Yaskawa MP2200 Machine Controller Manual de usuario

MP2200/MP2300 Machine ControllerMotion Module User’s ManualModel: JAPMC-MC2310/JAPMC-MC2300

x Wiring Selecting, Separating, and Laying External Cables• Check the wiring to be sure it has been performed correctly.There is a risk of moto

3 Motion Module Setup3.2.2 Self-configuration3-28 MP2200 ExampleEXAMPLE

3.2 SVA-01 Module Setup3-293.2.3 Module Configuration DefinitionsThis section explains the methods using the MPE720 for setting the SVA-01 Module&ap

3 Motion Module Setup3.2.3 Module Configuration Definitions3-30( 2 ) Module Configuration Definition Settings[ a ] Setting ItemsThe setting names an

3.2 SVA-01 Module Setup3-31( 3 ) SVA DefinitionsThis section explains the method used to set the motion parameters for each axis. [ a ] SVA Definitio

3 Motion Module Setup3.2.3 Module Configuration Definitions3-32The SVA-01 Definitions Window is composed of three tab pages: the Fixed Parameters, S

3.2 SVA-01 Module Setup3-33The following table shows the functions given above.（Note）Yes: Operation possible, NO: Operation not possible.[ c ] Motion

3 Motion Module Setup3.2.3 Module Configuration Definitions3-34 Set Up Parameters Tab PageSet the parameters required for motion control on the Set

3.2 SVA-01 Module Setup3-35 Monitor Tab PageThe Monitor Tab Page displays the current values of the motion parameters. The parameters are only displ

3 Motion Module Setup3.2.4 Servo Parameter Settings3-36[ d ] Saving, Deleting, and Closing the SVB Motion ParametersRefer to ( 2 ) Module Configurat

3.2 SVA-01 Module Setup3-37[ b ] SGDB SERVOPACK Parameter Settings* Both CN-02, bit 8 and Cn-02, bit 9 cannot be turned ON. If Cn-02, bit 8 is set t

xi Maintenance and Inspection Disposal• Do not attempt to disassemble the MP2200/MP2300.There is a risk of electrical shock or injury. • Do not ch

3 Motion Module Setup3.2.4 Servo Parameter Settings3-38[ c ] SGDM, SGDH, and SGDS SERVOPACK Parameter Settings Parameters That Are the Same for the

3.2 SVA-01 Module Setup3-39The I/O signals related to the SVA-01 are shown in the following connection diagram. ( 2 ) SVA-01 Module Fixed Parameter

3 Motion Module Setup3.2.4 Servo Parameter Settings3-40[ b ] SGDB[ c ] SGDM and SGDH With a Rotary Motor ConnectedSERVOPACK and Motor Specification

3.2 SVA-01 Module Setup3-41 With a Linear Motor Connected* When converting the unit of Pn280 from µm to UNIT, multiply by 10n and set the results in

3 Motion Module Setup3.2.4 Servo Parameter Settings3-42 With a Linear Motor Connected* When converting the unit of Pn282 from µm to UNIT, multiply

3.2 SVA-01 Module Setup3-43[ b ] Restrictions in the SVA-01 Pulse Input FrequencyThe limits to the SVA-01 pulse input frequency are as shown in the f

3 Motion Module Setup3.3.1 Module Configuration Definition3-443.3 SVR Module SetupThis chapter explains the setup methods (Module Definitions) for

3.3 SVR Module Setup3-45( 2 ) Motion Parameter Settings[ a ] Fixed Parameters Tab PageThe fixed parameters required for Servo adjustment are set in t

3 Motion Module Setup3.3.1 Module Configuration Definition3-46Refer to ( 2 ) Motion Setting Parameters under 8.2.2 Motion Parameter Settings for det

3.3 SVR Module Setup3-47Refer to ( 3 ) Motion Monitoring Parameters under 8.2.2 Motion Parameter Settings for details onmonitoring parameter settings

xii

3 Motion Module Setup3.3.1 Module Configuration Definition3-48

4-14Motion ParametersThis chapter explains each of the motion parameters. 4.1 Motion Parameters Register Numbers ...

4 Motion Parameters4.1.1 Motion Parameter Register Numbers for the SVB-01 Module4-24.1 Motion Parameters Register Numbers4.1.1 Motion Parameter Re

4.1 Motion Parameters Register Numbers4-31 8400 to 847F 8480 to 84FF 8500 to 857F 8580 to 85FF 8600 to 867F 8680 to 86FF 8700 to 877F 8780 to 87FF28C

4 Motion Parameters4.1.2 SVA-01 Module Motion Parameter Register Numbers4-44.1.2 SVA-01 Module Motion Parameter Register NumbersThe motion paramete

4.2 Motion Parameter Lists4-54.2 Motion Parameter Lists4.2.1 Fixed Parameter ListNo. Name DescriptionSVB-01SVA-01SVR0Run Mode0: Normal RunningYes Y

4 Motion Parameters4.2.1 Fixed Parameter List4-614Reverse Software Limit1 = 1 reference unitYes Yes16Backlash Compensation1 = 1 reference unitYes Ye

4.2 Motion Parameter Lists4-74.2.2 Setting Parameter List38Max. Revolution of Absolute Encoder1 = 1 rotation Set to 0 when a direct drive motor is b

4 Motion Parameters4.2.2 Setting Parameter List4-8OW03Function 1Bits 0 to 3: Speed UnitYes Ye s Yes0: Reference unit/s1: 10n reference unit/min2:

4.2 Motion Parameter Lists4-9OW08Motion Command0: NOP1: POSING2: EX_POSING3: ZRET4: INTERPOLATE5: ENDOF_INTERPOLATE6: LATCH7: FEED8: STEP9: ZSETYes

xiiiVariable Tables System Variable Table (Tree View)The following table lists details on the system variables provided by MPE720 version 6..Variable

4 Motion Parameters4.2.2 Setting Parameter List4-10OL16Secondly Speed CompensationUnit is according to OW03, bits 0 to 3 (Speed Unit). Yes Ye s

4.2 Motion Parameter Lists4-11OW3CHome Return Type0: DEC1 + Phase C1: ZERO Signal2: DEC1 + ZERO Signals3: Phase-C signalYes Ye s4: DEC2 + ZERO Sign

4 Motion Parameters4.2.2 Setting Parameter List4-12OW5DGeneral-purpose DOBit 0: General-purpose DO_0 (0: OFF/1: ON) YesBit 1: General-purpose DO_1

4.2 Motion Parameter Lists4-134.2.3 Monitoring Parameter ListRegister No. Name DescriptionSVB-01SVA-01SVRIW00Drive StatusBit 0: Motion Controller

4 Motion Parameters4.2.3 Monitoring Parameter List4-14IW09Motion Command StatusBit 0: Command Executing (BUSY) FlagYes Yes YesBit 1: Command Hold

4.2 Motion Parameter Lists4-15IL26Primary Lag MonitorUnit is according to OW03, bits 0 to 3 (Speed Unit).Stores IL24 − (Output from primary de

4 Motion Parameters4.2.3 Monitoring Parameter List4-16IL42Torque (Thrust) Reference MonitorUnit is according to OW03, bits 12 to 15 (Torque Unit

4.3 SVB-01 Module Parameter Details4-174.3 SVB-01 Module Parameter Details4.3.1 Motion Fixed Parameter DetailsThe motion fixed parameters are liste

4 Motion Parameters4.3.1 Motion Fixed Parameter Details4-18No. 1(cont’d)Bit 2Reverse Soft Limit Enabled (Reverse Software Limit Enabled)Set whether

4.3 SVB-01 Module Parameter Details4-19( 3 ) Function Selection 2( 4 ) Reference Unit SettingsNo. 2Function Selection 2Setting Range Setting Unit Def

xivErrorInterrupt- Interrupt Program ErrorCode SW00083 Interrupt Program Error CodeCount SW00082 Interrupt Program Error CountProgramNumber SW0013

4 Motion Parameters4.3.1 Motion Fixed Parameter Details4-20( 5 ) Infinite Axis Reset Position( 6 ) Software Limits The software limit function is en

4.3 SVB-01 Module Parameter Details4-21( 7 ) Backlash Compensation( 8 ) SERVOPACK SettingsNo. 16Backlash CompensationSetting Range Setting Unit Defau

4 Motion Parameters4.3.1 Motion Fixed Parameter Details4-22( 9 ) Encoder SettingsSet the type of encoder that is used. 0: Incremental encoder1: Abso

4.3 SVB-01 Module Parameter Details4-234.3.2 Motion Setting Parameter DetailsThe motion setting parameters are listed in the following tables. （Note

4 Motion Parameters4.3.2 Motion Setting Parameter Details4-24OW00(cont’d)Bit 6POSMAX PresetPresets the POSMAX Number of Turns (monitoring paramete

4.3 SVB-01 Module Parameter Details4-25( 2 ) Mode 1( 3 ) Mode 2OW01Mode 1Setting Range Setting Unit Default Value−−0000HOW01Bit 0Deviation Abnorm

4 Motion Parameters4.3.2 Motion Setting Parameter Details4-26( 4 ) Function 1OW03Function 1Setting Range Setting Unit Default Value−−0011HOW03Bi

4.3 SVB-01 Module Parameter Details4-27( 5 ) Function 2( 6 ) Function 3OW04Function 2Setting Range Setting Unit Default Value−−0033HOW04Bit 0 to

4 Motion Parameters4.3.2 Motion Setting Parameter Details4-28( 7 ) Motion CommandOW08Motion CommandSetting Range Setting Unit Default Value0 to 26

4.3 SVB-01 Module Parameter Details4-29( 8 ) Motion Command Control FlagsOW09Motion Command OptionsSetting Range Setting Unit Default Value−−0000HO

xvLowScan- Low Scan RelayFirstScanRunning SB000003 After Low Scan Start,Only 1 Scan ONOnAfter - Start-up RelayFiveSecond SB00003A After 5.0s,Scan Star

4 Motion Parameters4.3.2 Motion Setting Parameter Details4-30( 9 ) Motion Subcommands( 10 ) Torque ReferenceOW0AMotion SubcommandSetting Range Set

4.3 SVB-01 Module Parameter Details4-31( 11 ) Speed ReferenceOW0ESpeed Limit at Torque ReferenceSetting Range Setting Unit Default Value−32768 to 3

4 Motion Parameters4.3.2 Motion Setting Parameter Details4-32( 12 ) Positive Side Limiting Torque Setting at the Speed Reference( 13 ) Secondary Spe

4.3 SVB-01 Module Parameter Details4-33( 15 ) Position Reference Setting( 16 ) Positioning Completed WidthOL1CPosition Reference SettingSetting Ran

4 Motion Parameters4.3.2 Motion Setting Parameter Details4-34( 17 ) Positioning Completed Width 2( 18 ) Deviation Abnormal Detection ValueOL20Posi

4.3 SVB-01 Module Parameter Details4-35( 19 ) Position Complete Timeout( 20 ) Phase CompensationOW26Position Complete TimeoutSetting Range Setting

4 Motion Parameters4.3.2 Motion Setting Parameter Details4-36( 21 ) Latch( 22 ) Gain and Bias SettingsOL2ALatch Zone Lower Limit Setting Range Set

4.3 SVB-01 Module Parameter Details4-37The following figure shows the relationship between the above related parameters.OW31Speed AmendsSetting Ran

4 Motion Parameters4.3.2 Motion Setting Parameter Details4-38( 23 ) Acceleration/Deceleration SettingsThe following two methods can be used to speci

4.3 SVB-01 Module Parameter Details4-39( 24 ) Filter Time ConstantOW3AS-curve Acceleration TimeSetting Range Setting Unit Default Value0 to 65535 0

xvi System Variables (Sorted by Register)Register Variable Name CommentsSB000001 HighScan.FirstScanRunning After High Scan Start,Only 1 Scan ONSB

4 Motion Parameters4.3.2 Motion Setting Parameter Details4-40( 25 ) Zero Point ReturnA typical example of a zero point return operation is shown bel

4.3 SVB-01 Module Parameter Details4-41( 26 ) Step Distance( 27 ) External Positioning Move DistanceOL44Step DistanceSetting Range Setting Unit Def

4 Motion Parameters4.3.2 Motion Setting Parameter Details4-42( 28 ) Coordinate System Settings( 29 ) SERVOPACK User MonitorOL48Zero Point OffsetSe

4.3 SVB-01 Module Parameter Details4-43( 30 ) SERVOPACK CommandsOW4FServo Alarm Monitor NumberSetting Range Setting Unit Default Value0 to 10 − 0Se

4 Motion Parameters4.3.2 Motion Setting Parameter Details4-44( 31 ) Supplemental Settings( 32 ) Absolute Infinite Length Axis Position Control Infor

4.3 SVB-01 Module Parameter Details4-454.3.3 Motion Monitoring Parameter DetailsThe motion monitoring parameters are listed in the following table.

4 Motion Parameters4.3.3 Motion Monitoring Parameter Details4-46( 3 ) WarningIL02WarningRange Unit−−IL02Bit 0Excessively Following ErrorThis bit

4.3 SVB-01 Module Parameter Details4-47( 4 ) AlarmIL04AlarmRange Unit−−IL04Bit 0Servo Driver ErrorThis bit turns ON when there is an alarm in the

4 Motion Parameters4.3.3 Motion Monitoring Parameter Details4-48IL04(cont’d)Bit 8Excessive SpeedThis bit turns ON when a speed is set that exceeds

4.3 SVB-01 Module Parameter Details4-49( 5 ) Motion Command Response Codes( 6 ) Motion Command StatusIL04(cont’d)Bit 1FSERVOPACK Encoder Type Misma

xviiSB00040E CPU.Status.StoppedRunning Stop Require(From EWS:1=STOP,0=RUN)SB00040F CPU.Status.RunSwitch RUN switch status at power is on (1=RUN,0=STO

4 Motion Parameters4.3.3 Motion Monitoring Parameter Details4-50( 7 ) Motion Subcommand Response Code( 8 ) Motion Subcommand StatusIW0AMotion Subc

4.3 SVB-01 Module Parameter Details4-51( 9 ) Position Management StatusIW0CPosition Management StatusRange Unit−−IW0CBit 0Distribution Completed

4 Motion Parameters4.3.3 Motion Monitoring Parameter Details4-52( 10 ) Position InformationIW0C (cont’d)Bit 9POSMAX Turn Number Presetting Complet

4.3 SVB-01 Module Parameter Details4-53( 11 ) Reference MonitorIL1APosition Error (PERR) Range Unit−231 to 231−1Reference unitStores the following

4 Motion Parameters4.3.3 Motion Monitoring Parameter Details4-54( 12 ) SERVOPACK StatusIW2CNetwork Servo StatusRange Unit−−IW2CBit 0Alarm Occurr

4.3 SVB-01 Module Parameter Details4-55( 13 ) SERVOPACK InformationIW2C(cont’d)Bit 6Zero Point Position (ZPOINT) OFF: Outside Zero Point Position R

4 Motion Parameters4.3.3 Motion Monitoring Parameter Details4-56( 14 ) SERVOPACK I/O MonitorStores I/O information of the SERVOPACK. IW2ENetwork S

4.3 SVB-01 Module Parameter Details4-57( 15 ) SERVOPACK User Monitor InformationThe Monitor Selection made by the user when using a SERVOPACK for MEC

4 Motion Parameters4.3.3 Motion Monitoring Parameter Details4-58( 17 ) Supplemental InformationStores the data of the parameter being read. This par

4.3 SVB-01 Module Parameter Details4-59( 18 ) Absolute Infinite Length Axis Position Control Information( 19 ) Transparent Command Mode IL5EAbsolut

xviii Axis Motion Parameters (Tree View)The following table lists the axismotion parameters registered for each logical axis.Register address IW

4 Motion Parameters4.4.1 Motion Fixed Parameter Details4-604.4 SVA-01 Module Parameter Details4.4.1 Motion Fixed Parameter Details( 1 ) Run Mode(

4.4 SVA-01 Module Parameter Details4-61No. 1(cont’d)Bit 2Reverse Software Limit EnabledSet whether or not to use the software limit function in the n

4 Motion Parameters4.4.1 Motion Fixed Parameter Details4-62( 3 ) Function Selection 2( 4 ) Reference Unit SettingsNo. 2Function Selection 2Setting R

4.4 SVA-01 Module Parameter Details4-63( 5 ) Infinite Axis Reset Position( 6 ) Software LimitsThe software limit function is enabled only after compl

4 Motion Parameters4.4.1 Motion Fixed Parameter Details4-64( 7 ) Backlash Compensation( 8 ) Hardware SignalsNo. 16Backlash CompensationSetting Range

4.4 SVA-01 Module Parameter Details4-65( 9 ) Pulse Measurement( 10 ) D/A Outputs( 11 ) A/D InputsNo. 22Pulse Count Mode SelectionSetting Range Settin

4 Motion Parameters4.4.1 Motion Fixed Parameter Details4-66( 12 ) Servo Driver Settings* With the SGDA and SGDB: Cn-02.Bit 0 = 1 (Reverse rotation m

4.4 SVA-01 Module Parameter Details4-67( 13 ) Encoder Settings( 14 ) Feedback SpeedNo. 34Rated Speed (Rotary Motor or Linear Motor)Setting Range Sett

4 Motion Parameters4.4.2 Motion Setting Parameter Details4-684.4.2 Motion Setting Parameter DetailsThe motion setting parameters are listed in the

4.4 SVA-01 Module Parameter Details4-69( 2 ) Mode 1OW00(cont’d)Bit 7Infinite Length Axis Position Information LOADWhen an infinite length axis is u

xixCommand- CommandAbortOBxx091 Abort commandBusyIBxx090 Servo command busyCompleteIBxx098 Servo command completeFailIBxx093 Servo command failedGetVa

4 Motion Parameters4.4.2 Motion Setting Parameter Details4-70( 3 ) Function 1( 4 ) Function 2OW03Function 1Setting Range Setting Unit Default Valu

4.4 SVA-01 Module Parameter Details4-71( 5 ) Function 3( 6 ) Motion CommandOW05Function 3Setting Range Setting Unit Default ValueBit Setting − 0000

4 Motion Parameters4.4.2 Motion Setting Parameter Details4-72( 7 ) Motion Command Control FlagsOW09Motion Command Control FlagsSetting Range Setti

4.4 SVA-01 Module Parameter Details4-73( 8 ) Motion Subcommand( 9 ) Torque ReferenceOW0AMotion SubcommandSetting Range Setting Unit Default Value0

4 Motion Parameters4.4.2 Motion Setting Parameter Details4-74( 10 ) Speed Reference( 11 ) Torque Limit Setting at Speed ReferenceOW0FTorque Refere

4.4 SVA-01 Module Parameter Details4-75( 12 ) Secondary Speed Compensation( 13 ) Speed Override( 14 ) General-purpose Analog Output (AO)OL16Seconda

4 Motion Parameters4.4.2 Motion Setting Parameter Details4-76( 15 ) Position Reference( 16 ) Position Completed WidthOL1CPosition ReferenceSetting

4.4 SVA-01 Module Parameter Details4-77( 17 ) Position Proximity Range( 18 ) Deviation Abnormal Detection ValueOL20Position Proximity RangeSetting

4 Motion Parameters4.4.2 Motion Setting Parameter Details4-78( 19 ) Position Compensation( 20 ) Position Complete Timeout( 21 ) Phase CompensationOL

4.4 SVA-01 Module Parameter Details4-79( 22 ) Latch( 23 ) Gain and Bias SettingsOL2ALatch Zone Lower Limit SettingSetting Range Setting Unit Defaul

Copyright © 2002 YASKAWA ELECTRIC CORPORATIONAll rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or tra

xxGain-GainIntegralClearOBxx00BResets position loop integral value.PhaseFeedForwardOWxx31 Add to the speed in 0.01%PositionFeedForwardOWxx30Feed F

4 Motion Parameters4.4.2 Motion Setting Parameter Details4-80( 24 ) Acceleration/Deceleration SettingsThe following two methods can be used to speci

4.4 SVA-01 Module Parameter Details4-81( 25 ) FiltersOW3AS-curve Acceleration TimeSetting Range Setting Unit Default Value0 to 65535 0.1 ms 0Sets t

4 Motion Parameters4.4.2 Motion Setting Parameter Details4-82( 26 ) Zero Point ReturnA typical example of a Zero Point Return operation is shown bel

4.4 SVA-01 Module Parameter Details4-83( 27 ) Step Distance( 28 ) External Positioning Move DistanceOL44Step DistanceSetting Range Setting Unit Def

4 Motion Parameters4.4.2 Motion Setting Parameter Details4-84( 29 ) Coordinate System Settings( 30 ) Supplemental Settings( 31 ) General-purpose Dig

4.4 SVA-01 Module Parameter Details4-85( 32 ) Absolute Infinite Length Axis Position Control InformationOW5D(cont’d)Bit 3General-purpose DO _30: OF

4 Motion Parameters4.4.2 Motion Setting Parameter Details4-86( 33 ) Various Data( 34 ) Stop DistanceOL66Monitor Data CommandSetting Range Setting

4.4 SVA-01 Module Parameter Details4-874.4.3 Motion Monitoring Parameter DetailsThe motion monitoring parameters are listed in the following table.

4 Motion Parameters4.4.3 Motion Monitoring Parameter Details4-88( 3 ) WarningIL02WarningRange Unit−−IL02Bit 0Excessively Following ErrorThis bit

4.4 SVA-01 Module Parameter Details4-89( 4 ) AlarmIL04AlarmRange UnitBit Setting −IL04Bit 0Servo Driver ErrorThis bit turns ON when there is an a

xxiLatchLatchCompleteIBxx0C2 Latch complete (LCOMP)CompleteNIBxx2CA Servo status L_CMPEnableOBxx004 Sets bit to activate latch trigger.ValueILxx18 Lat

4 Motion Parameters4.4.3 Motion Monitoring Parameter Details4-90( 5 ) Motion Command Type ResponseIL04(cont’d)Bit DZero Point Not SetThis bit turn

4.4 SVA-01 Module Parameter Details4-91( 6 ) Motion Command Status( 7 ) Motion Subcommand Response CodeIW09Motion Command StatusRange Unit−−IW09B

4 Motion Parameters4.4.3 Motion Monitoring Parameter Details4-92( 8 ) Motion Subcommand StatusIW0BMotion Subcommand StatusRange UnitBit Setting −I

4.4 SVA-01 Module Parameter Details4-93( 9 ) Position Management StatusIW0CPosition Management StatusRange UnitBit Setting −IW0CBit 0Distribution

4 Motion Parameters4.4.3 Motion Monitoring Parameter Details4-94( 10 ) Position InformationIW0C (cont’d)Bit 8ABS System Infinite Length Position C

4.4 SVA-01 Module Parameter Details4-95IL16Machine Coordinate Feedback Position (APOS)Range Unit−231 to 231−1Reference unitStores the feedback posi

4 Motion Parameters4.4.3 Motion Monitoring Parameter Details4-96( 11 ) Speed InformationIL20Speed Reference Output MonitorRange Unit−231 to 231−1S

4.4 SVA-01 Module Parameter Details4-97( 12 ) Servo Driver Information 2( 13 ) Position Information 2( 14 ) Supplemental Information 1IL40Feedback

4 Motion Parameters4.4.3 Motion Monitoring Parameter Details4-98( 15 ) Supplemental Information 2( 16 ) Supplemental Information 3IW58General-purp

4.4 SVA-01 Module Parameter Details4-99( 17 ) Absolute Infinite Length Axis Position Control Information( 18 ) Monitor DataIL5EAbsolute Position at

xxiiPosition- PositionAbsDataRestoreOBxx007Loads current position with ABS encoder position at last power off.AbsDataRestoredIBxx0C8 Absolute data

4 Motion Parameters 4-1004.5 Example of Setting Motion Parameters for the MachineSet the following seven motion parameters to enable motion control

4.5 Example of Setting Motion Parameters for the Machine4-101Parameter TypeParameter No. (Register No.)Name DescriptionDefault ValueMotion Fixed Para

4 Motion Parameters 4-102[ a ] Parameter Setting Example Using Ball Screw In the above machine system, if the requirement is reference unit = output

4.5 Example of Setting Motion Parameters for the Machine4-103( 3 ) Axis Type SelectionThere are two types of position control:Finite length position

4 Motion Parameters 4-104( 4 ) Position ReferencesThe target position value for position control is set for the Position Reference Setting (motion s

4.5 Example of Setting Motion Parameters for the Machine4-105( 5 ) Speed ReferenceThere are two methods of setting the speed reference for the feed s

4 Motion Parameters 4-106[ a ] Speed Reference Parameter Setting Examples (1)No. 5 = 3 digitsNo. 34 = 3,000 min−1No. 36 = 65,536 pulses/rotationTher

4.5 Example of Setting Motion Parameters for the Machine4-107[ b ] Speed Reference Parameter Setting Examples (2)1.When the Speed Unit (OW03, bits

4 Motion Parameters 4-108( 6 ) Acceleration/Deceleration SettingsThe acceleration/deceleration can be set to either the rate of acceleration/deceler

4.5 Example of Setting Motion Parameters for the Machine4-109[ a ] When the Acceleration/Deceleration Unit (OW03, Bits 4 to 7) Set to 0: Reference

xxiiiServoParameter2- ServoParameter2GetNumberIWxx37 Second requested parameter number (Pn)GetValueILxx3A Second requested parameter valueSetNumberOWx

4 Motion Parameters 4-110( 7 ) Acceleration/Deceleration Filter SettingsThere are two types of acceleration/deceleration filter: The exponential acc

5-15Motion CommandsThis chapter explains each motion command’s operation, related parameters, and timing charts. 5.1 Motion Commands ...

5 Motion Commands5.1.1 Motion Command Table5-25.1 Motion Commands5.1.1 Motion Command TableCommand CodeCommand Name Description0NOP No command1POS

5.1 Motion Commands5-35.1.2 Motion Commands Supported by SERVOPACK ModelsThe following table shows the motion commands supported by each model of SE

5 Motion Commands5.2.1 Positioning (POSING)5-45.2 Motion Command Details5.2.1 Positioning (POSING)The POSING command positions the axis to the tar

5.2 Motion Command Details5-5( 2 ) HoldingAxis travel can be stopped during command execution and then the remaining travel can be restarted. A comma

5 Motion Commands5.2.1 Positioning (POSING)5-6（Note） : Parameters only for the SVB-01 Module. [ b ] Monitoring Parameters OL18Speed OverrideThis p

5.2 Motion Command Details5-7( 5 ) Timing Charts [ a ] Normal Execution [ b ] Execution when AbortedOW08 = 1 (POSING)IW08 = 1 (POSING)IB090 (BU

5 Motion Commands5.2.1 Positioning (POSING)5-8[ c ] Execution when Aborting by Changing the Command [ d ] Command Hold Undefined length of time1 sca

5.2 Motion Command Details5-9[ e ] Execution when an Alarm Occurs 5.2.2 External Positioning (EX_POSING)The EX_POSING command positions the axis to

xxiv Axis Motion Parameters (Sorted by Register) Register Variable Name CommentsIWxx00 MonitorMask Drive status maskIBxx000 Monitor.PowerUp Seq

5 Motion Commands5.2.2 External Positioning (EX_POSING)5-10* If the Position Reference Type (OB095) is set for an absolute mode, the target positi

5.2 Motion Command Details5-11( 3 ) AbortingAxis travel can be stopped during command execution and the remaining travel cancelled by aborting execut

5 Motion Commands5.2.2 External Positioning (EX_POSING)5-12（Note） : Parameters only for the SVB-01 Module. [ b ] Monitoring Parameters OL36Linear

5.2 Motion Command Details5-13( 5 ) Timing Charts [ a ] Normal Execution * Latch signal:SVB-01 Module: Phase-C pulse, EXT1, EXT2, or EXT3 signalSVA-0

5 Motion Commands5.2.2 External Positioning (EX_POSING)5-14[ c ] Execution when Aborting by Changing the Command [ d ] Execution when an Alarm Occur

5.2 Motion Command Details5-155.2.3 Zero Point Return (ZRET)When the Zero Point Return command (ZRET) is executed, the axis will return to the zero

5 Motion Commands5.2.3 Zero Point Return (ZRET)5-16* Select using bit 0 of the Hardware Signal Selection 2 (fixed parameter No. 21). （Note） Reverse

5.2 Motion Command Details5-17( 2 ) Zero Point Return Operation and ParametersThis section explains the operation that occurs after starting a zero p

5 Motion Commands5.2.3 Zero Point Return (ZRET)5-18（Note） Reverse type in : Parameters only for the SVA-01 Module. [ b ] ZERO Signal Method (OW3C

5.2 Motion Command Details5-19[ c ] DEC1 + ZERO Signal Method (OW3C = 2)Travel is started at the zero point return speed in the direction specified

xxvIBxx0B8 Command2.Complete Servo Command2 completeIWxx0C StatusMask Status maskIBxx0C0 Position.ProfilerComplete Profiler complete (DEN)IBxx0C1 Posi

5 Motion Commands5.2.3 Zero Point Return (ZRET)5-20（Note） Reverse type in : Parameters only for the SVA-01 Module. [ d ] C-Phase Method (OW3C = 3

5.2 Motion Command Details5-21[ e ] DEC2 + ZERO Signal Method (OW3C = 4)With this method, the machine's position is confirmed by the ON/OFF st

5 Motion Commands5.2.3 Zero Point Return (ZRET)5-22 Starting the Zero Point Return in the Low Region1. The axis travels in the reverse direction

5.2 Motion Command Details5-23 Related ParametersParameter Name Setting ContentsOW3CHome Return Type4: DEC2 + ZERO Signal MethodOL10Speed Refer

5 Motion Commands5.2.3 Zero Point Return (ZRET)5-24[ f ] DEC1 + LMT + ZERO Signal Method (OW3C = 5)With this method, the machine's position i

5.2 Motion Command Details5-25 Related ParametersParameter Name Setting ContentsOW3CHome Return Type5: DEC1 + LMT + ZERO Signal MethodOL10Speed

5 Motion Commands5.2.3 Zero Point Return (ZRET)5-26 Starting the Zero Point Return in Region B1. The axis travels in the reverse direction at the

5.2 Motion Command Details5-27 Starting the Zero Point Return in Region C1. The axis travels in the reverse direction at the Creep Speed (setting pa

5 Motion Commands5.2.3 Zero Point Return (ZRET)5-28 Starting the Zero Point Return in Region D1. The axis travels in the reverse direction at the A

5.2 Motion Command Details5-29 Starting the Zero Point Return in Region E1. The axis travels in the reverse direction at the Approach Speed (setting

xxviIBxx2EE IO.IO14 Servo I_O IO14IBxx2EF IO.IO15 Servo I_O IO15IWxx2F Monitor.TypeResponse Servo monitor informationILxx30 Monitor.Monitor2Value

5 Motion Commands5.2.3 Zero Point Return (ZRET)5-30[ g ] DEC2 + Phase-C Pulse Method (OW3C = 6)With this method, the machine's position is co

5.2 Motion Command Details5-31 Starting the Zero Point Return in the Low Region1. The axis travels in the reverse direction at the Approach Speed (s

5 Motion Commands5.2.3 Zero Point Return (ZRET)5-32 Related ParametersParameter Name Setting ContentsOW3CHome Return Type6: DEC2 + Phase-C Pulse

5.2 Motion Command Details5-33[ h ] DEC1 + LMT + Phase-C Pulse Method (OW3C = 7)With this method, the machine's position is confirmed by the O

5 Motion Commands5.2.3 Zero Point Return (ZRET)5-34 Related ParametersParameter Name Setting ContentsOW3CHome Return Type7: DEC1 + LMT + Phase-C

5.2 Motion Command Details5-35 Starting the Zero Point Return in Region B1. The axis travels in the reverse direction at the Approach Speed (setting

5 Motion Commands5.2.3 Zero Point Return (ZRET)5-36 Starting the Zero Point Return in Region C1. The axis travels in the reverse direction at the C

5.2 Motion Command Details5-37 Starting the Zero Point Return in Region D1. The axis travels in the reverse direction at the Approach Speed (setting

5 Motion Commands5.2.3 Zero Point Return (ZRET)5-38 Starting the Zero Point Return in Region E1. The axis travels in the reverse direction at the A

5.2 Motion Command Details5-39[ i ] New Phase-C Pulse Method (OW3C = 11)Travel is started at the creep speed in the direction specified by the sign

xxviiOWxx0E Torque.SpeedLimit Maximum speed allowed during torque controlOWxx09 CommandMask Servo Command optionsOBxx090 Command.Pause Pause commandOB

5 Motion Commands5.2.3 Zero Point Return (ZRET)5-40（Note） Reverse type in : Parameters only for the SVA-01 Module. [ j ] POT & C Pulse Method (

5.2 Motion Command Details5-41（Note） Reverse type in : Parameters only for the SVA-01 Module. [ k ] POT Signal Method (OW3C = 13)Travel is started

5 Motion Commands5.2.3 Zero Point Return (ZRET)5-42* 1. The SERVOPACK P-OT signal. * 2. The SERVOPACK N-OT signal. （Note）The stopping method when th

5.2 Motion Command Details5-43Detecting the OT Signal during Approach Speed Movement* 1. SVB-01: SERVOPACK EXT1 signal, SVA-01: DI_2 signal* 2. The S

5 Motion Commands5.2.3 Zero Point Return (ZRET)5-44（Note） Reverse type in : Parameters only for the SVA-01 Module. [ m ] Home LS Signal Method (OW

5.2 Motion Command Details5-45Detecting the OT Signal during Creep Speed Movement* 1. SVB-01: SERVOPACK EXT1 signal, SVA-01: DI_2 signal* 2. The SERV

5 Motion Commands5.2.3 Zero Point Return (ZRET)5-46[ n ] NOT & Phase-C Pulse Method (OW3C = 16)Travel is started at the approach speed in the

5.2 Motion Command Details5-47[ o ] NOT Signal Method (OW3C = 17)Travel is started at the approach speed in the negative direction until the stroke

5 Motion Commands5.2.3 Zero Point Return (ZRET)5-48[ p ] INPUT & Phase-C Pulse Method (OW3C = 18)Travel is started at the approach speed in th

5.2 Motion Command Details5-49（Note） Reverse type in : Parameters only for the SVA-01 Module. [ q ] INPUT Signal Method (OW3C = 19)Travel is start

xxviiiOWxx4E Monitor.TypeSelects which value will be returned from the servopack. Bits 4 to 7 set monitor2and bits C to F set monitor4OWxx4F Alarm

5 Motion Commands5.2.3 Zero Point Return (ZRET)5-50* 1. The SERVOPACK P-OT signal. * 2. The SERVOPACK N-OT signal. （Note）The stopping method when th

5.2 Motion Command Details5-51( 3 ) Operating Procedure ( 4 ) HoldingHolding execution is not possible during zero point return operation. The Comman

5 Motion Commands5.2.3 Zero Point Return (ZRET)5-52( 6 ) Related Parameters [ a ] Setting Parameters （Note） : Parameters only for the SVB-01 Module.

5.2 Motion Command Details5-53[ b ] Monitoring Parameters Parameter Name Monitor Contents IB001Servo ON Indicates the Servo ON status. ON: Power su

5 Motion Commands5.2.3 Zero Point Return (ZRET)5-54( 7 ) Timing Charts[ a ] Normal Execution [ b ] Execution when Aborted OW08 = 3 (ZRET)IW08 =

5.2 Motion Command Details5-55[ c ] Execution when Aborting by Changing the Command [ d ] Execution when an Alarm Occurs Undefined length of time1 sc

5 Motion Commands5.2.4 Interpolation (INTERPOLATE)5-565.2.4 Interpolation (INTERPOLATE)The INTERPOLATE command positions the axis according to the

5.2 Motion Command Details5-57( 3 ) Related Parameters [ a ] Setting Parameters （Note） : Parameters only for the SVB-01 Module. [ b ] Monitoring Para

5 Motion Commands5.2.4 Interpolation (INTERPOLATE)5-58( 4 ) Timing Charts [ a ] Normal Execution [ b ] Execution when an Alarm Occurs IB0C3Positio

5.2 Motion Command Details5-595.2.5 Latch (LATCH)The LATCH command saves in a register the current position when the latch signal is detected during

xxixCONTENTSUsing this Manual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iiiSafety

5 Motion Commands5.2.5 Latch (LATCH)5-60( 2 ) Holding and AbortingThe axis will decelerate to a stop if there is no change in the target position ea

5.2 Motion Command Details5-61( 3 ) Related Parameters [ a ] Setting Parameters （Note） : Parameters only for the SVB-01 Module. Parameter Name Settin

5 Motion Commands5.2.5 Latch (LATCH)5-62[ b ] Monitoring Parameters Parameter Name Monitor Contents IB001Servo ON Indicates the Servo ON status. O

5.2 Motion Command Details5-63( 4 ) Timing Charts[ a ] Normal Execution * Latch signal:SVB-01 Module: Phase-C pulse, /EXT1, /EXT2, or /EXT3 signalSVA

5 Motion Commands5.2.6 JOG Operation (FEED)5-645.2.6 JOG Operation (FEED)The FEED command starts movement in the specified travel direction at the

5.2 Motion Command Details5-65( 4 ) Related Parameters [ a ] Setting Parameters （Note） : Parameters only for the SVB-01 Module. [ b ] Monitoring Para

5 Motion Commands5.2.6 JOG Operation (FEED)5-66( 5 ) Timing Charts[ a ] Normal Execution [ b ] Execution when Aborted IB0C0Distribution Completed

5.2 Motion Command Details5-67[ c ] Execution when an Alarm Occurs 5.2.7 STEP Operation (STEP)The STEP command executes a positioning for the specif

5 Motion Commands5.2.7 STEP Operation (STEP)5-68( 2 ) HoldingAxis travel can be stopped during command execution and then the remaining travel can b

5.2 Motion Command Details5-69( 4 ) Related Parameters [ a ] Setting Parameters （Note） : Parameters only for the SVB-01 Module. Parameter Name Settin

iiiUsing this ManualPlease read this manual to ensure correct usage of the SVB-01 Module of MP2200/MP2300. Keep this manual in a safe place for future

xxx3.2.1 Setup Method- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-263.2.2

5 Motion Commands5.2.7 STEP Operation (STEP)5-70[ b ] Monitoring Parameters ( 5 ) Timing Charts [ a ] Normal Execution Parameter Name Monitor Conten

5.2 Motion Command Details5-71[ b ] Execution when Aborted[ c ] Execution when Aborting by Changing the Command [ d ] Execution when an Alarm Occurs

5 Motion Commands5.2.8 Zero Point Setting (ZSET)5-725.2.8 Zero Point Setting (ZSET)The ZSET command sets the current position as the zero point of

5.2 Motion Command Details5-73( 3 ) Related Parameters [ a ] Setting Parameters [ b ] Monitoring Parameters ( 4 ) Timing Charts Normal Execution Pa

5 Motion Commands5.2.9 Change Linear Acceleration Time Constant (ACC)5-745.2.9 Change Linear Acceleration Time Constant (ACC)The ACC command transf

5.2 Motion Command Details5-75( 3 ) Related Parameters [ a ] Setting Parameters [ b ] Monitoring Parameters ( 4 ) Timing Charts [ a ] Normal End [ b

5 Motion Commands5.2.10 Change Linear Deceleration Time Constant (DCC)5-765.2.10 Change Linear Deceleration Time Constant (DCC)The DCC command tran

5.2 Motion Command Details5-77( 3 ) Related Parameters [ a ] Setting Parameters [ b ] Monitoring Parameters ( 4 ) Timing Charts [ a ] Normal End [ b

5 Motion Commands5.2.11 Change Filter Time Constant (SCC)5-785.2.11 Change Filter Time Constant (SCC)The SCC command transfers the setting of the S

5.2 Motion Command Details5-79( 3 ) Related Parameters [ a ] Setting Parameters [ b ] Monitoring Parameters ( 4 ) Timing Charts [ a ] Normal End [ b

xxxi5.2.12 Change Filter Type (CHG_FILTER) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-805.2.13 Change Speed

5 Motion Commands5.2.12 Change Filter Type (CHG_FILTER)5-805.2.12 Change Filter Type (CHG_FILTER)The CHG_FILTER command enables the current setting

5.2 Motion Command Details5-81( 3 ) Related Parameters [ a ] Setting Parameters [ b ] Monitoring Parameters ( 4 ) Timing Charts [ a ] Normal End [ b

5 Motion Commands5.2.13 Change Speed Loop Gain (KVS)5-825.2.13 Change Speed Loop Gain (KVS)The KVS command transfers the setting of the Speed Loop

5.2 Motion Command Details5-83[ b ] Monitoring Parameters ( 4 ) Timing Charts [ a ] Normal End [ b ] Error End Parameter Name Monitor Contents IL02

5 Motion Commands5.2.14 Change Position Loop Gain (KPS)5-845.2.14 Change Position Loop Gain (KPS)The KPS command transfers the setting of the Posit

5.2 Motion Command Details5-85[ b ] Monitoring Parameters ( 4 ) Timing Charts [ a ] Normal End [ b ] Error End Parameter Name Monitor Contents IL02

5 Motion Commands5.2.15 Change Feed Forward (KFS)5-865.2.15 Change Feed Forward (KFS)The KFS command transfers the setting of the Speed Feed Forwar

5.2 Motion Command Details5-87[ b ] Monitoring Parameters ( 4 ) Timing Charts [ a ] Normal End [ b ] Error End Parameter Name Monitor Contents IL02

5 Motion Commands5.2.16 Read SERVOPACK Parameter (PRM_RD)5-885.2.16 Read SERVOPACK Parameter (PRM_RD)The PRM_RD command reads the setting of the SE

5.2 Motion Command Details5-89[ b ] Monitoring Parameters ( 4 ) Timing Charts [ a ] Normal End [ b ] Error End Parameter Name Monitor Contents IL02

xxxiiSVR Virtual Motion Module8.1 SVR Virtual Motion Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-28.1.1

5 Motion Commands5.2.17 Write SERVOPACK Parameter (PRM_WR)5-905.2.17 Write SERVOPACK Parameter (PRM_WR)The PRM_WR command writes the SERVOPACK para

5.2 Motion Command Details5-91( 3 ) Related Parameters [ a ] Setting Parameters [ b ] Monitoring Parameters ( 4 ) Timing Charts [ a ] Normal End [ b

5 Motion Commands5.2.18 Monitor SERVOPACK Alarms (ALM_MON)5-925.2.18 Monitor SERVOPACK Alarms (ALM_MON)The ALM_MON command reads the alarm or warni

5.2 Motion Command Details5-93[ b ] Monitoring Parameters ( 4 ) Timing Charts [ a ] Normal End [ b ] Error End Parameter Name Monitor Contents IL02

5 Motion Commands5.2.19 Monitor SERVOPACK Alarm History (ALM_HIST)5-945.2.19 Monitor SERVOPACK Alarm History (ALM_HIST)The ALM_HIST command reads t

5.2 Motion Command Details5-95[ b ] Monitoring Parameters ( 4 ) Timing Charts [ a ] Normal End [ b ] Error End Parameter Name Monitor Contents IL02

5 Motion Commands5.2.20 Clear SERVOPACK Alarm History (ALMHIST_CLR)5-965.2.20 Clear SERVOPACK Alarm History (ALMHIST_CLR)The ALMHIST_CLR command cl

5.2 Motion Command Details5-97[ b ] Monitoring Parameters ( 4 ) Timing Charts [ a ] Normal End [ b ] Error End Parameter Name Monitor Contents IL02

5 Motion Commands5.2.21 Reset Absolute Encoder (ABS_RST)5-985.2.21 Reset Absolute Encoder (ABS_RST)The ABS_RST command resets the multiturn data in

5.2 Motion Command Details5-99( 3 ) Related Parameters[ a ] Setting Parameters[ b ] Monitoring Parameters( 4 ) Timing Charts[ a ] Normal EndParameter

xxxiiiTroubleshooting10.1 Motion Errors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-210.1.1 Descr

5 Motion Commands5.2.22 Speed Reference (VELO)5-100[ b ] Error End5.2.22 Speed Reference (VELO)With the MECHATROLINK-II, the VELO command is used t

5.2 Motion Command Details5-101( 3 ) AbortingThe speed control mode can be cancelled by aborting execution of a command. A command is aborted by sett

5 Motion Commands5.2.22 Speed Reference (VELO)5-102[ b ] Monitoring Parameters ( 5 ) Timing Charts [ a ] Normal Execution Parameter Name Monitor Con

5.2 Motion Command Details5-103[ b ] Execution when Aborted[ c ] Execution when Aborting by Changing the Command [ d ] Execution for PausingOB091 (

5 Motion Commands5.2.23 Torque Reference (TRQ)5-104[ e ] Execution when an Alarm Occurs 5.2.23 Torque Reference (TRQ)With the MECHATROLINK-II, the

5.2 Motion Command Details5-105( 2 ) HoldingHolding execution is not possible during TRQ command operation. The Command Pause bit (OB090) is ignore

5 Motion Commands5.2.23 Torque Reference (TRQ)5-106[ b ] Monitoring Parameters ( 5 ) Timing Charts [ a ] Normal Execution Parameter Name Monitor Con

5.2 Motion Command Details5-107[ b ] Executed when Aborted SVB-01 SVA-01 IB0C1 (POSCOMP)1 scanOB091 (ABORT)Torque Control Mode Position Contro

5 Motion Commands5.2.23 Torque Reference (TRQ)5-108[ c ] Execution when Pausing SVB-01 SVA-01OW08=24 (TRQ)OB090 (HOLD)IW08=24 (TRQ)IB090 (

5.2 Motion Command Details5-109[ d ] Execution when an Alarm Occurs SVB-01 SVA-01 AlarmIB0C1 (POSCOMP)1 scanTorque Control Mode Position Control

xxxiv

5 Motion Commands5.2.24 Phase References (PHASE)5-1105.2.24 Phase References (PHASE)The PHASE command is used for the synchronized operation of mul

5.2 Motion Command Details5-111( 3 ) Related Parameters [ a ] Setting Parameters Parameter Name Setting SVB-01SVA-01OB000Servo ON Turns the power t

5 Motion Commands5.2.24 Phase References (PHASE)5-112[ b ] Monitoring Parameters ( 4 ) Timing Charts [ a ] Normal Execution Parameter Name Monitor C

5.2 Motion Command Details5-113[ b ] Execution when Aborted[ c ] Execution when an Alarm Occurs SVB-01SVA-01OW08=25 (PHASE)IW08=25 (PHASE)IB090

5 Motion Commands5.2.25 Change Position Loop Integration Time Constant (KIS)5-1145.2.25 Change Position Loop Integration Time Constant (KIS)The KIS

5.2 Motion Command Details5-115[ b ] Monitoring Parameters ( 4 ) Timing Charts [ a ] Normal End [ b ] Error End Parameter Name Monitor Contents IL0

5 Motion Commands5.3.1 Motion Sub-command Table5-1165.3 Motion Subcommands5.3.1 Motion Sub-command Table5.3.2 Motion Subcommand SettingsIt may no

5.3 Motion Subcommands5-1175.3.3 No Command (NOP)Set this command when a subcommand is not being specified. When the MECHATROLINK-II (32 byte) commu

5 Motion Commands5.3.4 Read SERVOPACK Parameter (PRM_RD)5-1185.3.4 Read SERVOPACK Parameter (PRM_RD)The PRM_RD command reads the setting of the SER

5.3 Motion Subcommands5-119[ b ] Monitoring Parameters( 3 ) Timing Charts[ a ] Normal End[ b ] Error EndParameter Name Monitoring ContentsIW0AMotio

1-11Motion Module OverviewThis chapter provides an overview and the features of the Motion Module. 1.1 List of Motion Modules ...

5 Motion Commands5.3.5 Write SERVOPACK Parameter (PRM_WR)5-1205.3.5 Write SERVOPACK Parameter (PRM_WR)The PRM_WR command writes the SERVOPACK param

5.3 Motion Subcommands5-121[ b ] Monitoring Parameters( 3 ) Timing Charts[ a ] Normal End[ b ] Error EndParameter Name Monitoring ContentsIW0AMotio

5 Motion Commands5.3.6 Monitor Status (SMON)5-1225.3.6 Monitor Status (SMON)When the SMON command is executed, the data specified in Monitor 4 of t

5.3 Motion Subcommands5-123( 2 ) Related Parameters[ a ] Setting Parameters[ b ] Monitoring Parameters( 3 ) Timing Charts[ a ] Normal EndParameter Na

5 Motion Commands5.3.7 Read Fixed Parameters (FIXPRM_RD)5-1245.3.7 Read Fixed Parameters (FIXPRM_RD)Reads the current value of the specified fixed

5.3 Motion Subcommands5-125( 3 ) Timing Charts[ a ] Normal End[ b ] Error EndOW0A=5 (FIXPRM_RD)IW0A=5 (FIXPRM_RD)IB0B0 (BUSY)IL56Undefined Mo

5 Motion Commands5.3.7 Read Fixed Parameters (FIXPRM_RD)5-126

6-16Control Block DiagramsThis chapter explains the control block diagrams. 6.1 SVB-01 Module Control Block Diagrams ...

6 Control Block Diagrams6.1.1 Position Control6-26.1 SVB-01 Module Control Block Diagrams6.1.1 Position Control( 1 ) Motion Parameters for Positio

6.1 SVB-01 Module Control Block Diagrams6-3[ b ] Setting ParametersNo. Name Setting Unit Default Value Setting RangeOW00RUN Commands− 0000h Bit set

1 Motion Module Overview 1-21.1 List of Motion ModulesThe Motion Modules that can be used with the MP2200/MP2300 are listed below. Module Descripti

6 Control Block Diagrams6.1.1 Position Control6-4（Note） : These parameters are ignored. OL46External Positioning Move DistanceReference unit 0−231

6.1 SVB-01 Module Control Block Diagrams6-5[ c ] Monitoring ParametersNo. Name Unit Default Value RangeIW00Drive Status−−Bit settingIW01Over Rang

6 Control Block Diagrams6.1.1 Position Control6-6( 2 ) Control Block Diagram for Position ControlOW00OW01OW02OW03OW04OW05OW08OW09OW

6.1 SVB-01 Module Control Block Diagrams6-7Pn109Pn10APn102Pn101ABPn100ABMPGPn11FABOW3A(OW32)(OW30)(OW2F)SKpTi(OW2E)(OW34)KvNTiFBVrefMPOSA

6 Control Block Diagrams6.1.2 Phase Control6-86.1.2 Phase Control( 1 ) Motion Parameters for Phase Control[ a ] Fixed ParametersNo. Name Setting U

6.1 SVB-01 Module Control Block Diagrams6-9[ b ] Setting ParametersNo. Name Setting Unit Default Value Setting RangeOW00RUN Commands− 0000h Bit set

6 Control Block Diagrams6.1.2 Phase Control6-10（Note） : These parameters are ignored. OL4CPreset Data of POSMAX TurnRev 0−231 to 231−1OW4EServo

6.1 SVB-01 Module Control Block Diagrams6-11[ c ] Monitoring ParametersNo. Name Unit Default Value RangeIW00Drive Status−−Bit settingIW01Over Ran

6 Control Block Diagrams6.1.2 Phase Control6-12( 2 ) Control Block Diagram for Phase ControlOW00OW03OW05OW08OW09OW0AOL10OL1EOL20OL

6.1 SVB-01 Module Control Block Diagrams6-13* The speed feedback gain is 0 for phase references. Pn109Pn10APn102Pn101ABPn100ABMPGPn11FABOW3A(OW32

1.1 List of Motion Modules1-3Features• High-speed Motion NetworkBaud rate: 4 Mbps or 10 MbpsCommunication cycle: 0.5 ms, 1 ms, 1.5 ms, or 2 msTransmi

6 Control Block Diagrams6.1.3 Torque Control6-146.1.3 Torque Control( 1 ) Motion Parameters for Torque Control[ a ] Fixed ParametersNo. Name Setti

6.1 SVB-01 Module Control Block Diagrams6-15[ b ] Setting ParametersNo. Name Setting Unit Default Value Setting RangeOW00RUN Commands− 0000h Bit se

6 Control Block Diagrams6.1.3 Torque Control6-16（Note） : These parameters are ignored. OW2EPosition Loop Gain0.1 /s 300 0 to 32767OW2FSpeed Lo

6.1 SVB-01 Module Control Block Diagrams6-17[ c ] Monitoring Parameters No. Name Unit Default Value RangeIW00Drive Status−−Bit settingIW01Over Ra

6 Control Block Diagrams6.1.3 Torque Control6-18( 2 ) Control Block Diagram for Torque ControlMP2200SVB-01OW00OW03OW08OW09OW0AOL0COL0E

6.1 SVB-01 Module Control Block Diagrams6-19Pn109Pn10APn102Pn101ABPn100ABMPGPn11FABSKpTiKvNTiFBVrefAPOSLPOSBATRQV-REFT-REFMPOSAnalog monitor value Di

6 Control Block Diagrams6.1.4 Speed Control6-206.1.4 Speed Control( 1 ) Motion Parameters for Speed Control[ a ] Fixed ParametersNo. Name Setting

6.1 SVB-01 Module Control Block Diagrams6-21[ b ] Setting ParametersNo. Name Setting Unit Default Value Setting RangeOW00RUN Commands− 0000h Bit se

6 Control Block Diagrams6.1.4 Speed Control6-22（Note） : These parameters are ignored. OW34Speed Integration Time Constant0.01 ms 2000 15 to 6553

6.1 SVB-01 Module Control Block Diagrams6-23[ c ] Monitoring Parameters No. Name Unit Default Value RangeIW00Drive Status−−Bit settingIW01Over Ra

1 Motion Module Overview1.2.1 Overview1-41.2 SVB-01 Module Overview and Features1.2.1 OverviewThe SVB-01 Module is a Motion Module with a MECHATRO

6 Control Block Diagrams6.1.4 Speed Control6-24( 2 ) Control Block Diagram for Speed ControlMP2200SVB-01OW00OW03OW08OW09OW0AOL10OL14OL

6.1 SVB-01 Module Control Block Diagrams6-25Pn109Pn10APn102Pn101ABPn100ABMPGPn11FABSKpTiKvNTiFBVrefAPOSLPOSBATRQV-REFT-REFMPOSAnalog monitor value Di

6 Control Block Diagrams6.1.4 Speed Control6-266.2 SVA-01 Module Control Block DiagramZero point returnDPOSIL14CPOSIL10MPOSIL12TPOS(IL0E)(I

6.2 SVA-01 Module Control Block Diagram6-27-PERRIL1AKpP I control11+TSPrimary Lag Time ConstantOW33P controlPrimary LagPosition Integration Time

6 Control Block Diagrams6.1.4 Speed Control6-28

7-17Absolute Position DetectionThis chapter explains an absolute position detection system that uses an absolute encoder. Be sure to read this chapter

7 Absolute Position Detection7.1.1 Outline of the Function7-27.1 Absolute Position Detection FunctionThis section explains the Absolute Position De

7.2 Startup the Absolute Position Detection Function7-37.2 Startup the Absolute Position Detection FunctionThis section explains the procedure that

7 Absolute Position Detection7.2.2 Setting Related Parameters7-47.2.2 Setting Related ParametersThis section explains absolute position detection p

7.2 Startup the Absolute Position Detection Function7-5* SERVOPACK Models( 3 ) Detailed Descriptions[ a ] Encoder Selection• MP2200/MP2300 fixed par

1.2 SVB-01 Module Overview and Features1-51.2.3 System Configuration ExampleThe following diagram shows a system configuration example.1.2.4 System

7 Absolute Position Detection7.2.2 Setting Related Parameters7-6[ b ] Number of Encoder Pulses• MP2200/MP2300 fixed parameter 36Set MP2200/MP2300 f

7.2 Startup the Absolute Position Detection Function7-7

7 Absolute Position Detection7.2.3 Initializing the Absolute Encoder7-87.2.3 Initializing the Absolute EncoderInitialize the absolute encoder in th

7.2 Startup the Absolute Position Detection Function7-9b) At the encoder end connectori) Disconnect the connector on the encoder end.ii) Use a short

7 Absolute Position Detection7.2.3 Initializing the Absolute Encoder7-103. Press the DATA/ENTER Key. The following display will appear. 4. Press the

7.2 Startup the Absolute Position Detection Function7-113. Press the DATA/SHIFT Key for 1 second or longer. The following display will appear. 4. Pre

7 Absolute Position Detection7.2.3 Initializing the Absolute Encoder7-12( 3 )Σ-III SeriesUse a digital operator to initialize the absolute encoder.S

7.3 Using an Absolute Encoder7-137.3 Using an Absolute EncoderThis section explains precautions regarding use as well as the procedure for setting t

7 Absolute Position Detection7.3.1 Finite Length Axis7-14( 2 ) Position Management with a Finite Length AxisInitialize the axis position as describe

7.3 Using an Absolute Encoder7-15( 3 ) Setting the Zero Point for a Finite Length AxisSet the zero point after initializing the absolute encoder to s

iv Manual ConfigurationRead the chapters of this manual as required by the purpose.ChapterSelecting Models and Peripheral DevicesStudying Specifi

1 Motion Module Overview1.2.5 Devices Connectable to MECHATROLINK1-61.2.5 Devices Connectable to MECHATROLINKThe devices that are compatible with M

7 Absolute Position Detection7.3.1 Finite Length Axis7-16( 4 ) Turning ON the Power for a Finite Length AxisThe Zero Point Return (Setting) Complete

7.3 Using an Absolute Encoder7-17The following methods are used to save the Zero Point Offset (OL48).Method 1: Saving in a M Register with Ladder

7 Absolute Position Detection7.3.2 Infinite Length Axis7-187.3.2 Infinite Length Axis( 1 ) OverviewInfinite length positioning is a function that a

7.3 Using an Absolute Encoder7-19To set the present position of the machine coordinate system to 0 when the Zero Point Setting (ZSET) motion command

7 Absolute Position Detection7.3.2 Infinite Length Axis7-20[ c ] Application Example of Simple Absolute Infinite Length Position Control FunctionAn

7.3 Using an Absolute Encoder7-21* 3. Execute with the ZSET command.

7 Absolute Position Detection7.3.2 Infinite Length Axis7-22( 3 ) Turning ON the Power for a Simple Absolute Infinite AxisThe Zero Point Return (Sett

7.3 Using an Absolute Encoder7-23( 5 ) Setting the Zero Point for an Infinite Length AxisExecute the ZSET motion command (zero point setting).The sys

7 Absolute Position Detection7.3.2 Infinite Length Axis7-24( 6 ) Ladder Program for Infinite Length Axis Position ControlLadder program for normal o

7.3 Using an Absolute Encoder7-25Use the following flowchart to store values in buffers.Toggle Buffer Enable Flag ONToggle Buffer Selection Flag ON?S

1.2 SVB-01 Module Overview and Features1-71.2.6 Synchronization between Modules( 1 ) OverviewSynchronization between the CPU and the Optional Module

7 Absolute Position Detection7.3.2 Infinite Length Axis7-26The following programming example (ladder program) is for the flowchart shown on the prev

7.3 Using an Absolute Encoder7-27Values of monitoring parameters saved in buffer 0.EXPRESSIONML30002=IL805E;ML30004=IL8060;ML30006=IL8062;ML30008=IL8

7 Absolute Position Detection7.3.2 Infinite Length Axis7-28[ b ] Turning the System Back ON (Turning the Servo Back ON)Set up position data again fr

7.3 Using an Absolute Encoder7-29Use the following flowchart to set up position data again.Toggle Buffer Selection Flag ON?Copy buffer 0 to setting p

7 Absolute Position Detection7.3.2 Infinite Length Axis7-30The following programming example (ladder program) is for the flowchart shown above.The a

7.3 Using an Absolute Encoder7-31There are no restrictions in the executing order for ladder programs H10 and H11 when an absoluteencoder is used for

7 7.3.2 Infinite Length Axis7-32

8-18SVR Virtual Motion ModuleThis chapter gives an overview of the SVR Virtual Motion Module and describes the system configuration, applicable motion

8 SVR Virtual Motion Module8.1.1 Overview8-28.1 SVR Virtual Motion ModuleThis section gives an overview of the SVR Virtual Motion Module and descri

8.1 SVR Virtual Motion Module8-3The following table lists application examples of the SVR.8.1.2 System Configuration( 1 ) Using the MP2300Applicatio

1 Motion Module Overview1.2.6 Synchronization between Modules1-8( 2 ) Conditions Under Which Synchronization Is Possible"Yes" in the follo

8 SVR Virtual Motion Module8.1.2 System Configuration8-4( 2 ) Using the MP2200MotionParametersMP2200MotionParametersMotionParameters1 0000IB00000 D

8.1 SVR Virtual Motion Module8-58.1.3 SVR Operation( 1 ) SVR Execution TimingThe SVR is processed at the beginning of the high-speed scan. SVR proce

8 SVR Virtual Motion Module8.2.1 Motion Parameter Details8-68.2 Motion ParametersThe following table gives motion parameters used by the SVR and th

8.2 Motion Parameters8-7Monitoring ParametersIW00Drive Status −IW01Over Range Parameter Number −IL02Warning −IL04Alarm −IW08Servo Command T

8 SVR Virtual Motion Module8.2.2 Motion Parameter Settings8-88.2.2 Motion Parameter SettingsThis section describes the motion parameters used by th

8.2 Motion Parameters8-9[ f ] Gear Ratio[ g ] Infinite Axis Reset Position[ h ] Encoder SettingsNo. 8Gear Ratio [MOTOR]Setting Range Setting Unit Def

8 SVR Virtual Motion Module8.2.2 Motion Parameter Settings8-10( 2 ) Motion Setting Parameters（Note） : The labels shown in reverse type indicate that

8.2 Motion Parameters8-11[ d ] Motion Command Control Flags[ e ] Motion Subcommands[ f ] Torque Reference[ g ] Speed ReferenceOW09Motion Command Op

8 SVR Virtual Motion Module8.2.2 Motion Parameter Settings8-12[ h ] Secondary Speed Compensation[ i ] Position Reference Type[ j ] Speed Amends[ k ]

8.2 Motion Parameters8-13[ m ] Zero Point Return[ n ] Step Distance[ o ] Coordinate System Settings[ p ] Supplemental SettingsOW3BBias Speed for Ex

1.3 SVA-01 Module Overview and Features1-9( 6 ) Conditions when the Power Supply Must Be Turned OFF and ONWhen any of the following operations is per

8 SVR Virtual Motion Module8.2.2 Motion Parameter Settings8-14( 3 ) Motion Monitoring Parameters[ a ] Drive Status[ b ] Over Range Parameter Number[

8.2 Motion Parameters8-15[ f ] Motion Command Status[ g ] Motion Subcommand Response Code[ h ] Motion Subcommand Status[ i ] Position Management Stat

8 SVR Virtual Motion Module8.2.2 Motion Parameter Settings8-16[ j ] Position Information[ k ] SERVOPACK Information 2[ l ] Supplemental InformationI

8.3 Motion Commands8-178.3 Motion CommandsThe SVR reads and writes motion parameters and executes commands at the beginning of the high-speed scan.

8 SVR Virtual Motion Module8.3.2 Motion Command Details8-188.3.2 Motion Command DetailsBasically, the SVR provides functions to loop from a Motion

8.3 Motion Commands8-19• Target Position (CPOS) (IL10)• Machine Coordinate System Position (MPOS) (IL12): MPOS is always equal to CPOS. • Mach

8 SVR Virtual Motion Module8.3.2 Motion Command Details8-20 Monitoring Parameters Parameter Name Monitor Contents IB001Servo ON Indicates the Ser

8.3 Motion Commands8-21( 2 ) External Positioning (EX_POSING)The latch function cannot be used for the SVR. EX_POSING thus performs the same operatio

8 SVR Virtual Motion Module8.3.2 Motion Command Details8-22[ b ] Related Parameters Setting Parameters Monitoring Parameters Parameter Name Sett

8.3 Motion Commands8-23( 3 ) Zero Point Return (ZRET)When a ZRET command is executed, the zero point return will be completed immediately. Position i

1 Motion Module Overview1.3.2 Features1-101.3.2 Features• Two analog outputs for Servos for 2 axes• Position control, speed reference outputs, to

8 SVR Virtual Motion Module8.3.2 Motion Command Details8-24[ b ] Related Parameters Setting Parameters Monitoring Parameters Parameter Name Sett

8.3 Motion Commands8-25( 4 ) Interpolation (INTERPOLATE)The INTERPOLATE command positions the axis according to the target position that changes in s

8 SVR Virtual Motion Module8.3.2 Motion Command Details8-26[ b ] Related Parameters Setting Parameters Monitoring Parameters Parameter Name Sett

8.3 Motion Commands8-27( 5 ) Latch (LATCH)The latch function cannot be used for the SVR. The LATCH command will thus perform the same operation as th

8 SVR Virtual Motion Module8.3.2 Motion Command Details8-28[ b ] Related Parameters Setting Parameters Monitoring Parameters Parameter Name Sett

8.3 Motion Commands8-29( 6 ) JOG Operation (FEED)The FEED command starts movement in the specified travel direction at the specified travel speed. To

8 SVR Virtual Motion Module8.3.2 Motion Command Details8-30[ b ] Related Parameters Setting Parameters Monitoring Parameters Parameter Name Sett

8.3 Motion Commands8-31( 7 ) STEP Operation (STEP)The STEP command executes a positioning for the specified travel direction, moving amount, and trav

8 SVR Virtual Motion Module8.3.2 Motion Command Details8-32[ b ] Related Parameters Setting Parameters Monitoring Parameters Parameter Name Sett

8.3 Motion Commands8-33( 8 ) Zero Point Setting (ZSET)The ZSET command sets the current position as the zero point of the machine coordinate system.

1.3 SVA-01 Module Overview and Features1-111.3.3 System Configuration ExampleThe following diagram shows a system configuration example.（Note） Use t

8 SVR Virtual Motion Module8.3.2 Motion Command Details8-34 Monitoring Parameters ( 9 ) Speed Reference (VELO)The SVR does not support a speed cont

8.3 Motion Commands8-35( 10 ) Torque Reference (TRQ)The SVR does not support a torque control function. [ a ] Operating Procedure [ b ] Related Param

8 SVR Virtual Motion Module8.3.2 Motion Command Details8-36( 11 ) Phase References (PHASE)PHASE performs the same operation as the FEED Command. [ a

8.3 Motion Commands8-37[ b ] Related Parameters Setting Parameters Monitoring Parameters Parameter Name Setting OB000Servo ON Turns the power t

8 SVR Virtual Motion Module8.3.2 Motion Command Details8-38( 12 ) Other Commands Other commands do not have functions for the SVR. The Motion Comman

8.4 Sample Programming8-398.4 Sample ProgrammingThe motion parameters used by the SVR have the same meanings as those used by the SVB-01 or SVA-01.

8 SVR Virtual Motion Module8.4.2 Checking Operation8-408.4.2 Checking Operation( 1 ) Checking Operation with the Tuning Panel WindowIn this sample

8.4 Sample Programming8-41( 2 ) ProcedureUse the following procedure to confirm operation.The following table gives an outline of the operation when

8 SVR Virtual Motion Module8.4.3 Sample Program Details8-428.4.3 Sample Program Details( 1 ) H DrawingThe H parent drawing controls the overall sam

8.4 Sample Programming8-43( 2 ) H01 DrawingThe H01 child drawing turns ON the Servo, resets alarms, and sets common parameters. Axis 1 Servo ON######

1 Motion Module Overview1.4.1 Overview1-121.4 Virtual Motion Module (SVR) Overview1.4.1 OverviewThe Virtual Motion Module (SVR) is a Software Modu

8 SVR Virtual Motion Module8.4.3 Sample Program Details8-44( 3 ) H02 DrawingThe H02 child drawing controls JOG and STEP operation.Main Program: Axis

8.4 Sample Programming8-45( 4 ) H02.01 DrawingThe H02.01 grandchild drawing controls JOG and STEP operation for axis 1. Axis 1 JOG##########JOG######

8 SVR Virtual Motion Module8.4.3 Sample Program Details8-46Main Program: Axis 1 Manual operation (JOG and STEP)##########Reverse Rotation Selection#

8.4 Sample Programming8-47( 5 ) H02.02 DrawingThe H02.02 grandchild drawing controls JOG and STEP operation for axis 2. Axis 2 forward jogAxis 2 JOG#

8 SVR Virtual Motion Module8.4.3 Sample Program Details8-48Axis 2 step stopAxis 2 motion command Axis 2 jog commandSTOREEND##########Reverse Rotatio

9-19Utility FunctionsThis chapter explains the utility functions of the MP2200/MP2300. 9.1 Controlling Vertical Axes ...

9 Utility Functions9.1.1 Overview9-29.1 Controlling Vertical AxesThis section explains connection methods and parameter settings required to use th

9.1 Controlling Vertical Axes9-39.1.2 Connections to Σ-II and Σ-III SERVOPACK( 1 ) Connection ExampleA circuit is configured to turn the brake ON an

9 Utility Functions9.1.2 Connections to Σ-II and Σ-III SERVOPACK9-4[ b ] Pn506 (Brake ON Timing after Motor Stops)Adjust brake timing with the follo

9.1 Controlling Vertical Axes9-5[ c ] Pn507 and Pn508 (Brake ON Timing when Motor Running)Adjust the timing of the holding brake when the motor is ru

2-12Module Specifications and ConnectionsThis chapter explains the specifications and connections for the SVB-01 and SVA-01 Modules. 2.1 SVB-01 Module

9 Utility Functions9.1.3 Connections to Σ Series SGDB SERVOPACK9-69.1.3 Connections to Σ Series SGDB SERVOPACK( 1 ) Connection Example* 1. Brake co

9.1 Controlling Vertical Axes9-7[ b ] Cn-12 (Brake ON Timing after Motor Stops)Adjust brake timing with the following parameter if the machine moves

9 Utility Functions9.1.3 Connections to Σ Series SGDB SERVOPACK9-8[ c ] Cn-15 and Cn-16 (Brake ON Timing when Motor Running)Adjust the timing of the

9.1 Controlling Vertical Axes9-99.1.4 Connections to Σ Series SGD or SGDA SERVOPACK( 1 ) Connection Example* 1. Brake control relay contact* 2. Ther

9 Utility Functions9.1.4 Connections to Σ Series SGD or SGDA SERVOPACK9-10( 2 ) Parameter SettingsThe SERVOPACK parameters related to controlling th

9.1 Controlling Vertical Axes9-11[ b ] Cn-15 and Cn-16 (Brake ON Timing when Motor Running)Adjust the timing of the holding brake when the motor is r

9 Utility Functions9.2.1 Overview9-129.2 Overtravel FunctionThis section explains the overtravel function. 9.2.1 OverviewThe overtravel function f

9.2 Overtravel Function9-13Rotation Direction SelectionThe SVA Module provides a rotation direction selection that can be used to reverse the direct

9 Utility Functions9.2.3 Parameter Settings9-149.2.3 Parameter Settings( 1 ) Use/Not Use Overtravel Input SignalsThe following parameters are used

9.2 Overtravel Function9-15( 2 ) Selecting Motor Stopping Methods for OvertravelWhen using the overtravel function has been enabled, the following pa

2 Module Specifications and Connections2.1.1 General Specifications2-22.1 SVB-01 Module Specifications and Connections 2.1.1 General Specification

9 Utility Functions9.2.3 Parameter Settings9-16[ b ]Σ SERVOPACK Select the stopping method and processing after stopping when an overtravel signal i

9.3 Software Limit Function9-179.3 Software Limit FunctionThis section explains the software limit function. 9.3.1 OverviewThe software limit funct

9 Utility Functions9.3.3 Processing after an Alarm Occurs9-18The software limit function is enabled only after completing a Zero Point Return or Ze

9.4 Parameters That Are Automatically Updated9-199.4 Parameters That Are Automatically UpdatedThe function described in this section is supported by

9 Utility Functions9.4.2 Parameters Updated when a Setting Parameter Is Changed (MP2200/MP2300 to SERVOPACK)9-209.4.2 Parameters Updated when a Set

9.4 Parameters That Are Automatically Updated9-219.4.4 Parameters Updated at Self-configuration (SERVOPACK to MP2200/MP2300)9.4.5 Parameters Update

9 Utility Functions9.4.5 Parameters Updated at Self-configuration (MP2200/MP2300 to SERVOPACK)9-22

10-110TroubleshootingThis chapter explains the details and remedies for errors that occur in the Motion Module. 10.1 Motion Errors ...

10 Troubleshooting10.1.1 Description of Motion Errors10-210.1 Motion ErrorsThis section explains the details and remedies for errors that occur in

10.1 Motion Errors10-3( 2 ) Motion Error Type 2The specific motion alarms for the SVB-01 Module’s MECHATROLINK-I or MECHATROLINK-II and SVA-01 Module

2.1 SVB-01 Module Specifications and Connections2-3( 2 ) Function ListsThe following table shows the list of motion control functions for the SVB-01

10 Troubleshooting10.1.1 Description of Motion Errors10-4 SVA-01 ModuleAlarm (IL04) Warning (IL02) Bit 1: Setting Parameter ErrorBit 2: Fixed P

10.1 Motion Errors10-510.1.2 Motion Error Details and Corrections( 1 ) Alarm IL04 Details The following table shows the contents of the axis alarm

10 Troubleshooting10.1.2 Motion Error Details and Corrections10-6( 3 ) MECHATROLINK Servo Alarm Code (IW2D) When the Servo Driver Error (IL04, b

10.1 Motion Errors10-7[ b ]Σ-II SeriesNameRegister NumberCode ContentsServo Alarm Code IW2D99 Normal91 Overload Warning92 Regeneration Overload War

10 Troubleshooting10.1.2 Motion Error Details and Corrections10-8[ c ]Σ-III SeriesNameRegister NumberCode*ContentsServo Alarm CodeIW2D000 Normal90

10.1 Motion Errors10-9* Although SERVOPACK alarm codes have three digits, only the upper two digits are stored inIW2D. Servo alarm code (cont’d)IW

10 Troubleshooting10.1.2 Motion Error Details and Corrections10-10( 4 ) Analog Servo Alarm ListThe Servo Driver Error Flag (IL04, bit 0) turns ON

10.1 Motion Errors10-11A.73DB OverloadDuring dynamic braking operation, the rotating energy exceeds the DB resistor's capacity. ××{{A.74Inrush R

10 Troubleshooting10.1.2 Motion Error Details and Corrections10-12（Note）{: Alarm displayed, ×: No alarm displayed[ b ] Alarm List for the SGDS SERVO

10.1 Motion Errors10-13A.710Overload (Instantaneous Maximum Load)The motor operated with a torque that significantly exceeds the rated torque for sev

v Visual AidsThe following aids are used to indicate certain types of information for easier reference.Indicates important information that should be

2 Module Specifications and Connections2.1.1 General Specifications2-4* Only with MECHATROLINK-IIServo ControlCommunication MethodSingle-send (commu

10 Troubleshooting10.1.2 Motion Error Details and Corrections10-14( 5 ) Positive and Negative Overtravel (IL04 Bit 1 and Bit 2)For a vertical axis

10.1 Motion Errors10-15( 6 ) Positive and Negative Soft Limit (Positive and Negative Software Limit) (IL04 Bit 3 and Bit 4)( 7 ) Servo OFF (IL04

10 Troubleshooting10.1.2 Motion Error Details and Corrections10-16( 8 ) Positioning Time Over (IL04 Bit 6) The above check is not performed if the

10.1 Motion Errors10-17( 11 ) Excessively Following Error (IL04 Bit 9) The above check is not performed if the Deviation Abnormal Detection Value (

10 Troubleshooting10.1.2 Motion Error Details and Corrections10-18( 13 ) Filter Time Constant Change Error (IL04 Bit 11)The command will not stop

10.1 Motion Errors10-19( 16 ) Servo Driver Communication Error (IL04 Bit 17)( 17 ) Servo Driver Command Timeout Error (IL04 Bit 18)The above erro

10 Troubleshooting10.1.3 Motion Program Alarms10-20( 19 ) PG Disconnected Error (IL04 Bit 20)( 20 ) Accumulated Rotations Receive Error (IL04 Bi

10.1 Motion Errors10-21( 2 ) Motion Program Alarm ListThe motion program alarm codes are listed in the following tables. When displaying these on the

10 Troubleshooting10.1.4 Causes of the “Command Error End” Status (SVB-01 Only)10-2210.1.4 Causes of the “Command Error End” Status (SVB-01 Only)Th

10.1 Motion Errors10-2345Interpolation (INTERPOLATE)Interpolate End Segment (ENDOF_INTERPOLATE)The travel distance specified for one scan exceeds the

2.1 SVB-01 Module Specifications and Connections2-5( 3 ) MECHATROLINK Communication SpecificationsThe following table shows the MECHATROLINK communic

10 Troubleshooting10.1.4 Causes of the “Command Error End” Status (SVB-01 Only)10-2412Change Filter Time Constant (SCC)Alarm occurred. −Communicatio

10.1 Motion Errors10-25* Automatically reflected when the User Constants Self-Writing Function is enabled in the fixedparameters and the setting for

10 Troubleshooting10.2.1 SVB-01 Module LED Indicators10-2610.2 Error Detection10.2.1 SVB-01 Module LED IndicatorsThe following table shows how to

10.2 Error Detection10-27Errors (cont’d)Blinking Blinking−Hardware Error(Number of LED blinks indicateserror type.)1: −2: ROM diagnostic error3: RAM

10 Troubleshooting10.2.2 SVA-01 Module LED Indicators10-2810.2.2 SVA-01 Module LED IndicatorsThe following table shows how to use the LED indicator

10.2 Error Detection10-29Writing Flash MemoryLit Not lit Status after power is turned ON.Status when a flash memory writing tool is connected and the

10 Troubleshooting10.2.2 SVA-01 Module LED Indicators10-30

A-1Appendix AAppendixA Switching Motion Commands - - - - - - - - - - - - - - - - - - - - - - - -A-2A.1 SVB-01 Module Motion Command Execution Tables

Appendix AAppendix A.1 SVB-01 Module Motion Command Execution TablesA-2Appendix A Switching Motion Commands Appendix A.1 SVB-01 Module Motion Comma

Appendix A Switching Motion CommandsA-3A（Note) 1. {:Execution possible.∆:Execution possible if position reference type is set for absolute position r

2 Module Specifications and Connections2.1.2 LED Indicators and Switch Settings2-6 Transmission Distance and Maximum No. of Slave Stations* The val

Appendix AAppendix A.2 SVB-01 Module Motion Subcommand Execution TableA-4Appendix A.2 SVB-01 Module Motion Subcommand Execution TableThe following t

Appendix A Switching Motion CommandsA-5AAppendix A.3 SVA-01 Module Motion Command Execution TableThe following table shows which commands can be exe

Appendix AAppendix A.3 SVA-01 Module Motion Command Execution TableA-6

IndexIndex-1IndexNumerics24-V input connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-19AA/D inputs - - - - - - - - - - - - -

IndexIndex-2Lladder program for infinite length axis position control - - - - - - - 7-24LATCH - - - - - - - - - - - - - - - - - - - - - - - - - - -

IndexIndex-3connection cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-22SERVOPACK commands - - - - - - - - - - - - - - - - - - -

IndexIndex-4

Revision HistoryThe revision dates and numbers of the revised manuals are given on the bottom of the back cover.Date of Printing Rev. No.Section Revis

YASKAWA ELECTRIC AMERICA, INC.2121 Norman Drive South, Waukegan, IL 60085, U.S.A.Phone: (847) 887-7000 Fax: (847) 887-7310 Internet: http://www.ya

2.1 SVB-01 Module Specifications and Connections2-7( 3 ) Switch SettingsBoth the DIP switch and rotary switches set the operating conditions for the

2 Module Specifications and Connections2.1.3 Module Connections2-8[ b ] Rotary SwitchesThis rotary switch is valid only in Slave Mode. It will be ig

2.1 SVB-01 Module Specifications and Connections2-9 Cables External Appearance of MECHATROLINK-I/II CablesJEPMC-W6002-JEPMC-W6003-JEPMC-W6011-

2 Module Specifications and Connections2.1.3 Module Connections2-10( 2 ) SVB-01 Module Network Connections Connecting the SVB-01 Module to the End

2.1 SVB-01 Module Specifications and Connections2-11 Connecting the SVB-01 Module in the Middle of the MECHATROLINK NetworkThe following diagram sho

2 Module Specifications and Connections2.1.3 Module Connections2-12( 3 ) Connections between Devices Cable Connections between the SVB-01 and I/O U

2.1 SVB-01 Module Specifications and Connections2-13 Cable Connections between the SVB-01 and SGD-N and SGDB-AN SERVOPACKs（Note) 1. The JEPMC-W

vi Related ManualsRefer to the following related manuals as required.Thoroughly check the specifications, restrictions, and other conditions of t

2 Module Specifications and Connections2.2.1 General Specifications2-142.2 SVA-01 Module Specifications and Connections2.2.1 General Specification

2.2 SVA-01 Module Specifications and Connections2-15Mechanical Operating ConditionsVibration ResistanceConforms to JIS B 3502.Vibration amplitude/acc

2 Module Specifications and Connections2.2.1 General Specifications2-16( 2 ) Function ListsThe following table provides a list of motion control fun

2.2 SVA-01 Module Specifications and Connections2-17( 3 ) Performance SpecificationsMotion FunctionsMotion CommandsPositioning, external positioning,

2 Module Specifications and Connections2.2.2 LED Indicators and Switch Settings2-182.2.2 LED Indicators and Switch Settings( 1 ) External Appearanc

2.2 SVA-01 Module Specifications and Connections2-192.2.3 Module ConnectionsThis section explains the connections for the SVA-01 Module.( 1 ) Connec

2 Module Specifications and Connections2.2.3 Module Connections2-20[ d ] Connection Procedure for 24-V Input CableUse a 0.2 mm2 to 0.51 mm2 (AWG24 t

2.2 SVA-01 Module Specifications and Connections2-21The following figure shows the pin names and assignments for connectors CN1 and CN2.Either 5 V or

2 Module Specifications and Connections2.2.3 Module Connections2-22[ g ] SERVOPACK Connection Cables for SGDA-S ModelNo standard cable is availa

2.2 SVA-01 Module Specifications and Connections2-23[ h ] SERVOPACK Connection Cables for SGDB- ModelNo standard cable is available. Prepare a cab

viiSafety InformationThe following conventions are used to indicate precautions in this manual. Failure to heed precautions provided in this manual ca

2 Module Specifications and Connections2.2.3 Module Connections2-24[ i ] SERVOPACK Connection Cables for SGDM/SGDH/SGDS-01/02 ModelJEPMC-W2

2.2 SVA-01 Module Specifications and Connections2-25 Cable Connections DiagramSGDM / SGDH / SGDSAO_0 (NREF)PALPCLAI_0 (VTG)0V DO_2 (PCON)DO_3+24VDI_

2 Module Specifications and Connections2.2.3 Module Connections2-26

3-13Motion Module SetupThis chapter explains the setup methods for the SVB-01, SVA-01, and SVR Modules. 3.1 SVB-01 Module Setup ...

3 Motion Module Setup3.1.1 Setup Methods3-23.1 SVB-01 Module SetupThis chapter explains the setup methods for the SVB-01 Module. 3.1.1 Setup Metho

3.1 SVB-01 Module Setup3-33.1.2 Self-configurationSelf-configuration automatically recognizes all the MP2200/MP2300 Optional Modules (including the

3 Motion Module Setup3.1.2 Self-configuration3-4 Example for the MP2200Self-configuration Execution MethodThe following two methods are available:

3.1 SVB-01 Module Setup3-5( 2 ) MECHATROLINK Transmission Definitions Self-configuration collects MECHATROLINK transmission definition data and slave

3 Motion Module Setup3.1.2 Self-configuration3-6[ a ] Common Setting Items (Note)1. The hardware switch has priority for the master/slave setting.

3.1 SVB-01 Module Setup3-7 MECHATROLINK-II (17-byte Mode)• Master* If the communication cycle is 0.5 ms, the maximum number of retry stations is 5.

viiiSafety PrecautionsThe following precautions are for checking products on delivery, storage, transportation, installation, wiring, operation, m

3 Motion Module Setup3.1.2 Self-configuration3-8 MECHATROLINK-II (32-byte Mode)• Master* If the communication cycle is 0.5 ms, the maximum number

3.1 SVB-01 Module Setup3-9MECHATROLINK Transmission Definitions for SVB in MP2300 CPUThe MECHATROLINK transmission definition is automatically set a

3 Motion Module Setup3.1.2 Self-configuration3-10( 3 ) Automatically Setting Motion ParametersThe motion parameters for each axis are set using self

3.1 SVB-01 Module Setup3-11 SVB-01 Module to SERVOPACK (Note)1. The default settings are written if the axis is not set. 2. When the axis has been s

3 Motion Module Setup3.1.3 Module Configuration Definitions3-12（Note）The above set values are written to the SERVOPACK’s RAM, except for Reverse Lat

3.1 SVB-01 Module Setup3-13( 2 ) Module Configuration Definition Settings[ a ] Setting ItemsThe setting names and details for the Module configuratio

3 Motion Module Setup3.1.3 Module Configuration Definitions3-14[ d ] Ending the Module Configuration DefinitionsSelect File − Close from the menus t

3.1 SVB-01 Module Setup3-15[ c ] MECHATROLINK Definition Settings Transmission Parameters Tab PageThis tab sets the parameters required to use the M

3 Motion Module Setup3.1.3 Module Configuration Definitions3-16* 3. In the MECHATROLINK-II, the Number of slaves varies depending on the settings fo

3.1 SVB-01 Module Setup3-172. Deleting I/O AssignmentsDelete the allocation data for one station at a time using the following procedure.a) To delete

ix Storage and Transportation Installation• Do not store or install the MP2200/MP2300 in the following locations.There is a risk of fire, electrica

3 Motion Module Setup3.1.3 Module Configuration Definitions3-18 Status Tab PageThe Status Tab Page displays the data that is currently being transm

3.1 SVB-01 Module Setup3-19( 4 ) SVB DefinitionsThis section explains the method used to set the motion parameters for each axis. [ a ] SVB Definitio

3 Motion Module Setup3.1.3 Module Configuration Definitions3-20[ b ] SVB Definitions MenusThese menus can be used only in the SVB Definitions Window

3.1 SVB-01 Module Setup3-21 Update Current ValueThis function is enabled only for servo parameters. Current values are not automatically updated whe

3 Motion Module Setup3.1.3 Module Configuration Definitions3-22 Set Up Parameters Tab PageSet the parameters required for motion control on the Set

3.1 SVB-01 Module Setup3-23 SERVOPACK Tab PageSet the SERVOPACK parameters required for motion control on the SERVOPACK Tab Page. • Refer to each S

3 Motion Module Setup3.1.3 Module Configuration Definitions3-24 Monitor Tab PageThe Monitor Tab Page displays the current values of the motion para

3.1 SVB-01 Module Setup3-25[ d ] Saving, Deleting, and Closing the SVB Motion ParametersRefer to ( 2 ) Module Configuration Definition Settings under

3 Motion Module Setup3.2.1 Setup Method3-263.2 SVA-01 Module SetupThis chapter explains the setup methods for the SVA-01 Module. 3.2.1 Setup Metho

3.2 SVA-01 Module Setup3-27( 1 ) Module Configuration DefinitionsThe following diagram shows a sample Module configuration definition achieved by ins