Communications cycle = 1 (transfer cycle

×

1 = 1 ms)

Connected Servo Drive: W-series Servo Drive + FNY-NS115

The command response time for the above conditions is as follows:

(This example applies when no warning has occurred in the PCU.)

Item

CPU Unit to PCU

PCU to CPU Unit

Maximum response time

4.625 ms

3.625 ms

Calculation method

T

CMD(MAX)

= T

OUT_REF

+ T

NC

+ T

MLK

+ T

SRV_OUT

= 2 ms + 1 ms + 1 ms +625

µ s

T

RES(MAX)

= T

SRV_IN

+ T

MLK

+ T

IN_REF

= 625

µ s + 1 ms + 2 ms

Note

When mounting a Position Control Unit to a CS-series Long-distance Expansion Rack, refer to the graph on I/O refresh time coefficients in the

CS-series CPU Unit Operation Manual

(Cat. No. W339).

519


Appendix A

Effect on CPU Unit Cycle Time

When a single PCU is mounted, the CPU Unit's cycle time increases with the amount of Servo Drive axes connected to the PCU, as follows:

Model

CJ1W-NCF71 1

Number of axes connected

3

6

16

Additional time for each PCU connected

0.2 ms

0.3 ms

0.4 ms

1.0 ms

External Input Response Time

The response time is as shown below for external input signals, such as limit inputs and interrupt inputs. The following response times indicate the time until the Servo Drive starts operating according to the function corresponding to the input signal.

The command response time is required for the status of the signal that was input to be reflected in the input area of the CPU Unit.

External input signal Response time

Limit input signal 2 ms max.

Interrupt input signal 3 ms max.

Details

Response time until the Servo Drive starts the Servomotor's stop operation according to the setting in Servo Parameter Pn001.1 in response to input of the limit input signal.

Response time until the interrupt feeding operation starts after input of the interrupt input signal for interrupt feeding.

Note

The numerical values are obtained when a W-series Servo Drive is used with a FNY-NS115 MECHA-

TROLINK-II I/F Unit.

Speed

After the Servo Drive detects that the limit input signal has turned ON and until it stops axis operation (area shaded in gray), the axis will operate according to the

Select Stop when

Prohibited Drive Is Input

(Pn001.1) setting in the

Servo Parameters.

Time

Travel direction limit input

1

0

Limit input response time

Speed

Interrupt feeding amount

(Final travel distance for external positioning:

Servo Parameter Pn814)

Time


1

(external latch input) 0

Interrupt input response time

In interrupt feeding, this indicates the response time from after the Servo Drive detects that the interrupt input signal is ON until interrupt feeding positioning starts.

Difference in Start Times for Simultaneously Started Axes

There is no difference in start times between axes when multiple axes are started at the same time (the bit to start operation turns ON at the same I/O refresh timing).

520

Appendix B

List of Parameters



1838 hex

1839 hex

183A hex

183B hex

183C hex

183D hex

183E hex

183F hex

1840 hex

1841 hex

1842 hex

1843 hex

1844 hex to

1855 hex

1856 hex

1857 hex

1858 hex to

185F hex

Name

Area allocations

Scan list


MECHATROLINK communications setting

0 0

Transfer cycle

00: 1 ms (default setting)

01: 1 ms 02: 2 ms

03: 3 ms 04: 4 ms

05: 5 ms 06: 6 ms

07: 7 ms 08: 8 ms

A2 hex: 0.25 ms

A5 hex: 0.5 ms

0 0


Bit

15 to 12 11 to 08 07 to 04 03 to 00



00B0 hex: CIO Area

00B1 hex: WR Area

00B2 hex: HR Area

00B3 hex: AR Area

0082 hex: DM Area

0050 to 0059, 005A, 005B, 005C: EM Area (5 @ : @ = EM Bank No.)

Beginning word of Axis Operating Output Memory Area: 0000 to 7FFF hex



00B0 hex: CIO Area

00B1 hex: WR Area

00B2 hex: HR Area

00B3 hex: AR Area

0082 hex: DM Area

0050 to 0059, 005A, 005B, 005C: EM Area (5

@

:

@

= EM Bank No.)

Beginning word of Axis Operating Input Memory Area: 0000 to 7FFF hex


00 hex: Axis not used (no allocation)

40 hex: Allocates axis to the Servo

Drive.

00 hex: Axis not used (no allocation)

40 hex: Allocates axis to the Servo

Drive.

Axis 4 allocation (same as above)














0 0

0 0


0

Sets the factor used as the integer multiple for the transfer cycle.


The default setting 00 is the same as when the cycle is set to 3.

C2 Master Connection

0: No C2 master

(default setting)

1: C2 master connected

Number of communications retries

Set value: 0 to 7,

F hex

0

521

List of Parameters

Appendix B


Beginning word of Axis Parameter Area for Axis N: d = 1860 hex + (N

−

1)

×

14 hex (N = 1 to 16)

Data PCU's internal address (hexadecimal)

Axis

1

Axis

2

Axis

3

Axis

4

Axis

5

Axis

6

Axis

7

Axis

8

Axis

9

Axis

10

Axis

11

Axis

12

Axis

13

Axis

14

Axis

15

Axis

16

1860 1874 1888 189C 18B0 18C4 18D8 18EC 1900 1914 1928 193C 1950 1964 1978 198C Input signal selection

Bit Function

00 to 07 Interrupt input signal selection

08 to 15 Origin input signal selection

Settings

00: Phase Z

01: External latch signal

1 input


2 input


3 input

00: Phase Z


1 input


2 input


3 input

1861 1875 1889 189D 18B1 18C5 18D9 18ED 1901 1915 1929 193D 1951 1965 1979 198D Operation mode selection

Bit Function

00 to 03 Reserved by the system.

0

04 to 07 Origin search operation

08 to 11 Origin detection method

(See note.)

Settings

0: Reversal mode 1

1: Reversal mode 2



0: Origin proximity input signal reversal

1: No origin proximity input signal reversal

2: Do not use origin proximity input signal

12

13



(See note.)


0

0: Forward

1: Reverse

0: Not set.

1: Set.

522


Appendix B

Axis

1

Axis

2

Axis

3

Axis

4

Axis

5

PCU's internal address (hexadecimal)

Axis

6

Axis

7

Axis

8

Axis

9

Axis

10

Axis

11

Axis

12

Axis

13

Axis

14

Axis

15

Axis

16

1862 1876 188A 189E 18B2 18C6 18DA 18EE 1902 1916 192A 193E 1952 1966 197A 198E

Data


Bit Function Settings

00 to 03 Encoder type


0


1: Absolute encoder


0


0

1863 to

1873

1877 to

1887

188B to

189B

189F to

18AF

18B3 to

18C3

18C7 to

18D7

18DB to

18EB

18EF to

18FF

1903 to

1913

1917 to

1927

192B to

193B

193F to

194F

1953 to

1963

1967 to

1977

197B to

198B

198F to

199F

0000 (Reserved by the system.)

Note

The reversal mode 3 setting for the origin search operation, the origin detection method, and the origin search preset can be used only with Position Control Units with unit version 2.0 or later. They cannot be used with Position Control Units with unit version 1.3 or earlier.


The Servo Parameters listed here can be used when the PCU is used with either an R88D-KN @ -ML2 G5series Servo Drive, an R88D-GN @ -ML2 G-series Servo Drive, OMRON R88D-WT @ W-series Servo Drive equipped with a FNY-NS115 MECHATROLINK-II I/F Unit, an W-series Servo Drive with built-in MECHA-

TROLINK-II communications (R88D-WN @ -ML2), or a SMARTSTEP Junior Servo Drive with Built-in MECHA-

TROLINK-II Communications (R7D-ZN @ -ML2).

For further details on each of the parameters, refer to the operation manuals for OMRON G5-series Servo

Drives, G-series Servo Drives, W-series Servo Drives and Yaskawa JUSP-NS115 MECHATROLINK-II I/F Unit.

G5-series Servo Drive (R88D-KN

@

-ML2 with Built-in MECHATROLINK-II

Communications)

This shows a list of Servo Parameters that can be used by the Position Control Unit of a G5-series Servo Drive

(R88D-KN @ -ML2) with built-in MECHATROLINK-II communications.

For details on each parameter, refer to the user’s manual of the respective G5-series Servo Drives.

• Some parameters are enabled by turning the power supply OFF and then ON again. (Those parameters are indicated in the table.)

After changing these parameters, turn OFF the power supply, confirm that the power supply indicator has gone OFF, and then turn ON the power supply again.

• Do not change the parameters marked "Reserved for manufacturer use" and "Reserved".

Do not change the set values marked “Not used” and “Reserved”.

• For details about the data attributes, refer to the information below.

A: Enabled at all time.

B: Changes are prohibited during motor operation and issuing of commands.

The timing will fluctuate if a change is made during motor operation and issuing of commands.

C: Enabled after a power reset or executing the CONFIG command in MECHATROLINK-II communication.

R: Power reset.

Note that this is not enabled by the CONFIG command in MECHATROLINK-II communication.

523


Appendix B

Relay area settings

Set the servo parameter numbers in parentheses in the list for the Servo Parameter number Relay area (a+17) when transferring Servo Parameters.

For example, when transferring the Error Counter Overflow Level, set "00E" for the Servo Parameter number

Relay area (a+17).

524


Appendix B

Basic Parameters

Parameter

No.

000

(000)

001

(001)

002

(002)

003

(003)

Parameter name

Rotation Direction

Switching

Control Mode Selection

Realtime Autotuning

Mode Selection

Realtime Autotuning

Machine Rigidity Setting

Inertia Ratio

2

2

Parameter size

2

2

2


Set the relation between the command direction and the motor rotation direction.


CW as viewed from the axis end.


CCW as viewed from the axis end.

Select the Servo Drive CONTROL mode.

0 to 5: Switch function

6: Full closing control

Set the OPERATION mode for realtime autotuning.

0: Disabled

1: Emphasizes stability

2: Emphasizes positioning

3: If there is an unbalanced load on the vertical axis or the like.

4: When friction is large.

5: If there is an unbalanced load on the vertical axis or the like and friction is too large.

6: When the realtime autotuning is customized.

Set the machine rigidity for executing realtime autotuning.

1

0

1

11/13

Set the load inertia as a percentage of the motor rotor inertia.

250 004

(004)

009

(009)

010

(00A)

013

(00D)

014

(00E)

015

(00F)

016

(010)

017

(011)

Electronic Gear

Ratio Numerator

Electronic Gear

Ratio Denominator

No. 1 Torque Limit


Operation Switch when Using Absolute

Encoder

Regeneration Resistor Selection

External Regeneration Resistor Setting

4

4

2

4

2

2

2

Set the electronic gear ratio.

If Pn009 = 0, the encoder resolution is set as the numerator.

Electronic Gear Ratio Numerator (Pn009)

Electronic Gear Ratio Denominator (Pn010)

Set the No. 1 limit value for the output torque of the motor.

1

1

500

-

-

-

-

-

-

%

%

Unit

Set the range of the error counter overflow level. Detection of error counter overflow level error is disabled if the set value is 0.

Select the absolute encoder usage method.


1: Used as an incremental encoder.


(Multi-rotation counter overflows are ignored.)

Select the Regeneration Resistor used.

0: Use the Built-in Resistor.

Triggering of regeneration overload protection

(Alarm No.18) depends on the Built-in Resistor (with approx. 1% duty).


The regeneration processing circuit operates and regeneration overload protection (Alarm No.18) is triggered when the operating rate of the Regeneration Resistor exceeds 10%.


Regeneration overload protection (Alarm No.18) does not operate.

3: No Regeneration Resistor

All regeneration power is processed with built-in capacitors.

Select the type of load ratio calculation for the External

Regeneration Resistor.

0: Regeneration load ratio is 100% when operating rate of the External Regeneration Resistor is 10%.

1 to 4: Reserved

100000 Command unit

1 -

0/3

0 -

-

Setting range

0 to 1

0 to 6

0 to 6

0 to 31

0 to 10000

0 to 2

30

1 to 2

30

0 to 500

0 to 2

27

0 to 2

0 to 3

0 to 4

R

B

B

C

C

C

B

A

B

C

C

Data attribute

C

525


Appendix B

Gain Parameter

109

(109)

110

(10A)

111

(10B)

112

(10C)

105

(105)

106

(106)

107

(107)

108

(108)

113

(10D)

114

(10E)

Parameter

No.

100

(100)

101

(101)

102

(102)

103

(103)

104

(104)



Speed Loop Gain 1

Speed Loop Integral

Time Constant 1



2

2

2

2


Speed Loop Gain 2

Speed Loop Integration Time Constant 2



Speed Feed-forward

Amount

Speed Feed-forward

Command Filter

Torque Feed-forward

Amount

Torque Feed-forward

Command Filter

Gain Switching Input

Operating Mode

Selection

2

2

2

2

2

2

2

2

2

115

(10F)

116

(110)

Switching Mode in

Position Control

2

Explanation











Set the speed feed-forward amount.

Set the speed feed-forward filter time constant.

Set the torque feed-forward amount.

Set the torque feed-forward filter.

Execute optimum tuning using the gain switching function.

0: Gain 1 (PI/P switching enabled)

1: Gain 1 and gain 2 switching available

Select the gain switching condition for position control.


0: Always gain 1

1: Always gain 2




4: Always gain 1

5: Command speed

6: Amount of position error

7: When the position command is received.

8: Positioning completion signal (INP) OFF

9: Actual motor speed

10:Combination of position command input and rotation speed


117

(111)

118

(112)

119

(113)

120

(114)


Time in Position Control

Gain Switching Level in Position Control

2

2

Gain Switching Hysteresis in Position

Control

Position Gain Switching Time

2

2

Switching Mode in

Speed Control

2



Set the position gain switching time for gain switching.

Select the gain switching condition for speed control.


0: Always gain 1

1: Always gain 2




4: Speed command change amount

5: Command speed

Default setting

320/

480

180/

270

210/

310

0

84/126

0

84/126

300

50

0

0

1

0

50

50

33

33

0

-

-

-

-

-

-

-

0.01m

s

0 to 6400

0.1% 0 to 1000

0.01m

s

Unit

0.1/s

0.1Hz

0.1ms

0.01m

s

380/

570

180/

270

0.1/s

0.1Hz

0 to 30000

1 to 32767

10000 0.1ms

1 to 10000

0.01m

s

Setting range

0 to 30000

1 to 32767

1 to 10000

0 to 5

0 to 2500

0 to 2500

0.1% 0 to 1000

0.1ms

0.1ms

0 to 5

0 to 6400

0 to 1

0 to 10

0 to 10000

0 to 20000

0 to 20000

0 to 10000

0 to 5

B

B

B

B

B

B

B

B

B

B

B

B

B

B

B

B

B

B

B

B

Data attribute

B

526


Appendix B

Parameter

No.

121

(115)

122

(116)

123

(117)

124

(118)

Parameter name


Time in Speed Control

Gain Switching Level in Speed Control

2

Parameter size

2

Gain Switching Hysteresis in Speed

Control

Switching Mode in

Torque Control

2

2

125

(119)

Explanation




Select the gain switching condition for torque control.


0: Always gain 1

1: Always gain 2





126

(11A)

127

(11B)


Time in Torque Control

Gain Switching Level in Torque Control

2

2

Gain Switching Hysteresis in Torque

Control

2



0

0

0

0

0

0

Default setting

0


0.1ms

0 to 10000

-

-

-

-

-

0.1ms

0 to 20000

0 to 20000

0 to 3

0 to 10000

0 to 20000

0 to 20000

Data attribute

B

B

B

B

B

B

B

527


Appendix B

Damping Suppression Parameters

Parameter

No.

200

(200)

Parameter name

Adaptive Filter Selection

Parameter size

2

201

(201)

202

(202)

203

(203)

204

(204)

205

(205)

206

(206)

207

(207)

208

(208)

209

(209)

210

(20A)

211

(20B)

212

(20C)

213

(20D)

214

(20E)

215

(20F)

216

(210)

217

(211)

218

(212)

219

(213)

Notch 1 Frequency

Setting



Notch 2 Frequency

Setting



Notch 3 Frequency

Setting



Notch 4 Frequency

Setting



Damping Filter

Selection

Damping Frequency

1


Damping Frequency

2


Damping Frequency

3


2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2

2 ter 2.


Set the operation of the adaptive filter.

0: Disabled

1: One enabled.Frequency limited after adaptation.

2: Two enabled.Frequency limited after adaptation.

3: One enabled.Adaptation performed at all times.

4: Two enabled.Adaptation performed with 1 filter at all times.


0

5000


2


0



Set the notch depth of resonance suppression notch fil-

5000

2

0













Select the damping filter switching method.

0: Damping filter 1 or 2 enabled



3: Switch by the position command direction

•

Forward direction: Damping filter 1 or 3 is enabled.

•

Reverse direction: Damping filter 2 or 4 is enabled.













5000

2

0

5000

2

0

0

0

0

0

0

0

0

-

-

-

-

-

-

-

-

-

-

Unit

Hz

Hz

Hz

Hz

Setting range

0 to 4

50 to 5000

0 to 20

0 to 99

50 to 5000

0 to 20

0 to 99

50 to 5000

0 to 20

0 to 99

50 to 5000

0 to 20

0 to 99

0 to 3

0.1Hz

0 to 2000

0.1Hz

0 to 1000

0.1Hz

0 to 2000

0.1Hz

0 to 1000

0.1Hz

0 to 2000

0.1Hz

0 to 1000

B

B

B

B

B

B

B

B

B

B

B

B

B

B

B

B

B

B

B

Data attribute

B

528


Appendix B

Parameter

No.

220

(214)

221

(215)

222

(216)

Parameter name

Damping Frequency

4


2

Position Command


Parameter size

2

2

Explanation





Set the time constant of the first-order lag filter for the position command.

0

0

0

Default setting


0.1Hz

0 to 2000

0.1Hz

0 to 1000

0.1Hz

0 to 1000

B

B

Data attribute

B

529


Appendix B

Analog Control Parameters

Parameter

No.

312

(30C)

Parameter name

Soft Start Acceleration Time

313

(30D)

314

(30E)

317

(311)

321

(315)

323

(317)

Soft Start Deceleration Time

2

S-curve Acceleration/Deceleration

Time Setting

Speed Limit Selection

Speed Limit Value

Setting

External Feedback

Pulse Type Selection

2

2

Parameter size

2

Explanation

Set the acceleration processing acceleration time for speed commands.

2

2

Set the deceleration processing acceleration time for speed commands.

0

Set the acceleration/deceleration processing S-curve time for speed commands.

0

Select the torque command and speed limit value.

0: Limit the speed by the limit set on the Speed Limit

Value Setting (Pn321).

1: Limit the speed by the speed limit value (VLIM) via

MECHATROLINK-II communications or by the value set by the Speed Limit Value Setting (Pn321).

Set the speed limit value.

0

50

Select the external feedback pulse type.

0: 90

°

phase difference output type

1: Serial communications type (incremental encoder specifications)

2: Serial communications type (absolute encoder specifications)

Set the external feedback pulse dividing numerator.

0

0

Default setting

0


ms/ motor

Maximum speed ms/ motor

Maximum speed ms

0 to 10000

0 to 10000

0 to 1000

-

-

0 to 1 r/min 0 to 20000

0 to 2

0 to 2

20 324

(318)

325

(319)

326

(31A)

External Feedback

Pulse Dividing

Numerator

External Feedback

Pulse Dividing

Denominator

External Feedback

Pulse Direction

Switching

4

4

2

Set the external feedback pulse dividing denominator.

10000 -

1 to 2

20

327

(31B)

328

(31C)

329

(31D)

External Feedback

Pulse Phase-Z Setting

2

Internal/External

Feedback Pulse


Internal/External

Feedback Pulse

Error Counter Reset

4

2

Reverse the direction to count the external encoder feed back.

0: Count direction not reversed

1: Count direction reversed

Set to enable or disable the Phase-Z disconnection detection when an external encoder of 90

°

phase difference output type is used.

0: Phase-Z disconnection detection enabled

1: Phase-Z disconnection detection disabled

Set the threshold for feedback pulse deviation errors.

0

0 -

-

16000 Command unit

0 to 1

0 to 1

1 to 2

27

Clear to 0 the feedback pulse error value for each set rotation speed.

0 Rotation

0 to 100

Interface Monitor Setting Parameters

402

(402)

403

(403)

404

(404)

405

(405)

Parameter

No.

400

(400)

401

(401)

406

(406)

Parameter name








Parameter size

4

4

Explanation



4

4

4

4





4 Set the function and logic for the general-purpose input 7 (IN7).

A

R

Data attribute

B

B

B

B

R

R

R

R

C

C

Default setting

Unit

00949494h

00818181h

00828282h

00222222h

00212121h

00202020h -

-

-

-

-

-

002B2B2Bh -

Setting range

0 to

00FFFFFFh

0 to

00FFFFFFh

0 to

00FFFFFFh

0 to

00FFFFFFh

0 to

00FFFFFFh

0 to

00FFFFFFh

0 to

00FFFFFFh

C

C

C

C

C

C

Data attribute

C

530


Appendix B

433

(421)

434

(422)

435

(423)

436

(424)

Parameter

No.

407

(407)

410

(40A)

411

(40B)

416

(410)

Parameter name




Analog Monitor 1

Selection

Parameter size

4

Explanation


4

4

2

4




0: Motor speed

1: Position command speed

2: Internal position command speed

3: Speed control command

4: Torque command

5: Command position error

6: Encoder position error

7: Full close error

8: Hybrid error

9: P-N voltage

10:Regeneration load ratio

11: Motor load ratio

12:Forward direction torque limit

13:Reverse direction torque limit

14:Speed limit value

15:Inertia ratio

16 to 18: Reserved

19:Encoder temperature

20:Servo Drive temperature

21:Encoder 1-rotation data

Set the output gain for analog monitor 1.

417

(411)

418

(412)

Analog Monitor 1

Scale Setting

Analog Monitor 2

Selection

2

4


The set values for this parameter are the same as

Analog Monitor 1 Type (Pn416).

Select the output gain for analog monitor 2.

419

(413)

421

(415)

431

(41F)

Analog Monitor 2

Scale Setting

Analog Monitor Output Selection


2

4

Select the analog monitor output voltage method.

0: Output range is -10 to 10 V

1: Output range is 0 to 10 V

2: Output range is 0 to 10 V (5 V as the center)

Set the allowed number of pulses for the positioning completion range.

432

(420)

Positioning Completion Condition Selection

2

002E2E2Eh -

00030303h

00020202h

0

0

4

0

0

300

Set the judgment conditions for positioning completion output.

0: The Positioning completion output 1 becomes on when the positional error is lower than the value set on the Pn431.

1: The Positioning completion output 1 becomes on when there is no position command, and the positional error is lower than the value set on the

Pn431.

2: The Positioning completion output 1 becomes on when there is no position command, the zerospeed detection signal is on, and the positional error is lower than the value set on the Pn431.

3. The Positioning completion output 1 becomes on when there is no position command, and the positional error is lower than the value set on the

Pn431. The ON-state is retained until the Positioning Completion Hold Time (Pn433) elapses. After that, it is turned off or kept to be on, depending on the positional error then.

Set the positioning completion hold time.

0

0

Default setting

-

-

-

-

-

-

-

-

Unit

Command unit

1ms

0 to

Setting

00FFFFFFh

0 to

00FFFFFFh

0 to

00FFFFFFh

0 to 21

0 to

214748364

0 to 21

0 to

range

214748364

0 to 2

0 to 262144

0 to 3

0 to 30000 Positioning Completion Hold Time

Zero Speed Detection

Speed Conformity

Detection Range

2

2

2

Rotation Speed for

Motor Rotation

Detection

2

Set the output timing of the Zero speed detection output (ZSP) in rotation speed [r/min].

50

Set the detection range for the speed conformity output (VCMP). Set the difference between the speed command and the actual speed.

Set the number of motor rotation for the Motor rotation detection output signal (TGON).

50

1000 r/min r/min r/min

10 to 20000

10 to 20000

10 to 20000

C

C

A

A

A

A

A

A

A

A

A

A

A

Data attribute

C

531


Appendix B

Parameter

No.

437

(425)

438

(426)

439

(427)

440

(428)

Parameter name

Brake Timing when

Stopped

Brake Timing during

Operation

Brake Release

Speed Setting

Warning Output

Selection 1

2

2

2

441

(429)

442

(42A)

Warning Output

Selection 2


Parameter size

2

Explanation

Set the operation time for the mechanical brake at stop.

2

4

0

Set the operation time for the mechanical brake during operation.

0

Set the number of motor rotation to determine a mechanical brake output during rotation.

30


0: Output by all types of warnings.

1: Overload warning

2: Excessive regeneration warning

3: Battery warning

4: Fan warning

5: Encoder communications warning

6: Encoder overheating warning

7: Vibration warning

8: Life expectancy warning

9: External encoder error warning

10:External encoder communications error warning

11:Data setting warning

12:Command warning

13:MECHATROLINK-II communications warning


The relationships among the set values for this parameter are the same as for Warning Output Selection 1

(Pn440).

Set the allowable number of pulses for the second positioning completion range

.

0

0

10

Default setting

-

-


1ms 0 to 10000

1ms 0 to 10000 r/min 30 to 3000

0 to 13

0 to 13

Command unit

0 to 262144

B

B

A

A

A

Data attribute

B

532


Appendix B

Extended Parameters

Parameter

No.

504

(504)

Parameter name

Drive Prohibition

Input Selection

505

(505)

506

(506)

507

(507)

508

(508)

509

(509)

510

(50A)

511

(50B)

Stop Selection for

Drive Prohibition

Input

Stop Selection with

Servo OFF

Stop Selection with

Main Power Supply

OFF

Undervoltage Alarm

Selection

Momentary Hold

Time

Stop Selection for

Alarm Detection

Emergency Stop

Torque

Parameter size

2

2

2

2

2

2

Explanation

Set the operation to be performed upon forward/ reverse direction drive prohibition input.


1: Disable the Forward and Reverse drive prohibition inputs.


Set the drive conditions during deceleration and after stopping, when the Forward or Reverse Drive Prohibition Inputs are enabled.

0: The torque in the drive prohibit direction is disabled, and the dynamic brake is activated.

1: The torque in the drive prohibit direction is disabled, and free-run deceleration is performed.

2: The torque in the drive prohibit direction is disabled, and an emergency stop is performed.

Set the stop operation when the servo is turned OFF.

0, 4: During deceleration: Dynamic brake



1, 5: During deceleration: Free-run



2, 6: During deceleration: Dynamic brake



3, 7: During deceleration: Free-run









Set the stop operation when the main power supply is turned OFF.

The settable values are the same as those on the

Pn506.

Select either to let the servo off or to stop the alarm when a main power alarm occurs.

0: Bring the Servo-OFF state in accordance with the

Pn507 setting. Return to Servo on state by turning on the main power.

1: Main power supply undervoltage (Alarm No.13.1) occurs. Stop the alarm.

Set the main power supply alarm detection time.

1

0

0

0

1

70

Default setting

2

2

Select the stopping method at an alarm.









4: During deceleration due to emergency stop alarm:

Emergency stop












Set the torque limit for emergency stops.

0

0

-

-

-

-

-

-


1ms 70 to 2000

%

0 to 2

0 to 2

0 to 9

0 to 9

0 to 1

0 to 7

0 to 500

C

B

B

B

B

C

B

Data attribute

C

533


Appendix B

521

(515)

522

(516)

525

(519)

526

(51A)

531

(51F)

Parameter

No.

512

(50C)

513

(50D)

514

(50E)

Parameter name

Overload Detection

Level Setting

Overspeed Detection Level Setting

2

Overrun Limit Setting 2

Parameter size

2

Explanation

Set the overload detection level.

Set the overspeed error detection level.

Set the motor over-travel distance for position commands.

515

(50F)

520

(514)

Control Input Signal

Read Setting

Position Setting Unit

Selection

Torque Limit Selection

No. 2 Torque Limit

2

2

2

2

0

0

Default setting

10

Select the cycle to read the control input signals from the four levels.

0: 0.166 ms

1: 0.333 ms

2: 1 ms

3: 1.666 ms

Select the setting units of Positioning Completion

Range 1 and 2 (Pn431 and Pn442) and of the Error


0: Command unit

1: Encoder unit

Select the method to set the forward and reverse torque limits, and the torque feed forward function during speed control.

Set the No. 2 limit value for the motor output torque.

0

0

1

0

Forward External

Torque Limit

Reverse External

Torque Limit

Axis Number

2

2

2

Set the forward external toque limit when the torque limit switch input is given.

Set the reverse external toque limit when the torque limit switch input is given.

Set the axis number for communication.

0

0

1

-

-

Unit

%

Setting range

0 to 500 r/min 0 to 20000

-

0.1 rotation

0 to 1000

0 to 3

%

%

-

%

0 to 1

0 to 6

0 to 500

0 to 500

0 to 500

0 to 127

C

C

B

A

A

B

C

B

B

Data attribute

A

534


Appendix B


618

(612)

623

(617)

624

(618)

Parameter

No.

605

(605)

606

(606)

607

(607)

608

(608)

609

(609)

610

(60A)

611

(60B)

614

(60E)

615

(60F)


Gain 3 Effective Time 2

Gain 3 Ratio Setting 2

Torque Command

Value Offset

Forward Direction

Torque Offset

Reverse Direction

Torque Offset

Function Expansion

Setting

Electric Current

Response Setting

Alarm Detection

Allowable Time Setting

Overspeed Detection Level Setting at

Emergency Stop

Power Supply ON

Initialization Time

2

2

2

2

2

2

2

2

631

(61F)

Disturbance Torque

Compensation Gain

Disturbance

Observer Filter Setting

Realtime Autotuning

Estimated Speed

Selection

2

2

2

632

(620)

634

(622)

635

(623)

637

(625)

638

(626)

Realtime Autotuing

Customization Mode

Setting

Hybrid Vibration

Suppression Gain

Hybrid Vibration

Suppression Filter

Vibration Detection

Threshold

Warning Mask Setting

2

2

2

2

2

Set effective time of gain 3 of three-step gain switching.

Set gain 3 as a multiple of gain 1.

Set offset torque to add to torque command.

Set the value to add to a torque command for forward direction operation.

Set the value to add to a torque command for reverse direction operation.

Explanation

Set the function expansion. The setting contents vary depending on the function.

Make fine adjustment on electric current response with default setting as 100%.

100

Set the allowable time until stopping when an emergency stop is actuated upon alarm detection.

During an emergency stop upon alarm detection, if the motor speed excess this set value, this is an overspeed 2 error.

Set initialization time after power supply ON to the standard 1.5 s plus some.

Set the compensation gain for disturbance torque.

0

100

0

0

0

0

200

0

0

0

Set the filter time constant for disturbance torque compensation.

53

Set the load characteristics estimated speed when realtime autotuning is enabled.

0: Fixes estimated results at the time load estimation becomes stable.

1: Estimates in every minute from the load characteristic changes.

2: Estimates in every second from the load characteristic changes.

3: Estimates the optimum from the load characteristic changes.

Set the CUSTOMIZATION mode detail for realtime autotuning.

0

0

Set the hybrid vibration suppression gain during full closing control.

Set the hybrid vibration suppression filter time constant during full closing control.

Set the vibration detection threshold.

If torque vibration that exceeds this setting is detected, the vibration detection warning occurs.

Set the warning detection mask setting.If you set the corresponding bit to 1, the corresponding warning detection is disabled.

0

0

4

Default setting

10

-

-

-

-


0.1ms

0 to 10000

%

%

%

%

% ms r/min

0.1s

%

50 to 1000

-100 to 100

-100 to 100

-100 to 100

0 to 63

50 to 100

0 to 1000

0 to 20000

0 to 100

-100 to 100

0.01ms 10 to 2500

0.1s

0.01ms 0 to 6400

0.1%

0 to 3

-32768 to

32767

0 to 30000

0 to 1000

-32768 to

32767

A

B

B

C

R

B

B

B

B

B

-

B

B

B

B

B

B

Data attribute

B

535


Appendix B


Parameter

No.

700

(700)

701

(701)

703

(703)

Parameter name

Default Display

Power-ON Address

Display Duration Setting

Torque Limit Flag

Output Setting

2

2

Parameter size

2

Explanation

Select a data type to display on the 7-segment LED indicator on the front panel.

0: Normal state

1: Mechanical angle

2: Electric angle

3: Cumulative count of MECHATROLINK-II communications errors

4 Rotary switch setting value

5: Cumulative count of encoder communications errors

6: Cumulative count of external encoder communications errors

7: Z-phase counter

8 or over: Unused

Set the time to indicate the node address when the control power is turned on.

704

(704)

705

(705)

Backlash Compensation Selection

Backlash Compensation Amount

2

2

0

0

Set the condition for torque limit output during torque control.

0: On by the torque limit value including the torque command value.

1: On by the torque limit value excluding the torque command value.

Select to enable or disable the backlash compensation during position control.

Set the compensation direction when the compensation is enabled.

0: Disable the backlash compensation.

1: Compensate the backlash at the first forward operation after a Servo ON.

2: Compensate the backlash at the first reverse operation after a Servo ON.

Set the backlash compensation amount during position control.

0

0

0

Default setting

-

-

-


0 to 32767

100ms 0 to 1000

0 to 1

0 to 2

Command unit

-32768 to

32767

0.01ms 0 to 6400 706

(706)

710

(70A)

Backlash Compensation Time Constant

2

MECHATROLINK-II

Communication I/O

Monitor Setting

2

Set the time constant to apply a backlash compensation during position control.

Select whether to reflect the inputs to the I/O monitor of MECHATROLINK-II communications, when either the forward or reverse drive prohibition input is assigned to the input signal and the Drive Prohibition

Input Selection (Pn504) is set to 1 (i.e. Disable).

0: Disable the one on the I/O monitor of MECHA-

TROLINK-II communications as well.

1: Enable the one on the I/O monitor of MECHA-


0

0 0 to 1

R

A

C

B

B

A

Data attribute

A


Parameter

No.

800

(800)

801

(801)

Parameter name

Communications

Control

Soft Limit

803

(803)

804

(804)

806

(806)

Origin Range

Forward Software

Limit

Reverse Software

Limit

Parameter size

2

Explanation

Controls the alarms and warnings over the MECHA-


2

2

4

0

Default setting

Select whether to enable or disable the Soft Limit

Function.

0: Enable the soft limits on both directions.

1: Disable the forward soft limit, but enable the reverse soft limit.

2: Enable the forward soft limit, but disable the reverse soft limit.

3: Disable the soft limits on both directions.

Set the threshold for detecting the origin in absolute values.

0

0

Set the forward soft limit.

500000

4 Set the reverse soft limit.

-500000

-

-

-

Unit

Command unit

Command unit

Setting range

-32768 to

32767

0 to 3

0 to 250

C

A

A

-1073741823 to

1073741823

-1073741823 to

1073741823

A

A

Data attribute

536


Appendix B

Parameter

No.

808

(808)

811

(80B)

814

(80E)

818

(812)

820

(814)

822

(816)

823

(817)

824

(818)

825

(819)

836

(824)

837

(825)

Parameter name

Absolute Encoder

Origin Offset

Linear Acceleration

Constant

Linear Deceleration

Constant

Position Command

FIR Filter Time Constant

Final Distance for

External Input Positioning

Origin Return mode

Setting

4

2

Origin Return

Approach Speed 1

Origin Return

Approach Speed 2

Final Distance for

Origin Return

Option Monitor

Selection 1

Option Monitor

Selection 2

Parameter size

4

2


Set the offset volume between the encoder or external encoder position and the mechanical coordinate position, when an absolute encoder or an absolute external encoder is used.

Set the acceleration for positioning.

0

100

Unit

Command unit

2

2

Set the deceleration for positioning.

Set the time constant of FIR filter for the position command.

100

0 to

Setting range

-1073741823

1073741823

*1 -32768 to

32767

*1 -32768 to

32767

0.1ms

0 to 10000

Data attribute

C

B

B

B

2

2

4

2

2

Sets the distance to travel after the latch signal input position is detected during the external input positioning.

Set the direction for origin return.

0: Positive direction

1: Negative direction

Set the operating speed for origin returns, from when the origin proximity signal turns on to when it turns off and the latch signal is detected.

Set the operating speed for origin returns, from when the latch signal is detected to when the motor stops at the position after travelling the distance set by Final

Distance for Origin Return (Pn825).

Set the distance from the position where the latch signal is entered to the origin during origin returns.



100

0

50

5

100

0

0 -

-

-

0.1ms

-1073741823 to

*2

*2

Command unit

1073741823

0 to 1

1 to 32767

1 to 32767

-1073741823 to

1073741823

-32768 to

32767

-32768 to

32767

B

B

B

B

B

A

A

*1. 10,000 command unit/s

*2. 100 command unit/s

537


Appendix B

G Series Servo Drive (Built-in MECHATROLINK-II Communication Type

R88D-GN

@

-ML2)


Parameter

No.

Parameter name

Pn000 Reserved

Pn001 Default Display

Parameter size

---

2

Pn002 Reserved

Pn003 Torque

Limit Selection

---

2


0

1

Do not change.

Selects the data to be displayed on the 7-segment LED display on the front panel.

Normal status ("--" Servo OFF, "00" Servo ON)

Indicates the machine angle from 0 to FF hex.

0 is the zero position of the encoder. The angle increases when the Servomotor turns forward.


When using an incremental encoder, the display shows

"nF" (not Fixed) until detecting the zero position on the encoder after the control power is turned ON.

2 Indicates the electrical angle from 0 to FF hex.

0 is the position where the inductive voltage on the U phase reaches the position peak. The angle increases when the Servomotor turns forward.


3

4

Indicates the number (total) of MECHATROLINKII communications errors from 0 to FF hex.

The communications error count (total) saturates at the maximum of FFFFh. "h" appears only for the lowest byte. The count continues from "00" after exceeding

"FF".

Note

The communications error count (total) is cleared by turning OFF the control power.

Indicates the setting on the rotary switch (node address value) loaded at startup, in decimal.

This value does not change even if the rotary switch is turned after startup.

1

0

5 to

32767

Reserved (Do not set.)

Do not change.

Selects the torque limit function, or the torque feed-forward function during speed control.

• Torque Limit Selection

For torque control, always select Pn05E. For position control and speed control, select the torque limit as follows.

1

2

3

4

Use Pn05E as the limit value for forward and reverse operations.

Forward: Use Pn05E.

Reverse: Use Pn05F.

Switch limits by torque limit values and input signals from the network.


PCL is OFF = Pn05E, PCL is ON = Pn05F


NCL is OFF = Pn05E, NCL is ON = Pn05F



Only in speed control, torque limits can be switched by torque limit values from the network as follows:


Use Pn05E command or option command value 1, whichever is smaller.


Use Pn05F command or option command value 2, whichever is smaller.

5 Forward: Use Pn05E as limit.


Only in speed control, torque limits can be switched by torque limit values and input signals from the network as follows:


PCL is OFF = Pn05E, PCL is ON = Pn05E command or option command value 1, whichever is smaller.


NCL is OFF = Pn05F, NCL is ON = Pn05F command or option command value 2, whichever is smaller.

0

1

1

Default setting

Unit

---

---

---

---

---

Setting range

---

0 to 4

---

---

1 to 5

Enable setting

Details

---

Online

---


(Busy

Flag for each axis

= 0).

538


Appendix B

Parameter

No.

Parameter name

Pn003 Torque

Limit Selection

Parameter size

2

Pn004

Pn005


Selection

Communications

Control

2

2


Note

PCL ON: When either Forward Torque Limit (CN1 PCL: pin 7) or MECHATROLINKII Communications

Option Field (P-CL) is ON.

PCL OFF: When both Forward Torque Limit (CN1 PCL: pin 7) and MECHATROLINK-II Communications Option Field (P-CL) are OFF.

• Torque Feed-forward Function Selection

1 to 3

4 to 5

1

2

Enabled only during speed control. Disabled if not using speed control.

Always disabled

Sets the function for the Forward and Reverse Drive Prohibit

Inputs (CN1 POT: pin 19, NOT: pin 20)

0 Decelerates and stops according to the sequence set in the Stop Selection for Drive Prohibition Input (Pn066) when both POT and NOT inputs are enabled.

When both POT and NOT inputs are OPEN, the Drive

Prohibit Input Error (alarm code 38) will occur.

Both POT and NOT inputs disabled.

When either POT or NOT input becomes OPEN, the

Drive Prohibit Input Error (alarm code 38) will occur.

1

0

Controls errors and warnings for MECHATROLINK-II communications.

Note

Use with thi]s parameter set to 0. Program to stop immediately if using a value other than 0.

Set the Consecutive Communications Error Detection Count in

COM_ERR (bit 8 to 11). The communications error (alarm code

83) will occur when a communications error, which is assessed at every MECHATROLINK-II communications cycle, occurs consecutively for the number of the Consecutive Communications Error

Detection Count. The error and warning can be masked for debug purposes.

0

bits 15-12

---

bits 11-8

COM_ERR

bits 7-4

MSK COM

WARNG

bits 3-0

MSK COM

ALM

Default setting

Unit

---

---

---

Pn006 Power ON

Address

Display

Duration

Setting

2

• [bits 8-11] COM_ERR (Consecutive Communications

Error Detection Count)

Setting range: 0 to 15.

Consecutive Communications Error Detection

Count = COM_ERR + 2

Note

These bits are debug functions. Set to enable (0) when not debugging.

• [bits 0-3] MECHATROLINK-II Communications Alarms Mask

(MSK COM ALM)

[bit0]0: Communications error (alarm code 83) enabled

1: Communications error (alarm code 83) disabled

[bit1]0: Watchdog data error (alarm code 86) enabled

1: Watchdog data error (alarm code 86) disabled

• [bits 4-7] MECHATROLINK-II Communications Warnings Mask

(MSK COM WARNG)

[bit4]0: Data setting warning (warning code 94h) enabled

1: Data setting warning (warning code 94h) disabled

[bit5]0: Command warning (warning code 95h) enabled

1: Command warning (warning code 95h) disabled

[bit6]0: ML-II communications warning

(warning code 96h) enabled

1: ML-II communications warning

(warning code 96h) disabled

Sets the duration to display the node address when the control power is turned ON.

Note

The node address display has priority even if there are alarms or warnings at power ON.

0 to 6

7 to

1000

600 ms set value

×

100 ms

30 ms

Setting range

1 to 5

0 to 2

0 to 3955

0 to 1000

Enable setting

Offline

Details


(Busy

Flag for each axis

= 0).

Offline Always set to 0.

Offline

539


Appendix B

Parameter

No.

Parameter name

Pn007 Speed monitor

(SP) Selection

Parameter size

2

Pn008

Pn009

Pn00A Prohibit

Parameter

Changes

Pn00B

Torque

Monitor (IM)

Selection

Reserved via Network

Operation

Switch

When

Using

Absolute

Encoder

2

---

2

2


2

3

4

Selects the output to the Analog Speed Monitor (SP on the front panel).

Note


−

).






7

8

5

6





1

2

3

9

10



0 V: Issuing


11 Outputs the Gain Selection Status.

0 V: Gain 2

5 V: Gain 1

Selects the output to the Analog Torque Monitor (IM on the front panel)

Note


−

).

0 Torque command: 100%/3 V




4

5

6 to 10

11

12



Reserved



13

14


0 V: Issuing


Outputs the Gain Selection Status.

0 V: Gain 2

5 V: Gain 1

Do not change.

Allows/prohibits parameter changes via the network.

0 Allows parameter changes from the host controller via the network.

0

1

1 Prohibits parameter changes from the host controller via the network.

Attempting to change a parameter via the network when prohibited triggers the Command Warning (warning code 95h).

Selects how the an absolute encoder is used.

This parameter is disabled when using an incremental encoder.

Use as an absolute encoder.

Use an absolute encoder as an incremental encoder.

2 Use as an absolute encoder but ignore absolute multiturn counter overflow alarm (alarm code 41).

3

0

0

0

0

Default setting

Unit

---

---

---

---

---

Setting range

0 to 11

0 to 14

---

0, 1

0 to 2

Enable setting

Online

Online

---

Online

Online

Details

540


Appendix B

Parameter

No.

Parameter name

Pn00C RS-232

Baud Rate

Setting

Parameter size

2

Pn00D

Pn00E

Pn00F

Pn010 Position

Pn011

Pn012

Pn013

Reserved

Reserved

Reserved

Loop Gain

(RT)

Speed Loop

Gain (RT)

Speed Loop

Integration

Time Constant (RT)

Speed

Feedback

Filter Time

Constant

(RT)

Pn014 Torque

Command

Filter Time

Constant

(RT)

Pn015 Speed

Feedforward

Amount

(RT)

Pn016 Feed-forward Filter

Time Constant (RT)

Pn017 Reserved

---

---

---

2

2

2

2

2

2

2

---


3

4

1

2

5

Sets the baud rate for RS-232 communications.

0 2,400 bps

4,800 bps

9,600 bps

19,200 bps

38,400 bps

57,600 bps

2

Do not change.

Do not change.

Do not change.

Sets the position loop responsiveness.

Increasing the gain increases position control responsiveness and shortens stabilization time.

Oscillation or overshoot will occur if set too high. Adjust for optimum responsiveness.

Sets the speed loop responsiveness.

If the Inertia Ratio (Pn020) is set correctly, this parameter is set to the Servomotor response frequency.

Increasing the gain increases the speed control responsiveness, but too much gain may cause oscillating.

Small gain may cause overshoot in the speed response.

Adjust for optimum responsiveness.

Adjusts the speed loop integration time constant.

Set a large value for large load inertia.

Decrease the setting for fast response with small inertia.

Set 9999 to stop integration operation while retaining the integration value. A setting of 10000 disables integration.

Sets the type of speed detection filter time constant.


Increasing the value reduces the noise of the Servomotor but also reduces its responsiveness.

This parameter is disabled if the Instantaneous Speed Observer

Setting (Pn027) is enabled.

Adjusts the first-order lag filter time constant for the torque command section.

The torque filter setting may reduce machine vibration.

0

0

0

400

500

200

0

80

Sets the speed feed-forward amount.

This parameter is particularly useful when fast response is required.

Sets the time constant for the speed feed-forward first-order lag filter.

Do not change.

300

100

0

Unit

---

---

---

---

×

0.1

[1/s]

×

0.1

Hz

×

0.1 ms

---

×

0.01 ms

---

---

---

Setting range

0 to 30000

×

0.1 % 0 to 1000

×

0.01 ms

---

0 to 5

1 to 30000

1 to 10000

0 to 5

0 to 2500

0 to 6400

---

Enable setting

Online

Details

---

---

---

Online Settings can be changed when the

Online axes are stopped

(Busy

Flag for each axis

= 0).

Online

Online

Online

Online

Online

---

541


Appendix B

Parameter

No.

Parameter name

Pn018 0 to 6400

Parameter size

2

Pn019 Speed Loop

Gain 2 (RT)

Pn01A Speed Loop

Integration

Time Constant 2 (RT)

Pn01B Speed

Feedback

Filter Time

Constant 2

(RT)

Pn01C Torque

Command

Filter Time

Constant 2

(RT)

Pn01D Notch Filter

1 Frequency

2

2

2

2

2


Sets the position loop gain when using gain 2 switching.


Sets the speed loop gain when using gain 2 switching.


200

800

Sets the speed loop integration time constant when using gain 2 switching.


Set 9999 to stop integration operation while retaining the integration value. Setting 10000 disables integration.

Sets the speed detection filter when using gain 2 switching.

Same function as Pn013. Normally, use a setting of 0.

When Instantaneous Speed Observer Setting (Pn027) is enabled, this parameter will be disabled.

500

0

Sets the first-order lag filter time constant for the torque command section when using gain 2 switching.


Default setting

100

Pn01E

Pn01F

Pn020 Inertia Ratio

Pn021

Notch Filter

1 Width

Reserved

(RT)

Realtime

Autotuning

Mode

Selection

2

---

2

2

0

3

4

1

2

5

6

7


This filter must be matched with the resonance frequency of the load.

Filter enabled 100 to

1499




Do not change.

Sets the load inertia as a percentage of the Servomotor rotor inertia.

Setting [%] = (Load inertia / Rotor inertia)

×

100

The inertia ratio estimated during realtime autotuning is stored in the EEPROM every 30 minutes.

Sets the operating mode for realtime autotuning.

A setting of 3 or 6 will provide faster response to changes in inertia during operation. Operation, however, may be unstable depending on the operating pattern.

Normally, use a setting of 1 or 4.

Set to 4 to 6 when the Servomotor is used as a vertical axis.

Gain switching is enabled at set values 1 to 6.

Use a setting of 7 if operation changes caused by gain switching are a problem.

1500

2

0

300

0

Realtime Autotuning

Disabled

Horizontal axis mode

Vertical axis mode

Gain switching disable mode

---

Degree of change in load inertia

Almost no change

Gradual changes

Sudden changes

Almost no change

Gradual changes

Sudden changes

Almost no change

Unit

×

0.1

[1/s]

×

0.1

Hz

×

0.1 ms

---

×

0.01 ms

Hz

---

---

%

---

Setting range

0 to 30000

1 to 30000

1 to 10000

0 to 5

0 to 2500

100 to 1500

2

---

0 to 10000

0 to 7

Pn022 Realtime

Autotuning

Machine

Rigidity

Selection

2 Sets the machine rigidity for realtime autotuning.

Increasing this value increases the responsiveness.

If the value is changed suddenly by a large amount, the gain will change rapidly, subjecting the machine to shock.

Always start by making small changes in the value, and gradually increase the value while monitoring machine operation.

Cannot be set to 0 when using the Parameter Unit.

2 --0 to F

Enable setting

Online

Online

Online

Online

Online

Online

Details


(Busy

Flag for each axis

= 0).

---



(Busy

Flag for each axis

= 0).

Online

542


Appendix B

Parameter

No.

Parameter name

Pn023 Adaptive

Filter Selection

Parameter size

2

Pn024 Vibration

Filter Selection

2


0

1

Enables or disables the adaptive filter.

The Adaptive Filter Table Number Display (Pn02F) will be reset to

0 when disabled.

Note

When the Vibration Filter Selection (Pn024) is set to a low-pass filter type (Pn024 = 3 to 5), the adaptive filter is forcibly set to disabled (Pn023 = 0).

Adaptive filter disabled.

Adaptive filter enabled.

Adaptive operation performed.

2 Adaptive filter enabled. Adaptive operation will not be performed (i.e., retained).

Selects the vibration filter type and switching mode.

• Filter type selection

• Normal type:


• Low-pass type:


• Switching mode selection

• No switching: Both 1 and 2 are enabled

• Switching with command direction:

Selects Vibration Frequency 1 in forward direction

(Pn02B, Pn02C)

Selects Vibration Frequency 2 in reverse direction

(Pn02D, Pn02E)

0

0

Default setting

Unit

---

---

Filter type

Normal type

Switching mode

No switching 0

1

2

Low-pass type

Switching with command direction

No switching 3

4

5 Switching with command direction

Setting range

0 to 2

0 to 5

Pn025 Normal

Mode Autotuning

Operation

Setting

2

2

3

4

Sets the operating pattern for normal mode autotuning.

0

1

5

6

7

Number of rotations

Repeat cycles of 2 rotations

Repeat cycles of single rotation

Rotation direction

Forward and Reverse

(Alternating)

Reverse and Forward

(Alternating)

Forward only

Reverse only

Forward and Reverse

(Alternating)

Reverse and Forward

(Alternating)

Forward only

Reverse only

0 --0 to 7

Pn026 Overrun

Pn027 Instantaneous

Speed

Observer

Setting (RT)

Pn028

Limit Setting

Notch Filter

2 Frequency

2

2

2

Sets the Servomotor’s allowable operating range for the position command input range.

Set to 0 to disable the overrun protective function.

The Instantaneous Speed Observer improves speed detection accuracy, thereby improving responsiveness and reducing vibration when stopping.

When the instantaneous speed observer is enabled, both Speed

Feedback Filter Time Constant (Pn013) and Speed Feedback Filter Time Constant 2 (Pn01B) are disabled.

This feature cannot be used with realtime autotuning.

0

1

Disabled

Enabled


This parameter must be matched with the resonance frequency of the load.

100 to

1499

Filter enabled


10

0

1500

×

0.1 rotation

---

Hz

0 to 1000

0, 1

100 to 1500

Enable setting

Offline

Details


(Busy

Flag for each axis

= 0).


(Busy

Flag for each axis

= 0).

Online


(Busy

Flag for each axis

= 0).

Online

543


Appendix B

Parameter

No.

Parameter name

Pn029 Notch Filter

2 Width

Parameter size

2

Pn02A

Pn02B

Pn02C

Notch Filter

2 Depth

Vibration

Frequency

1

Vibration

Filter 1 Setting

Pn02D Vibration

Frequency

2

Pn02E Vibration

Filter 2 Setting

Pn02F Adaptive

Filter Table

Number

Display

2

2

2

2

2

2

Setting


Increasing the value increases the notch width.

2

Selects the notch depth of notch filter 2 for resonance suppression.

Increasing this value decreases the notch depth, thereby reducing the phase lag.

Sets the vibration frequency 1 for damping control to suppress vibration at the end of the load.

Measure and set the frequency of the vibration.

The frequency setting range depends on the filter type selected in the Vibration Filter Selection (Pn024).

• Normal type

Setting frequency range: 10.0 to 200.0 Hz (Disabled when set to

0 to 99)

• Low-pass type

Setting frequency range: 1.0 to 200.0 Hz (Disabled when set to 0 to 9)

When setting Vibration Frequency 1 (Pn02B), reduce this setting if torque saturation occurs, or increase it to make the movement faster.


The setting range depends on the filter type selected in the Vibration Filter Selection (Pn024), and if Vibration Filter 1 is enabled, the ranges are as follows:

Note

This parameter is disabled when Vibration Filter 1 is disabled.

• Normal type

Setting range: 100

≤

Pn02B + Pn02C

≤

Pn02B

×

2 or 2000

• Low-pass type

Setting range: 10

≤

Pn02B + Pn02C

≤

Pn02B

×

6

Same function as Pn02B.

0

0

0

0

Same function as Pn02C.


0

Pn030 Gain

Switching

Operating

Mode

Selection

(RT)

2

Displays the table entry number corresponding to the frequency of the adaptive filter.

This parameter is set automatically when the adaptive filter is enabled (i.e., when the Adaptive Filter Selection (Pn023) is set to a value other than 0), and cannot be changed.

When the adaptive filter is enabled, this parameter will be saved in

EEPROM approximately every 30 min. If the adaptive filter is enabled the next time the power supply is turned ON, adaptive operation will start with the data saved in EEPROM as the default value.

To clear this parameter and reset the adaptive operation, disable the adaptive filter by setting the Adaptive Filter Selection (Pn023) to 0, and then enable it again.

0 to 4

5 to 48

Filter disabled

Filter enabled

49 to 64 Enable or disable the filter with Pn022

0

Enables or disables gain switching.

0 Disabled. Uses Gain 1 (Pn010 to Pn014).

PI/P operation is switched from MECHATROLINK-II.

1 The gain is switched between Gain 1 (Pn010 to Pn014) and Gain 2 (Pn018 to Pn01C).

1

Unit

---

---

×

0.1

Hz

×

0.1

Hz

×

0.1

Hz

×

0.1

Hz

---

--0, 1

Setting range

0 to 4

0 to 99

0 to 2000

0 to 2000

0 to 64

Enable setting

Details


Online

Online

−

200 to 2000 Online

Online

−

200 to 2000 Online

Online


(Busy

Flag for each axis

= 0).

This is a read-only parameter. You cannot change the setting.


(Busy

Flag for each axis

= 0).

544


Appendix B

Parameter

No.

Parameter name

Pn031 Gain Switch

Setting (RT)

Parameter size

2

Pn032

Pn033

Pn034

Pn035

Gain Switch

Time (RT)

Gain Switch

Level Setting (RT)

Gain Switch

Hysteresis

Setting (RT)

Position

Loop Gain

Switching

Time (RT)

Pn036 Reserved

Pn037 Reserved

Pn038 Reserved

Pn039 Reserved

Pn03A Reserved

Pn03B Reserved

2

2

2

2

---

---

---

---

---

---

Pn03C Reserved ---

Pn03D Jog Speed 2


2

3

0

1

Sets the trigger for gain switching.

The details depend on the control mode.

Always Gain 1

Always Gain 2

Switching from the network

Amount of change in torque command

2

4

5

6

Always Gain 1

Speed command

Amount of position deviation

7

8

9

10

Position command pulses received

Positioning Completed Signal (INP) OFF

Actual Servomotor speed

Combination of position command pulses received and speed

Enabled when the Gain Switch Setting (Pn031) is set to 3, or 5 to

10. Sets the lag time from the trigger detection to actual gain switching when switching from gain 2 to gain 1.

Sets the judgment level to switch between Gain 1 and Gain 2 when the Gain Switch Setting (Pn031) is set to 3, 5, 6, 9, or 10.

The unit for the setting depends on the condition set in the Gain

Switch Setting (Pn031).

Sets the hysteresis of the judgment level for the Gain Switch Level

Setting (Pn033) when the Gain Switch Setting (Pn031) is set to 3,

5, 6, 9, or 10. The unit for the setting depends on the condition set in the Gain Switch Setting (Pn031).

This parameter can prevent the position loop gain from increasing suddenly when the position loop gain and position loop gain 2 differ by a large amount.

When the position loop gain increases, it takes the duration of (set value + 1)

×

166

µ s.

Do not change.

Do not change.

Do not change.

Do not change.

Do not change.

Do not change.

30

600

50

20

0

0

0

0

0

0

Do not change.

Sets the jog operation speed with the Parameter Unit or CX-Drive.

Note

Jog operation is only available when the network is not established. Do not try to establish the network while using jog operation. Otherwise, command alarm (alarm code 27) will occur.

0

200

Unit

---

×

166

µ s

--

---

×

166

µ s

---

---

---

---

---

---

--r/min

Setting range

0 to 10

0 to 10000

0 to 20000

0 to 20000

0 to 10000

---

---

---

---

---

---

---

0 to 500

Pn03E

Pn03F

Pn040

Pn043

Reserved

Reserved

Reserved

Pn041 Emergency

Stop Input

Setting

Pn042 Origin Proximity Input

Logic Setting

Operating

Direction

Setting

---

---

---

2

2

2

0

1

Do not change.

Do not change.

Do not change.

Enables the Emergency Stop Input (STOP).

Note

If this function is disabled, the response status will always be 0 (disabled).

Disabled.

Enabled (alarm code 87 issued on OPEN)

Sets the logic for the Origin Proximity Input (DEC).

0 N.C contact (origin proximity detected on OPEN)

1 N.O contact (origin proximity detected on CLOSE)

Sets the relationship between polarity of operation data sent over the network and the direction of Servomotor rotation.

Note

In RS-232C communications and on the analog monitor

(SP, IM) on the front panel, forward direction is always positive (+), and reverse rotation is always negative (

−

).

0 Disabled.

1 Enabled (alarm code 87 issued on OPEN)

0

1

0

0

1

1

---

---

---

---

---

---

---

---

---

0, 1

0, 1

0, 1

Enable setting

Online

Online

Online

Online

Details


(Busy

Flag for each axis

= 0).

---

---

---

---

---

---

---


(Busy

Flag for each axis

= 0).

---

---

---

Offline

Offline

Offline

545


Appendix B

Parameter

No.

Parameter name

Pn044 Input Signal Selection

Parameter size

2

Pn045

Pn046

Pn047

Pn048

Pn049

Pn04A

Pn04B

Pn04C

Pn04D

Pn04E

Pn04F

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Pn050 Reserved

Pn051 Reserved

Pn052 Reserved

---

---

---

---

---

---

---

---

---

---

---

---

---

---

Pn053 Speed Limit 2


Sets the terminal assignment for Drive Prohibit Input.

0 Sets CN1 pin 19 to POT, CN1 pin 20 to NOT.

1 Sets CN1 pin 19 to NOT, CN1 pin 20 to POT.

Do not change.

Do not change.

Do not change.

Do not change.

Do not change.

Do not change.

Do not change.

Do not change.

Do not change.

Do not change.

Do not change.

Do not change.

Do not change.

Do not change.

Sets the speed limit for torque control mode. (The value is an absolute value)

This parameter is limited by the Overspeed Detection Level Setting (Pn073).

0

0

0

50

0

0

0

0

0

0

0

0

0

0

0

Default setting

Unit

1 --0, 1

Setting range

---

---

---

---

---

---

---

---

---

---

---

---

---

--r/min

---

---

---

---

---

---

---

---

---

---

---

---

---

---

−

20000 to

20000

Pn054 Reserved

Pn055 Reserved

Pn056 Reserved

Pn057 Reserved

Pn058 Soft Start

Acceleration Time

Pn059 Soft Start

Pn05A

Pn05B

Pn05C

Pn05D

Pn05E

Pn05F

Deceleration Time

Reserved

Reserved

Reserved

No. 1

Torque

Limit

No. 2

Torque

Limit

Pn060 Positioning

Completion

Range 1

---

---

---

---

2

2

---

2

---

---

2

2

2

Do not change.

Do not change.

Do not change.

Do not change.

Sets the acceleration time for speed control mode.

Acceleration time [s] from 0 r/min to maximum speed [r/min] = Set value

×

2 ms

Sets the deceleration time for speed control mode.

Deceleration time [s] from maximum speed [r/min] to 0 r/min = Set value

×

2 ms

Do not change.

Selects the speed limit for torque control mode.

0

1

Use the Speed Limit (Pn053)

Use the speed limit value via MECHATROLINK-II or the

Speed Limit (Pn053), whichever is smaller.

Do not change.

Do not change.

Sets the No. 1 Torque Limit for the Servomotor output torque.



Sets the No. 2 torque limit for the Servomotor output torque.



Sets the positioning completion range when Positioning Completion 1 (INP1) Output is selected.

Positioning is complete when all positioning command pulses are exhausted, and the absolute value of the position deviation converted into command units is less than this setting.

0

0

0

0

0

0

0

0

0

0

300

100

25

---

---

---

---

---

---

---

---

×

2 ms 0 to 5000

×

2 ms

---

---

---

---

%

%

Command units

0 to 5000

---

0, 1

---

---

0 to 500

0 to 500

0 to 10000

Enable setting

Offline

Details

---

---

---

---

---

---

---

---

---

---

---

---

---

---


(Busy

Flag for each axis

= 0).

---

---

---

---



(Busy

Flag for each axis

= 0).

---


(Busy

Flag for each axis

= 0).

---

---



(Busy

Flag for each axis

= 0).

Online

546


Appendix B

Parameter

No.

Parameter name

Pn061 Speed Conformity Signal Output

Width

Parameter size

2

Pn062 Rotation

Speed for

Pn064

Pn065

Motor Rotation Detection

Pn063 Positioning

Completion

Range 2

Motor

Phase Current Offset

Re-adjustment Setting

Undervoltage Alarm

Selection

2

2

2

2


Sets the detection width for the speed conformity detection

(VCMP) signal.

Speed conformity is achieved when the absolute value of the difference between the internal speed command (before acceleration and deceleration limits are applied) and the Servomotor speed is less than the set speed.

Note

This setting has a hysteresis of 10 r/min.

Sets the threshold level for the speed reached (TGON) signal.

Speed reached is determined when the absolute value of the Servomotor speed is greater than the setting speed.

Note

Speed reached detection has a hysteresis of 10 r/min.

20

50

Sets the positioning completion range when Positioning Completion 2 (INP2) is selected.

Positioning is complete when the absolute value of the position deviation converted into command units is less than this setting, regardless of whether position command pulses are still being processed.

100

0

1

Enables or disables the offset component readjustment function of the Motor Phase Current Detector (CT) for Servo ON command inputs. The readjustment is made when control power is turned

ON.

Note

This adjustment is inaccurate if the offset is measured while the Servomotor is rotating. To enable this function, do not rotate the Servomotor when inputting the Servo ON command.

Disabled (only when turning ON control power)

Enabled (when turning ON control power, or at Servo

ON)

Selects whether to activate the main power supply undervoltage function (alarm code 13) when the main power supply is interrupted for the duration of the Momentary Hold Time (Pn06D) during Servo ON.

0 Turns the Servo OFF according to the setting for the Stop Selection with Main Power OFF (Pn067), interrupting the positioning command generation process (positioning operation) within the Servo

Drive. When the main power supply is turned back

ON, Servo ON will resume. Restart the positioning operation after performing the positioning operation and recovering from Servo OFF.

1 Causes an error due to main power supply undervoltage (alarm code 13).

This parameter is disabled if Pn06D = 1,000.

If Pn06D is set too long and the voltage between

P and N in the main power supply converter drops below the specified value before a main power supply interruption is detected, a main power supply undervoltage (alarm code 13) will occur.

0

1

Unit

r/min r/min

Command units

---

---

Setting range

10 to 20000

10 to 20000

0 to 10000

0, 1

0, 1

Enable setting

Online

Online

Online

Online

Details


(Busy

Flag for each axis

= 0).

547


Appendix B

Parameter

No.

Parameter name

Pn066 Stop Selection for

Drive Prohibition

Input

Parameter size

2


Sets the deceleration stop operation to be performed after the Forward Drive Prohibit Input (POT) or Reverse Drive Prohibit Input

(NOT) is enabled.

0

0

1

2


Dynamic brake

Disables torque

Emergency

Stop Torque

(Pn06E)

After stopping

(30 r/min or less)



Servo locked

Deviation counter

Cleared while decelerating with dynamic brake. Retained after stopping.

Cleared while decelerating. Retained after stopping.


Default setting

Unit

---

P067

Pn068

Stop Selection with

Main Power

OFF

Stop Selection for

Alarm Generation

Pn069 Stop Selection with

Servo OFF

2

2

2

Note 1.

The positioning command generation process (positioning operation) within the Servo Drive will be forcibly stopped once it enters the deceleration mode. Also, when the deceleration mode is activated during speed control or torque control, it will switch to position control. If a positioning operation command is received during deceleration, the internal positioning command generation process will be retained, and after deceleration is complete, positioning operation will be activated.

Note 2.

When the Servomotor rotation speed is 30 r/min or less

(stopped), the deceleration mode will not be activated even if the drive prohibit input is enabled.

Note 3.

When the parameter is set to 2 and an operation command in the drive prohibited direction is received after stopping, a command warning (warning code 95h) will be issued. When the parameter is set to 0 or 1, the operation command in the prohibited direction after stopping will be accepted, but the Servomotor will not operate and the position deviation will accumulate because the torque command is 0. Take measures such as issuing a command in the reverse direction from the host controller.

Note 4.

When the parameter is set to 2, MECHATROLINK-II communications are interrupted, and either Forward or

Reverse Drive Prohibit Input (POT or NOT) is turned ON, receiving an operation command (jog operation or normal mode autotuning) via RS232 will cause a Drive Prohibit

Input Error (alarm code 38). A Drive Prohibit Input Error

(alarm code 38) will also occur if either POT or NOT is turned ON while operating on an operation command received via RS232.

Sets the operation to be performed during deceleration and after stopping after the main power supply is turned OFF with the Undervoltage Alarm Selection (Pn065) set to 0. The deviation counter will be reset when the power OFF is detected.

0 and 4 Use dynamic brake to decelerate and remain stopped with dynamic brake.

1 and 5 Use free-run to decelerate and remain stopped with dynamic brake.

0

2 and 6 Use dynamic brake to decelerate, but free the motor when stopped.

3 and 7 Use free-run to decelerate, and free the motor when stopped.

Sets the deceleration process and stop status after an alarm is issued by the protective function. The deviation counter will be reset when an alarm is issued.

0

1

Use dynamic brake to decelerate and remain stopped with dynamic brake.

Use free-run to decelerate and remain stopped with dynamic brake.

2

3

Use dynamic brake to decelerate, but free the motor when stopped.

Use free-run to decelerate, and free the motor when stopped.

Sets the operational conditions to apply during deceleration and after stopping when the Servo is turned OFF.

The relationship between set values, operation, and deviation counter processing for this parameter is the same as for the Stop

Selection with Main Power OFF (Pn067).

0

0

---

---

---

Setting range

0 to 2

0 to 7

0 to 3

0 to 7

Enable setting

Offline

Details


(Busy

Flag for each axis

= 0).

Online

Online

548


Appendix B

Parameter

No.

Parameter name

Pn06A Brake Timing When

Stopped

Parameter size

2

Pn06B

Pn06C

Pn06D

Pn06E

Brake Timing during

Operation

Regeneration Resistor

Selection

Momentary

Hold Time

Emergency

Stop Torque

2

2

2

2


Sets the duration from when the Brake Interlock (BKIR) signal turns OFF to when the Servomotor is de-energized when the RUN command is turned OFF with the Servomotor stopped.

Note


When the run command (RUN) is turned OFF during the Servomotor rotation, the Servomotor will decelerate reducing the rotation speed and the Brake Interlock Signal (BKIR) will turn OFF after the time set by this parameter has elapsed.

BKIR turns OFF if the Servomotor speed drops below 30 r/min before the set time.

Note


Sets the regeneration resistor operation and the regeneration overload (alarm code 18) operation.

Set this parameter to 0 if using the built-in regeneration resistor.

If using an external regeneration resistor, be sure to turn OFF the main power when the built-in thermal switch is activated.

0 Sets the regeneration overload to match the built-in regeneration resistor. (regeneration load ratio below

1%)

10

50

0

1

2

The regeneration overload (alarm code 18) occurs when the load ratio of the external regeneration resistor exceeds 10%.

The regeneration processing circuit by the external regeneration resistor is activated, but the regeneration overload (alarm code 18) does not occur.

3 The regeneration processing circuit is not activated.

All regenerative energy is absorbed by the built-in capacitor.

Sets the amount of time required to detect shutoff when the main power supply continues to shut off.

The main power OFF detection will be disabled if this parameter is set to 1000.

Sets the torque limit during deceleration because of the Drive Prohibition Input when the Stop Selection for Drive Prohibition Input


When this parameter is set to 0, the normal torque limit will be set.

The maximum value of the setting range depends on the Servomotor.

35

0

Unit

2 ms

2 ms

---

2 ms

%

Setting range

0 to 1000

0 to 1000

0 to 3

35 to 1000

0 to 300

Pn06F Reserved

Pn070 Reserved

Pn071 Reserved

Pn072 Overload

Detection

Level Setting

Pn073 Overspeed

Detection

Level Setting

Pn074

Pn075

Pn07B

Pn07C

Pn07D

Reserved

Reserved

Pn076 Reserved

Pn077 Reserved

Pn078 Reserved

Pn079 Reserved

Pn07A Reserved

Reserved

Reserved

Reserved

---

---

---

2

2

---

---

---

---

---

---

---

---

---

---

Do not change.

Do not change.

Do not change.

Sets the overload detection level. The overload detection level will be set at 115% if this parameter is set to 0. Normally, use a setting of 0, and set the level only when reducing the overload detection level.

Sets the overspeed detection level. The overspeed detection level is 1.2 times the maximum Servomotor rotation speed when the parameter is set to 0. Normally, use a setting of 0, and set the level only when reducing the overspeed detection level.

Note

The detection margin of error for the setting is

±

3 r/min for a 7-core absolute encoder and

±

36 r/min for a 5-core incremental encoder.

Do not change.

Do not change.

0

Do not change.

Do not change.

Do not change.

Do not change.

Do not change.

Do not change.

Do not change.

Do not change.

0

0

0

0

0

0

0

0

0

0

0

0

0

0

---

---

---

% r/min

---

---

---

---

---

---

---

---

---

---

---

---

---

0 to 500

0 to 20000

---

---

---

---

---

---

---

---

---

---

Enable setting

Online

Offline

Offline

Details


(Busy

Flag for each axis

= 0).


(Busy

Flag for each axis

= 0).

---

---

---

Online

Online

---

---

---

---

---

---

---

---

---

---

549


Appendix B

Parameter

No.

Parameter name

Pn07E Reserved

Pn07F Reserved

Pn100 Backlash

Compensation Selection

Parameter size

---

---

2

2


Do not change.

Do not change.

0

1

Enables or disables the backlash compensation for position control, and sets the compensation direction.

Disabled

Compensates in the initial positive direction after the

Servo ON.

2 Compensates in the initial negative direction after the

Servo ON.

Sets the backlash compensation amount for position control.

Pn101 Backlash

Compensation

Pn102 Backlash

Compensation

Time Constant

2 Sets the backlash compensation time constant for position control.

Pn101 = Negative number

Value of

Pn100

1

2

Pn101 = Positive number

Compensates in positive direction during rotation in positive direction

Compensates in positive direction during rotation in negative direction

Compensates in negative direction during rotation in positive direction

Compensates in negative direction during rotation in negative direction

0

0

0

0

0

Default setting

Unit

---

---

---

Command units

0.01 ms

---

---

Setting range

0 to 2

−

32768 to

32767

0 to 6400

Pn103 Reserved

Pn104 Soft Limit

Pn105

Pn106

Origin

Range

Reserved

Pn107 Linear

Acceleration

Constant

---

2

2

---

2

Do not change.

Enables or disables the soft limit.

When enabled, the soft limit values are set in Forward Software

Limit (Pn201) and Reverse Software Limit (Pn202).

Note

The response value for limit signals disabled by this setting will be set to 0. The response value for limit signals is also set to 0 when the Servomotor does not complete its return to origin.

0 Enable both the Forward / Reverse Software Limits

(Pn201 and Pn202)

1

2

Disable the Forward Software Limit (Pn201), enable the


Enable the Forward Software Limit (Pn201), disable the


3 Disable both the Forward / Reverse Software Limits

(Pn201 and Pn202)

Sets the threshold for detecting the origin (ZPOINT) in absolute values.

ZPOINT = 1 when the return to origin completes (coordinate system setup is complete) and the feedback position is within the setting range of this parameter.

Do not change.

Sets the acceleration for positioning operations.



Example:

−

32768

→

8000h = 32768

−

1

→

FFFFh = 65535

0

0

10

0

100

---

---

Command units

---

×

10000

[command units/ s

2

]

---

0 to 3

0 to 250

---

−

32768 to

32767

Pn108

Pn109

Pn10A Linear

Pn10B

Reserved

Reserved


Reserved

Pn10C Reserved

Pn10D Reserved

---

---

2

---

---

---

Do not change.

Do not change.

Sets the deceleration for positioning operations.



Example:

−

32768

→

8000h = 32768

−

1

→

FFFFh = 65535

Do not change.

Do not change.

Do not change.

0

0

100

0

0

0

---

---

×

10000

[command units/ s

2

]

---

---

---

---

---

−

32768 to

32767

---

---

---

Enable setting

---

---

Offline

Details



(Busy

Flag for each axis

= 0).

---

Online

Online

---


(Busy

Flag for each axis

= 0).

---

---


(Busy

Flag for each axis

= 0).

---

---

---

550


Appendix B

Parameter

No.

Parameter name

Pn10E Moving

Average

Time

Parameter size

2

Pn10F

Pn110

Pn111

Pn112

Origin

Return

Mode Settings

Origin

Return

Approach

Speed 1

Origin

Return

Approach

Speed 2

Generalpurpose

Output 1

Function

Selection


Output 2

Function

Selection


Output 3

Function

Selection

Pn115 to

Pn13F

Reserved

Pn200 Absolute

Origin Offset

2

2

2

2

2

2

---

4

Setting



Explanation

Sets the offset amount for the encoder position and the mechanical coordinate system position when using an absolute encoder.

Default setting

Sets the moving average time for position commands.

Note

If the Moving Average Time is set, commands may not be executed seamlessly when switching the control mode, and when switching between interpolation feed motions and positioning motions (motions wherein the command waveforms are generated inside the Servo Drive).

Sets the direction for origin return.

0

1

Positive direction

Negative direction

Sets the operating speed for origin return from when the origin proximity signal is turned ON, to when it is turned OFF and the latch signal is detected.


Sets the operating speed for origin return, from when the point after the latch signal is detected to when the Origin Return Final

Distance (Pn204) is reached.


0

0

50

5


0 Always OFF

1 INP1 output.

Turn ON when position deviation is equal to or less than Pn060 for position control. Undefined when not using position control.

2

3

4

5

VCMP output.

Turn ON when the deviation between the Servomotor speed and commanded speed is within the range set by Pn061 for speed control. Undefined when not using speed control.

TGON output.

Turn ON when the absolute value of the Servomotor speed exceeds Pn062 setting in all control modes.

READY output.

Turn ON when the main power is supplied, there is no alarm, and Servo SYNC with a host controller is established in all control modes.

CLIM output.

Turn ON when torque limit is activated in all control modes.

6

7

8

VLIM output.

Turn ON when the Servomotor speed reaches the speed limit for torque control. Undefined when not using torque control.

BKIR output.

Turn ON with the release timing of the brake release signal in all control modes.

WARN output.

Turn ON when a warning is issued in all control modes.

9 INP2 output.

Turn ON when the position deviation is equal to or less than the Positioning Completion Range 2 (Pn063) for position control. Undefined when not using position control.



7

0

Do not change.

0

0

0

Unit

×

0.1

ms

---

100

[command units/ s]

100

[command units/ s]

---

---

---

---

Command units

0 to 5100

0, 1

1 to 32767

1 to 32767

0 to 9

0 to 9

0 to 9

---

Setting range

Enable setting

Details


Online

Online

Online

Offline

Offline

Offline

---

−

1073741823 to

1073741823

Offline changed when the axes are stopped

(Busy

Flag for each axis

= 0).

Standard setting

551


Appendix B

Parameter

No.

Parameter name

Pn201 Forward

Software

Limit

Parameter size

4

Pn202

Pn203

Reverse

Software

Limit

Final Distance for

External

Input Positioning

4

4


Unit

Sets the soft limit in the forward direction.


(PSOT) will turn ON (=1).

Note



Note

PSOT is not turned ON when origin return is incomplete.

Sets the soft limit for the reverse direction.


(NSOT) will turn ON (=1).

Note



Note

NSOT is not turned ON when origin return is incomplete.

Sets the distance to travel after detecting the latch signal input position when performing external input positioning.

The operation after detecting the latch signal input position will be determined by the external input positioning direction and this parameter as follows.

500000

100

Command units

−

500000 Command units

Command units

Setting range

Enable setting

−

1073741823 to

1073741823

Online

−

1073741823 to

1073741823

Online

Details

−

1073741823 to

1073741823


(Busy

Flag for each axis

= 0).

External input positioning direction

Positive direction

Negative direction

Positive

Sign

Negative

Moves in the positive direction and stops

*1




*1

Pn204 Origin

Return

Final Distance

4

*1. Reverses after decelerating to a stop if the final distance for external input positioning is short in comparison to the deceleration distance.

Sets the distance from the latch signal input position to the origin when performing origin return.

The operation after detecting the latch signal input position will be determined by the origin return direction and this parameter as follows.

100 Command units

−

1073741823 to

1073741823

Online

Pn205 Electronic

Gear Ratio

1 (Numerator)

Pn206 Electronic

Gear Ratio

2 (Denominator)

Pn207 Reserved

Pn208 Reserved

Pn209 Deviation

Counter

Overflow

Level

Pn20A to

Pn21F

Reserved

4

4

---

---

4

---

Origin return direction

Positive direction

Negative direction

Sign

Positive Negative

Moves in the positive direction and stops*1


*1



*1. Reverses after decelerating to a stop if the final travel distance for origin return is short in comparison to the deceleration distance.

Sets the numerator for the electronic gear ratio.

Setting this parameter to 0 automatically sets the encoder resolution as the numerator. (131072 for a 17-bit absolute encoder, or

10000 for a 2,500-p/r incremental encoder).

Note


100 times. A parameter setting alarm (alarm code 93) will occur if the ratio is set outside of this range.

Sets the denominator for the electronic gear ratio.

Note


100 times. A parameter setting alarm (Alarm code 93) will occur if the ratio is set outside of this range.

1

1

Do not change.

Do not change.

Sets the deviation counter overflow level.

The value will become saturated at 134217728 (= 2

27 multiplying with the electronic gear ratio.

) pulses after

Setting this parameter to 0 will disable deviation counter overflow.

Do not change.

0

0

---

---

20000 Command units

0

---

---

---

0 to 131072

1 to 65535

---

---

0 to

2147483647

---

Offline

Offline

---

---

Online

---

552


Appendix B

R88D-WT

@

W-series Servo Drive Equipped with JUSP-NS115


Parameter No.

Parameter name

Pn000 Function selection basic switch


1

2

Parameter size

2 0

Digit

No.

1

2

3

0

1

2

3

Reverse rotation

Name

Contents

0

Setting

Explanation

1

Not used.

The setting is disabled. (Do not change the setting.)

Unit No. setting 0 to F Servo Drive communications unit number setting when using personal computer monitoring software

Not used. 0 (Do not change the setting.)


Servomotor is

OFF

---

0

1



Dynamic brake released after stopping.

2





0

1

2

0

1


Stop according to

Pn001.0 settings

(release Servomotor after stopping).


Pn406, and lock



Pn406, and release


AC power supply:


DC power supply:

DC power supplied from +1,

−

terminals


0

1

Alarm code only output from ALO1,

ALO2, ALO3

Alarm code and warning code both output from ALO1,

ALO2, ALO3

0

1

0

0

2

0

0

1

Default setting

---

---

---

---

---

---

---

---


---

---

---

---

---

---

---

---

Enable setting

Details

Offline ---

---

---

---

Offline ---

---

Offline ---

Offline ---

Offline ---

Offline ---

553


Appendix B

Parameter No.

Parameter name


2

2

Parameter size

0

Digit

No.

Name


Contents

Setting

0

1

1

2

3




2

3

0

1

0

1

0

1

2

3

4

Explanation


Option command value 1 used as torque limit input.


Option command values 1 and 2 used as torque limit inputs according to the forward/reverse rotation current limit setting.





Fully-closed encoder is not used.

Fully-closed encoder is used without phase Z.

Fully-closed encoder is used with phase Z.


Reverse Rotation

Mode without phase Z.


Reverse Rotation

Mode with phase Z.

0

0

0

0

Default setting

---

---

---

---


Enable setting

Details

---

---

---

---

Offline

Offline

Offline

Offline

---

---

---

---

554


Appendix B

Parameter No.

Parameter name

Pn003 Function

Pn004

Pn005 selection application switch

3

Not used.

Not used.

Parameter size

2

---

---

0

Digit

No.

---

Name

Analog monitor 1 (AM) allocation

Contents

Setting

0

1

2

3

Explanation


1 V/1,000 r/min

Speed command:

1 V/1,000 r/min

Torque command:

1 V/100%

Position deviation:


2

4

5

Position deviation:

0.05 V/100 command units

Command pulse frequency:

1 V/1,000 r/min

6

7


1 V/250 r/min


1 V/125 r/min

8 to F Not used.


0 1 Analog monitor 2 (NM) allocation

2 to 3 Not used.

---

0

---



Default setting

0

0200

---

---

---

---


---

---

---

---

------(Do not change the setting.)

0000 -----

Enable setting

---

---

---

Details

Online ---

Online ---

---

Fixed setting:

0200

---


Parameter No.

Parameter name

Parameter size

Contents

Digit

No.

Name Setting

Adjusts speed loop responsiveness.

Explanation




Pn103 Inertia ratio






2

2

2

2

2

2

2

2

2


Adjusts position loop responsiveness.

Default setting

80

2000

40

Sets using the ratio between the machine system inertia and the Servomotor rotor inertia.

Adjusts speed loop responsiveness (enabled by automatic gain switching input).

Speed loop integral time constant (enabled by automatic gain switching input)

300

80

2000

Adjusts position loop responsiveness (enabled by automatic gain switching input).



40

0

7

Pn109 Feed-forward amount

2 Position control feed-forward compensation value 0


Enable setting

Details

Hz

×

0.01 ms

1/s

%

Hz

×

0.01 ms

1 to

2000

15 to

51200

1 to

2000

0 to

20000

1 to

2000

15 to

51200

1/s 1 to

2000


Command unit

%

Online ---

Online ---

Online ---

Online ---

Online ---

Online ---

0 to 250 Online ---

0 to 100 Online ---

555


Appendix B

Parameter No.

Parameter name

Parameter size

2

Digit

No.

Name

Contents

Setting

Explanation




2

Default setting

0


0

1

2


(Pn10C).

Sets speed command value conditions (Pn10D).


(Pn10E).

3

4



PI control

IP control

1 Speed control loop switching

0

1

0 2 Automatic gain switching

1

Automatic gain switching disabled

Gain switching using position commands

2

3

Gain switching using position deviation

Gain switching using position commands and position deviation

3 Not used.



4

0

0

0

200 Pn10C P control switching

(torque command)

2

2 Pn10D P control switching

(speed command)




(deviation pulse)

2

2

Sets level of speed command to switch from PI control to P control.



0

0

10

Unit

---

---

---

---

%

10 r/ min/s

Command unit

Setting range

×

0.01 ms

0 to

6400

---

---

---

---

Online

Online

Offline

Offline

---


10000

0 to

3000

0 to

10000

Enable setting

Online

Online

Online

Details

---

---

---

---

---

---

---

---

---

556


Appendix B

Parameter No.

Pn110

Parameter name

Online autotuning setting

Pn111 Speed feedback compensation gain

Pn112 to

Pn123

2

Not used.

---

Pn124 Automatic gain switching timer

Pn125 Automatic gain switching width

(amount of position deviation)

2

2

Parameter size

2 0

Digit

No.

1

2

Name

Select online autotuning

Select speed feedback compensation function

Select adhesive friction compensation function

Contents

Setting

0

1

2

0

1

0

1

Explanation

Autotunes initial operations only after power is turned ON.

Always autotunes.

No autotuning

ON

OFF

Friction compensation: OFF

Friction compensation: Rated torque ratio small

3 Not used.

2

0


Friction compensation: Rated torque ratio large


Default setting

2

1

0

0

100

---

---

---

---

%


---

---

---

---

Enable setting

Offline

Online

Online

---

1 to 500 Online

Details

---

---

---

---

---


Sets the switching delay after conditions have been met, when the automatic gain switching function is used.

(Pn10B.2 = 1 to 3).

Sets the position deviation used as the switching condition when the automatic gain switching function by position deviation (Pn10B.2 = 2, 3) is used.

---

100

7

--ms

Command unit

---

1 to

10000

---

Online

1 to 250 Online

---

---

---


Parameter No.

Parameter name


2


2


G1

(numerator)

2


G2

(denominator)

2

Pn204 Not used.

---

Parameter size

0

Digit

No.

Name

Not used.

1

2

Not used.

Not used.

Contents

Setting

0

0

1

Explanation




0

0

1

Default setting

---

---

---


Enable setting

Details

---

---

---

---

---

---

---

---

---

---

---

Fixed setting:

1

--3 Not used.


Sets the number of output pulses from the Servo

Drive.

0

1000


0.01

≤

G1/G2

≤

100


4

1

0

Pulses

/rotation

---

---

---

16 to

16384

1 to

65535

1 to

65535

---

Offline

Offline

Offline ---

---

---

---

---

557


Appendix B

Parameter No.

Parameter name


Pn206 Number of fullyclosed encoder pulses


2

2

2

Parameter size

Digit

No.

Name

Contents

Setting

Explanation

Sets the limit to the rotation speed when using a Servomotor with an absolute encoder.

Sets the number of fully-closed encoder pulses for each motor rotation.

0

1

Not used.

Not used.

0

1



Default setting

65535

16384

0

1

2 Not used.

0

Unit

Rotations

Setting range

0 to

65535

Pulses

/rotation

513 to

32768

---

---

---

---

---

---

Enable setting

Details

Offline

Offline

---

---

---

---

---

---

Fixed setting:

1

---

Pn208

Pn212

Pn217

Pn218

Not used.

Not used.

Not used.


---

---

---

2

3

0

1

2

3

Not used.

Not used.

Not used.

Not used.

Not used.

0




0

1

0

0



0

0

1

0

0

2048





0

0

0

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---


Parameter No.

Parameter name

Pn300 Not used.

Pn301 Not used.

Pn302 Not used.

Pn303 Not used.

Pn304 Jog speed

---

---

2

Parameter size

---

---

Pn305 Soft start acceleration time


Pn307 Not used.


Pn309 Not used.

2

2

---

2

---






Sets the rotation speed used during jog operation (executed from the Servo

Drive's Parameter Unit).




Sets filter time constant for speed feedback.


1000

100

200

300

500

0

0

40

0

60


Enable setting

Details

---

---

---

---

---

---

---

--r/min 0 to

10000 ms ms

---

×

0.01

ms

---

0 to

10000

0 to

10000

---

0 to

65535

---

---

---

---

---

---

---

---

---

Online ---

Online ---

Online ---

-----

Online ---

-----


Parameter No.

Parameter name

Pn400 Not used. ---

Pn401 Torque command filter time constant

2

Parameter size

Contents

Digit

No.

Name


Setting

Explanation

Sets the filter time constant for the internal torque command.

Default setting


Enable setting

Details

30

40

---

×

0.01

ms

---

0 to

65535

-----

Online ---

558


Appendix B

Parameter No.

Parameter name






Pn407 Speed limit


2

2

2

2

2

2

2

Parameter size

Digit

No.

Name

Contents

Setting

Explanation




Default setting

350

350

100

%

%

%


Enable setting

0 to 800 Online

0 to 800 Online

0 to 800 Online

Details

---

---

---




100

350

3000

%

% r/min

---

0 to 800 Online

0 to 800 Online

0 to

10000

---

Online

Online

---

---

---

---

2

0

1

Selects notch filter 1 function

Not used.

0

1

0





2 Selects notch filter 2 function

0

3 Not used.

1

0




0

0

0

0

2000

---

---

---

Hz

---

---

---

50 to

2000

---

Online

---

Online

---

---

---

--Pn409 Notch filter 1 frequency


Pn40B Notch filter 2 frequency

Pn40C Notch filter 2 Q value

2

2

2




70

2000

70

×

0.01

Hz

×

0.01

50 to

400

50 to

2000

50 to

400

Online

Online

Online

---

---

---


Parameter No.

Parameter name

Parameter size

Digit

No.

Name

Contents

Setting

Explanation



2

Pn501 Not used.

---



2

2


Sets the number of rotations for detecting the Zero

Speed Flag.


Default setting


Enable setting

Details

3

10

20

10

Command unit

0 to 250 Online ---

----r/min 1 to

10000

-----


559


Appendix B

Parameter No.

Parameter name


Pn505 Deviation counter overflow level





2

2

2

2

2

2

Parameter size

Digit

No.

Name

Contents

Setting

Explanation


Flag.

3

Default setting

Unit

Command unit

Setting range

Enable setting

Details

1 to 250 Online ---

Sets the detection level for the deviation counter over alarm.


Sets the rotation speed for outputting the brake command.

Sets the delay from the Servomotor turning OFF to the brake command output.


1024

0

100

50

20

×

256 pulses

×

10 ms

1 to

32767 r/min 0 to

10000

×

10 ms ms

0 to 50

10 to

100

20 to

1000

Online

Online

Online

Online

Online

---

---

---

---

---

560


Appendix B

Parameter No.

Pn50A

Parameter name


Parameter size

2 0

Digit

No.

Name

Not used.

1

2

3

Not used.

Not used.


Contents

Setting

1

Explanation


1

Default setting

---

8

8

0

1

2

3

4

5

6

7

8

9

A

B

C

D

E

F



8

8








Always valid.

Always invalid.








8


Enable setting

Details

---

---

---

---

---

---

---

---

---

Fixed setting:

1

Fixed setting:

8

--Fixed setting:

8


2

561


Appendix B

Parameter No.

Pn50B

Pn50C

Pn50D

Parameter name




Pn50E Output signal selection 1

2

Parameter size

2

2

2

0

Digit

No.

1

2

3

0

1

2

3

0

1

2

3

0

1

2

3

Name


Not used.

Contents

Setting

Explanation


8


Default setting

8

---

---


---

---


5 -----

Enable setting

Details


3

--Fixed setting:

8


8



Not used.

0 to F

8

Same as Pn50A.3


6

8

---

---

---

---

Offline

---

Standard setting:

8

Not used.

Not used.

Not used.

Not used.

Not used.

Not used.

8

8

8

8

8






8

8

8

8

8

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

Fixed setting:

8

Fixed setting:

8

Fixed setting:

8

Fixed setting:

8

Fixed setting:

8

Fixed setting:

8

---

Not used.



0

1

8

8



No output


8

8

1

2

3




1

---

---

---

---

---

---

---

Offline

---

Standard setting:

1




0 to 3

0 to 3

Same as Pn50E.0

Same as Pn50E.0

2

3

---

---

---

---


0

Offline

Offline

Standard setting:

0

Standard setting:

3

562


Appendix B

Parameter No.

Parameter name

Pn50F Output signal selection 2

2

Pn510 Output signal selection 3

2

Parameter size

0

Digit

No.

1

2

3

0

1

2

3

Name



Contents

Setting

Explanation


0


Default setting

0


0

---

---

--BKIR (brake interlock) signal output terminal allocation




Not used.

0 to 3

0 to 3

0

Same as Pn50E.0

Same as Pn50E.0

0

0

0


---

---

---

---

---

---

---

---

---

Not used.

Not used.

0

0




0

0

---

---

---

---

Enable setting

Details


0


0


2


0


0

---

---

---

---

---

---

563


Appendix B

Parameter No.

Pn511

Parameter name


Parameter size

2 0

Digit

No.

Name


Contents

Setting

0

1

2

3

4

5

6

7

8

9

A

B

C

D

E

F

Explanation








Always enabled.

Always disabled.








8

Default setting

---


Enable setting

Details

--Offline Standard setting:

1

564


Appendix B

Parameter No.

Pn511


2

Pn513

Parameter name



Pn51A Motor-load deviation over level

2

Pn51B Not used.

---

Pn51C Not used.

---


2

Parameter size

2

2

1

2

3

Digit

No.

Name


Contents

Setting

0 to 3

4

Explanation

Always disabled.


5

6




Default setting

8

7

8

Always enabled.

Always disabled.



E

F




8

---

---


---

---



8

0

---

---

---

---

Enable setting

Details


4


5


6

Offline --0

1

2


CN1 pins 25,

26


CN1 pins 27,

28


CN1 pins 29,

30

Not used.

0

1

0, 1

0, 1

Not reversed.

Reversed.

Same as above

Same as above

3

0 Not used.

---

8



1

2

3

Not used.

Not used.

Not used.

8

0

0




Sets the allowable range for the number of pulses for fully-closed encoders and semi-closed encoders.

0

0

0

8

8

0

0

0

---

---

---

---

---

---

---

Pulse

---

---

---

---

---

---

---

0 to

32767

Offline

Offline

---

---

---

---

---

Online

---

---

---

---

---

---

---

---




100

450

0

---

---

%

---

---

---

---

---

---

0 to 100 Online ---

565



Parameter No.

Parameter name


Pn601 Not used.

Appendix B

Parameter size

2

Contents

Setting for the regeneration resistance load ratio monitoring calculations.

0

Default setting

0 (Do not change the setting.) ---


Enable setting

Details

×

10 W From 0

(Varies by Unit.)

-----

Online ---

-----

566


Appendix B


Parameter No.

Parameter name


Parameter size

2 0

Digit

No.

1

2

3

Name

MECHA-


Contents

0

Setting

1

Warning check mask


Not used.

Explanation

2

3

0

1

2

3

4

5



(A.E5).


(A.E6).


(A.E5).



(A.E5).


(A.94), MECHA-



(A.96).


Ignores MECHA-


(A.95).



(A.95).


(A.96).


6

7

Ignores both

MECHATROLINK-



(A.94), MECHA-



(A.96).

0 to F Detects a communications error

(A.E6) when the number of errors specified by the set value + 2 have occurred continuously.


0

4

0

0

Default setting

---

---

---

---


---

---

---

---

Enable setting

Details



Online ---

-----

567


Appendix B

Parameter No.

Pn801

Parameter name

Software limits

Parameter size

2 0

Digit

No.

Name


Contents

Setting

0

1

1

2

3

Not used.


Not used.

2

3

0

0

1

0

Explanation









0

0

0

0

Default setting

---

---

---

---


Enable setting

Details

---

---

---

---

Online

---

Online

---

---

---

Always set to 0.

---

Parameter No.

Pn802

Pn803

Parameter name

Not used.

Zero point width



Pn808 Absolute encoder zero point position offset

Pn80A First-step linear acceleration constant

Pn80B Second-step linear acceleration constant

Pn80C Acceleration constant switching speed

Parameter size

---

2

4

4

4

2

2

2



Details







0000

100

---

10 Command unit


−


0 Command unit


2

---

0 to 250

---

Online

---

---

−

1,073,741,823 to

1,073,741,823

−

1,073,741,823 to

1,073,741,823

−

1,073,741,823 to

1,073,741,823

Online ---

Online ---

Offline ---

1 to 65535



100

0

×10,000 command units/s mand units/s

2

×100 com-

1 to 65535

0 to 65535







568


Appendix B

Parameter No.

Parameter name

Pn80D First-step linear deceleration constant

Parameter size

2



100

ting

Pn80E Second-step lin-

Pn810

Pn811

Pn812

Pn813 ear deceleration constant

Pn80F Deceleration constant switching speed




Not used.


2

2

2

2

2

---

4





Sets the S-curve acceleration/deceleration moving average time for the acceleration/deceleration curve used in position control.


Sets the final travel distance for external positioning when executing

INTERRUPT FEEDING using direct operation.

100

0

0

0

0

0010

100

Unit


2


2


Command units/s

×

×

0.1 ms

0.1 ms

-----

Setting range

1 to 65535

1 to 65535

0 to 65535

0 to 32767

0 to 5100

0 to 5100

Enable setting

Details













-----

Command unit

−

1,073,741,823 to

1,073,741,823



569


Appendix B

Parameter No.

Parameter name

Parameter size

2 0

Digit

No.


Name

Contents

Setting


0

1

Explanation

Forward

Reverse

Default setting

0


---

---

---

---

Online

---

Details


Parameters.



---


2

1 to 3 Not used.



0

50




2

4

2

Pn81C Not used.

---


2





0

1 to 3


Not used.

0

1

0




5

100

0

0000

0

0



Command unit

0 to 65535

0 to 65535





−

1,073,741,823 to

1,073,741,823



−

32,768 to

32,767

Online ---

×

0.1 command unit

---

---

---

---

---

Offline

---

---

---------

Pn81E to

Pn823

Not used.

--(Do not change the setting.) 0000 ---------

570


Appendix B

R88D-WN

@

-ML2 W-series Servo Drive with Built-in MECHATROLINK-II

Communications


Parameter No.

Parameter name



2

Parameter size

2 0

Digit

No.

1

2

3

0

1

2

3

Name

Reverse rotation

Contents

0

Setting

Explanation


1 CW direction is taken for positive command

2 to 3 Not used.

Not used.

0

Unit No. setting 0 to F Servo Drive communications unit number setting

(necessary for multiple Servo Drive connections when using personal computer monitoring software)

Not used. 0



Stop selection if an alarm occurs when

Servomotor is

OFF

Stop selection when drive prohibited is input

0

1

2

0


Dynamic brake

OFF after Servomotor stopped

Servomotor stopped with free run

Stop according to

Pn001.0 setting


1

AC/DC power input selection

Not used.

2

0

1

0


Pn406, and lock



Pn406, and release


AC power supply:


DC power supply:

DC power from +,

−

(2) terminals


0

0

0

0

2

0

0

0

Default setting

---

---

---

---

---

---

---

---


---

---

---

---

---

---

---

---

Enable setting

Details

Offline ---

---

Offline ---

---

---

---

---

Offline ---

Offline ---

Offline ---

---

571


Appendix B

Parameter No.

Parameter name


2

Parameter size

0

Digit

No.

Name


Contents

Setting

0

1


2

1

2

3

0

1

2

3



Not used.

Not used.

Not used.

Not used.

Not used.

2

3

0

1

0

1

0

0

1

1

0

Explanation


Use option command value 1 as the torque limit value.

Use option command value 1 as the torque feed forward command value.

Use option command value 1 or 2 as the torque limit value, according to the forward and reverse torque limits that are specified.


Use option command value 1 as the speed limit value.

Use as absolute encoder

Use as incremental encoder






0

0

0

0

0

1

1

0

Default setting

---

---

---

---

---

---

---

---


Enable setting

Details

---

---

---

---

---

---

---

---

Offline

Offline

Offline

---

---

---

---

---

---

---

---

---

---

---

---

---

572


Appendix B

Parameter No.

Parameter name


2

Parameter size

Digit

No.

Name

0 to 1 Analog monitor 1 (AM) signal selection

Contents

Setting

00

01

02

03

04

05

06

07

08

09

0A

Explanation

Default setting

Servomotor rotation speed: 1 V/

1000 r/min

Speed command:

1 V/1000 r/min


(1 V per 100%)

Position deviation:





(1 V/1,000 r/min)

Not used.

Not used.



Speed feed forward

(1 V/1,000 r/min)


100%)

Not used.

02

2

3


Not used.

4

0

0B to

1F

0

1

2

3

1x

10x

100x

1/10x

1/100x


0

0

---

---

---


Enable setting

Details

---

---

---

Online

Online

---

---

---

---

573


Appendix B

Parameter No.

Parameter name


2

Parameter size

Digit

No.

Name

0 to 1 Analog monitor 2 (NM) signal selection

Contents

Setting

00

01

02

03

04

05

06

07

08

09

0A

Explanation

Default setting

Servomotor rotation speed: 1V/

1000 r/min

Speed command:

1 V/1000 r/min


(1 V per 100%)

Position deviation:





(1 V/1,000 r/min)

Not used.

Not used.



Speed feed forward

(1 V/1,000 r/min)


100%)

Not used.

00


2

2

3

0

1

2

3


Not used.

Lowered battery voltage alarm/warning selection

Not used.

Warning detection selection

Not used.

4

0

0B to

1F

0

1

2

3

0

1

0

0

1

4

1x

10x

100x

1/10x

1/100x


Regard battery voltage drop as alarm (A.830).

Regard battery voltage drop as warning (A.930).

0

0

0


0

Warnings detected. 0

Warnings not detected.


4

---

---

---

---

---

---

---


Enable setting

Details

---

---

---

---

---

---

---

Online

Online

---

Offline

---

Offline

---

---

---

---

---

---

---

---

574


Appendix B


Parameter No.

Parameter name

Parameter size

Contents

Digit

No.

Name Setting

Adjusts speed loop response.



2

2


2

Pn103 Inertia ratio 2


Adjusts position loop response.






2

2

2

2

2

Explanation

Set using the ratio between the machine system inertia and the Servomotor rotor inertia.

Adjusts speed loop response (enabled by automatic gain switching input).

Speed loop integral time constant (enabled by automatic gain switching input).


Default setting

800

2000

400

300

800

2000

Adjusts position loop response (enabled by automatic gain switching input).


400

0

7

Position control feed-forward compensation value 0


Enable setting

Details

×

0.1

Hz

×

0.01 ms

10 to

20000

15 to

51200

×

0.1/s 10 to

20000

% 0 to

20000

×

0.1

Hz

×

0.01 ms

10 to

20000

15 to

51200

×

0.1/s 10 to

20000


Command unit

%

Online ---

Online ---

Online ---

Online ---

Online ---

Online ---

0 to 250 Online ---

0 to 100 Online --Pn109 Feed-forward amount



2

2

2


0

×

0.01 ms

---

0 to

6400

---

Online ---

Online ---

2


0

1

2

3

4


(Pn10C).

Sets speed command value conditions (Pn10d).


(Pn10E).



1

2

Speed control loop switching

Position loop control method

0

1

PI control

IP control

2 to 3 Not used.

0 Standard position control

1 Less deviation control

2 to 3 Not used.

3 Not used.



4

0

0

0

200

---

---

---

%

---

---

---

Offline ---

Offline ---

-----

0 to 800 Online --Pn10C P control switching

(torque command)

Pn10D P control switching

(speed command)

2 Sets level of speed command to switch from PI control to P control.

0 r/min 0 to

10000

Online ---

575


Appendix B

Parameter No.

Parameter name

Parameter size




(deviation pulse)

Pn110 Normal autotuning switches

2

2

2

2

Digit

No.

Name

Contents

Setting

Explanation


0

Default setting


r/min/s 0 to

30000

Enable setting

Details

Online ---


10

0

1

Not used.

Speed feedback compensation function selection


ON 0

1 OFF

2 to 3 Not used.

2

3

Not used.

Not used.

0

0




2

1

0

0

100

Command unit

---

---

---

---

%

0 to

10000

---

---

---

---

1 to 500

Online

Offline

Offline

---

---

Online

---

---

---

---

---

--Pn111 Speed feedback compensating gain

Pn119 Not used.

Pn11A Not used.

Pn11E Not used.

Pn11F Position integral time constant

Pn12B Not used.

Pn12C Not used.

Pn12D Not used.

Pn12E Not used.

Pn12F Not used.

Pn130 Not used.



Pn135 Gain switching waiting time 1

Pn136 Gain switching waiting time 2

---

---

---

2

---

---

---

---

---

---

2

2

2

2




Position loop integral time constant









The time from when gain switching condition A is satisfied until switching from the No. 1 gain to the No. 2 gain begins.

The time from when gain switching condition B is satisfied until switching from the No. 2 gain to the No. 1 gain begins.

500

1000

1000

0

400

2000

400

400

2000

400

0

0

0

0

---

---

---

×

0.1 ms

---

---

---

---

---

--ms ms ms ms

---

---

---

0 to

50000

---

---

---

---

---

---

0 to

65535

0 to

65535

0 to

65535

0 to

65535

---

---

---

Online ---

---

---

---

---

---

---

---

---

---

---

---

---

---

-----

Online ---

Online

Online

Online

---

---

---

576


Appendix B

Parameter No.

Parameter name

Parameter size

Pn139 Automatic

Pn144 gain changeover related switches 1

Not used.

Pn150 Predictive control selection switches

2

---

2

0

1

Digit

No.

Name

Gain switching selection switch

Gain switching condition A

Contents

Setting

0

1

Explanation

Manual gain switching (automatic gain switching not used)

Automatic switching pattern 1

Automatic switching from No. 1 gain to No. 2 gain when gain switching condition A is satisfied.

Automatic switching from No. 2 gain to No. 1 gain when gain switching condition B is satisfied.

2 to 4 Not used.

0 Positioning completed output 1

(INP1) ON

1

2


(INP1) OFF


(INP2) ON

Default setting

0

0

3

4


(INP2) OFF

The position command filter output is

0, and also the position command input is 0.

5 The position command input is not 0.

0 to 5 Same as Pn139.1

0 2 Gain switching condition B

Not used.



0

1

Predictive control selection

Predictive control type

0

1

2

0

Predictive control not used.

Predictive control used.

Not used.

Predictive control for tracking

2 Not used.

1

2

Predictive control for positioning


3 Not used.


Adjusts acceleration and deceleration response for predictive control.

0

1000

0

1

2

0

100

---

---

---

---

---

---

---

---

---

%


---

---

---

---

---

---

---

---

---

Enable setting

Offline

Offline

Offline

---

---

Offline

Offline

---

---

0 to 300 Online

Details

---

---

---

---

---

---

---

---

---

--Pn151 Predictive control acceleration/deceleration gain

Pn152 Predictive control weighting ratio

Pn1A0 Servo rigidity

Pn1A1 Servo rigidity 2

2

2

2

2

Adjusts position deviation for predictive control.



100

60

60

%

%

%

0 to 300 Online

1 to 500

1 to 500

Online

Online

---

---

---

577


Appendix B

Parameter No.

Parameter name

Parameter size

Pn1A2 Speed feedback filter time constant

Pn1A3 Speed feedback filter time constant 2

Pn1A4 Torque command filter time constant 2

Pn1A7 Utility control switches

2

2

2

2

Digit

No.

Name

Contents

Setting

Explanation


Default setting

72

Unit

×

0.01 ms

Setting range

30 to

3200

Enable setting

Details

Online ---


Sets the filter time constant for the torque command.

72

36

0

1

Integral compensation processing

Not used.

0

1

2

3

2

Integral compensation processing not executed.

Integral compensation processing executed.






2

3

Not used.

Not used.

1

1



Adjusts the auxiliary integral responsive.

1

2

1

1

37

× ms

×

0.01

0.01 ms

---

---

---

---

Hz

30 to

3200

0 to

2500

---

---

---

---

Online

Online

Online

---

---

---

0 to 500 Online

---

---

---

---

---

---

--Pn1A9 Utility integral gain

Pn1AA Position proportional gain

Pn1AB Speed integral gain

Pn1AC Speed proportional gain

Pn1B5 Not used.

2

2

2

2

---

Adjusts the position proportional responsive.

Adjusts the speed integral responsive.

Adjusts the speed proportional responsive.


60

0

120

150

Hz

Hz

Hz

---

0 to 500

0 to 500

0 to

2000

---

Online

Online

Online

---

---

---

---

---

578


Appendix B


Parameter No.

Parameter name

Parameter size

Pn200 Not used.

2

2

0

1

2

3

Digit

No.

Name

Not used.

Not used.

Not used.

Not used.

Contents

0

Setting

0

Explanation



1

0



Default setting

0

0

1

0

Sets the multi-turn limit for when a Servomotor with an absolute encoder is used.

65535

Unit

---

---

---

---

Rotation


Pn207 Position control settings 2

2 ---

Pn209 Not used.

---

Pn20A Not used.

---

4 Pn20E Electronic gear ratio

G1

(numerator)


G2

(denominator)


4

4

0

1

2

Not used.

Not used.


0

1

0

1

2



Disabled


Compensates to reverse rotation side.

3 INP 1 output timing

0

1


(Pn522).


(Pn522) and also the command after the position command filter is 0.

2 When the absolute value for the position deviation is below the INP1 range (Pn522) and also the position command input is

0.



Sets the pulse rate for the command pulses and

Servomotor movement distance.

0.001

≤

G1/G2

≤

1000

0

1

0

0

0

32768

4

Sets the number of output pulses per Servomotor rotation.

1

1000

---

---

---

---

---

---

---



2

2

Mechanical system backlash amount (the mechanical gap between the drive shaft and the shaft being driven)

0


0

×

0.01 ms

Setting range

---

---

---

---

---

---

---

---

Enable setting

Details

---

---

---

---

---

---

---

---


---

---

---

---

Offline ---

Offline ---

---

---

---

---

---

---

1 to

1073741824

Offline ---

1 to

1073741824

Offline ---

Pulses

/rotation

Command unit

16 to

1073741824

Offline ---

−

32767 to

32767

Online ---

0 to 65535 Online ---

579


Appendix B

Parameter No.

Parameter name

Pn216 Not used.

---

Pn217 Not used.

---

Pn281 Not used.

---

Parameter size

Digit

No.

Name

Contents

Setting




Explanation

Default setting

Unit

0

0

20

---

---

---

---

---

---

Setting range

Enable setting

Details

---

---

---

---

---

---


Parameter No.

Parameter name

Pn300 Not used.

---

Pn301 Not used.

---

Pn302 Not used.

---

Pn303 Not used.

---

Pn304 Jog speed 2

Parameter size

Contents

Digit

No.

Name


Setting

Explanation

Default setting



600

100


Sets rotation speed during jog operation (using Servo

Drive’s personal computer monitoring software)


0

200

300

500

---

---


---

---

-----

----r/min 0 to

10000 ms 0 to

10000

Enable setting

Details

---

---

---

---

-----

-----

Online ---

Online --Pn305 Soft start acceleration time


2

2

Pn307 Not used.

---


2

Pn310 Vibration detection switches

2

Sets deceleration time during speed control soft start. 0


Sets constant during filter of speed feedback.

40

0 ms

---

×

0.01 ms

---

0 to

10000

---

0 to

65535

---

Online ---

-----

Online ---

Online ---

2

0 Vibration detection selection

0

1

Vibration detection not used.

Gives warning


1 Not used.

2

---

Gives alarm



2

3

Not used.

Not used.

---

---



Sets the vibration detection sensitivity.

0

0

0

0

100

---

---

---

%

---

---

---

50 to

500

---

---

---

---

---

---

Online --Pn311 Vibration detection sensitivity

Pn312 Vibration detection level

2 Sets the vibration detection level 50 r/min 0 to 500 Online ---

580


Appendix B


Parameter No.

Parameter name

Pn400 Not used. ---

Pn401 1st step

1st torque command filter time constant

2

2 Pn402 Forward torque limit


2

2 Pn404 Forward rotation external current limit



Pn407 Speed limit


2

2

2

2

Parameter size

Digit

No.

Name

Contents

Setting

Explanation



Default setting

30

40



Output torque limit during input of forward rotation current limit (rated torque ratio)

350

350

100

Output torque limit during input of reverse rotation current limit (rated torque ratio)

100

Deceleration torque when an error occurs (rated torque ratio)


350

3000

0

1


Not used.

0

1

0





2 Selects notch filter 2 function.

0

3 Not used.

1

0




0

0

0

0

2000 Pn409 Notch filter 1 frequency


Pn40C Notch filter 2 frequency

Pn40D Notch filter 2 Q value

Pn40F 2nd step

2nd torque command filter frequency

Pn410 2nd step

2nd torque command filter Q value

Pn411 3rd step torque command filter time constant

2

2

2

2

2

2

2


Sets the notch filter 2 frequency for torque commands.


Sets the filter frequency for internal torque commands.

Sets the torque command filter Q value.


70

2000

70

2000

70

0


Enable setting

Details

---

×

0.01

ms

%

%

%

%

%

---

0 to

65535 r/min 0 to

10000

-----

---

---

---

Hz

×

0.01

50 to

1000

Hz

-----

Online ---

0 to 800 Online ---

0 to 800 Online ---

0 to 800 Online ---

0 to 800 Online ---

0 to 800 Online ---

---

---

---

50 to

2000

50 to

2000

×

0.01

50 to

1000

Hz

×

0.01

50 to

1000

µ s

100 to

2000

0 to

65535

Online ---

Online ---

-----

Online ---

-----

Online ---

Online ---

Online ---

Online ---

Online ---

Online ---

Online ---

581


Appendix B

Parameter No.

Parameter name

Pn412 1st step

2nd torque command filter time constant

2

Pn413 Not used.

---

Pn414 Not used.

---

Pn420 Damping for vibration suppression on stopping

2

2 Pn421 Vibration suppression starting time

Pn422 Gravity compensation torque

2

Pn456 Sweep torque command amplitude

2

Parameter size

Digit

No.

Name

Contents

Setting

Explanation

Sets the filter time constant for No. 2 gain internal torque commands.



Sets the vibration suppression value while stopped.

Sets the time from when the position command becomes 0 until damping for vibration suppression on stopping begins.

Sets the gravity compensation torque.

Sets the sweep torque command amplitude.

Default setting

100

100

100

100

1000

0

15

Unit

×

0.01 ms

0 to

65535

---

---

% ms

×

0.01

%

%

Setting range

---

---

10 to

100

0 to

65535

−

20000 to

20000

Enable setting

Online

---

---

---

Online ---

Online

Online

1 to 800 Online

Details

---

---

---

---

---


Parameter No.

Parameter name

Pn501 Not used.

---


2

2 Pn503 Speed conformity signal output width



2

2



2

2

Parameter size

Contents

Digit

No.

Name Setting


Explanation


Default setting

10

20


10


Sets the number of rotations for outputting the brake command.

0

100

Sets the delay time from the Servomotor turning

OFF to the brake command output.


50

20


Enable setting

Details

--------r/min 1 to 10000 Online --r/min 0 to 100

×

10 ms

0 to 50 Online --r/min 0 to 10000 Online ---

×

10 ms ms

Online ---


20 to 1000 Online ---

582


Appendix B

Parameter No.

Pn50A

Pn50B

Parameter name



Parameter size

2

2

0

Digit

No.

1

2

3

0

1

2

3

Name

Not used.

Not used.

Not used.


Contents

Setting

1

8

Explanation



8

0

1

2

3

4







5

6

7

8

9

A

B

C



Always enabled.

Always disabled.





1

8

8

1

D

E





2 NOT

(reverse drive prohibited input) signal Input terminal allocation

Not used.

8

Default setting

8

Not used.

Not used.

8

8




8

8

Unit

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

Setting range

Enable setting

Details

---

---

---

Offline

Offline

---

---

---

---

---

---

Standard setting:

1

Standard setting:

2

---

---

---

583


Appendix B

Parameter No.

Pn50C

Pn50D

Parameter name




2


2

Parameter size

2

2

0

Digit

No.

1

2

3

0

1

2

3

0

1

2

3

0

1

2

3

VCMP

(speed conformity) signal output terminal allocation


READY

(servo ready) signal output terminal allocation


VLIMT

(speed limit detection) signal output terminal allocation


WARN

(warning) signal output terminal allocation

Name

Not used.

Not used.

Not used.

Not used.

Not used.

Not used.

Not used.

Not used.


Contents

Setting

8

8

Explanation



8

8

8

8

8

8







8

8

8

8

8

8

8

8

0

1

Not used.


0

2

3




0

0 to 3

0 to 3

0 to 3

0 to 3

0 to 3

0 to 3

Same as Pn50E.0

Same as Pn50E.0

Same as Pn50E.0

Same as Pn50E.0

Same as Pn50E.0

Same as Pn50E.0

Default setting

0

0

0

0

0

0

Unit

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

---

Setting range

Enable setting

Details

---

---

---

---

---

---

---

---

Offline

Offline

Offline

Offline

Offline

Offline

Offline

Offline

---

---

---

---

---

---

---

---

Standard setting:

0

Standard setting:

0

Standard setting:

0

Standard setting:

0

Standard setting:

0

Standard setting:

0

Standard setting:

1

Standard setting:

0

584


Appendix B

Parameter No.


2

Pn511

Parameter name


Parameter size

2

0

Digit

No.

1

2

3

0

Name


Not used.

Contents

Setting

Explanation


0

0

Default setting

0

Not used.

Not used.

0

0




0

0


0 3

Unit

---

---

---

---

---

1

2

3





4

5

6

7

8

9

A

B




Always enabled.

Always disabled.




C

D

E

F





---

---

---

---

---

Setting range

Enable setting

Details

Offline

---

---

---

Offline

Standard setting:

0

---

---

---

Standard setting:

3

585


Appendix B

Parameter No.

Pn511

Parameter name


Parameter size

2 1

Digit

No.

2

Name


Contents

Setting

0 to 3

4

Explanation

Always disabled.


5

6




Default setting

4

7

8

Always enabled.

Always disabled.



E

F




5

Unit

---

---

---

---

Setting range

Enable setting

Details


4


2

3 EXT3 signal input terminal allocation


6

0

1

2


CN1 pins 1,

2


CN1 pins 23,

24


CN1 pins 25,

26

Not used.

0

1

0, 1

0, 1

Not reversed.

Reversed.

Same as above

Same as above






0

0

0

0

0321

8888

1000

100

---

---

---

---

---

---

---

---

%

---

---

---

---

---

---

---


5


6

Offline ---

Offline

Offline

---

---

---

---

---

---

---

---

-------


Pn513 Not used.

---

Pn515 Not used.

---

Pn51B Not used.

---


2

4 Pn520 Deviation counter overflow level


4


4

Sets the deviation counter overflow alarm detection level.


(INP1)


(INP2)

262144 Command

3

3 unit

Command unit

Command unit

1 to

1073741823

0 to

1073741823

1 to

1073741823

Online ---

Online ---

Online ---

586


Appendix B

Parameter No.

Parameter name

Pn526 Deviation counter overflow level at

Servo-ON

Pn528 Deviation counter overflow warning level at

Servo-ON

4

2

Pn529 Speed limit level at Servo-

ON

2

Pn52A Not used.

---

Pn52F Not used.

---

Parameter size

Digit

No.

Name

Contents

Setting

Explanation

Sets the deviation counter overflow alarm detection level for Servo ON.

Default setting

Unit

262144 Command unit

Sets the deviation counter overflow warning detection level for Servo ON.

Sets the speed limit for when the Servo turns ON with position deviation accumulated.



100

10000

20

FFF

% r/min

---

---

Setting

1 to

1073741823

Online ---

10 to 100

0 to 10000 Online

---

---

range

Enable setting

Online

---

---

Details

---

---

---

---

587


Appendix B

Parameter No.

Parameter name

Pn530 Program

JOG operation related switches

2

Pn531 Program

JOG movement distance

Pn533 Program

JOG movement speed

4

2

Parameter size

0

Digit

No.

Name

Program

JOG operating pattern

Contents

Setting

0

1

Explanation

(Waiting time

Pn535

→


×


Pn536

(Waiting time

Pn535

→


×


Pn536

2

3

4

5

Waiting time Pn535

→


×


Pn536

(Waiting time

Pn535

→


×


Pn536

(Waiting time

Pn535

→


×


Pn536

(Waiting time

Pn535

→


×


Pn536

(Waiting time

Pn535

→

Forward movement Pn531

→

Waiting time

Pn535

→


×


Pn536

(Waiting time

Pn535

→

Reverse movement Pn531

→

Waiting time

Pn535

→


×


Pn536

1

2

Not used.

Not used.

0

0



3 Not used.


Sets the program JOG movement distance.

Default setting

0

0

0

0

32768

Unit

---

---

---

---

Command unit

Setting

---

---

---

---

range

Enable setting

Online

---

---

---

Details

---

---

---

---

1 to

1073741824

Online ---

Sets the program JOG operation movement speed.

500 r/min 1 to 10000 Online ---

588


Appendix B

Parameter No.

Parameter name

Pn534 Program

JOG acceleration/deceleration time

Pn535 Program

JOG waiting time

2

2

Pn536 Number of program

JOG movements

2

Pn540 Gain limit 2



Parameter size

Digit

No.

Name

Contents

Setting

Explanation

Sets the acceleration/deceleration time for program

JOG operation.

Default setting

100

Unit

ms

2

2

Sets the delay time from the program JOG operation start input until operation starts.

Sets the number of repetitions of the program JOG operations.

Sets the gain limit.



100

1

2000

0

0 ms

Times

×

0.1

Hz

10 to 2000 Online

×

0.1 V

−

10000 to

10000

Online

---

---

×

0.1 V

2 to 10000 Online

0 to 10000 Online

1 to 1000

−

Setting range

10000 to

10000

Enable setting

Online

Online

Details

---

---

---

---


Parameter No.

Parameter name


Parameter size

2

Contents

Setting for regeneration resistance load ratio monitoring calculations

Default setting


Enable setting

Details

0

×

10 W 0 to

(varies by model)

Online ---

589


Appendix B


Parameter No.

Parameter name


Parameter size

2 0

Digit

No.

1

2

3

Name

MECHA-

TROLINK communications check mask

Warning check mask


Not used.

Contents

0

Setting

Explanation

1

2

3

0

1

2

3

4

5


(A.E6

@

) and synchronization errors

(A.E5

@

).


(A.E6

@ ).


(A.E5

@ ).


(A.E6


(A.E5

@ ).


(A.94

@

), MECHA-


(A.95

@ ), and communications errors

(A.96

@

).

Ignores parameter setting warning (A.

94 @ ).

Ignores command warning (A. 95 @ ).


94 @ ) and command warning (A.

95 @ ).


(A. 96 @ ).

Ignore setting warning (A. 94 @ ) and communications warning

(A. 96 @ ).

6

7

Ignores command warning (A. 95 @ ) and communications warning

(A. 96 @ ).

Ignores setting warning (A. 94 @ ), command warning

(A. 95 @ ), and communications warning (A. 96 @ ).

0 to F Detects communications errors

(A.E60) if they occur consecutively for the set value plus two times.


0

4

0

0

Default setting

---

---

---

---


---

---

---

---

Enable setting

Details



Online ---

-----

590


Appendix B

Parameter No.

Pn801

Parameter name


(software

LS)

Parameter size

2 0

Digit

No.

Name


Contents

Setting

0

1

2

1

2

3

Not used.


Not used.

3

0

0

1

0

Explanation









3

0

0

0

Default setting

---

---

---

---


Enable setting

Details

---

---

---

---

Online

---

Online

---

---

---

Always set to 0.

---

Parameter No.

Pn802

Pn803

Pn804

Pn806

Pn808

Pn80A

Parameter

Not used.

Zero point width




name

First step linear acceleration constant

Pn80B Second step lin-



Parameter size

---

2

4

4

4

2

2

2



Details





Sets the encoder position and machine coordinate system offsets for when an absolute encoder is used.

Sets the step 1 acceleration for when two-step acceleration is used.

0000 ---------

10 Command unit


−

0


Command unit

0 to 250

−

1,073,741,823 to

1,073,741,823

−

1,073,741,823 to

1,073,741,823

−

1,073,741,823 to

1,073,741,823

Online ---

Online ---

Online ---

Offline ---


2

1 to 65535

Sets the step 2 acceleration for when two-step acceleration is executed, or the one-step acceleration constant for when one-step acceleration is executed.

Sets the switching speed for the step 1 and step 2 acceleration when twostep acceleration is executed.

100

0


2


1 to 65535

0 to 65535



0).



0).



0).

591


Appendix B

Parameter No.

Parameter name

Pn80D First step linear deceleration constant

Parameter size

2

Contents

Sets the step 1 deceleration for when two-step deceleration is used.

100

Default setting

Pn80E Second step lin-

Pn80F Deceleration

Pn810

Pn811

Pn812

Pn813 ear deceleration constant constant switching speed



Moving average time

Reserved.


2

2

2

2

2

---

4

Sets the step 2 deceleration for when two-step deceleration is executed, or the one-step deceleration constant for when one-step deceleration is executed.

Sets the switching speed for the step 1 and step 2 deceleration when twostep deceleration is executed.

Sets the bias for when an exponential filter is used for the position command filter.

Sets the time constant for when an exponential filter is used for the position command filter.




100

0

0

0

0

0

100


Details


2



Command units/s

×

×

2

0.1 ms

0.1 ms

1 to 65535

1 to 65535

0 to 65535

0 to 32767

0 to 5100

0 to 5100



0).



0).



0).



0).



0).



0).

---------

Command unit

−

1,073,741,823 to

1,073,741,823



0).

592


Appendix B

Parameter No.

Parameter name

Parameter size

2 0

Digit

No.


Name

Contents

Setting


0

1

Explanation

Forward direction

Reverse direction

Default setting

0


---

---

---

---

Online

---

Details


Parameters.



= 0).

---


2

1 to 3 Not used.



0

50



2

4




5

100

0000



Command unit

---



= 0).



= 0).

−

1,073,741,823 to

1,073,741,823



= 0).

------Pn81B to

Pn825

Pn900 to

Pn910

Pn920 to

Pn95F

Not used.

---

Not used.

---

Not used.

---



---

----

---

---

---

---

---

---

---

---

593


Appendix B

R7D-ZN

@

-ML2 SMARTSTEP Junior Servo Drive with Built-in

MECHATROLINK-II Communications


Parameter No.

Parameter name


Pn00A Filter settings

Parameter size

2

2

0

1

2

3

Digit

No.

Name

Reverse rotation

Not used.

Not used.

Not used.

Contents

0

Setting

Explanation

1

0


CW direction is taken for negative command

2 to 3 Not used.




0

0

0

0

Default setting

0000

---

---

---

---

---

Sets the filter time constants.

When using this parameter, turn ON bit 4 of SW2 on the SMARTSTEP Junior Servo Drive.


---

---

---

---

0000 to

000F

Enable setting

Details

Offline ---

---

---

---

---

---

---

Online ---


Parameter No.

Parameter name

Pn20E Electronic gear ratio

G1(numerator)


G2

(denominator)

4

Parameter size

4

Contents


0.01

≤

G1/G2

≤

100

1

1

Default setting

---

---


Enable setting

Details

1 to

107374

1824

Offline ---

1 to

107374

1824

Offline ---


Parameter No.

Parameter name

Pn50A Input signal selection 1

Pn50B Input signal selection 2

Parameter size

2

2

0

Digit

No.

Name

Not used.

1

2

3

0

1

2

3

Not used.

Not used.


2

8

3 NOT (reverse drive prohibited input) signal input terminal allocation

Not used.

8

8

Not used.

Not used.

Contents

1

Setting

8

8

Explanation





1

8

8

2

8

8

Always invalid.


Always invalid.

3




8

8

8

Default setting

---

---

---

---

---

---

---

---


Enable setting

Details

---

---

---

---

---

---

---

---

---

---

---


2


3

---

---

---

---

---

---

---

---

---

594


Appendix B

Parameter No.

Pn515

Parameter name


Parameter size

2 0

Digit

No.

Name

Not used.

1

2

Not used.

Emergency stop (STOP) signal input pin allocation

Contents

Setting

8

8

4

8

Explanation




Always invalid.

8

8

4

8

Default setting

---

---

---


Enable setting

Details

---

---

---

---

---

Offline

---

---

Standard setting:

4



4

4

3 Not used.



8

10


100

-----

Command unit

0 to

1,073,7

41,824

-----

Online ---

Command unit

0 to

1,0737,

41,824

Online ---

595


Appendix B


Parameter No.

Parameter name


Pn801 Function selection application 6

(software

LS)

Pn803 Zero point width

2

Parameter size

2

2

0

Digit

No.

Name

Contents

0

Setting

Explanation

1

2

3

0

1

Not used.

Warning check mask

Not used.

Not used.


Not used.

0

1

2

3

4

5

6

7

0

0

0

1

2

3

0



(A.94), MECHA-



(A.96).


94).

Ignores command warning (A.95).

Ignores setting warning (A.94) and command warning

(A.95).


(A.96).

Ignore setting warning (A.94) and communications errors (A.96).

Ignores command warnings (A.95) and communications errors (A.96).

Ignores setting warning (A.94, command warning


(A.96).








2 Software limit check using reference

0

1



3 Not used.



Default setting

0

4

0

0

3

0

0

0

10

Unit

---

---

---

---

---

---

---

---

Command unit

Setting range

---

---

---

---

---

---

---

---

Enable setting

---

Online

---

---

Online

---

Online

---

0 to 250 Online

Details

---

Always set to 4 or 0.

---

---

---

---

Always set to 0.

---

---

596


Appendix B

Parameter No.

Pn804

Pn806

Pn80B

Pn80E

Parameter name






Parameter size

4

Digit

No.

Name

Contents

Setting

Explanation


4

2

2

4

Default setting


Enable setting

Details


Sets the acceleration constant for the acceleration/ deceleration curves for positioning.

Sets the deceleration constant for the acceleration/ deceleration curves for positioning.


1,073,7

41,823

−

1,073,

741,823

100

100

100

Command unit

Command unit

×10,0

00 command units/ s

2

×10,0

00 command units/ s

2

Command unit

−

1,073,

741,823 to

1,073,7

41,823

−

1,073,

741,823 to

1,073,7

41,823

Online ---

Online ---

1 to

65535

1 to

65535

Online Settings can be change d when the axes are stopped

(Busy

Flag for each axis =

0).


(Busy


0).

−

1,073,

741,823 to

1,073,7

41,823


(Busy


0).

597


Appendix B

Parameter No.

Parameter name


2

Parameter size

0

Digit

No.

Name

Contents

Setting


0

1

Explanation

Forward direction

Reverse direction

0

Default setting


Enable setting

Details

Pn817 Zero point

Pn818 Zero point

Pn819 Final travel

Pn820 to

Pn823 return approach speed 1 return approach speed 2 distance to return to zero point

Not used.

2

2

4

---

1 to 3 Not used.

0






0

50

5

100

0000

-------



Command unit

---

0 to

65535


(Busy


0).

0 to

65535


(Busy


0).

−

1,073,

741,823 to

1,073,7

41,823


(Busy


0).

--------

Settings can be change d when the axes are stopped

(Busy


0).

Set the same direction as the origin search direction set in the

Axis

Parameters.

---

598

Appendix C

Operation Area I/O Allocations

Common Operating Memory Area

Common Operating Output Memory Area Allocations


×

25)

I/O

Output

(CPU

Unit to

PCU) n

Word

00

01

02

Bits Category

---


Name

UNIT ERROR

RESET

WRITE DATA

READ DATA

Function

: Clears the Unit common error that occurred.

: Starts writing data.

: Starts reading data

03 SAVE DATA

: Starts saving data n+1

04 to 15

00


CONNECT

---

: Establishes connection.

01 to 05

Communications control commands

: Releases connection. n+2 n+3 to n+5

06

07

08 to 14

15

---

-----


WRITE BACKUP

DATA

READ BACKUP

DATA


REJOIN (See note.)

---

---

Axes to connect

(See note.)

: Starts writing backup data.

: Starts reading backup data.

: Starts processing for axes to rejoin the connection.

Sets the following for the axes registered in the scan list (bits 0 to 15 correspond to axes 1 to 16).

0: Start MECHATROLINK communications.

1: Do no start MECHATROLINK communications.


---

599

Operation Area I/O Allocations

Appendix C

I/O

Output

(CPU

Unit to

PCU)

Word

n+6 n+7

---

---

Bits

n+8 n+9

---

--n+10 --n+11 --n+12 --n+13 --n+14 ---

Category


---

Name


Write source area

Write source word



Read source address


Function

Specifies the number of words to be written to the

PCU.

Specifies the area of the data to be written to the

PCU.

00B0 hex: CIO Area

00B1 hex: WR Area

00B2 hex: HR Area

00B3 hex: AR Area

0082 hex: DM Area

005

@

hex: EM Area

@

: EM bank No.= 0 to 9, A, B, C

Specifies in hexadecimal the beginning word of the area for the data to be written to the PCU.

Specifies the write destination address in the PCU.

Specifies the number of words to be read from the

PCU.

Specifies the read source address in the PCU.



Specifies the area used to store the data read from the PCU.

00B0 hex: CIO Area

00B1 hex: WR Area

00B2 hex: HR Area

00B3 hex: AR Area

0082 hex: DM Area

005 @ hex: EM Area

@ : EM bank No.= 0 to 9, A, B, C

Specifies in hexadecimal the beginning word of the area where the data read from the PCU is stored.

---

Note


600


Appendix C

Common Operating Input Memory Area Allocations


×

25)

I/O

Input

(PCU to CPU

Unit)

Word Bits

n+15 00 to 11

12

13

14

15 n+16 00 to 11

12

13

14

15 n+17 to n+20

--n+21 ---

Category

PCU common status words

---

Name


Unit Error Flag

---

Function




Data Transferring

Flag



Memory Card Transfer Error


1: Transferring data.

---

---

0: No Memory Card transfer error has occurred.

1: A Memory Card transfer error has occurred.


Unit Busy Flag

Connection Status

Flag


0: PCU is not busy.

1: PCU is busy.



---

Unit error code Shows the error code for the Unit common error that occurred.

601


Appendix C

I/O

Input

(PCU to CPU

Unit)

Word

n+22 00

Bits

01

02

03

04

05

06

07

15 n+23 to n+24

---

11

12

13

14

08

09

10

Category

Axis communications status bits

Name












---







Function

Bits 00 to 15 correspond to the communications status for axes 1 to 16.

The bits will turn ON if the corresponding axes registered in the scan list are communicating normally.

0: Communications for the corresponding axis have stopped, or the axis not registered in scan list.

1: The corresponding axis is communicating.

---

602


Appendix C

Axis Operating Output Memory Area Allocations

a = Beginning word of Axis Operating Output Memory Areas specified in Common Parameters + (Axis No.

−

1)

×

25

I/O

Output

(CPU

Unit to

PCU) a

Word

00

01

02

Bits Category


Name

LINEAR INTERPO-

LATION SETTING

(See note 1.)

LINEAR INTERPO-

LATION START

(See note 1.)

Function

: Starts setting linear interpolation.

: Starts linear interpolation.

(Valid only when LINEAR INTERPOLATION SET-

TING = 1.)

---

03

04

05

06

07



ABSOLUTE MOVE-

MENT

RELATIVE MOVE-

MENT

INTERRUPT FEED-

ING

ORIGIN SEARCH

ORIGIN RETURN

: Starts absolute movement.

: Starts relative movement.

1: Enables interrupt feeding.

: Starts origin search.

: Starts origin return.

08

09

PRESENT POSI-

TION PRESET

JOG

: Starts present position preset.

: Starts jogging.

10


: Stops jogging.

11

12

Direction designation 0: Forward rotation direction



---

ERROR RESET

: Clears the axis error that occurred. a+1

13

14

15

00

DEVIATION

COUNTER RESET

(See note 4.)

: Starts DEVIATION COUNTER RESET.

Override Enable Bit 0: Override disabled.

1: Override enabled.

DECELERATION

STOP

SERVO LOCK

: Starts deceleration stop.

: Starts SERVO LOCK.

01


SERVO UNLOCK

: Starts SERVO UNLOCK.

02 SPEED CONTROL

: Starts speed control.

03

04 to 10

11

TORQUE CON-

TROL


DEVICE SETUP

---

: Starts torque control.

: Starts device setup for the Servo Drive.

12

13

14

15

Servo

Parameter transfer commands

Special command

WRITE SERVO

PARAMETER

READ SERVO

PARAMETER

SAVE SERVO

PARAMETER

EMERGENCY

STOP

: Starts writing Servo Parameter.

: Starts reading Servo Parameter.

: Starts writing Servo Parameter to non-volatile memory.

: Starts emergency stop.

603


I/O

Output

(CPU

Unit to

PCU)

Word

a+2 a+3

---

---

Bits

a+4 --a+5 a+6

---

--a+7 --a+8 --a+9 --a+10 --a+11 --a+12 --a+13 --a+14 --a+15 00 to 03

04 to 07

08 to 15

Appendix C

Category

Operating data for position control

Speed control data

Torque control data

Position/ speed/ torque control data

Operating data for special function

Operating data for expanded monitoring

Name





Speed command value for speed control (rightmost word)

Speed command value for speed control (leftmost word)


(rightmost word)



(rightmost word)


(leftmost word)


(rightmost word)


(leftmost word)

Override

Function



Unit: command unit






Unit: 0.001%

Torque command value (rightmost word)


Unit: 0.001%

Linear interpolation:

Interpolation acceleration time, Unit: ms

Speed control:

Torque limit/torque feed forward, Unit: %

Torque control:

Speed limit, Unit: 0.001%

Linear interpolation:

Interpolation deceleration time, Unit: ms

Speed control:

Torque limit, Unit: %

Override ratio (unit: 0.01%)

Monitor 1 type

Monitor 2 type


Specifies monitor type for monitor 1.

Specifies monitor type for monitor 2.

---

604


Appendix C

I/O

Output

(CPU

Unit to

PCU)

Word Bits

a+16 00 to 02

03

04

05 to 13 a+17 --a+18 ---

14

15 a+19 --a+20 --a+21 00

01

02

03

04

05

06

07

08 to 15

Category

---


---

Name



---

Function


S-curve designation 1: Use S-curve acceleration/deceleration curve.


---

Torque limit Forward rotation current limit designation


Operating data for transferring

Servo

Parameters

Parameter size

Write data

(rightmost word)



Servo Parameter No. Specifies the parameter number of the Servo Drive that will transfer the data.

Specifies the data length of the parameter to be transferred in byte units.

Specifies the data to be written to the Servo Drive. polation data

Write data

(leftmost word)

Interpolation axis designation for axis

1 (See note 2.)


2 (See note 2.)


3 (See note 2.)

Specify the axes for linear interpolation for combinations of axes 1 to 4. Bits 00 to 03 correspond to axes

1 to 4.

0: Not an interpolation axis.

1: Interpolation axis.


4 (See note 2.)


5 (See note 3.)


6 (See note 3.)


7 (See note 3.)


8 (See note 3.)


Specify the axes for linear interpolation for combinations of axes 5 to 8. Bits 04 to 07 correspond to axes

5 to 8.

0: Not an interpolation axis.

1: Interpolation axis.

---

605


Appendix C

I/O

Output

(CPU

Unit to

PCU)

Word

a+22 00

Bits

01

02

03

04

05

06

07

08 to 15 a+23 --a+24 ---

Category

Linear interpolation data

Name

Interpolation position designation for axis 1 (See note 2.)










(rightmost word)

(See note 1.)


(leftmost word)

(See note 1.)

Function

Specify absolute or relative positioning for the axes for linear interpolation. Bits 00 to 03 correspond to axes 1 to 4.

0: Absolute positioning

1: Relative positioning

Specify absolute or relative positioning for the axes for linear interpolation. Bits 04 to 07 correspond to axes 5 to 8.

0: Absolute positioning

1: Relative positioning

---


(rightmost word)


(leftmost word)


Note

(1) Allocated in Axis Operating Output Memory Areas for axis 1 and axis 5 for Position Control Unit Ver.

1.1 or later. These bits are not used in the Axis Operating Output Memory Areas for other axes.

(2) Allocated in Axis Operating Output Memory Area for axis 1 for Position Control Unit Ver. 1.1 or later.

These bits are not used in the Axis Operating Output Memory Areas for other axes.

(3) Allocated in Axis Operating Output Memory Area for axis 5 for Position Control Unit Ver. 1.1 or later.

These bits are not used in the Axis Operating Output Memory Areas for other axes.

(4) The DEVIATION COUNTER RESET can be used with unit version 1.3 or later. This bit is not used for earlier unit versions.

606


Appendix C

Axis Operating Input Memory Area Allocations

b = Beginning word of Axis Operating Input Areas specified in Common Parameters + (Axis No.

−

1)

×

25

Bits I/O

Input

(PCU to CPU

Unit) b

Word

00

Category

Axis Control Status

Flags

Name


Function


: Command reception started.

01 to 04

1: Receiving command (command reception disabled)

Always 0.

05

06


PCU Positioning

Completed Flag

No Origin Flag

: Positioning is completed.

07

08 to 10

Origin Stop Flag





Always 0.

11


Warning Flag

12

13

14

15

Error Flag

Busy Flag

Servo Parameter

Transferring Flag

Stop Execution Flag

0: No warning has occurred.

1: Warning has occurred.

0: No axis error has occurred.


0: Axis is not busy.

1: Axis is busy.


1: Servo Parameter transferring.

: Stop operation completed.

607


Appendix C

I/O

Input

(PCU to CPU

Unit)

Word

b+1 b+2

Bits

00 to 02

03

04

05 and 06

07

08

09

10

11

12

13

14 to 15

---

Category

Servo Status Flags

---

Name


Servo ON Flag

(SVON)

Main Power ON Flag

(PON)


Position Completed

(PSET) Flag/Speed

Conformity (V-CMP)

Flag

Function


0: Servo unlocked.

1: Servo locked.

0: Main circuit power supply OFF

1: Main circuit power supply ON


Distribution Completed (DEN) Flag/

Zero Speed (ZSPD)

Flag

During position control: Position Completed Flag

0: Servo Drive executing position control command or the position is outside

Positioning Completion

Range 1

.

1: Servo Drive finished executing position control command and the position is within

Positioning

Completion Range 1

.

During speed control: Speed Conformity Flag

0: Speed does not match the speed designation for speed control.

1: Speed matches the speed designation for speed control.

During position control: Distribution Completed Flag

0: Servo Drive is executing a position control command.

1: Servo Drive has completed executing a position control command.

During speed control: Zero Speed Flag

0: Not at zero speed.


Torque Limit (T_LIM)

Status Flag


Positioning Proximity (NEAR) Flag/

Speed Limit (V_LIM)

Status Flag

Forward Software

Limit Flag (P_SOT)

Reverse Software

Limit Flag (N_SOT)



0: Torque limit function disabled.

1: Torque limit function enabled.


During position control: Positioning Proximity Flag

0: Outside

1: Within



0: Speed limit function disabled.

1: Speed limit function enabled.

0: Within forward software limit range.

1: Forward software limit range exceeded.

0: Within reverse software limit range.

1: Reverse software limit range exceeded.



.

.

During torque control: Speed Limit Status Flag

608


I/O

Input

(PCU to CPU

Unit)

Word

b+3 00

01

Bits

02

03

04

05

06

07

08

09

10 b+4 b+5 b+6

11 to 15

---

00 to 03

04 to 07

08 to 15

--b+7 --b+8 --b+9 --b+10 --b+11 --b+12 --b+13 --b+14 --b+15 --b+16 to b+23

---

Appendix C

Category

External I/O status

Name




Function


1: Signal valid

0: Signal invalid



Errors

Expanded monitoring

Present position

Expanded monitoring





1 input


2 input


3 input

Brake output

Emergency stop input (See note 2.)


Axis error code

Monitor 1 type

Monitor 2 type




Command present position (rightmost word)

Command present position (leftmost word)




Displays axis error code/warning code for each axis.

Shows monitor type for monitor 1.

Shows monitor type for monitor 2.

Always 0.

Present position:



Present position:


Command position (leftmost word)

Monitor value specified for monitor 1 type.

Monitor value specified for monitor 2 type.

Servo

Parameter data

---





Contains the Servo Parameter that was read.

Always 0.

609


Appendix C

I/O

Input

(PCU to CPU

Unit)

Word

b+24 00

Bits

01 to 12

13

14 and 15

Category

Linear interpolation status

Name


(See note 1.)

Function

0: Linear interpolation setting will be accepted.

: Linear interpolation setting accepted.

1: Linear interpolation setting completed. (New setting not accepted.)

Always 0.


Linear interpolation executing

(See note 1.)


1: Linear interpolation operation in progress or linear interpolation command in progress.

Always 0.

Note

(1) Allocated in Axis Operating Input Memory Areas for axis 1 and axis 5 for Position Control Unit Ver.

1.1 or later. These bits are not used in the Axis Operating Output Memory Areas for other axes.

(2) The emergency stop input status is input only for SMARTSTEP Junior Servo Drives. This status is not used (reserved by the system) for W-series Servo Drives.

610

Appendix D

List of Error Codes

PCU Common Errors

Errors at powerup



Category

Not lit Not lit Not lit Not lit Not lit CPU Unit power interruption

Unit system error

CPU

Unit errors

PCU internal errors

MECHA-

TROLINK communications errors

PCU settings and operations errors

Not lit

Not lit

Lit

Lit

Lit

Lit

Not lit

Lit

Not lit Lit

Flashing

Lit

Flashing

Flashing

Lit

Not lit

Lit

Lit

Not lit

Not lit

Not lit

Not lit

Not lit

Not lit

Not lit

Not lit

Lit

Not lit

Not lit

Not lit

Not lit

Not lit

Not lit

Undetermined

Undetermined

Setting error

Unit malfunction


CPU Unit error

Unit error

Data corrupted

Scan list mismatch


Illegal operation

Illegal data

Error name

Power Interruption

Error code

---

Watchdog Timer Operation

---

Unit Number Error

Unit Recognition Incomplete

---

---

Data Transfer Error ---

Common Memory Error ---

Unit Recognition Error

CPU Fatal Error

CPU Unit Watchdog

Timer Error

---

000A

000B

CPU Unit Monitor Error 000C

Bus Error 000D

0026

0030

MLK Device Error

MLK Device Initialization

Error

Memory Error

MLK Initialization Error

MLK Communications

Error

00F1

0020

0025

Multistart Error

FINS Command Monitoring Error

Write Transfer Error

Read Transfer Error

Transfer Cycle Setting

Error

Initialization Common

Parameter Check Error

Data Transfer Common


0021

0024

0022

0023

0027

0028

0029



MECHA-

TROLINK communications errors

Lit


Flashing


Category


Error name Error code

Synchronous Communications Alarm

3010

Communications Alarm 3011

Command Timeout 3012

611

List of Error Codes

Appendix D



Flashing



Lit Not lit Not lit Lit

Lit Flashing

Not lit Not lit Lit

MECHA-

TROLINK slave station device errors

Lit Flashing

Not lit Flashing

Lit

Category Error name Error code

Illegal operation Present Position

Unknown Error

Servo Unlock Error

Multistart Error

3030

3040

3050

Illegal data


Origin search error

Servo Drive error

MECHATROLINK device alarm

Position Designation

Error

3060

Speed Designation Error 3061

Speed Control Speed

Designation Error

3062

3063 Torque Command Value

Error

Option Command Value

1 Error

3064

Option Command Value

2 Error

Override

Initialization Axis Parameter Check Error

Data Transfer Axis


Data Setting Error

3065

3070

3090

3091

3099

Forward Rotation Limit

Input

Reverse Rotation Limit

Input

3000

3001

Forward Software Limit 3002

Reverse Software Limit 3003

Emergency Stop Signal

Input

3004

3020 No Origin Proximity or

Origin Input Signal

Limit Input Already ON 3021

Limit Input Signal ON in

Both Directions

Drive Main Circuit OFF

Error

3022

3080

4000 +

Alarm code for each device

Alarm Displays for Servo Drives

The following table lists the alarm displays for Servo Drives.

When an alarm or warning occurs for one of the connected MECHATROLINK slave station devices, the PCU turns ON the Error Flag or Warning Flag and returns the following error code.

G5-series Servo Drives/G-series Servo Drives

Error code: 4 @@@ hex

The numbers in the boxes of the error codes displayed for alarms are given as decimal numbers for the Servo

Drives and as hexadecimal numbers for the Position Control Units.

The same numbers are given in the boxes of the error codes displayed for warnings for the Servo Drives and the Position Control Units.

612


Appendix D


Servo Drive alarm display: A.24


Example: Battery warning

Servo Drive warning display: A.92


For details on alarm display and warning display numbers, and the difference between Servo Drives and Position Control Units, refer to the list in Appendix D List of Error Codes.

W-series and SMARTSTEP Junior Servo Drives

Error code: 40 @@ hex

The boxes ( @@ ) indicate the alarm/warning display number for the Servo Drive.

When using an R88D-WN @ -ML2 W-series Servo Drive with built-in MECHATROLINK-II communications, however, only the upper two digits of the display number's three digits will be displayed.

The alarms that occur in the Servo Drive correspond to error codes that are detected by the PCU when a

MECHATROLINK communications connection has been established, as shown in the following table.

When using an R88D-WT @ Servo Drive, the two digits following “A.” in the Servo Drive’s display number in the table are displayed. When using an R88D-WN @ -ML2 W-series Servo Drive, three digits are displayed (the value indicated by the display number box is used to further classify the alarm).

For details on each alarm and countermeasures, refer to the operation manual for the Servo Drive being used.

List of G5-series Alarm Displays

The Servo Drive has built-in protective functions. When a protective function is activated, the Servo Drive turns

OFF the alarm output signal (ALM) and switches to the Servo OFF status.

The alarm code will be displayed on the front panel.

---

PR

X

Alarm type Description

Protective function that allows the alarm to be reset, and leaves record in the alarm history.

Protective function that does not allow the alarm to be reset, and requires the control power supply to be turned OFF and turned ON again after resolving the problem.

Protective function that does not leave record in the alarm history.

Servo

Drive display

11

12

13

14

15

16

18

21

23

PCU error code

400B X

Alarm type

400C

400D

400E

---

X

PR

Error detection function

Control power supply undervoltage

Overvoltage

Main power supply undervoltage

Overcurrent

400F

4010

4012

4015

4017

PR

---

PR

PR

PR

Servo Drive overheat

Overload

Regeneration overload

Encoder communications error

Encoder communications data error

Detected error or cause of error

The DC voltage of the main circuit has dropped below the specified value.

The DC voltage of the main circuit is abnormally high.

The DC voltage of the main circuit is low.

Overcurrent flowed to the IGBT. Servomotor power line ground fault or short circuit.

The temperature of the Servo Drive radiator exceeded the specified value.

Operation was performed with torque significantly exceeding the rating for several seconds to several tens of seconds.

The regenerative energy exceeded the processing capacity of the regeneration resistor.

Communications between the encoder and the Servo Drive failed for a specified number of times, thereby activating the error detection function.

Communications error occurred for the data from the encoder.

613


Appendix D

48

49

50

Servo

Drive display

24

25

26

27

29

30

33

34

36

37

38

40

41

42

43

44

45

47

51

55

82

83

PCU error code

4018

Alarm

---

type

4019

401A

401B

401D

401E

4021

4022

4024

4025

4026

4028

4029

402A

402B

402C

402D

402F

4030

4031

4032

4033

4037

4052

4053

PR

---

PR

---

PR

---

---

PR

X

PR

X

X

PR

PR

PR

PR

PR

PR

---

PR

PR

PR

PR

PR

PR

---

Error detection function Detected error or cause of error

Error counter overflow

Excessive hybrid error

Overspeed

Command error

Internal error counter overflow

Safety input error

Interface duplicate allocation error

Overrun limit error

Parameter error

The number of position deviation pulses exceeded the Error


The difference between the position of load from external encode and the position of motor due to encoder was larger than the number of pulses set by Internal/External Feedback

Pulse Error Counter Overflow Level (Pn328).

The rotation speed of the Servomotor exceeded the setting of the Overspeed Detection Level Setting at Emergency

Stop (Pn615) or Overspeed Detection Level Setting

(Pn513).

The operation command resulted in an error.

The value of the internal deviation counter (internal control unit) exceeded 2

27

(134217728).

Safety input signal turned OFF.

A duplicate setting for the interface I/O signals was detected.

The Servomotor exceeded the allowable operating range set in the Overrun Limit Setting (Pn514) with respect to the position command input.

Data in the parameter save area was corrupted when the data was read from the EEPROM at power-ON.

Parameter destruction The EEPROM write verification data was corrupted when the data was read from the EEPROM at power-ON.

Drive prohibition input error Forward and Reverse Drive Prohibit Inputs (NOT and POT) both became OPEN.

Absolute encoder system down error

The voltage supplied to the absolute encoder dropped below the specified value.

Absolute encoder counter overflow error

The multi-turn counter of the absolute encoder exceeded the specified value.

Absolute encoder overspeed error

The Servomotor rotation speed exceeded the specified value when power to the absolute encoder is supplied by the battery only.

Encoder initialization error An encoder initialization error was detected.

Absolute encoder 1-rotation counter error

A one-turn counter error was detected.

Absolute encoder multirotation counter error

A multi-turn counter error or phase-AB signal error was detected.

Absolute encoder status error

Encoder phase Z error

Encoder CS signal error

External encoder error

The rotation of the absolute encoder is higher than the specified value.

A phase-Z pulse was not detected regularly.

A logic error was detected in the CS signal.

An error was detected in external encoder connection or communications data.

External encoder status error

External encoder connection error

An external encoder error code was detected.

An error was detected in the external encoder phase A, B, or Z connection.

Node address setting error The rotary switch for setting the node address of the Servo

Drive was set out of range.

Communications error Data received during each MECHATROLINK-II communications cycle repeatedly failed, exceeding the number of times set in the Communications Control (Pn800).

614


Appendix D

Servo

Drive display

84

86

87

90

91

92

93

95

Others

PCU error code

4054

Alarm

---

type


Transmission cycle error

4056

4057

405A

405B

405C

405D

405F

---

X

---

---

---

PR

PR

X

Others PR


Watchdog data error

Forced alarm input error

Transmission cycle setting error

SYNC command error

Encoder data restoration error

Parameter setting error

Motor non-conformity

Other errors

While actuating MECHATROLINK-II communications, synchronization frames (SYNC) were not received according to the transmission cycle.

Synchronization data exchanged between the master and slave nodes during each MECHATROLINK-II communications cycle resulted in an error.

The Forced alarm input signal was input.

The transmission cycle setting error when the MECHA-

TROLINK-II CONNECT command is received.

A SYNC-related command was issued while MECHA-

TROLINK-II was in asynchronous communications mode.

The initialization process of the internal position information was not performed properly.

Parameter setting exceeded the allowable range.

The combination of the Servomotor and Servo Drive is not appropriate.

The control circuit malfunctioned due to excessive noise.

An error occurred within the Servo Drive due to the activation of its self-diagnosis function.

List of G5-series Warning Displays

Priority Servo Drive display

94

High

Low

95

96

A.0

A.1

A.2

A.3

A.4

A.5

A.6

A.7

A.8

A.9

PCU error code

4094

Warning detection function

Data setting warning

Warning details

• Command argument setting is out of the range.

• Parameter write failure.

• Command settings are wrong, and others.

4095

4096

40A0

40A1

40A2

40A3

40A4

40A5

Command warning • Command output conditions are not satisfied.

• Received unsupported command.

• Subcommand output conditions are not satisfied.

ML-II communications warning

One or more MECHATROLINK-II communications error occurred.

Overload warning 85% of the overload alarm trigger level has been exceeded.

Regeneration overload warning

85% of the regeneration overload alarm trigger level has been exceeded.

Battery warning

Fan lock warning

Encoder communications warning

Encoder overheat error

Voltage of absolute encoder battery has dropped below

3.2 V.

The internal cooling fan stop status continued for 1 second.

An encoder communications error occurred for 3 consecutive times.

The encoder temperature exceeded 95

°

C.

40A6

40A7

40A8

40A9

Vibration detection warning

Limit detection warning

External scale error warning

External scale communications warning

Vibrations were detected.

The limit of the capacitor or the fan fell below the specified value.

The external scale detected a warning.

An external scale communications error occurred 3 consecutive times.

Note

(1) All warnings are retained. After resolving the problem, clear the alarms and the warnings.

615


Appendix D

(2) When multiple warnings occur, the warning codes are displayed on the front panel in the order of their priority (shown above). The value read from the network is set.

List of G-series Alarm Displays

The Servo Drive has built-in protective functions. When a protective function is activated, the Servo Drive turns

OFF the alarm output signal (ALM) and switches to the Servo OFF status.

The alarm code will be displayed on the front panel.

---

PR

X

Alarm type Description

Protective function that allows the alarm to be reset, and leaves record in the alarm history.

Protective function that does not allow the alarm to be reset, and requires the control power supply to be turned OFF and turned ON again after resolving the problem.

Protective function that does not leave record in the alarm history.

Servo

Drive display

A.11

A.12

A.13

A.14

A.15

A.16

A.18

A.21

A.23

A.24

A.26

A.27

A.29

A.34

A.36

A.37

A.38

A.40

A.41

PCU error code

400B X

Alarm type

400C

400D

400E

400F

4010

4012

4015

4017

4018

401A

401B

401D

4022

4024

4025

4026

4028

4029

---

X

PR

PR

---

PR

PR

PR

---

---

PR

---

---

PR

X

PR

X

X

PR

PR

Error detection function Detected error or cause of error

Control power supply undervoltage

Overvoltage

Main power supply undervoltage

Overcurrent

The DC voltage of the main circuit has dropped below the specified value.

The DC voltage of the main circuit is abnormally high.

The DC voltage of the main circuit is low.

Servo Drive overheat

Overload



Overcurrent flowed to the IGBT. Servomotor power line ground fault or short circuit.

The temperature of the Servo Drive radiator exceeded the specified value.

Operation was performed with torque significantly exceeding the rating for several seconds to several tens of seconds.

The regenerative energy exceeded the processing capacity of the regeneration resistor.

Communications between the encoder and the Servo Drive failed for a specified number of times, thereby activating the error detection function.

Encoder communications data error

Communications error occurred for the data from the encoder.

Deviation counter overflow The number of position deviation pulses exceeded the Deviation Counter Overflow Level (Pn209).

Overspeed The rotation speed of the Servomotor exceeded the setting of the Overspeed Detection Level Setting (Pn073).

Command error The operation command resulted in an error.

Internal deviation counter overflow

Overrun limit error

Parameter error

The value of the internal deviation counter (internal control unit) exceeded 2

27

(134217728).

The Servomotor exceeded the allowable operating range set in the Overrun Limit Setting (Pn026) with respect to the position command input.

Data in the parameter save area was corrupted when the data was read from the EEPROM at power-ON.

Parameter corruption

Drive prohibit input error

Absolute encoder system down error

Absolute encoder counter overflow error

The EEPROM write verification data was corrupted when the data was read from the EEPROM at power-ON.

Forward and Reverse Drive Prohibit Inputs (NOT and POT) both became OPEN.

The voltage supplied to the absolute encoder dropped below the specified value.

The multi-turn counter of the absolute encoder exceeded the specified value.

616


Appendix D

Servo

Drive display

A.42

A.44

A.45

A.47

A.48

A.49

A.82

A.83

A.84

A.86

A.87

A.90

A.91

A.93

A.95

Others

PCU error code

402A

Alarm type

PR


402C

402D

402F

4030

4031

4052

4053

4054

4056

4057

405A

405B

405D

405F

Others

PR

PR

---

PR

PR

PR

---

---

---

X

---

---

PR

PR

X

PR


Absolute encoder overspeed error

The Servomotor rotation speed exceeded the specified value when power to the absolute encoder is supplied by the battery only.

A one-turn counter error was detected.

Absolute encoder one-turn counter error

Absolute encoder multi-turn counter error

Absolute encoder status error

A multi-turn counter error or phase-AB signal error was detected.

The rotation of the absolute encoder is higher than the specified value.

Encoder phase Z error

Encoder PS signal error

A phase-Z pulse was not detected regularly.

A logic error was detected in the PS signal.

Node address setting error The rotary switch for setting the node address of the Servo

Drive was set out of range.

Communications error Data received during each MECHATROLINK-II communications cycle repeatedly failed, exceeding the number of times set in the Communications Control (Pn005).

Transmission cycle error

Watchdog data error

While actuating MECHATROLINK-II communications, synchronization frames (SYNC) were not received according to the transmission cycle.

Synchronization data exchanged between the master and slave nodes during each MECHATROLINK-II communications cycle resulted in an error.

Emergency stop input error The emergency stop input became OPEN.

Transmission cycle setting error

SYNC command error

The transmission cycle setting error when the MECHA-

TROLINK-II CONNECT command is received.

A SYNC-related command was issued while MECHA-

TROLINK-II was in asynchronous communications mode.

Parameter setting exceeded the allowable range.

Parameter setting error

Servomotor non-conformity The combination of the Servomotor and Servo Drive is not appropriate.

Other errors The control circuit malfunctioned due to excessive noise.

An error occurred within the Servo Drive due to the activation of its self-diagnosis function.

List of G-series Warning Displays

Priority Servo Drive display

A.94

High

Low

A.95

A.96

A.90

A.91

A.92

A.93

PCU error code

4094

4095

4096

4090

4091

4092

4093


Data setting warning

Warning details

• Command argument setting is out of the range.

• Parameter write failure.

• Command settings are wrong, and others.

Command warning • Command output conditions are not satisfied.

• Received unsupported command.

• Subcommand output conditions are not satisfied.

ML-II communications warning

One or more MECHATROLINK-II communications error occurred.

Overload warning 85% of the overload alarm trigger level has been exceeded.

Regeneration overload warning

Battery warning

85% of the regeneration overload alarm trigger level has been exceeded.

Voltage of absolute encoder battery has dropped below

3.2 V.

Fan lock warning The built-in cooling fan stopped, or rotated abnormally.

Note

(1) All warnings are retained. After resolving the problem, clear the alarms and the warnings.

617


Appendix D

(2) When multiple warnings occur, the warning codes are displayed on the front panel in the order of their priority (shown above). The value read from the network is set.

618


Appendix D

List of W-series and SMARTSTEP Junior Alarm Display

Servo Drive display

A.02

@

A.03

@

PCU error code

4002

4003

A.04

A.05

A0b

@

@

@ (See note 3.)

A.10

@

A.28 (See note 4.)

A.30

note 5.)

A.7A

@

(See note 5.)

A.32

@ (See note 5.)

A.33

@ (See note 5.)

A.40

A.41

A.51

A52

@

@

@

@ (See note 3.)

A.71

A.72

A.73

A.74

@

@

@

@

@

(See

A.81

@

(See note 5.)

A.82

@ (See note 5.)

A.83

@ (See note 5.)

A.84

@ (See note 5.)

A.85

@ (See note 5.)

A.86

@ (See note 5.)

A.b1 (See note 2.)

4004

4005

400B

4010

(See note

4.)

4030

4032

4033

4040

4041

4051

4052

4071

4072

4073

4074

407A

4081

4082

4083

4084

4085

4086

40B1


Parameter corrupted

Main circuit detection error


Parameter setting error The parameter setting is incorrect.

Servomotor mismatch The Servomotor and Servo Drive combination is incorrect.

Servo ON command disabled

Overcurrent

Emergency stop

Regeneration error


Main-circuit power supply setting error

Overvoltage

Undervoltage

Overspeed

Fluctuation or autotuning alarm

Overload

Parameter checksum read from EEPROM does not match.

Error in detection data for power supply circuit

The PCU sent a SERVO LOCK command when the Servo ON function was being used from personal computer monitoring software

An overcurrent has occurred or the radiation shield has overheated (1.5- to 3-kW models only).

The emergency stop signal was input while the motor was operating.

The regenerative circuit is damaged due to large regenerative energy.

The regenerative energy has exceeded the regeneration resistor capacity.

The setting of Pn001.2 (AC/DC input selection) and the AC/DC wiring method used for the main circuit power supply are not the same.

The main circuit DC voltage has exceeded the specified values.

The main circuit DC voltage is under the specified values.

The Servomotor rotation speed has exceeded the maximum rotation speed.

An abnormal fluctuation was detected in the Servomotor rotation speed, or the inertia ratio calculation during autotuning was abnormal.

Operating with output torque exceeding 245% of the rated torque for a W-series Servo Drive or exceeding 200% of the rated torque for a SMARTSTEP Junior Servo Drive.

Overload Operation continuing with output torque at 120% to 245% of the rated torque for a W-series Servo Drive or at 115% to 200% of the rated torque for a SMARTSTEP Junior Servo Drive.

Dynamic brake overload The rotary energy has exceeded the dynamic brake resistor capacity during dynamic brake operation.

Inrush resistance overload

Overheat

The inrush current when power was turned ON exceeded the inrush resistor capacity.

Overheating in the radiation shield was detected or the cooling fan in the Servo Drive has stopped.

Backup error

(Absolute encoders only)

The encoder's backup power supply has fallen.

Checksum error


Battery error


Absolute error


Overspeed error


Encoder overheating


Speed command input reading error

An encoder memory checksum error has occurred.

The encoder's battery voltage has fallen (to 2.7 V or lower).

An internal encoder data error has occurred.

The Servomotor is rotating at 200 r/min. or more when the encoder power supply is turned ON.

Overheating in the encoder was detected.

The A/D completion signal from the A/D converter is not being output within the fixed interval.

619


Appendix D


A.b2 (See note 2.)

A.b3

@ (See note 3.)

A.b6

@

PCU error code

40B2

40B3

40B6

A.bF

A.C1

@

@

40BF

40C1


Torque command input reading error

Current detection error

LSI for communications corrupted

System error

Runaway detected

40C2 Phase detection error


The A/D completion signal from the A/D converter is not being output within the fixed interval.

The Servo Drive’s current detector is faulty.

The LSI used for MECHATROLINK communications is corrupted.

A system error in the control circuit was detected.

The Servomotor rotated in the opposite direction to the command.

A Servomotor magnetic pole signal was incorrectly detected.

A.C2 (See note 4.)

A.C5 (See note 4.)

A.C8

@ (See note 5.)

A.C9

@

40C5

40C8

40C9

40CA

Magnetic pole detection error

Multi-turn data error


A Servomotor magnetic pole signal was incorrectly detected.

The absolute encoder setup is incorrect.


Communications between the encoder and Servo Drive are not possible.

Encoder parameter error The parameter settings in the encoder are corrupted. A.CA

@ (See note 5.)

A.Cb

@ (See note 5.)

A.CC

@

(See note 5.)

40CB Encoder data error Data from the encoder is corrupted.

A.d0

A.d1

@ (See note 5.)

A.E0

@

@ note 5.)

(See

40CC Multi-turn limit discrepancy


The absolute encoder multi-turn limit for the encoder and Servo

Drive do not match.

40D0

40D1

Deviation counter overflow

The number of pulses in the deviation counter has exceeded the deviation counter overflow level set in Pn505 (R88D-WT @ ) or

Pn520 (R88D-WN @ -ML2).

Motor-load deviation over The deviation between the fully-closed encoder and semi-closed encoder has reached or exceeded the command unit set in

Pn51A.

See note 1. No option or Servo Drive error

The MECHATROLINK-II I/F Unit is not installed, or the Servo

Drive has malfunctioned.

See note 1. Option timeout There is no response from the MECHATROLINK-II I/F Unit. A.E1 (See note 2.)

A.E2 (See note 2.)

A.E4

@ (See notes 3 and

4.)

A.E5

@

A.E6

@

See note 1. Option WDC error

40E4

40E5

40E6

Transfer cycle setting error

An error has occurred in the MECHATROLINK-II I/F Unit.

(MECHATROLINK-II I/F Unit's watchdog timer count)

MECHATROLINK-II transfer cycle setting is incorrect.

A.EA

A.EB (See note 2.)

A.EC (See note 2.)

A.Ed

A.F1

@

@

@ note 5.) note 2.)

(See

A.F5 (See note 2.)

A.F6 (See

40EA

40EB

40EC

40ED

40F1

40F5

40F6

Synchronization error


MECHATROLINK-II synchronization error

MECHATROLINK-II communications error

(Continuous communications errors have occurred.)

Servo Drive malfunction The Servo Drive has malfunctioned.

Servo Drive initial access error

Servo Drive error

The Servo Drive initial processing cannot be executed from the


An error has occurred in the Servo Drive.

(Servo Drive's watchdog timer count)

Command execution incomplete

MECHATROLINK communications command aborted during execution.

Missing phase detected Main circuit power supply phase is missing, or the wire is burnt out.

Motor current error The current to the Servomotor is too small for the torque command from the Servo Drive.

Motor conduction error The Servo is ON, but the Servomotor is not conducting current regardless of the Servo Drive settings and external input.

620


Appendix D

Note

(1) Errors that occur in the MECHATROLINK-II I/F Unit cannot be detected by the PCU because the communications connection is not established. The PCU is not able to detect the corresponding axis during execution of CONNECT, so an MLK Initialization Error (Unit error code: 0020 hex) will occur.

(2) This alarm occurs when using an R88D-WT @ W-series Servo Drive together with the FNY-NS115


(3) This alarm occurs when using an R88D-WN @ -ML2 W-series Servo Drive.

(4) This alarm may occur when a SMARTSTEP Junior Servo Drive (R7D-ZN @ -ML2) is being used. The

A.28 (emergency stop) alarm is treated as an emergency stop signal input error (axis error code:

3004 (hex) in the Position Control Unit and the Servo will be unlocked for the axis.

(5) This alarm is not detected for SMARTSTEP Junior Servo Drives (R7D-ZN @ -ML2).

List of W-series and SMARTSTEP Junior Warning Displays


A.90

@ (See note 1.)

A.91

A.92

note 1.)

A.93

A.94

A.95

A.96

@

@

@

@

@

@ note 1.)

(See

(See

PCU error code

4090

4091

4092


Deviation counter overflow

Overload or fluctuation


Warning details

The number of pulses in the deviation counter has exceeded the deviation counter overflow level set in Pn505 (when using R88D-

WT @ ) or Pn520 (when using R88D-WN @ -ML2) multiplied by the rate (%) set in Pn51E.

This warning occurs before the Overload Alarm (A.71

@ , A.72

@ ) occurs. If operation is continued in this state, an alarm may occur. This warning also occurs when an abnormal fluctuation is detected in the Servomotor rotation speed.

This warning occurs before the Regeneration Overload Alarm

(A.32) occurs. If operation is continued in this state, an alarm may occur.

4093 Battery warning


This warning occurs before the Battery Error (A.83) occurs. If the power is turned OFF, an alarm may occur the next time the power is turned ON. (Replace the battery while the control circuit power supply is ON.)

A value outside the setting range has been set for the MECHA-

TROLINK slave station device.

See note 2. Parameter setting warning

See note 2. MECHATROLINK-II com-

4096 mand warning

An illegal communications command or unsupported communications command has been sent to the MECHATROLINK slave station device.

Communications warning A single MECHATROLINK-II communications error has occurred. (See note 3.)

Note

(1) This warning is not detected for SMARTSTEP Junior Servo Drives (R7D-ZN @ -ML2).

(2) If a Parameter Setting Warning or MECHATROLINK-II Command Warning occurs in the Servo

Drive, a data setting error (axis error code: 3099 hex) will occur at the PCU, and the active axis in which the error occurred will decelerate to a stop.

(3) If a MECHATROLINK-II communications error occurs once independently, a communications warning occurs, and the PCU will perform a communications retry. If the communications warning occurs continually, a communications error will occur.

621


Appendix D

622

Appendix E

Changing to CS1W/CJ1W-NC271/471/F71 from CS1W/CJ1W-

NC113/133/213/233/413/433

The settings and methods for using CS1W/CJ1W-NC271/471/F71 Position Control Units include those that are different from the pulse-output models (CS1W/CJ1W-NC113/133/213/233/413/433).

The following information is important when replacing equipment that uses pulse-output PCUs and pulse-input

Servo Drives or Stepping Motor Drives with the CS1W/CJ1W-NC271/471/F71 PCU and MECHATROLINK-IIcompatible Servo Drive.

Installation

• The FNY-NS115 MECHATROLINK-II I/F Unit must be installed when using an R88D-WT

@

OMRON Wseries Servo Drive (without built-in MECHATROLINK-II communications). The FNY-NS115 is installed on the right side of the Servo Drive, so make sure that sufficient space is provided around the Servo Drive.

• R88D-WT

@

W-series Servo Drives must be Ver.39 or later. The Servo Drive must be changed if an earlier version is being used. The Servomotor, power cables, and encoder cables, however, can be used as is without changing.

Wiring

• MECHATROLINK-II Cables are used for the connection between the PCU and Servo Drive (MECHA-

TROLINK-II I/F Unit). The cables for pulse-output PCUs and Servo Relay Units cannot be used.

• The external sensor signals, such as limit inputs and origin proximity inputs, are connected to the Servo

Drive's control I/O connector (CN1). The Servo Drive's CN1 connector must be wired.

• Emergency stop input signals are not provided as external input signals for the PCU or Servo Drive. To ensure safety in the system, provide safety measures in external circuits (i.e., not in the Programmable

Controller or Position Control Unit), such as using a breaker for the Servo Drive's main circuit power supply.

• To perform an origin search, the origin proximity input signal must be used. Make sure that the dog width of the limit input signal and origin proximity input signal remains at the length of the MECHATROLINK-II communications cycle or longer.

System Configuration

Pulse-output PCUs are classified as CS/CJ-series Special I/O Units, whereas CS1W/CJ1W-NC271/471/F71

PCUs are classified as CS/CJ-series CPU Bus Units. Make sure that the PCU's unit number is not already used by another CPU Bus Unit and that the area allocated to the PCU in the PLC is not occupied by another

Unit.

623

Changing to CS1W/CJ1W-NC271/471/F71 from CS1W/CJ1W-NC113/133/213/233/413/433

Appendix E

PCU Parameters and Operating Data

The functions and classification of the PCU's parameters and operating data are shown in the following table.

CS1W/CJ1W-NC113/133/213/233/413/433

Item Setting


Used to allocate the Operating Data

Area and designates the Axis Parameters.

The area is set in the PLC's DM Area words allocated to Special I/O Units.

Axis Parameter

Area

Operating Memory

Area

Operating Memory

Data

Memory operation data

Zone data

---

Used to allocate each Axis's operating mode, maximum speed, and software limits.

The area is set in the PLC's DM Area words allocated to Special I/O Units or in the PCU’s internal memory.

Used to input and output bit data, such as operating command outputs and status (flags) inputs.

The area is allocated in the Special

I/O Unit Area and is determined according to the unit number set for the PCU.

Used to input and output parameter data, such as position command value outputs and present position inputs.

The area is allocated in the PLC's DM

Area according to the setting in the

Common Parameter Area.

Used to set the position/speed data for memory operations.

The settings are written to the PCU's internal memory using the data transfer functions.

Used to set the zones.


---

CS1W/CJ1W-NC271/471/F71

Item


Setting

Used to allocate the Axis Operating

Memory Areas and MECHA-

TROLINK communications settings.


Axis Parameter

Areas

Axis Operating

Memory Area

Servo Parameter

Area

Axis Operating

Memory Area

Servo Parameter

Area

The Axis Parameter Areas are used to select operating modes (origin search) and input signals.


Some Axis Parameters are set as command values in the Axis Operating Memory Areas and are used as operating data.

Other existing PCU Axis Parameters are set to the corresponding Servo

Parameters.

The I/O information (bit and word data) is handled in the Axis Operating

Output Memory Areas and Axis Operating Input Memory Areas as output data and input data, respectively.

The Axis Operating Output Memory

Areas and Axis Operating Input Memory Areas are allocated in the PLC's memory according to the settings in the Common Parameters.

Acceleration/deceleration data is set in the Servo Parameters.

---

---

Memory operation functions are not provided.

A zone function is not provided.

Common Operating

Memory Area

Performs operations common to the

PCU such as MECHATROLINK communications control.

The allocated area is contained in the

PLC's CPU Bus Unit Memory Area according to the PCU's unit number.

A comparison of individual parameters and operating data, and operating precautions are provided in the following pages.

624


Appendix E


m m+1

CS1W/CJ1W-NC113/133/213/233/413/433

Setting

Operating Data Area designation

Beginning word of the Operating Data Area m+2 Axis Parameters designation

Common

Parameter

Area

CS1W/CJ1W-NC271/471/F71

Setting

Used to allocate Axis Operating Memory Areas and to perform MECHATROLINK communications settings.



To use data in the CS1W/CJ1W-NC271/471/F71 that was set as Axis Parameters in the earlier PCUs, the data must be converted either to corresponding settings in the Axis Parameter Area and Servo Parameter Area, or assigned in the Axis Operating Output Memory Area as command values used as operating data.

The setting location in the CS1W/CJ1W-NC271/471/F71 corresponding to the Axis Parameters in earlier PCUs and the differences between the different parameters is shown in the following table.

The Axis Parameter addresses shown for CS1W/CJ1W-NC113/133/213/233/413/433 are those for the X axis.

The setting locations in the CS1W/CJ1W-NC271/471/F71 indicated as word d in the Axis Parameters and word a in the Axis Operating Output Memory Area can be calculated using the following equations.


−

1)

×

14 hex a = Beginning word of Axis Operating Output Memory Areas specified in Common Parameters + (Axis

No.

−

1)

×

25

625


Appendix E


CS1W/CJ1W-NC113/133/213/233/413/433

Word Name Bit Setting

0004 I/O settings

00 Output pulse selection

---

--01 to

03

04

Not used.

Limit input signal type

CS1W/CJ1W-NC271/471/F71

Setting location Difference

---

---

Output pulse selection is not provided, so this parameter setting is not available.

---


Pn404

05

06

07

08

Origin proximity input signal type


Pn042

Origin input signal type

Emergency stop input signal

Origin undefined designation

---

---

---

---

---

---

Sets input allocations for the forward/reverse drive prohibited signals.

The input signal logic cannot be set.

Sets the input signal logic using the input allocations for the origin return deceleration LS signals.



0005 Operation mode selection

09 to

15

00 to

03

04 to

07

08 to

11

Not used.

Operation mode



-----

Axis Parameter

Area word d+1

Bits

00 to 03

Bits

04 to 07

Bits

08 to 11

This parameter setting is not available.

The Servo Drive's feedback position is obtained. Therefore, the origin is not lost even when operation stops due to an external sensor.

---

Not used.

Operation mode selection is not provided, so this parameter setting is not available.

This parameter setting is the same.

12 to

15


0006 Maximum speed (rightmost word)

0007 Maximum speed (leftmost word)

---

Bits

12 to 15

---

Not used.

Origin searches always use the origin proximity input signal.

The origin detection method is fixed as the method that receives the origin input signal after the origin proximity input signal turns from ON to OFF.

(This method corresponds with the setting when the origin detection method in the earlier PCUs is set to

0.)


Servo Parameter Pn10F (Origin

Return Mode Settings), however, must be set at the same time to the same setting as for this parameter.



.)

A maximum speed setting is not provided.

The maximum speed is clamped at approximately 110% when a speed command is sent for a value that is equal or higher than the Servo

Drive's (Servomotor's) maximum speed.

626


Appendix E

CS1W/CJ1W-NC113/133/213/233/413/433

Word

000A

000B

000E

000F

0010

0011

Name

word) word) word) most word) word)

Bit


Setting

0008 Initial speed (rightmost word)

0009 Initial speed (leftmost word)

Origin search high speed (rightmost

Origin search high speed (leftmost word)

000C Origin search proximity speed (rightmost word)

000D Origin search proximity speed (leftmost word)

Origin compensation value (rightmost

Origin compensation value (leftmost

Backlash compensation speed (right-

0012 Backlash compensation speed (leftmost

0013 Acceleration/deceleration curves

---

Axis Operating

Output Memory

Areas

CS1W/CJ1W-NC271/471/F71

Setting location

---

Word a+4

Word a+5

Difference

An initial speed setting is not provided.

The acceleration/deceleration settings, however, enable two-step acceleration/deceleration curves and exponential acceleration/deceleration curves with bias. (For details,

refer to


.)

The origin search high speed is the speed command value for origin searches and is designated with the operating command in the Axis Operating Output Memory Areas.




---

Axis Operating

Output Memory

Areas

Pn110

Pn111

Pn204

Pn100

Pn101

---

Sets the Servo Parameters Pn110

(Origin Return Approach Speed 1) and Pn111 (Origin Return Approach

Speed 2). The setting unit is

×

100 command units/s. (For details, refer

to

8-2-3 Data Settings Required for

Origin Search

.)

The amount of compensation positioning after detection of the origin input signal is set in Servo Parameter

Pn204 (Origin Return Final Dis-

tance). (For details, refer to

8-2-3

Data Settings Required for Origin

Search

.)

The backlash compensation is set in

Servo Parameters Pn101 (Backlash

Compensation) and Pn100 (Backlash

Compensation Selection). (For details, refer to

10-7 Backlash Compensation

.)

Backlash compensation is executed by adding it to the amount of movement for positioning, so these parameter settings are not supported.

0014

0015

0016

0017

Origin search acceleration time (rightmost word)

Origin search acceleration time (leftmost word)

Origin search deceleration time (rightmost word)

Origin search deceleration time (leftmost word)



Word a+16, bits 03 to

04

Pn107

Pn10A

The acceleration/deceleration curves are designated with the operating command in the Axis Operating Output Memory Areas as command values for executing positioning operations.

The acceleration used for origin searches is the same as that used in other positioning operations and is set according to the combination of settings in Servo Parameter Pn107

(Linear Acceleration Constant). (For details, refer to



.)

The deceleration used for origin searches is the same as that used in other positioning operations and is set according to the combination of settings in Servo Parameter Pn10A

(Linear Deceleration Constant). (For details, refer to



.)

627


Appendix E

CS1W/CJ1W-NC113/133/213/233/413/433

Word Name Bit

0018 Positioning monitor time

Setting

0019

001A

001B

001C

001D

001E

001F

CCW software limit (rightmost word)

CCW software limit (leftmost word)

CW software limit (rightmost word)

CW software limit (leftmost word)



Initial pulse designation


---

---

---

---

CS1W/CJ1W-NC271/471/F71


---

Difference

A positioning monitor is not provided, so this parameter setting is not available.

Refer to the programming examples and set a timing monitor in the user program. (Refer to

11-2-6 Positioning

(Absolute Movement or Relative

Movement)

.)


Pn201 The forward software limit is set in

Servo Parameter Pn201 (Forward

Software Limit) in command units.


10-8 Software

Limits

.)

Pn202

---

---

---

The reverse software limit is set in

Servo Parameter Pn202 (Reverse

Software Limit) in command units.


10-8 Software

Limits

.)

---

---

Initial pulse designation is not provided, so this parameter setting is not available.

628


Appendix E


CS1W/CJ1W-NC113/133/213/233/413/433


0004 I/O settings

00 Output pulse selection

06

07

08

12 to

15

Origin input signal type


Origin undefined designation


---

---

---

CS1W/CJ1W-NC271/471/F71

Setting location Difference

---

---

Output pulse selection is not provided, so this parameter setting is not available.

--01 to

03

04

05

Not used.

Limit input signal type

---


Pn50A.3

Pn50B.0

Origin proximity input signal type


Pn511.0


Pn511.1

Pn511.2

Pn511.3

---

---

0005 Operation mode selection

09 to

15

00 to

03

04 to

07

08 to

11

Not used.

Operation mode



-----

Axis Parameter

Area word d+1

Bits

00 to 03

Bits

04 to 07

Bits

08 to 11

Bits

12 to 15

Sets the input signal logic using the input allocations for the forward/reverse drive prohibited signals.

Sets the input signal logic using the input allocations for the origin return deceleration LS signals.

Sets the input signal logic according to the input allocations for the external latch signal when external latch signal is selected as the origin input signal. This setting is not available when the Servomotor phase Z signal is selected as the origin input signal.

An emergency stop input signal is not provided, so this parameter is not available.

The stop methods used for limit inputs and software limits, however, can be specified in Servo Parameter

Pn001.1. (For details, refer to

7-5

Limit Input Operations

.)

This parameter setting is not available.

The Servo Drive's feedback position is obtained. Therefore, the origin is not lost even when operation stops due to an external sensor.

---

Not used.

Operation mode selection is not provided, so this parameter setting is not available.


Not used.

Origin searches always use the origin proximity input signal.

The origin detection method is fixed as the method that receives the origin input signal after the origin proximity input signal turns from ON to OFF.

(This method corresponds with the setting when the origin detection method in the earlier PCUs is set to

0.)


Servo Parameter Pn816 (zero point return direction), however, must be set at the same time to the same setting as for this parameter. (For details, refer to

8-2-3 Data Settings

Required for Origin Search

.)

629


Appendix E

CS1W/CJ1W-NC113/133/213/233/413/433

Word

0008

0009

000A

000B

000E

000F

0010

0011

Name

word) word) word)

Bit


Setting

0006 Maximum speed (rightmost word)

0007 Maximum speed (leftmost word)

Initial speed (rightmost word)

Initial speed (leftmost word)

Origin search high speed (rightmost

Origin search high speed (leftmost word)

---

---

CS1W/CJ1W-NC271/471/F71


---

Difference

A maximum speed setting is not provided.

The maximum speed is clamped at approximately 110% when a speed command is sent for a value that is equal or higher than the Servo

Drive's (Servomotor's) maximum speed.

--An initial speed setting is not provided.

The acceleration/deceleration settings, however, enable two-step acceleration/deceleration curves and exponential acceleration/deceleration curves with bias. (For details,

refer to


.)

Axis Operating

Output Memory

Areas

Word a+4

Word a+5

The origin search high speed is the speed command value for origin searches and is designated with the operating command in the Axis Operating Output Memory Areas.

000C Origin search proximity speed (rightmost word)

000D Origin search proximity speed (leftmost word)


Origin compensation value (rightmost

Origin compensation value (leftmost

Backlash compensation speed (rightmost word)

0012 Backlash compensation speed (leftmost word)

0013 Acceleration/deceleration curves



---

Axis Operating

Output Memory

Areas

Pn817

Pn818

Pn819

Pn81A

Pn81B

Pn81D.0

Pn207.2

Pn214

---

Word a+16, bits 03 to

04

Sets the Servo Parameters Pn817

(zero point return approach speed 1) and Pn818 (zero point return approach speed 2). The setting unit is

×

100 command units/s. (For details, refer to

8-2-3 Data Settings

Required for Origin Search

.)

The amount of compensation positioning after detection of the origin input signal is set in Servo Parameter

Pn819 (final travel distance to return to zero point). (For details, refer to

8-

2-3 Data Settings Required for Origin

Search

.)

The backlash compensation is set in

Servo Parameters Pn81B (backlash compensation amount) and Pn81D.0

(backlash compensation direction) when using R88D-WT @ Servo Drives and in Pn207.2 (backlash compensation selection) and Pn214 (backlash compensation amount) when using

R88D-WN @ -ML2 Servo Drives. (For details, refer to

10-7 Backlash Compensation

.)

Backlash compensation is executed by adding it to the amount of movement for positioning, so these parameter settings are not supported.

The acceleration/deceleration curves are designated with the operating command in the Axis Operating Output Memory Areas as command values for executing positioning operations.

630


Appendix E

CS1W/CJ1W-NC113/133/213/233/413/433


0014 Origin search acceleration time (rightmost word)

0015 Origin search acceleration time (leftmost word)

0016 Origin search deceleration time (rightmost word)

0017 Origin search deceleration time (leftmost word)

0018

0019

001A

Positioning monitor time

CCW software limit (rightmost word)

CCW software limit (leftmost word)


---

Pn80D

Pn80E

Pn80F

---

CS1W/CJ1W-NC271/471/F71



Pn80A

Pn80B

Pn80C

Difference

The acceleration used for origin searches is the same as that used in other positioning operations and is set according to the combination of settings in Servo Parameters Pn80A,

Pn80B, and Pn80C. (For details, refer

to

7-4 Acceleration and Deceleration

Operations

.)

The deceleration used for origin searches is the same as that used in other positioning operations and is set according to the combination of settings in Servo Parameters Pn80D,

Pn80E, and Pn80F. (For details, refer

to

7-4 Acceleration and Deceleration

Operations

.)

A positioning monitor is not provided, so this parameter setting is not available.

Refer to the programming examples and set a timing monitor in the user program. (Refer to

11-2-6 Positioning

(Absolute Movement or Relative

Movement)

.)


Pn804

Pn805

001B

001C

001D

001E

001F

CW software limit (rightmost word)

CW software limit (leftmost word)



Initial pulse designation


---

---

---

Pn806

Pn807

---

---

---

The forward software limit is set in

Servo Parameters Pn804 and Pn805 in command units. (For details, refer

to


.)

The reverse software limit is set in

Servo Parameters Pn806 and Pn807 in command units. (For details, refer

to


.)

---

---

Initial pulse designation is not provided, so this parameter setting is not available.

631


Appendix E

Operating Memory Area

In the CS1W/CJ1W-NC271/471/F71 PCU, the Operating Memory Area allocations and functions have changed, as shown in the following table.

A comparison of the functions of these words is provided in the following table. The differences between the functions, such as in axis operations executed by the Operating Memory Area words, are explained later in this appendix.

Operating Memory Area words for CS1W/CJ1W-NC113/133/213/233/413/433 PCUs are shown in the following table as those for the X axis of the CS1W/CJ1W-NC113 PCU, and the beginning word n is calculated using the following equation.

n = 2000 + (unit number

×

10)

The Operating Memory Area words for CS1W/CJ1W-NC271/471/F71 PCUs are calculated for each axis using the following equation.

a = Beginning word of Axis Operating Output Memory Areas specified in Common Parameters + (Axis

No.

−

1)

×


−

1)

×

25

I/O

Output

(CPU

Unit to

PCU) n

CS1W/CJ1W-NC113/133/213/233/413/433

Word Bits Category Name

00

01

02

03

04

05

Memory operation commands


Sequence Number

Enable

START

INDEPENDENT

START

ABSOLUTE MOVE-

MENT

RELATIVE MOVE-

MENT

INTERRUPT FEED-

ING a

Word

CS1W/CJ1W-NC271/471/F71

Bits Differences

00

01

02

Used as linear interpolation command bits.

Memory operation functions are not provided, so memory operation command bits are not allocated.

03

04

05

The function of this bit is the same.


06

07

08


ORIGIN SEARCH

ORIGIN RETURN

PRESENT POSI-

TION PRESET

06

07

08

The method for starting interrupt feeding has been changed.

This bit is an Interrupt Feeding Designation Bit for ABSOLUTE/RELATIVE

MOVEMENT, and is used together with

ABSOLUTE/RELATIVE MOVEMENT bits.




When the DECELERATION STOP Bit is ON, however, PRESENT POSITION

PRESET cannot be received.

632


Appendix E

I/O

Output

(CPU

Unit to

PCU)

CS1W/CJ1W-NC113/133/213/233/413/433

n

Word Bits

09

10

Category


JOG

Name

Direction designation a

Word

11

12

13

14

15

TEACH

ERROR

RESET/RELEASE

PROHIBIT

Deviation counter reset output/originadjustment command output

CS1W/CJ1W-NC271/471/F71

Bits

09

10

Differences


The function of this bit is the same for

JOG direction. The rotation direction cannot be designated for interrupt feeding.

11

12

13

14

15

Not used.

A teaching function is not provided, so this bit is not allocated.

The function of this bit is the same for resetting errors that occur in individual axes.

The function to release prohibit on pulse outputs is not provided.

The function to reset Unit common errors is allocated in the Common


Same bit function as the deviation counter reset for PCUs with unit versions 1.3 or later. This function, however, does not turn on the deviation counter reset output but rather starts the DEVIATION COUNTER RESET command.

(For PCUs with unit versions 1.2 or earlier, counter reset output and originadjustment command output functions are not provided, so this bit is not allocated.)


The function of this bit is the same. n+1 00

01

02

03

04 to

07

08

09 to

10

11

12

13

14


Override Enable

(DECELERATION)

STOP

Not used.

Not used.

Not used.

Not used.

Not used.

FORCED INTER-

RUPT

Not used.

Not used.

WRITE DATA

READ DATA

SAVE DATA a+1 00

01

02

03

04 to

07

08

09 to

10

11

12

13

14

Used as the SERVO LOCK Bit.

Used as the SERVO UNLOCK Bit.

Used as the SPEED CONTROL Bit.

Used as the TORQUE CONTROL Bit.

Not used.

Not used.

A forced interrupt start function is not provided, so this bit is not allocated.

Not used.

Used as the DEVICE SETUP Bit.

Used as the WRITE SERVO PARAME-

TER Bit.

The PCU's WRITE DATA Bit is allocated in the Common Operating Memory Area.

Used as the READ SERVO PARAME-

TER Bit.

The PCU's READ DATA Bit is allocated in the Common Operating Memory

Area.

Used as the SAVE SERVO PARAME-

TER Bit.

The PCU's SAVE DATA Bit is allocated in the Common Operating Memory

Area.

633


Appendix E

I/O

Output

(CPU

Unit to

PCU)

Input

(PCU to

CPU

Unit)

Word

n+1 n+2

CS1W/CJ1W-NC113/133/213/233/413/433

Bits

15

00

01 to

03

04

05

06

07

08

09

10

11

12

13

14

15

Category


PCU status

Name

Not used.

Not used.

Not used.

Waiting for Memory

Operation Flag


No Origin Flag

Origin Stop Flag

Zone 0 Monitor Flag

Zone 1 Monitor Flag

Zone 2 Monitor Flag

Teaching Completed

Flag

Error Flag

Busy Flag

Data Transferring

Flag

Deceleration Stop

Execution Flag

Word

a+1 b

09

10

11

CS1W/CJ1W-NC271/471/F71

Bits

15

Differences

Used as the EMERGENCY STOP Bit.

The Servomotor stops after moving for the amount of pulses remaining the

Servo Drive's deviation counter when this bit turns ON.

00

01 to

03

04

Used as the Receiving Command Flag.

Not used.

Not used.

Memory operation functions are not provided, so this bit is not allocated.

05

06

07

08


Name: PCU Positioning Completed

Flag


The conditions whereby the origin is lost after being established are different from earlier PCUs.

This flag functions in the same way, showing whether the present position is within the origin positioning range (zero point width). This flag turns ON when the origin is passed, which is different from earlier PCUs.

Not used.

A zone function is not provided, so these bits are not allocated.

12

A teaching function is not provided.

This bit is used as a Warning Flag.

The function of this bit is the same for errors that occur in individual axes.

The error flags for Unit common errors are allocated as Unit Error Flags in the


13

14

15

The function of this bit is the same for indicating busy status of functions for individual axes.

The busy status for Unit common functions (including Unit initial processing) is allocated as Unit Busy Flags in the


Used as the Servo Parameter Transferring Flag.

The PCU's Data Transferring Flag is allocated as the Data Transferring Flag in the Common Operating Memory

Area.


The EMERGENCY STOP Bit is turned

ON by executing EMERGENCY STOP, however, and not by an external input

(the CS1W/CJ1W-NC271/471/F71 does not have emergency stop inputs).

634


Appendix E

I/O

Input

(PCU to

CPU

Unit) n+3

CS1W/CJ1W-NC113/133/213/233/413/433

Word Bits

00

Category

External

I/O status

Name

Not used.

01 Not used.

02

03

04

05

06

07

08

09

10

11

12

13

14

15

Not used.

Not used.

Not used.

Not used.

Not used.

Not used.

CW limit input signal

CCW limit input signal


Origin input signal



Positioning completed input signal

Deviation counter reset output/originadjustment command output

Word

b+3 00

CS1W/CJ1W-NC271/471/F71

Bits

Used as the forward rotation limit input signal status.

Differences

01 Used as the reverse rotation limit input signal status.

02

03

04

05

Used as the origin proximity input signal status.

Used as the encoder phase A input signal status.

Used as the encoder phase B input signal status.

Used as the encoder phase Z input signal status.

06

07

08

09

Used as the external latch signal 1 input signal status.



The forward rotation limit input signal status is allocated to bit 00 of this word

(b+3).

Used as the brake output signal status.

The reverse rotation limit input signal status is allocated to bit 01 of this word

(b+3).

10

11

12

13

14

15

This bit is reserved by the system.

The origin proximity input signal status is allocated to bit 02 of this word (b+3).


The origin input status is provided either in bit 05 of this word (b+3) when phase Z input signal is set or in bits 06 to 08 of this word when the external latch signal is set, according to the selected signal.


The interrupt input signal status is provided in bits 06 to 08 of this word (b+3) according to the external latch signal.

An emergency stop input signal is not provided.



The Servo Drive's positioning completed signal status (indicating that the deviation counter is within the


) is allocated as the Position Completed (PSET) Flag in bit 07 of word b+2 (Servo Status

Flags) in the Axis Operating Input

Memory Area.

An deviation counter reset output/origin-adjustment command output is not provided as an external output.


635


Appendix E

I/O

Input

(PCU to

CPU

Unit) n+4

CS1W/CJ1W-NC113/133/213/233/413/433

Word

---

Bits Category

Error code

Name

Error code

Word

b+4 ---

CS1W/CJ1W-NC271/471/F71

Bits Differences

The function of this word is the same for errors that occur in individual axes.

The error codes for Unit common errors are allocated as Unit error codes in the Common Operating Memory

Area.

Operating Data Area

The operating data designated in the data memory of earlier PCUs is allocated in the CS1W/CJ1W-

NC271/471/F71 in either the Common Operating Memory Area or Axis Operating Memory Area, as shown in the following table.

A comparison of the functions for these words is provided in the following table. The differences between these functions, such as in axis operations executed by the Operating Memory Area bits, are explained later in this appendix.

Operating Data Area words for CS1W/CJ1W-NC113/133/213/233/413/433 PCUs are shown in the following table for the X axis of the CS1W/CJ1W-NC113 PCU. The beginning word “I” is allocated in either the Special

I/O Unit Area or a user-specified DM/EM Area using settings in the Common Parameters.

The Operating Memory Area words for CS1W/CJ1W-NC271/471/F71 PCUs are allocated either to the Common Operating Memory Area or Axis Operating Memory Area, which are calculated using the following equations.


×

25) a = Beginning word of Axis Operating Output Memory Areas specified in Common Parameters + (Axis

No.

−

1)

×


−

1)

×

25

I/O

Output

(CPU

Unit to

PCU) l+6 l+7 l+8 l+9 l

CS1W/CJ1W-NC113/133/213/233/413/433

Word Category Name

l+1 l+2 l+3



Write source area

Write source word

Word

n+6 n+7 n+8

Write destination address n+9 l+4 l+5 l+10 l+11

Operating data for direct operation

CS1W/CJ1W-NC271/471/F71

Differences

The function is the same as data for WRITE DATA used to transfer PCU parameters.

The data transferring method for the WRITE SERVO

PARAMETER function is different.


Read source address



Position (rightmost word) a+2

Position (leftmost word) a+3

Speed (rightmost word)

Speed (leftmost word) n+10 The function is the same as data for READ DATA n+11 used to transfer PCU parameters.

The data transferring method for the READ SERVO n+12

PARAMETER function is different. n+13 a+4 a+5

The function of these words is the same.

The data unit, however, is the command unit determined according to the setting for the electronic gear.

The function of these words is the same.

The data unit, however, is the command unit/s determined according to the setting for the electronic gear. l+12 l+13

Acceleration time (rightmost word)

--The acceleration and deceleration times cannot be set in the PLC's memory area as operating data.

The acceleration/deceleration constants are set by transferring them as Servo Parameters using the

Servo Parameter transferring functions. l+14 l+15

Acceleration time (leftmost word)

Deceleration time (rightmost word)

Deceleration time (leftmost word)

636


Appendix E

I/O

Output

(CPU

Unit to

PCU)

Input

(PCU to

CPU

Unit)

CS1W/CJ1W-NC113/133/213/233/413/433

Word Category

l+16

Name

Sequence number Operating data for memory operation l+17 l+18

Operating data for special functions

Override

Teaching address l+19 l+20 PCU status

Not used.

Present position (rightmost word) l+21 Present position (leftmost word) l+22 l+23

Sequence number

Output code

Word

---

CS1W/CJ1W-NC271/471/F71

Differences

Memory operation functions are not provided, so this data is not allocated. a+14 Override ratio (unit: 0.01%)

--Memory operation functions are not provided, so this data is not allocated.

--b+6

---

This word functions as a feedback present position

(rightmost word).

The command present position (rightmost word) is allocated in word b+8. b+7 This word functions as a feedback present position

(leftmost word).

The command present position (leftmost word) is allocated in word b+9.

---

---

Memory operation functions are not provided, so this data is not allocated.

Output code functions are not provided, so this data is not allocated.

Functions

The main functions of the W-series Servo Drives are explained here.

ORIGIN SEARCH

Acceleration/Deceleration Settings

The acceleration/deceleration settings for origin searches are set in the parameters for each axis in earlier

PCUs, but they are set in the Servo Parameters (using Servo Parameter transfer functions) of the

CS1W/CJ1W-NC271/471/F71.

CS1W/CJ1W-NC113/133/213/233/413/433

The time from the initial speed until the maximum speed is reached is set in the following axis parameters.

Origin search acceleration time (ms)

Origin search deceleration time (ms)

Each parameter setting is transferred to the PCU using data transfer functions (data transfer bit or IOWR instruction), or transferred automatically from the DM Area allocated to Special I/O Units when the PCU power is turned ON or the Unit is restarted.

637


Appendix E

CS1W/CJ1W-NC271/471/F71

The rate of increase or decrease in speed within a specified time unit is set in the following Servo Parameters.

Type Parameter name Unit Setting range


Parameter

No.

Pn80A

Pn80B

Pn80C

Pn80D

Pn80E

Pn80F








2


2

100 command units/s


2


2

100 command units/s

1 to 65535

1 to 65535

0 to 65535

1 to 65535

1 to 65535

0 to 65535

Parameter size

2

Default setting

100

2

2

2

2

2

100

0

100

100

0

Each parameter is set in the Servo Drive via the PCU using the PCU's Servo Parameter transfer functions

(WRITE/SAVE SERVO PARAMETER Bits).

When using a trapezoidal curve (linear acceleration/deceleration) with the initial speed set to 0 (pulses/s), the set values for the origin search acceleration time and origin search deceleration time used in the earlier PCUs are converted to the following settings.

Pn80A (first-step linear acceleration constant):

The origin search uses a first-step acceleration/deceleration curve, so this parameter setting is not used.

Pn80B (second-step linear acceleration constant):

The maximum speed, initial speed, and origin search acceleration time in the axis parameters of earlier PCUs are converted to the value determined from the following equation.

Pn80B =

Maximum speed

−

Initial speed (0)

Origin search acceleration time

×

10

(

×

10,000 pulses/s

2

)

Pn80C (acceleration constant switching speed):

The origin search uses a first-step acceleration/deceleration curve, so this parameter is set to 0

(default setting).

Pn80D (first-step linear deceleration constant):

The origin search uses a first-step acceleration/deceleration curve, so this parameter setting is not used.

Pn80E (second-step linear deceleration constant):

The maximum speed, initial speed, and origin search deceleration time in the axis parameters of earlier PCUs are converted to the value determined from the following equation.

Pn80E =

Maximum speed

−

Initial speed (0)

Origin search deceleration time

×

10

(

×

10,000 pulses/s

2

)

Pn80F (deceleration constant switching speed):

The origin search uses a first-step acceleration/deceleration curve, so this parameter is set to 0

(default setting).

638


Appendix E

CS1W/CJ1W-NC113/133/213/233/413/433

Speed

Maximum speed

(pulses/s)

Initial speed = 0

(pulses/s)

Time

Origin search acceleration time (ms) Origin search deceleration time (ms)

CS1W/CJ1W-NC271/471/F71

Speed

Pn80B (second-step linear acceleration constant)

=

Maximum speed

−

Initial speed (0)

Origin search acceleration time

×

10

(

×

10,000 pulses/s

2

)

Pn80E (second-step linear deceleration constant)

=

Maximum speed

−

Initial speed (0)

Origin search deceleration time

×

10

(

×

10,000 pulses/s

2

)

Pn80C (acceleration constant switching speed) = 0

Time

Pn80F (deceleration constant switching speed) = 0

Origin Search High Speed

The origin search high speed (speed until detection of the origin proximity input signal) is set in the axis parameters in earlier PCUs. In the CS1W/CJ1W-NC271/471/F71, however, this parameter value is set as the

Speed

Command Value

for origin searches in the Axis Operating Output Memory Area when the origin search is started.

Origin Search Proximity Speed

The origin search proximity speed (speed after detection of the origin proximity input signal until detection of the origin input signal) is set in the axis parameters in earlier PCUs. In the CS1W/CJ1W-NC271/471/F71, however, this parameter value is set as the

Zero Point Return Approach Speed 1

(Pn817) in the Servo Parameter

Area.

The setting unit for the


parameter is 100 command units/s. Therefore, to set the command unit to pulses, the set value for earlier PCUs must be multiplied by 1/100 to obtain the set value required for CS1W/CJ1W-NC271/471/F71 PCUs.

Origin Compensation

When using origin compensation in earlier PCUs, positioning was executed for the amount of origin compensation data at the origin search proximity speed. This operation is performed after first stopping the search operation using origin input signal detection.

For CS1W/CJ1W-NC271/471/F71 PCUs, origin compensation is performed following origin input signal detection by executing positioning using the Servo Parameters


(Pn818) and


(Pn819).

639


Appendix E

CS1W/CJ1W-NC113/133/213/233/413/433

Origin proximity 1 input signal

0

Origin input signal

(or phase Z signal)

1

0

Origin search high speed

Speed

Origin search proximity speed

Origin compensation data

Start Stop


CS1W/CJ1W-NC271/471/F71

Origin proximity

1 input signal

0

Origin input signal

(or phase Z signal)

1

0

Speed

Speed command value




Start Stop


Origin Established and No Origin Status

The No Origin Flag in both earlier PCUs and the CS1W/CJ1W-NC271/471/F71 indicates whether the origin has been established or not. The differences in the conditions whereby the No Origin Flag turns ON or OFF are as follows:

Initial status

(when power is turned ON)

ON condition

(Origin is lost)

OFF condition

(Origin is established)

CS1W/CJ1W-NC113/133/213/233/413/433

(After PCU's initial processing is completed)

ON status (origin not established)

• At power up, or restart

• When executing ORIGIN SEARCH (See note.)

• When the emergency stop input signal or limit input signal is input (if origin undefined designation of I/O settings (for x axis, word 0004 bit 08) in the axis parameters is set so)

• When ORIGIN SEARCH execution is completed

• When PRESENT POSITION PRESET is executed

CS1W/CJ1W-NC271/471/F71

Same as left

• At power up, or restart

• When connection is released (if CON-

NECT Bit is turned OFF or the connection is released due to an error)

• When DEVICE SETUP is executed

• When ORIGIN SEARCH execution is completed

• When PRESENT POSITION PRESET is executed

When using absolute encoders:

• When connection is established

• When SERVO LOCK is executed

640


Appendix E

Note

In earlier PCUs, if ORIGIN SEARCH is executed again after establishing the origin, the origin will be lost

(until ORIGIN SEARCH execution is completed). In the CS1W/CJ1W-NC271/471/F71, however, once the origin has been established, the origin will not be lost, even if ORIGIN SEARCH is executed again. If

ORIGIN SEARCH is executed again, the search operation will be executed using the coordinates based on the previous origin until the new origin is established. When the software limits are enabled at this point, the software limits will apply to the origin search operation, causing operation to stop due to an error. (Positioning will not be reversed at the software limits when origin searches are performed in reversal mode.)

Position Control (Direct Operation)


The acceleration/deceleration settings for position control (direct operation) are specified in the Operating Data

Area at start up in earlier PCUs. In CS1W/CJ1W-NC271/471/F71 PCUs, however, these settings are set in the

Servo Parameters (using Servo Parameter transfer functions).

CS1W/CJ1W-NC113/133/213/233/413/433:

The following operation data is designated for the time from the initial speed until the maximum speed is reached.

Acceleration time (ms)

Deceleration time (ms)

For each parameter, the data that has been set in the Operating Data Area is enabled when the direct operation (ABSOLUTE MOVEMENT or RELATIVE MOVEMENT) is started.

CS1W/CJ1W-NC271/471/F71

The rate of increase or decrease in speed within a specified time unit is set in the following Servo Parameters.

Type Parameter

No.

Pn80A


1 to 65535

Parameter size

2

Default setting

100 Acceleration/ deceleration constants

Pn80B

Pn80C

Pn80D

Pn80E

Pn80F








2


2

100 command units/s


2


2

100 command units/s

1 to 65535

0 to 65535

1 to 65535

1 to 65535

0 to 65535

2

2

2

2

2

100

0

100

100

0

Each parameter is set in the Servo Drive via the PCU using the PCU's Servo Parameter transfer functions

(WRITE/SAVE SERVO PARAMETER Bits).

When a trapezoidal curve (linear acceleration/deceleration) is used with the initial speed set to 0 (pulses/s), the set values for the acceleration time and deceleration time in the Operating Data Area of the earlier PCUs are converted to the following settings.

Pn80A (first-step linear acceleration constant):

The operation uses a first-step acceleration/deceleration curve, so this parameter setting is not used.

Pn80B (second-step linear acceleration constant):

The maximum speed and initial speed in the axis parameters and the acceleration time in the Operating Data Area of earlier PCUs are converted to the value determined from the following equation.

Pn80B =

Maximum speed

−

Initial speed (0)

Acceleration time

×

10

(

×

10,000 pulses/s

2

)

641


Appendix E

Pn80C (acceleration constant switching speed):

The operation uses a first-step acceleration/deceleration curve, so this parameter is set to 0 (default setting).

Pn80D (first-step linear deceleration constant):

The operation uses a first-step acceleration/deceleration curve, so this parameter setting is not used.

Pn80E (second-step linear deceleration constant):

The maximum speed and initial speed in the axis parameters and the deceleration time in the Operating Data Area of earlier PCUs are converted to the value determined from the following equation.

Pn80E =

Maximum speed

−

Initial speed (0)

Deceleration time

×

10

(

×

10,000 pulses/s

2

)

Pn80F (deceleration constant switching speed):

The operation uses a first-step acceleration/deceleration curve, so this parameter is set to 0 (default setting).

CS1W/CJ1W-NC113/133/213/233/413/433

Speed

Maximum speed

(pulses/s)

Initial speed = 0

(pulses/s)

Acceleration time (ms)

Time

Deceleration time (ms)

CS1W/CJ1W-NC271/471/F71

Speed

Pn80B (second-step linear acceleration constant)

Maximum speed

−

Initial speed (0)

=

Acceleration time

×

10

(

×

10,000 pulses/s

2

)

Pn80E (second-step linear deceleration constant)

=

Maximum speed

−

Initial speed (0)

Deceleration time

×

10

(

×

10,000 pulses/s

2

)

Pn80C (acceleration constant switching speed) = 0

Time

Pn80F (deceleration constant switching speed) = 0

Changing Target Position and Changing Target Speed

The target position and target speed can be changed during axis operation in the same way for both earlier

PCUs and the CS1W/CJ1W-NC271/471/F71 PCU by using the following operation.

Changing target position:Set the new target position in

Position Command Value

and send an operation command again. (Strictly speaking, the new target position is to be set in Position of the Operating Data Area for earlier PCUs while it is set in Position Command Value in the Axis Operating Output Memory Area for CS1W/CJ1W-

NC271/471/F71 PCUs.)

Changing target speed: Change

Speed Command Value

during axis operation to immediately change the target speed. (Strictly speaking, the new target speed is to be set in Speed of the Operating Data Area for earlier PCUs while it is set in Speed Command

Value in the Axis Operating Output Memory Area for CS1W/CJ1W-

NC271/471/F71 PCUs.)

When changing the target position with a CS1W/CJ1W-NC271/471/F71 PCU, however, the Receiving Command Flag must be used to control the ON/OFF timing for the operation command bits.

642


Appendix E

Interrupt Feeding

Interrupt feeding in earlier PCUs is executed by independently operating individual start bits. With

CS1W/CJ1W-NC271/471/F71 PCUs, however, interrupt feeding is an additional function for the direct operation (ABSOLUTE MOVEMENT or RELATIVE MOVEMENT).

To execute interrupt feeding, turn ON the Interrupt Feeding Designation Bit in the Axis Operating Output Memory Area and execute ABSOLUTE MOVEMENT or RELATIVE MOVEMENT.

When using earlier PCUs, interrupt feeding functions by switching from speed control to position control (positioning is performed for the amount of interrupt feeding after detection of the interrupt input signal). With

CS1W/CJ1W-NC271/471/F71 PCUs, however, interrupt feeding functions by switching from one position control operation (ABSOLUTE MOVEMENT or RELATIVE MOVEMENT) to another position control operation

(positioning is performed for the amount of interrupt feeding after detection of the interrupt input signal), and if an interrupt input signal is not input, the original positioning operation is completed.

Memory Operation

Memory operation functions are not provided in CS1W/CJ1W-NC271/471/F71 PCUs.

The teaching function, forced interrupt operation, and output codes, which are related to memory operations, are also not provided.

Operations that use automatic patterns and continuous patterns must be created in the user program.

Jogging


In earlier PCUs, the acceleration/deceleration settings for jogging are specified as operation data in the Operating Data Area when jogging is started. In CS1W/CJ1W-NC271/471/F71 PCUs, however, these settings are set in the Servo Parameters (using Servo Parameter transfer functions).

Details on acceleration/deceleration settings are the same as those provided for position control (direct operation), so refer to the section on position control (direct operation).

Changing Target Speed

The target speed can be changed during jogging operations in the same way for both earlier PCUs and the

CS1W/CJ1W-NC271/471/F71 PCU by using the following operation.

Changing target speed: Change the

Speed Command Value

parameter during jogging operations to immediately change the target speed. (Strictly speaking, the new target speed is to be set in Speed of the Operating Data Area for earlier PCUs while it is set in Speed Command Value in the Axis Operating Output Memory Area for

CS1W/CJ1W-NC271/471/F71 PCUs.)


Earlier PCUs use open-loop control, and monitor the command position (PCU's output pulses) as the present position. CS1W/CJ1W-NC271/471/F71 PCUs exchange data with Servo Drives that have a semi-closed loop configuration. Therefore, both the feedback present position (total of feedback pulses from the Servomotor's encoder) and command present position (total of PCU's position command values) are monitored as the present position.

Data Transfer

In earlier PCUs, all the parameters set by the PCU are in the Unit, and data is transferred using the PCU's data transfer functions (data transfer bit or IOWR instruction).

In CS1W/CJ1W-NC271/471/F71 PCUs, however, data is classified into three types: Common Parameters, Axis

Parameters, and Servo Parameters. Common Parameters and Axis Parameters are configured in the PCU, and Servo Parameters are configured in the Servo Drive. Therefore, the transfer functions used to transfer the parameters in the PCU are different than those used to transfer the parameters in the Servo Drive.

643


Appendix E

• Common Parameters and Axis Parameters

These parameters are transferred to the PCU using the data transfer bits (WRITE DATA, READ DATA, and

SAVE DATA) in the Common Operating Memory Area.

• Servo Parameters

These parameters are transferred to each axis using the Servo Parameter transfer bits (WRITE SERVO

PARAMETER, READ SERVO PARAMETER, and SAVE SERVO PARAMETER) in the Axis Operating Output Memory Area. Parameters are transferred between the PLC and Servo Drive by executing these Servo

Parameter transfer functions.

The IOWR and IORD instructions are not supported by the CS1W/CJ1W-NC271/471/F71 PCUs.

644

Appendix F

Additional Functions for the CJ1W-NCF71-MA

Overview

The following functions have been added to those of the CJ1W-NCF71 Position Control Unit to produce the

CJ1W-NCF71-MA Position Control Unit.

• Interpolation axis stop mode setting for linear interpolation

• Allowed interaxial deviation setting for linear interpolation

Note

The CS1W-NC271/471/F71 and CJ1W-NC271/471/F71 do not have the functions described in this appendix. To use these functions, use the CJ1W-NCF71-MA. If data is backed up from a CJ1W-NCF71

Position Control Unit on a Memory Card mounted in the CPU Unit (using either the CPU Unit's simple backup function or the Position Control Unit's backup function), do not read that data to a CJ1W-NCF71-

MA Position Control Unit. It will not be possible to use the additional functions if data backed up from a

CJ1W-NCF71 is downloaded to a CJ1W-NCF71-MA. To move CJ1W-NCF71 setting data to the CJ1W-

NCF71-MA, be sure to use the parameter transfer function or CX-Motion-NCF Support Software to read, write, and save to memory the data in the Common Operating Memory Area. Also, do not download

CJ1W-NCF71-MA Memory Card backup data to the CJ1W-NCF71.

Interpolation Axis Stop Mode Setting for Linear Interpolation

With the linear interpolation function of the CJ1W-NCF71, the other interpolation axes will decelerate to a stop if an error occurs on any of the interpolation axes, an axis is stopped (deceleration stop or emergency stop), or

SERVO UNLOCK is executed during linear interpolation. The CJ1W-NCF71-MA enables selecting the stop mode of the other interpolation axes when this occurs with settings in the Axis Operating Output Memory Areas of axis 2 (for the combination of axes 1 to 4) or axis 6 (for the combination of axes 5 to 8).

Operating Output Memory Area for Axis 2 and Axis 6

Name

Interpolation Axis

Stop Mode

Word

a+21

(Axis Operating Output Memory Area for Axis 2)

00 to 03

Bits

a+21


04 to 07

08 to 11

12 to 15

00 to 03

04 to 07

08 to 11

12 to 15

Description

Axis 1 stop mode in linear interpolation for combinations of axes 1 to 4.

0: Deceleration stop (default)

1: Emergency stop

2: Servo unlock

Same as above for axis 2 stop mode



Axis 5 stop mode in linear interpolation for combinations of axes 5 to 8.

0: Deceleration stop (default)

1: Emergency stop

2: Servo unlock



Same as above for axis 8 stop mode a = Beginning word of Axis Operating Output Memory Areas in Common Parameters + (Axis No.

−

1)

×

25

Select the stop operation for other interpolation axes if an error occurs on any of the interpolation axes, the axis is stopped (deceleration stop or emergency stop), or SERVO UNLOCK is executed during operation of linear interpolation. The setting can be made for each axis of linear interpolation combinations of axes 1 to 4 or for each axis of linear interpolation combinations of axes 5 to 8.

645

Additional Functions for the CJ1W-NCF71-MA

Appendix F

If a value outside the range is set, the system will treat it as if 0 was selected (i.e., deceleration stop). The interpolation axis stop mode setting is enabled when the LINEAR INTERPPOLATION START Bit turns ON.

Example:

If the beginning word of the Axis Operating Output Memory Areas is set to CIO 4000, the interpolation stop mode for linear interpolation of a combination of axes 1 to 4 will be set in a+21 (CIO 4046) of the Operating

Output Memory Area of axis 2.

The first word of the Operating Output Memory Area of axis 2 is calculated as follows: a = 4000 + (2

−

1)

×

25 = CIO 4025

In this case, the following settings will be used for the interpolation axis stop mode of each axis from 1 to 4.

Axis 1 interpolation axis stop mode: CIO 4046.00 to CIO 4046.03




In the same way, the interpolation stop mode for linear interpolation of a combination of axes 5 to 8 will be set in a+21 (CIO 4146) of the Operating Output Memory Area of axis 6.


−

1)

×

25 = CIO 4125

The following settings will be used for the interpolation axis stop mode of each axis.





Allowed Interaxial Deviation Setting for Linear Interpolation

If the deviation in feedback present positions between axes 1 and 2 or axes 5 and 6 exceeds the allowed deviation that is set in the parameters for each axis, both axes 1 and 2 or both axes 5 and 6 will be decelerated to a stop. It is thus possible to automatically stop axis operation in response to deviation that occurs, for example, because of an error for one of the axes, when bilateral operation is performed with two axes.

The allowed deviation between axes is specified in the Axis Operating Output Memory Area of axis 2 for linear interpolation operation using combinations of axes 1 to 4 and in Axis Operating Output Memory Area of axis 6 for linear interpolation operation using combinations of axes 5 to 8.

Axis Operating Output Memory Areas for Axis 2 and Axis 6

Name Word

Allowed Interaxial

Deviation a+23 a+24


---

Bits

a+23 a+24


---

Contents

Allowed deviation between axes 1 and 2 (a+23: lower word, a+24: upper word)

Unit: Command unit

Setting range: 0 to 2,147,483,647

The allowed deviation between axes 1 and 2 in linear interpolation for a combination of axes 1 to 4 will be set in 32-bit signed hexadecimal. The allowed deviation between axes 1 and 2 will not be detected if the setting is 0 (default) or a negative value.

Allowed deviation between axes 5 and 6 (a+23: lower word, a+24: upper word)

Unit: Command unit

Setting range: 0 to 2,147,483,647

The allowed deviation between axes 5 and 6 in linear interpolation for a combination of axes 5 to 8 will be set in 32-bit signed hexadecimal. The allowed deviation between axes 5 and 6 will not be detected if the setting is 0 (default) or a negative value. a = Beginning word of Axis Operating Output Memory Areas in Common Parameters + (Axis No.

−

1)

×

25

646


Appendix F

Example:

If the beginning word of the Axis Operating Output Memory Areas is set to CIO 4000, the allowed interaxial deviation for linear interpolation of a combination of axes 1 to 4 will be set in a+23 (CIO 4048) and a+24 (CIO

4049) of the Operating Output Memory Area of axis 2.


−

1)

×

25 = CIO 4025

In the same way, the allowed interaxial deviation for linear interpolation of a combination of axes 5 to 8 will be set in a+23 (CIO 4148) anda+24 (CIO 4149) of the Operating Output Memory Area of axis 6.


−

1)

×

25 = CIO 4125

The allowed deviation is found by comparing the difference in feedback present positions. Make settings so that operation starts from same present positions for axes 1 and 2 or axes 5 and 6 if detecting interaxial deviation is to be enabled (i.e., if the interaxial deviation is set to a positive number). Also, if either axis 1 or 2 or either axis 5 or 6 will be used for linear interpolation, set the allowed interaxial deviation of each axis to 0 (i.e., do not detect interaxial deviation). The setting of the allowed interaxial deviation becomes enabled when the setting is written to memory.

Note

The CJ1W-NCF71-MA is treated as the CJ1W-NCF71 in the CX-Programmer, CX-Motion-NCF, and other Support Software. Select the CJ1W-NCF71 to make settings for the CJ1W-NCF71-MA when using Support Software.

647


Appendix F

648

A

absolute encoder operating procedure

,

327

origin

,

8

,

326

origin position offset

,

332

overview

,

326

parameters

,

298

,

299

PCU data settings

,

329

setup

,

331

absolute movement

,

4

,

8

sample program

,

441

ABSOLUTE MOVEMENT Bit

,

94

,

186

acceleration during speed control

,

285

,

391

filter settings

,

280

operations

,

277

parameters

,

279

,

300

settings

,

278

speeds

,

10

acceleration/deceleration curves

,

7

,

8

,

10

alarm displays

,

612

applications precautions

, xxiv

area allocations

,

241

auxiliary functions

,

7

,

8

acceleration/deceleration curves

,

7

backlash compensation

,

7

monitoring function

,

7

override

,

7

servo parameter transfer

,

7

software limits

,

7

torque limit

,

7

Axis Communications Status

,

21

axis communications status

,

94

axis communications status bits

,

184

Axis Communications Status Flags

,

249

Axis Control Status Flags

Busy Flag

,

200

,

204

Error Flag

,

200

No Origin Flag

,

200

,

203

Origin Stop Flag

,

200

,

203


,

200

,

201


,

200


,

200

Stop Execution Flag

,

200

,

205

Warning Flag

,

200

axis error code

,

198

Axis Error Flag

,

22

Index


,

77

,

228

,

230

,

232

,

235

allocations

,

95

,

195

,

607

beginning word

,

98

designation

,

18

,

98

monitoring

,

213

overview

,

194


,

23

Servo Status Flags

,

406


,

6

,

22


,

77

,

227

,

230

,

232

,

234

,

257

allocations

,

94

,

186

,

603

beginning word

,

97

designation

,

18

,

97

Forward Rotation External Current Limit Designation Bit

,

356

operating commands

,

213

overview

,

185

priority

,

190


,

26

Reverse Rotation External Current Limit Designation Bit

,

356

SERVO LOCK Bit

,

25

SERVO UNLOCK Bit

,

28

Axis Parameter Area

,

77

,

522

allocations

,

79

overview

,

101

replacing PCUs

,

625

Axis Parameters

,

10

,

218

setting

,

20

B

backlash compensation

,

7

data settings

,

408

overview

,

407

procedure

,

407

backup functions at CPU Unit

,

514

at PCU

,

515

baud rate

,

35

MECHATROLINK

,

238

BKIR

,

50

BKIRCOM

,

50

brake output

,

95

Busy Flag

,

95

,

196

,

204

649

650

C


,

101

,

244

CJ1W-NC113/133/213/233/413/433

,

9

replacing with CJ1W-NC271/471/F71/CS1W-NC271/

471/F71

,

623

CN1

,

43

,

47

,

50

CN1 (Servo Drive)

,

53

command present position

,

95

,

198

,

276

command response time

,

517

command units

,

275

setting example

,

274

commands

DECELERATION STOP

,

5

DEVICE SETUP

,

234

EMERGENCY STOP

,

5

PRESENT POSITION PRESET

,

5

RELATIVE MOVEMENT

,

16

,

26

Common Operating Input Memory Area allocations

,

601


,

18

,

77

,

221

,

223

,

225

,

248

,

249

,

251

,

256

allocated words

,

33

allocations

,

93

,

181

CONNECT Bit

,

21

,

25


,

21

,

25


,

20

overview

,

179

SAVE DATA Bit

,

20

Common Operating Output Memory Area allocations

,

599


,

77

,

521

allocations

,

79

overview

,

96

replacing PCUs

,

625

Common Parameters

,

18

,

19

,

218


,

19


,

19

Beginning word of Axis Operating Input Memory Areas

,

19


,

19

scan list setting (axes 1 and 2)

,

19

scan list setting (axes 3 to 16)

,

19

writing to PCU

,

19

Communications Alarm

,

256

communications cycle

,

100

,

244

setting

,

245

communications protocol

,

238

communications retries

,

101

,

244

Index

compatible devices

,

6

CONNECT Bit

,

21

,

25

,

93

,

181


,

21

,

25

,

93

,

183

,

249

connections establishing

,

248

Connector Terminal Block Cables

,

65

control command range

,

7

control function parameters

,

89

,

147

,

170

,

590

control functions

,

7

interrupt feeding

,

7

jogging

,

7

origin determination

,

7

position control

,

7

servo lock/unlock

,

7

speed control

,

7

stop functions

,

7

torque control

,

7

Control I/O Connector

,

43

,

47

,

50

,

61

control I/O signals

,

49

input


,

49

external latch inputs

,

49

forward drive prohibit input

,

49

origin return deceleration LS

,

49

reverse drive prohibit input

,

49

output brake interlock output

,

50

,

52

frame ground

,

50

,

53

positioning completed output 1

,

50

servo ready output

,

50

wiring

,

58

components

,

61

control method

,

6

control mode switching

,

398

control panel installation

,

xxvi

control system configuration

,

272

control units

,

6

for position control

,

273

for speed control

,

274

for torque control

,

274

controlled axes

,

6

coordinate system

,

276

CPU Unit

,

17

CPU Unit cycle time

,

10

current consumption

,

6

cycle time

at CPU Unit

,

520

D

data areas

,

79

Data Transfer Bit

,

10

data transfer function

,

8


,

20

,

93

,

183

deceleration during speed control

,

285

,

391

filter settings

,

280

operations

,

277

parameters

,

279

,

300

settings

,

278

speeds

,

10

deceleration stop

,

8

,

414

sample program

,

447

DECELERATION STOP Bit

,

94

,

186

DEVICE SETUP

,

234

timing chart

,

235

DEVICE SETUP Bit

,

94

,

187

dimensions

,

6

,

38

,

39

DIP switch

,

34

direct operation

,

2

,

4

,

8

,

26

overview

,

340

PCU data settings

,

341

procedure

,

341

starting

,

345

timing charts

,

346


,

197

,

209

Distribution Completed Flag/Zero Speed Flag

,

95

E

EC Directives

,

xxvi

electromagnetic fields

,

xxiv

EMC Directives

,

xxvi

emergency stop

,

8

,

10

emergency stop

,

416

sample program

,

447

EMERGENCY STOP Bit

,

94

EMI Standard

,

xxvi

EMS Standard

,

xxvi

encoder phase inputs

,

95

,

198

encoder type

,

104

error codes

,

490

individual axis errors

,

495

,

611

Index

PCU common errors

,

491

,

611

error counter reset

,

10

error detection functions

,

8

Error Flag

,

95

,

196

error reset

,

508

ERROR RESET Bit

,

94

,

186

errors at CPU Unit

,

488

,

510

at PCU

,

488

at powerup

,

487

indicator display

,

487


,

485

overview

,

482

PCU settings and operations

,

489

resetting

,

508

,

509

troubleshooting

,

486

expanded monitoring

,

212

exponential acceleration/deceleration curve

,

282

exponential curve designation

,

94

,

189

external I/O

,

7

,

39

External I/O Status Bits

,

95

,

211

external latch signal inputs

,

95

,

198

F

FALS instruction

,

xxiii

feedback present position

,

95

,

198

,

276

FG

,

50

forward drive prohibited signal input

,

286

forward rotation current limit

,

94

forward rotation current limit designation

,

189

Forward Rotation External Current Limit Designation Bit

,

356

forward rotation limit input

,

95

,

198

,

286


,

95

,

197

,

211

function selection parameters

,

81

,

133

,

151

,

553

,

571

,

594

G

General-purpose Control Cable

,

62

ground

,

xxiv

I

I/O allocations

,

6


,

6


,

6

651

652

number of write words

,

19

parameter size

,

23

position command value

,

26

Servo Parameter No.

,

23

speed command value

,

26

write data

,

23

write destination address

,

19

write source area

,

19

write source word

,

19

I/O parameters

,

82

,

139

,

162

,

559

,

582

,

594

I/O signals

,

40

control

,

49

MECHATROLINK standard settings

,

266

,

268

Servo Drive

,

43

,

47

status

,

211

Individual Axis Errors

,

256

Initial PCU Settings

,

450

INP1

,

50

INP1COM

,

50

input signal selection 1

,

22


,

22


,

22

inspection

,

512

installation

,

35

location

,

xxiii

precautions

, xxvi

,

37

replacing PCUs

,

623

interrupt feeding

,

5

,

7

,

8

data settings

,

354

overview

,

353

present position

,

356

procedure

,

353

timing chart

,

355

INTERRUPT FEEDING Bit

,

94

,

186

interrupt input signal selection

,

103

J

JOG Bit

,

94

,

186

jogging

,

5

,

7

,

8

operation procedure

,

373

PCU data settings

,

374

starting

,

377

timing chart

,

377

L

LED indicators

,

32

Index

error display

,

488

error displays

,

487

errors at MECHATROLINK device

,

490

errors in PCU settings and operations

,

489

MECHATROLINK errors

,

489

MECHATROLINK-II Application Module

,

34

PCU errors

,

488

M

MECHATROLINK

,

12

communications

,

12

control

,

248

ending

,

25

errors

,

254

,

485

,

489

settings

,

243

starting

,

21

,

25

,

430

status

,

249

stopping

,

28

,

430

communications error

,

8

communications settings

,

10

compatible devices

,

238

device errors

,

490

overview

,

238

scan list

,

239

settings

,

239

specifications

,

238

MECHATROLINK Connector

,

40

MECHATROLINK-compatible devices

,

238

MECHATROLINK-II communications connections

,

57

wiring

,

56

high-speed field network

,

2

interface port

,

7

Servo Drives

,

2

synchronous communications

,

9


,

17

,

33

compatible versions

,

33

LED indicators

,

34

part names

,

33

station address

,

17

MECHATROLINK-II Communications Connector

,

33


,

17

,

56


,

17

,

56

memory areas


,

77


,

77

Axis Parameter Areas

,

77


,

77


,

77

Memory Card backup

,

514

Memory Card transfer error

,

183

MLK Communications Error

,

255

MLK Device Alarm/Warning

,

257

MLK Device Error

,

255

MLK Device Initialization Error

,

254

MLK Initialization Error

,

255

monitor 1

,

95

,

199

monitor 1 type

,

94

,

188

,

198

monitor 2

,

95

,

199

monitor 2 type

,

94

,

188

,

198

monitor types

,

213

monitoring function

,

7

N

No Origin Flag

,

95

,

196

,

203

noise

, xxiv

number of read words

,

93

,

182

number of write words

,

93

,

182

O

online editing

,

xxiii

Operating Data Area replacing PCUs

,

636

operating environment

,

xxiv

precautions

,

xxiii

Operating Memory Area replacing PCUs

,

632

option command value

,

94

,

188

during speed control

,

392

during torque control

,

403

origin determination

,

7

,

8

origin input signal selection

,

102

origin proximity input

,

95

,

198

origin return

,

8

,

319

data settings

,

319

timing chart

,

323

ORIGIN RETURN Bit

,

94

,

186

origin search

,

5

,

8

,

10

,

284

acceleration

,

284

data settings

,

295

Index

deceleration

,

284

direction

,

104

operation

,

103

operation mode

,

306

operation summary

,

305

overview

,

293

parameters

,

301

,

302

procedure

,

294

sample program

,

440

starting

,

314

ORIGIN SEARCH Bit

,

94

,

186

Origin Stop Flag

,

95

,

196

,

203

outputs precautions

,

xxiii

override

,

5

,

7

,

9

,

94

,

188

operation

,

378

timing chart

,

379

Override Enable Bit

,

94

,

186

P

parameter size

,

94

,

189

parameters

Axis Parameters

,

20

control status

,

303

part names

,

32


,

33

PCU Parameters

,

218

reading

,

223

replacing PCUs

,

624

saving

,

225

transferring

,

220

sample program

,

425

writing

,

220


,

95

,

195

,

201

phase Z margin calculating

,

324

description

,

324

position command range

,

9

position command value

,

94

,

187

Position Completed Flag/Speed Conformity Flag

,

95

position control

,

2

,

4

,

7

,

9

,

272

control units

,

273

parameters

,

81

,

137

,

158

,

557

,

579

switching

,

468

positioning sample program

,

441


,

197

,

207

Positioning Proximity Flag

,

95

,

197

,

210

653

654

power supply

, xxiv

precautions

, xxiv

Power Supply Unit

,

17

power up time

,

517

precautions

,

xxi

applications

, xxiv

general

,

xxii

handling

,

513

installation

,

37

operating environment

, xxiii

safety

, xxii

system configuration

,

35

wiring

,

73

present position during interrupt feeding

,

356

upper/lower limits

,

276

present position preset

,

5

,

8

,

317

data settings

,

317

timing chart

,

318

PRESENT POSITION PRESET Bit

,

94

,

186

present position range

,

9

present positions

,

276

Programming Console

,

17

,

25

Programming Console Connecting Cable

,

17

R

radiated emission

,

xxvi

radioactivity

,

xxiv

READ BACKUP DATA Bit

,

93

,

181

read data

,

95

,

199

READ DATA Bit

,

93

,

181

read destination area

,

93

,

182

read destination word

,

182


,

94

,

187

read source address

,

93

,

182

reading data from the PCU

,

224

READY

,

50

READYCOM

,

50


,

95

,

195

,

200

relative movement

,

4

,

8

sample program

,

441


,

16

,

26

,

94

,

186

replacing PCUs

Axis Parameter Area

,

625


,

625

functions

,

637

Index

installation

,

623

operating data

,

624

Operating Data Area

,

636

Operating Memory Area

,

632

PCU Parameters

,

624

procedure

,

513


,

623

wiring

,

623

replacing Units precautions

, xxv

resetting errors

,

509

resetting warnings

,

509

response time

,

10

commands from CPU Unit

,

518

external input

,

520

reflecting Servo Drive status changes in CPU Unit

,

519

Restart Bit

,

21

restarting

,

21

PCU

,

510

reversal mode

,

306

using limit inputs

,

313

reverse drive prohibited signal input

,

286

reverse rotation current limit

,

94

reverse rotation current limit designation

,

189

Reverse Rotation External Current Limit Designation Bit

,

356

reverse rotation limit input

,

95

,

198

,

286


,

95

,

197

,

211

S

safety precautions

,

xxii

SAVE DATA Bit

,

20

,

93

,

181


,

22

,

94

,

187

saving

PCU settings

,

20

saving data

,

10

saving data to the PCU

,

226

scan list

,

239

allocations

,

241

setting

,

18

S-curve acceleration/deceleration curve

,

282

S-curve designation

,

94

,

189

self-diagnostic functions

,

8

Servo

,

555

Servo Drive

,

16

,

17

Servo Drive Parameters

,

218

transferring

,

219

servo gain parameters

,

135

,

155

,

555

,

575

SERVO LOCK Bit

,

25

,

94

,

187

servo lock/unlock

,

7

,

25

,

28

operation

,

372

sample program

,

438

timing chart

,

373

Servo ON (SVON) Flag

,

197


,

77

,

104

,

523

allocations

,

80

control function parameters

,

567

function selection parameters

,

553

I/O and status parameters

,

559

,

594

position control parameters

,

557

servo gain parameters

,

555

speed control parameters

,

558

torque control parameters

,

558

Servo Parameter No.

,

94

,

189

servo parameter transfer

,

7


,

23

,

196

Servo Parameters

,

10

,

218

acceleration constant switching speed

,

27

automatic setting

,

265

backup sample program

,

456

deceleration constant switching speed

,

27

first-step linear acceleration constant

,

27

first-step linear deceleration constant

,

27

limit input operations

,

287

reading

,

229

timing chart

,

230

saving

,

231

timing chart

,

233

second-step linear acceleration constant

,

27

second-step linear deceleration constant

,

27

setting

,

22

transferring

,

22

,

226

sample program

,

431

writing

,

23

,

227

timing chart

,

228

Servo parameters reading/writing

,

8

Servo Parameters Transferring Flag

,

95

Servo Status Flags

,

95

,

206

,

406


,

206

,

209


,

206

,

211


,

206

,

207

Positioning Proximity Flag

,

206

,

210


,

206

,

211


,

206

,

207


,

206

,

210

Index

torque limit

,

206


,

210

Zero Speed Flag

,

206

,

209

SERVO UNLOCK Bit

,

28

,

94

,

187

Servomotor

,

17

Servomotor Encoder Cable

,

17

Servomotor Power Cable

,

17

Servomotors with absolute encoders

,

2

short-circuits precautions

,

xxiv

signals precautions

,

xxiv

Simple

,

514

simple backup function

,

514

simultaneous execution

,

191

multiple functions

,

192

single-direction mode

,

306

software limits

,

7

data settings

,

411

operation

,

412

overview

,

410

procedure

,

410

specifications

,

6

speed command range

,

9

speed command value

,

94

,

187

,

188


,

197

,

207

speed control

,

2

,

5

,

7

,

9

acceleration/deceleration

,

285

,

391

control units

,

274

monitoring

,

398


,

392

overview

,

387

parameters

,

82

,

85

,

138

,

159

,

558

,

580

sample program

,

444

starting

,

387

status

,

398

switching

,

468

SPEED CONTROL Bit

,

94

,

187


,

95

,

197

,

210

standards

,

6

start times

,

520

static electricity

, xxiv

precautions

,

xxv

station address setting switch

,

34

status parameters

,

82

,

139

,

162

,

175

,

559

,

582

,

594

Stop Execution Flag

,

95

,

196

,

205

655

656

stop functions

,

5

,

7

,

8

deceleration stop

,

414

emergency stop

,

416

overview

,

414

timing chart

,

417


,

3

precautions

,

35

replacing PCUs

,

623

T

target position changing

,

350

operation pattern

,

351

target speed changing

,

352

terminal arrangement

CN1

,

43

,

47

,

50

timing charts

,

252

changing target position/speed

,

352

direct operation

,

346

Error Warning Flag

,

348

errors or warnings

,

348

interrupt feeding

,

355

jogging

,

377

origin search

,

314

override

,

379

servo lock/unlock

,

373

stop functions

,

417

torque control

,

405

torque limit

,

384

zero/minute travel distance

,

347

torque command range

,

9

torque command value

,

94

,

188

torque control

,

2

,

5

,

7

,

9

control units

,

274

monitoring

,

406


,

403

overview

,

400

parameters

,

82

,

138

,

160

,

558

,

581

sample program

,

445

starting

,

400

status

,

406

switching

,

468

timing chart

,

405

TORQUE CONTROL Bit

,

94

,

187

torque limit

,

7

,

8

,

356

constant

,

380

overview

,

379

setting with operating commands

,

381

Index

timing chart

,

384


,

95

,

197

,

210

Transfer

,

514

transfer cycle

,

100

,

243

setting

,

245

Transfer Cycle Setting Error

,

255

transferring data

,

10

transferring programs

,

xxiii

troubleshooting

,

503

communications errors

,

506

during PCU operations

,

504

procedure

,

486

U

Unit Busy Flag

,

93

,

183

Unit classification

,

6

unit error code

,

93

,

183

Unit Error Flag

,

22

,

93

,

183

UNIT ERROR RESET Bit

,

93

,

181

unit numbers setting

,

17

setting switch

,

33

W

Warning Flag

,

95

,

196

warnings displays

,

621

resetting

,

509

weight

,

6

wiring

,

16

,

18

I/O signals

,

58

MECHATROLINK-II communications

,

56

precautions

,

73

replacing PCUs

,

623

WRITE BACKUP DATA Bit

,

93

,

181

write data

,

94

,

189

WRITE DATA Bit

,

18

,

24

,

93

,

181

write destination address

,

19

,

93

,

182


,

94

,

187

write source area

,

19

,

93

,

182

write source word

,

19

,

93

,

182

writing data to PCU

,

222

W-series Servo Drives

,

33

alarm displays

,

612

compatible versions

,

33

Control I/O Connector

,

43

,

47

,

50

warning displays

,

621

W-series Servomotor

,

16

Z

Zero Speed Flag

,

197

Zone Data

,

10

zone range

,

9

Index

657

658

Index

Revision History

A manual revision code appears as a suffix to the catalog number on the front cover of the manual.

Cat. No. W426-E1-11

Revision code

The following table outlines the changes made to the manual during each revision. Page numbers refer to the previous version.

Revision code

01

02

03

04

05

06

07

08

09

10

Date

July 2004 Original production

Revised content

September 2004 Information was expanded and revised to include new functionality, and corrections were made, as follows:

Page xii:

Information on unit versions added.

Page 5:

Information on linear interpolation added.

Pages 6, 9, 122, 164, 240, 243, 245, and 300:

Information on torque corrected.

Pages 64, 65, 66, 97, 98, 99, 100, 107, 371, 372, 375, and 388:

Tables expanded and notes added.

Page 149:

Notes added.

Pages 165, 233, and 241:

Table revised.

Page 206:

Information on ABSOLUTE MOVEMENT added.

Page 218:

Subsection on linear interpolation added.

Pages 336 and 337:

Information added.

Page 342:

Note added.

April 2005 Revisions were made throughout the manual to include new functionality for the upgrade to unit version 1.2 and information on R88D-WN @ -ML2 W-series Servo

Drives with built-in MECHATROLINK-II communications that differs from information for R88D-WT @ W-series Servo Drives equipped with Yaskawa JUSP-NS115

MECHATROLINK-II Application Modules.

February 2006 Revisions were made throughout the manual to include new functionality for the upgrade to unit version 1.3 and to include the new CS-series PCU.

December 2006 Revisions were made throughout the manual to include new functionality for the upgrade to unit version 2.0 and to support SMARTSTEP Junior Servo Drives (R7D-

ZN

@

-ML2).

August 2007

Pages 202 and 274:

Information added on setting the transfer cycle and communications cycle when setting an absolute encoder zero point position offset for an origin search.

February 2008 New functionality for the upgrade to unit version 2.1 were added, additional descriptions were added, and errors were corrected.

August 2008 Added information on G-series Servo Drives (R88D-GN @ ML2).

Added explanations and corrected mistakes.

October 2008 Added the CS1W-NC271/471, CJ1W-NC271/471, and CJ1W-NCF71-MA and corrected mistakes.

December 2009 Added the G5 Series Servo Drive R88D-KN @ -ML2 and corrected mistakes.

659

Revision History

Revision code

11

Date Revised content

October 2014 Updated copyright and trademark information.

Pages xii, 2, 32, 38, and 218:

Changed illustration of product.

Pages xix to xxi:

Updated Read and Understand this Manual and Warranty and

Limitations of Liability information.

Page xxv:

Changed or added four precautions in top part of page.

Page xxvii:

Added precaution toward bottom of page.

Page 40:

Changed illustration in table.

Page 104:

Changed paragraph toward bottom of page.

Page 336:

Added paragraph before figure, changed line for Servo ON in the figure, and added information at bottom of page.

Page 379:

Added information after first paragraph and before table at bottom of page.

Page 386:

Corrected parameter number from Pn003 to Pn521 after first table.

Page 533:

Changed rightmost column for parameter 611.

Page 613:

Changed "G" to "G5" in heading in middle of page.

660

OMRON Corporation

Industrial Automation Company

Tokyo, JAPAN

Contact: www.ia.omron.com

Regional Headquarters

OMRON EUROPE B.V.

Wegalaan 67-69, 2132 JD Hoofddorp

The Netherlands

Tel: (31)2356-81-300/Fax: (31)2356-81-388

OMRON ELECTRONICS LLC

2895 Greenspoint Parkway, Suite 200

Hoffman Estates, IL 60169 U.S.A

Tel: (1) 847-843-7900/Fax: (1) 847-843-7787

OMRON ASIA PACIFIC PTE. LTD.

No. 438A Alexandra Road # 05-05/08 (Lobby 2),

Alexandra Technopark,

Singapore 119967

Tel: (65) 6835-3011/Fax: (65) 6835-2711

OMRON (CHINA) CO., LTD.

Room 2211, Bank of China Tower,

200 Yin Cheng Zhong Road,

PuDong New Area, Shanghai, 200120, China

Tel: (86) 21-5037-2222/Fax: (86) 21-5037-2200

Authorized Distributor:

© OMRON Corporation 2014 All Rights Reserved.

In the interest of product improvement, specifications are subject to change without notice.

Cat. No. W426-E1-11

1014