Yaskawa MP920 Motion Module Manual de usuario

YASKAWA MANUAL NO. SIEZ-C887-2.5CYASKAWAUSER'S MANUALMachine Controller MP920Motion Module

x GeneralAlways note the following to ensure safe use.• MP920 was not designed or manufactured for use in devices or systems directly related to

2 Motion Control2.4.7 Fixed Speed Feed (FEED)2-742.4.7 Fixed Speed Feed (FEED) OverviewThis command performs rapid traverse in the infinite length

2.4 Position Control Using Motion Commands2-752The axis performs fixed speed feed using the specified motion parameter.Fixed speed feed cannot be tem

2 Motion Control2.4.7 Fixed Speed Feed (FEED)2-76 User Program Example: Fixed Speed FeedExample of RUN OperationLadder Logic Program ExampleFig. 2.

2.4 Position Control Using Motion Commands2-7722.4.8 Fixed Length Feed (STEP) OverviewThis command positions the axis at rapid traverse speed in the

2 Motion Control2.4.8 Fixed Length Feed (STEP)2-78The axis performs positioning using the specified motion parameter. Even during fixed length feed

2.4 Position Control Using Motion Commands2-7926. Once positioning has been completed, clear the fixed length feed motion command.Note: Fixed length

2 Motion Control2.4.8 Fixed Length Feed (STEP)2-80Ladder Logic Program ExampleThe example in the above illustration has been greatly simplified. In

2.4 Position Control Using Motion Commands2-8122.4.9 Zero Point Setting (ZSET) OverviewWhen the zero point setting is executed, the current position

2 Motion Control2.4.9 Zero Point Setting (ZSET)2-823. Set the zero point setting (ZSET = 9) in the motion command code (OW20).Note: Servo ON (bit

3-133Motion Module Allocations and SetupThis chapter describes how to set Motion Module configuration definitions and individual Module definitions.3.

xiCONTENTSUsing this Manual- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iiiSafety Information - - - - - - - - - - -

3 Motion Module Allocations and Setup3.1.1 Motion Module Allocation Method3-23.1 Allocations and Configuration DefinitionsThis section describes the

3.1 Allocations and Configuration Definitions3-33 Defining the Module ConfigurationAfter using the Module Definition Window to define the Modules to

3 Motion Module Allocations and Setup3.1.2 Setting Module Definitions3-43.1.2 Setting Module DefinitionsSet the Module types, control CPU numbers, c

3.1 Allocations and Configuration Definitions3-53Cir No (Circuit Number)For Motion Modules, circuit numbers are treated as Module numbers. When using

3 Motion Module Allocations and Setup3.1.3 Saving Module Definitions3-63.1.3 Saving Module DefinitionsSave the module configuration data after makin

3.2 Individual Module Definitions3-733.2 Individual Module DefinitionsThis section describes MECHATROLINK definitions and motion parameter settings a

3 Motion Module Allocations and Setup3.2.1 MECHATROLINK Definitions3-8When the MECHATROLINK Definition Window is initially opened, clicking the I/O

3.2 Individual Module Definitions3-93Assignment ExampleIn the following example, SGD-***N is assigned to stations 01 to 04, and JEPMC-IO300 is assign

3 Motion Module Allocations and Setup3.2.2 Setting Motion Parameters3-103.2.2 Setting Motion ParametersMotion parameters must be specified separatel

3.2 Individual Module Definitions3-113 Saving Motion ParameterUse the following procedure to save motion parameters.1. Select File (F) and then Save

xii3 Motion Module Allocations and Setup3.1 Allocations and Configuration Definitions - - - - - - - - - - - - - - 3-23.1.1 Motion Module Allo

3 Motion Module Allocations and Setup3.2.2 Setting Motion Parameters3-12 Monitoring ParametersThe monitoring parameters are the registers reference

4-144ParametersThis chapter describes the procedure for setting the parameters needed to run the MP920.4.1 Overview of Parameters - - - - - - - - -

4 Parameters4.1.1 Parameter Classifications4-24.1 Overview of ParametersThis section outlines the parameters critical to Module motion functions. Th

4.1 Overview of Parameters4-34 Editing ParametersThe following table describes the procedures used to create, edit, or change parameters.4.1.2 Modul

4 Parameters4.1.2 Modules and Motion Parameter Registers4-4The following table summarizes the above information.The number of controlled axes per Mo

4.2 Parameter List by Module4-544.2 Parameter List by ModuleThis section describes the meaning and availability of each parameter according to the mo

4 Parameters4.2.1 Motion Fixed Parameters4-67 Rated Motor Speed Setting(NR)1 to 32000(Default = 3000)1 = 1 min-1√√√√8 Number of Feed-back Pulses Per

4.2 Parameter List by Module4-7414 Additional Func-tion Selections (AFUNCSEL)(cont’d)Bit 9 Selection for Feedback Pulses per Motor Rotation for High-

4 Parameters4.2.1 Motion Fixed Parameters4-818 Number of Digits Below Decimal Point (DECNUM)0 to 5(Default = 3)Sets the number of digits right of th

4.2 Parameter List by Module4-94Note: √: Available, −: Not available33Number of Feed-back Pulses Per Rotation(For simulation)1 to 231-1(Default = 200

xiii6.2 SVB-01 Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-166.2.1 Motion Fixed Parameters - - - - - - - - - - - - - - -

4 Parameters4.2.2 Motion Setting Parameters4-104.2.2 Motion Setting ParametersMotion setting parameters serve as instructions to Motion Modules. The

4.2 Parameter List by Module4-1142 RUN Command Settings (SVRUNCMD)(cont’d)OW01 Bit 11: EMRST Emergency Stop and Deceleration Stop Signal Reset−−−√B

4 Parameters4.2.2 Motion Setting Parameters4-1215 Positioning Completed Range Setting (PEXT)OW0E 0 to 65535(Absolute value)(Default = 10)1 = 1 ref

4.2 Parameter List by Module4-13429 Speed Limit Setting(NLIM)OW1C -32768 to 32767(Default = 15000)1 = 0.01%(15000 = 150.00%)−√−−30 Speed Loop Gain(

4 Parameters4.2.2 Motion Setting Parameters4-1433 Motion Command Code (MCMDCODE)(cont’d)OW20 0 to 65535(Default = 0)20: AMHIST_MON Monitor current

4.2 Parameter List by Module4-15435 Rapid Traverse Speed(RV)OL220 to 231 -1(Default = 3000)1 = 10n reference units/min (n = Number of digits below

4 Parameters4.2.2 Motion Setting Parameters4-1647 Workpiece Coor-dinate System Offset(OFFSET)OL2E-231 to 231-1(Default = 0)1 = 1 reference unit 1

4.2 Parameter List by Module4-174* Available for SERVOPACK SGDH+NS100 only.Note: √: Available, −: Not available59 Upper-place Two Words of the Encod

4 Parameters4.2.3 Motion Monitoring Parameters4-184.2.3 Motion Monitoring ParametersMotion monitoring parameters are parameters reported by Motion M

4.2 Parameter List by Module4-1949 Machine Coor-dinate System Feedback Posi-tion (APOS)IL08-231 to 231-11 = 1 reference unit(1 = 1 pulse for pulse

xiv9.3 Software Limit Function - - - - - - - - - - - - - - - - - - - - - - - - - 9-169.3.1 Overview- - - - - - - - - - - - - - - - - - - - - -

4 Parameters4.2.3 Motion Monitoring Parameters4-2024 Position Control Status(POSSTS)IW17 Bit 0: MLKL Machine Locked√√√√Bit 1: ZERO Zero Point Posi

4.2 Parameter List by Module4-21435 Alarms (ALARM)(cont’d)IL22 Bit 11: ZSET_NRDYZero Point Not Set√√√−Bit 12: ZSET_MOVZero Point Set during Travel−

4 Parameters4.2.3 Motion Monitoring Parameters4-22Note: √: Available, −: Not available43 Position Refer-ence Output Monitor(XREFMON)IL2A-231 to 23

5-155SVA Module Specifications andHandlingThis chapter describes the specifications and handling of the SVA Modules.5.1 SVA-01A Module - - - - - - -

5 SVA Module Specifications and Handling5.1.1 Hardware Specifications5-25.1 SVA-01A ModuleThis section describes the specifications and handling of

5.1 SVA-01A Module5-35* The SVA-01A Module does not support brake control and does not have the registers for brake control (OW). The brake cont

5 SVA Module Specifications and Handling5.1.2 Handling5-4 LED IndicatorThe STATUS indicator is a 7-segment LED indicator that displays the RUN/erro

5.1 SVA-01A Module5-55Serious fault A two-digit error code appears following F. Examples: F → 0 → 1: Watchdog time overF → 0 → 2: Synchronization err

5 SVA Module Specifications and Handling5.1.2 Handling5-6 Servo Connectors (CN1 to CN4) External Interface Connector Connector SpecificationsThe

5.1 SVA-01A Module5-75 Connector Pin Layout (CN1 to CN4)The pin layout of the CN1 to CN4 connectors are shown below.Note: Although the connector ori

1-111Overview of Motion ModulesThis chapter provides an overview of the Motion Modules and describes their features.1.1 Module Overview and Features

5 SVA Module Specifications and Handling5.1.2 Handling5-8The following table shows the names and functions of the pins of the CN1 to CN4 connec-tors

5.1 SVA-01A Module5-95 Connector Pin Layout (CN5)The pin layout of the CN5 connector is shown below.50492524262712CN5 50-pin ConnectorPin Layout on

5 SVA Module Specifications and Handling5.1.2 Handling5-10The following table shows the name and function of the CN5 connector pins.Pin Signal NameF

5.1 SVA-01A Module5-115 Standard CablesThe following standard cables are available for use with the 4-axis Servo Module (SVA-01A). Use these cables

5 SVA Module Specifications and Handling5.1.2 Handling5-12 SGDA-S SERVOPACK Connecting CablesModelsJEPMC-W6040-05: 0.5 mJEPMC-W6040-10: 1.0 mJEP

5.1 SVA-01A Module5-135Example of Connections to SGDA-S SERVOPACK470Ω4.7kΩ680ΩTo external I/F(CN5) BRK OUTFromexternal I/FAnalog outputPulse input

5 SVA Module Specifications and Handling5.1.2 Handling5-14 SGDB/SGDM/SGDS SERVOPACK Connecting CablesModelsJEPMC-W6050-05: 0.5 mJEPMC-W6050-10: 1.0

5.1 SVA-01A Module5-155Example of Connections to SGDB-/SGDM/SGDS SERVOPACKConnection Example Using JEPMC-W6050- Cables470Ω4.7kΩ680ΩAnalog outputP

5 SVA Module Specifications and Handling5.1.2 Handling5-16The following SERVOPACK parameters must be set to use brake signals.• Specify whether to

5.1 SVA-01A Module5-175Example of Connections to External DevicesBAT0BAT0V+24VOTFOTRDECZEROEXTRI0VBRKRO+24VOTFOTRDECZEROEXTRI0VBRKRO+24VOTFOTRDECZERO

1 Overview of Motion Modules1.1.1 Motion Modules1-21.1 Module Overview and FeaturesThis section provides an overview of the Motion Modules and descr

5 SVA Module Specifications and Handling5.1.2 Handling5-18 Connection of SERVOPACK and ServomotorUse the special cable and encoder cable to connect

5.1 SVA-01A Module5-195Connection with SGDB SERVOPACKSW1L.RSTRUNINITTESTMULTIFLASHM.RSTONOFFON12345678PORT2PORT1CN1RLY OUTBATTERYRDYPRT1RUNALMERRBAT

5 SVA Module Specifications and Handling5.1.2 Handling5-20Connection with Single-phase SGDM SERVOPACKEncoder cableSW1L.RSTRUNINITTESTMULTIFLASHM.RST

5.1 SVA-01A Module5-215Connection with Three-phase SGDM SERVOPACKEncoder cableSW1L.RSTRUNINITTESTMULTIFLASHM.RSTONOFFON12345678PORT2PORT1CN1RLY OUTB

5 SVA Module Specifications and Handling5.1.2 Handling5-22Connection with Single-phase SGDS SERVOPACKEncoder cableSW1L.RSTRUNINITTESTMULTIFLASHM.RST

5.1 SVA-01A Module5-235Connection with Three-phase SGDS SERVOPACKEncoder cableSW1L.RSTRUNINITTESTMULTIFLASHM.RSTONOFFON12345678PORT2PORT1CN1RLY OUTB

5 SVA Module Specifications and Handling5.2.1 Hardware Specifications5-245.2 SVA-02A ModuleThis section describes the specifications and handling of

5.2 SVA-02A Module5-2555.2.2 HandlingThe following illustration shows the appearance of the SVA-02A Module.LED indicatorServo connectorCN1Servo conne

5 SVA Module Specifications and Handling5.2.2 Handling5-26 LED IndicatorThe STATUS indicator is a 7-segment LED indicator that displays the RUN/err

5.2 SVA-02A Module5-275Serious fault A two-digit error code appears following “F.”Examples: F →  → 1F → 0 → 1: Watchdog time overF → 0 → 2: Synchron

1.1 Module Overview and Features1-311.1.2 SVA-01A Module Overview of the SVA-01A ModuleThe SVA-01A Module is a Motion Control Module with analog out

5 SVA Module Specifications and Handling5.2.2 Handling5-28 Servo Connectors (CN1 and CN2)j 24 V Input Connector (CN3)Connect the +24 VDC Servo I/O

5.2 SVA-02A Module5-295 Procedure for Preparing 24 V Input CableUse a twisted-pair cable with a wire size of AWG#24 to AWG#20 (0.2 to 0.51 mm2) to c

5 SVA Module Specifications and Handling5.2.2 Handling5-30 Connector Pin Layout (CN1 and CN2)The pin layout of the CN1 and CN2 connectors are shown

5.2 SVA-02A Module5-315The following table shows the name and function of the pins of the CN1 and CN2 connec-tors.Both 5 V and 24 V can be used for t

5 SVA Module Specifications and Handling5.2.2 Handling5-32 Standard CablesThe following standard cables are available for use with the 2-axis Servo

5.2 SVA-02A Module5-335Cable Connection Diagram12345678910111215161718192021222324252627282930313233343536FG232021242543515133465292822231814FGGND/GN

5 SVA Module Specifications and Handling5.2.2 Handling5-34Example of Connections to SGDA-S SERVOPACKConnection Example Using JEPMC-W6070- Cable

5.2 SVA-02A Module5-355 SGDB-/SGDM/SGDS SERVOPACK Connecting CablesModelsJEPMC-W6071-05: 0.5 mJEPMC-W6071-10: 1.0 mJEPMC-W6071-30: 3.0 mAppearance

5 SVA Module Specifications and Handling5.2.2 Handling5-36Example of Connections to SGDB-/SGDM/SGDS SERVOPACKsConnection Example Using JEPMC-W6071

5.2 SVA-02A Module5-375 Connection of SERVOPACK and ServomotorUse the special cable and encoder cable to connect the SERVOPACK and Servomotor.Connec

1 Overview of Motion Modules1.1.3 SVA-02A Module1-4 Features of the SVA-01A Module• Analog-output 4-axis Servo Module• Independent position contr

5 SVA Module Specifications and Handling5.2.2 Handling5-38Connection with SGDB SERVOPACK3CN4CN6CNOPERATORSERVOPACKSGDB-15ADPOWERALARM5CN1SW1CN2CNCHA

5.2 SVA-02A Module5-395Connection with Single-phase SGDM SERVOPACKEncoder cableTo 1CN or 2CNSGDM SERVOPACK (single-phase)RTNoise filterPower supplyse

5 SVA Module Specifications and Handling5.2.2 Handling5-40Connection with Three-phase SGDM SERVOPACKTo 1CN or 2CNSGDM SERVOPACK (three-phase)UVWETo

5.2 SVA-02A Module5-415Connection with Single-phase SGDS SERVOPACKEncoder cableTo 1CN or 2CNSGDS SERVOPACK (single-phase)RTNoise filterPower supplyse

5 SVA Module Specifications and Handling5.2.2 Handling5-42Connection with Three-phase SGDS SERVOPACKTo 1CN or 2CNSGDS SERVOPACK (three-phase)UVWETo

5.3 Differences between SVA-01A and SVA-02A Modules5-4355.3 Differences between SVA-01A and SVA-02A ModulesThis section describes differences between

5 SVA Module Specifications and Handling5.3.2 Differences in Servo Connectors5-445.3.2 Differences in Servo ConnectorsThe following table shows diff

5.3 Differences between SVA-01A and SVA-02A Modules5-455(cont’d)Pin Signal NameSVA-01A SVA-02A Pin Signal NameSVA-01A SVA-02A19 SG Ground (for SEN si

5 SVA Module Specifications and Handling5.3.3 Differences in External I/O Signals5-465.3.3 Differences in External I/O SignalsEach signal of the CN5

5.3 Differences between SVA-01A and SVA-02A Modules5-4755.3.4 Precautions on Connecting the SVA-02A ModuleObserve the following precautions when conn

1.1 Module Overview and Features1-51 Features of the SVA-02A Module• Analog-output 2-axis Servo Module• Independent position control, speed refere

5 SVA Module Specifications and Handling5.3.5 Connection with SGDA-S SERVOPACK5-485.3.5 Connection with SGDA-S SERVOPACK SVA-01A ModuleSERVOP

5.3 Differences between SVA-01A and SVA-02A Modules5-495The following signal terminals connected to external I/O connectors are connected to the serv

5 SVA Module Specifications and Handling5.3.5 Connection with SGDA-S SERVOPACK5-50 SVA-02A ModuleRWVUT1CNSG SG 1 2NREFV-REF 2 3PA PAO 320PAL /PA

5.3 Differences between SVA-01A and SVA-02A Modules5-515The following signals for the SVA-02A Module are different from those for the SVA-01A Module.

5 SVA Module Specifications and Handling5.4.1 Motion Fixed Parameters5-525.4 SVA-01A and SVA-02A ParametersThis section details various parameters u

5.4 SVA-01A and SVA-02A Parameters5-5355 Pulse Counting Mode Selection (PULMODE)Set the pulse counting method. Set one of the following seven modes t

5 SVA Module Specifications and Handling5.4.1 Motion Fixed Parameters5-5414 Additional Function Selections(AFUNCSEL)Set additional functions, such a

5.4 SVA-01A and SVA-02A Parameters5-55516 Simulation Mode Selection (SIMULATE)0: Normal operation mode1: Simulation mode2: Factory adjustment modeNor

5 SVA Module Specifications and Handling5.4.1 Motion Fixed Parameters5-5617 Bit 6 Backlash Compensa-tion Enabled Selec-tion (USE_BKRSH)Set whether o

5.4 SVA-01A and SVA-02A Parameters5-57519 Travel Distance Per Machine Rotation (PITCH)Set the load travel distance (reference unit) per load axis rot

Copyright © 1999 YASKAWA ELECTRIC CORPORATIONAll rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or tra

1 Overview of Motion Modules1.1.4 SVB-01 Module1-61.1.4 SVB-01 Module Overview of the SVB-01 ModuleThe SVB-01 Module has a single MECHATROLINK conn

5 SVA Module Specifications and Handling5.4.1 Motion Fixed Parameters5-5823 Infinite Length Axis Reset Position (POSMAX)Set the reset position for a

5.4 SVA-01A and SVA-02A Parameters5-595The following zero point return methods are available. 0: DEC 1 + Phase-C PulseThis method has three speed le

5 SVA Module Specifications and Handling5.4.1 Motion Fixed Parameters5-60 3: Phase-C PulseThis method uses just the Phase-C pulse of the Servomotor

5.4 SVA-01A and SVA-02A Parameters5-615 7: DEC 1 + LMT + Phase-C PulseThis method gets the current position from the forward/reverse LMT signal and

5 SVA Module Specifications and Handling5.4.2 Motion Setting Parameters5-625.4.2 Motion Setting Parameters Supplemental Explanation 11. The priorit

5.4 SVA-01A and SVA-02A Parameters5-635b) Torque Reference Output ModeIf the RUN signal turns OFF, 0 is output immediately as the speed reference, OF

5 SVA Module Specifications and Handling5.4.2 Motion Setting Parameters5-64* These bits can be used in various applications because they are genera

5.4 SVA-01A and SVA-02A Parameters5-655 Supplemental Explanation 21. SVA-01A (4-axis Servo) Module2. SVA-02A (2-axis Servo) ModuleRefer to 5.1 SVA-

5 SVA Module Specifications and Handling5.4.2 Motion Setting Parameters5-66Table 5.6 Motion Setting Parameters (cont’d)No. Name RegisterNumberSetti

5.4 SVA-01A and SVA-02A Parameters5-6752 RUN Refer-ence Settings (SVRUNCMD)(cont’d)Bit 14 Speed Reference Type (XREFTYPE)Set the type of data for OL

1.1 Module Overview and Features1-71 Features of the SVB-01 Module• By using the MECHATROLINK high-speed field network interface, up to 14 axes can

5 SVA Module Specifications and Handling5.4.2 Motion Setting Parameters5-68 Supplemental Explanation 31. Procedure for Using the Zero Point Offseta

5.4 SVA-01A and SVA-02A Parameters5-695 OLC006 - DL00022 ⇒ OLC006Open the Register List Window and set DL00022 to 120 from the MP920 Pro-gramming Pan

5 SVA Module Specifications and Handling5.4.2 Motion Setting Parameters5-70Table 5.6 Motion Setting Parameters (cont’d)No. Name RegisterNumberSetti

5.4 SVA-01A and SVA-02A Parameters5-715 Acceleration/Deceleration TypeAcceleration/deceleration is broadly classified as linear, S-curve and exponen

5 SVA Module Specifications and Handling5.4.2 Motion Setting Parameters5-72Table 5.6 Motion Setting Parameters (cont’d)No. Name RegisterNumberSetti

5.4 SVA-01A and SVA-02A Parameters5-73519 Position Refer-ence Setting (XREF) or Position Buffer NumberOL12-231 to 231-1Set the position reference.

5 SVA Module Specifications and Handling5.4.2 Motion Setting Parameters5-7422 Speed Refer-ence Setting (NREF)OW15 -32768 to 32767 Speed Reference

5.4 SVA-01A and SVA-02A Parameters5-75529 Speed Limit Setting (NLIM)OW1C -32768 to 32767 Set the speed limit in 0.01% units in Torque Reference Out

5 SVA Module Specifications and Handling5.4.2 Motion Setting Parameters5-7634 Motion Com-mand Control Flags(MCMDCTRL)OW21 Set motion command auxil

5.4 SVA-01A and SVA-02A Parameters5-77534 Motion Com-mand Control Flag (MCMDCTRL) (cont’d)Bit 13 Forward Limit Signal for Zero Point Return (LMT_R)Th

1 Overview of Motion Modules1.1.5 PO-01 Module1-81.1.5 PO-01 Module Overview of the PO-01 ModuleThe PO-01 Module is a Motion Control Module with pu

5 SVA Module Specifications and Handling5.4.2 Motion Setting Parameters5-7843 Zero Point Re-turn Final Travel Distance (ZRNDIST)OL2A-231 to 231-1T

5.4 SVA-01A and SVA-02A Parameters5-79546 Position Con-trol Flags (POSCTRL)(cont’d)Bit 1 Request for the Preset Number of POSMAX Turns (TPRSREQ)Reque

5 SVA Module Specifications and Handling5.4.2 Motion Setting Parameters5-8052 Zero Point Po-sition Output Width(PSETWIDTH)OW33 0 to 65535 Used whe

5.4 SVA-01A and SVA-02A Parameters5-81557 Lower-place Two Words of Encoder Posi-tion at Shut-down or Position Buffer Access NumberOL38-231 to 231-1

5 SVA Module Specifications and Handling5.4.2 Motion Setting Parameters5-8261 Lower-place Two Words of Pulse Position at Shutdown (aposL)OL3C-231

5.4 SVA-01A and SVA-02A Parameters5-8355.4.3 Motion Monitoring ParametersTable 5.7 Motion Monitoring Parameters No. Name RegisterNumberSetting Range

5 SVA Module Specifications and Handling5.4.3 Motion Monitoring Parameters5-841 RUN Status (RUNSTS)(ccont’d)Bit 7 Motion Control-ler RUN Ready (SVCR

5.4 SVA-01A and SVA-02A Parameters5-8552 General-pur-pose DI Monitor (SVSTS)IW01 Monitors the status of input signals or general-purpose DI signals

5 SVA Module Specifications and Handling5.4.3 Motion Monitoring Parameters5-86 Supplemental Explanation 41. The following example shows when these

5.4 SVA-01A and SVA-02A Parameters5-875* 1. DI Latch Request = operating mode (OW00, bit 3)* 2. DI Latch Completed Signal = operating status (IW

1.2 System Configuration1-911.2 System Configuration1.2.1 System Configuration ExamplesThe MP920 Motion Modules are available with analog outputs, pu

5 SVA Module Specifications and Handling5.4.3 Motion Monitoring Parameters5-889 Machine Coor-dinate System Feedback PositionIL08-231 to 231-1Indic

5.4 SVA-01A and SVA-02A Parameters5-89522 Motion Com-mand Status (MCMDSTS)(cont’d)Bit 1 Command Hold Completed Flag (HOLDL)Turns ON when a HOLD is co

5 SVA Module Specifications and Handling5.4.3 Motion Monitoring Parameters5-9024 Position Con-trol Status (POSSTS)(cont’d)Bit 4 Preset Request for N

5.4 SVA-01A and SVA-02A Parameters5-91535 Alarms (ALARM)(cont’d)Bit 3 Positive Software Limit (SOTF)Va l i d i f I B156: Zero Point Return Comple

5 SVA Module Specifications and Handling5.4.3 Motion Monitoring Parameters5-9237 Servo Driver Alarm Code (SVALARM)IW24 -32768 to 32767 Indicates t

5.4 SVA-01A and SVA-02A Parameters5-93557 Lower-place 2 Words of Encoder Posi-tion at ShutdownIL38-231 to 231-1These parameters are used for ABS sy

6-166SVB Module Specifications andHandlingThis chapter describes the specifications and handling of the SVB-01 Module.6.1 SVB-01 Module - - - - - -

6 SVB Module Specifications and Handling6.1.1 Hardware Specifications6-26.1 SVB-01 ModuleThis section describes the specifications and handling of t

6.1 SVB-01 Module6-366.1.2 HandlingThe following illustration shows the appearance of the SVB-01 MECHATROLINK Inter-face Module. LED Indicator 1The

6 SVB Module Specifications and Handling6.1.2 Handling6-4Normal operationOne of servo numbers 1 to 16 will be displayed. The Servo Modules is operat

1 Overview of Motion Modules1.3.1 General Specifications1-101.3 SpecificationsThis section gives an overview of the specifications and functions of

6.1 SVB-01 Module6-56 LED Indicator 2The TRX indicator displays the communications status of the SVB-01 Module. MECHATROLINK Connector (CN1) Conne

6 SVB Module Specifications and Handling6.1.2 Handling6-6 CN1 ConnectionThe right and left CN1 connector ports are identical. The cable end can be

6.1 SVB-01 Module6-76Note: 1. The JEPMC-6010- has one USB connector. For 1: N cable connections, the user is required to prepare cables with MR con

6 SVB Module Specifications and Handling6.1.2 Handling6-8MECHATROLINK CablesUSB TerminatorFig. 6.1 USB Terminator Connection DiagramModel: JEPMC-W6

6.1 SVB-01 Module6-96 SVB-01 System ConfigurationThe connector on the SVB-01 Module has two ports, but it provides a MECHATROLINK port for only one

6 SVB Module Specifications and Handling6.1.2 Handling6-10 SVB-01 Module ConnectionsConnection of IO350 Unit• Use a standard cable (JEPMC-W6000-A3

6.1 SVB-01 Module6-116Connection of Multiple MECHATROLINK SERVOPACKs1. SGD-N SERVOPACKsTo connect MECHATROLINK SERVOPACKs to an SVB-01 Module, the

6 SVB Module Specifications and Handling6.1.2 Handling6-122. SGDH-E + JUSP-NS100 SERVOPACKsNote: Use the above system under the condition L1 + L2

6.1 SVB-01 Module6-136 Connection of SERVOPACK and ServomotorUse dedicated cables and encoder cables to connect a SERVOPACK to a Servomotor.Connecti

6 SVB Module Specifications and Handling6.1.2 Handling6-14Connection with SGDB-N SERVOPACK3CN4CN6CNOPERATORSERVOPACKSGDB-15ADPOWERALARM5CN1SW1CN2

1.3 Specifications1-1111.3.2 Function ListsTable 1.2 lists the motion control function specifications for the MP920.Table 1.2 MP920 Motion Control F

6.1 SVB-01 Module6-156Connection with SGDH-E + JUSP-NS100 SERVOPACKNS100L1L2L1CL2CUVWSW1L.RSTRUNINITTESTMULTIFLASHM.RSTON OFFON12345678PORT2PORT1C

6 SVB Module Specifications and Handling6.2.1 Motion Fixed Parameters6-166.2 SVB-01 Parameters6.2.1 Motion Fixed ParametersMotion fixed parameters c

6.2 SVB-01 Parameters6-17617 Motion Controller Function Selection Flags (SVFUNCSEL)Set whether a function is enabled or disabled when a motion comman

6 SVB Module Specifications and Handling6.2.1 Motion Fixed Parameters6-1817 Bit 9 Override Selection (USE-OV)Set whether or not to use the override

6.2 SVB-01 Parameters6-19621 Servomotor Gear Ratio (GEAR_MOTOR)These parameters determine the gear ratio between the motor and the load.The following

6 SVB Module Specifications and Handling6.2.1 Motion Fixed Parameters6-2027 Positive Software Limit (SLIMP)Set the positions at which the software l

6.2 SVB-01 Parameters6-216The following sections describe the zero point return methods. 0: DEC 1 + Phase-C PulseThis method has three speed levels.

6 SVB Module Specifications and Handling6.2.1 Motion Fixed Parameters6-22 2: DEC 1 + Zero SignalIn place of the Phase-C pulse of the DEC 1 + Phase-

6.2 SVB-01 Parameters6-2366.2.2 Motion Setting Parameters The SVB-01 Module allows position control mode only. Therefore, do not set this parameter

6 SVB Module Specifications and Handling6.2.2 Motion Setting Parameters6-24Table 6.3 Motion Setting Parameters (cont’d)No. Name RegisterNumberSett

1 Overview of Motion Modules1.3.2 Function Lists1-12Note: Yes: Can be controlled, No: Cannot be controlled.Applicable SERVOPACKs and Inverters SERVO

6.2 SVB-01 Parameters6-256 Supplemental Explanation1. Procedure for Using the Zero Point Offseta) Applications where Absolute Encoder Rotates in One

6 SVB Module Specifications and Handling6.2.2 Motion Setting Parameters6-26• PreconditionsInitialize the absolute encoder (short R-S), restart the

6.2 SVB-01 Parameters6-276Table 6.3 Motion Setting Parameters (cont’d)No. Name RegisterNumberSetting Range/Bit NameDescription Factory Setting8 to

6 SVB Module Specifications and Handling6.2.2 Motion Setting Parameters6-28 Acceleration/Deceleration TypeAcceleration/deceleration is broadly clas

6.2 SVB-01 Parameters6-296Table 6.3 Motion Setting Parameters (cont’d)No. Name RegisterNumberSetting Range/Bit NameDescription Factory Setting15 to

6 SVB Module Specifications and Handling6.2.2 Motion Setting Parameters6-3021 Filter Time Constant Setting (NNUM)OW14 • Average move filter 0 to 5

6.2 SVB-01 Parameters6-31633 Motion Com-mand Code (MCMDCODE)OW20 0 to 65535 Set the motion command code to the SVB Modules. This parameter can be u

6 SVB Module Specifications and Handling6.2.2 Motion Setting Parameters6-3234 Motion Com-mand Control Flags(MCMDCTRL)OW21 Set motion command auxil

6.2 SVB-01 Parameters6-33635 Rapid Traverse Speed (RV)OL220 to 231-1 Set the rapid traverse speed in 10n reference units/min (n: Number of digits b

6 SVB Module Specifications and Handling6.2.2 Motion Setting Parameters6-3446 Position Con-trol Flags (POSCTRL)OW2D Set the functions related to p

2-122Motion ControlThis chapter gives an overview of motion control and describes the motion commands.2.1 Overview of Motion Control - - - - - - - -

6.2 SVB-01 Parameters6-35646 Position Control Flags (POSCTRL) (cont’d)Bits 12 to 15Servodriver User Monitoring Information Selection (USRMONSEL)These

6 SVB Module Specifications and Handling6.2.2 Motion Setting Parameters6-3654 Servo Driver Cn Constant No. (Cn_No.), Current Servo Driver Alarm Moni

6.2 SVB-01 Parameters6-37659 Upper-place Two Words of Encoder Position at Shutdown or Position Buffer Write DataOL3A-231 to 231-1This parameter is

6 SVB Module Specifications and Handling6.2.3 Motion Monitoring Parameters6-386.2.3 Motion Monitoring ParametersTable 6.4 Motion Monitoring Paramet

6.2 SVB-01 Parameters6-3963Calculated Position in Machine Coordinate System (CPOS)IL02-231 to 231-1Indicates the calculated position in a machine c

6 SVB Module Specifications and Handling6.2.3 Motion Monitoring Parameters6-4022 Motion Command Status (MCMDSTS)(cont’d)Bit 4 External Posi-tioning

6.2 SVB-01 Parameters6-41624 Position Control Status (POSSTS)(cont’d)Bits 12 to 15Servo Driver User Monitor Information Selection Response (USR-MONSE

6 SVB Module Specifications and Handling6.2.3 Motion Monitoring Parameters6-4235 Alarm (ALARM) (cont’d)Bit 4 Negative Software Limit (SOTR)Va l i d

6.2 SVB-01 Parameters6-43635 Alarm (ALARM) (cont’d)Bit 17 ABS Encoder Count Exceeded (ABSOVER)Turns ON when the absolute encoder count exceeds the ma

6 SVB Module Specifications and Handling6.2.3 Motion Monitoring Parameters6-4447 Calculated Reference Co-ordinate Sys-tem Position (POS)IL2E-231 t

2 Motion Control2.1.1 Motion Control for the MP9202-22.1 Overview of Motion ControlThis section describes the methods used for motion control and gi

6.2 SVB-01 Parameters6-4566.2.4 Σ Series SERVOPACK parameters List of ParametersNo. Name Size Units Range Factory SettingCn-0001 Memory switch 12bit

6 SVB Module Specifications and Handling6.2.4 Σ Series SERVOPACK parameters6-461. The maximum values shown in the tables differ according to the SE

6.2 SVB-01 Parameters6-476 Memory SwitchesThe following describes individual memory switch bits (bit parameters) from the list of SERVOPACK paramete

6 SVB Module Specifications and Handling6.2.4 Σ Series SERVOPACK parameters6-48Cn-002: Memory Switch 2Cn-002: The following table describes the bits

6.2 SVB-01 Parameters6-496Cn-0013: Memory Switch 3Cn-0013: The following table describes the bits in memory switch 3.* For details, refer to 7.3.3 C

6 SVB Module Specifications and Handling6.2.4 Σ Series SERVOPACK parameters6-50Cn-0014: Memory Switch 4Cn-0014: The following table describes the bi

6.2 SVB-01 Parameters6-516The motor to be used can be changed using the Cn-0037 parameter if it belongs to the same group.Table 6.5 Cn-0037: Motor S

6 SVB Module Specifications and Handling6.2.5 Σ-II Series SERVOPACK Parameters6-526.2.5 Σ-II Series SERVOPACK Parameters List of ParametersThe foll

6.2 SVB-01 Parameters6-536Gain-related Parameters (cont’d)Pn119 Reserved21/s 1 to 200050Pn11A 0.1% 1 to 20001000Pn11B2Hz 1 to 15050Pn11C2Hz 1 to 1507

6 SVB Module Specifications and Handling6.2.5 Σ-II Series SERVOPACK Parameters6-54Torque-related Parameters(cont’d)Pn406 Emergency Stop Torque2% 0 t

2.1 Overview of Motion Control2-32Name FeaturesSVA-01A • Analog-output 4-axis Servo Module• Independent position control, speed control, and phase co

6.2 SVB-01 Parameters6-556* 1. Do not change the multiturn limit except when using an absolute encoder for infinite length axis and for special appl

6 SVB Module Specifications and Handling6.2.5 Σ-II Series SERVOPACK Parameters6-56 Definition of Display for Function Selection ParametersEach digi

6.2 SVB-01 Parameters6-576 List of SwitchesThe following table shows the switches.Parameter No.Digit Place Name Setting Description Factory SettingP

6 SVB Module Specifications and Handling6.2.5 Σ-II Series SERVOPACK Parameters6-58Pn003Function Selection Application Switches 31st and 2nd Analog M

6.2 SVB-01 Parameters6-596Pn110Autotuning1st Online Autotuning Method Switches0Tunes only at the beginning of operationOnly at the beginning of opera

6 SVB Module Specifications and Handling6.2.5 Σ-II Series SERVOPACK Parameters6-60 Input Signal SelectionsThe following table shows the input signa

6.2 SVB-01 Parameters6-616 Output Signal SelectionsThe following table shows the output signal selections.Parameter No.Digit Place Name Setting Desc

6 SVB Module Specifications and Handling6.2.5 Σ-II Series SERVOPACK Parameters6-62* /WARN signal types: Overload, Regenerative overload, Communicat

6.2 SVB-01 Parameters6-636 Setting Parameters for MECHATROLINK CommunicationsThe following table shows the setting parameters for MECHATROLINK commu

6 SVB Module Specifications and Handling6.2.6 Relationship of SERVOPACK Parameters to SVB-01 Parameters6-646.2.6 Relationship of SERVOPACK Parameter

iiiUsing this ManualPlease read this manual to ensure correct usage of the MP920 system. Keep this manual in a safe place for future reference.  Over

2 Motion Control2.1.2 Motion Control Methods2-42.1.2 Motion Control MethodsBy using Motion Modules, motions for a wide variety of applications can b

6.2 SVB-01 Parameters6-656 Parameters Motion Programs Can WriteThe following SERVOPACK parameters can be written from a motion program. (SERVO-PACK

6 SVB Module Specifications and Handling6.2.6 Relationship of SERVOPACK Parameters to SVB-01 Parameters6-66 Parameters that Must Be the Same for SV

6.2 SVB-01 Parameters6-676 Parameters That Look Similar but Are DifferentThe SVB-01 parameter is used for zero point position output.SVB-01 SERVOPAC

7-177PO-01 Module Specification andHandlingThis chapter describes the specifications and handling of the PO-01 Module and explains the PO-01 parameter

7 PO-01 Module Specification and Handling7.1.1 Hardware Specifications7-27.1 PO-01 ModuleThis section describes the hardware specifications and hand

7.1 PO-01 Module7-377.1.2 HandlingThe following illustration shows the appearance of the PO-01 Module. LED IndicatorThe STATUS indicator is a 7-segm

7 PO-01 Module Specification and Handling7.1.2 Handling7-4Normal operationOne of servo numbers 1 to 16 will be displayed. The PO-01 Module is operat

7.1 PO-01 Module7-57 Pulse Output Connector 1 Pulse Output Connector 2Axis 1Abnormal • Motion setting parameter setting error (refer to IB00, bit

7 PO-01 Module Specification and Handling7.1.2 Handling7-6 Pulse Interface Connector SpecificationsThe following table shows the specifications of

7.1 PO-01 Module7-77 Connector Pin Layout (CN1)The pin layout of the CN1 connector is shown below.50492524262712CN1 50-pin ConnectorPin Layout on Wi

2.1 Overview of Motion Control2-522.1.3 Examples of Motion Control ApplicationsThe following illustrations show examples of the use of each control m

7 PO-01 Module Specification and Handling7.1.2 Handling7-8The following table shows the names and functions of the CN1 connector pins.Pin Signal Nam

7.1 PO-01 Module7-97 Connector Pin Layout (CN2)The pin layout of the CN2 connector is shown below.50492524262712CN2 50-pin ConnectorPin Layout on Wi

7 PO-01 Module Specification and Handling7.1.2 Handling7-10The following table shows the names and functions of the CN2 connector pins.Pin Signal Na

7.1 PO-01 Module7-117 External I/O CablesModelsJEPMC-W6060-05: 0.5 mJEPMC-W6060-10: 1.0 mJEPMC-W6060-30: 3.0 mAppearanceCable Connection DiagramL 15

7 PO-01 Module Specification and Handling7.1.2 Handling7-12 DO Output Circuit DI Input Circuit (DI-0)The DI-0 input circuit is isolated from the D

7.1 PO-01 Module7-137 DI Circuit Connection Method (DI1 to DI4)The positive terminals (DI-COM) of the DI-1 to DI-4 circuits are connected to the 24-

7 PO-01 Module Specification and Handling7.1.2 Handling7-14 PO-01 Module Connection ExampleNote: The pulse input and the digital input/output have

7.1 PO-01 Module7-157 DI-0 Connection ExamplesAs well as the 24 V power supply in the diagram above, the DI-0 can also be used when using a 5 V diff

7 PO-01 Module Specification and Handling7.2.1 Motion Control Functions7-167.2 FunctionsThis section describes PO-01 Module functions.7.2.1 Motion C

7.2 Functions7-177 Reference Pulse FormsReference pulses are either sign + pulse train (sign) or CW/CCW. Either form outputs a 5-V differential.Sign

2 Motion Control2.1.3 Examples of Motion Control Applications2-6 Phase ControlConveyor Synchronization Position ControlConveyorCoaterServomotorMP9

7 PO-01 Module Specification and Handling7.2.1 Motion Control Functions7-18 Maximum Pulse Output FrequencyThe reference pulse output from the PO-01

7.2 Functions7-1977.2.2 Motion Functions Motion CommandsThe motion control functions for the PO-01 Module include positioning (POSING), zero point r

7 PO-01 Module Specification and Handling7.2.2 Motion Functions7-20 Acceleration/Deceleration TypeAcceleration/deceleration is broadly classified a

7.2 Functions7-217ExponentialAcceleration/Deceleration• OW0CMotion setting parameter: Linear Acceleration Time Constant• OW0DMotion setting param

7 PO-01 Module Specification and Handling7.2.3 Program Example7-227.2.3 Program ExampleThis section shows an example of a simple user program. The p

7.2 Functions7-237 Programming ExampleThe user program shown in DWG.A was created to set the initial values shown in the figure below. The initial v

7 PO-01 Module Specification and Handling7.2.3 Program Example7-24The following is an extremely simplified programming example. In actual applicatio

7.2 Functions7-2577.2.4 Out-of-step Detection Module Configuration ExampleUse the MP920 Counter Module (CNTR-01) to detect out-of-step operation wit

7 PO-01 Module Specification and Handling7.2.4 Out-of-step Detection7-26 Application Program ExampleThe monitor parameter from the PO-01 Module (nu

7.2 Functions7-277The following figure shows an example of an application program for out-of-step detection.Fig. 7.5 Example of an Application Progr

2.2 Control Modes2-722.2 Control ModesThis section describes the motion control modes that can be used by the MP920.2.2.1 Overview of Control ModesFi

7 PO-01 Module Specification and Handling7.2.4 Out-of-step Detection7-28The example application program shown on the previous page is briefly explai

7.2 Functions7-2977.2.5 Emergency StopThe PO-01 Module has a separate emergency stop input signal (DI04) for every axis. Emergency Stop ProcedureThe

7 PO-01 Module Specification and Handling7.2.5 Emergency Stop7-305. Turn ON and then OFF the alarm clear (OW00 bit 6).Note: If an emergency stop s

7.3 PO-01 Parameters7-3177.3 PO-01 Parameters7.3.1 Motion Fixed ParametersMotion fixed parameters cannot be changed when bit 0 of motion setting para

7 PO-01 Module Specification and Handling7.3.1 Motion Fixed Parameters7-3214 Additional Function Selections(AFUNCSEL)Set additional functions, such

7.3 PO-01 Parameters7-33717 Motion Controller Function Selection Flags(SVFUNCSEL)Set whether a function is enabled or disabled when a motion command

7 PO-01 Module Specification and Handling7.3.1 Motion Fixed Parameters7-3417 Bit 9 Override Selection (USE-OV)Set whether or not to use the override

7.3 PO-01 Parameters7-35721 Servomotor Gear Ratio (GEAR_MOTOR)These parameters determine the gear ratio between the motor and the load.The following

7 PO-01 Module Specification and Handling7.3.1 Motion Fixed Parameters7-3631 Zero Point Return Method (ZRETSEL)Set the zero point return method when

7.3 PO-01 Parameters7-377The following sections describe the zero point return methods. 2: DEC 1 + Zero Point SignalThis method has three speed leve

2 Motion Control2.2.2 Speed Reference Output Mode2-82.2.2 Speed Reference Output Mode OverviewThis mode is used to rotate the motor at the desired

7 PO-01 Module Specification and Handling7.3.1 Motion Fixed Parameters7-38 5: DEC 1 + LMT + Zero Point SignalThis method gets the current position

7.3 PO-01 Parameters7-3977.3.2 Motion Setting Parameters• Zero Point Position Offset in the Machine Coordinate System (ABSOFF)This register contains

7 PO-01 Module Specification and Handling7.3.2 Motion Setting Parameters7-402 RUNCommandSettings (SVRUNCMD)OW01 Set the output signal from the PO-

7.3 PO-01 Parameters7-4172 RUNCommandSettings (SVRUNCMD) (cont’d)Bit 13 Speed Refer-ence Value Selection (SPDTYPE)Set speed reference method for feed

7 PO-01 Module Specification and Handling7.3.2 Motion Setting Parameters7-4211 Approach Speed Setting (Napr)OW0A 0 to 32767 Set the approach and c

7.3 PO-01 Parameters7-43719 Position Refer-ence Setting (XREF) or Position Buffer NumberOL12-231 to 231-1Set the position reference. The meaning of

7 PO-01 Module Specification and Handling7.3.2 Motion Setting Parameters7-4433 Motion Command Code (MCMD-CODE)OW20 0 to 65535 Set the motion comma

7.3 PO-01 Parameters7-45734 Motion Com-mand Control Flags (MCMDCTRL) (cont’d)Bits 4 to 7 Filter Type Selection (FILTER-TYPE)Set the type of accelerat

7 PO-01 Module Specification and Handling7.3.2 Motion Setting Parameters7-4641 Step Travel Distance (STEP)OL280 to 231-1Set the travel distance in

7.3 PO-01 Parameters7-47746 Position Con-trol Flags (POSCTRL)OW2D Set the functions related to position data managed by PO-01 Modules. The bit conf

2.2 Control Modes2-921. Set the motion fixed parameters according to the user’s machine.* 1. Valid only with an SVB-01 Module.* 2. Valid only with

7 PO-01 Module Specification and Handling7.3.2 Motion Setting Parameters7-4857 Position Buffer Access NumberOL38 1 to 256 Position Buffer Access N

7.3 PO-01 Parameters7-4977.3.3 Motion Monitoring ParametersTable 7.11 Motion Monitoring Parameters No. Name Register No. Setting Range/Bit NameDescr

7 PO-01 Module Specification and Handling7.3.3 Motion Monitoring Parameters7-502 General-pur-pose DI Monitor (SVSTS)IW01 Monitors the status of in

7.3 PO-01 Parameters7-51716 Out of Range Parameter Num-ber (ERNO)IW0F 1. Motion setting parameter1 to 652. Motion fixed parameter101 to 148Indicate

7 PO-01 Module Specification and Handling7.3.3 Motion Monitoring Parameters7-5224 Position Control Status(POSSTS)IW17 This parameter indicates sta

7.3 PO-01 Parameters7-53735 Alarms (ALARM)IL22 Alarm data and a halt to operation are indicated if this register shows anything other than “0.” The

7 PO-01 Module Specification and Handling7.3.3 Motion Monitoring Parameters7-5441 Position Buffer Read Data(CNMON)IL28-231 to 231-1Position data f

8-188TroubleshootingThis chapter describes the troubleshooting procedure when a Motion Module alarm occurs.8.1 Overview of Alarms - - - - - - - - -

8 Troubleshooting8.1.1 Description of Motion Alarms8-28.1 Overview of AlarmsThis section describes alarms that occur while using a Motion Module.8.1

8.1 Overview of Alarms8-38SVA-01A/02A and PO-01Run Status (RUNSTS) IW00Bit1: PRMERR Motion setting parameter setting errorBit2: FPRMERR

2 Motion Control2.2.2 Speed Reference Output Mode2-104. To start operation, set the Servo ON (RUN) to ON (bit 0 of OW01).The speed reference will

8 Troubleshooting8.1.1 Description of Motion Alarms8-4SVB-01Servo Drive alarm code(SVALARM) IW24Run Status (RUNSTS) IW00Bit1: PRMERR

8.1 Overview of Alarms8-588.1.2 Processing Flow for Motion Alarms Troubleshooting FlowThe following illustration shows the troubleshooting flow when

8 Troubleshooting8.2.1 Alarm IL228-68.2 Alarms and Actions TakenThis section describes individual alarms and the actions that should be taken.8.2.

8.2 Alarms and Actions Taken8-78 SERVOPACK Error1. This status bit will turn ON if an alarm classified as a servo alarm in the MECHATROLINK servo a

8 Troubleshooting8.2.1 Alarm IL228-8 MECHATROLINK Servo Alarm Code (IW24)When IL22 bit 0 (SERVOPACK Error) is ON, a Servo Driver alarm will b

8.2 Alarms and Actions Taken8-98 Analog Servo AlarmsIB010 (SVALM) will turn ON if an alarm occurs with a SERVOPACK connected to an SVA-01A or SVA-

8 Troubleshooting8.2.1 Alarm IL228-10Note: Yes: Supported, No: Not supportedA.A1 Heat Sink Overheat SERVOPACK heat sink overheated.No Yes NoA.b1 S

8.2 Alarms and Actions Taken8-118 Positive Overtravel and Negative OvertravelWe recommend the following settings in the SERVOPACK to prevent vertica

8 Troubleshooting8.2.1 Alarm IL228-12 Positive Software Limit and Negative Software Limit Servo OFF (Excitation ON)SVA-01A SVA-02A SVB-01 PO-01S

8.2 Alarms and Actions Taken8-138 Positioning Time OverThis check will not be performed if OW34 (Positioning Complete Check Time) is set to 0. Po

2.2 Control Modes2-112Ladder Logic Program ExampleFig. 2.2 RUN Commands (DWG H01)The example in the above illustration has been greatly simplified.

8 Troubleshooting8.2.1 Alarm IL228-14 Filter Type Change ErrorThe command that is being executed will not stop even if an error occurs. A stop pr

8.2 Alarms and Actions Taken8-158 Control Mode Error Zero Point Not SetSVA-01A SVA-02A SVB-01 PO-01Supported Supported Supported SupportedDetection

8 Troubleshooting8.2.1 Alarm IL228-16 Servo Drive Synchronous Communications Error Servo Drive Communications ErrorSVA-01A SVA-02A SVB-01 PO-01N

8.2 Alarms and Actions Taken8-178 Servo Drive Command Timeout ErrorThis occurs when MECHATROLINK SERVOPACK Modules are allocated with SERVOPACK powe

8 Troubleshooting8.2.1 Alarm IL228-18 Broken PG WiringSVA-01A SVA-02A SVB-01 PO-01Supported Supported Not supported Not supportedDetection Timing

8.2 Alarms and Actions Taken8-198 Status Monitor (IW01)The status of a MECHATROLINK SERVOPACK can be monitored through monitoring parameter IW01

8 Troubleshooting8.2.2 Motion Alarm Configuration8-208.2.2 Motion Alarm ConfigurationThe following illustration shows the motion alarm configuration

8.2 Alarms and Actions Taken8-218* Axis numbers are stored in bits 8 to 11 when an axis alarm occurs.Axis Alarm* 80h Logic-control axis use prohibit

8 Troubleshooting8.2.3 Motion Module Error Displays and Actions Taken8-228.2.3 Motion Module Error Displays and Actions Taken Servo Number LED Disp

8.2 Alarms and Actions Taken8-238Servo number: No. 10A servo number (1 to 16) is displayed when the servo is operating normally without an error or a

2 Motion Control2.2.3 Torque Reference Output Mode2-122.2.3 Torque Reference Output Mode OverviewThis mode is used to generate a constant torque, r

8 Troubleshooting8.2.3 Motion Module Error Displays and Actions Taken8-24 LED Indicator Alarm DisplaysWhen an error or alarm occurs, refer to the f

9-199Application PrecautionsThis chapter summarizes precautions that should be observed when using MP920 Motion Modules.9.1 Vertical Axis Control -

9 Application Precautions9.1.1 Overview9-29.1 Vertical Axis ControlThis section describes the procedure for connecting and setting parameters when a

9.1 Vertical Axis Control9-399.1.2 SGDA SERVOPACK Connections Connection Example* 1. Brake control relay* 2. Brake power supplies are available in

9 Application Precautions9.1.2 SGDA SERVOPACK Connections9-4This setting determines the timing for stopping the Servomotor. Set Cn-15 and Cn-16 for

9.1 Vertical Axis Control9-599.1.3 SGDB SERVOPACK Connections Connection Example* 1. Brake control relay* 2. Brake power supplies are available in

9 Application Precautions9.1.3 SGDB SERVOPACK Connections9-6Cn-12 (Time Lag from Brake Reference to Servo OFF)Use the following parameter if brake O

9.1 Vertical Axis Control9-79When using a Servomotor with brake, be sure to set the brake timing when the /S-ON signal (1CN-40) is input while the Se

9 Application Precautions9.1.4 SGDM/SGDS SERVOPACK Connections9-89.1.4 SGDM/SGDS SERVOPACK Connections Connection Example* 1. Parameter PN50F. 2 i

9.1 Vertical Axis Control9-99Pn506 (Time Lag from Brake Reference to Servo OFF)Use the following parameter if brake ON timing causes the machine to m

2.2 Control Modes2-1321. Set the motion fixed parameters according to the user’s machine.Table 2.3 shows the related parameters when the torque refer

9 Application Precautions9.2.1 Overview9-109.2 Overtravel FunctionThis section describes the procedure for using the overtravel function.9.2.1 Overv

9.2 Overtravel Function9-119P-OT When ON1CN-16 and 1CN-42 at low levelForward drive enabled, normal operationWhen OFF1CN-16 and 1CN-42 at high levelF

9 Application Precautions9.2.3 Parameter Settings9-129.2.3 Parameter Settings Overtravel Input Signal ON/OFF SettingsSet the following parameters t

9.2 Overtravel Function9-139 Servomotor Stop Procedure Selection with OvertravelSet the following parameters according to the Servomotor stop proced

9 Application Precautions9.2.3 Parameter Settings9-14SGDM and SGDSSelect the stopping procedure as well as the processing to be performed after stop

9.2 Overtravel Function9-159Parameter No. Description Setting Meaning Factory SettingPn001.0 Servomotor stopping procedure for servo OFF0Stops by dyn

9 Application Precautions9.3.1 Overview9-169.3 Software Limit FunctionThis section describes the software limit function.9.3.1 OverviewThe software

9.3 Software Limit Function9-179The following table shows the effect of software limits in each operating mode.The software limit function will be en

9 Application Precautions9.4.1 Overview9-189.4 Reverse Rotation ModeThis section describes the procedure used to set parameters when using the Rever

9.4 Reverse Rotation Mode9-199SERVOPACK Reverse Rotation Mode Parameter SettingsFixed Parameters for the SVA ModuleParameter Description Setting Mean

iv Visual AidsThe following aids are used to indicate types of information for easier reference. Indication of Reverse Signals In this manual, t

2 Motion Control2.2.3 Torque Reference Output Mode2-14 User Program ExampleExample of RUN OperationFig. 2.3 Torque PatternLadder Logic Program Exa

9 Application Precautions9.4.2 Absolute Encoder Setting9-209.4.2 Absolute Encoder SettingSet the following parameters when using an absolute encoder

9.4 Reverse Rotation Mode9-2199.4.3 Incremental Encoder SettingSet the following Rotation Direction Selection SERVOPACK Parameter when using an incre

10-11010CNTR-01 Module Specifications andHandlingThis chapter describes the specifications and handling of the CNTR-01 Counter Module.10.1 CNTR-01 Mo

10 CNTR-01 Module Specifications and Handling10.1.1 Hardware Specifications10-210.1 CNTR-01 ModuleThis section describes the hardware specifications

10.1 CNTR-01 Module10-31010.1.2 HandlingThe following illustration shows the appearance of the CNTR-01 Module. LED IndicatorsThese LED indicators di

10 CNTR-01 Module Specifications and Handling10.1.2 Handling10-4The following table shows the LED indicators when an error occurs in a CNTR-01 Modul

10.1 CNTR-01 Module10-510 Pulse Input Connector 212-V Voltage Pulse Input + Latch Input + Coincidence Detection Out-put ConnectorThe CNTR-01 Module

10 CNTR-01 Module Specifications and Handling10.1.2 Handling10-6 External I/O CablesModelsJEPMC-W6060-05: 0.5 mJEPMC-W6060-10: 1.0 mJEPMC-W6060-30:

10.1 CNTR-01 Module10-71050 25492448GND23GND47 -5PC4 22+5PC446 -5PB4 21+5PB445 -5PA4 20+5PA44419431842GND−−−−−−−−−−−−−−−−−−17GND41 -5PC3 16+5PC340 -5

10 CNTR-01 Module Specifications and Handling10.1.2 Handling10-8The following table shows the names and functions of the CN1 connector pins.Pin Sign

2.2 Control Modes2-1522.2.4 Phase Control Mode OverviewThis mode is used to rotate the motor according to the specified speed reference, and at the

10.1 CNTR-01 Module10-910 Connector Pin Layout (CN2)The pin layout of the CN2 connector is shown below.50492524262712Pin Layout on Wiring Side50 254

10 CNTR-01 Module Specifications and Handling10.1.2 Handling10-10The following table shows the names and functions of the CN2 connector pins.Pin Sig

10.2 Using the CNTR-01 Module10-111010.2 Using the CNTR-01 ModuleThis section explains how to use the CNTR-01 Module.10.2.1 Overview Module Overview

10 CNTR-01 Module Specifications and Handling10.2.1 Overview10-12 Module ConfigurationThe Counter Module executes the functions specified in fixed

10.2 Using the CNTR-01 Module10-131010.2.2 Fixed ParametersSet the Counter Module operating conditions for each channel.1. Set fixed parameters usin

10 CNTR-01 Module Specifications and Handling10.2.2 Fixed Parameters10-14The following table shows the details of each fixed parameter.No. Name Desc

10.2 Using the CNTR-01 Module10-151010.2.3 Setting I/O DataI/O data includes data reported by the Counter Module, operating status data, and settings

10 CNTR-01 Module Specifications and Handling10.2.3 Setting I/O Data10-16 Out Data (Output Data)Output data is used as references for the Counter M

10.2 Using the CNTR-01 Module10-1710 Operating ModeNote: √: Supported, −: Not supportedBit No. Name Reversible CounterInterval CounterFrequency Meas

10 CNTR-01 Module Specifications and Handling10.2.3 Setting I/O Data10-18 Pulse Count MethodsThe following pulse count methods can be selected usin

2 Motion Control2.2.4 Phase Control Mode2-16 DetailsUse the following procedure to perform phase control operation.PCONRUN01. Set the motion fixed

10.2 Using the CNTR-01 Module10-1910* 2. MultiplicationNegative Logic 12-V Pull-up Collector Input:Increments the count if pulse A is input when pul

10 CNTR-01 Module Specifications and Handling10.2.3 Setting I/O Data10-20Table 10.3 External Input Pulse Timing Pulse Count Method Polarity Increme

10.2 Using the CNTR-01 Module10-2110A/B Mode× 1Positive LogicNegative Logic× 2Positive LogicNegative Logic× 4Positive LogicNegative LogicUp-down Mode

10 CNTR-01 Module Specifications and Handling10.3.1 Reversible Counter Mode10-2210.3 Counter ModesThis section explains the counter modes for the CN

10.3 Counter Modes10-2310 Reversible Counter SettingsUse the following settings when using the Counter Module as a reversible counter.Fixed Paramete

10 CNTR-01 Module Specifications and Handling10.3.2 Interval Counter Mode10-2410.3.2 Interval Counter ModeThe Interval Counter Mode increments and d

10.3 Counter Modes10-2510 Interval Counter SettingsUse the following settings when using the Counter Module as an interval counter.Fixed Parameter S

10 CNTR-01 Module Specifications and Handling10.3.3 Frequency Measurement10-2610.3.3 Frequency MeasurementFrequency is measured according to pulse A

10.3 Counter Modes10-2710 Setting Frequency Measurement FunctionsUse the following settings when using the Counter Module for frequency measurement.

10 CNTR-01 Module Specifications and Handling10.3.3 Frequency Measurement10-28 Coincidence Output and Interrupt FunctionsThe Coincidence Output and

2.2 Control Modes2-1721. Set the motion fixed parameters according to the user’s machine.* 1. Valid only with an SVB-01 Module.* 2. Valid only with

10.3 Counter Modes10-2910 PI Latch FunctionThe PI Latch Function latches the current value at the moment an external signal is input (or at the risi

10 CNTR-01 Module Specifications and Handling10.4.1 Pulse Input Specifications10-3010.4 CNTR-01 Module I/O CircuitsThis section explains the I/O cir

10.4 CNTR-01 Module I/O Circuits10-3110 5-V Differential Input SpecificationsThe following table shows 5-V differential pulse input specifications.I

10 CNTR-01 Module Specifications and Handling10.4.2 Latch Input Circuits10-3210.4.2 Latch Input CircuitsThe following table shows the specifications

10.4 CNTR-01 Module I/O Circuits10-331010.4.3 Coincidence Output CircuitsThe following table shows the specifications for coincidence output circuits

10 CNTR-01 Module Specifications and Handling10.5.1 Connections to Pulse Generators10-3410.5 CNTR-01 Counter Module ConnectionsThis section explains

10.5 CNTR-01 Counter Module Connections10-3510 5-V Differential Pulse GeneratorsThe connections to a 5-V differential pulse generator are shown in t

10 CNTR-01 Module Specifications and Handling10.5.2 Pulse C Signals10-36 Combining Pulses A, B and CThe following two settings are possible for pul

10.5 CNTR-01 Counter Module Connections10-3710 12-V Input Collector Signals 24-V Input Signals680ΩHCPL06110.03312VC112PC1(DI_COM)1.5k1.5k1k24PC1CN2

A-1AAppendix AModule AppearanceThis appendix shows the appearance of the Motion Modules used in the MP920 Machine Controller.A.1 Motion Modules - -

2 Motion Control2.2.4 Phase Control Mode2-183. Select the Phase Control Mode (PHCON) (bit 3 of OW00).At this time, also set Phase Reference Disabl

Appendix A Module Appearance A-2A.1 Motion Modules 4-axis Servo ModuleDescription: SVA-01AModel: JEPMC-MC200AM4 mounting screw105(5.5)58Modelnamepl

A.1 Motion ModulesA-3A 2-axis Servo ModuleDescription: SVA-02AModel: JEPMC-MC220A MECHATROLINK Interface ModuleDescription: SVB-01Model: JEPMC-MC21

Appendix A Module Appearance A-4 Pulse Output ModuleDescription: PO-01Model: JEPMC-PL210105(5.2)58(41.4)Modelnameplate30.74.51304.5CN1CN2CN2PO-01ST

A.2 Counter ModuleA-5AA.2 Counter Module Counter ModuleDescription: CNTR-01Model: JEPMC-PL20030.74.51304.5CNTR-01CN1CN2CH4RUNERRCH1CH2CH3105(5.2)58(

IndexIndex-1INDEXAabsolute data error - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-8, 8-9absolute encoderfixed parameters for the SVA

IndexIndex-2fixed length feed (STEP)- - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11details - - - - - - - - - - - - - - - - - - - - - -

IndexIndex-3motion moduleallocation method- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2defining the module configuration - - - -

IndexIndex-4positioning (POSING) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-45details - - - - - - - - - - - - - - - - - - - - - -

IndexIndex-5SVA-01A moduleappearance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3connection of SERVOPACK and servomotor

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

2.2 Control Modes2-192Ladder Logic Program ExampleFig. 2.7 RUN Commands (DWG H04)The example in the above illustration has been greatly simplified.

英文 No.9-3 (SIE)IRUMA BUSINESS CENTER (SOLUTION CENTER)480, Kamifujisawa, Iruma, Saitama 358-8555, JapanPhone 81-4-2962-5696 Fax 81-4-2962-6138 YAS

2 Motion Control2.2.4 Phase Control Mode2-20An electronic cam control loop can be configured using phase control. With normal phase control, the pos

2.2 Control Modes2-212Ladder Logic Program ExampleFig. 2.10 RUN Command (DWG H04)The example in the above illustration has been greatly simplified.

2 Motion Control2.2.5 Zero Point Return Mode2-222.2.5 Zero Point Return Mode OverviewThe zero point return operation returns the machine to the mac

2.2 Control Modes2-2321. Set the motion fixed parameters according to the user’s machine.* 1. Valid only with an SVB-01A Module.* 2. Valid only wit

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

2 Motion Control2.2.5 Zero Point Return Mode2-24* Valid only with an SVA-02A Module.In the example, the SERVOPACK is used as axis 1 of Module No. 1

2.2 Control Modes2-252 User Program ExampleExample of RUN OperationFig. 2.11 Zero Point Return PatternOperating ConditionsInput a limit switch sign

2 Motion Control2.3.1 Prerequisites for Position Control2-262.3 Position ControlThis section describes the prerequisites for position control, and p

2.3 Position Control2-272When using a motion program, always set Position Reference Type (bit 14 of OW01) to 1 (incre-mental addition mode).The def

2 Motion Control2.3.1 Prerequisites for Position Control2-28 Reference UnitThe reference units input to the Module are set with the following motio

2.3 Position Control2-292 Electronic GearIn contrast to the reference unit input to the Module, the mechanical travel unit is called the “output uni

2 Motion Control2.3.1 Prerequisites for Position Control2-30Table 2.12 shows the meanings of the above parameters and gives some setting examples.Ta

2.3 Position Control2-312Electronic Gear Parameter Setting Example (A): With Ball ScrewIn the above machine system, if the requirement is reference u

2 Motion Control2.3.1 Prerequisites for Position Control2-32Electronic Gear Parameter Setting Example (B): Rotating LoadIn the above machine system,

2.3 Position Control2-332 Position ReferenceThere are two methods of setting the position reference: Direct designation, which directly sets the pos

viSafety InformationThe following conventions are used to indicate precautions in this manual. Failure to heed provided in this manual can result

2 Motion Control2.3.1 Prerequisites for Position Control2-34With the position reference for an infinite length axis, the present travel distance (in

2.3 Position Control2-352With the SVA-02A Module (2-axis Servo Module), there are position buffers for only 2 axes.Using the Position BuffersBy first

2 Motion Control2.3.1 Prerequisites for Position Control2-36Reading Position Buffers1. Set the Position Buffer Access Number (OL38). Any number be

2.3 Position Control2-372In this way, the data for the position buffer number specified in OL12 functions as the position reference. Position Moni

2 Motion Control2.3.1 Prerequisites for Position Control2-38 Speed ReferenceThere are two methods of setting the speed reference. One method involv

2.3 Position Control2-392When Motion Commands Are Not UsedWhen motion commands are not used, the Speed Reference Selection Flags are disabled, and th

2 Motion Control2.3.1 Prerequisites for Position Control2-40Table 2.18 shows some examples of the parameter settings.* 1. Select Enabled (= 1) in b

2.3 Position Control2-412• OW2C = 10,000 (100%)2. Speed Reference Value Selection Set to “1”a) When you wish perform operations with the fixed par

2 Motion Control2.3.2 Position Control Without Using Motion Commands2-42 DetailsUse the following procedure to perform position control operations

2.3 Position Control2-432* Valid only with an SVA-02A Module.3. Select the Position Control Mode (PCON) (bit 2 of OW00).4. To start operation, set

viiSafety PrecautionsThis section describes precautions to ensure the correct application of the product. Before installing, operating, maintaining, o

2 Motion Control2.3.2 Position Control Without Using Motion Commands2-44 User Program ExampleExample of RUN OperationFig. 2.13 Position PatternOpe

2.4 Position Control Using Motion Commands2-4522.4 Position Control Using Motion CommandsThis section describes position control using motion command

2 Motion Control2.4.1 Overview of Motion Commands2-463Zero Point Return (ZRET)Returns the system to the machine coordinate system zero point. Eight

2.4 Position Control Using Motion Commands2-4727 Fixed Speed Feed (FEED)Performs rapid traverse in the infinite length direction at the specified spe

2 Motion Control2.4.2 Positioning (POSING)2-482.4.2 Positioning (POSING) OverviewPositions the axis at the position reference position using the sp

2.4 Position Control Using Motion Commands2-4924. Set RUN Servo ON (RUN) to ON (bit 0 of OW01). For the PO-01 Module, set Excitation ON (RUN) to ON

2 Motion Control2.4.2 Positioning (POSING)2-50• When the Position Reference Type (bit 14 of OW01) is the incremental addi-tion mode (= 1), operat

2.4 Position Control Using Motion Commands2-512Ladder Logic Program ExampleFig. 2.16 Positioning Programming Example (DWG H03)The example in the abo

2 Motion Control2.4.3 External Positioning (EX_POSING)2-52 DetailsUse the following procedure to perform external positioning operations.1. Set the

2.4 Position Control Using Motion Commands2-532The specified motion parameters are used to position the axis.Even during positioning, the motion para

viii Wiring• Always connect a power supply that meets the given specifications.Connecting an inappropriate power supply may cause fires.• Wirin

2 Motion Control2.4.3 External Positioning (EX_POSING)2-54When the axis enters the Positioning Completed Range (OW0E) after Distribution Completed

2.4 Position Control Using Motion Commands2-552Ladder Logic Program ExampleFig. 2.18 External Positioning Programming Example (DWG H03)The example i

2 Motion Control2.4.4 Zero Point Return (ZRET)2-56 Zero Point Return MethodThe following methods are available with the zero point return (ZRET) mo

2.4 Position Control Using Motion Commands2-572 DEC1 + Phase-C PulseThis method is used to perform zero point return using a limit switch (decelerat

2 Motion Control2.4.4 Zero Point Return (ZRET)2-58 DEC2 + Phase-C PulseThis method is used to perform zero point return using a limit switch (decel

2.4 Position Control Using Motion Commands2-5921. The axis travels at rapid traverse speed in the forward direction.2. The axis decelerates at the fa

2 Motion Control2.4.4 Zero Point Return (ZRET)2-60 DEC1 + LMT + Phase-C PulseThis method is used to perform zero point return using a limit switch

2.4 Position Control Using Motion Commands2-612after traveling only the zero point return final travel distance (OL2A) from the ini-tial zero point

2 Motion Control2.4.4 Zero Point Return (ZRET)2-62Zero Point Return Operation Started and Interval (c) Used1. The axis travels at approach speed in

2.4 Position Control Using Motion Commands2-632 Phase-C PulseThis method is used to perform zero point return using only a zero point signal (Phase-

ix Application Maintenance• Do not touch any Module terminals when the system power is ON.There is a risk of electrical shock.WARNING• Do not atte

2 Motion Control2.4.4 Zero Point Return (ZRET)2-64 DEC1 + LMT + ZERO Signal MethodZero point return is performed using a ZERO signal (DI signal) in

2.4 Position Control Using Motion Commands2-652 Example of the Zero Point Return OperationsUse the following procedure to perform zero point return

2 Motion Control2.4.4 Zero Point Return (ZRET)2-666. Zero point return (ZRET) will be executed.The axis travels at rapid traverse speed in the direc

2.4 Position Control Using Motion Commands2-672position will be the machine coordinate system zero point.A zero point position offset value can also

2 Motion Control2.4.4 Zero Point Return (ZRET)2-68 User Program Example: Zero Point ReturnExample of RUN OperationFig. 2.19 Example of a Zero Poin

2.4 Position Control Using Motion Commands2-692Ladder Logic Program ExampleFig. 2.20 Zero Point Return Programming Example (DWG H03)* For the SVB-0

2 Motion Control2.4.5 Interpolation (INTERPOLATE, END_OF_INTERPOLATE)2-702.4.5 Interpolation (INTERPOLATE, END_OF_INTERPOLATE) OverviewThis command

2.4 Position Control Using Motion Commands2-7125. Set interpolation (INTERPOLATE = 4) in the motion command code (OW20).When interpolation (INTERPO

2 Motion Control2.4.5 Interpolation (INTERPOLATE, END_OF_INTERPOLATE)2-72 User Programming Example: InterpolationLadder Logic Program ExampleFig. 2

2.4 Position Control Using Motion Commands2-7322.4.6 Interpolation with Position Detection (LATCH) OverviewIn the same way as for an interpolation f