Yaskawa SGDH Sigma II User's Manual

Series SGDH

PROFIBUS-DP INTERFACE UNIT

USER'S MANUAL

MODEL: JUSP-NS500

YASKAWA

YASKAWA  

MANUAL NO. SIE-C718-8

Safety Information

Safety Information

The following conventions are used to indicate precautions in this manual. Failure to heed precautions provided in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems.

!

WARNING

Indicates precautions that, if not heeded, could possibly result in loss of life or serious injury.

!

Caution Indicates precautions that, if not heeded, could result in relatively serious or minor injury, damage to the product, or faulty operation.

 Yaskawa, 2001

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

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

Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, Yaskawa 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.

iii

Visual Aids

The following aids are used to indicate certain types of information for easier reference.

A

EXAMPLE

"

Indicates application examples.

INFO

Indicates supplemental information.

IMPORTANT

Indicates important information that should be memorized.

TERMS z

Explains difficult to understand terms and terms that have not been explained before.

iv

OVERVIEW

OVERVIEW

Safety Information

Visual Aids

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iii iv

TABLE OF CONTENTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Using This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

1 Checking Products and Part Names . . . . . . . . . . . .

1.1 Checking Products on Delivery

1.2 Product Part Names

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1.3 Mounting the NS500 Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 Storage Conditions

2.2 Installation Site

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2.3 Orientation

2.4 Installation

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3 Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 Connecting to Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 SERVOPACK Internal Block Diagrams . . . . . . . . . . . . . . . . . . . .

3.3 I/O Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4 I/O Signal Connections for NS500 Units (CN4) . . . . . . . . . . . . . .

3.5 Connectors for PROFIBUS-DP Communications . . . . . . . . . . . .

4 Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2 Parameter Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 Parameter Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5 PROFIBUS-DP Communications . . . . . . . . . . . . . . . .

5.1 Specifications and Configuration . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2 PROFIBUS-DP Communications Setting Switches . . . . . . . . . .

5.3 Command/Response Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4 Motion Command Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5 Commands from the Host Controller . . . . . . . . . . . . . . . . . . . . . . .

6 Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1 Parameters and Standard Settings for NS500 Units . . . . . . . . .

6.2 Settings According to Equipment Characteristics

6.3 Settings According to Host Controller

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6.4 Setting Up the SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.5 Setting Stop Functions

6.6 Absolute Encoders

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6.7 Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 -1

3 -2

3 -6

3 -7

3 -12

3 -15

4 -1

4 -2

4 -4

4 -11

5 -1

5 -2

5 -3

5 -6

5 -27

5 -45

1 -1

1 -2

1 -4

1 -5 vii xi xii xiii

2 -1

2 -2

2 -2

2 -3

2 -4

6 -1

6 -3

6 -5

6 -10

6 -12

6 -16

6 -21

6 -24 v

7 Using the NSxxx Setup Tool . . . . . . . . . . . . . . . . . . . .

7.1 Connection and Installation

7.2 How to Use

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8 Ratings, Specifications, and Dimensions . . . . . . . .

8.1 Ratings and Specifications

8.2 Dimensional Drawings

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9 Error Diagnosis and Troubleshooting . . . . . . . . . . .

9.1 Troubleshooting with Alarm Displays . . . . . . . . . . . . . . . . . . . . . .

9.2 Troubleshooting Problems with No Alarm Display . . . . . . . . . . .

9.3 Alarm Display Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.4 Warning Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7 -1

7 -2

7 -3

8 -1

8 -2

8 -4

9 -1

9 -2

9 -38

9 -40

9 -43

A Alarm and Warning Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A-1 vi

TABLE OF CONTENTS

TABLE OF CONTENTS

Safety Information

Visual Aids

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Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Using This Manual

Safety Precautions

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1.2 Product Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

iii iv xi xii xiii

1 Checking Products and Part Names . . . . . . . . . . . . . . . . . . . .

1 -1

1.1 Checking Products on Delivery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1 -2

1 -4

1.3 Mounting the NS500 Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1 -5

2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 -1

2.1 Storage Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 -2

2.2 Installation Site . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 -2

2.3 Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 -3

2 -4

3 Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 -1

3.1 Connecting to Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.1 Single-phase (100 V or 200 V) Main Circuit Specifications

3.1.2 Three-phase, 200-V Main Circuit Specifications

3.1.3 Three-phase, 400-V Main Circuit Specifications

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3 -2

3 -3

3 -4

3 -5

3.2 SERVOPACK Internal Block Diagrams . . . . . . . . . . . . . . . . . . . . . . .

3 -6

3.3 I/O Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.1 Connection Example of I/O Signal Connector (CN1)

3.3.2 I/O Signals Connector (CN1)

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3.3.3 I/O Signal Names and Functions

3.3.4 Interface Circuits

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3.4 I/O Signal Connections for NS500 Units (CN4) . . . . . . . . . . . . . . . .

3.4.1 Connection Terminal Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.2 I/O Signal Interface Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.3 Fully-closed Encoder Connection Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5 Connectors for PROFIBUS-DP Communications . . . . . . . . . . . . . .

3 -7

3 -7

3 -8

3 -9

3 -10

3 -12

3 -12

3 -13

3 -14

3 -15 vii

4 Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4 -1

4.1 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.1 Outline of Parameters

4.1.2 Parameter Types

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4.1.3 Editing Parameters

4.1.4 Effective Timing

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4.2 Parameter Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.1 Unit Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.2 Zero Point Return Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.3 Machine System and Peripheral Device Parameters

4.2.4 Speed, Acceleration, and Deceleration Parameters

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4.2.5 Positioning Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.6 Multi-speed Positioning Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.7 Notch Output Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 Parameter Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.1 Unit Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.2 Zero Point Return Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.3 Machine System and Peripheral Devices

4.3.4 Speed, Acceleration, and Deceleration

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4.3.5 Positioning Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.6 Multi-speed Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.7 Notch Signal Output Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4 -2

4 -2

4 -2

4 -3

4 -3

4 -4

4 -4

4 -4

4 -5

4 -6

4 -8

4 -9

4 -10

4 -11

4 -11

4 -14

4 -19

4 -21

4 -33

4 -35

4 -36

5 PROFIBUS-DP Communications . . . . . . . . . . . . . . . . . . . . . . . .

5 -1

5.1 Specifications and Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.1 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.2 Control Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2 PROFIBUS-DP Communications Setting Switches . . . . . . . . . . . .

5.2.1 Rotary Switch Settings for Setting Station Address

5.2.2 LED Indicators

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5.3 Command/Response Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.1 Command Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.2 General Command Bits and Status

5.3.3 Move command datas

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5.3.4 Set/Read command datas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4 Motion Command Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.1 Constant Feed Command

5.4.2 Step Command

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5.4.3 Station Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.4 Point Table Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.5 Zero Point Return Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.6 Positioning Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.7 External Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.8 Notch Output Positioning Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.9 Multi-speed Positioning Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5 -2

5 -2

5 -2

5 -3

5 -3

5 -4

5 -6

5 -6

5 -7

5 -11

5 -20

5 -27

5 -27

5 -29

5 -31

5 -33

5 -34

5 -36

5 -38

5 -40

5 -41 viii

TABLE OF CONTENTS

5.5 Commands from the Host Controller . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.1 Basic Sequence

5.5.2 Command Method

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5 -45

5 -45

5 -46

6 Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6 -1

6.1 Parameters and Standard Settings for NS500 Units . . . . . . . . . . .

6.1.1 Automatically Set Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1.2 Standard Settings for CN1 I/O Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2 Settings According to Equipment Characteristics . . . . . . . . . . . .

6.2.1 Switching Servomotor Rotation Direction

6.2.2 Stop Mode Selection at Servo OFF

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6.2.3 Fully Closed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2.4 Fully Closed System Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2.5 Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3 Settings According to Host Controller

6.3.1 Sequence I/O Signals

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6.4 Setting Up the SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4.1 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4.2 Input Circuit Signal Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4.3 Output Circuit Signal Allocations

6.4.4 Analog Monitors

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6.5 Setting Stop Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.5.1 Using the Dynamic Brake

6.5.2 Using the Holding Brake

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6.6 Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.6.1 Selecting an Absolute Encoder

6.6.2 Absolute Encoder Setup

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.6.3 Multiturn Limit Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.7 Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.7.1 Connecting the Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.7.2 Limitations in Using a Hand-held Digital Operator

6.7.3 Panel Operator Indicators

. . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6 -3

6 -3

6 -4

6 -5

6 -5

6 -6

6 -7

6 -7

6 -8

6 -10

6 -10

6 -21

6 -21

6 -22

6 -22

6 -24

6 -24

6 -24

6 -24

6 -12

6 -12

6 -12

6 -13

6 -15

6 -16

6 -16

6 -17

7 Using the NSxxx Setup Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7 -1

7.1 Connection and Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.1 Connecting the NS500 Unit

7.1.2 Installing the Software

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2 How to Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.1 Screen Configuration at Startup

7.2.2 Functions Configuration

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7 -2

7 -2

7 -2

7 -3

7 -3

7 -6 ix

8 Ratings, Specifications, and Dimensions . . . . . . . . . . . . . . . .

8 -1

8.1 Ratings and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8 -2

8.2 Dimensional Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.2.1 NS500 Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8 -4

8 -4

9 Error Diagnosis and Troubleshooting . . . . . . . . . . . . . . . . . . .

9 -1

9.1 Troubleshooting with Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . .

9 -2

9.2 Troubleshooting Problems with No Alarm Display . . . . . . . . . . . .

9 -38

9.3 Alarm Display Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9 -40

9.4 Warning Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9 -43

A Alarm and Warning Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.1 Alarm Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A-1

A-2

A.2 Warning Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A-4 x

Overview

Overview

J

About this Manual

This manual provides the following information for the Σ ΙΙ Series SGM j H/SGDH Servodrives with a JUSP-NS500 PROFIBUS-DP Interface Unit (hereafter called the NS500 Unit) mounted. The

NS500 Unit is an Option Unit.

D Procedures for installing and wiring the NS500 Unit

D Specifications and methods for SERVOPACK PROFIBUS-DP communications

D Procedures for setting parameters

D Information on the NSxxx Setup Tool

D Troubleshooting procedures

J

Related Manuals

Refer to the following manuals as required.

Read this manual carefully to ensure the proper use of Σ ΙΙ Series Servodrives. Also, keep this manual in a safe place so that it can be referred to whenever necessary.

Manual Name

Σ -II Series SGM j

H/SGDH

User’s Manual

Servo Selection and Data Sheets

Σ ΙΙ Series SGM j

H/SGDH

User’s Manual

Design and Maintenance

Manual Number

SIE-S800-32.1

SIE-S800-32.2

Contents

Describes the procedure used to select

Σ -II Series Servodrives and capacities.

Provides detailed information on SGDH

SERVOPACKs.

xi

Using This Manual

J

Intended Audience

This manual is intended for the following users.

D Those designing Servodrive systems using PROFIBUS-DP.

D Those designing Σ -II Series Servodrive systems.

D Those installing or wiring Σ -II Series Servodrives.

D Those performing trial operation or adjustments of Σ -II Series Servodrives.

D Those maintaining or inspecting Σ -II Series Servodrives.

J

Description of Technical Terms

In this manual, the following terms are defined as follows:

D NS500 Unit = JUSP-NS500

D Servomotor = Σ ΙΙ Series SGMAH, SGMPH, SGMGH, SGMSH, SGMDH, or SGMUH servomotor.

D SERVOPACK = Σ ΙΙ Series SGDHjjj E SERVOPACK.

D Servodrive = A set including a servomotor and Servo Amplifier.

D Servo System = A servo control system that includes the combination of a Servodrive with a host computer and peripheral devices.

J

Indication of Reverse Signals

In this manual, the names of reverse signals (ones that are valid when low) are written with a forward slash (/) before the signal name, as shown in the following examples:

D /S-ON

D /P-CON xii

Safety Precautions

Safety Precautions

The following precautions are for checking products upon delivery, installation, wiring, operation, maintenance and inspections.

J Checking Products upon Delivery

!

CAUTION

D

Always use the servomotor and SERVOPACK in one of the specified combinations.

Not doing so may cause fire or malfunction.

J

Installation

!

CAUTION

D

Never use the products in an environment subject to water, corrosive gases, inflammable gases, or combustibles.

Doing so may result in electric shock or fire.

J

Wiring

!

WARNING

D

Connect the SERVOPACK ground terminal effectively to a system grounding conductor or grounding electrode (100 Ω or less).

Improper grounding may result in electric shock or fire.

!

CAUTION

D

Do not connect a three-phase power supply to SERVOPACK U, V, or W output terminals.

Doing so may result in injury or fire.

D

Securely fasten the power supply terminal screws and motor output terminal screws.

Not doing so may result in fire.

xiii

J Operation

!

WARNING

D

Never touch any rotating motor parts while the motor is running.

Doing so may result in injury.

!

CAUTION

D

Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to avoid any unexpected accidents.

Not doing so may result in injury.

D

Before starting operation with a machine connected, change the settings to match the parameters of the machine.

Starting operation without matching the proper settings may cause the machine to run out of control or malfunction.

D

Before starting operation with a machine connected, make sure that an emergency stop can be applied at any time.

Not doing so may result in injury.

D

Do not touch the heat sinks during operation.

Doing so may result in burns due to high temperatures.

J Maintenance and Inspection

!

WARNING

D

Never touch the inside of the SERVOPACKs.

Doing so may result in electric shock.

D

Do not remove the panel cover while the power is ON.

Doing so may result in electric shock.

D

Do not touch terminals for five minutes after the power is turned OFF.

Residual voltage may cause electric shock.

!

CAUTION

D

Do not disassemble the servomotor.

Doing so may result in electric shock or injury.

D

Do not attempt to change wiring while the power is ON.

Doing so may result in electric shock or injury.

xiv

Safety Precautions

J General Precautions

Note the following to ensure safe application.

S The drawings presented in this manual are sometimes shown without covers or protective guards. Always replace the cover or protective guard as specified first, and then operate the products in accordance with the manual.

S The drawings presented in this manual are typical examples and may not match the product you received.

S This manual is subject to change due to product improvement, specification modification, and manual improvement. When this manual is revised, the manual code is updated and the new manual is published as a next edition. The edition number appears on the front and back covers.

S If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the offices listed on the back of this manual.

S Yaskawa will not take responsibility for the results of unauthorized modifications of this product. Yaskawa shall not be liable for any damages or troubles resulting from unauthorized modification.

xv

1

Checking Products and Part Names

1

This chapter describes the procedure for checking Σ -II Series products and the NS500 Unit upon delivery. It also describes the names of product parts.

1.1 Checking Products on Delivery

1.2 Product Part Names

. . . . . . . . . .

. . . . . . . . . . . . . . . . . . .

1.3 Mounting the NS500 Unit . . . . . . . . . . . . . . .

1 -2

1 -4

1 -5

1 -1

1

Checking Products and Part Names

1.1 Checking Products on Delivery

The following procedure is used to check products upon delivery. Check the following items when products are delivered.

Check Items

Are the delivered products the ones that were ordered?

Is there any damage?

Can the NS500 Unit be installed on the SERVOPACK used?

Comments

Check the model numbers marked on the nameplates of the NS500 Unit. (Refer to the descriptions of model numbers on following pages)

Check the overall appearance, and check for damage or scratches that may have occurred during shipping.

Check the model number given on the SERVOPACK nameplate. The model number must contain “SGDH” and “E” as shown below to support the NS500 Unit.

SGDHjjj Ej

If any of the above items are faulty or incorrect, contact your Yaskawa sales representative or the dealer from whom you purchased the products.

J

External Appearance and Nameplate Example

Option unit type

Option unit name

SERVOPACK

PROFIBUS-DP I/F UNIT

MODEL JUSP-NS500 VER.

000000

S/N V81003-69

YASKAWA ELECTRIC

MADE IN JAPAN

Serial number

Version number

NS500 Unit

1 -2

1.1 Checking Products on Delivery

J

Model Number

NS500 Unit

JUSP

−

NS50 0

SERVOPACK Peripheral Device

Type of device:

NS50: PROFIBUS-DP Interface Unit

Design Revision Order

1

1 -3

1

Checking Products and Part Names

1.2 Product Part Names

The following diagram illustrates the part names of the NS500 Unit.

Ground wire: Connected to the terminal marked “G” on the SGDH SERVOPACK.

Rotary switches (X1, X10):

Used to set the PROFIBUS-DP station address.

RS-232C Communications Connector (CN11):

Used to communicate with the Setup Tool.

LED (COMM): Communication Status LED for PROFIBUS-DP

LED (ERR): Module Error Status LED

PROFIBUS-DP Communications Connector (CN6):

Connector for PROFIBUS-DP Communications.

External I/O Connector (CN4):

Connector for external I/O signals and fully closed encoder signals.

Figure 1.1

NS500 Unit

1 -4

1.3 Mounting the NS500 Unit

1.3 Mounting the NS500 Unit

This section describes how to mount a NS500 Unit on the SGDH SERVOPACK.

Prepare the screws for connecting the ground wire as shown in the following table:

Mounting Type SERVOPACK Models Screw Remarks

Base Mounted SGDH-A3 to 02BE

SGDH-A3 to 10AE

SGDH-15 to 50AE

SGDH-05 to 30DE

SGDH-60/75AE

M3 × 10 round-head screw

(spring or flat washer)

M4 × 10 round-head screws

(spring or flat washer)

M4 × 8 round-head screw

(spring or flat washer)

M4 × 6 round-head screws

(spring or flat washer)

Attachments

Attachments

Use front panel fixer screws

Attachments Rack Mounted SGDH-A3 to 02BE-R

SGDH-A3 to 50AE-R

SGDH-05 to 30DE-R

SGDH-60/75AE-P Duct Vent M4 × 8 round-head screw

(spring or flat washer)

Use front panel fixer screws

Note: Be sure to use spring washers or flat washers. Failure to do so may result in the screws for connecting the ground wire protruding behind the flange, preventing the SERVOPACK from being mounted.

By mounting NS500 Unit, the SGDH SERVOPACK can be used in a DeviceNet network. Use the following procedure to ensure NS500 Units are mounted correctly.

1.

Remove the connector cover from the CN10 connector on the SERVOPACK.

1

CN10

YASKAWA

SGDH-

SERVOPACK

Connector cover

MODE/SET

CHARGE

DATA /

POWER

1 -5

1

Checking Products and Part Names

2.

Mount the NS500 Unit on the SERVOPACK.

CN10

Connector (for connection to

SERVOPACK)

YASKAWA SERVOPACK

SGDH-

Ver.

U

V

W

L1C

L2C

B1

B2

CHARGE POWER

L1

L2

1

2

N S500

8

3.

For grounding, connect a ground wire of the NS500 Unit to the point marked “G” on the

SERVOPACK.

Ground wire

“

G

”

YASKAWA

SGDH-

SERVOPACK

NS500

MODE/SET

CHARGE

DATA/

POWER

For SERVOPACK 30 W to 5.0 kW

“

G

”

YASKAWA

SGDH -

SERVOPACK 200V

NS100

For SERVOPACK 6.0 kW to 7.5 kW

1 -6

Ground wire

1.3 Mounting the NS500 Unit

When the NS500 Unit has been mounted correctly, the SERVOPACK will appear as shown in the following diagram.

1

1 -7

2

Installation

2

This chapter describes precautions for Σ -II Series product installation.

The SGDH SERVOPACKs are base-mounted servo amplifiers. Incorrect installation will cause problems. Always observe the installation precautions shown in this chapter.

2.1 Storage Conditions

2.2 Installation Site

. . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . .

2.3 Orientation

2.4 Installation

. . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 -2

2 -2

2 -3

2 -4

2 -1

2

Installation

2.1 Storage Conditions

Store the SERVOPACK within the following temperature range when it is stored with the power cable disconnected.

Temperature range: − 20 to 85 ° C

Σ -II Series SGDH SERVOPACK with NS500 Unit mounted

2.2 Installation Site

Take the following precautions at the installation site.

Situation

Installation in a Control

Panel

Installation Near a

Heating Unit

Installation Near a

Source of Vibration

Installation at a Site

Exposed to Corrosive

Gas

Other Situations

Installation Precaution

Design the control panel size, unit layout, and cooling method so that the temperature around the SERVOPACK does not exceed 55 ° C.

Minimize heat radiated from the heating unit as well as any temperature rise caused by natural convection so that the temperature around the SERVOPACK does not exceed 55 ° C.

Install a vibration isolator beneath the SERVOPACK to avoid subjecting it to vibration.

Corrosive gas does not have an immediate effect on the SERVO-

PACK, but will eventually cause electronic components and contactor-related devices to malfunction. Take appropriate action to avoid corrosive gas.

Do not install the SERVOPACK in hot or humid locations, or locations subject to excessive dust or iron powder in the air.

2 -2

2.3 Orientation

2.3 Orientation

Install the SERVOPACK perpendicular to the wall as shown in the figure. The SERVOPACK must be oriented this way because it is designed to be cooled by natural convection or cooling fan.

Secure the SERVOPACK using 2 to 4 mounting holes. The number of holes depends on the SER-

VOPACK capacity.

2

Wall

MADE IN JAPAN

Ventilation

2 -3

2

Installation

2.4 Installation

Follow the procedure below to install multiple SERVOPACKs side by side in a control panel.

FAN FAN

50mm (2in.) or more

NS500 NS500 NS500 NS500

10mm (0.4in.) or more

50mm (2in.) or more

30mm (1.2in.) or more

J

SERVOPACK Orientation

Install the SERVOPACK perpendicular to the wall so that the front panel (containing connectors) faces outward.

J

Cooling

As shown in the figure above, provide sufficient space around each SERVOPACK for cooling by cooling fans or natural convection.

J

Side-by-side Installation

When installing SERVOPACKs side by side as shown in the figure above, provide at least 10 mm

(0.39 in) between and at least 50 mm (1.97 in) above and below each SERVOPACK. Install cooling fans above the SERVOPACKs to avoid excessive temperature rise and to maintain even temperature inside the control panel.

J

Environmental Conditions in the Control Panel

D Ambient Temperature:

D Humidity:

D Vibration:

0 to 55 ° C

90% or less

4.9 m/s 2

D Condensation and Freezing: None

D Ambient Temperature for Long-term Reliability: 45 ° C max.

2 -4

3

Connectors

This chapter describes the procedure used to connect Σ -II Series products to peripheral devices when NS500 Unit is mounted and gives typical examples of I/O signal connections.

3.1 Connecting to Peripheral Devices . . . . . . .

3.1.1 Single-phase (100 V or 200 V)

Main Circuit Specifications . . . . . . . . . . . . . . . . . . .

3.1.2 Three-phase, 200-V Main Circuit Specifications . .

3.1.3 Three-phase, 400-V Main Circuit Specifications

3.2 SERVOPACK Internal Block Diagrams . . .

. .

3.3 I/O Signals . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.1 Connection Example of I/O Signal Connector (CN1) . . . . . . . . . . . . . . . .

3.3.2 I/O Signals Connector (CN1) . . . . . . . . . . . . . . . . . .

3.3.3 I/O Signal Names and Functions . . . . . . . . . . . . . .

3.3.4 Interface Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4 I/O Signal Connections for NS500 Units (CN4) . . . . . . . . . . . . . . . .

3.4.1 Connection Terminal Layout

3.4.2 I/O Signal Interface Circuits

. . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . .

3.4.3 Fully-closed Encoder Connection Example . . . . . .

3.5 Connectors for PROFIBUS-DP

Communications . . . . . . . . . . . . . . . . . . . . . .

3 -12

3 -12

3 -13

3 -14

3 -15

3 -2

3 -3

3 -4

3 -5

3 -6

3 -7

3 -7

3 -8

3 -9

3 -10

3

3 -1

3

Connectors

3.1 Connecting to Peripheral Devices

This section provides examples of standard Σ -II Series product connections to peripheral devices.

It also briefly explains how to connect each peripheral device.

3 -2

3.1 Connecting to Peripheral Devices

3.1.1 Single-phase (100 V or 200 V) Main Circuit Specifications

Host Controller

Can be connected to PROFIBUS-DP Master.

Molded-case Circuit

Breaker (MCCB)

Protects the power line by shutting the circuit OFF when overcurrent is detected.

Molded-case circuit breaker

Power supply

Single-phase 200 VAC

R S T

Noise Filter

Used to eliminate external noise from the power line.

Personal Computer (See note.)

Noise filter

Magnetic Contactor

HI Series

Turns the servo

ON and OFF.

Install a surge suppressor on the magnetic contactor.

Magnetic contactor

Power Supply for Brake

Used for a servomotor with a brake.

Brake power supply

Magnetic contactor

Power supply ground line

U V W

L1 L2 L1C L2C

B1 B2

Cable model: JZSP-CMS01 to 03

Digital Operator

JUSP-OP02A-2

Allows the user to set parameters or operation references and to display operation or alarm status.

Encoder

Cable

Encoder

Connector

3

Regenerative Resistor

Connect an external regenerative resistor to terminals B1 and B2 if the regenerative capacity is insufficient.

3 -3

Regenerative resistor

(option)

Note Used for maintenance. Be sure to coordinate operation from these devices with controls exerted by the host controller.

3

Connectors

3.1.2 Three-phase, 200-V Main Circuit Specifications

3.1.2 Three-phase, 200-V Main Circuit Specifications

Host Controller

Can be connected to PROFIBUS-DP Master.

Molded-case Circuit

Breaker (MCCB)

Protects the power line by shutting the circuit OFF when overcurrent is detected.

Molded-case circuit breaker

Power supply

Three-phase 200 VAC

R S T

Personal Computer (See note.)

Noise Filter

Used to eliminate external noise from the power line.

Magnetic Contactor

HI Series

Turns the servo

ON and OFF.

Install a surge suppressor on the magnetic contactor.

Noise filter

Cable model: JZSP-CMS01 to 03

Digital Operator

JUSP-OP02A-2

Allows the user to set parameters or operation references and to display operation or alarm status.

Encoder

Cable

Encoder

Connector

Magnetic contactor

Brake power supply

Magnetic contactor Power supply ground line

U V W

L1 L2 L3

L1C L2C

B1 B2

Regenerative resistor

(option) Power Supply for Brake

Used for a servomotor with a brake.

Regenerative Resistor

If the capacity of the internal regenerative resistor is insufficient, remove the wire between terminals B2 and B3 and connect an external regenerative resistor to terminals B1 and B2.

Note Used for maintenance. Be sure to coordinate operation from these devices with controls exerted by the host controller.

3 -4

3.1 Connecting to Peripheral Devices

3.1.3 Three-phase, 400-V Main Circuit Specifications

Brake Power Supply

100-VAC or 200-VAC power supply.

24-VDC power supply for servomotors with 24-VDC brakes.

Host Controller

Can be connected to PROFIBUS-DP Master.

Molded-case Circuit

Breaker (MCCB)

Protects the power line by shutting the circuit OFF when overcurrent is detected.

Power supply

Three-phase 400 VAC

R S T

Personal Computer (See note.)

Moldedcase circuit breaker

Noise Filter

Used to eliminate external noise from the power line.

Cable model: JZSP-CMS01 to 03

Digital Operator

JUSP-OP02A-2

Allows the user to set parameters or operation references and to display operation or alarm status.

Noise filter

Magnetic Contactor

HI Series

Turns the servo

ON and OFF.

Install a surge suppressor on the magnetic contactor.

Magnetic contactor

Power Supply for Brake

Used for a servomotor with a brake.

Brake power supply

Magnetic contactor

Power supply ground line

U V W

L1 L2 L3

24V 0V

B1 B2

Encoder

Cable

Encoder

Connector

DC power supply

(24V)

Regenerative resistor

(option)

Regenerative Resistor

If the capacity of the internal regenerative resistor is insufficient, remove the wire between terminals B2 and

B3 and connect an external regenerative resistor to terminals B1 and

B2.

Note Used for maintenance. Be sure to coordinate operation from these devices with controls exerted by the host controller.

3 -5

3

3

Connectors

3.2 SERVOPACK Internal Block Diagrams

The following sections show an internal block diagram for the SERVOPACK with the NS500 Unit.

30 to 400 W 200-V and 30 to 200 W 100-V Models

Single-phase

200 to 230 V

(50/60Hz)

+10 %

− 15%

1

2

Noise filter

1MC

L1

L2

FU1

PM1-1

P1

R

T

N1

Voltage sensor

RY1

B1 B2

CHARGE

D1

C1

+

−

TR1

Relay drive

Voltage sensor

Gate drive

P2

N2

Gate drive overcurrent protector

PM1-2

U

V

W

Interface

R7

R8

THS1

D2D3D4

U

V

W

AC servomotor

CN2

PG

L1C

L2C

Power

OFF

Power

ON

1MC

1MC Surge suppressor

(5Ry)

Open during servo alam

~

+

~

−

Master node

CN6

+

−

DC/DC converter

Monitor display

Analog voltage converter

CN5

Monitor output for supervision

± 5V

+15V

+5V

± 12V

+5V

ASIC

(PWM control)

0V

POWER

CN3

Digital Operator/ personal computer

CPU

(position and speed calculation)

Current sensor

CN8

For battery connection

CN1

I/O

CN10

Sequence I/O

CN10

PROFIBUS-DP communications interface

Bus interface

CN4

Fully-closed PG

+5V

R

+5V

A

CPU

(position commands, command interpretation, arithmetic processing, etc.)

SW1, SW2

Station No.

SW3

Baud rate

Power supply

3 -6

3.3 I/O Signals

3.3 I/O Signals

This section describes I/O signals for the SERVOPACK with the NS500 Unit.

3.3.1 Connection Example of I/O Signal Connector (CN1)

The following diagram shows a typical example of I/O signal connections.

BAT+

BAT −

21

22

SGDH SERVOPACK

CN1

Backup battery

2.8 to 4.5 V *2

+

−

37

38

39

1

ALO1

ALO2

ALO3

SG

Alarm code output

Maximum operating voltage: 30 VDC

Maximum operating current: 20 mA DC

Not used +24VIN 47

3.3K

Ω

Zero point return deceleration LS

(LS enabled when ON)

Forward run prohibited

(Prohibited when OFF)

Reverse run prohibited

(Prohibited when OFF)

External positioning signal

Zero point signal

Not used

+24V

+

−

/DEC

40

41

25

26

/COIN+

/COIN −

Positioning completed

(ON when positioning has been completed)

P-OT 42

N-OT

EXTP

ZERO

43

44

45

46

27

28

29

30

31

32

Connector shell

FG

Connect the shield wire to connector shell.

* 1.

represents twisted-pair wires.

* 2. When using an absolute encoder, connect a backup battery only when there is no battery connected to the CN8.

* 3. Make signal allocations using parameters. (Refer to 6.1.2 Standard Settings for

CN1 I/O Signals .)

/BK+

/BK −

Brake output *3

(ON when brake released)

/S-RDY+

/S-RDY −

Servo ready output

(ON when ready)

ALM+

ALM −

Servo alarm output

(OFF for an alarm)

Photocoupler output

Maximum operating voltage: 30 VDC

Maximum operating current: 50 mA DC

Figure 3.1

I/O Signal Connections for CN1 Connectors

3 -7

3

3

Connectors

3.3.2

I/O Signal s Connector (CN1)

3.3.2 I/O Signals Connector (CN1)

The following diagram shows the layout of CN1 terminals.

J

CN1 Terminal Layout

16

−

−

−

−

11

−

−

−

−

−

−

−

−

−

−

/BK+

(Note 3)

Brake interlock output output output

Alarm code tor output)

41 /DEC turn deceleration LS input

Reverse run input signal

External

47 +24VIN power supply input

49 − −

46

Positioning

26 /COIN − complete output

/BK −

(Note 3) lock output

30 /S RDY −

32 ALM

−

− output

Servo alarm output

−

36 − −

Alarm code output

− −

−

−

Forward drive input tioning signal

−

−

− −

22 BAT ( ) ) Battery ( ) )

24 − −

21 BAT (+) Battery (+)

− −

Positioning

25 /COIN + l output

Note 1. Do not use unused terminals for relays.

2.

Connect the shield of the I/O signal cable to the connector shell.

The shield is connected to the FG (frame ground) at the SERVOPACK-end connector.

3.

Make signal allocations using parameters. (Refer to 6.1.2 Standard Settings for CN1 I/O Signals.)

J

CN1 Specifications

Specifications for

Connectors

10250-52A2JL 50-p

Right Angle Plug

Soldered

10150-3000VE

Applicable Receptacles

Case

10350-52A0-008

Manufacturer

Sumitomo 3M Ltd.

3 -8

3.3 I/O Signals

3.3.3 I/O Signal Names and Functions

The following section describes SERVOPACK I/O signal names and functions.

Signal Name

Common /DEC

P-OT

N-OT

EXTP

ZERO

+24VIN

BAT (+)

BAT ( − )

J

Input Signals

Pin No.

41

42

43

44

45

47

21

22

Function

Zero point return deceleration NS:

Deceleration LS for zero point return connected.

Forward run prohibited

Reverse run prohibited

Overtravel prohibited: Stops servomotor when movable part travels beyond the allowable range of motion.

External positioning signal:

Signal used for external positioning connected.

Zero point

Control power supply input for sequence signals: Users must provide the +24-V power supply.

Allowable voltage fluctuation range: 11 to 25 V

Connecting pin for the absolute encoder backup battery.

Connect to either CN8 or CN1.

J

Output Signals

Signal Name

Common ALM+

Position

ALM

/BK+

/BK −

−

/S-RDY+

/S-RDY

ALO1

ALO2

ALO3

FG

/COIN+

/COIN −

−

Pin No.

Function

31

32

27

28

Servo alarm: Turns OFF when an error is detected.

Brake interlock: Output that controls the brake. The brake is released when this signal is ON.

29

30

37

38

39 (1)

Servo ready: Turns ON if there is no servo alarm when the control/main circuit power supply is turned ON.

Alarm code output: Outputs 3-bit alarm codes.

Open-collector: 30 V and 20 mA rating maximum

Shell Connected to frame ground if the shield wire of the I/O signal cable is connected to the connector shell.

25

26

Positioning completed (output in Position Control Mode): Turns ON when the number of error pulses reaches the set value. The setting is the number of error pulses set in reference units (input pulse units defined by the electronic gear).

Note 1. Pin numbers in parenthesis () indicate signal grounds.

2.

The functions allocated to /BK, /S-RDY, and /COIN can be changed via parameters. The /BK, /S-RDY, and /COIN output signals can be changed to /CLT, /VLT, /TGON, /WARN, or /NEAR signals.

3

3 -9

3

Connectors

3.3.4 Interface Circuits

3.3.4 Interface Circuits

The following diagram shows an example of connections between a host controller and the I/O signal for a SERVOPACK.

J

Sequence Input Circuit Interface

The sequence input circuit interface connects through a relay or open-collector transistor circuit.

Select a low-current relay, otherwise a faulty contact will result.

SERVOPACK SERVOPACK

24 VDC

50 mA min.

24 VDC

50 mA min.

+24VIN

3.3k

Ω

/DEC,etc.

+24VIN

3.3k

Ω

/DEC,etc.

J

Sequence Output Circuit Interface

Any of the following two types of SERVOPACK output circuits can be used. Form an input circuit at the host controller that matches one of these types.

D Connecting to an Open-collector Output Circuit

Alarm code signals are output from open-collector transistor output circuits.

Connect an open-collector output circuit through a photocoupler, relay, or line receiver circuit.

5 to 12 VDC photocoupler

5 to 24 VDC

Relay

SERVOPACK end

SERVOPACK end

0V 0V

0V

0V

5 to 12 VDC

SERVOPACK end

0V

0V

Note The maximum allowable voltage and current capacities for open-collector output circuits are as follows:

· Voltage: 30 VDC max.

· Current: 20 mA DC max.

3 -10

3.3 I/O Signals

D Connecting to a Photocoupler Output Circuit

Photocoupler output circuits are used for servo alarm, servo ready, and other sequence output signal circuits.

Connect a photocoupler output circuit through a relay or line receiver circuit.

5 to 24 VDC

Relay 5 to 12 VDC

SERVOPACK end

SERVOPACK end

0V

0V

0V

0V

Note The maximum allowable voltage and current capacities for photocoupler output circuits are as follows:

· Voltage: 30 VDC max.

· Current: 50 mA DC max.

3

3 -11

3

Connectors

3.4.1 Connection Terminal Layout

3.4

I/O Signal Connections for

NS500

Units

(CN4)

The CN4 on an NS500 Unit is used for I/O signal and fully-closed encoder signal connections.

3.4.1

Connection Terminal Layout

The terminal layout and specifications for the CN4 are outlined below.

J

CN4 Terminal Layout

Pin No.

1

Signal

PG 0V

Description

Signal ground

Pin No.

11

Signal

+24VIN

6

7

8

9

10

2

3

4

5

PG 0V

PG 0V

−

−

−

−

−

EMSTOP

NOTCH2+

−

−

−

Signal ground

Signal ground

−

−

Emergency stop input

Notch output 2

12

13

14

15

16

17

18

19

20

Note 1. The PG power supply and battery must be supplied externally.

2. The FG is connected to the connector shell.

NOTCH1+

NOTCH1 −

PC

/PC

PA

/PA

PB

/PB

NOTCH2 −

J

Connector Specifications

Part

Connector

Connector shell

Signal

10120-3000VE (20P)

10320-52A0-008

Manufacturer

Sumitomo 3M Ltd.

−

Description

24-V common terminal for external input

Notch output 1

−

Phase-C input

−

Phase-A input

−

Phase-B input

−

Notch output 2

3 -12

3.

4 I/O Signal Connections for NS500 Units (CN4)

3.4.2

I/O Signal Interface Circuits

The following diagram shows an example of connections between a host controller and the I/O signals for an NS500 Unit.

J

Sequence I/O Circuit Interface

The sequence input circuit interface connects through a relay or open-collector transistor circuit.

Select a low-current relay, otherwise a faulty contact will result.

NS500

24 VDC

50 mA min.

+24VIN

3.3k

Ω

EMSTOP

NS500

24 VDC

50 mA min.

+24VIN 3.3k

Ω

EMSTOP 3

Relay Open Collector

J

Sequence Output Circuit Interface

Notch output signals are used for photocoupler output circuits. Connect the notch output signals to relays or line receiver circuits.

5 to 12 VDC

5 to 24 VDC

Relay

NS500 end

NS500 end

0V

0V

0V 0V

Relay Line Receiver

Note The maximum allowable voltage and current capacity for photocoupler output circuits are as follows :

⋅ Voltage: 30 VDC max.

⋅ Current: 50 mA DC max.

3 -13

3

Connectors

3.4.3 Fully − closed Encoder Connection Example

3.4.3

Fully-closed Encoder Connection Example

The following diagram shows a connection example for a fully-closed encoder.

External PG

NS500

PG0V

PA

/PA

PB

/PB

PC

/PC

19

14

15

CN4

1,2,3

16

17

18

/B

Z

/Z

/A

B

GND

A

External power supply

: Shield.

3 -14

3.

5 Connectors for PROFIBUS-DP Communications

3.5 Connectors for PROFIBUS-DP Communications

SUB-D 9-pin connectors are used for PROFIBUS-DP connections.

Pin number

1

2

3

6

7

4

5

8

9

Symbol

−

−

RXD/TXD-P

−

DGND

VP

−

RXD/TXD-N

−

Function

−

−

Receive/send data, positive

−

Ground

+5 V

−

Receive/send data, negative

−

Baud rate

(kbps)

9.6

Maximum cable length

(m)

1200

J

Cables for PROFIBUS-DP Communications

Use commercial PROFIBUS-DP cables. Type A cables are recommended. The maximum cable lengths when using type A cables are given in the table below.

19.2

93.75

187.5

500 1500 1200

1200 1200 1000 400 200 100

The specifications for type A cables are given in the table below.

Specifications Item

Impedance

Capacitance per Unit

Loop resistance

Core diameter

Core cross-sectional area

135 to 165 Ω

< 30 pF/m

110 Ω /m

0.64 mm

> 0.34 mm 2

3

3 -15

3

Connectors

Terminating resistances are required at both ends of the bus line as shown below.

VP (6)

Data line

Data line

390 Ω

RXD/TXD-P (3)

220 Ω

RXD/TXD-N (8)

390 Ω

DGND (5)

The NS500 Unit does not have terminating resistance. Use the terminating resistance in the bus plug connector on the cable side for the NS500 Unit.

3 -16

4

Parameter Settings

This chapter provides an outline and details of NS500 parameters.

4.1 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.1 Outline of Parameters . . . . . . . . . . . . . . . . . . . . . . . .

4.1.2 Parameter Types . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.3 Editing Parameters . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.4 Effective Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2 Parameter Tables . . . . . . . . . . . . . . . . . . . . . .

4.2.1 Unit Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.2 Zero Point Return Parameters . . . . . . . . . . . . . . . . .

4.2.3 Machine System and

Peripheral Device Parameters . . . . . . . . . . . . . . .

4.2.4 Speed, Acceleration, and Deceleration Parameters

4.2.5 Positioning Parameters . . . . . . . . . . . . . . . . . . . . . . .

4.2.6 Multi-speed Positioning Parameters . . . . . . . . . . . .

4.2.7 Notch Output Parameters . . . . . . . . . . . . . . . . . . . . .

4.3 Parameter Details . . . . . . . . . . . . . . . . . . . . .

4.3.1 Unit Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.2 Zero Point Return Parameters . . . . . . . . . . . . . . . . .

4.3.3 Machine System and Peripheral Devices

4.3.4 Speed, Acceleration, and Deceleration

. . . . . . .

. . . . . . . . .

4.3.5 Positioning Parameters . . . . . . . . . . . . . . . . . . . . . . .

4.3.6 Multi-speed Positioning . . . . . . . . . . . . . . . . . . . . . .

4.3.7 Notch Signal Output Positioning . . . . . . . . . . . . . . .

4 -10

4 -11

4 -11

4 -14

4 -5

4 6

4 -8

4 -9

4 -19

4 -21

4 -33

4 -35

4 -36

4 -2

4 -2

4 -2

4 -3

4 -3

4 -4

4 -4

4 -4

4

4 -1

4

Parameter Settings

4.1.2 Parameter Types

4.1 Parameters

4.1.1 Outline of Parameters

Parameters is the name given to the user constants that are required as the settings used to operate the NS500 Unit. You must set the optimum values for parameters according to the NS500

Unit and the machine to which the SGDH is mounted.

You can edit the NS500 Unit parameters using the NSxxx Setup Tool or host controller.

For parameters, refer to Chapter 6 Parameter Settings or the Σ II Series SGM j H/SGDH User’s

Manual Design and Maintenance (SIE-S800-32.2).

4.1.2 Parameter Types

Parameters are classified depending on their purpose as follows:

D Unit parameters

D Zero Point Return parameters

D Machine system and peripheral device parameters

D Speed, acceleration, and deceleration parameters

D Positioning parameters

D Multi-speed positioning parameters

D Notch output positioning parameters

Parameters are further classified according to the priority of the setting, as shown below.

Table 4.1 Parameter Types

Type

A

B

C

Meaning

Parameters that must be set even when using the NS500 Unit in standard mode.

Parameters that must be set when using the NS500 Unit in special mode.

Parameters whose settings hardly ever need to be changed.

4 -2

4.1 Parameters

4.1.3 Editing Parameters

You can edit parameters using the following methods.

Table 4.2 Methods of Editing Parameters

NSxxx Setup

Tool

Tools Methods Remarks

Select Option Parameter List from the

Parameter Menu to read all the NS500

Unit parameters. After the parameters have been displayed, select the parameters you want to edit, and click the Edit

Button to edit the parameters.

All changed parameters are stored in

RAM, so they are erased when the power is turned OFF. Use the Module

Reset Command to write the parameter data in RAM to the flash ROM.

Master Device You can edit using 8-bytes commands from the Master Device.

All changed parameters are stored in

RAM, so they are erased when the power is turned OFF. Execute the Reset

Service for the Identity Object to write the parameter data in RAM to the flash

ROM.

IMPORTANT

Parameters changed from each setting device are stored in RAM.

To save parametersin flash ROM afteradjustments have been completed, execute the Module Reset Command in the NSxxx Setup Tool or execute the Reset Service to the Identity Object via DeviceNet.

4

4.1.4 Effective Timing

Not all parameters edited from the NSxxx Setup Tool or Master Device are effective immediately. Changed parameters are effective at one of the following two times.

Table 4.3 Effective Timing for Parameters

Timing Control or Processing

Power-up

Immediate

The values of all parameters are made effective at the following times.

1. When power is turned ON.

2.

When the Module is reset from the NSxxx Setup Tool or via a command data.

The values of changed parameters are made effective immediately.

However, parameters will be stored in the Flash ROM at the following times.

S

When the Module is reset from the NSxxx Setup Tool or via a command data.

4 -3

4

Parameter Settings

4.2.2 Zero Point Return Parameters

4.2 Parameter Tables

The following tables list the parameters.

If using the NSxxx Setup Tool or reading/writing using a command data, edit parameters using

Pn jjj .

No.

4.2.1 Unit Parameters

The unit parameter table is shown below.

Name Range Units

Pn810 1 to 10,000,000 −

Effective

Timing

Power-up 1

Default

Value

B

Type

Pn811

Electronic Gear Ratio

(Numerator)

Electronic Gear Ratio

(Denominator)

1 to 10,000,000 − Power-up 1 B

4.2.2 Zero Point Return Parameters

The table of zero point return parameters are shown below.

No.

Pn800

Pn801

Pn802

Name

Zero Point Return Mode

Zero Point Return Function

Selection

Feed Speed for Zero Point

Return

0 to 3

0 to 7

Range

1 to 240,000

−

−

Units

1000 steps/ min

Effective

Timing

Immediate

Power-up

Immediate

Pn803

Pn804

Approach Speed for Zero

Point Return

Creep Speed for Zero Point

Return

1 to 240,000

1 to 240,000

1000 steps/ min

1000 steps/ min

Steps

Immediate

Immediate

Pn805

Pn806

Final Travel Distance for

Zero Point Return

Output Width for Zero Point

Return

Zero Point Offset

0 to 99,999,999

0 to 32, 767 Steps

Immediate

Immediate

Pn809 − 99,999,999 to

99,999,999

Steps Immediate

Pn80A Accel/Decel Time for Zero

Point Return

1 to 10,000 ms Immediate

Note: 1. “Steps” means “reference unit.” For reference unit details, refer to 4.3.1 Unit Parameters .

2. If you set the reference unit to 0.001 mm, 1,000 steps/min becomes mm/min.

0

1

Default

Value

10,000

1,000

500

0

100

0

100

B

B

B

B

B

B

B

C

B

Type

4 -4

4.2 Parameter Tables

4.2.3 Machine System and Peripheral Device Parameters

The machine system and peripheral device parameter table is shown below.

No.

Pn812

Pn813

Pn814

Pn815

Pn816

Pn817

Pn818

Pn819

Pn81A

Pn81B

Name Range

Coordinate Type 0, 1

Reference units per Machine

Rotation

1 to 1,500,000

Backlash Compensation 0 to 32,767

Backlash Direction

Positive Software Limit

0, 1

± 99,999,999

Negative Software Limit ± 99,999,999

Machine Function Selection 0 to 3

Hardware Limit Signal

Function Selection

Hardware Limit Action

Selection

Emergency Stop Signal

Function Selection

0 to 3

0, 1, 2

0 to 3

−

−

Units

Steps

Steps

−

Steps

−

−

−

−

Effective

Timing

Immediate

Immediate

Immediate

Immediate

Power-up

Power-up

Immediate

Immediate

Immediate

Immediate

Note: 1. “Steps” means “reference unit.” For reference unit details, refer to 4.3.1 Unit Parameters .

2. If you set the reference unit to 0.001 mm, 1,000 steps/min becomes mm/min.

Default

Value

0

360,000

0

0

99999999

− 99999999

0

1

0

1

C

C

B

B

B

C

C

B

B

B

Type

4

4 -5

4

Parameter Settings

4.2.4 Speed, Acceleration, and Deceleration Parameters

No.

Pn821

Pn822

Pn823

Pn824

Pn825

Pn826

Pn827

Pn829

Pn830

Pn831

Pn832

Pn833

Pn834

Pn835

4.2.4 Speed, Acceleration, and Deceleration Parameters

A table of speed, acceleration, and deceleration parameters is shown below.

Name Range Units

Feed Speed for Positioning 1 to 240,000

Effective

Timing

Immediate

Default

Value

24,000 1000 steps/min ms Immediate 100 Acceleration Time for

Positioning

Deceleration Time for

Positioning

Switch Speed for Second

Accel/Decel for Positioning

Accel/Decel Time for

Second Accel/Decel for

Positioning

Accel/Decel Type for

Positioning

Feed Speed for External

Positioning

Filter Selection

Constant Feed Reference

Unit Selection

Constant Feed Speed

1 to 10,000

1 to 10,000

1 to 240,000

1 to 10,000

0 to 3

1 to 240,000

0 to 3

0, 1

1 to 240,000 ms

1000 steps/min ms

−

−

−

1000 steps/min

1000 steps/min ms

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

100

24,000

200

0

24,000

0

0

24,000

100 Acceleration Time for

Constant Feed

Deceleration Time for

Constant Feed

Switch Speed for Constant

Feed Second Accel/Decel

Accel/Decel Time for

Constant Feed Second

Accel/Decel

1 to 10,000

1 to 10,000

1 to 240,000

1 to 10,000 ms

1000 steps/min ms

Immediate

Immediate

Immediate

100

24,000

200

B

B

C

C

B

B

B

B

B

B

B

C

C

C

Type

4 -6

4.2 Parameter Tables

No.

Name Range Units Effective

Timing

Immediate Pn836

Pn840

Pn841

Pn842

Pn843

Pn844

Pn845

Pn846

Pn847

Accel/Decel Type for

Constant Feed

Time Constant for

Exponential Accel/Decel

0, 1, 2, 3

4 to 10,000

Bias Speed for Exponential

Accel/Decel

1 to 240,000

Time Constant of Travelling

Average

4 to 10,000

Maximum Feed Speed 1 to 240,000

Step Distance 1

Step Distance 2

Step Distance 3

Step Distance 4

0 to 99,999,999

0 to 99,999,999

0 to 99,999,999

0 to 99,999,999

− ms

1000 steps/min ms

1000 steps/min

Steps

Steps

Steps

Steps

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Note: 1. “Steps” means “reference unit.” For reference unit details, refer to 4.3.1 Unit Parameters .

2. If you set the reference unit to 0.001 mm, 1,000 steps/min becomes mm/min.

0

25

0

25

Default

Value

24,000

1

10

100

1,000

B

C

C

C

B

B

B

B

B

Type

4

4 -7

4

Parameter Settings

4.2.5 Positioning Parameters

4.2.5 Positioning Parameters

The positioning parameter table is shown below.

No.

Pn850

Pn851

Pn852

Pn853

Name

Positioning Deadband

Positioning Timeout

Positioning Proximity

Detection Width

Direction for Rotation

System

Range

0 to 10,000

0 to 100,000

0 to 32,767

0, 1

Steps ms

Steps

−

Units Effective

Timing

Default Value

Immediate 5 A

Type

Immediate 0

Immediate 10

Immediate 0

Pn854

Pn855

Pn856

Approach Speed for

External Positioning

Travel Distance for

External Positioning

Function Selection for

External Positioning

1 to 240,000

0 to 99,999,999

0 to 1

1,000 steps/min

Steps

−

Immediate 24,000

Immediate 0

Power-up 1

Pn85A Number of Stations 1 to 32,767 − Immediate 1

Note: 1. “Steps” means “reference unit.” For reference unit details, refer to 4.3.1 Unit Parameters .

2. If you set the reference unit to 0.001 mm, 1,000 steps/min becomes mm/min.

A

B

B

B

B

B

B

4 -8

4.2 Parameter Tables

4.2.6

Multi-speed Positioning Parameters

A table of multi-speed positioning parameters is shown below.

No.

Pn861

Pn862

Pn86C

Pn86D

Pn86E

Pn86F

Pn870

Pn871

Pn872

Pn873

Pn863

Pn864

Pn865

Pn866

Pn867

Pn868

Pn869

Pn86A

Pn86B

Pn874

Pn875

Pn876

Pn877

Pn878

Name Range Units Effective

Timing

Number of Points for Speed Switching

Initial Feed Speed for Multi-speed Positioning

Speed Switching Position 1

Speed Switching Position 2

0 to 16

1 to 240,000

−

1000 steps/min

0 to 99,999,999 Steps

0 to 99,999,999 Steps

Immediate

Immediate

Immediate

Immediate

Speed Switching Position 3

Speed Switching Position 4

Speed Switching Position 5

Speed Switching Position 6

Speed Switching Position 7

Speed Switching Position 8

Speed Switching Position 9

0 to 99,999,999 Steps

0 to 99,999,999 Steps

0 to 99,999,999 Steps

0 to 99,999,999 Steps

0 to 99,999,999 Steps

0 to 99,999,999 Steps

0 to 99,999,999 Steps

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Speed Switching Position 10

Speed Switching Position 11

Speed Switching Position 12

Speed Switching Position 13

Speed Switching Position 14

Speed Switching Position 15

Speed Switching Position 16

Switching Speed 1

Switching Speed 2

Switching Speed 3

Switching Speed 4

Switching Speed 5

Switching Speed 6

0 to 99,999,999 Steps

0 to 99,999,999 Steps

0 to 99,999,999 Steps

0 to 99,999,999 Steps

0 to 99,999,999 Steps

0 to 99,999,999 Steps

0 to 99,999,999 Steps

1 to 240,000

1 to 240,000

1 to 240,000

1 to 240,000

1 to 240,000

1 to 240,000

1000 steps/min

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

1000 steps/min

Immediate

1000 steps/min

Immediate

1000 steps/min

Immediate

1000 steps/min

Immediate

1000 steps/min

Immediate

0

Default

Value

24,000

0

0

0

0

0

0

0

24,000

0

0

0

0

0

0

0

0

0

24,000

24,000

24,000

24,000

24,000

C

C

C

C

C

C

C

Type

C

C

C

C

C

C

C

C

C

C

C

C

C

C

C

C

C

4 -9

4

4

Parameter Settings

4.2.7

Notch Output Parameters

No.

Pn879

Pn87A

Pn87B

Pn87C

Pn87D

Pn87E

Pn87F

Pn880

Pn881

Pn882

Switching Speed 7

Switching Speed 8

Switching Speed 9

Switching Speed 10

Switching Speed 11

Switching Speed 12

Switching Speed 13

Switching Speed 14

Switching Speed 15

Switching Speed 16

Name Range

1 to 240,000

1 to 240,000

1 to 240,000

1 to 240,000

1 to 240,000

1 to 240,000

1 to 240,000

1 to 240,000

1 to 240,000

1 to 240,000

Note: 1. “Steps” means “reference unit.” For reference unit details, refer to 4.3.1 Unit Parameters .

2. If you set the reference unit to 0.001 mm, 1,000 steps/min becomes mm/min.

4.2.7

Notch Output Parameters

The notch output parameter table is shown below.

No.

Name Range Units Effective

Timing

Pn890

Pn891

Pn892

Pn893

Pn894

Notch Signal Output

Position Setting

Notch Signal Output

Setting

Notch 1 Output

Position Lower Limit

Notch 1 Output

Position Upper Limit

Notch 2 Output

Position Lower Limit

0

0 to 3

±

±

±

, 1

99,999,999

99,999,999

99,999,999

−

−

Steps

Steps

Steps

Immediate

Immediate

Immediate

Immediate

Immediate

0

0

0

0

0

Pn895 Notch 2 Output

Position Upper Limit

± 99,999,999 Steps Immediate 0

Note: 1. “Steps” means “reference unit.” For reference unit details, refer to 4.3.1 Unit Parameters .

2. If you set the reference unit to 0.001 mm, 1,000 steps/min becomes mm/min.

Default

Value

Units Effective

Timing

1000 steps/min

1000 steps/min

1000 steps/min

1000 steps/min

1000 steps/min

1000 steps/min

1000 steps/min

1000 steps/min

1000 steps/min

1000 steps/min

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

C

C

C

C

C

C

Default

Value

24,000 C

Type

24,000

24,000

24,000

24,000

24,000

24,000

24,000

24,000

24,000

C

C

C

C

C

C

C

C

C

Type

4 -10

4.3 Parameter Details

4.3 Parameter Details

Pn810

Pn811

No.

4.3.1 Unit Parameters

The unit for performing positioning using a NS500 Unit is determined by the following two parameters.

Name Range

Electronic gear (numerator) 1 to 10,000,000

Electronic gear

(denominator)

1 to 10,000,000

−

−

Units Effective

Timing

Power-up

Power-up

1

1

Default

Value

B

B

Type

The electronic gear function can be used to set the position command units equal to the amount of encoder pulses. The host controller can generate position commands in more familiar userdefined units such as millimeters or inches.

J

Not Using the Electronic Gear

If not using the electronic gear, set Pn810 and Pn811 to 1. This will set the reference unit to

1 pulse, so you must calculate the scale position units using the host controller.

SGDH NS500

4

PG

Motor m

1 pulse

7 revolutions

1 pulse

IMPORTANT

No. of Encoder pulses =

2048 × 4

5 revolutions n

Pitch of ball screw

P = 6 mm

In this manual, the reference unit explained in Electronic Gear Settings When Using a Ball Screw in 4.3.1 Unit

Parameters is based on a unit of 0.001 mm. The speed and other parameters must be interpreted as follows:

S

Pn821: Feed Speed for Positioning (mm/min) → (1000 pulses/min)

4 -11

Parameter Settings

4.3.1 Unit Parameters

J

Electronic Gear Settings When Using a Ball Screw

If using a ball screw, first check the following specifications.

D Number of Encoder pulses

D Gear ratio

D Ball screw pitch

System Example

The following system example shows the formulas when the reference unit is set to 0.001 mm.

SGDH NS500

4

PG Motor m

0.001 mm

7 revolutions

0.001 mm

No. of Encoder pulses=

2,048 × 4

5 revolutions n

Pitch of ball screw

P = 6 mm

D REV =

Travel distance of load per revolution (mm)

Reference unit (mm)

=

6 mm

0.001 mm

= 6000

D A = (REV) × {Gear ratio (load rev.)} = 6000 × 5 = 30000

D B = (Encoder pulses) × (Pulse multiplier) × {Gear ratio (motor rev.)} = 2048 × 4 × 7 = 57344

D B/A = 57344/30000 = 1.911

Data ranges are shown below.

D A ≦ 10,000,000

D B ≦ 10,000,000

D 100 ≧ B/A ≧ 0.01

By storing the value of A in Pn811 and the value of B in Pn810, you can use the Electronic Gear function. These parameters are enabled when the power is turned ON. After you have changed the parameter, execute the Module Reset Command or the Reset Service to the Identity Object.

IMPORTANT

Setting B/A outside the range 0.01 to 100 may result in a misoperation. Make sure to set B and A within this range.

4 -12

4.3 Parameter Details

J

Electronic Gear Settings when Using a Rotary Table

If using a rotary table, first check the following specifications.

D Number of Encoder pulses

D Gear ratio

System Example

The following system example shows the formulas when the reference unit is set to 0.001

° .

SGDH NS500

PG Motor m

0.001

°

3 revolutions

0.001

°

No. of Encoder pulses =

2048 × 4

1 revolution n

Rotating load

360 ° /revolution

D REV = 360 ° /0.001

° = 36000

D A = REV × {Gear Ratio (load rev.)} = 36000 × 1 = 36000

D B = (Encoder pulses ) × (Pulse multiplier) × {Gear ratio (motor rev.)} = 2048 × 4 × 3 = 24576

Data ranges are shown below.

D A ≦ 10,000,000

D B ≦ 10,000,000

D 100 ≧ B/A ≧ 0.01

By storing the value of A in Pn811 and the value of B in Pn810, you can use the Electronic Gear function. These parameters are enabled when the power is turned ON. After you have changed the parameter, execute the Module Reset Command or the Reset Service to the Identity Object.

IMPORTANT

Setting B/A outside the range 0.01 to 100 may result in a misoperation. Make sure to set B and A within this range.

4

4 -13

4

Parameter Settings

4.3.2 Zero Point Return Parameters

4.3.2 Zero Point Return Parameters

J

Zero Point Return Types

The following four types of zero point return are supported.

Type 0

This zero point return type returns to the zero point using the deceleration limit switch signal

(DEC signal) and the phase C pulse of the encoder. The outline of the operation is as follows:

1.

The axis travels in the direction specified as the zero point direction in the Zero Point

Return Function Selection (Pn801) at the Zero Point Return Feed Speed (Pn802).

2.

When the deceleration limit switch status changes, the axis decelerates and travels at the

Zero Point Return Approach Speed (Pn803).

3.

When the deceleration limit switch status changes again, the axis decelerates further when the first encoder phase C pulse is detected and then travels at the Zero Point Return Creep

Speed (Pn804).

4.

The axis travels the Zero Point Return Final Travel Distance (Pn805) from the position where the phase C was detected, and that position becomes the zero point.

Speed

Zero point return feed speed

(Pn802)

Zero point return approach speed

(Pn803)

Zero point return creep speed (Pn804)

Zero point return final travel distance (Pn805)

Time

Dog width

Deceleration limit switch signal

Phase C

Machine coordinate system zero point

Zero point area

Type 1

This zero point return type returns to the zero point using the zero point signal (ZERO signal).

The outline of the operation is as follows:

1.

The axis travels in the direction specified as the zero point direction in the Zero Point

Return Function Selection (Pn801) at the Zero Point Return Approach Speed (Pn803).

2.

When the zero point signal status changes, the axis decelerates, and travels at the Zero

Point Return Creep Speed (Pn804).

4 -14

4.3 Parameter Details

Speed

3.

The axis travels the Zero Point Return Final Travel Distance (Pn805) from the position that the zero point signal status changed, and that position becomes the zero point.

Zero point return approach speed

(Pn803)

Zero point return creep speed

(Pn804)

Zero point return final travel distance (Pn805)

Time

Zero point signal

Machine coordinate system zero point

Zero point area

Type 2

This zero point return type returns to the zero point using the deceleration limit switch (DEC signal) and the zero point signal (ZERO signal). The outline of the operation is as follows:

1.

The axis travels in the direction specified as zero point direction in the Zero Point Return

Function Selection (Pn801) at the Zero Point Return Feed Speed (Pn802).

2.

When the deceleration limit switch status changes, the axis decelerates, and travels at the

Zero Point Return Approach Speed (Pn803).

3.

When the zero point signal changes, the axis decelerates further and travels at the Zero

Point Return Creep Speed (Pn804).

4.

The axis travels the Zero Point Return Final Travel Distance (Pn805) from the position where the zero point signal changed, and that position becomes the zero point.

Speed

Zero point return feed speed

(Pn802)

Zero point return approach speed

(Pn803)

Zero point return creep speed (Pn804)

Zero point return final travel distance (Pn805)

Time

Dog width

Deceleration limit switch signal

Zero point signal

Machine coordinate system zero point

Zero point area

4 -15

4

4

Parameter Settings

4.3.2 Zero Point Return Parameters

Type 3

This zero point return type returns to the zero point using the phase C pulse of the encoder only.

The outline of the operation is as follows:

1.

The axis travels in the direction specified as zero point direction in the Zero Point Return

Function Selection (Pn801) at the Zero Point Return Approach Speed (Pn803).

2.

When the first phase C pulse of the encoder is detected, the axis decelerates, and travels at the Zero Point Return Creep Speed (Pn804).

3.

The axis travels the Zero Point Return Final Travel Distance (Pn805) from the position where the phase C pulse was detected, and that position becomes the zero point.

Speed

Zero point return approach speed

(Pn803)

Zero point return creep speed (Pn804)

Zero point return final travel distance (Pn805)

Time

Phase C pulse

Machine coordinate system zero point

Zero point area

INFO

When the setting for the Zero Point Return Final Travel Distance (Pn805) is small (when the distance is shorter than the distance required for the deceleration from approach speed), the axis will travel past the zero point and then return to it from the other direction.

Zero point return approach speed

Zero point return final travel distance

Amount of overtravel

Returning the amount overtraveled

Time

Phase C pulse

Zero point

4 -16

4.3 Parameter Details

J

Parameter Details (Object 0x64)

The details of parameters relating to zero point return are shown below.

Zero Point Return Mode (Pn800)

The zero point return type is specified in the zero point return mode.

Zero Point

Return Mode

0

1

2

3

Zero Point Return Type

3-step deceleration using deceleration limit switch and phase

C pulse

Double-step deceleration using zero point signal

3-step deceleration using deceleration limit switch and zero point signal

Double-step deceleration using phase C pulse

Zero Point Return Function Selection (Pn801)

The zero point return function selection has the following bit settings.

Bit

0

1

2

3 to 15 Reserved

Name Description

Zero Point Return Direction Setting* 0: Positive direction

1: Negative direction

Deceleration Limit Switch Signal

Setting

0: Enabled on Low

1: Enabled on High

Zero Point Signal Setting 0: Enabled on leading edge

1: Enabled on trailing edge

−

Zero Point Return Feed Speed (Pn802)

Use the Zero Point Return Feed Speed to set the initial feed speed for 3-step deceleration zero point return.

The setting unit is 1,000 steps/min.

Zero Point Return Approach Speed (Pn803)

Use the Zero Point Return Approach Speed to set the approach speed for zero point return. The setting unit is 1,000 steps/min.

Zero Point Return Creep Speed (Pn804)

Use the Zero Point Return Creep Speed to set the creep speed for zero point return. The setting unit is 1,000 steps/min.

4 -17

4

4

Parameter Settings

4.3.2 Zero Point Return Parameters

Zero Point Return Final Travel Distance (Pn805)

Use the Zero Point Return Final Travel Distance to set the distance from the position where the encoder phase C and zero point signal were detected to the machine zero point. The setting unit is steps.

Zero Point Output Width (Pn806)

Use the Zero Point Output Width to set the area that will be regarded as the zero point. The setting unit is steps.

In the following diagram, if the conditions outlined below are met, the Zero Point Flag in the response data will be set to 1.

D X = | Zero point − Current position | ≦ Pn806

Current position

Zero point

Position

Pn806 Pn806

X

Zero Point Offset (Pn809)

The system automatically writes to the Zero Point Offset the value of the offset from the zero point on the encoder when the zero point setting in the absolute value detection system has been completed. Normally, this parameter does not need to be set.

When using an absolute value detection system, set this value to enable adjustment of the zero point.

Zero Point Return Acceleration/Deceleration Time (Pn80A)

Use the Zero Point Return Acceleration/Deceleration Time to set the acceleration/declaration time constant used during zero point return. The setting unit is ms. Single-step linear acceleration/deceleration is used for zero point return. Refer to 4.3.4 Speed, Acceleration, and Deceleration for information on this acceleration/deceleration type.

4 -18

4.3 Parameter Details

4.3.3 Machine System and Peripheral Devices

The details of parameters relating to the machine system and peripheral devices are shown below.

Coordinate Type (Pn812)

Use the Coordinate Type to set whether to use the NS500 Unit as a linear axis or rotary axis.

Pn812

0

1

Description

The linear axis is designated.

The unit of current value data: steps

The rotary axis is designated.

The unit of current value data: degrees

Reference Units per Machine Rotation (Pn813)

Use the Reference Units per Machine Rotation to set the reference unit for one machine rotation. This parameter is enabled only when the coordinate type is set to rotary axis. If this parameter is not set correctly, when the machine performs a 360 ° rotation, the current position will not be reset to 0 ° , so be careful.

The setting unit is steps. The initial value is 360,000.

Backlash Compensation (Pn814)

Use the Backlash Compensation to set the amount of compensation when backlash compensation is used. The setting unit is steps.

Backlash Compensation Direction (Pn815)

Use the Backlash Compensation Direction to set the direction of the backlash compensation.

Normally, set this parameter in the opposite direction to the zero point direction.

Pn815

0

1

Positive Direction

Negative Direction

Description

Positive Software Limit (Pn816)

Use the Positive Software Limit to set the software limit in the positive direction. The setting unit is reference unit. Make the setting between − 99,999,999 and 99,999,999.

Negative Software Limit (Pn817)

Use the Negative Software Limit to set the software limit in the negative direction. The setting unit is reference unit. Make the setting between − 99,999,999 and 99,999,999.

4 -19

4

4

Parameter Settings

4.3.3 Machine System and Peripheral Devices

Machine Function Selection (Pn818)

Use the Machine Function Selection to set whether or not to use the software limit functions and the backlash compensation functions.

Bit

0

1

Description

0: Software Limit is disabled.

1: Software Limit is enabled.

0: Backlash Compensation is disabled.

1: Backlash Compensation is enabled.

Hardware Limit Signal Function Selection (Pn819)

Use the Hardware Limit Signal Function Selection to set whether or not to use the hardware limit and to set the signal polarity.

Bit

0

1

2 to 15

Name

Enable/Disable Hardware LImit

Hardware Limit Signal Polarity

Reserved

Description

0: Enabled

1: Disabled

0: Enabled on Low

1: Enabled on High

−

Hardware Limit Action (Pn81A)

Use the Hardware Limit Action to set the operation of the NS500 Unit when a hardware limit is detected.

Pn81A

0

1

2

3 to 255

Description

Servo OFF

Hard Stop: Stops at the specified maximum torque.

Deceleration to a Stop: Stops according to the specified deceleration curve.

Reserved

4 -20

4.3 Parameter Details

Emergency Stop Signal Function Selection (Pn81B)

Use the Emergency Stop Signal Function Selection to set whether or not to use the emergency stop function and to set the polarity of the signal.

Bit

0

1

2 to 15

Name

Enable/disable

Emergency Stop

Emergency Stop

Signal Polarity

Reserved

Description

0: Disabled

1: Enabled

0: Disabled on Low

1: Enabled on High

−

4.3.4 Speed, Acceleration, and Deceleration

J

Acceleration and Deceleration Patterns

The following acceleration and deceleration patterns are possible by combining acceleration/ deceleration types (Pn826 or Pn836) and filters (Pn829).

(

Filter

Selection

)

0: None

1: Exponent

2: Exponent with Bias

3: Travelling

Average

0: None

Acceleration/Deceleration Type (Pn826 or Pn836)

1: Single-step

Linear

2: Double-step

Linear

3: Asymmetric

No acceleration and deceleration

Single-step Linear

Accel/Decel

ConstantAccel/Decel* 1

Double-step Linear

Accel/Decel

ConstantAccel/Decel* 1

Asymmetric Linear

Accel/Decel

ConstantAccel/Decel* 1

− Exponential

Accel/Decel

Constant Accel/Decel time* 2

Single-step Linear

Accel/Decel

Constant Accel/Decel time* 2

−

Exponential Accel/Decel with Bias

Constant Accel/Decel time* 2

−

−

−

S-curve Accel/Decel

Time

ConstantAccel/Decel* 1

−

−

Asymmetric S-curve

Accel/Decel

ConstantAccel/Decel* 1

* 1. With Constant Accel/Decel, the time required for acceleration and deceleration changes with the feed speed changes.

* 2. With Constant Accel/Decel time, the time required for acceleration and deceleration does not change even if the feed speed changes.

Note: Combinations other than those given above may result in incorrect acceleration and deceleration.

4 -21

4

4

Parameter Settings

4.3.4 Speed, Acceleration, and Deceleration

Single-step Linear Acceleration/Deceleration with Constant

Acceleration/Deceleration

Table 4.4 Related Parameters

Pn jjj

Pn826

Pn829

Pn821

Pn822

Pn843

Name

Acceleration/Deceleration Type for Positioning

(= 1)

Filter Selection (= 0)

Feed Speed for Positioning

Acceleration Time for Positioning

Maximum Feed Speed

Speed

Pn822 Pn822

Time

Figure 4.1

Single-step Linear Acceleration/Deceleration with Constant

Acceleration/Deceleration

4 -22

4.3 Parameter Details

Double-step Linear Acceleration/Deceleration with Constant

Acceleration/Deceleration

Table 4.5 Related Parameters

Pn jjj

Pn826

Pn829

Pn821

Pn822

Pn824

Pn825

Pn843

Name

Acceleration/Deceleration Type for Positioning

(= 2)

Filter Selection (= 0)

Feed Speed for Positioning

Acceleration Time Constant for Positioning

Switch Speed for Second Accel/Decel

Accel/Decel Time Constant of Second Accel/Decel

Maximum Feed Speed

Speed

Pn825 Pn825

4

Pn822 Pn822

Time

Figure 4.2

Double-step Linear Acceleration/Deceleration with Constant

Acceleration/Deceleration

4 -23

4

Parameter Settings

4.3.4 Speed, Acceleration, and Deceleration

Asymmetric Linear Acceleration/Deceleration with Constant

Acceleration/Deceleration

Table 4.6 Related Parameters

Pn jjj

Pn826

Pn829

Pn821

Pn822

Pn823

Pn843

Name

Acceleration/Deceleration Type for Positioning

(= 3)

Filter Selection (= 0)

Feed Speed for Positioning

Acceleration Time for Positioning

Deceleration Time for Positioning

Maximum Feed Speed

Speed

Pn822 Pn823

Time

Figure 4.3

Asymmetric Linear Acceleration/Deceleration with Constant

Acceleration/Deceleration

4 -24

4.3 Parameter Details

Exponential Acceleration/Deceleration with Constant

Acceleration/Deceleration Time

Table 4.7 Related Parameters

Pn jjj

Pn826

Pn829

Pn821

Pn840

Name

Acceleration/Deceleration Type for Positioning

(= 0)

Filter Selection (= 1)

Feed Speed for Positioning

Time Constant for Exponential Acceleration/Deceleration

Speed

4

Pn840 Pn840

Time

Figure 4.4

Exponential Acceleration/Deceleration with Constant

Acceleration/Deceleration Time

4 -25

4

Parameter Settings

4.3.4 Speed, Acceleration, and Deceleration

Exponential Acceleration/Deceleration with Bias with Constant

Acceleration/Deceleration Time

Table 4.8 Related Parameters

Pn jjj

Pn826

Pn829

Pn821

Pn840

Pn841

Name

Acceleration/Deceleration Type for Positioning

(= 0)

Filter Selection (= 2)

Feed Speed for Positioning

Time Constant for Exponential Acceleration/Deceleration

Bias Speed for Exponential Acceleration/Deceleration

Speed

Pn840 Pn840

Time

Figure 4.5

Exponential Acceleration/Deceleration with Bias with Constant

Acceleration/Deceleration Time

4 -26

4.3 Parameter Details

Single-step Linear Acceleration/Deceleration with Constant

Acceleration/Deceleration Time

Table 4.9 Related Parameters

Pn jjj

Pn826

Pn829

Pn821

Pn842

Name

Acceleration/Deceleration Type for Positioning

(= 0)

Filter Selection (= 3)

Feed Speed for Positioning

Time Constant of Travelling Average

Speed

4

Pn842 Pn842

Time

Figure 4.6

Single-step Linear Acceleration/Deceleration with Constant

Acceleration/Deceleration Time

4 -27

4

Parameter Settings

4.3.4 Speed, Acceleration, and Deceleration

S-curve Acceleration/Deceleration with Constant

Acceleration/Deceleration

Table 4.10 Related Parameters

Pn jjj

Pn826

Pn829

Pn821

Pn822

Pn842

Pn843

Name

Acceleration/Deceleration Type for Positioning

(= 1)

Filter Selection (= 3)

Feed Speed for Positioning

Acceleration Time for Positioning

Time Constant of Travelling Average

Maximum Feed Speed

Speed

Pn822 Pn822

Pn842 Pn842

Figure 4.7

S-curve Acceleration/Deceleration with Constant

Acceleration/Deceleration

Time

4 -28

4.3 Parameter Details

Asymmetric S-curve Acceleration/Deceleration with Constant

Acceleration/Deceleration

Table 4.11 Related Parameters

Pn jjj

Pn826

Pn829

Pn821

Pn822

Pn823

Pn842

Pn843

Name

Acceleration/Deceleration Type for Positioning

Filter Selection

Feed Speed for Positioning (mm/min)

Acceleration Time for Positioning

Deceleration Time for Positioning

Time Constant for Travelling Average

Maximum Feed Speed

Speed 4

Time

Pn822

Pn842

Pn823

Pn842

Figure 4.8

Asymmetric S-curve Acceleration/Deceleration with Constant

Acceleration/Deceleration

4 -29

4

Parameter Settings

4.3.4 Speed, Acceleration, and Deceleration

J

Parameter Details

Feed Speed for Positioning (Pn821)

Use the Feed Speed for Positioning to set the feed speed of the positioning. The setting unit is 1,000 steps/min.

Acceleration Time for Positioning (Pn822)

Use the Acceleration Time for Positioning to set the acceleration time for the positioning. The setting unit is ms.

Deceleration Time for Positioning (Pn823)

Use the Deceleration Time for Positioning to set the deceleration time for positioning. The setting unit is ms.

This parameter is enabled only when the Acceleration/Deceleration Type for Positioning

(Pn826) is set to the asymmetrical linear acceleration and deceleration.

Switch Speed for Second Acceleration/Deceleration for

Positioning (Pn824)

Use the Switch Speed for Second Acceleration/Deceleration for Positioning to set the switching speed to acceleration and deceleration of the second step when using double-step linear acceleration and deceleration. The setting unit is 1,000 step/min.

This parameter is enabled only when the Acceleration/Deceleration Type for Positioning

(Pn826) is set to double-step linear acceleration and deceleration.

Acceleration/Deceleration Time for Second

Acceleration/Deceleration for Positioning (Pn825)

Use the Acceleration/Deceleration Time for Second Acceleration/Deceleration for Positioning to set the acceleration and deceleration time for the second step when using double-step linear acceleration and deceleration. The setting unit is ms.

This parameter is enabled only when the Acceleration/Deceleration Type for Positioning

(Pn826) is set to double-step linear acceleration and deceleration.

Acceleration/Deceleration Type for Positioning (Pn826)

Use the Acceleration/Deceleration Type for Positioning to set the type of acceleration and deceleration for the positioning.

You can set eight different acceleration and deceleration patterns using different combinations of Acceleration/Deceleration Type for Positioning and Filter Selection (Pn829).

Description Setting

0

1

None

Single Step Linear

4 -30

4.3 Parameter Details

Setting

2

3

Double Step Linear

Description

Asymmetric

External Positioning Feed Speed (Pn827)

Use the External Positioning Feed Speed to set the feed speed for external positioning.

The setting unit is 1,000 steps/min.

Filter Selection (Pn829)

Use the Filter Selection to set the acceleration and deceleration filter type. This parameter is used in common by the positioning, constant feeding, and zero point return operations.

Setting

0

1

2

3

Description

None

Exponential

Exponential with Bias

Travelling Average

Constant Feed Reference Unit Selection (Pn830)

Use the Constant Feed Reference Unit Selection to set the reference unit for the speed setting for a constant feed command data.

Setting

0

1

Description

Sets an override value (%) for the feed speed for FEED (Pn831) in the command data.

Speed set directly in the command data.

The setting unit is 1000 steps/min.

Constant Feed Speed (Pn831)

Use the Constant Feed Speed to set the feed speed when using the FEED operation. The setting unit is 1,000 steps/min.

Acceleration Time for Constant Feed (Pn832)

Use the Acceleration Time for Constant Feed to set the acceleration time when using the feed operation. The setting unit is ms.

Deceleration Time for Constant Feed (Pn833)

Use the Deceleration Time for Constant Feed to set the deceleration time when using asymmetrical acceleration and deceleration with the constant feed operation. The setting unit is ms.

4 -31

4

4

Parameter Settings

4.3.4 Speed, Acceleration, and Deceleration

This parameter is enabled only when the Acceleration/Deceleration Type for Constant Feed

(Pn836) is set to asymmetrical linear acceleration and deceleration.

Switch Speed for Constant Feed Second Accel/Decel (Pn834)

Use the Switch Speed for Constant Feed Second Acceleration/Deceleration to set the switching speed to double-step acceleration and deceleration when using double-step linear acceleration and deceleration with the constant feed operation. The setting unit is 1,000 steps/min.

This parameter is enabled only when the Acceleration/Deceleration Type for Constant Feed

(Pn836) is set to double-step linear acceleration and deceleration.

Accel/Decel Time for Constant Feed Second Accel/Decel (Pn835)

Use the Acceleration/Deceleration Time for Constant Feed Second Acceleration/Deceleration to set the second acceleration/deceleration time when using double-step linear acceleration and deceleration with the constant feed operation. The setting unit is ms.

This parameter is enabled only when the Acceleration/Deceleration Type for Constant Feed

(Pn836) is set to double-step linear acceleration and deceleration.

Acceleration/Deceleration Type for Constant Feed (Pn836)

Use the Acceleration/Deceleration Type for Constant Feed to set the acceleration and deceleration type with the constant feed operation.

You can set eight different acceleration and deceleration patterns using different combinations of Acceleration/Deceleration Type for Constant Feed and Filter Selection (Pn829).

Setting

0

1

2

3

None

Single Step Linear

Double Step Linear

Asymmetric

Description

Time Constant for Exponential Acceleration/Deceleration (Pn840)

Use the Time Constant for Exponential Acceleration/Deceleration to set the time constant when using exponential acceleration and deceleration. This parameter is used in common by the positioning and the continuous rotary operation. The setting unit is ms.

Bias Speed for Exponential Acceleration/Deceleration (Pn841)

Use the Bias Speed for Exponential Acceleration/Deceleration to set the bias speed of the exponential acceleration and deceleration. The setting unit is 1,000 steps/min.

Time Constant of Travelling Average (Pn842)

Use the Time Constant of Travelling Average to set the time constant of the average travel speed of the acceleration and deceleration. This parameter is used in common by the positioning and the continuous rotary operation. The setting unit is ms.

4 -32

4.3 Parameter Details

Maximum Feed Speed (Pn843)

Use the Maximum Feed Speed to set the maximum feed speed of the positioning, FEED, and zero point return operations. The acceleration and deceleration data is calculated from this data and the time constants. The setting unit is 1,000 steps/min.

Step Distance 1 (Pn844)

Use the Step Distance 1 to set the amount of travel when executing step operation. This value is used when the 0 has been specified as the command data in a command data.

The setting unit is steps.

Step Distance 2 (Pn845)

Use the Step Distance 2 to set the amount of travel when executing step operation. This value is used when the 1 has been specified as the command data in a command data.

The setting unit is steps.

Step Distance 3 (Pn846)

Use the Step Distance 3 to set the amount of travel when executing step operation. This value is used when the 2 has been specified as the command data in a command data.

The setting unit is steps.

Step Distance 4 (Pn847)

Use the Step Distance 4 to set the amount of travel when executing step operation. This value is used when the 3 has been specified as the command data in a command data.

The setting unit is steps.

4.3.5 Positioning Parameters

J

Parameter Details

Positioning Deadband (Pn850)

Use the Positioning Deadband to set the positioning completed range, i.e., to determine if the axis is on-target position. The setting unit is steps. When the positioning deadband is set to 0, no on-target position check will be performed.

Current value that is changing End Point

Coordinate axis

Pn850 Pn850

X

Positioning Deadband

4 -33

4

4

Parameter Settings

4.3.5 Positioning Parameters

When the following condition is satisfied in the above figure, the axis is viewed as being at the on-target position and the On-target Flag in the response data will be set to 1.

D X = (End point − Current value) ≤ Pn850

Positioning Timeout (Pn851)

Use the Positioning Timeout to set the time for performing on-target position check. The setting unit is ms. If, after the move command distribution has been completed, the positioning completed range is not entered within the time set, A.9A positioning a completion timeout warning will be sent.

If this parameter is set to 0, the check time becomes infinite.

Positioning Proximity Detection Width (Pn852)

Use the Positioning Proximity Detection Width to set the range for positioning area proximity to be detected. If the difference between the current position and the target position are within this parameter range, the proximity signal in the response data will be set to 1. The setting unit is steps.

Direction for Rotation System (Pn853)

Use the Direction for Rotation System to set the rotation direction for when Station Commands or rotation commands using absolute values are used.

Setting

0

1

Description

Uses the rotation direction in command data.

Uses the direction for the shortest travel.

Approach Speed for External Positioning (Pn854)

Use the Approach Speed for External Positioning to set the approach speed after the external signal has reversed status for an external positioning command.

The setting unit is 1,000 steps/min.

Travel Distance for External Positioning (Pn855)

Use the Travel Distance for External Positioning to set the travel distance after the external signal has reversed status for an external positioning command.

The setting unit is steps.

Function Selection for External Positioning (Pn856)

Use the Function Selection for External Positioning to select the polarity of the external signal.

Bit

0

2 to 15

Name Description

External Signal Polarity

0: Enabled on low

1: Enabled on high

Reserved −

4 -34

4.3 Parameter Details

Number of Stations (Pn85A)

Use the Number of Stations to set how many stations one revolution of the servomotor will be evenly split into when Station Commands are used.

In Station Commands, equally divided stations are numbered in order from 0 and positioning is performed by specifying a station number.

Station n Station 0

Station 1

4.3.6

Multi-speed Positioning

By using multi-speed positioning, the speed can be changed in stages during positioning.

Up to 16 speed change stages are possible.

When the axis reaches a specified position, the speed switches to the speed for the next stage and the axis travels to the specified position in that next stage.

Time

Speed 2

(Pn874)

Speed 1

(Pn873)

Speed switching position 3

(Pn865)

Feed speed

(Pn862)

Speed 3

(Pn875)

Speed switching position 2

(Pn864)

Speed switching position 1 (Pn863)

Speed

J

Parameter Details

Number of Points for Speed Switching (Pn861)

Use the Number of Points for Speed Switching to set the number of points at which the speed will be switched. If, for example, the parameters for speed switching positions were set from

1 to 16 but this setting for the number of points was set to 3, the speed switching would be enabled for 3 points only.

4 -35

4

4

Parameter Settings

4.3.7

Notch Signal Output Positioning

Initial Feed Speed for Multi-speed Positioning (Pn862)

Use the Initial Feed Speed for Multi-speed Positioning to set the initial feed speed when performing speed multi-step positioning. This speed will be enabled until the position in the speed switching position 1 parameter is reached.

The setting unit is 1,000 steps/min.

Speed Switching Positions 1 to 16 (Pn872)

Use the Speed Switching Position to set the position at which the speed is to change at a position relative to the start position. The speed switching position xx and switching speed xx are used together. For example, the axis will travel from speed switching position 1 to speed switching position 2 at speed 1.

The setting unit is steps.

Switching Speeds 1 to 16 (Pn873 to Pn882)

Use the Switching Speed to set the feed speed between specified speed switching positions.

For example, the axis will travel at speed 2 between speed switching position 2 and speed switching position 3.

The setting unit is 1,000 steps/min.

4.3.7

Notch Signal Output Positioning

During the positioning, notch signals (NOTCH 1 and NOTCH 2) are output when specified points are passed.

Two notch signals, NOTCH 1 and NOTCH 2, can be output.

Notch output 1 position lower limit (Pn892)

Notch output 1 position upper limit (Pn893)

Speed

Time

NOTCH 1 signal

1

0

4 -36

4.3 Parameter Details

J

Parameter Details

Notch Signal Output Position Setting (Pn890)

Use the Notch Signal Output Position Setting to set whether absolute or relative positions are set for the notch signal output position parameters.

Setting

0

1

Description

Setting absolute position.

Specifies relative position.

Notch Signal Output Setting (Pn891)

Use the Notch Signal Output Setting to set the polarity of the notch signal output.

Table 4.12 Notch Signal Output Setting

Setting

0

1

Description

Sets NOTCH 1 signal.

Sets NOTCH 2 signal.

Table 4.13

Bit 0/ Bit 1

0

1

Bit Meanings

Description

Normally: OFF When passed: ON

Normally: ON When passed: OFF

Notch 1 Output Position Lower Limit (Pn892)

Notch 1 Output Position Upper Limit (Pn893)

Use the Notch 1 Output Position Upper/Lower Limits to set the output position range for notch signal (NOTCH 1). When the current position is inside this range, the status of the NOTCH

1 signal output is reversed based on the notch signal output setting.

Notch 2 Output Position Lower Limit (Pn894)

Notch 2 Output Position Upper Limit (Pn895)

Use the Notch 2 Output Position Upper/Lower Limits to set the output position range for notch signal (NOTCH 2). When the current position is inside this range, the status of the NOTCH

2 signal output is reversed based on the notch signal output setting.

4

4 -37

5

PROFIBUS-DP Communications

This chapter explains about using PROFIBUS-DP communications to execute commands and editing parameters for an NS500 Unit.

5.1 Specifications and Configuration . . . . . . . .

5.1.1 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.2 Control Configuration . . . . . . . . . . . . . . . . . . . . . . . .

5.2 PROFIBUS-DP Communications

Setting Switches . . . . . . . . . . . . . . . . . . . . . .

5.2.1 Rotary Switch Settings for Setting Station Address

5.2.2 LED Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3 Command/Response Format . . . . . . . . . . . .

5.3.1 Command Format . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.2 General Command Bits and Status . . . . . . . . . . . .

5.3.3 Move command datas . . . . . . . . . . . . . . . . . . . . . . . .

5.3.4 Set/Read command datas . . . . . . . . . . . . . . . . . . . .

5.4 Motion Command Methods

5.4.1 Constant Feed Command

. . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . .

5.4.2 Step Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.3 Station Command . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.4 Point Table Command . . . . . . . . . . . . . . . . . . . . . . . .

5.4.5 Zero Point Return Command . . . . . . . . . . . . . . . . . .

5.4.6 Positioning Command . . . . . . . . . . . . . . . . . . . . . . . .

5.4.7 External Positioning . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.8 Notch Output Positioning Command . . . . . . . . . . .

5.4.9 Multi-speed Positioning Command . . . . . . . . . . . . .

5.5 Commands from the Host Controller . . . . .

5.5.1 Basic Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.2 Command Method . . . . . . . . . . . . . . . . . . . . . . . . . . .

5 -2

5 -2

5 -2

5 -20

5 -27

5 -27

5 -29

5 -31

5 -33

5 -34

5 -36

5 -38

5 -40

5 -3

5 -3

5 -4

5 6

5 -6

5 -7

5 -11

5 -41

5 -45

5 -45

5 -46

5 -1

5

5

PROFIBUS-DP Communications

5.1.2 Control Configuration

5.1 Specifications and Configuration

5.1.1 Specifications

The NS500 Unit is classified as a PROFIBUS-DP slave device, and can be controlled from different types of PROFIBUS-DP Master Module as a general-purpose I/O Module with 64 inputs and 64 outputs. Communications with the Master Module are cyclic; command datas are received cyclically from the Master Module and response datas are returned.

5.1.2 Control Configuration

An outline of the control configuration is shown below. A maximum of 32 NS500 Units or other slave devices can be connected to one PROFIBUS-DP Master. (The configuration can be expanded to include up to 126 stations using repeaters.)

PROFIBUS-DP Master Module

PLC or personal computer

32 stations max. (Using repeaters, up to 126 stations can be connected.)

SERVOPACK SERVOPACK Inverter Machine I/O signals

5 -2

5.2 PROFIBUS-DP Communications Setting Switches

5.2 PROFIBUS-DP Communications Setting Switches

This section explains the switch settings required for PROFIBUS-DP communications.

5.2.1 Rotary Switch Settings for Setting Station Address

Use the rotary switches ( × 1, × 10) to set the PROFIBUS-DP station address. After making the settings, cycle the communications power to enable the settings.

The station address can be set between 0 and 125. If you make a setting outside this range, a setting error will occur.

Select the station address of the NS500 Unit using the switch settings as shown in the following table.

5

5 -3

5

PROFIBUS-DP Communications

5.2.2 LED Indicators

×

0

1

2

10 ×

B

C

9

A

7

8

5

6

2

3

4

0

1

E

F

B

C

D

9

A

7

8

4

5

6

2

3

0

1

7

8

9

4

5

6

2

3

0

1

D

E

F

1

12 (18)

13 (19)

14 (20)

15 (21)

16 (22)

17 (23)

18 (24)

B (11)

C (12)

D (13)

E (14)

F (15)

10 (16)

11 (17)

Station Address

Decimal in ( )

0

1

2

3

4

5

6

7

8

9

A (10)

19 (25)

1A (26)

1B (27)

1C (28)

1D (29)

1E (30)

1F (31)

20 (32)

21 (33)

22 (34)

23 (35)

24 (36)

25 (37)

26 (38)

27 (39)

28 (40)

29 (41)

×

2

3

4

5

10 ×

A

B

C

D

E

F

0

1

2

3

4

5

6

7

8

9

A

B

C

D

E

F

0

1

2

3

4

5

6

7

8

9

A

B

C

D

E

F

0

1

2

3

1 Station Address

Decimal in ( )

2A (42)

2B (43)

2C (44)

2D (45)

2E (46)

2F (47)

30 (48)

31 (49)

32 (50)

33 (51)

34 (52)

35 (53)

36 (54)

37 (55)

38 (56)

39 (57)

3A (58)

3B (59)

3C (60)

3D (61)

3E (62)

3F (63)

40 (64)

41 (65)

42 (66)

43 (67)

44 (68)

45 (69)

46 (70)

47 (71)

48 (72)

49 (73)

4A (74)

4B (75)

4C (76)

4D (77)

4E (78)

4F (79)

50 (80)

51 (81)

52 (82)

53 (83)

× 10

5

6

7

× 1 Station Address

Decimal in ( )

54 (84)

55 (85)

56 (86)

57 (87)

58 (88)

59 (89)

5A (90)

5B (91)

5C (92)

5D (93)

5E (94)

5F (95)

60 (96)

61 (97)

62 (98)

63 (99)

64 (100)

65 (101)

66 (102)

67 (103)

68 (104)

69 (105)

6A (106)

6B (107)

6C (108)

6D (109)

6E (110)

6F (111)

70 (112)

71 (113)

72 (114)

73 (115)

74 (116)

75 (117)

76 (118)

77 (119)

78 (120)

79 (121)

7A (122)

7B (123)

7C (124)

7D (125)

7E (126)

Note: Setting a value of 7F or more will result in an error (A.E8). The setting 7E (126) is used by the manufacturer for setup purposes. Set station addresses in the range 0 to 125.

F

0

D

E

B

C

9

A

6

7

8

4

5

2

3

F

0

1

D

E

B

C

8

9

A

6

7

4

5

D

E

B

C

8

9

A

6

7

4

5

1

2

3

5.2.2 LED Indicators

NS500 Units are equipped with two LED indicators, the Module Error indicator (ERR) to indicate the Unit status, and the Communications Status indicator (COMM) to indicate the PROFI-

BUS-DP communications status.

5 -4

5.2 PROFIBUS-DP Communications Setting Switches

J

Module Error Indicator (ERR)

The Module Error indicator is a red LED that lights when a communications error occurs. It turns OFF while communications data is being exchanged (i.e., during normal operation). It lights at other times. The current status of the NS500 Unit is indicated, together with the Communications Status indicator (COMM), in the way shown in the table below.

J

Communications Status Indicator (COMM)

The Communications Status indicator is a red and green dual-display LED and indicates PRO-

FIBUS-DP communications errors. The current status of the NS500 Unit is indicated, together with the Module Error indicator (ERR), in the way shown in the table below.

ON

OFF

ON

ERR

Indicator Status

COMM

Lights red and green alternately.

S Performing self diagnosis

S Invalid station address setting

Flashes green slowly (flashing cycle: approx. 0.5 Hz).

Waiting for a parameter message from the Master

Flashes green

(flashing cycle:

3 Hz).

S

S

Cause

The NS500 Unit performs self diagnosis for approx. 2 seconds after power is turned ON.

A station address is set to 7F (127) or more.

Waiting for a configuration message from the Master

S At startup, the Master has not yet sent a parameter message.

S

The NS500 Unit is waiting for a parameter message sent from the Master.

The NS500 Unit has received a valid parameter message and is waiting for a configuration message.

S Normal start sequence: The NS500 Unit is in an extremely short intermediate state.

S Error status: A parameter message was received from the Master, but a configuration message has not been received.

Lights green.

Flashes red slowly

(flashing cycle: approx. 0.5 Hz).

Flashes red (flashing cycle: 3 Hz).

Lights red.

Exchanging data

Communications not established

PROFIBUS-DP watchdog timeout

NS500 Unit system error

Data is being exchanged between the Master and the Slave (normal operation).

The NS500 Unit has not detected the baud rate.

S

The communications cable is not connected properly, or is defective.

S

The Master changed the baud rate.

S

The Master’s power supply has dropped.

S

A message could not be received within the previously set bus communications time. (The status is held until a new parameter message is received.)

S Error detected by self diagnosis.

S

The system is not operating at all.

5

5 -5

5

PROFIBUS-DP Communications

5.3.1 Command Format

5.3 Command/Response Format

This section explains command sent to an NS500 Unit from the Master and the response sent from the NS500 Unit.

5.3.1 Command Format

[0]

[1]

[2]

[3]

[4]

[5]

[6]

[7]

This section explains the basic format of command sent to an NS500 Unit from the master device and the response sent from the NS500 Unit to the master device. Command and response are in an 8-byte data format.

0/1

Command

General command bits

Command-dependant data

[0]

[1]

[2]

[3]

[4]

[5]

[6]

[7]

Response

0/1 General status

Command-dependant data

Both command and response are separated into two sections. Byte 0 is a general area and bytes

1 to 7 make up the command-dependant data area. The command-dependant data area can contain one of two types of commands, move commands and set/read commands. The type of command is defined by the most-significant bit (MSB) of byte 0.

J

Format for Move Commands

[0]

[1]

[2]

[3]

[4]

[5]

[6]

[7]

[0]

[1]

[2]

[3]

[4]

[5]

[6]

[7]

0

Command

General command bits

Response type Command code

Command bit

Command data

[0]

[1]

[2]

[3]

[4]

[5]

[6]

[7]

J

Format for Set/Read Commands

0

Response

General status

Response type Command code

Status

Response data

1

0

Command

General command bits

Command code

Command number

Command data

[0]

[1]

[2]

[3]

[4]

[5]

[6]

[7]

1

0

Response

General status

Command code

Command number

Response dat a

5 -6

5.3 Command/Response Format

Byte

0

5.3.2

General Command Bits and Status

Bit 7

MOD

J

General Command Bits

The general command bit area is detailed below.

Table 5.1

General Command Bits

Bit 6

0

Bit 5

ALRST

Bit 4

ESTP

Bit 3

0

INFO

Bit 2

0

Bit 1

SVON

Bit 0

C_STRT

Mode: MOD

Use the MOD bit to specify the data format for bytes 1 to 7.

D 0: Move command format

D 1: Set/read command format

The MOD bit alters the data format for bytes 1 to 7. Set it carefully.

Alarm Reset Command: ALRST

Set the ALRST bit to 1 to reset the current alarm/warning. When an alarm or warning occurs in the NS500 Unit or SGDH, remove the cause of the alarm before setting this bit to 1. The alarm/warming will be cleared.

Always make sure this bit is set to 0 during normal operation and after an alarm has been cleared.

D 0: Normal operation

D 1: Alarm reset request

Emergency Stop Command: /ESTP

When the ESTP bit is changed from 1 to 0, a move command is canceled and the SGDH servo is turned OFF. If the axis is travelling, axis travel is stopped immediately and the SGDH servo is turned OFF as soon as the servomotor stops.

The ESTP Command has negative logic to confirm that PROFIBUS-DP communications have been established. Therefore, set the bit to 1 for normal operation and set it to 0 for emergency stops.

The emergency stop status will continue while this bit is set to 0. To release the emergency stop status, set the bit to 1. To turn ON the servo after releasing an emergency stop, set the Servo

ON Command bit to 0 and then set it to 1.

5 -7

5

5

PROFIBUS-DP Communications

5.3.2

General Command Bits and Status

Byte

0

D 0: Emergency stop request

D 1: Emergency stop release

Servo ON Command: SVON

Set the SVON bit to 1 to turn ON the SGDH servo. When the leading edge of the bit is detected, the SGDH servo is turned ON and remains ON while the command bit is set to 1. When the command bit setting changes to 0, the servo is turned OFF.

If an alarm turns OFF the SGDH servo, the command bit must be set to 0 and then set to 1 again.

D 0: Servo OFF request (request not to supply power to motor)

D 1: Servo ON request (request to supply power to motor)

Command Start Command: C_STRT

Set the C_STRT bit to 1 to start execution of the command specified by the command code.

Always set the command code and command area data before (or at the same time as) setting the C_STRT bit to 1.

Refer to 5.3.3 Move command datas and 5.3.4 Set/Read command datas for details on using command codes.

D 0: Normal operation

D 1: Request to start command

J

General Status

Bit 7

MOD_R

Details on the general status area are shown below.

Table 5.2

General Status Bits

Bit 6

READY

Bit 5

PWRON

Bit 4

ESTP_R

Bit 3

ALRM

Bit 2

WARN

Bit 1 Bit 0

SVON_R C_STRT_R

Mode: MOD_R

The MOD_R bit specifies the data format of bytes 1 to 7.

This bit will be the same as the mode given in the command data.

D 0: Response format for move commands

D 1: Response format for set/read commands

Module Ready: READY

The READY bit will be set to 1 when the NS500 Unit is ready to receive commands from the host device. The READY status will be 0 when the power is turned ON, and when the Module

Reset Command in the command data has been received and the NS500 Unit is initializing.

5 -8

5.3 Command/Response Format

D 0: Not ready to receive commands

D 1: Ready to receive commands

Main Power Supply Status: PWRON

The

PWRON

bit will be set to 1 when the SGDH main power supply is turned ON. If the main power supply is turned OFF, the bit will be 0 and the Servo ON and other commands cannot be executed.

D 0: Main power supply OFF

D 1: Main power supply ON

Emergency Stop: ESTP_R

The ESTP_R bit will be set to 0 when the Emergency Stop Command in the command data has been set to 0 and the NS500 Unit is in emergency stop status. Set the Emergency Stop Command in the command data to 1 to clear the emergency stop status, and this bit will change to

1.

This status has negative logic.

D 0: Emergency stop status

D 1: Not in emergency stop status

Alarm: ALRM

The ALRM bit will be set to 1 when the NS500 Unit has detected an alarm. When all alarms have been cleared by the Alarm Reset Command in the command data, this bit will change to

0.

D 0: Normal operation

D 1: Alarm has occurred

Warning: WARN

The WARN bit will be set to 1 when the NS500 Unit has detected a warning. When all warnings have been cleared by the Alarm Reset Command in the command data, this bit will change to

0.

When a warning has occurred, the command that generated the warning and commands other than data setting commands can still be executed normally.

D 0: Normal operation

D 1: Warning has occurred

Servo ON: SVON_R

The SVON_R bit will be set to 1 when the Servo ON Command in the command data is set to 1 and the SGDH servo is ON.

5 -9

5

5

PROFIBUS-DP Communications

5.3.2

General Command Bits and Status

D 0: Servo OFF (power not supplied to motor)

D 1: Servo ON (power supplied to motor)

The SVON_R bit will be 0 in the following circumstances.

D When the Servo ON Command in the command data has been set to 0

D When the Emergency Stop Command has been set to 0

D When the Module Reset Command has been set to 1

D When an alarm has occurred

Command Start Response: C_STRT_R

The C_STRT_R bit will be set to 1 when the Command Start Command in the command data has been set to 1. The host device can recognize that the NS500 Unit has received a command from the host device by checking that this bit is 1.

D 0: C_STRT not received

D 1: C_STRT received

5 -10

5.3 Command/Response Format

Byte

0

1

2

3

4

5

6

7

5.3.3

Move command datas

Bit 7

0

HOME

0

J

command datas

Details on command datas for move commands are shown below.

Bit 6

0

Bit 5

ALRST

Response type

PTBL STN

0 0

Bit 4

/ESTP

Bit 3

0

STEP

0

FEED

0

Command data

Bit 2

0

Bit 1

SVON

Command code

0 HOLD

0 DIR

Bit 0

C_STRT

CANCEL

INC

Command Codes

Command codes are used to specify positioning and other commands. To start execution of a command, set the command code and command data first (or at the same time), and then change the Command Start Command from 0 to 1.

Command Codes

0000

0001

No operation

Simple positioning

Description

0010

0011

0100

External positioning

Positioning with notch signal outputs

Multi-speed positioning

5

5 -11

5

PROFIBUS-DP Communications

5.3.3

Move command datas

Response Types

The response type in the command data specifies the type of data that will be stored as the response data in the response data. The NS500 Unit creates response data in the response datas based on the specified response type.

Response Type

0000

0001

0010

0011

0100

0101

1010

1011

Response Data

Command position (reference units)

Current position (reference units)

Position error (reference units)

Command speed (1000 reference units/min)

Current speed (1000 reference units/min)

Torque (%)

Station number

Point table number

Cancel Command: CANCEL

If the Cancel Command is set to 1 during execution of a move command, the execution of the move command will be stopped and the servomotor will decelerate to a stop. The remaining travel distance will be canceled.

If command execution is completed, the following status will occur:

• INPOS = 1

• PRGS = 0

Confirm whether or not command execution has been completed by the status of these two flags.

D 0: Execution of move command possible

D 1: Request to cancel move command

Hold Command: HOLD

If the Hold Command is set to 1 during execution of a move command, the execution of the move command will be held and the servomotor will decelerate to a stop. The NS500 Unit will wait for command execution to be restarted. Set the Hold Command to 0 again to restart the execution of a move command.

If command execution is completed, the following status will occur:

• INPOS = 1

• PRGS = 0

5 -12

5.3 Command/Response Format

Confirm whether or not command execution has been completed by the status of these two flags.

D 0: Execution of move command possible

D 1: Request to hold move command

Constant Feed Command: FEED

The NS500 Unit will start feeding at a constant speed when it detects the leading edge of the

FEED bit. Constant feeding will continue while this bit is set to 1.

When the FEED bit is set to 0, the servomotor will decelerate to a stop. The direction for feeding is determined by the Movement Direction set in the command data area.

An override can be set for this command in the command data area. The override can be from

0% to 200% of the parameter speed or a specific speed can be set in the command data. Which method is used depends on Pn830 (Constant Feed Reference Unit Selection).

Description Settings Data

Area

Movement direction

Command data

0: Forward 1: Reverse

When Pn830 = 0

When Pn830 = 1

Set an override value (0 to 200).

Set to 100 when not using the override function.

Set the feed speed.

D 0: Feed operation stop

D 1: Feed operation request

Step Command: STEP

The NS500 Unit will start step operation when it detects the leading edge of the STEP bit.

While the STEP bit is set to 1, the axis will travel only the distance set in the specified parameter. If the STEP bit is set to 0 during step operation, the servomotor will decelerate to a stop and the step operation will end. The remaining travel distance will be canceled.

The direction of movement for step operations is determined by the Movement Direction set in the command data area. The number of the step travel distance (0 to 3) is also set in the command data area. The parameter data set in Pn844 to Pn847 will be used for the step travel distance.

5

5 -13

5

PROFIBUS-DP Communications

5.3.3

Move command datas

Settings Data

Area

Movement direction

Command data

0: Forward 1: Reverse

Description

Set the selection number for step travel distance.

0: Uses Pn844 data.

1: Uses Pn845 data.

2: Uses Pn846 data.

3: Uses Pn847 data.

D 0: Step operation stop

D 1: Step operation request

Station Command: STN

The NS500 Unit will start station operation when it detects the leading edge of the STN bit.

If this command is set to 0 while the axis is travelling, the servomotor will decelerate to a stop and the station operation will end. The remaining travel distance will be cancelled.

Settings Data

Area

Movement direction

0: Forward 1: Reverse

Description

Absolute/incremental value

Specify whether the station number is an absolute value or incremental value.

Command data Specify the target station number in bytes 7 and 6.

D 0: Station operation stop

D 1: Station operation request

Point Table Command: PTBL

The NS500 Unit will start point table operation when it detects the leading edge of the PTBL bit. If this command is set to 0 while the axis is travelling, the servomotor will decelerate to a stop and the point table operation will end. The remaining travel distance will be cancelled.

Settings Data

Area

Description

Absolute/incremental value

Specify whether the position data in the point table is an absolute value or incremental value.

Command data Specify the point table number to be used in bytes 7 and 6.

5 -14

5.3 Command/Response Format

D 0: Stop point table positioning

D 1: Request for point table positioning

Zero Point Return Command: HOME

The NS500 Unit will start a zero point return when it detects the leading edge of the HOME bit. If this command is set to 0 while the axis is travelling, the servomotor will decelerate to a stop and the zero point return operation will end. The zero point return operation will not restart even if the HOME bit is set to 1 again.

The type of zero point return depends on the zero point return mode setting in Pn800.

D 0: Stop zero point return

D 1: Request for zero point return

Incremental Specification: INC

The INC bit specifies whether the data that indicates a position is used as an absolute value or an incremental value. Set this bit to 0 to specify an absolute position and to 1 to specify an incremental position.

This setting is used for the following commands.

D Station Command

D Point Table Command

D Positioning Command

The status of the INC bit cannot be changed during the execution of a move command.

D 0: Absolute value specified

D 1: Incremental value specified

Movement Direction: DIR

The DR bit specifies the movement direction. Set this bit to 0 for forward and to 1 for reverse operation.

This specification is used for the following commands.

D Feed Command

D Step Command

D Station Command

The movement direction specification is disabled during normal positioning. The status of the

DIR bit cannot be changed during the execution of a move command.

D 0: Forward

D 1: Reverse

5 -15

5

5

5

6

3

4

7

Byte

0

1

2

PROFIBUS-DP Communications

5.3.3

Move command datas

J

response datas

Bit 7

0

HOME_R

POT

The response datas for move commands are shown below.

Table 5.3

Bit 6 Bit 5

Responses for Move Commands

Bit 4 Bit 3 Bit 2

READY PWRON

Response type

PTBL_R STN_R

NOT INPOS

/ESTP_R ALRM

STEP_R

NEAR

FEED_R

HOME_P command data

Bit 1 Bit 0

WARN

0

SVON_R C_STRT_R

Command code

0 HOLD_R

DIR_R

PRGS

INC_R

Progressing Flag: PRGS

The PRGS bit is set to 1 during the execution of a command. For move commands, this flag will be set to 1 while outputting to the SGDH.

When command execution has been completed or when a Cancel Command or other stop command has been received, the Progressing Flag is set to 0.

D 0: Command execution completed

D 1: During command execution

Holding Flag: HOLD_R

The HOLD_R bit is set to 1 when a Hold Command is received from the host device and for the duration of the hold.

The host device can confirm that the NS500 Unit correctly received the Hold Command by checking that the Holding Flag is set to 1.

D 0: Hold Command not received

D 1: Hold Command received

Constant Feed Flag: FEED_R

The FEED_R bit is set to 1 when a Constant Feed Command is received from the host device and while constant feeding is being executed. When the Constant Feed Command is set to 0, this flag is also set to 0. The host device can confirm that the NS500 Unit correctly received the Constant Feed Command by checking that the Feed Flag is set to 1.

5 -16

5.3 Command/Response Format

This flag is set to 1 even if constant feeding cannot be executed because of a Servo OFF status, for example. The user must monitor for alarms during constant feeding for the Constant Feed

Command.

The movement direction during constant feeding can be checked using the Movement Direction Flag: DIR_R.

D 0: Constant Feed Command not received

D 1: Constant Feed Command received

Step Flag: STEP_R

The STEP_R bit is set to 1 when a Step Command has been received from the host device and during step operation. This flag is set to 0 when the step operation has been completed normally or cancelled. The host device can confirm that the NS500 Unit correctly received the Step

Command by checking that the Step Flag is set to 1.

This flag is set to 1 even if the step operation cannot be executed because of a Servo OFF status, for example. The user must monitor for alarms during step operation.

D 0: Step Command not received

D 1: Step Command received

Station Flag: STN_R

The STN_R bit is set to 1 when a Station Command has been received from the host device and during station operation. This flag is set to 0 when the station operation has been completed normally or cancelled. The host device can confirm that the NS500 Unit correctly received the

Station Command by checking that the Station Flag is set to 1.

This flag is set to 1 even if the station operation cannot be executed because of a Servo OFF status, for example. The user must monitor for alarms during station operation.

D 0: Station Command not received

D 1: Station Command received

Point Table Flag: PTBL_R

The PTBL_R bit is set to 1 when a Point Table Command has been received from the host device and during point table operation. This flag is set to 0 when the point table operation has been completed normally or cancelled. The host device can confirm that the NS500 Unit correctly received the Point Table Command by checking that the Point Table Flag is set to 1.

This flag is set to 1 even if the point table operation cannot be executed because of a Servo OFF status, for example. The user must monitor for alarms during point table operation.

D 0: Point Table Command not received

D 1: Point Table Command received

5 -17

5

5

PROFIBUS-DP Communications

5.3.3

Move command datas

Zero Point Return Flag: HOME_R

The HOME_R bit is set to 1 when a Zero Point Return Command has been received from the host device and during zero point return. This flag is set to 0 when the zero point return has been completed normally or cancelled. The host device can confirm that the NS500 Unit correctly received the Zero Point Return Command by checking that the Zero Point Return Flag is set to 1.

This flag is set to 1 even if the zero point return cannot be executed because of a Servo OFF status, for example. The user must monitor for alarms during zero point return.

D 0: Zero Point Return Command not received

D 1: Zero Point Return Command received

Incremental Specification Flag: INC_R

The INC_R bit receives and directly returns the status of the Incremental Specification in the command data. The host device can confirm by the change of status of this flag that the NS500

Unit has correctly received change in the incremental specification.

D 0: Absolute position specification received

D 1: Incremental position specification received

Movement Direction Flag: DIR_R

The DIR_R bit indicates the current command rotation direction for the servomotor. If the servomotor has stopped, this flag indicates the last command rotation direction. This flag is set to 0 to indicate forward, and to 1 to indicate reverse.

D 0: Forward

D 1: Reverse

Zero Point Flag: HOME_P

The HOME_P bit is set to 1 when the servomotor is within the zero point range. The zero point range is set in Pn806 (Zero Point Return Output Width ) .

When an incremental position detection system is used, this flag cannot be set to 1 for the period from when power is turned ON to the SGDH until the initial zero point return has been completed.

D 0: Outside zero point range

D 1: Within zero point range

Near Signal Flag: NEAR

The NEAR bit is set to 1 when the current position is within the On-target position range. When the current position is outside the On-target position range, the flag is set to 0. The On-target position range is set in Pn852 (Positioning Proximity Detection Width ) .

5 -18

5.3 Command/Response Format

D 0: Outside On-target position range

D 1: Within On-target position range

In-position Flag: INPOS

The INPOS bit is set to 1 when the current position is within the positioning completed range of the target position. The flag is set to 0 when the current position is outside the positioning completed range. The On-target position range is set in Pn850 (Positioning Deadband).

D 0: Outside positioning completed range

D 1: Within positioning completed range

Negative Overtravel Flag: NOT

The NOT bit indicates the status of the negative overtravel signal for the external input connected to CN1 on the SGDH.

D 0: Negative overtravel signal OFF

D 1: Negative overtravel signal ON

Positive Overtravel Flag: POT

The POT bit indicates the status of the positive overtravel signal for the external input connected to CN1 on the SGDH.

D 0: Positive overtravel signal OFF

D 1: Positive overtravel signal ON

5

5 -19

5

5

6

3

4

7

Byte

0

1

2

PROFIBUS-DP Communications

5.3.4

Set/Read command datas

5.3.4

Set/Read command datas

Bit 7

1

J

command datas

Details on bytes 1 to 7 of the command datas for set/read commands (MOD = 1) are shown below.

The response type does not need to be specified for set/read commands.

Table 5.4

Bit 6

0

Bit 5

ALRST

Set/Read Commands

Bit 4

ESTP

Bit 3

0

0

Command number

Bit 2

0

Bit 1

SVON

Command code

Bit 0

C_STRT

Command data

5 -20

5.3 Command/Response Format

Command Codes

A list of command codes is shown in the following table. Set “No operation” for commands that will not be executed.

The command codes in the response datas will basically be a copy of the command codes in the command datas. A warning for parameter setting error will be returned when the parameter number is different or the data is outside the setting range for the parameter.

Table 5.5

Command Codes

Command Code

0000 No operation

Read parameter 1000

1001

1010

Write parameter

Set current position

Description

1011

1100

1110

Set zero point

Read alarm

Reset Module

5

2

3

4

Byte

0

1

5

6

7

J

response datas

Bit 7

1

Details on bytes 1 to 7 of the response datas for set/read commands (MOD = 1) are shown below.

Table 5.6

Bit 6

READY

Bit 5

PWRON

0

Responses for Set/Read Commands

Bit 4

ESTP_R

Bit 3

ALRM

Bit 2

WARN

Bit 1 Bit 0

SVON_R C_STRT_R

Command code

Command number

Response data

5 -21

5

Byte

0

1

2

3

6

7

4

5

Byte

0

1

2

3

6

7

4

5

PROFIBUS-DP Communications

5.3.4

Set/Read command datas

Bit 7

1

J

Parameter Read Command

The Parameter Read Command reads SGDH and NS500 Unit parameters.

To use the Parameter Read Command, make the following settings and then change the Command Start Command from 0 to 1.

D Command code

D Parameter number

Table 5.7

Parameter Read Command

Bit 6

0

Bit 5

ALRST

Bit 4

ESTP

Bit 3

0

Bit 2

0

Bit 1

SVON

Bit 0

C_STRT

0 8

Parameter number

0

Bit 7

1

Table 5.8

Bit 6

READY

Bit 5

PWRON

Response for Parameter Read Command

Bit 4

ESTP_R

Bit 3

ALRM

Bit 2

WARN

Bit 1 Bit 0

SVON_R C_STRT_R

0 8

Parameter number

Parameter data

5 -22

5.3 Command/Response Format

5

6

3

4

7

Byte

0

1

2

J

Parameter Write Command

Bit 7

1

The Parameter Write Command writes SGDH and NS500 Unit parameters.

To use the Parameter Write Command, make the following settings and then change the Command Start Command from 0 to 1.

D Command code

D Parameter number

D Parameter data

Table 5.9

Parameter Write Command

Bit 6

0

Bit 5

ALRST

Bit 4

ESTP

Bit 3

0

Bit 2

0

Bit 1

SVON

Bit 0

C_STRT

0 9

Parameter number

Parameter data

5

6

3

4

7

Byte

0

1

2

Bit 7

1

Table 5.10

Bit 6

READY

Bit 5

PWRON

Response for Parameter Write Command

Bit 4

ESTP_R

Bit 3

ALRM

Bit 2

WARN

Bit 1 Bit 0

SVON_R C_STRT_R

0 9

Parameter number

Parameter data

5

5 -23

5

3

4

5

Byte

0

1

2

6

7

Byte

0

1

2

3

6

7

4

5

PROFIBUS-DP Communications

5.3.4

Set/Read command datas

Bit 7

1

J

Current Position Setting Command

The Current Position Setting Command sets the specified value as the current position of the servomotor.

To use the Current Position Setting Command, make the following settings and then change the Command Start Command from 0 to 1.

D Command code

D Current position data

Table 5.11

Current Position Setting Command

Bit 6

0

0

Bit 5

ALRST

Bit 4

ESTP

Bit 3

0

Bit 2

0

10 (decimal)

Bit 1

SVON

Bit 0

C_STRT

0

Current position data

Bit 7

1

Table 5.12

Bit 6

READY

Bit 5

PWRON

0

Response for Current Position Setting Command

Bit 4

ESTP_R

Bit 3

ALRM

Bit 2

WARN

Bit 1 Bit 0

SVON_R C_STRT_R

10 (decimal)

0

Current position data

5 -24

5.3 Command/Response Format

5

6

3

4

7

Byte

0

1

2

Bit 7

1

J

Alarm Read Command

The Alarm Read Command reads the last four alarms that have occurred on the SGDH and the

NS500 Unit.

To use the Unit Reset Command, make the command code settings and then change the Command Start Command from 0 to 1.

Table 5.13

Bit 6

0

Bit 5

ALRST

Alarm Read Command

Bit 4

ESTP

Bit 3

0

0

0

Bit 2

0

12 (decimal)

Bit 1

SVON

Bit 0

C_STRT

0

5

6

7

3

4

Byte

0

1

2

Bit 7

1

Table 5.14

Bit 6

READY

Bit 5

PWRON

0

Response for Alarm Read Command

Bit 4

ESTP_R

Bit 3

ALRM

Bit 2

WARN

Bit 1 Bit 0

SVON_R C_STRT_R

12 (decimal)

0

Last alarm code

Second last alarm code

Third last alarm code

Fourth last alarm code

5

5 -25

5

Byte

0

1

2

3

6

7

4

5

5

6

3

4

7

Byte

0

1

2

PROFIBUS-DP Communications

5.3.4

Set/Read command datas

Bit 7

1

J

Module Reset Command

The Module Reset Command restarts the SGDH and NS500 Unit software. When this command is executed, the NS500 Unit parameters are stored in flash ROM and then the NS500 Unit is restarted.

To use the Module Reset Command, make the command code settings and then change the

Command Start Command from 0 to 1.

When the NS500 Unit is executing Module Reset, the Unit Ready Flag is set to 0. When the reset has been completed, the flag is set to 1.

Table 5.15

Bit 6

0

Bit 5

ALRST

Unit Reset Command

Bit 4

ESTP

Bit 3

0

0

0

Bit 2

0

14 (decimal)

Bit 1

SVON

Bit 0

C_STRT

0

Bit 7

1

Table 5.16

Bit 6

READY

Bit 5

PWRON

0

Response for Unit Reset Command

Bit 4

ESTP_R

Bit 3

ALRM

Bit 2

WARN

Bit 1 Bit 0

SVON_R C_STRT_R

14 (decimal)

0

0

5 -26

5.4 Motion Command Methods

5.4 Motion Command Methods

5.4.1

Constant Feed Command

No.

J

Function

While the Constant Feed Command is set to 1, the axis travels in the direction specified as the movement direction at the speed specified in the parameters. Parameter settings are used for acceleration/deceleration speeds, acceleration/deceleration types, etc.

The speed during movement can be changed by changing the override value.

J

Related Parameters

Name

Pn829 Filter Selection

Pn830 Constant Feed Reference Unit Selection

Pn831 Constant Feed Speed

Pn832 Acceleration Time for Constant Feed

Pn833 Deceleration Time for Constant Feed

Pn834 Switch Speed for Constant Feed Second

Accel/Decel

Pn835 Accel/Decel Time for Constant FEED

Second Accel/Decel

1 to 10,000

1 to 10,000

1 to 240,000

1 to 10,000

Pn836 Accel/Decel Type for Constant Feed 0, 1, 2, 3

Pn840 Time Constant for Exponential Accel/Decel 4 to 1,000

Pn841 Bias Speed for Exponential Accel/Decel 1 to 240,000

Pn842 Time Constant of Travelling Average

Pn843 Maximum Feed Speed

Setting

Range

0, 1, 2, 3

0, 1

1 to 240,000

4 to 10,000

1 to 240,000

Unit

−

−

1000 steps/min ms ms

1000 steps/min ms

− ms

1000 steps/min ms

1000 steps/min

Effective

Timing

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Factory

Setting

0

0

24,000

100

100

24,000

200

0

25

0

25

24,000

Type

C

B

B

C

C

B

C

C

B

B

B

C

5

5 -27

5

PROFIBUS-DP Communications

5.4.1

Constant Feed Command

J

Operation

Speed

Pn831

Time

FEED

1

0

DIR

1

0

Byte

0

1

2

3

4

5

6

7

Bit 7

0

0

0

J

Command Method

1.

Set the Servo ON Command (byte 0, bit 1) to 1.

2.

Set the movement direction (byte 3, bit 1).

3.

Set the override value. The Pn830 setting determines whether the override will be set as a ratio (%) or as a speed (1000 steps/min).

4.

Set the Feed Command (byte 2, bit 3) to 1.

Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

1 0

0

0

0

Response type

0

0

0

1 0 0

0

0

1

0

Override value (% or 1000 steps/min)

0

0

00h

0

DIR

0

0

5 -28

5.4 Motion Command Methods

5.4.2

Step Command

J

Function

When the Step Command is set to 1, the axis will travel in the set direction for the set travel distance and then stop. The travel distance can be selected from four parameters.

J

Related Parameters

No.

Name Setting

Range

Unit

Pn821 Feed Speed for Positioning

Pn822 Acceleration Time for Positioning

Pn823 Deceleration Time for Positioning

Pn824 Switch Speed for Positioning Second

Accel/Decel

Pn825 Accel/Decel Time for Positioning Second

Accel/Decel

1 to 240,000

1 to 10,000

1 to 10,000

1 to 240,000

1 to 10,000

1000 steps/min ms ms

1000 steps/min ms

Pn826 Accel/Decel Type for Positioning

Pn829 Filter Selection

Pn840 Time Constant for Exponential Accel/Decel

Pn841 Bias Speed for Exponential Accel/Decel

Pn842

Pn843

Pn844

Pn845

Pn846

Pn847

Time Constant of Travelling Average

Maximum Feed Speed

Step Distance 1

Step Distance 2

Step Distance 3

Step Distance 4

0, 1, 2, 3

0, 1, 2, 3

4 to 1,000

1 to 240,000

4 to 10,000

1 to 240,000

± 99, 999, 999 Steps

± 99, 999, 999 Steps

± 99, 999, 999 Steps

± 99, 999, 999 Steps

−

− ms

1000 steps/min ms

1000 steps/min

Effective

Timing

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Factory

Setting

24,000

100

100

24,000

200

25

24,000

1

10

100

1,000

25

0

0

0

Type

B

B

B

B

B

C

C

B

B

B

C

C

B

C

B

5

5 -29

PROFIBUS-DP Communications

5.4.2

Step Command

J

Operation

Speed

Pn844 to Pn847

Time

5

STEP

1

0

DIR

1

0

5

6

7

Byte

0

1

2

3

4

J

Command Method

Bit 7

0

0

0

1.

Set the Servo ON Command (byte 0, bit 1) to 1.

2.

Set the movement direction (byte 3, bit 1).

3.

Select the travel distance to be used for step operation from within the range from Pn844

(=0) to Pn847 (=3).

4.

Set the Step Command (byte 2, bit 4) to 1.

Bit 0

0

Bit 6 Bit 5 Bit 4 Bit 3 Bit 2

0

0

0

Response type

0

0

0

1 0 0

1

0

0

0

Step travel distance selection (0 to 3)

0

0

00h

Bit 1

1

0

DIR

0

0

5 -30

5.4 Motion Command Methods

5.4.3

Station Command

J

Function

The Station Command can be used when the NS500 Unit is used in a rotating system.

One rotation of the servomotor is divided into a specified number of stations and station numbers are allocated.

When a station number is specified, the axis travels in the specified direction to specified position.

J

Related Parameters

No.

The same speed and acceleration/deceleration data is used as for the Positioning Command.

Name Unit Type

Pn812 Coordinate Type

Pn853 Direction for Rotation System

Pn85A Number of Stations

Setting

Range

0, 1

0, 1

1 to 32, 767

−

−

−

Effective

Timing

Immediate

Immediate

Immediate

Factory

Setting

0

0

1

C

B

B

5

J

Operation

Speed

Time

STEP

1

0

DIR

1

0

5 -31

PROFIBUS-DP Communications

5.4.3

Station Command

Station 0

Station 1

Station 2

5

Byte

0

1

2

3

4

5

6

7

Bit 7

0

0

0

J

Command Method

1.

Set the Servo ON Command (byte 0, bit 1) to 1.

2.

Set the movement direction (byte 3, bit 1).

The movement direction setting is disabled when the Pn853 setting is 1 (travel the shortest distance).

3.

Set absolute/incremental (byte 3, bit 0). If an incremental position has been specified, set the value corresponding to (target station number) − (current station number) in bytes 4 to 7.

4.

Set the target station number.

5.

Set the Station Command (byte 2, bit 5) to 1.

Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

1 0 0 1 0

0

0

0

Response type

0

1

0

0

0

0

0

Target station number

0

0

00h

0

DIR

0

INC

5 -32

5.4 Motion Command Methods

5.4.4

Point Table Command

J

Function

The Point Table Command performs positioning at the position and speed stored in advance in the point table.

J

Related Parameters

No.

Name Setting

Range

Unit

Pn821 Feed Speed for Positioning 1 to 240,000

Pn822 Acceleration Time for Positioning

Pn823 Deceleration Time for Positioning

Pn824 Switch Speed for Positioning Second Accel/

Decel

Pn825 Accel/Decel Time for Positioning Second

Accel/Decel

1 to 10,000

1 to 10,000

1 to 240,000

1 to 10,000

Pn826 Accel/Decel Type for Positioning

Pn829 Filter Selection

0, 1, 2, 3

0, 1, 2, 3

Pn840 Time Constant for Exponential Accel/Decel 4 to 1,000

Pn841 Bias Speed for Exponential Accel/Decel 1 to 240,000

Pn842

Pn843

Pn900

Pn901

Time Constant of Travelling Average

Maximum Feed Speed

Target Position 1

Target Position 2

: :

Pn931 Target Position 50

Pn980 Target Speed 1

Pn981 Target Speed 2

1000 steps/min ms ms

1000 steps/min ms

−

− ms

1000 steps/min

4 to 10,000

1 to 240,000 ms

1000 steps/min

± 99, 999, 999 Steps

± 99, 999, 999 Steps

± 99, 999, 999

1 to 240,000

1 to 240,000

Steps

1000 steps/min

1000 steps/min

: :

Pn971 Target Speed 50 1 to 240,000 1000 steps/min

5 -33

Effective

Timing

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

200

25

0

0

0

25

24,000

Factory

Setting

24,000

100

100

24,000

Type

B

C

C

B

B

C

B

B

B

C

C

0

0

B

B

Immediate

Immediate

Immediate

Immediate

0

0

0

0

B

B

B

B

5

5

PROFIBUS-DP Communications

5.4.5

Zero Point Return Command

J

Operation

Speed

Time

5

6

3

4

7

Byte

0

1

2

STEP

1

0

Bit 7

0

0

0

J

Command Method

1.

Set the Servo ON Command (byte 0, bit 1) to 1.

2.

Set absolute/incremental (byte 3, bit 0). If an incremental position has been specified, the target position will be (current position) + (position stored in point table).

3.

Set the point table number to be specified.

4.

Set the Point Table Command (byte 2, bit 6) to 1.

Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

1 0 0 1 0

1

0

0

Response type

0

0

0

0

0

0

0

Point table number to be specified

0

0

00h

0

DIR

0

INC

5.4.5

Zero Point Return Command

J

Function

The Zero Point Return Command moves the axis in the specified direction, and sets the zero point based on the specified zero point return mode.

5 -34

5.4 Motion Command Methods

When an absolute position detection system has been selected, the positioning will be performed to the zero point.

J

Related Parameters

No.

Name Setting

Range

Unit

Pn800

Pn801

Pn802

Pn803

Zero Point Return Mode

Zero Point Return Function Selection

Feed Speed for Zero Point Return

Approach Speed for Zero Point Return

0 to 3

0 to 7

1 to 240,000

1 to 240,000

−

−

1000 steps/min

1000 steps/min

Pn804 Creep Speed for Zero Point Return 1 to 240,000 1000 steps/min

Pn805 Final Travel Distance for Zero Point Return 0 to 99,999,999 Steps

Pn806 Output Width for Zero Point Return 0 to 32, 767 Steps

Pn809 Zero Point Offset Steps

Pn80A Accel/Decel Time for Zero Point Return

− 99,999,999 to

99,999,999

1 to 10,000 ms

Effective

Timing

Immediate

Power-up

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

0

100

0

100

Factory

Setting

0

1

10,000

1,000

500

Type

B

B

B

B

B

B

B

C

B

5

J

Operation

The Zero Point Return Command performs zero point return based on each zero point return mode.

Speed

Time

HOME

1

0

External signal

DEC

External signal

Encoder phase C

1

0

1

0

5 -35

5

5

6

7

Byte

0

1

2

3

4

PROFIBUS-DP Communications

5.4.6

Positioning Command

Bit 7

0

1

0

J

Command Method

Set the Servo ON Command (byte 0, bit 1) to 1.

Set the Zero Point Return Command (byte 2, bit 7) to 1.

Bit 6 Bit 5

0

0

0

Response type

0

0

0

Bit 4

1

0

0

Bit 3

0

0

0

Bit 2

0

0

0

00h

Bit 1

1

0

0

0

5.4.6

Positioning Command

J

Function

The Positioning Command performs positioning to the specified target position.

Bit 0

0

0

0

5 -36

5.4 Motion Command Methods

No.

J

Related Parameters

Name

Pn821 Feed Speed for Positioning

Setting

Range

1 to 240,000

Unit

Pn822 Acceleration Time for Positioning

Pn823 Deceleration Time for Positioning

Pn824 Switch Speed for Positioning Second Accel/

Decel

Pn825 Accel/Decel Time for Positioning Second

Accel/Decel

Pn826 Accel/Decel Type for Positioning

Pn829 Filter Selection

Pn840 Time Constant for Exponential Accel/Decel

Pn841 Bias Speed for Exponential Accel/Decel

Pn842

Pn843

Time Constant of Travelling Average

Maximum Feed Speed

1 to 10,000

1 to 10,000

1 to 240,000

1 to 10,000

0, 1, 2, 3

0, 1, 2, 3

4 to 1,000

1 to 240,000

4 to 10,000

1 to 240,000

1000 steps/min ms ms

1000 steps/min ms

−

− ms

1000 steps/min ms

1000 steps/min

J

Operation

Effective

Timing

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

200

25

0

0

0

25

24,000

Factory

Setting

24,000

100

100

24,000

Type

B

C

C

B

B

C

B

B

B

C

C

Speed

5

Time

C_STRT

1

0

J

Command Method

1.

Set the command code (byte 1, bits 0 to 3) to no operation (= 0) if it is not already set to

0.

2.

Set the Servo ON Command (byte 0, bit 1) to 1.

3.

Set absolute/incremental (byte 3, bit 0). If an incremental position has been specified, the target position will be (current position) + (position specified from bytes 4 to 7).

5 -37

5

5

6

7

Byte

0

1

2

3

4

PROFIBUS-DP Communications

5.4.7

External Positioning

Bit 7

0

0

0

4.

Set the target position in the command data (bytes 4 to 7).

5.

Set simple positioning (=1) in the command code (byte 1, bits 0 to 3).

6.

Change the Command Start Command (byte 0, bit 0) from 0 to 1.

Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1

1 0 0 1

0

0

0

Response type

0

0

0

0

0

0

0

Target position data

0

0

00h

0

0

Bit 0

1

0

0

5.4.7

External Positioning

J

Function

The External Positioning Command performs positioning at the specified target position. If the status of the external signal changes during movement, the axis will decelerate to the external positioning approach speed from the position where the status changed and travel the distance specified in the parameter.

J

Related Parameters

The same speed and acceleration/deceleration data is used as for the Positioning Command.

No.

Name

Pn854 Approach Speed for

External Positioning

Pn855 Travel Distance for

External Positioning

Setting Range Unit Effective

Timing

1 to 240,000 1,000 steps/min

0 to 99, 999, 999 Steps

Immediate

Immediate

Factory

Setting

24,000

0

Type

B

B

5 -38

5.4 Motion Command Methods

J

Operation

Speed

5

6

7

Byte

0

1

2

3

4

Time

C_STRT

1

0

EXTP signal

1

0

J

Command Method

Bit 7

0

0

0

1.

Set the command code (byte 1, bits 0 to 3) to no operation (= 0), if it is not already set to

0.

2.

Set the Servo ON Command (byte 0, bit 1) to 1.

3.

Set absolute/incremental (byte 3, bit 0). If an incremental position has been specified, the target position will be (current position) + (position specified from bytes 4 to 7).

4.

Set the target position in the command data (bytes 4 to 7).

5.

Set external positioning (=2) in the command code (byte 1, bits 0 to 3).

6.

Change the Command Start Command (byte 0, bit 0) from 0 to 1.

Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0

0

0

Response type

0

0

0

1 0

0

0

0

0

Target position data

0

0

0

00h

1

0

0

1

0

0

5

5 -39

5

PROFIBUS-DP Communications

5.4.8

Notch Output Positioning Command

5.4.8

Notch Output Positioning Command

J

Function

The Notch Output Positioning Command performs positioning to the specified position.

If a specified position is passed during the positioning, a notch output signal (notch signal) will be output.

Two notch signals can be used in the NS500 Unit.

J

Related Parameters

No.

Name

0, 1

Setting

Range

Pn890 Notch Signal Output

Position Setting

Pn891 Notch Signal Output

Setting

Pn892 Notch 1 Output Position Lower Limit

Pn893 Notch 1 Output Position Upper Limit

Pn894 Notch 2 Output Position Lower Limit

Pn895 Notch 2 Output Position Upper Limit

0 to 3

−

−

± 99, 999, 999 Steps

± 99, 999, 999 Steps

± 99, 999, 999 Steps

± 99, 999, 999 Steps

Unit Effective

Timing

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Factory

Setting

0

0

0

0

0

0

Type

C

C

C

C

C

C

J

Operation

Speed

Time

C_STRT

1

0

NOTCH1

1

0

Notch output 1 position upper limit

Notch output 1 position lower limit

5 -40

5.4 Motion Command Methods

Byte

0

1

2

3

6

7

4

5

Bit 7

0

0

0

J

Command Method

1.

Set the command code (byte 1, bits 0 to 3) to no operation (= 0), if it is not already set to

0.

2.

Set the Servo ON Command (byte 0, bit 1) to 1.

3.

Set absolute/incremental (byte 3, bit 0). If an incremental position has been specified, the target position will be (current position) + (position specified from bytes 4 to 7).

4.

Set the target position in the command data (bytes 4 to 7).

5.

Set positioning with notch signal output (=3) in the command code (byte 1, bits 0 to 3).

6.

Change the Command Start Command (byte 0, bit 0) from 0 to 1.

Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

1 0 0 1 1

0

0

0

Response type

0

0

0

0

0

0

0

Target position data

0

0

00h

0

0

0

0

5

5.4.9

Multi-speed Positioning Command

J

Function

The Multi-speed Positioning Command changes the speed in stages and performs positioning to specified positions.

When the positions specified in the parameters are reached during axis travel, the axis switches to the next set speed and travels to the position specified in the next stage. Up to 16 speed switching positions can be set.

5 -41

5

PROFIBUS-DP Communications

5.4.9

Multi-speed Positioning Command

J

Related Parameters

No.

Name

Pn860 Speed Switching Position Setting

Pn861 Number of Points for Speed Switching

Pn862 Initial Feed Speed for Multi-speed Positioning

Pn863 Speed Switching Position 1

Pn864

Pn865

Pn866

Pn867

Pn868

Pn869

Pn86A

Pn86B

Pn86C

Pn86D

Pn86E

Pn86F

Pn870

Speed Switching Position 2

Speed Switching Position 3

Speed Switching Position 4

Speed Switching Position 5

Speed Switching Position 6

Speed Switching Position 7

Speed Switching Position 8

Speed Switching Position 9

Speed Switching Position 10

Speed Switching Position 11

Speed Switching Position 12

Speed Switching Position 13

Speed Switching Position 14

−

−

Setting

Range

1 to 240,000

0 to

99, 999, 999

0 to

99, 999, 999

0 to

99, 999, 999

0 to

99, 999, 999

0 to

99, 999, 999

0 to

99, 999, 999

0 to

99, 999, 999

0 to

99, 999, 999

0 to

99, 999, 999

0 to

99, 999, 999

0 to

99, 999, 999

0 to

99, 999, 999

0 to

99, 999, 999

0 to

99, 999, 999

Steps

Steps

Steps

Steps

Steps

Steps

Steps

Steps

Steps

Steps

Unit

−

−

1000 steps/min

Steps

Steps

Steps

Steps

0

0

0

0

0

0

0

0

0

0

0

0

0

Factory

Setting

0

0

0

0

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Effective

Timing

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Type

C

C

C

C

C

C

C

C

C

C

C

C

C

C

C

C

C

5 -42

No.

Name

Pn871 Speed Switching Position 15

Pn872 Speed Switching Position 16

Pn873 Switching Speed 1

Pn874 Switching Speed 2

Pn875 Switching Speed 3

Pn876 Switching Speed 4

Pn877 Switching Speed 5

Pn878 Switching Speed 6

Pn879 Switching Speed 7

Pn87A Switching Speed 8

Pn87B Switching Speed 9

Pn87C Switching Speed 10

Pn87D Switching Speed 11

Pn87E Switching Speed 12

Pn87F Switching Speed 13

Pn880 Switching Speed 14

Pn881 Switching Speed 15

Pn882 Switching Speed 16

5.4 Motion Command Methods

Setting

Range

0 to

99, 999, 999

0 to

99, 999, 999

1 to 240,000

1 to 240,000

1 to 240,000

1 to 240,000

1 to 240,000

1 to 240,000

1 to 240,000

1 to 240,000

1 to 240,000

1 to 240,000

1 to 240,000

1 to 240,000

1 to 240,000

1 to 240,000

1 to 240,000

1 to 240,000

Steps

Steps

Unit

1000 steps/min

1000 steps/min

1000 steps/min

1000 steps/min

1000 steps/min

1000 steps/min

1000 steps/min

1000 steps/min

1000 steps/min

1000 steps/min

1000 steps/min

1000 steps/min

1000 steps/min

1000 steps/min

1000 steps/min

1000 steps/min

24,000

24,000

24,000

24,000

24,000

24,000

24,000

24,000

Factory

Setting

0

0

24,000

24,000

24,000

24,000

24,000

24,000

24,000

24,000

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Immediate

Effective

Timing

Immediate

Immediate

Immediate

Immediate

Immediate

Type

C

C

C

C

C

C

C

C

C

C

C

C

C

C

C

C

C

C

5

5 -43

5

5

6

3

4

7

Byte

0

1

2

PROFIBUS-DP Communications

5.4.9

Multi-speed Positioning Command

J

Operation

Speed

Switching speed 2

Switching speed 1

Feed speed

Switching speed 3

Time

Bit 7

0

0

0

C_STRT

1

0

J

Command Method

Speed switching position 3

Speed switching position 2

Speed switching position 1

1.

Set the command code (byte 1, bits 0 to 3) to no operation (= 0), if it is not already set to

0.

2.

Set the Servo ON Command (byte 0, bit 1) to 1.

3.

Set absolute/incremental (byte 3, bit 0). If an incremental position has been specified, the target position will be (current position) + (position specified from bytes 4 to 7).

4.

Set the target position in the command data (bytes 4 to 7).

5.

Set multi-speed positioning (=4) in the command code (byte 1, bits 0 to 3).

6.

Change the Command Start Command (byte 0, bit 0) from 0 to 1.

Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

1 0 0 1 1

0

0

0

Response type

0

0

0

0

0

0

0

Target position data

0

0

00h

0

0

0

0

5 -44

5.5

Commands from the Host Controller

5.5

Commands from the Host Controller

5.5.1

Basic Sequence

Some examples of basic command sequences for the NS500 Unit are shown below.

J

Move Commands (Using Command Bit)

1.

Confirm the following conditions in the response data:

READY = 1, /ESTP_R = 1, ALRM = 0 (WARN = 0).

2.

Confirm the following conditions in the response data:

SVON_R = 1, PRGS = 0 (INPOS = 1), and the move command bit = 0.

3.

Set the command bit and command data for the move command.

4.

Check command completion using the specified position (or station number or point table number), and by confirming that PRGS = 0 and INPOS = 1.

5.

Set the move command bit to 0.

J

Move Commands (Using Command Code)

1.

Confirm the following conditions in the response data:

READY = 1, /ESTP_R = 1, ALRM = 0 (WARN = 0).

2.

Confirm the following conditions in the response data:

SVON_R = 1, PRGS = 0 (INPOS = 1), C_START = 0, and the command code = 0.

3.

Set the command data and command code for the move command, and set C_START to

1.

4.

Check command completion using the specified position (or station number or point table number), and by confirming that PRGS = 0 and INPOS = 1.

5.

Set the command code and C_START to 0.

J

Set/Read Commands

1.

Confirm that READY = 1 in the response data.

2.

Confirm that the command code = 0.

3.

Set the setting data and the command code.

4.

Check command completion using the setting data and the command code, and by confirming that C_START_R = 1 and READY = 1.

5.

Set the command code and C_START to 0.

J

Holding Move Commands

1.

Set HOLD to 1.

5 -45

5

5

PROFIBUS-DP Communications

5.5.2

Command Method

2.

Check hold status by confirming that HOLD_R = 1 and INPOS = 1 in the response data.

3.

Release the hold status by setting HOLD to 0.

J

Cancelling Move Commands

1.

Set CANCEL to 1 (or set the move command bit to 0).

2.

Check that the command has been cancelled by confirming that PRGS = 0 and INPOS =

1.

3.

Set the move command bit and CANCEL to 0.

J

Operating Sequences for Alarms

1.

If an alarm is detected (i.e., ALRM = 1), set SVON to 0 and CANCEL to 1 (or clear the move command).

2.

Read the alarm code, and remove the cause of the alarm.

3.

If the move command has not been cleared, clear the move command and set CANCEL to 0.

4.

Set ALRST to 1 and confirm that ALRM = 0.

5.

Before resuming operation, set SVON to 1 and confirm that SVON_R = 1.

J

Emergency Stop

1.

ESTP can be executed at any time while READY = 1 (except during Module Reset).

2.

To clear the stopped status, change SVON from 0 to 1 and check that SVON_R = 1 before resuming operation.

5.5.2

Command Method

For the following commands that involve movement, always wait until one command has been completed before executing another command. If commands are executed simultaneously or while the axis is travelling, a command error warning will occur (A.95).

D Feed Command

D Step Command

D Station Command

D Point Table Command

D Zero Point Return Command

D Move command based on a Command Start Command

The Emergency Stop, Servo ON, Cancel, and Hold Commands are effective any time.

J

Servo ON/OFF Command

When the Servo ON Command (SVON) is changed from 0 to 1, current is supplied to the

SGDH. When it is changed from 1 to 0, the current is not supplied.

5 -46

5.5

Commands from the Host Controller

If a PROFIBUS-DP communications error occurs, the NS500 Unit automatically enters Servo

OFF status. To restart communications, the Servo ON Command must be changed from 0 to

1.

SVON

SVON_R

Figure 5.1

Servo ON/OFF Signal

J

Emergency Stop Command

While the Emergency Stop Command (/ESTP) is set to 0, the SGDH is in emergency stop status. During this status, the Emergency Stop Flag (/ESTP_R) is 0.

The emergency stop status can be released by setting the Emergency Stop Command (/ESTP) to 1 and changing the Servo ON Command (SVON) from 0 to 1.

/ESTP

SVON

/ESTP_R

SVON_R

Figure 5.2

Emergency Stop Command

J

Alarm Reset Command

When an alarm occurs, use the following procedure to restart the NS500 Unit.

1.

Set the Servo ON Command (SVON) to 0 and set the Cancel Command (CANCEL) to 1.

2.

Remove the cause of the alarm.

3.

Clear any move commands that have been set.

4.

Execute the Alarm Reset Command.

5.

Check that the Alarm Flag (ALRM) is 0.

Alarm reset is executed by changing the Alarm Reset Command (ALRST) from 0 to 1. When execution of the alarm reset has been completed and all alarms have been cleared, the alarm bit (ALRM) will change to 0.

ALRST

ALRM

Figure 5.3

Alarm Rest Command

5 -47

5

5

PROFIBUS-DP Communications

5.5.2

Command Method

J

Constant Feed Command

While the Constant Feed Command (FEED) is set to 1, the axis travels in the direction specified as the movement direction (DIR) at the feed speed.

FEED

DIR

FEED_R

DIR_R

PRGS

Figure 5.4

Constant Feed Command

J

Step Command

While the Step Command (STEP) is set to 1, the axis travels in the direction specified as the movement direction (DIR) at the feed speed for the step travel distance.

If the Step Command is set to 0 during the step operation, the step operation stops and the remaining travel distance is canceled.

STEP

DIR

STEP_R

DIR_R

PRGS

Figure 5.5

Step Command

J

Station Command

The station operation starts when the Station Command (STN) is changed from 0 to 1. The following data must be set before the station operation is started.

D Rotation direction: Specified in the byte 3 area.

D Station number: Specified in bytes 7 and 6 of word 1.

D Absolute/incremental : Specify whether the station number is an absolute value or an incremental value.

J

Point Table Command

The point table operation starts when the Point Table Command (PTBL) is changed from 0 to

1. The following data must be set before the operation is started.

D Point table number: Specified in bytes 7 and 6 of word 1.

5 -48

5.5

Commands from the Host Controller

J

Zero Point Return Command

When the Zero Point Return Command (HOME) is changed from 0 to 1, the axis travels in the direction specified in the zero point return direction parameter. If the Zero Point Return Command is changed from 1 to 0 during zero point return, the zero point return stops. Therefore, the Zero Point Return Command must be maintained to 1 until the zero point return has been completed.

Using an Incremental Detection System

When the power is turned ON, the current position is 0 and the Zero Point Flag (HOME_P) is 0. When the zero point return has been completed, the Zero Point Flag changes to 1.

Using an Absolute Value Detection System

When the Zero Point Return Command is changed from 0 to 1, the zero point return is not performed but the axis is positioned to the machine coordinate zero point based on the zero point return feed speed parameter.

HOME

HOME_R

PRGS

HOME_P

Figure 5.6

Zero Point Return Command

5

5 -49

5

PROFIBUS-DP Communications

5.5.2

Command Method

J

Positioning Command

When the Command Start Command (C_STRT) is changed from 0 to 1, positioning starts according to the command code.

If the Hold Command (HOLD) is changed from 0 to 1 during execution of positioning, axis travel is held. Confirm that the Hold Command has been received by checking that the Holding

Flag (HOLD_R) is set to 1. Change the Hold Command from 1 to 0 to restart the remaining axis travel.

If the Cancel Command (CANCEL) is changed from 0 to 1 during execution of the positioning, the moving axis decelerates to stop and the remaining travel distance is discarded. Confirm that the Cancel Command has been received by checking that the Progressing Flag (PRGS) has changed from 1 to 0.

C_STRT

PRGS

C_STRT_R

INPOS

Figure 5.7

Positioning Command

J

Module Reset Command

The Unit is reset by setting the Module Reset Command and changing the Command Start

Command (C_STRT) from 0 to 1. When the Module Reset Command is executed, the Unit

Ready Flag (READY) is changed from 1 to 0. When NS500 Unit and SGDH reset processing has been completed, the Unit Ready Flag changes from 0 to 1.

The Unit reset operation process is outlined below.

D If the axis is travelling, it decelerates to stop and the remaining travel distance is discarded.

D If the current status is servo ON, it changes to servo OFF.

D If an alarm has occurred, the alarm is reset.

D All of the latest NS500 Unit parameters are stored in flash memory.

5 -50

6

Parameter Settings

This chapter describes parameters and standard settings for I/O signals

(CN1) when an NS500 Unit is mounted.

6.1 Parameters and Standard Settings for NS500 Units . . . . . . . . . . . . . . . . . . . . . .

6.1.1 Automatically Set Parameters . . . . . . . . . . . . . . . . .

6 -3

6 -3

6.1.2 Standard Settings for CN1 I/O Signals . . . . . . . . . .

6 -4

6.2 Settings According to

Equipment Characteristics 6 5

6.2.1 Switching Servomotor Rotation Direction . . . . . . .

6 -5

6.2.2 Stop Mode Selection at Servo OFF . . . . . . . . . . . .

6 -6

6.2.3 Fully Closed Control . . . . . . . . . . . . . . . . . . . . . . . . .

6.2.4 Fully Closed System Specifications . . . . . . . . . . . .

6.2.5 Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3 Settings According to Host Controller . . . .

6.3.1 Sequence I/O Signals . . . . . . . . . . . . . . . . . . . . . . . .

6.4 Setting Up the SERVOPACK . . . . . . . . . . . .

6.4.1 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4.2 Input Circuit Signal Allocation . . . . . . . . . . . . . . . . .

6.4.3 Output Circuit Signal Allocations . . . . . . . . . . . . . . .

6.4.4 Analog Monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.5 Setting Stop Functions . . . . . . . . . . . . . . . . .

6.5.1 Using the Dynamic Brake . . . . . . . . . . . . . . . . . . . . .

6.5.2 Using the Holding Brake . . . . . . . . . . . . . . . . . . . . . .

6 -12

6 -13

6 -15

6 -16

6 -16

6 -17

6 -7

6 -7

6 -8

6 -10

6 -10

6 -12

6 -12

6

6 -1

6

Parameter Settings

6.6 Absolute Encoders . . . . . . . . . . . . . . . . . . . . .

6.6.1 Selecting an Absolute Encoder . . . . . . . . . . . . . . . .

6.6.2 Absolute Encoder Setup . . . . . . . . . . . . . . . . . . . . . .

6.6.3 Multiturn Limit Setting . . . . . . . . . . . . . . . . . . . . . . . .

6.7 Digital Operator . . . . . . . . . . . . . . . . . . . . . . .

6.7.1 Connecting the Digital Operator . . . . . . . . . . . . . . .

6.7.2 Limitations in Using a Hand-held Digital Operator

6.7.3 Panel Operator Indicators . . . . . . . . . . . . . . . . . . . .

6 -21

6 -21

6 -22

6 -22

6 -24

6 -24

6 -24

6 -24

6 -2

6.1 Parameters and Standard Settings for NS500 Units

6.1 Parameters and Standard Settings for NS500 Units

6.1.1 Automatically Set Parameters

When an NS500 Unit is mounted on an SGDH SERVOPACK and it is used for DeviceNet communications, the following parameters are automatically set. The following parameters will be treated as “reserved for system use,” so do not change them. The SGDH SERVOPACK will be set for position control. It is not necessary to set parameters for speed and torque control, so do not change the settings.

Pn No.

Pn000

Pn004

Pn200

Pn202

Pn203

Pn204

Pn207

Pn50A

Pn50B

Pn50C

Pn50D

Pn511

−

−

0

−

−

Digit

1

1

2

−

−

−

1

Parameter Name

Select control method

Reserved

Clear signal status

Electronic Gear Ratio

(Numerator)

Electronic Gear Ratio

(Denominator)

Position command acceleration/deceleration time constant

Select position command filter

Set Value

1

0

1

1

1

0

Description

Position control

−

Error counter is not cleared.

Electronic gear on SGDH

SERVOPACK is not used.

Electronic gear on SGDH

SERVOPACK is not used.

Time constant = 0

Select input signal 1

Select input signal 2

Select input signal 3

Select input signal 4

Select input signal 5

0

8881 jj

81

8888

8888

8

Uses the position command acceleration/deceleration filter.

Not used

Not used

Not used

Not used

Not used

6

INFO

These parameters are set automatically the first time the power to the SERVOPACK is turned ON after the

NS500 Unit has been mounted. Startup will take approximately 6 seconds when these parameters are being set.

6 -3

6

Parameter Settings

6.1.2 Standard Settings for CN1 I/O Signals

6.1.2 Standard Settings for CN1 I/O Signals

The standards settings for CN1 I/O signals when the NS500 Unit is mounted are described below.

To use the standard settings, change the parameters to the standard setting as shown below. The input signal setting from the NS500 Unit will be force-changed, so the user cannot change this setting.

Not used

DEC

P-OT

N-OT

EXTP

ZERO

Not used

SGDH SERVOPACK

CN1

40(SI0)

41(SI1)

42(SI2)

43(SI3)

44(SI4)

45(SI5)

46(SI6)

(SO1)

(SO2)

(SO3)

25

26

27

28

29

30

/COIN+

/COIN −

/BK+

/BK −

/S-RDY+

/S-RDY −

Figure 6.1

Standard CN1 I/O Signal Settings

Table 6.1 Factory Settings and Standard Settings for I/O Signals

Parameter

Pn50E

Pn50F

Pn510

Description

Output signal selections 1

Output signal selections 2

Output signal selections 3

3211

0000

0000

Factory

Setting

3001

0200

Standard

Setting

0000

6 -4

6.2 Settings According to Equipment Characteristics

6.2 Settings According to Equipment Characteristics

This section describes the procedure for setting parameters according to the dimensions and performance of the equipment used.

6.2.1 Switching Servomotor Rotation Direction

The SERVOPACK has a Reverse Rotation Mode that reverses the direction of servomotor rotation without rewiring. Forward rotation in the standard setting is defined as counterclockwise as viewed from the load.

With the Reverse Rotation Mode, the direction of servomotor rotation can be reversed without changing other items. The direction (+, − ) of shaft motion is reversed. There are no other changes.

Forward

Reference

Reverse

Reference

Standard Setting

Position data from

SERVOPACK

+ direction

Position data from

SERVOPACK

− direction

Reverse Rotation Mode

Position data from

SERVOPACK

+ direction

Position data from

SERVOPACK

− direction

J

Setting Reverse Rotation Mode

Use parameter Pn000.0.

Pn000.0

Direction Selection Factory

Setting:

0

Position Control

Use the following settings to select the direction of servomotor rotation.

Setting

0

1

Description

Forward rotation is defined as counterclockwise

(CCW) rotation as viewed from the load.

Forward rotation is defined as clockwise (CW) rotation as viewed from the load.

(Standard setting)

(Reverse Rotation

Mode)

6

6 -5

6

Parameter Settings

6.2.2 Stop Mode Selection at Servo OFF

6.2.2 Stop Mode Selection at Servo OFF

The SGDH SERVOPACK turns OFF under the following conditions:

D The SV_OFF command is transmitted.

D A servo alarm occurs.

D Power is turned OFF.

Specify the Stop Mode if any of these occurs during servomotor operation.

Pn001.0

Servo OFF Stop Mode Factory

Setting:

0

Position Control

Servo

OFF

Stop Mode

Pn001.0 = 0 or 1

Stop by dynamic brake

Pn001.0 = 2

Coast to a stop

0

After stopping

Hold with dynamic brake

1

Coast status

The dynamic brake electrically applies a brake by using a resistor to consume servomotor rotation energy.

Refer to 6.5.1 Using the Dynamic Brake.

Coast status

Parameter Setting Item

Pn001.0

0

(Factory setting)

1

2

Uses the dynamic brake to stop the servomotor, and maintains dynamic brake status after stopping.

Uses the dynamic brake to stop the servomotor, and cancels dynamic brake status after stopping to go into coast status.

Coasts the servomotor to a stop. The servomotor is turned OFF and stops due to equipment friction.

Note If the servomotor is stopped or rotating at extremely low speed when the item above is set to 0 (dynamic brake status after stopping with the dynamic brake), then braking power is not generated and the servomotor will coast to a stop the same as in coast status.

TERMS z

Dynamic brake (DB)

The dynamic brake is a common way of suddenly stopping a servomotor.

Built into the SERVOPACK, the dynamic brake suddenly stops a servomotor by electrically shorting its electrical circuit.

SERVOPACK Servomotor

6 -6

6.2 Settings According to Equipment Characteristics

6.2.3 Fully Closed Control

A fully closed loop can be formed using the parameter settings on the SGDH SERVOPACK. In previous SERVOPACKs, a semi-closed method was used to control the motor, but with this function even more precise control is achieved because control involves the detection of the position and speed of actual machine operation.

Fully closed control

Torque

Servomotor

Load torque

Mechanism including backlash and friction

Power

Speed and control at the machine end

Current Detection current

Speed, position

Controlled machine

Parameters must be set when using fully closed control. Refer to 6.2.5 Parameter Settings for details.

6.2.4 Fully Closed System Specifications

This section describes the fully closed system specifications of the SGDH SERVOPACK when an Option Unit is mounted.

J

Fully Closed Encoder Pulse Output Form

5-V Differential line driver output (complies with EIA Standard RS-422A)

J

Fully Closed Encoder Pulse Signal Form

90 ° Phase difference 2-phase differential pulse: phase A, phase B

Maximum receivable frequency for SERVOPACK: 1 Mbps

6

Phase A

Phase B t1 t2 t3 t4

Forward rotation t1,t2,t3,t4

≧ 0.2

µ s

Reverse rotation

6 -7

6

Parameter Settings

6.2.5 Parameter Settings

6.2.5 Parameter Settings

This section describes the parameters that must be set when using an Option Unit.

J

Overflow Level

For information on parameter contents, refer to 6.2.1 Servo Gain Settings of the ∑ -II Series

SGM j H/SGDH User’s Manual : Design and Maintenance (SIE-S800-32.2). The factory setting is made to minimize the chance of the motor going out of control due to wiring errors or other causes. After performing a trial operation at a low speed, change the setting to a higher value if necessary.

J

Fully Closed Encoder

Set the method for using the fully closed encoder.

Pn002.3

Fully Closed Encoder Usage Method Position Control Factory

Setting:

0

The setting details are as follows:

Parameter

Pn002.3

Setting

0

(Factory setting)

1

2

3

4

Meaning

Fully closed encoder is not used.

Fully closed encoder is used without phase C.

Fully closed encoder is used with phase C.

Fully closed encoder is used in Reverse Rotation

Mode without phase C.

Fully closed encoder is used in Reverse Rotation

Mode with phase C.

When changes have been made to this parameter, turn OFF the power once. The set value will become effective when the power is turned ON again.

6 -8

6.2 Settings According to Equipment Characteristics

J

Number of Fully Closed Encoder Pulses

Set the number of fully closed encoder pulses for each motor rotation.

When the number of fully closed encoder pulses per motor rotation is not an integer, set the closest integer.

Error will occur in the speed monitor for position loop gain, feed forward, and reference pulse, but no position displacement will occur. Set the number of pulses with a multiplication factor of 1.

Pn206 Number of Fully Closed

Encoder Pulses

Unit

P/R

Setting

Range:

513 to 32768

Factory

Setting:

16384

Position

Control

When changes have been made to this parameter, turn OFF the power once. The set value will become effective when the power is turned ON again.

6

6 -9

6

SGDH Parameters

6.

3 .

1 Sequence I/O Signals

6.3 Settings According to Host Controller

This section describes the procedure for connecting the SERVOPACK to the host controller and provides details on related parameters.

6.3.1 Sequence I/O Signals

Sequence I/O signals are used to control SERVOPACK operation. Connect these signal terminals as required.

J

Input Signal Connections

Connect the sequence input signals as shown below (standard settings).

SERVOPACK

I/O power supply

+24V

+24VIN

CN1

47 3.3k

Ω Photocoupler

Host controller

40

41

P-OT 42

N-OT 43

44

ZERO 45

EMSTOP 46

0V

IMPORTANT

Provide an external input power supply; the SERVOPACK does not have an internal 24-V power supply.

S Sequence input signal power supply specifications: 24 ± 1 VDC, 50 mA min.

Yaskawa recommends using the same external power supply as that used for output circuits. The allowable voltage range for the 24-V sequence input circuit power supply is 11 to 25 V. Although a 12-V power supply can be used, contact faults can easily occur for relays and other mechanical contacts under low currents. Confirm the characteristics of relays and other mechanical contacts before using a 12-V power supply.

6 -10

6.

3 Settings According to Host Controller

→ Input +24V IN CN1-47 24 V External I/O Power Supply Input Position Control

The external power supply input terminal is common to sequence input signals.

I/O power supply SERVOPACK

+24 V

+24 VIN

CN1-47

Sequence output signals are used to indicate SER-

VOPACK operating status.

Photocoupler output per output

Maximum operating voltage : 30 VDC

Maximum output current:

50 mA DC

Connect an external I/O power supply.

Contact input signals: DEC (CN1-41)

P-OT (CN1-42)

N-OT (CN1-43)

EXTP (CN1-44)

ZERO (CN1-45)

J

Output Signal Connections

Connect the sequence output signals as shown in the following figure (standard settings).

I/O power supply

+24 V 0 V

SERVOPACK

Photocoupler

CN1

31

50 mA max.

32

25

50 mA max.

26

27

28

29

30

/ALM+

ALM −

/COIN+

/COIN −

/BK+

/BK −

/S-RDY+

/S-RDY −

Open-collector output per output

Maximum operating voltage: 30 VDC

Maximum output current:

20 mA DC

IMPORTANT

CN1

37

20 mA max.

38

ALO1

ALO2

39 ALO3

1 SG

0 V

Host controller

0 V

Provide a separate external I/O power supply; the SERVOPACK does not have an internal 24-V power supply.

Yaskawa recommends using the same type of external power supply as that used for input circuits.

Function allocations for some sequence output signal circuits can be changed.

Refer to 6.4.3 Output Circuit Signal Allocations for more details.

6 -11

6

6

SGDH Parameters

6.4.2 Input Circuit Signal Allocation

6.4 Setting Up the SERVOPACK

This section describes the procedure for setting parameters to operate the SERVOPACK.

6.4.1 Parameters

The Σ -II Series SERVOPACK provides many functions and has parameters that allow the user to specify functions and perform fine adjustments.

SERVOPACK

Parameters

A Panel Operator, hand-held Digital Operator, or Device-

Net commands is used to set parameters.

Parameters are divided into the following three groups.

Parameter

Pn000 to Pn819

Fn000 to Fn013

Un000 to Un00D

Function

Specify SERVOPACK functions, set servo gains, etc.

Execute auxiliary functions such as FEED operations and zero point searches.

Monitor the motor speed and torque reference value on the panel display.

6.4.2 Input Circuit Signal Allocation

The allocation of the sequence input signal circuit when the NS500 Unit is mounted on the

SGDH SERVOPACK is not changed. It will be as follows:

Name Terminal

Numbers

40

41

42

43

44

45

46

SI2

SI3

SI4

SI5

SI6

Input Terminal

Name

SI0

SI1

−

DEC

Symbol

P-OT

N-OT

EXTP

ZERO

−

−

Deceleration limit switch

Forward run prohibited

Reverse run prohibited

External signal positioning

Zero point signal

−

6 -12

6.

4 Setting Up the SERVOPACK

6.4.3 Output Circuit Signal Allocations

Output signal functions can be allocated to the sequence signal output circuits shown below.

In general, allocate signals according to the standard settings in the following table.

CN1

Connector

Terminal

Numbers

25 SO1

Output

Terminal

Name

26

27

28

SO2

Factory Setting

Symbol

/COIN+

/COIN −

/TGON+

/TGON −

Name

Positioning

Rotation

Standard Setting

Symbol

/COIN+

/COIN −

/BK+

/BK −

Name

Positioning

Brake interlock

29 SO3 /S-RDY+ Servo ready /S-RDY+ Servo ready

30 /S-RDY − /S-RDY −

The following table shows the output signal selection parameters and their factory settings and standard settings.

Pn50E

Pn50F

Pn510

Output Signal Selections 1

Output Signal Selections 2

Output Signal Selections 3

Select the CN1 connector terminals that will output the signals.

Output signal

Pn50E. to Pn510.

1

2

3

Factory

Setting:

3211

Factory

Setting:

0000

Factory

Setting:

0000

SO1 (CN1-25, 26)

SO2 (CN1-27, 28)

SO3 (CN1-29, 30)

Standard

Setting:

3001

Standard

Setting:

0200

Standard

Setting:

0000

6

Output Signal

Positioning l t d

Parameter

Number Setting

Pn50E.0

2

3

0

1

Description

Disabled (Not used for the output signal on the left.)

Outputs the signal on the left from the SO1 (CN1-25 and 26) output terminal.

Outputs the signal on the left from the SO2 (CN1-27 and 28) output terminal.

Outputs the signal on the left from the SO3 (CN1-29 and 30) output terminal.

6 -13

6

SGDH Parameters

6.4.

3 Output Circuit Signal Allocations

Parameter

Number Setting

Speed

Coincidence

Detection

(/V-CMP)

Rotation

Detection

(/TGON)

Servo Ready

(/S-RDY)

Torque Limit

Detection

(/CLT)

Speed Limit

Detection

(/VLT)

Brake Interlock

(/BK)

Warning

(/WARN)

Near

(/NEAR)

Phase C

Detection

(/C-PULS)

Pn50E.1

Pn50E.2

Pn50E.3

Pn50F.0

Pn50F.1

Pn50F.2

Pn50F.3

Pn510.0

Pn510.1

0 to 3

0 to 3

0 to 3

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

Same as Pn50E.0

Same as Pn50E.0

Same as Pn50E.0

* Always OFF when an NS500 Unit is mounted.

Note “Same as Pn50E.0” means output signals are disabled or allocated to output terminals SO1 to SO3 through parameter settings 0 to 3.

INFO

Signals are output with OR logic when multiple signals are allocated to the same output circuit. Signals that are not detected are invalid.

J

Output Signal Reversal

The following parameter can be used to reverse the signals output on output terminals SO1 to

SO3.

Pn512 Output Signal Reversal Settings Factory

Setting:

0000

Position Control

The settings specify which of the connector CN1 output signals are to be reversed.

6 -14

6.4 Setting Up the SERVOPACK

Output Terminals Parameter

Number Setting

SO1 (CN1-25, 26) Pn512.0

SO2 (CN1-27, 28) Pn512.1

0

1

0

1

SO3 (CN1-29, 30) Pn512.2

Reserved Pn512.3

0

1

−

Description

Output signal not reversed.

Output signal reversed.

Output signal not reversed.

Output signal reversed.

Output signal not reversed.

Output signal reversed.

−

6.4.4

Analog Monitors

The analog monitors can be changed by changing the PN003.0 and Pn003.1 parameter settings.

Pn003.0

Pn003.1

Analog Monitor 1

Analog Monitor 2

Factory Setting:

2

Factory Setting:

0

Position Control

Position Control

The monitor signals and units and the observation gains when observing using the analog monitor (CN5) are shown on the following table.

Pn003.0 and

Pn003.1

Settings

0

1

4

5

2

3

6

7

8 to F

Monitor Signal

Servomotor speed

Speed reference

Torque reference

Position error

Position error

Reference pulse frequency

(Servomotor speed conversion)

Servomotor speed

Servomotor speed

Reserved motor signal

Analog Monitor (CN5)

Observed Gain

1 V/1000 min -1

1 V/1000 min -1

1 V/100 % rated torque

0.05 V/1 reference units

0.05 V/100 reference units

1 V/1000 min -1

1 V/250 min -1

1 V/125 min -1

−

6

INFO

Refer to 6.5 Analog Monitors in the Σ -II Series SGM j H/SGDH User’s Manual: Design and Maintenance ( SIE-S800-32.2

) for information on monitoring methods of analog monitors.

6 -15

6

SGDH Parameters

6.

5 .

1 Using the Dynamic Brake

6.5 Setting Stop Functions

This section describes the procedure used to stably stop the SERVOPACK.

6.5.1 Using the Dynamic Brake

IMPORTANT

To stop the servomotor by applying the dynamic brake (DB), set the desired mode in the following parameter. The servomotor will stop due to equipment friction if the dynamic brake is not applied.

Pn001.0

Servo OFF or Alarm Stop Mode Factory

Setting:

0

The SERVOPACK turns OFF under the following conditions:

Position Control

D When the SV_OFF command is sent.

D A servo alarm occurs.

D Power is turned OFF.

Servo

OFF

Pn001.0 = 0 or 1

Stop mode

Dynamic brake stop

0

After stopping

Hold dynamic brake

1

Coast status

Pn001.0

= 2

Coast to a stop

Coast status

Specify the Stop Mode if any of these occurs during servomotor operation.

Pn001.0 Setting

0

Description

Uses the dynamic brake to stop the servomotor.

Maintains dynamic brake after the servomotor stops.

*1

1 Uses the dynamic brake to stop the servomotor.

Releases dynamic brake after the servomotor stops, and the servomotor coasts to a stop.

2 Coasts the servomotor to a stop.

*2

The servomotor is turned OFF and stops due to equipment friction.

* 1.

If the servomotor is stopped or moving at extremely low speed, it will coast to a stop.

* 2.

A dynamic brake is used when the control power and main power are turned OFF.

The dynamic brake is an emergency stop function. Do not repeatedly start and stop the servomotor using the

SV_ON/SV_OFF command or by repeatedly turning power ON and OFF.

6 -16

6.

5 Setting Stop Functions

6.5.2 Using the Holding Brake

The holding brake is used when a Servodrive controls a vertical axis. In other words, a servomotor with brake prevents the movable part from shifting due to gravity when system power goes

OFF.

Servomotor

Holding brake

Prevents the movable part from shifting due to gravity when system power goes OFF.

IMPORTANT

The brake built into the SGM j

H servomotor with brakes is a de-energization brake, which is used only to hold and cannot be used for braking. Use the holding brake only to hold a stopped motor. Brake torque is at least

120% of the rated servomotor torque.

J

Wiring Example

Use the SERVOPACK sequence output signal /BK and the brake power supply to form a brake

ON/OFF circuit. The following diagram shows a standard wiring example.

SERVOPACK

Servomotor with brake

Power supply

BK − RY

L1

L2

L3

L1C

L2C

U

V

W

A ( 1 )

B ( 2 )

C ( 3 )

D ( 4 )

E ( 5 )

F ( 6 )

M

BK

/BK+ CN1 − *1

+24V

/BK − CN1 − *1

CN2

PG

BK − RY

Blue or yellow

White

AC D

C

Red

Black

Brake power supply *2

BK-RY: Brake control relay

*1: The output terminal signal is allocated with Pn50F.2

*2: Brake power supplies are available in 200-V and 100-V models.

6

6 -17

6

SGDH Parameters

6.

5 .2 Using the Holding Brake

Output to /BK Brake Interlock Output Position Control

This output signal controls the brake when using a servomotor with a brake and does not have to be connected when using a servomotor without a brake.

ON: Closed or low level

OFF: Open or high level

Related Parameters

Releases the brake.

Applies the brake.

Pn005

Pn506

Pn507

Pn508

Brake operation

Time Delay from Brake Reference until Servo OFF

Speed Level for Brake Reference Output during Motor Operation

Timing for Brake Reference Output during Motor Operation

The output signal in the following parameter must be selected when the /BK signal is used.

Pn50F Output Signal Selection 2 Factory

Setting:

0000

Position Control

/BK

Brake interlock output

0

1

2

3

Pn50F.2

Input terminals

CN1-25, 26(SO1)

CN1-27, 28(SO2)

CN1-29, 30(SO3)

Select the /BK output terminal.

Parameter Setting Output Terminal (CN1)

*1 *2

Pn50F.2

0

1

2

−

25

27

−

26

28

3 29 30

Note Signals are output with OR logic when multiple signals are allocated to the same output circuit. Set other output signals to a value other than that allocated to the

/BK signal in order to output the /BK signal alone. Refer to 6.4.3 Output Circuit

Signal Allocation.

6 -18

6.5 Setting Stop Functions

J

Brake Operation

Set whether the brake is applied using the SERVOPACK parameter.

Pn005.0

Brake Operation Factory

Setting:

0

Position Control

Pn005.0 Setting

0

1

Description

Performs brake operation using the SERVOPACK parameter.

Does not perform brake operation using the SERVOPACK parameter.

IMPORTANT

When setting the Pn005.0 to 1, the SERVOPACK’s parameters (Pn506, Pn507, Pn508) settings will be ignored.

J

Brake ON Timing

If the equipment moves slightly due to gravity when the brake is applied, set the following parameter to adjust brake ON timing.

Pn506 Time Delay from Brake

Reference until Servo

OFF

Unit:

10 ms

Setting

Range:

0 to 50

Factory

Setting:

0

Position Control

This parameter is used to set the output time from the brake control output signal /BK until the servo OFF operation (servomotor output stop) when a servomotor with a brake is used.

SV_ON command

/BK output

Servo ON/OFF operation

(servomotor

ON/OFF status)

Servo ON

Servo OFF

Release brake

Hold with brake

Servomotor

ON

Servomotor OFF

Servo OFF time delay

With the standard setting, the servo is turned OFF when the /BK signal (brake operation) is output. The equipment may move slightly due to gravity depending on equipment configuration and brake characteristics. If this happens, use this parameter to delay servo OFF timing.

This setting sets the brake ON timing when the servomotor is stopped. Use Pn507 and 508 for brake ON timing during operation.

IMPORTANT

The servomotor will turn OFF immediately if an alarm occurs. The equipment may move due to gravity in the time it takes for the brake to operate.

6

6 -19

6

SGDH Parameters

6.5.2 Using the Holding Brake

J

Holding Brake Setting

Set the following parameters to adjust brake ON timing so the holding brake is applied when the servomotor stops.

Pn507 Brake Reference

Output Speed Level during Motor Operation

Unit: min -1

Pn508 Timing for Brake

Reference Output during Motor Operation

Unit:

10 ms

Setting

Range:

0 to 10000

Setting

Range:

10 to 100

Factory

Setting:

100

Factory

Setting:

50

Position Control

Position Control

Set the brake timing used when the servo is turned OFF by the SV_OFF command or when an alarm occurs during servomotor with brake operation.

SV_OFF command

Servo ON

Servo OFF

Motor speed

(min -1 )

Pn-507

Stop by dynamic brake or coast to a stop.

(Pn001.0)

/BK output

Release brake

Hold with brake

Pn508

Brake ON timing when the servomotor stops must be adjusted properly because servomotor brakes are designed as holding brakes. Adjust the parameter settings while observing equipment operation.

/BK Signal Output Conditions During Servomotor Operation

The circuit is open under either of the following conditions:

1 Motor speed drops below the setting at Pn507 after servo OFF.

2 The time set at Pn508 has elapsed since servo OFF.

The actual setting will be the maximum speed if Pn507 is set higher than the maximum speed.

6 -20

6.6 Absolute Encoders

6.6 Absolute Encoders

If a servomotor with an absolute encoder is used, a system to detect the absolute position can be made in the host controller. Consequently, operation can be performed without performing a zero point return immediately after the power is turned ON.

Motor SGM j H jjj 1 j

...With 16-bit absolute encoder

SGM j H jjj 2 j

...With 17-bit absolute encoder

Always detects absolute position.

Zero point return

Absolute encoder

6.6.1 Selecting an Absolute Encoder

Select the absolute encoder usage with the following parameter.

Pn002.2

Absolute Encoder Usage Factory

Setting:

0

“0” in the following table must be set to enable the absolute encoder.

Position Control

Pn002.2 Setting

0

Description

Use the absolute encoder as an absolute encoder.

1 Use the absolute encoder as an incremental encoder.

Note This parameter setting goes into effect when the power is turned OFF and ON again after the change has been made.

6

6 -21

6

SGDH Parameters

6.

6 .

3 Multiturn Limit Setting

6.6.2 Absolute Encoder Setup

Perform the setup operation for the absolute encoder in the following circumstances:

D When starting the machine for the first time

D When an encoder backup alarm is generated

D When the SERVOPACK’s power supply is turned OFF and the encoder’s cable is removed

Perform the setup operation in one of the following ways.

D Refer to the Σ -II Series SGM j H/SGDH User’s Manual: Design and Maintenance ( SIE-

S800-32.2

) for details on the absolute encoder setup operation (Fn008) when a Digital Operator is used.

D Setup can also be performed using personal computer monitor software.

INFO

The absolute encoder setup operation is only possible when the servo is OFF. After the setup processing is finished, turn the power OFF and then ON again.

IMPORTANT

If the following absolute encoder alarms are displayed, the alarms must be cleared using the method described above for the setup operation. They cannot be cleared using the Alarm Reset Command.

S Encoder backup alarm (A.81)

S

Encoder checksum alarm (A.82)

In addition, if a monitoring alarm is generated in the encoder, release the alarm by turning OFF the power.

6.6.3 Multiturn Limit Setting

When implementing absolute position detection systems for machines that turn m times in response to n turns in the load shaft, such as round tables, it is convenient to reset the multiturn data from the encoder to 0 every m turns. The Multiturn Limit Setting allows the value m to be set for the encoder.

Select the absolute encoder usage with the following parameter.

Pn002.2 Absolute Encoder Usage Factory Setting:

0

Position Control

Set Pn002.2 to 0 to enable the absolute encoder.

Pn002.2 Setting

0

1

Description

Uses the absolute encoder as an absolute encoder.

Uses the absolute encoder as an incremental encoder.

TERMS z

Multiturn limit

The upper limit of multiturn data. The multiturn data will vary between 0 and the value of Pn205 (multiturn limit setting) when Pn002.2 is set to 0.

6 -22

6.6 Absolute Encoders

INFO

INFO

The multiturn limit is set in the SERVOPACK using the following parameter.

Pn205 Multiturn Limit Setting Unit: rev

Setting

Range:

0 to 65535

Factory

Setting:

65535

Position Control

If the Multiturn Limit Setting is set to 65535 (factory setting), the multiturn data will vary from

− 32768 to 32767. If any other value is set, the multiturn data will vary from 0 to the setting of

Pn205.

If the servomotor rotates in the negative direction from 0, the multiturn data will change to the value set for Pn205. If the servomotor rotates in the positive direction from the value set in

Pn205, the multiturn data will change to 0. Set Pn205 to m-1.

Turn the power OFF and then ON after changing the setting of parameter Pn002.2 or Pn205.

The multiturn limit value in the encoder is factory set to 65535, the same as the SERVOPACK.

If the multiturn limit value in the SERVOPACK is changed with Pn205 and then the SERVO-

PACK power is turned OFF and ON, the following alarm will occur.

Alarm Name: Multiturn Limit Disagreement

Alarm Alarm Code Outputs

ALO1 ALO2 ALO3

Description of Alarm

A.CC

ON OFF ON The multiturn limit value is different in the encoder and SERVOPACK.

Note ON signals are low level; OFF signals are high level.

When this alarm occurs, the multiturn limit in the encoder must be changed. This operation is performed in one of the following ways.

D Refer to the Σ -II Series SGM j H/SGDH User’s Manual: Design and Maintenance ( SIE-

S800-32.2

) for details on changing the multiturn limit setting (Fn013) using a Digital Operator.

D Setup can also be performed using the personal computer monitor software.

The multiturn limit setting in the encoder can be changed only when the Multiturn Limit Disagreement alarm has occurred. After changing the setting, turn the power supply OFF and then ON.

!

WARNING The multiturn limit value must be changed only for special applications. Changing it inappropriately or unintentionally can be dangerous.

!

WARNING If the Multiturn Limit Disagreement alarm occurs, check the setting of parameter

Pn205 in the SERVOPACK to be sure that it is correct. If Fn013 is executed when an incorrect value is set in Pn205, an incorrect value will be set in the encoder. The alarm will disappear even if an incorrect value is set, but incorrect positions will be detected, resulting in a dangerous situation where the machine will move to unexpected positions.

6 -23

6

6

SGDH Parameters

6.

7 .

3 Panel Operator Indicators

6.7 Digital Operator

6.7.1 Connecting the Digital Operator

There are two types of Digital Operator. One is a built-in operator incorporating a panel indicator and switches located on the front panel of the SERVOPACK. This type of Digital Operator is also called a Panel Operator. The other one is a Hand-held Digital Operator (i.e., the JUSP-

OP02A-2 Digital Operator), which can be connected to the SERVOPACK through connector

CN3 of the SERVOPACK.

There is no need to turn OFF the SERVOPACK to connect the Hand-held Digital Operator to the SERVOPACK. For details on how to use the Hand-held Digital Operator, refer to the Σ -II

Series SGM j H/SGDH User’s Manual: Design and Maintenance ( SIE-S800-32.2

) .

6.7.2 Limitations in Using a Hand-held Digital Operator

When an NS500 Unit is mounted, the Hand-held Digital Operator has the following limitations.

INFO

Turn the power OFF and then ON after changing the setting of parameter the Pn002.2 or Pn205.

Normal Operation

The following commands are not supported when sent via PROFIBUS-DP if a Hand-held Digital

Operator is connected or communications with a personal computer are started during normal operation.

D Writing SGDH parameters

6.7.3 Panel Operator Indicators

The Panel Operator indicators (LED) will not be lit in any of the following circumstances.

1.

The indicators will not be lit for approximately 3 seconds when the power is turned ON.

2.

The indicator will not be lit when the Hand-held Digital Operator is connected.

It will be lit when the Hand-held Digital Operator is disconnected.

3.

The indicator will not be lit momentarily when the following commands are received via

PROFIBUS-DP or from a setup tool.

• Writing SGDH parameters

• Reading SGDH parameters

6 -24

7

Using the NSxxx Setup Tool

This chapter describes how to set parameters and monitor basic operation of the NS500 Unit using the NSxxx Setup Tool.

7.1 Connection and Installation

7.1.1 Connecting the NS500 Unit

. . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . .

7.1.2 Installing the Software . . . . . . . . . . . . . . . . . . . . . . .

7.2 How to Use . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.1 Screen Configuration at Startup . . . . . . . . . . . . . . .

7.2.2 Functions Configuration . . . . . . . . . . . . . . . . . . . . . .

7 -2

7 -2

7 -2

7 -3

7 -3

7 -6

7

7 -1

Using the NSxxx Setup Tool

7.1.2 Installing the Software

7.1 Connection and Installation

7

7.1.1 Connecting the NS500 Unit

J

Connector Cables

Connect the CN11 port on the NS500 Unit and the RS-232C port on the personal computer using the following cable.

Model

DE9404559

Name

SGD Monitor Cable

J

Cable Wiring

Wire the cables as follows:

CN11

Pin number

1

2

3

4

Symbol

TXD (red)

RXD (white)

GND (black)

GND (black)

Details

Serial data output

Serial data input

Ground

Ground

Personal computer pin number (9 pins)

2

3

5

5

7.1.2 Installing the Software

The following files are stored on the floppy disk for the NSxxx Setup Tool.

D NS_MMI.EXE (Execution unit)

D ParmDef.CFG (Data files)

D RES_JPN.DLL (DLL in Japanese)

D RES_ENG.DLL (DLL in English)

D ParmDef(Jpn).CFG (Data files in Japanese)

D ParmDef(Eng).CFG (Data files in English)

Copy these files to any directory on the personal computer.

IMPORTANT

To use the files in English, copy ParmDef(Eng).CFG to ParmDef.CFG.

7 -2

7.2 How to Use

7.2 How to Use

7.2.1 Screen Configuration at Startup

Start the Setup Tool as follows:

1.

Double-click the NS_MMI.exe

file. The following communications setting screen will be displayed.

Figure 7.1

Communications setting screen

2.

Perform one of the following operations.

• If using any COM port other than COM1 on the personal computer, change the COMM

PORT setting.

• To use COM1, just click the Connect Button directly.

Next, check the following: a) The communications power supply is being supplied via the SGDH control power supply to the NS500 Unit.

b) The CN11 port on the NS500 Unit is connected to the personal computer via a communications cable.

7

7 -3

7

Using the NSxxx Setup Tool

7.2.1 Screen Configuration at Startup

The following startup screen will be displayed.

Operation window display area

Figure 7.2

Startup Screen

Status bar

The following information is normally displayed on the status bar.

• Ready

Displays whether or not the NS500 Unit is ready.

If the Unit is ready, this icon will be lit green.

• Servo ON/OFF

Displays if the SGDH servo is ON or OFF.

If the servo is ON, this icon will be lit green.

• Main Power ON

Displays if the main power supply to the SGDH is ON.

If the main power supply is being supplied normally, this icon will be lit green.

• Alarm

Displays if an alarm has occurred in the NS500 Unit or SGDH.

If an alarm has occurred, this icon will be lit red.

7 -4

7.2 How to Use

Select an item from the menu bar and make NS500 Unit settings or perform simple operation, as shown below

7

7 -5

7

Using the NSxxx Setup Tool

7.2.2 Functions Configuration

7.2.2 Functions Configuration

The functional configuration of the Setup Tool is shown in the following diagram.

Main Window

File Connect to NSxxx

Load to NSxxx

Save from NSxxx

Verify

Operate

Signal

Point Table

Parameter

Monitor

System

Help

Configuration

Constant Feed

STEP

Positioning

Point Table Positioning

Station Positioning

External Positioning

Multi-speed Positioning

Zone-signal Output Positioning

Homing Operation

Servo ON/OFF

Brake ON/OFF

List

Edit

Servo Parameter List

Option Parameter List

Motion Status

Input Signal

Output Signal

Current Position

Alarm

Alarm History

Reset Module

Read ID

Version

Connect

Point Table

Parameter

Point Table

Parameter

Point Table

Parameter

Configuration

Constant Feed

Step Operation

Positioning

Point Table Positioning

Station Positioning

External Positioning

Multi-speed Positioning

Zone-signal Output Positioning

Homing Operation

Servo ON/OFF

Brake ON/OFF

Point Table List

Edit Point Table

Servo Parameter List

Option Parameter List

Monitoring Motion Status

Monitoring Input Signal

Monitoring Output Signal

Monitoring Position

Alarm

Alarm History

Reset Module

Identity Information

Version

Point Table Loading to NSxxx

Parameter Loading to NSxxx

Point Table Saving from NSxxx

Parameter Saving from NSxxx

Verifying Point Table Data

Verifying Parameter Data

7 -6

7.2 How to Use

J

File Menu

1.

Connect to NSxxx

Starts communications with the NS500 Unit.

2.

Load to NSxxx

Loads to the NS500 Unit the parameter file stored in the personal computer.

3.

Save from NSxxx

Saves to the personal computer the parameter data or point table data within the NS500

Unit.

4.

Verify

Compares the data stored in the personal computer and the data in the NS500 Unit.

5.

Configuration

Sets the units, etc.

J

Operate Menu

1.

Constant Feed

Performs constant feed speed.

2.

STEP

Performs step operation.

3.

Positioning

Sets the target position and performs positioning.

4.

Point Table Positioning

Performs positioning based on the specified data in the point table.

5.

Station Positioning

Performs positioning to the specified station.

6.

External Positioning

Sets the target position and performs positioning. If the external signal changes, the axis moves the distance set in the parameter and then stops.

7.

Multi-speed Positioning

Performs multi-speed positioning based on the set parameters.

8.

Zone-signal Output Positioning

Performs positioning while making notch outputs based on the set parameters.

9.

Homing Operation

Performs the zero point return.

7

7 -7

7

Using the NSxxx Setup Tool

7.2.2 Functions Configuration

J

Signal Menu

1.

Servo ON/OFF

Turns ON and OFF the SGDH servo.

2.

Brake ON/OFF

Turns ON and OFF the SGDH brake signal.

J

Point Table Menu

1.

List

Displays a list of the point table currently registered.

2.

Edit

Edits the point table.

J

Parameter Menu

1.

Servo Parameter List

Displays a table of SGDH parameters, which can be edited using the cursor.

2.

Option Parameter List

Displays a table of NS500 Unit parameters, which can be edited using the cursor.

J

Monitor Menu

1.

Motion Status

Displays the current execution status.

2.

Input Signal

Displays the status of the external input signals connected to the CN1 port on the SGDH and the CN4 port on the NS500 Unit.

3.

Output Signal

Displays the status of the external output signals connected to the CN1 port on the SGDH and the CN4 port on the NS500 Unit.

4.

Current Position

Displays the current position of the servomotor in reference units.

5.

Alarm

Displays any alarms that are currently occurring. You can also clear the alarms using this function.

6.

Alarm History

Displays to a maximum of 10 the most recent alarms that have occur. You can also clear the alarm history using this function.

7 -8

7.2 How to Use

J

System Menu

1.

Reset Module

Resets the NS500 Unit and the SGDH.

When you reset the Unit, the parameters that have been changed will be stored in flash

ROM.

2.

Read ID

Displays version information for the NS500 Unit and SGDH, etc.

J

Help Menu

D Version

Displays version information for the Setup Tool.

7

7 -9

8

Ratings, Specifications, and Dimensions

This chapter provides the ratings, specifications, and dimensions of SGDH

SERVOPACKs.

8.1 Ratings and Specifications

8.2 Dimensional Drawings

. . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . .

8.2.1 NS500 Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8 -2

8 -4

8 -4

8

8 -1

Ratings, Specifications, and Dimensions

8.1 Ratings and Specifications

8

The following table lists the rating and specifications of NS500 Unit.

Table 8.1 NS500 Unit Ratings and Specifications

Item

Applicable SERVOPACK

Installation Method

Basic Specifications Power Supply

Method

PROFIBUS-DP

Communications

Command Format

Position Control

Functions

Input Signals

Output Signals

All SGDHjjj

E models

Details

Mounted on the SGDH SERVOPACK

Supplied from the SGDH control power supply.

Power Consumption 1.3 W

Consumption

Current

250 mA

External Dimensions

[mm]

20 × 142 × 128 (W × H × D)

Approx. Mass

[kg] (lb)

Baud Rate Setting

0.2 (0.441)

The baud rate is automatically set by the Master between 9.6 Kbps and 12

Mbps.

Station Address

Setting

Operation

Specifications

Reference Input

Select the address from 0 to 7D (0 to 125) using the rotary switches.

Positioning using PROFIBUS-DP communications

PROFIBUS-DP communications

Commands: Motion commands (position, speed), and reading and writing parameters

Acceleration/

Deceleration Method

Linear single/double-step, asymmetric, exponential, S-curve

Fully Closed Control Possible

Fixed Allocation to

SGDH CN1

Connector

NS500 Unit

Forward/reverse run prohibited, zero point return deceleration LS, zero point signal, external positioning signal

Emergency stop signal

Servo alarm, brake interlock, servo ready, positioning completion SGDH CN1

Connector*

NS500 Unit Notch 1, notch 2

8 -2

8.1 Ratings and Specifications

Internal Functions

Item

Position Data Latch

Function

Protection

Details

Position data latching is possible using phase C, zero point signals, and external signals.

Parameters damage, parameter setting errors, communications errors, etc.

LED Indicators ERR: Module Error

COMM: Communications Status Error

* The allocation of the following output signals can be changed using parameter settings: Brake interlock, servo ready, positioning completion.

8

8 -3

8

Ratings, Specifications, and Dimensions

8.2.1 NS500 Unit

8.2 Dimensional Drawings

Dimensional drawings of the NS500 Unit and SERVOPACKs are shown below.

8.2.1 NS500 Unit

Dimensions of the NS500 Unit are shown below.

FG terminal

M4

(24)

Connector to SERVOPACK Nameplate

CN11

NS500

6

CN6

CN4

20

133

Approx. mass: 0.2 kg (0.661 lb)

8 -4

9

Error Diagnosis and Troubleshooting

This chapter describes error diagnosis and troubleshooting.

In addition, troubleshooting procedures are described for problems which cause an alarm display and for problems which result in no alarm display.

9.1 Troubleshooting with Alarm Displays

9.2 Troubleshooting Problems

. . . . .

with No Alarm Display

9.3 Alarm Display Table

. . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . .

9.4 Warning Codes . . . . . . . . . . . . . . . . . . . . . . . .

9 -2

9 -38

9 -40

9 -43

9

9 -1

9

Error Diagnosis and Troubleshooting

9.1 Troubleshooting with Alarm Displays

Problems that occur in the Servodrives are displayed on the panel operator as “A.

VV ” or “CPF-

VV ”. “A.

− − ”, however, does not indicate an alarm. Refer to the following sections to identify the cause of an alarm and the action to be taken.

Contact your Yaskawa representative if the problem cannot be solved by the described procedures..

J

A.02

A.02: Parameter Breakdown

Display and Outputs

Alarm Outputs

Alarm Code Outputs

ALO1

OFF

ALO2

OFF

Note: OFF: Output transistor is OFF (alarm state).

ALO3

OFF

Status and Remedy for Alarm

ALM Output

OFF

At power ON

A, B, C

A

B

C

Cause

Power turned OFF during parameter write.

Alarm occurred at the next power ON.

Circuit board (1PWB) is defective.

The NS500 Unit is defective.

Remedy

S Initialize parameters using Fn005 and reinput user settings.

S

Replace the SERVOPACK.

Replace the SERVOPACK.

Replace the NS500 Unit.

9 -2

9.1 Troubleshooting with Alarm Displays

J

A.03

A.03: Main Circuit Encoder Error

Display and Outputs

Alarm Outputs

Alarm Code Outputs

ALO1

OFF

ALO2

OFF

Note: OFF: Output transistor is OFF (alarm state).

ALO3

OFF

Status and Remedy for Alarm

At power ON A

ALM Output

OFF

Cause Remedy

A Circuit board (1PWB or 2PWB) is defective. Replace the SERVOPACK.

J

A.04

A.04: Parameter Setting Error

Display and Outputs

Alarm Outputs

Alarm Code Outputs

ALO1 ALO2

OFF OFF

Note: OFF: Output transistor is OFF (alarm state).

ALO3

OFF

Status and Remedy for Alarm

At power ON

A, B, C

ALM Output

OFF

A

B

C

Cause

An out-of-range parameter was previously set or loaded.

Circuit board (1PWB) is defective.

The NS500 Unit is defective.

Remedy

S

Reset all parameters in range.

S Otherwise, re-load the correct parameter.

Replace the SERVOPACK.

Replace the NS500 Unit.

9 -3

9

9

Error Diagnosis and Troubleshooting

J

A.05

A.05: Combination Error

Display and Outputs

ALO1

OFF

Alarm Outputs

Alarm Code Outputs

ALO2

OFF

Note: OFF: Output transistor is OFF (alarm state).

ALO3

OFF

Status and Remedy for Alarm

At power ON A, B

ALM Output

OFF

Cause Remedy

A The range of servomotor capacities that can be combined has been exceeded.

Replace the servomotor so that a suitable combination is achieved.

B Encoder parameters have not been written properly.

Replace the servomotor.

9 -4

9.1 Troubleshooting with Alarm Displays

J

A.10

A.10: Overcurrent or Heat Sink Overheated

Display and Outputs

ALO1

ON

Alarm Outputs

Alarm Code Outputs

ALO2

OFF

ALO3

OFF

Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON.

Status and Remedy for Alarm

During servomotor operation

A, B, D,

E, F, G, H

When SERVO ON

(/S-ON) signal turned ON

ALM Output

OFF

C, D

At power ON C

A

B

C

D

E

F

G

H

Cause

Wiring shorted between SERVOPACK and servomotor.

Servomotor phase U, V, or W shorted.

S

Circuit board (1PWB) is defective.

S Power transistor is defective.

Current feedback circuit, power transistor,

DB relay, or circuit board defective.

The ambient temperature of the SERVO-

PACK exceeded 55 ° C.

The air flow around the heat sink is bad.

Remedy

Check and correct wiring.

Replace the servomotor.

Replace the SERVOPACK.

Replace the SERVOPACK.

Alter conditions so that the ambient temperature goes below 55 ° C.

Follow the installation method and provide sufficient space as specified.

Replace the SERVOPACK.

Fan stopped.

SERVOPACK is operating under an overload.

Reduce load.

Note: E to H can occur with all 400-V SERVOPACK models and 200-V SERVOPACK models for 1.5 to 5 kW.

9

9 -5

9

Error Diagnosis and Troubleshooting

J

A.30

A.30: Regenerative Error Detected

Display and Outputs

Alarm Outputs

Alarm Code Outputs

ALO1

ON

ALO2

ON

ALO3

OFF

Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON.

Status and Remedy for Alarm

During servomotor operation

A, B Occurred when the control power turned ON

ALM Output

D

OFF

Occurred approximately

1 second after the main circuit power ON

A, B, C

A

B

C

D

Cause

Regenerative transistor is abnormal.

Disconnection of the regenerative resistor.

Regenerative Unit disconnected

(for an external regenerative resistor).

SERVOPACK is defective.

Remedy

Replace the SERVOPACK.

Replace the SERVOPACK or regenerative resistor.

Check wiring of the external regenerative resistor.

Replace the SERVOPACK.

9 -6

9.1 Troubleshooting with Alarm Displays

J

A.32

A.32: Regenerative Overload

Display and Outputs

ALO1

ON

Alarm Outputs

Alarm Code Outputs

ALO2

ON

ALO3

OFF

Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON.

Status and Remedy for Alarm

During servomotor operation

A, B

ALM Output

OFF

Cause

A Regenerative power exceeds the allowable value.

Remedy

Use an external regenerative resistor that matches the regenerative power capacity.

B Alarm occurs although an external regenerative resistor is used and the temperature rise of the regenerative resistor is small.

Reset the incorrect Pn600 parameter setting.

9

9 -7

9

Error Diagnosis and Troubleshooting

J

A.40

A.40: Main Circuit DC Voltage Error Detected: overvoltage

Display and Outputs

Alarm Outputs

Alarm Code Outputs

ALO1

OFF

ALO2

OFF

ALO3

ON

Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON.

Status and Remedy for Alarm

During servomotor operation

A, B, C, D

Occurred when the control power turned ON

ALM Output

E

OFF

Occurred when main circuit power turned ON A, D

A

B

C

D

E

Cause

The power supply voltage is not within the range of specifications.

Load exceeds capacity of the Regenerative

Unit.

Regenerative transistor is abnormal.

Rectifying diode is defective.

SERVOPACK is defective.

Remedy

Check power supply.

Check specifications of load inertia moment and overhanging load.

Replace the SERVOPACK.

9 -8

9.1 Troubleshooting with Alarm Displays

J

A.41

A.41: Main Circuit Voltage Error Detected: Undervoltage

Display and Outputs

ALO1

OFF

Alarm Outputs

Alarm Code Outputs

ALO2

OFF

ALO3

ON

Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON.

Status and Remedy for Alarm

During servomotor operation

A, B, C

Occurred when the control power turned

ON

Occurred when main circuit power turned ON

A, B, C

ALM Output

D

Cause

A The power supply voltage is not within the range of specifications.

B Fuse blown.

D Rectifying diode is defective.

E SERVOPACK is defective.

Remedy

Check power supply voltage.

Replace the SERVOPACK.

OFF

9

9 -9

9

Error Diagnosis and Troubleshooting

J

A.51

A.51: Overspeed

Display and Outputs

Alarm Outputs

Alarm Code Outputs

ALO1

ON

ALO2

OFF

ALO3

ON

Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON.

Status and Remedy for Alarm

When servo ON (/S-ON) signal turned ON

A

At power ON

During high-speed servomotor rotation after reference input

B, C

ALM Output

D

OFF

A

B

C

D

Cause Remedy

Servomotor wiring is incorrect.

Check and correct wiring. (Check phase-U,

-V, and -W motor wiring errors.)

Position or speed reference input is too large. Lower the reference input values.

Incorrect reference input gain settings.

Check and correct the parameter settings.

Circuit board (1PWB) is defective.

Replace the SERVOPACK.

9 -10

9.1 Troubleshooting with Alarm Displays

J

A.71

A.71: Overload: Instantaneous Maximum Load

The alarm output, the status when LEDs are lit, and the remedy procedure are identical to those of A.72 below.

J

A.72

A.72: Overload: Continuous Maximum Load

Display and Outputs

Alarm Outputs

Alarm Code Outputs

ALO2 ALO3 ALO1

ON ON ON

Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON.

Status and Remedy for Alarm

ALM Output

OFF

When servo ON (/S-ON) signal turned ON

A At power ON C

When speed reference input

No servomotor rotation

During normal operation

B

B

A

B

Cause

Servomotor wiring is incorrect or disconnected

Load greatly exceeds rated torque.

C Circuit board (1PWB) is defective.

Remedy

Check wiring and connectors at servomotor.

Reduce load torque and moment of inertia.

Otherwise, replace with larger capacity servomotor.

Replace the SERVOPACK.

9

9 -11

9

Error Diagnosis and Troubleshooting

J

A.73

A.73: Dynamic Brake Overload

Display and Outputs

Alarm Outputs

Alarm Code Outputs

ALO1 ALO2 ALO3

ON ON ON

Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON.

Status and Remedy for Alarm

ALM Output

OFF

When servo OFF signal turned ON

A At power ON B

Cause

A The product of the square of rotational motor speed and the combined moment of inertia of the motor and load (rotation energy) exceeds the capacity of the dynamic brake resistor built into SERVOPACK.

B Circuit board (1PWB) is defective.

Remedy

S

Lower the rotational speed.

S Lower the load moment of inertia.

S Do not frequently use dynamic braking.

Replace the SERVOPACK.

J

A.74

A.74: Overload of Surge Current Limit Resistor

Display and Outputs

Alarm Outputs

Alarm Code Outputs

ALO1 ALO2 ALO3

ON ON ON

Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON.

Status and Remedy for Alarm

ALM Output

OFF

When main circuit power turned ON or OFF

A At power ON B

Cause

A Frequently turning the main circuit power ON/

OFF.

B Circuit board (1PWB) is defective.

Remedy

Do not repeatedly turn ON/OFF the main circuit power.

Replace the SERVOPACK.

9 -12

9.1 Troubleshooting with Alarm Displays

J

A.7A

A.7A: Heat Sink Overheated

Display and Outputs

Alarm Outputs

Alarm Code Outputs

ALO1

ON

ALO2

ON

ALO3

ON

Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON.

Status and Remedy for Alarm

During servomotor operation

A, B, C, D

When control power turned ON

ALM Output

E

OFF

Cause

A The ambient temperature of the SERVOPACK exceeds 55 ° C.

B The air flow around the heat sink is bad.

Remedy

Alter conditions so that the ambient temperature goes below 55 ° C.

Follow installation method and provide sufficient surrounding space as specified.

C Fan stopped.

D SERVOPACK is operating under overload.

E SERVOPACK is defective.

Replace the SERVOPACK.

Reduce load.

Replace the SERVOPACK.

Note: This alarm display tends to occur only with a SERVOPACK of 30 W to 1,000 W.

9

9 -13

9

Error Diagnosis and Troubleshooting

J

A.81

A.81: Absolute Encoder Backup Error

Display and Outputs

Alarm Outputs

Alarm Code Outputs

ALO1

OFF

ALO2

OFF

Note: OFF: Output transistor is OFF (alarm state).

ALO3

OFF

Status and Remedy for Alarm

At power ON At SENS_ON command

ALM Output

OFF

A, C

Pn002.2 = 0 A, B, C

Pn002.2 = 1 C

A

B

C

Cause Remedy

The following power supplies to the absolute encoder all failed:

S

+5 V supply (supplied from SERVO-

PACK)

S Battery

Follow absolute encoder set-up procedure.

Absolute encoder malfunctioned Replace the servomotor.

Circuit board (1PWB) is defective.

Replace the SERVOPACK.

9 -14

9.1 Troubleshooting with Alarm Displays

J

A.82

A.82: Absolute Encoder Checksum Error

Display and Outputs

Alarm Outputs

Alarm Code Outputs

ALO1

OFF

ALO2

OFF

Note: OFF: Output transistor is OFF (alarm state).

ALO3

OFF

Status and Remedy for Alarm

At power ON A, B

During operation

A, B

At SENS_ON command

A

Cause

Error during encoder memory check

B Circuit board (1PWB) is defective.

ALM Output

OFF

B

Remedy

S Follow absolute encoder setup procedure.

S

Replace servomotor if error occurs frequently.

Replace the SERVOPACK.

9

9 -15

9

Error Diagnosis and Troubleshooting

J

A.83

A.83: Absolute Encoder Battery Error

Display and Outputs

Alarm Outputs

Alarm Code Outputs

ALO1

OFF

ALO2

OFF

Note: OFF: Output transistor is OFF (alarm state).

ALO3

OFF

Status and Remedy for Alarm

At power ON At SENS_ON command

Pn002.2 = 0

A, B, C

ALM Output

OFF

C

Pn002.2 = 1 C

A

Cause

S Battery is not connected.

S

Battery connection is defective.

Remedy

Check and correct battery connection.

B Battery voltage below specified value.

Specified value: 2.7 V

Install a new battery while the control power to SERVOPACK is ON. After replacement, turn the power OFF and ON.

C Circuit board (1 PWB) is defective.

Replace the SERVOPACK.

Note: No alarm will occur at the SERVOPACK if the battery error occurs during operation.

9 -16

9.1 Troubleshooting with Alarm Displays

J

A.84

A.84: Encoder Data Error

Display and Outputs

Alarm Outputs

Alarm Code Outputs

ALO1

OFF

ALO2

OFF

Note: OFF: Output transistor is OFF (alarm state).

ALO3

OFF

Status and Remedy for Alarm

At power ON A During operation

ALM Output

OFF

B

A

B

Cause Remedy

Encoder is defective.

Replace the servomotor if the error occurs frequently.

Operational error in encoder caused by external noise.

Check and correct wiring around the encoder as follows:

S

Grounding of the servomotor

S

Separation between the encoder cable and the servomotor power cable

S

Insertion of toroidal cores onto cables

9

9 -17

9

Error Diagnosis and Troubleshooting

J

A.85

A.85: Absolute Encoder Overspeed

Display and Outputs

Alarm Outputs

Alarm Code Outputs

ALO1

OFF

ALO2

OFF

Note: OFF: Output transistor is OFF (alarm state).

ALO3

OFF

Status and Remedy for Alarm

At power ON

A, B

At SENS_ON command

ALM Output

OFF

A, B

A

B

Cause

Absolute encoder turned ON at a speed exceeding 200 min -1 .

Circuit board (1PWB) is defective.

Remedy

Turn ON power supply again with the servomotor stopped.

Replace the SERVOPACK.

9 -18

9.1 Troubleshooting with Alarm Displays

J

A.86

A.86: Absolute Encoder Overheated

Display and Outputs

Alarm Outputs

Alarm Code Outputs

ALO1 ALO2

OFF OFF

Note: OFF: Output transistor is OFF (alarm state).

ALO3

OFF

Status and Remedy for Alarm

During servomotor operation

A, B

At power ON

ALM Output

OFF

C, D

Cause Remedy

A The ambient temperature of the servomotor is high.

Alter conditions so that the ambient temperature goes below 40 ° C.

B Servomotor is operating under overload.

Reduce load.

C Circuit board (1PWB) is defective.

Replace the SERVOPACK.

D Encoder is defective.

Replace the servomotor.

J

A.94

A.94: Parameter Setting Error

Display and Outputs

Alarm Outputs

Alarm Code Outputs

ALO1 ALO2 ALO3

ON ON OFF

Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON.

Status and Remedy for Alarm

ALM Output

ON

When the command was sent A

A

Cause

A value outside the PROFIBUS-DP communications setting range was set.

Reset correctly.

Remedy

9 -19

9

9

Error Diagnosis and Troubleshooting

J

A.95

A.95: Command Error

Display and Outputs

ALO1

OFF

Alarm Outputs

Alarm Code Outputs

ALO2

ON

ALO3

OFF

Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON.

Status and Remedy for Alarm

When the command was sent

A, B

ALM Output

ON

Cause

A

Presently unable to receive the command that has been sent.

B Unsupported command.

Remedy

Adjust conditions to match the command.

Refer to the specifications for each command.

Do not send unsupported commands.

9 -20

9.1 Troubleshooting with Alarm Displays

J

A.98

A.98: Main Power OFF

Display and Outputs

ALO1

ON

Alarm Outputs

Alarm Code Outputs

ALO2

ON

ALO3

ON

Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON.

Status and Remedy for Alarm

When main power supply

OFF

A, B

ALM Output

Cause

A

Contact between the power supply cable and the connector is faulty.

B Power Supply Unit is defective.

Remedy

Correct the connector wiring .

Check the Power Supply Unit.

ON

9

9 -21

9

Error Diagnosis and Troubleshooting

J

A.9A

A.9A: Positioning Completed Timeout (Not Completed within the Time Set in Pn851)

Display and Outputs

Alarm Outputs

Alarm Code Outputs

ALO1

ON

ALO2

OFF

ALO3

ON

Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON.

Status and Remedy for Alarm

During positioning

A, B, C, D, E

ALM Output

ON

When positioning distance was short C, D

A

Cause

Positioning Completed Timeout setting

(Pn851) is too small.

B

Positioning Loop Gain or Speed Loop Gain setting is too small.

C Speed loop control is set to P control.

D Mechanical friction is high.

E The machine has hit something.

Remedy

Correct the Positioning Completed Timeout setting (Pn851).

Correct the Positioning Loop Gain or Speed

Loop Gain setting.

Set the speed loop control to PI control.

Reduce mechanical friction.

Remove any obstacles.

9 -22

9.1 Troubleshooting with Alarm Displays

J

A.b1

A.b1: Reference Speed Input Read Error

Display and Outputs

Alarm Outputs

ALO1

OFF

Alarm Code Outputs

ALO2

OFF

Note: OFF: Output transistor is OFF (alarm state).

ALO3

OFF

Status and Remedy for Alarm

During servomotor operation

A, B

At power ON

Cause

A Error in reference read-in unit

(A/D convertor, etc.)

B Reference read-in unit is defective.

(A/D convertor, etc.)

C Circuit board (1PWB) is defective.

ALM Output

OFF

C

Remedy

Reset alarm and restart operation.

Replace the SERVOPACK.

Replace the SERVOPACK.

J

A.b6

A.b6: Communications LSI Error

Display and Outputs

Alarm Outputs

Alarm Code Outputs

ALO1

OFF

ALO2

OFF

Note: OFF: Output transistor is OFF (alarm state).

ALO3

OFF

Status and Remedy for Alarm

At power ON A

ALM Output

OFF

Cause

A The NS500 Unit is defective.

9 -23

Remedy

Replace the NS500 Unit.

9

9

Error Diagnosis and Troubleshooting

J

A.C1

A.C1: Servo Overrun

Display and Outputs

ALO1

Alarm Outputs

Alarm Code Outputs

ALO2 ALO3

ON OFF ON

ALM

OFF

Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON.

Status and Remedy for Alarm

At power ON When servo ON (/S-ON) signal turned ON

A, B, C, D

Parameter

Pn50A.1 = 7

D

On speed reference input

A, B, C

Occurred 1 to 3 seconds after power ON

Parameter

Pn50A.1 = Other than “7”

A, B, C, D

Cause Remedy

A Servomotor wiring incorrect or disconnected. Check the wiring and connectors at servomotor.

B Encoder wiring incorrect or disconnected.

C Encoder is defective.

D Circuit board (1PWB) is defective.

Check the wiring and connectors at encoder.

Replace the servomotor.

Replace the SERVOPACK.

9 -24

9.1 Troubleshooting with Alarm Displays

J

A.C6

A.C6: Fully-closed Encoder Phase-A, -B Disconnection

Display and Outputs

ALO1

ON

Alarm Outputs

Alarm Code Outputs

ALO2

OFF

ALO3

ON

Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON.

Status and Remedy for Alarm

At power ON

A

1 to 3 seconds after power

ON

ALM Output

OFF

A, B,

C, D

During servomotor operation

A, B,

C, D

Cause

A Circuit board (1PWB) is defective.

B Encoder wiring error or faulty contact.

C There is noise in the encoder wiring.

D Encoder is defective.

Remedy

Replace the SERVOPACK.

Check the wiring and check that the connector is fully inserted on the encoder.

Separate the encoder wiring from the main circuit.

Replace the servomotor.

9

9 -25

9

Error Diagnosis and Troubleshooting

J

A.C7

A.C7: Fully-closed Encoder Phase-C Disconnection

Display and Outputs

ALO1

ON

Alarm Outputs

Alarm Code Outputs

ALO2

OFF

ALO3

ON

Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON.

Status and Remedy for Alarm

At power ON

A

1 to 3 seconds after power ON

During servomotor operation

A, B,

C, D

Cause

A Circuit board (1PWB) is defective.

B Encoder wiring error or faulty contact.

C There is noise in the encoder wiring.

D Encoder is defective.

ALM Output

OFF

A, B,

C, D

Remedy

Replace the SERVOPACK.

Check the wiring and check that the connector is fully inserted on the encoder.

Separate the encoder wiring from the main circuit.

Replace the servomotor.

9 -26

9.1 Troubleshooting with Alarm Displays

J

A.CC

A.CC: Multiturn Limit Disagreement.

Display and Outputs

ALO1

ON

Alarm Outputs

Alarm Code Outputs

ALO2

OFF

ALO3

ON

Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON.

Status and Remedy for Alarm

At power ON

A, B

ALM Output

OFF

Cause

A The setting of the Multiturn Limit Setting

(Pn205) parameter in the SERVOPACK is incorrect.

B The multiturn limit has not been set in the encoder.

Remedy

Change parameter Pn205.

Check that the Multiturn Limit Setting

(Pn205) parameter in the SERVOPACK is correct, and then execute the encoder multiturn limit setting change (Fn013) when a

Multiturn Limit Disagreement (A.CC) occurs.

9

9 -27

9

Error Diagnosis and Troubleshooting

J

A.d0

A.d0: Position Error Pulse Overflow

Display and Outputs

Alarm Outputs

Alarm Code Outputs

ALO1

ON

ALO2

ON

ALO3

OFF

Note: OFF: Output transistor is OFF (alarm state).ON: Output transistor is ON.

Status and Remedy for Alarm

During servomotor operation

At power ON

Overflow during high-speed rotation

Operation is normal, but overflow occurs when long reference is input.

A

B, C, D

E

ALM Output

OFF

A

B

C

D

Cause Remedy

Servomotor wiring is incorrect or connection is poor.

Check wiring at servomotor.

SERVOPACK was not correctly adjusted.

Motor load was excessive.

Increase speed loop gain (Pn100) and position loop gain (Pn102).

Reduce load torque or moment of inertia. If problem not corrected, replace with a motor with larger capacity.

Position reference is too high.

S Reduce the acceleration/deceleration rate.

S Change electronic gear ratio.

9 -28

9.1 Troubleshooting with Alarm Displays

J

A.E0

A.E0: No NS500 Unit

Display and Outputs

ALO1

OFF

Alarm Outputs

Alarm Code Outputs

ALO2

ON

ALO3

ON

Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON.

Status and Remedy for Alarm

At power ON

A

Cause

A The NS500 Unit is defective.

Remedy

Replace the NS500 Unit.

ALM Output

OFF

J

A.E1

A.E1: NS500 Unit Timeout

Display and Outputs

ALO1

OFF

Alarm Outputs

Alarm Code Outputs

ALO2

ON

ALO3

ON

Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON.

Status and Remedy for Alarm

At power ON

A

Cause

A The NS500 Unit is defective.

9 -29

Remedy

Replace the NS500 Unit.

ALM Output

OFF

9

9

Error Diagnosis and Troubleshooting

J

A.E2

A.E2: Watchdog Counter Error in NS500 Unit

Display and Outputs

ALO1

OFF

Alarm Outputs

Alarm Code Outputs

ALO2

ON

ALO3

ON

Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON.

Status and Remedy for Alarm

At power ON

A

Cause

A The NS500 Unit is defective.

Remedy

Replace the NS500 Unit.

ALM Output

OFF

9 -30

9.1 Troubleshooting with Alarm Displays

J

A.E7

A.E7: NS500 Unit Detection Error when SGDH power is ON

A.E7 occurs when the SGDH is used without the NS500 Unit after it has been used with the

NS500 Unit.

Display and Outputs

ALO1

OFF

Alarm Code Outputs

ALO2

ON

Alarm Outputs

ALO3

ON

Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON.

Status and Remedy for Alarm

ALM Output

OFF

NS500 Unit detection error

A, B

Cause

A The NS500 Unit is not mounted properly.

B The NS500 Unit is not mounted.

Remedy

Check that NS500 Unit mounted correctly.

Execute Fn014 from Digital Operator.

9

9 -31

9

Error Diagnosis and Troubleshooting

J

A.EA

A.EA: SERVOPACK Malfunction

Display and Outputs

ALO1

OFF

Alarm Outputs

Alarm Code Outputs

ALO2

ON

ALO3

ON

Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON.

At power ON

A

ALM Output

OFF

Status and Remedy for Alarm

Cause

A SERVOPACK is defective.

Remedy

Replace the SERVOPACK.

J

A.EB

A.EB: SERVOPACK Initial Access Error

Display and Outputs

ALO1

OFF

Alarm Outputs

Alarm Code Outputs

ALO2

ON

ALO3

ON

Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON.

Status and Remedy for Alarm

At power ON

A

Cause

A SERVOPACK is defective.

9 -32

Remedy

Replace the SERVOPACK.

ALM Output

OFF

9.1 Troubleshooting with Alarm Displays

J

A.EC

A.EC: SERVOPACK WDC Error

Display and Outputs

ALO1

OFF

Alarm Outputs

Alarm Code Outputs

ALO2

ON

ALO3

ON

Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON.

Status and Remedy for Alarm

At power ON

A

During PROFIBUS-DP communications

Cause Remedy

A SERVOPACK is defective.

Replace the SERVOPACK.

B PROFIBUS-DP communications interrupted. Turn the power ON again.

ALM Output

B

OFF

9

9 -33

9

Error Diagnosis and Troubleshooting

J

A.ED

A.ED: NS500 Unit Error

Display and Outputs

ALO1

OFF

Alarm Outputs

Alarm Code Outputs

ALO2

ON

ALO3

ON

Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON.

Status and Remedy for Alarm

During PROFIBUS-DP communications

A

Cause

A Command was interrupted.

ALM Output

OFF

Remedy

Do not connect a Hand-held Digital Operator or start communications with a personal computer during command execution.

9 -34

9.1 Troubleshooting with Alarm Displays

J

A.F1

A.F1: Power Line Open Phase

Display and Outputs

ALO1

Alarm Outputs

Alarm Code Outputs

ALO2 ALO3

OFF ON OFF

ALM

OFF

Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON.

Status and Remedy for Alarm

At main circuit power supply

ON

A, B

Occurred when the control power turned ON

C

Cause

A One phase (L1, L2, or L3) of the main circuit power supply is disconnected.

Remedy

S

Check power supply.

S

Check wiring of the main circuit power supply.

S

Check QF, noise filter, magnetic contactor.

Check power supply.

B There is one phase where the line voltage is low.

C SERVOPACK is defective.

Replace the SERVOPACK.

Note: A and B tend to occur in a SERVOPACK with a capacity of 500 W or higher.

9

9 -35

9

Error Diagnosis and Troubleshooting

J

CPF00

CPF00: Digital Operator Transmission Error 1

This alarm is not stored in the alarm trace-back function memory.

Display and Outputs

ALO1

Alarm Outputs

Alarm Code Outputs

ALO2 ALO3

Not specified

ALM Output

Status and Remedy for Alarm

At power ON. Digital

Operator connected before

SERVOPACK power turned

ON.

A

B

C

D

A, B, C, D

Digital Operator connected to

SERVOPACK while power turned ON.

A, B, C, D

Cause

Cable defective or poor contact between Digital Operator and SERVOPACK

Remedy

S

Check connector connections.

S

Replace the cable.

Malfunction due to external noise

Digital Operator is defective.

SERVOPACK is defective.

Separate Digital Operator and cable from noise source.

Replace the Digital Operator.

Replace the SERVOPACK.

9 -36

9.1 Troubleshooting with Alarm Displays

J

CPF01

CPF01: Digital Operator Transmission Error 2

This alarm is not stored in the alarm trace-back function memory.

Display and Outputs

ALO1

Alarm Outputs

Alarm Code Outputs

ALO2 ALO3

Not specified

Status and Remedy for Alarm

During operation A, B, C, D

ALM Output

A

B

Cause

Cable defective or poor contact between

Digital Operator and SERVOPACK

Malfunction due to external noise

C

D

Digital Operator is defective.

SERVOPACK is defective.

Remedy

S Check connector connections.

S Replace the cable.

Separate Digital Operator and cable from noise source.

Replace the Digital Operator.

Replace the SERVOPACK.

J

A.

− −

A.

− − : Normal Operation

This is not an alarm display.

Display and Outputs

Alarm Outputs

ALO1

OFF

Alarm Code Outputs

ALO2

OFF

ALO3

OFF

Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is ON.

ALM Output

ON

9

9 -37

Error Diagnosis and Troubleshooting

9.2 Troubleshooting Problems with No Alarm Display

9

Refer to the tables below to identify the cause of a problem which causes no alarm display and take the remedy described.

Turn OFF the servo system power supply before commencing the shaded procedures.

Contact your Yaskawa representative if the problem cannot be solved by the described procedures.

Table 9.1 Troubleshooting Table with No Alarm Display

Symptom

Servomotor does not start.

Cause

Power not connected

Loose connection

Inspection

Check voltage between power supply terminals.

Remedy

Correct the power circuit.

Check terminals of connectors

(CN1, CN2).

Tighten any loose parts.

Servomotor does not run.

Servomotor moves instantaneously, then stops.

Connector (CN1) external wiring incorrect

Check connector (CN1) external wiring.

− Servomotor or encoder wiring disconnected

Overloaded.

Run under no load.

Encoder type differs from parameter setting.

P-OT and N-OT inputs are turned OFF.

Software limit reached

Motion commands have not been sent.

Servomotor or encoder wiring incorrect.

Servomotor speed unstable Wiring connection to motor is defective.

Check the type of encoder being used.

Refer to

Refer to

6.3

.

4.3.3.

Reduce load or replace with larger capacity servomotor.

Set parameter Pn002.2 to the encoder type being used.

Turn P-OT and N-OT input signals ON.

Operate the servomotor within software limits.

Check using PROFIBUS-DP communications or the PROFI-

BUS-DP monitor.

Send the motion commands.

Send Servo ON command.

− Refer to Chapter 3 Connectors and correct wiring.

Check connection of phase-U,

-V, and -W power leads encoder connectors.

Refer to connection diagram and correct wiring.

Reconnect wiring.

Tighten any loose terminals or connectors.

9 -38

9.2 Troubleshooting Problems with No Alarm Display

Symptom

Servomotor vibrates at approximately 200 to

400 Hz.

High rotation speed overshoot on starting and stopping

Servomotor overheated

Abnormal noise

Cause

Speed loop gain value is too high.

Speed loop gain value is too high.

Speed loop gain value too low compared to position loop gain value.

−

−

−

Inspection Remedy

Reduce speed loop gain

(Pn100) preset value.

Reduce speed loop gain

(Pn100) preset value.

Increase integration time constant (Pn101).

Increase speed loop gain

(Pn100) preset value.

Reduce the integration time constant (Pn101).

Ambient temperature is too high.

Servomotor surface is dirty.

Measure servomotor ambient temperature.

Visual check

Reduce ambient temperature to

40 ° C max.

Clean dust and oil from motor surface.

Overloaded Run under no load.

Reduce load or replace with larger capacity servomotor.

Mechanical mounting is incorrect.

Check if servomotor mounting screws loose.

Tighten mounting screws.

Check if coupling not centered. Center coupling.

Bearing is defective.

Machine causing vibrations

Check if coupling unbalanced. Balance coupling.

Check noise and vibration near bearing.

Consult your Yaskawa representative if defective.

Check foreign object intrusion, damage or deformation of driving parts of machine.

Consult with machine manufacturer if defective.

9

9 -39

9

Error Diagnosis and Troubleshooting

9.3 Alarm Display Table

Alarm

Display

A.02

A.03

A.04

A.05

A.10

A.30

A.32

A.40

A.41

A.51

A.71

A.72

A.73

A.74

A.7A

Alarm Code Outputs

ALO

1

ALO

2

ALO

3

OFF OFF OFF

Table 9.2 Alarm Display Table

ALM

Output

Alarm Name

OFF

ON

ON

OFF

ON

ON

OFF

ON

OFF

OFF

ON

OFF

OFF

ON

ON

ON

OFF

OFF

OFF

OFF

OFF

Description

Parameter Breakdown *2 EEPROM data of SERVOPACK is abnormal.

Main Circuit Encoder Error Detection data for power circuit is abnormal.

Parameter Setting Error *2 The parameter setting is out of the allowable setting range.

Combination Error SERVOPACK and servomotor capacities do not match each other.

Overcurrent or Heat Sink

Overheated *2

An overcurrent flowed through the IGBT.

Heat sink of SERVOPACK was overheated.

Regeneration Error

S Regenerative resistor is defective.

S

Regenerative transistor is defective.

Regenerative Overload

Overvoltage

Undervoltage

Overspeed

*3

*3

Overload for Instantaneous

Maximum Load

Overload for Continuous

Maximum Load

Dynamic Brake Overload

Overload of Surge Current

Limit Resistor

Heat Sink Overheated *1

Regenerative energy exceeds regenerative resistor capacity.

Main circuit DC voltage is excessively high.

Main circuit DC voltage is excessively low.

Rotational speed of the motor is excessively high.

The motor was operating for several seconds to several tens of seconds under a torque largely exceeding ratings.

The motor was operating continuously under a torque largely exceeding rating.

When the dynamic brake was applied, rotational energy exceeded the capacity of dynamic brake resistor.

The main circuit power was frequently turned

ON and OFF.

The heat sink of SERVOPACK is overheated.

9 -40

9.3 Alarm Display Table

Alarm

Display

A.81

A.82

A.83

A.84

A.85

A.86

A.b1

A.b2

A.b6

A.bF

A.C1

A.C6

A.C7

A.C8

A.C9

A.CA

A.Cb

A.CC

A.d0

Alarm Code Outputs

ALO

1

ALO

2

ALO

3

OFF OFF OFF

ALM

Output

OFF

ON

ON

OFF

ON

ON

OFF

OFF

OFF

Alarm Name Description

Absolute Encoder Backup

Error *2

All the power supplies for the absolute encoder have failed and position data was cleared.

Absolute Encoder Checksum

Error *2

The checksum results of the absolute encoder memory are abnormal.

Absolute Encoder Battery

Error

Encoder Data Error *2

Battery voltage for the absolute encoder has dropped.

Data in the encoder is abnormal.

Absolute Encoder Overspeed The absolute encoder was rotating at high speed when the power was turned ON.

Encoder Overheated

Reference Speed Input Read

Error

The internal temperature of encoder is too high.

The A/D converter for reference speed input is defective.

Reference Torque Input Read

Error

The A/D converter for reference torque input is defective.

Gate Array Error

System Alarm *2

Communications LSI error

A system error occurred in the SERVOPACK.

Servo Overrun Detected The servomotor ran out of control.

Fully-closed Loop Phase-A/B

Disconnected

Phase A or B of the fully closed encoder was disconnected.

Fully-closed Loop Phase-C

Disconnected

Phase C of the fully closed encoder was disconnected.

Absolute Encoder Clear Error and Multi-turn Limit Setting

Error *2

The multi-turn for the absolute encoder was not properly cleared or set.

Encoder Communications

Error *2

Communications between SERVOPACK and encoder is not possible.

Encoder Parameter Error *2 Encoder parameters are incorrect.

Encoder Echoback Error *2 Contents of communications with encoder are incorrect.

Multi-turn Limit

Disagreement

Different multi-turn limits have been set in the encoder and SERVOPACK.

Position Error Pulse

Overflow

Position error pulse exceeded parameter (Pn505).

9

9 -41

9

Error Diagnosis and Troubleshooting

Alarm Code Outputs

ALO

1

ALO

2

ALO

3

OFF ON ON A.E0

A.E1

A.E2

A.E7

A.EA

A.EB

A.EC

A.ED

A.F1

CPF00

OFF ON

Not specified

OFF

OFF

OFF

No NS500 Unit * 2

NS500 Unit Timeout * 2

Watchdog Counter Error of

NS500 Unit * 2

No NS500 Unit installed.

No response from the NS500 Unit.

WDC error in the NS500 Unit

NS500 Unit Detection Error No NS500 Unit was detected when was power supplied to the SGDH.

SERVOPACK Malfunction* 2 SERVOPACK is defective.

Initial processing failed.

SERVOPACK Initial Access

Error * 2

SERVOPACK WDC Error

NS500 Unit Error

Power Line Open Phase

SERVOPACK WDC error

Command was interrupted.

Hand-held Digital Operator

One phase in the 3-phase main power supply is not connected.

Communications not possible between Hand-

CPF01

A.

− − OFF OFF OFF ON Not an error

SERVOPACK (CPU error)

Normal operation status.

Note: OFF: Output transistor is OFF (high). ON: Output transistor is ON (low).

* 1. This alarm display appears only within the range of 30 W to 1,000 W.

* 2. These alarms are not reset for the Alarm Reset Command. Eliminate the cause of the alarm and then turn OFF the power supply to reset the alarms.

* 3. For SERVOPACKs with a capacity of 6.0 kw or more, A.40 indicates a main circuit voltage error alarm.

This means that either an overvoltage or an undervoltage has occurred at some stage.

9 -42

9.4

Warning Codes

9.4

Warning Codes

The warning codes and the relationship between ON/OFF warning code outputs are shown on the following table.

Normally, warning codes are not output. However, if the parameters are set for warning codes to be output, those outputs will be as indicated in table 9.3.

Table 9.3

Warning Codes and Warning Code Outputs

Warning

A.91

A.92

A.94

A.95

A.98

A.9A

Warning Code Output Servo

ALO1 ALO2 ALO3

OFF ON ON

Output

ON

ON

ON

OFF

ON

ON

OFF

ON

ON

ON

OFF

ON

OFF

OFF

ON

ON

ON

ON

ON

ON

ON

Warning Name Description

Overload This warning occurs before the overload alarms

(A.71 or A.72) occur. If the warning is ignored and operation continues, an overload alarm may occur.

Regenerative Overload This warning occurs before the regenerative overload alarm (A.32) occurs. If the warning is ignored and operation continues, a regenerative overload alarm may occur.

Parameter Setting

Warning

Command Warning

Main Power OFF

Positioning Completed

Timeout

A value outside the setting range was set using

DeviceNet communications.

A command not supported in the product specifications was issued.

The command reception conditions were not met.

The main power supply is not being supplied.

Positioning was not completed within the set time.

Note: OFF: Output transistor is OFF (high). ON: Output transistor is ON (low).

9

9 -43

A

Alarm and Warning Codes

A

This appendix lists the alarm and warning codes within DeviceNet.

A.1 Alarm Codes . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2 Warning Codes . . . . . . . . . . . . . . . . . . . . . . .

A-2

A-4

A -1

A

Alarm and Warning Codes

A.1 Alarm Codes

Code

A.02

A.03

A.04

A.05

A.10

A.30

A.32

A.40

A.41

A.51

A.71

A.72

A.73

A.74

A.7A

A.81

A.82

A.83

MS

Flashes Red.

−

Lit Red.

−

Flashes Red.

−

Flashes Red.

−

Flashes Red.

−

Flashes Red.

−

Flashes Red.

−

Alarm codes are displayed on the front of the SGDH and, at the same time, can also be read as response data at the host device connected via PROFIBUS-DP. Alarms are also displayed using the

MS and NS indicators on the NS500 Unit.

The MS indicator is the module status; the NS indicator is the network status. The required indicator responses are shown in the table.

The alarm codes are shown below.

Flashes Red.

−

Flashes Red.

−

Lit Red.

−

Flashes Red.

−

Flashes Red.

−

Flashes Red.

−

Flashes Red.

−

Flashes Red.

−

Flashes Red.

−

Flashes Red.

−

Flashes Red.

−

NS

Table A.1. Alarm Codes

Alarm Name

Parameter Breakdown

Main Circuit Encoder Error

Parameter Setting Error

Description

EEPROM data of SERVOPACK is abnormal.

Detection data for power circuit is abnormal.

The parameter setting is out of the allowable setting range.

Combination Error SERVOPACK and servomotor capacities do not match each other.

Overcurrent or Heat Sink Overheated An overcurrent flowed through the IGBT.

Regeneration Error

Regenerative Overload

Overvoltage

Undervoltage

Overspeed

Overload for Instantaneous

Maximum Load

Heat sink of SERVOPACK was overheated.

S Regenerative resistor is defective.

S

Regenerative transistor is defective.

Regenerative energy exceeds regenerative resistor capacity.

Main circuit DC voltage is excessively high.

Main circuit DC voltage is excessively low.

Rotational speed of the motor is excessively high.

The motor was operating for several seconds to several tens of seconds under a torque largely exceeding ratings.

Overload for Continuous Maximum

Load

Dynamic Brake Overload

The motor was operating continuously under a torque exceeding ratings.

When the dynamic brake was applied, rotational energy exceeded the capacity of dynamic brake resistor.

The main circuit power was frequently turned

ON and OFF.

Overload of Surge Current Limit

Resistor

Heat Sink Overheated

Absolute Encoder Backup Error

The heat sink of SERVOPACK is overheated.

All the power supplies for the absolute encoder have failed and position data was cleared.

Absolute Encoder Checksum Error The checksum results of the absolute encoder memory are abnormal.

Absolute Encoder Battery Error Battery voltage for the absolute encoder has dropped.

A -2

A.1 Alarm Codes

A.EA

A.EB

A.EC

A.ED

A.EE

A.F1

A.C7

A.C8

A.C9

A.CA

A.CB

A.CC

A.D0

A.E0

A.E1

A.E2

A.E7

A.B2

A.B6

A.BF

A.C1

A.C6

Code

A.84

A.85

MS

Lit Red.

−

Flashes Red.

−

NS

A.86

A.B1

Flashes Red.

Flashes Red.

−

−

Flashes Red.

−

Flashes Red.

Flashes Red.

Flashes Red.

Flashes Red.

−

−

−

−

Flashes Red.

Lit Red.

−

−

Flashes Red.

−

Lit Red.

−

Flashes Red.

−

Flashes Red.

−

Flashes Red.

−

− −

−

−

−

−

−

Lit Red.

Flashes Red.

−

Flashes Red.

−

Flashes Red.

−

Lit Red.

−

Flashes Red.

−

Flashes Red.

−

Alarm Name

Encoder Data Error

Absolute Encoder Overspeed

Encoder Overheated

Reference Speed Input Read Error

Position Error Pulse Overflow

No NS500 Unit

NS500 Unit Timeout

Watchdog Counter Error of NS500

Unit

NS500 Unit Detection Error

Description

Data in the encoder is abnormal.

The absolute encoder was rotating at high speed when the power was turned ON.

The internal temperature of encoder is too high.

The A/D converter for reference speed input is defective.

Reference Torque Input Read Error The A/D converter for reference torque input is defective.

Gate Array Error

System Alarm

Communications LSI error

A system error occurred in the SERVOPACK.

Servo Overrun Detected

Fully-closed Loop Phase-A/B

Disconnected

Fully-closed Loop Phase-C

Disconnected

Absolute Encoder Clear Error and

Multi-turn Limit Setting Error

Encoder Communications Error

Encoder Parameter Error

Encoder Echoback Error

The servomotor ran out of control.

Phase A or B of the fully closed encoder was disconnected.

Phase C of the fully closed encoder was disconnected.

The multi-turn for the absolute encoder was not properly cleared or set.

Communications between SERVOPACK and encoder is not possible.

Encoder parameters are incorrect.

Multi-turn Limit Disagreement

Contents of communications with encoder are incorrect.

Different multi-turn limits have been set in the encoder and SERVOPACK.

Position error pulse exceeded parameter (Pn505).

No NS500 Unit installed.

No response from the NS500 Unit.

WDC error in the NS500 Unit

SERVOPACK Malfunction

SERVOPACK Initial Access Error

SERVOPACK WDC Error

NS500 Unit Error

NS500 Unit’s Parameter Error

Power Line Open Phase

No NS500 Unit was detected when was power supplied to the SGDH.

SERVOPACK is defective.

Initial processing failed.

SERVOPACK WDC error

Command was interrupted.

The parameters of the NS500 Unit contain abnormalities.

One phase in the 3-phase main power supply is not connected.

A

A -3

A

Alarm and Warning Codes

A.2 Warning Codes

Warning

Code

A.91

MS LED

Flashes Red.

−

NS LED

A.92

A.94

A.95

A.98

A.9A

The warning codes are shown below.

Flashes Red.

−

Flashes Red.

−

Flashes Red.

−

Flashes Red.

−

Flashes Red.

−

Overload

Warning Name

Regenerative Overload

Parameter Setting Warning

Command Warning

Main Power OFF

Positioning Completed Timeout

Description

This warning occurs before the overload alarms

(A.71 or A.72) occur. If the warning is ignored and operation continues, an overload alarm may occur.

This warning occurs before the regenerative overload alarm (A.32) occurs. If the warning is ignored and operation continues, a regenerative overload alarm may occur.

A value outside the setting range was set using

PROFIBUS-DP communications.

A command not supported in the product specifications was issued.

The command reception conditions were not met.

The main power supply is not being supplied.

Positioning was not completed within the set time.

A -4

No.4-3（インター） メカトロ製品用 SIE

Series SGDH

PROFIBUS-DP INTERFACE UNIT

USER'S MANUAL

IRUMA BUSINESS CENTER

480, Kamifujisawa, Iruma, Saitama 358-8555, Japan

Phone 81-42-962-5696 Fax 81-42-962-6138

YASKAWA ELECTRIC AMERICA, INC.

2121 Norman Drive South, Waukegan, IL 60085, U.S.A.

Phone 1-847-887-7000 Fax 1-847-887-7370

MOTOMAN INC. HEADQUARTERS

805 Liberty Lane West Carrollton, OH 45449, U.S.A.

Phone 1-937-847-6200 Fax 1-937-847-6277

YASKAWA ELETRICO DO BRASIL COMERCIO LTD.A.

Avenida Fagundes Filho, 620 Bairro Saude-Sao Paulo-SP, Brazil CEP: 04304-000

Phone 55-11-5071-2552 Fax 55-11-5581-8795

YASKAWA ELECTRIC EUROPE GmbH

Am Kronberger Hang 2, 65824 Schwalbach, Germany

Phone 49-6196-569-300 Fax 49-6196-569-398

Motoman Robotics Europe AB

Box 504 S38525 Torsas, Sweden

Phone 46-486-48800 Fax 46-486-41410

Motoman Robotec GmbH

Kammerfeldstra e 1, 85391 Allershausen, Germany

Phone 49-8166-90-100 Fax 49-8166-90-103

YASKAWA ELECTRIC UK LTD.

1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF, United Kingdom

Phone 44-1236-735000 Fax 44-1236-458182

YASKAWA ELECTRIC KOREA CORPORATION

Kfpa Bldg #1201, 35-4 Youido-dong, Yeongdungpo-Ku, Seoul 150-010, Korea

Phone 82-2-784-7844 Fax 82-2-784-8495

YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.

151 Lorong Chuan, #04-01, New Tech Park Singapore 556741, Singapore

Phone 65-6282-3003 Fax 65-6289-3003

YASKAWA ELECTRIC (SHANGHAI) CO., LTD.

No.18 Xizang Zhong Road. Room 1805, Harbour Ring Plaza Shanghai 20000, China

Phone 86-21-5385-2200 Fax 86-21-5385-3299

YATEC ENGINEERING CORPORATION

4F., No.49 Wu Kong 6 Rd, Wu-Ku Industrial Park, Taipei, Taiwan

Phone 886-2-2298-3676 Fax 886-2-2298-3677

YASKAWA ELECTRIC (HK) COMPANY LIMITED

Rm. 2909-10, Hong Kong Plaza, 186-191 Connaught Road West, Hong Kong

Phone 852-2803-2385 Fax 852-2547-5773

BEIJING OFFICE

Room No. 301 Office Building of Beijing International Club, 21

Jianguomenwai Avenue, Beijing 100020, China

Phone 86-10-6532-1850 Fax 86-10-6532-1851

TAIPEI OFFICE

9F, 16, Nanking E. Rd., Sec. 3, Taipei, Taiwan

Phone 886-2-2502-5003 Fax 886-2-2505-1280

SHANGHAI YASKAWA-TONGJI M & E CO., LTD.

27 Hui He Road Shanghai China 200437

Phone 86-21-6553-6060 Fax 86-21-5588-1190

BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO., LTD.

30 Xue Yuan Road, Haidian, Beijing P.R. China Post Code: 100083

Phone 86-10-6233-2782 Fax 86-10-6232-1536

SHOUGANG MOTOMAN ROBOT CO., LTD.

7, Yongchang-North Street, Beijing Economic Technological Investment & Development Area,

Beijing 100076, P.R. China

Phone 86-10-6788-0551 Fax 86-10-6788-2878

YASKAWA ELECTRIC CORPORATION

YASKAWA

In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade

Regulations. Therefore, be sure to follow all procedures and submit all relevant documentation according to any and all rules, regulations and laws that may apply.

Specifications are subject to change without notice for ongoing product modifications and improvements.

© 2001-2003 YASKAWA ELECTRIC CORPORATION. All rights reserved.

MANUAL NO. SIE-C718-8

○

 

 

03-4 ③   00-71038

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