YASKAWA SERVOPACK Sigma 7 Series Product Manual Download

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4.4 Operating Procedure

4-13

Speed/T

que (Pr

essur

e) T

able Operation

4.4

Operating Procedure

Speed/torque (pressure) table operation is controlled with the VELCTRL speed control com-
mand in MECHATROLINK-III communications.

This section provides the operating procedure for speed/torque (pressure) table operation.

Set Pn440 to n.



1 (Enable pressure feedback control).

Send the SV_ON (Servo ON) command.

Other station monitoring is set and checked only when you use the FT41.

Refer to the following section for details.

3.6.3

Setting and Checking Other Station Monitoring

on page 3-10

Set bits 28 and 29 in the SVCMD_IO area of the VELCTRL command to 1.

•

SVCMD_IO (Output) Area

•

Output Signal Bit Descriptions

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

N_CL

P_CL

P_PPI

V_PPI

Reserved (0).

Bit 15

Bit 14

Bit 13

Bit 12

Bit 11

Bit 10

Bit 9

Bit 8

Reserved (0).

G-SEL

Bit 23

Bit 22

Bit 21

Bit 20

Bit 19

Bit 18

Bit 17

Bit 16

Reserved.

SO3

SO2

SO1

BANK_SEL

Bit 31

Bit 30

Bit 29

Bit 28

Bit 27

Bit 26

Bit 25

Bit 24

Reserved (0).

Speed/

Torque

(Pressure)

Table

Operation

Reference

Speed/

Torque

(Pressure)

Table

Operation

Prepara-

tions Start

Bit

Reserved (0).

Bit

Command

Value

Setting

When

Enabled

Speed/Torque (Pres-

sure) Table Operation

Preparations Start Bit

Do not start.

Level

Start reception of speed/torque
(pressure) table operation com-
mands.

If bit 28 is ON, the VELCTRL command is interpreted as a speed/torque (pressure)
table operation command.

Speed/Torque (Pres-

sure) Table Operation

Reference

No command, or cancel operation.

Level

Start speed/torque (pressure) table
operation.

If bit 28 is OFF, only VELCTRL commands are acknowledged.

Do not use the CMD_PAUSE (Pause) or CMD_CANCEL (Cancel) commands during speed/torque
(pressure) table operation. The send timing will affect behavior and may prevent normal control
operations.

Important

Summary of Contents for SERVOPACK Sigma 7 Series

Page 1: ...01 94C 7S SERVOPACK with FT EX Specification for Press and Injection Molding Application Pressure Feedback Control Maintenance Parameter Lists Basic Information on SERVOPACKs SERVOPACK Ratings and Specifications 1 2 3 4 5 6 Speed Torque Pressure Table Operation Product Manual ...

Page 2: ... liability is assumed with respect to the use of the informa tion contained herein Moreover because Yaskawa is constantly striving to improve its high quality products the information contained in this manual is sub ject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless Yaskawa assumes no responsibility for errors or omissions Neither is any li...

Page 3: ... Interpreting the Nameplates 1 2 Part Names 1 3 Model Designations 1 2 Combinations of SERVOPACKs and Servo motors 1 5 Functions 1 4 Restrictions 1 5 SigmaWin 1 6 Combining the SERVOPACKs with MP Series Machine Controllers and the MPE720 Engineering Tool 1 7 Selecting a SER VOPACK Ratings 2 1 SERVOPACK Overload Protection Charac teristics 2 2 Specifications 2 3 Block Diagrams 2 2 External Dimensio...

Page 4: ...st of Alarms 5 1 2 5 2 2 Troubleshooting Alarms 5 1 3 5 2 3 Resetting Alarms 12 2 3 Display Alarm History 12 2 4 Clearing the Alarm History 12 2 5 Resetting Alarms Detected in Option Modules 12 2 6 Resetting Motor Type Alarms 12 2 7 Warning Displays 5 1 4 5 2 4 List of Warnings 5 1 5 5 2 5 Troubleshooting Warnings 5 1 6 5 2 6 Monitoring Communications Data during Alarms or Warnings 12 4 Troublesho...

Page 5: ...vomotors Other Documents Built in Function Manuals Σ 7 Series Σ 7S Σ 7W SERVOPACK Product Manuals Σ 7 Series Σ 7S Σ 7W SERVOPACK Hardware Option Product Manuals Option Module User s Manuals Σ 7 Series Σ 7S Σ 7W SERVOPACK FT EX Product Manuals This manual Option Module User s Manual Σ 7 Series Servomotor Product Manuals Σ 7 Series Σ 7C SERVOPACK Product Manual Σ 7 Series Σ 7C SERVOPACK Troubleshoot...

Page 6: ...etailed information on the specifications system configu ration and communications con nection methods for the Ethernet communications that are used with MP3000 Series Machine Control lers and Σ 7 Series Σ 7C SERVO PACKs Option Module User s Manuals Machine Controller MP2000 Series Communication Module User s Manual SIEP C880700 04 Provide detailed information on the specifications and communica t...

Page 7: ... procedures for installing the Safety Module in a SERVOPACK Σ V Series Σ V Series for Large Capacity Models Σ 7 Series Installation Guide INDEXER Module TOBP C720829 02 Provides detailed procedures for installing the INDEXER Module in a SERVOPACK Σ V Series Σ V Series for Large Capacity Models Σ 7 Series Installation Guide DeviceNet Module TOBP C720829 07 Provides detailed procedures for installin...

Page 8: ...and Option Attachable Type with INDEXER Module Product Manual SIEP S800001 64 Σ 7 Series AC Servo Drive Σ 7S SERVOPACK Command Option Attachable Type with DeviceNet Module Product Manual SIEP S800001 70 Σ 7 Series AC Servo Drive Σ 7W SERVOPACK with MECHATROLINK III Communications References Product Manual SIEP S800001 29 Σ 7 Series Σ 7S Σ 7W SERVOPACK with Hardware Option Specifications Product Ma...

Page 9: ...duct Manual SIEP S800001 95 Σ 7 Series AC Servo Drive Σ 7S SERVOPACK with FT EX Specification for Torque Force Assistance for Conveyance Application Product Manual SIEP S800002 09 Σ 7 Series AC Servo Drive Σ 7S SERVOPACK with FT EX Specification for Cutting Application Feed Shaft Motor Product Manual SIEP S800002 10 Option Module User s Manual AC Servo Drives Σ V Series Σ V Series for Large Capaci...

Page 10: ...ng Manual SIEP C880725 13 Provides detailed information on the ladder programming specifica tions and instructions for MP3000 Series Machine Controllers and Σ 7 Series Σ 7C SERVOPACKs Machine Controller MP3000 Series Motion Programming Manual SIEP C880725 14 Provides detailed information on the motion programming and sequence programming specifica tions and instructions for MP3000 Series Machine C...

Page 11: ...motor and SERVOPACK Servo System A servo control system that includes the combination of a Servo Drive with a host controller and peripheral devices servo ON Supplying power to the motor servo OFF Not supplying power to the motor base block BB Shutting OFF the power supply to the motor by shutting OFF the base current to the power transistor in the SERVOPACK servo lock A state in which the motor i...

Page 12: ...ed Speed control Position control Torque control This is the parameter setting before shipment This is when any change made to the parameter will become effective This is the parameter classification This is the minimum unit setting increment that you can set for the parameter Position Speed Parameter Meaning When Enabled Classification Pn002 n 0 After startup Setup n 1 n 2 Parameter number The no...

Page 13: ...sual Aids The following aids are used to indicate certain types of information for easier reference Indicates precautions or restrictions that must be observed Also indicates alarm displays and other precautions that will not result in machine damage Indicates definitions of difficult terms or terms that have not been previously explained in this manual Important Term Indicates operating or settin...

Page 14: ...mation marked as shown below is important for safety Always read this information and heed the precau tions that are provided DANGER Indicates precautions that if not heeded are likely to result in loss of life serious injury or fire WARNING Indicates precautions that if not heeded could result in loss of life serious injury or fire CAUTION Indicates precautions that if not heeded could result in ...

Page 15: ...dify the product There is a risk of fire or failure The warranty is void for the product if you disassemble repair or modify it CAUTION The SERVOPACK heat sinks regenerative resistors External Dynamic Brake Resistors Servo motors and other components can be very hot while power is ON or soon after the power is turned OFF Implement safety measures such as installing covers so that hands and parts s...

Page 16: ...ny of the following locations Locations that are subject to direct sunlight Locations that are subject to ambient temperatures that exceed product specifications Locations that are subject to relative humidities that exceed product specifications Locations that are subject to condensation as the result of extreme changes in temperature Locations that are subject to corrosive or flammable gases Loc...

Page 17: ...damaged by the gases or fumes resulting from the fumigation process In particular disinfectants containing halogen which includes chlorine fluorine bromine or iodine can contribute to the erosion of the capacitors Do not overtighten the eyebolts on a SERVOPACK or Servomotor If you use a tool to overtighten the eyebolts the tapped holes may be damaged CAUTION Install the Servomotor or SERVOPACK in ...

Page 18: ...SERVOPACK in a control panel Do not allow any foreign matter to enter a SERVOPACK or a Servomotor with a Cooling Fan and do not cover the outlet from the Servomotor s cooling fan There is a risk of failure DANGER Do not change any wiring while power is being supplied There is a risk of electric shock or injury WARNING Wiring and inspections must be performed only by qualified engineers There is a ...

Page 19: ...ply to the SERVOPACK only after all wiring including the main circuit termi nals has been completed If a connector is used for the main circuit terminals remove the main circuit connector from the SER VOPACK before you wire it Insert only one wire per insertion hole in the main circuit terminals When you insert a wire make sure that the conductor wire e g whiskers does not come into con tact with ...

Page 20: ...such as broken signal lines occur For example the P OT and N OT signals are set in the default settings to operate on the safe side if a signal line breaks Do not change the polarity of this type of signal When overtravel occurs the power supply to the motor is turned OFF and the brake is released If you use the Servomotor to drive a vertical load set the Servomotor to enter a zero clamped state a...

Page 21: ... possible after a faulty SERVOPACK is replaced possibly resulting in machine or equipment damage DANGER Do not change any wiring while power is being supplied There is a risk of electric shock or injury WARNING Wiring and inspections must be performed only by qualified engineers There is a risk of electric shock or product failure CAUTION Wait for at least six minutes after turning OFF the power s...

Page 22: ...lways insert a magnetic contactor in the line between the main circuit power supply and the main circuit power supply terminals on the SERVOPACK so that the power supply can be shut OFF at the main circuit power supply If a magnetic contactor is not connected when the SERVOPACK fails a large current may flow possibly resulting in fire If an alarm occurs shut OFF the main circuit power supply There...

Page 23: ... of this document because it has been lost or damaged contact your nearest Yaskawa representative or one of the offices listed on the back of this document This document is subject to change without notice for product improvements specifications changes and improvements to the manual itself We will update the document number of the document and issue revisions when changes are made Any and all qua...

Page 24: ...ered product in a manner in which it was not originally intended Causes that were not foreseeable with the scientific and technological understanding at the time of shipment from Yaskawa Events for which Yaskawa is not responsible such as natural or human made disasters Limitations of Liability Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that aris...

Page 25: ...property Systems that require a high degree of reliability such as systems that supply gas water or electricity or systems that operate continuously 24 hours a day Other systems that require a similar high degree of safety Never use the product for an application involving serious risk to life or property without first ensuring that the system is designed to secure the required level of safety wit...

Page 26: ...he standards North American Safety Standards UL 1 Certification is pending 2 SGM7F B C and D Certified SGM7F A Certification is pending Product Model North American Safety Standards UL File No SERVOPACKs SGD7S UL 61800 5 1 E147823 CSA C22 2 No 274 Rotary Servomotors SGMMV SGM7A SGM7J SGM7P SGM7G UL 1004 1 UL 1004 6 E165827 Direct Drive Servo motors SGM7E 1 SGM7F 2 SGMCV UL 1004 1 UL 1004 6 E165827...

Page 27: ...0178 EN 61800 5 1 Rotary Servomotors SGMMV EMC Directive 2004 104 EC EN 55011 group 1 class A EN 61000 6 2 EN 61800 3 Low Voltage Directive 2006 95 EC EN 60034 1 EN 60034 5 SGM7J SGM7A SGM7P SGM7G EMC Directive 2014 30 EU EN 55011 group 1 class A EN 61000 6 2 EN 61000 6 4 EN 61800 3 Category C2 Second environment Low Voltage Directive 2014 35 EU EN 60034 1 EN 60034 5 Direct Drive Servomotors SGM7E...

Page 28: ...FH 4 04 10 9 1 h 4 04 of SIL3 Performance Level EN ISO 13849 1 PLe Category 3 Mean Time to Dangerous Failure of Each Channel EN ISO 13849 1 MTTFd High Average Diagnostic Coverage EN ISO 13849 1 DCavg Medium Stop Category IEC 60204 1 Stop category 0 Safety Function IEC 61800 5 2 STO Mission Time IEC 61508 10 years Hardware Fault Tolerance IEC 61508 HFT 1 Subsystem IEC 61508 B ...

Page 29: ... 2 3 Interpreting Servomotor Model Numbers 1 4 1 3 Combinations of SERVOPACKs and Servomotors 1 5 1 4 Functions 1 6 1 5 Restrictions 1 9 1 5 1 Function Application Restrictions 1 9 1 5 2 Restrictions on Specifications 1 9 1 6 SigmaWin 1 10 1 7 Combining the SERVOPACKs with MP Series Machine Controllers and the MPE720 Engineering Tool 1 11 SERVOPACK Ratings and Specifications 2 2 1 Ratings 2 2 2 2 ...

Page 30: ... 23 Speed Torque Pressure Table Operation 4 4 1 Introduction 4 2 4 2 Operation Patterns for Speed Torque Pressure Table Operation 4 3 4 3 Table Parameter Settings for Speed Torque Pressure Table Operation 4 4 4 3 1 Setting the Number of Speed Table References and the Number of Torque Pressure References 4 4 4 3 2 Settings for Speed Table Operation 4 5 4 3 3 Setting Condition for Changing from Spee...

Page 31: ...or 5 105 Parameter Lists 6 6 1 List of Servo Parameters 6 2 6 1 1 Interpreting the Parameter Lists 6 2 6 1 2 List of MECHATROLINK III Common Parameters 6 3 6 2 FT40 Specification 6 4 6 2 1 List of Servo Parameters 6 4 6 2 2 List of MECHATROLINK III Common Parameters 6 48 6 2 3 Parameter Recording Table 6 56 6 3 FT41 Specification 6 70 6 3 1 List of Servo Parameters 6 70 6 3 2 List of MECHATROLINK ...

Page 32: ...rpreting SERVOPACK Model Numbers with the FT41 Specification 1 4 1 2 3 Interpreting Servomotor Model Numbers 1 4 1 3 Combinations of SERVOPACKs and Servomotors 1 5 1 4 Functions 1 6 1 5 Restrictions 1 9 1 5 1 Function Application Restrictions 1 9 1 5 2 Restrictions on Specifications 1 9 1 6 SigmaWin 1 10 1 7 Combining theSERVOPACKswithMP Series Machine Controllers andtheMPE720 Engineering Tool 1 1...

Page 33: ...t from a pressure sensor is used to perform fully closed loop control of a torque reference For the values input from a pressure sensor you can select either of the following two types FT40 11th to 13th digits in SERVOPACK model number F40 Analog signals FT41 11th to 13th digits in SERVOPACK model number F41 Data via network connected with MECHATROLINK III page 3 1 Speed Torque Pressure Table Oper...

Page 34: ...on Code FT EX Specification None B None BTO specification Specification Code BTO Specification 3 MECHATROLINK III communications references 20 A 200 VAC SGD7S R70 A 20 A 023 A Maximum Applicable Motor Capacity Voltage Interface 2 Code Code Specification Specification Design Revision Order Hardware Options Specification Three Phase 200 VAC 1st 2nd 3rd digits 4th digit 5th 6th digits 7th digit 8th 9...

Page 35: ...ct Manual Manual No SIEP S800001 37 Σ 7 Series Direct Drive Servomotor Product Manual Manual No SIEP S800001 38 F41 Press and injection molding option 000 Specification Code FT EX Specification None B None BTO specification Specification Code BTO Specification 3 MECHATROLINK III communications references 20 A 200 VAC SGD7S R70 A 20 A 000 A Maximum Applicable Motor Capacity Voltage Interface 2 Code...

Page 36: ...d Servomotors Refer to the following manuals for information on combinations with Σ 7 Series Servomotors Σ 7 Series Rotary Servomotor Product Manual Manual No SIEP S800001 36 Σ 7 Series Linear Servomotor Product Manual Manual No SIEP S800001 37 Σ 7 Series Direct Drive Servomotor Product Manual Manual No SIEP S800001 38 ...

Page 37: ...of Connected Motor Motor Direction Setting Linear Encoder Pitch Setting Writing Linear Servomotor Parameters Selecting the Phase Sequence for a Linear Servomotor Polarity Sensor Setting Polarity Detection Overtravel Function and Settings Holding Brake Motor Stopping Methods for Servo OFF and Alarms Resetting the Absolute Encoder Setting the Origin of the Absolute Encoder Setting the Regenerative R...

Page 38: ...l Encoder Divided Pulse Output Selecting Torque Limits Vibration Detection Level Initialization Alarm Reset Replacing the Battery Setting the Position Deviation Overflow Alarm Level Function Tuning Less Function Automatic Adjustment without a Host Reference Automatic Adjustment with a Host Reference Custom Adjustment Anti Resonance Control Adjustment Vibration Suppression Gain Selection Friction C...

Page 39: ...spection and Maintenance Function Write Prohibition Setting for Parameters Initializing Parameter Settings Automatic Detection of Connected Motor Monitoring Product Information Monitoring Product Life Alarm History Display Alarm Tracing ...

Page 40: ...ons apply when the SERVOPACKs described in this manual are used Function Name Restriction Tuning Less Function You cannot use this function when pressure feedback control is enabled Pn440 n 1 Tuning Less Level Setting You cannot use this function when pressure feedback control is enabled Pn440 n 1 Mechanical Analysis You cannot use this function when pressure feedback control is enabled Pn440 n 1 ...

Page 41: ...1 6 SigmaWin 1 10 1 6 SigmaWin The model information file must be added for the FT40 and FT41 Add the FT40 or FT41 model information file to SigmaWin version 7 ...

Page 42: ...ERVOPACKs with MP Series Machine Controllers and the MPE720 Engineering Tool If you combine the SERVOPACK with an MP Series Machine Controller or the MPE720 Engi neering Tool it will be recognized as a SERVOPACK with standard specifications To use the parameters that have been added or changed for the SERVOPACKs described in this manual use the SigmaWin ...

Page 43: ...pter provides information required to select SERVOPACKs such as specifications 2 1 Ratings 2 2 2 2 SERVOPACK Overload Protection Characteristics 2 5 2 3 Specifications 2 6 SERVOPACK Ratings and Specifications 2 ...

Page 44: ...er Loss W 12 12 12 12 14 14 14 15 16 16 19 Built in Regenerative Resistor Power Loss W 8 8 8 10 16 16 36 Total Power Loss W 17 0 19 0 23 9 34 5 50 5 60 9 71 2 97 6 136 2 146 2 281 6 Regen erative Resis tor Built In Regener ative Resistor Resis tance Ω 40 40 40 20 12 12 8 Capacity W 40 40 40 60 60 60 180 Minimum Allowable External Resistance Ω 40 40 40 40 40 40 40 20 12 12 8 Overvoltage Category II...

Page 45: ... Power Loss W 8 Total Power Loss W 17 0 19 1 24 1 35 7 61 2 Regenera tive Resistor Built In Regener ative Resistor Resistance Ω 40 Capacity W 40 Minimum Allowable External Resistance Ω 40 40 40 40 40 Overvoltage Category III Model SGD7S R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A Maximum Applicable Motor Capacity kW 0 05 0 1 0 2 0 4 0 5 0 75 1 0 1 5 Continuous Output Current Arms 0 66 0 91 1 6 2 8 3 8...

Page 46: ... Power Loss W 82 7 83 5 146 2 211 6 255 3 243 6 343 4 Control Circuit Power Loss W 16 16 19 21 21 28 28 Total Power Loss W 98 7 99 5 165 2 232 6 276 3 271 6 371 4 Overvoltage Category III Model SGD7S R70F R90F 2R1F 2R8F Maximum Applicable Motor Capacity kW 0 05 0 1 0 2 0 4 Continuous Output Current Arms 0 66 0 91 2 1 2 8 Instantaneous Maximum Output Current Arms 2 1 3 2 6 5 9 3 Main Circuit Power ...

Page 47: ...ration with an output of 100 or higher For a Yaskawa specified combination of SERVOPACK and Servomotor maintain the effective torque within the continuous duty zone of the torque motor speed characteristic of the Servomotor SGD7S 3R8A 5R5A 7R6A 120A 180A 200A 330A 470A 550A 590A and 780A Note The above overload protection characteristics do not mean that you can perform continuous duty operation w...

Page 48: ...t be no corrosive or flammable gases Must be no exposure to water oil or chemicals Must be no dust salts or iron dust Altitude 1 1 000 m max With derating usage is possible between 1 000 m and 2 000 m Refer to the following manual for derating specifications Σ 7 Series Σ 7S SERVOPACK with MECHATROLINK III Communications References Product Manual Manual No SIEP S800001 28 Others Do not use the SERV...

Page 49: ... used Output Signals COIN Positioning Completion signal V CMP Speed Coincidence Detection signal TGON Rotation Detection signal S RDY Servo Ready signal CLT Torque Limit Detection signal VLT Speed Limit Detection signal BK Brake signal WARN Warning signal NEAR Near signal A signal can be allocated and the positive and negative logic can be changed Communi cations RS 422A Communi cations CN3 Inter ...

Page 50: ...range 10 VDC effective linearity range 8 V Resolution 16 bits Accuracy 20 mV Typ Maximum output current 10 mA Settling time 1 1 2 ms Typ Dynamic Brake DB Activated when a servo alarm or overtravel OT occurs or when the power supply to the main circuit or servo is OFF Regenerative Processing Built in An external resistor must be connected to the SGD7S 470A to 780A Refer to the following catalog for...

Page 51: ... Block Diagrams 3 7 3 5 1 Pressure Feedback Control 2 Pn458 n 1 3 7 3 5 2 Pressure Feedback Control 1 Pn458 n 0 3 8 3 6 Setup Procedure 3 10 3 6 1 Flowchart 3 10 3 6 2 Disabling Tuning Less Function 3 10 3 6 3 Setting and Checking Other Station Monitoring 3 10 3 6 4 Settings for the System That Uses Pressure Feedback Control 3 13 3 6 5 Automatic Offset Adjustment for Pressure Feedback Detection In...

Page 52: ...3 7 Monitoring 3 23 ...

Page 53: ...h speed high precision pressure control Pressure feedback control is performed in Torque Control Mode It cannot be used in Speed Control Mode or Position Control Mode In pressure feedback control you can only use posi tive torque references You cannot use a negative torque reference Change Pn000 n X rotation direction selection as necessary Stop the motor before you change from Speed Control Mode ...

Page 54: ...on distance Attach a ferrite core Recommended Pressure Sensor Amplifier Specifications Output voltage 12 V Response frequency 500 Hz min Note Response may deteriorate below 500 Hz 3 2 2 FT41 Connect the pressure sensor amplifiers and the R7G4HML3 6 LC2 I O Modules from M Sys tem Co Ltd for MECHATROLINK III distributed I O to the CN6A and CN6B connectors on the SERVOPACK with MECHATROLINK III Commu...

Page 55: ...limit Pn480 for force control and keep the speed constant If the torque limit is released when operating with the pressure feedback detection value at or below the pressure feedback reference value due to the torque limit excess torque may be applied to the Servomotor This creates a risk of workpiece and machine damage Set appropriate values for the pressure feedback loop deviation overflow level ...

Page 56: ...control to pressure feedback control is performed according to Pn44C Pressure Feedback Enable Level Note The area shaded in gray in the above diagram is the area in which pressure feedback control is enabled Parameter Meaning When Enabled Classification Pn458 n 0 Set mode 1 After restart Setup n 1 default setting Set mode 2 Pressure Feedback Enable Level Pn44C Setting Range Setting Unit Default Se...

Page 57: ...verflow Level Pn447 Pressure Feedback Enable Disable Switch Pn440 n X Pressure Feedback Detection Monitor Pressure Feedback Output Torque Monitor Pressure Feedback Loop Deviation Monitor Torque Reference Monitor Feedback speed conversion value Pressure Feedback Control 2 Stability Gain Pn4A7 Pressure Feedback Control 2 Stability Integral Time Pn4A8 Pressure Feedback Moment of Inertia Ratio Pn4AC G...

Page 58: ... Loop Feedforward Pn444 Pressure Feedback Loop Integral Time Pn442 Pressure Feedback Loop Proportional Gain 2 Pn452 Pressure feedback control loop Pressure Feedback Enable Disable Switch Pn440 n X Torque Reference Filter Pn401 Speed Limits Pn407 Pn480 Torque Control Pn402 Pn403 Pn483 Pn484 Friction Compensation Coefficient Pn123 Pressure Feedback Overflow Detection Time Pn44E Motor Warning A 922 O...

Page 59: ...ustment Fn009 Pn440 n X SERVOPACK Pressure sensor amplifier Pressure Addition Adjustment Pn469 Pressure Feedback CH3 Pn9B7 to Pn9B9 Pressure Addition Adjustment Pn46A Pressure Feedback CH4 Pn9BA to Pn9BC Pressure Addition Adjustment Pn46B Pressure Feedback CH5 Pn9BD and Pn9BF Pressure Addition Adjustment Pn468 Pressure Feedback CH2 Pn9B4 to Pn9B6 Pressure Addition Adjustment Pn467 Pressure Feedbac...

Page 60: ...e Note For MECHATROLINK III distributed I O device set the PROFILE_TYPE to 30h 3 Next send a Data Read Write_A command DATA_RWA 20h from the host controller to the MECHATROLINK III distributed I O device With the above procedure you send data between the host controller and the MECHA TROLINK III distributed I O device so the SERVOPACK can check the data being sent 3 6 2 Disabling Tuning Less Funct...

Page 61: ...rameter Meaning When Enabled Classification Pn9B3 n XX Address offset After restart Setup n X Data size unit bytes n X Reserved parameter Do not change The setting of Pn9B3 n XX depends on the data format of the MECHATROLINK III dis tributed I O device that is used The data format when you use an R7G4HML3 6 LC2 I O Module from M System Co Ltd is given below This depends on the information in the 6...

Page 62: ...etup Pn9B9 Other Station Monitor 3 Monitor Information Setting Setting Range Setting Unit Default Setting When Enabled Classification 0000 to 14FF 1000 After restart Setup Pn9BA Other Station Monitor 4 Station Address Setting Range Setting Unit Default Setting When Enabled Classification 0002 to FEEF 0002 After restart Setup Pn9BB Other Station Monitor 4 Number of Transmission Bytes Setting Range ...

Page 63: ... for the SERVOPACK 6 Send the SMON command from the host controller and set the Option Monitor 1 or 2 data selection code 0xE or 0xF in the MONITOR1 or MONITOR2 area 7 Make sure that you can observe the pressure sensor output with the pressure feedback detection monitor using the host controller option monitor or SigmaWin tracing 3 6 4 Settings for the System That Uses Pressure Feedback Control FT...

Page 64: ...he conditions are as follows Servomotor SGM7G 20 Motor rated torque 11 5 N m Ball screw lead 20 mm Sensor amplifier output For 0 to 980 N 0 to 100 0 is output The pressure for the rated torque is 11 5 N m 2 π 1 000 mm 20 mm 3 612 8 N Therefore the servo amplifier output at the rated torque would be 3612 8 N 980 N 100 00 368 65 When there is one pressure sensor the settings are as follows 1 Set Pn4...

Page 65: ...signal The parameters must not be write prohibited The servo must be OFF Applicable Tools The following table lists the tools that you can use to automatically adjust the offset and the applicable tool functions Operating Procedure Use the following procedure to adjust the offset of the pressure feedback detection input sig nal 1 Click the Servo Drive Button in the workspace of the Main Window of ...

Page 66: ...verflow Detection Level Setting Range Setting Unit Default Setting When Enabled Classification 0 to 800 1 300 Immediately Setup Pressure feedback control will be enabled at or above Pn44C and below Pn44D Torque Torque Torque Torque Torque Information Even if a Pressure Feedback Overflow Warning A 922 occurs pressure feedback control will be enabled again when the pressure feedback detection value ...

Page 67: ...bled Classification 1 to 10 000 1 mm s 100 Immediately Setup Parameter Meaning When Enabled Classification Pn458 n 0 Set pressure feedback control 1 After restart Setup n 1 default setting Set pressure feedback control 2 CAUTION If you enable gravity compensation Pn440 n 1 and the pressure feedback detection value is 0 when the pressure sensor is faulty pressure feedback control will not be perfor...

Page 68: ...eedback control is enabled Pn440 n 1 Pn4A0 Pressure Feedback One Parameter Gain Level Setting Range Setting Unit Default Setting When Enabled Classification 1 to 65 535 1 000 Immediately Setup Pn4A7 Pressure Feedback Control 2 Stability Gain Setting Range Setting Unit Default Setting When Enabled Classification 10 to 20 000 0 1 Hz 400 Immediately Setup Pn4A8 Pressure Feedback Control 2 Stability I...

Page 69: ...onse waveform End of Adjustment Check the response waveform Check the response waveform Increase Pn4A7 and decrease Pn4A8 Adjust Pn45E to a suitable value Torque saturation occurs Enter the value of Pn100 for Pn4A7 Pressure Feedback Control 2 Stability Gain Enter the value of Pn101 for Pn4A8 Pressure Feedback Control 2 Integral Time Enter the value of Pn103 for Pn4AC Pressure Feedback Moment of In...

Page 70: ...dback Control 1 Pressure Feedback Loop Feedforward Setting Range Setting Unit Default Setting When Enabled Classification 0 to 1 000 1 100 Immediately Setup Pn450 Pressure Feedback Control 1 Pressure Feedback Loop Differential Time Setting Range Setting Unit Default Setting When Enabled Classification 0 to 51 200 0 1 ms 0 Immediately Setup Pn451 Pressure Feedback Control 1 Pressure Feedback Loop D...

Page 71: ...dback Loop Proportional Gain 2 set to 0 No Yes Increase Pn442 Pressure Feedback Loop Integral Time Check the response waveform Vibration or overshooting No vibration Check the response waveform No vibration Set Pn442 Pressure Feedback Loop Integral Time to the optimum value Decrease Pn442 Pressure Feedback Loop Integral Time by 0 1 ms Increase Pn452 Pressure Feedback Loop Proportional Gain 2 by 10...

Page 72: ...ion No No Yes Set Pn451 Pressure Feedback Loop Differential Filter Multiplier to the optimum value Adjustment of Pn450 differential time Adjustment of Pn451 differential filter rate No Increase Pn450 Pressure Feedback Loop Differential Time by 0 1 ms Was vibration reduced Was vibration reduced Increase the value of Pn451 Pressure Feedback Loop Differential Filter Multiplier by 10 Check the respons...

Page 73: ...it 0050h Pressure Feedback Detection Monitor 10 000 100 rated torque 0052h Control Method Change Monitor 0 Position or speed control 1 Torque control 3 Pressure feedback 0100h Speed Torque Pres sure Table Operation Monitor Upper 16 bits Pressure feedback value 0 01 Lower 16 bits Speed torque pressure table operation status monitor value 0101h Other Station Moni tor Data Upper 16 bits Other station...

Page 74: ...re Table Operation 4 4 4 3 1 Setting the Number of Speed Table References and the Number of Torque Pressure References 4 4 4 3 2 Settings for Speed Table Operation 4 5 4 3 3 Setting Condition for Changing from Speed Table Operation to Torque Pressure Table Operation 4 7 4 3 4 Settings for Torque Pressure Table Operation 4 11 4 4 Operating Procedure 4 13 4 5 Monitoring 4 14 Speed Torque Pressure Ta...

Page 75: ...dvance To use speed torque pressure table operation pressure feedback control must be operating normally Refer to the following chapter for details on pressure feedback control Chapter 3 Pressure Feedback Control You can perform speed torque pressure table operation in Speed Control Mode It cannot be used in Position Control Mode or Torque Control Mode Stop the motor before you change from Positio...

Page 76: ...eference Torque reference Speed Table Switching Position 4 Pn6C6 Speed Table Switching Position 2 Pn6C2 Torque pressure table operation Speed Table Reference 4 Pn6B2 Speed Table Reference 2 Pn6AE Speed Table Reference 1 Pn6AC Speed Table Reference 4 Pn6B0 Torque Pressure Reference 3 Pn6D6 Torque Pressure Reference 2 Torque Pressure Reference 1 Pn6D2 Torque Pressure Reference Time 3 Pn6E0 Torque Pr...

Page 77: ...ately Setup n 1 Use speed table reference 1 Pn6AC for speed table operation n 2 Use speed table reference 1 Pn6AC and speed table reference 2 Pn6AE for speed table operation n 3 Use speed table reference 1 Pn6AC through speed table reference 3 Pn6B0 for speed table operation n 4 Use speed table reference 1 Pn6AC through speed table reference 4 Pn6B2 for speed table operation n 5 Use speed table re...

Page 78: ...t Setting When Enabled Classification 0 to 2 147 483 647 1 reference unit s 0 Immediately Setup Pn6B0 Speed Table Reference 3 Setting Range Setting Unit Default Setting When Enabled Classification 0 to 2 147 483 647 1 reference unit s 0 Immediately Setup Pn6B2 Speed Table Reference 4 Setting Range Setting Unit Default Setting When Enabled Classification 0 to 2 147 483 647 1 reference unit s 0 Imme...

Page 79: ...bled Classification 0 to 2 147 483 647 1 reference unit s 0 Immediately Setup Pn6C6 Speed Table Switching Position 4 Setting Range Setting Unit Default Setting When Enabled Classification 0 to 2 147 483 647 1 reference unit s 0 Immediately Setup Pn6C8 Speed Table Switching Position 5 Setting Range Setting Unit Default Setting When Enabled Classification 0 to 2 147 483 647 1 reference unit s 0 Imme...

Page 80: ... for Pn44C Pressure Feedback Enable Level or less torque references are restricted to the set ting of Pn6A5 Torque Pressure Reference during Speed Table Operation or less The pres sure reference in Pn6A5 functions as the maximum limit when the pressure feedback detection value exceeds the value of Pn44C Speed table operation changes to torque pressure table operation when the motor position exceed...

Page 81: ... exceeds Pn6A8 n 0 Default Setting Disable Pn6A5 and enable Pn6A4 n X n 1 Disable Pn6A4 n X and enable Pn6A5 Pn6A5 Torque Pressure Reference during Speed Table Operation Setting Range Setting Unit Default Setting When Enabled Classification 0 to 1 073 741 824 1 0 Immediately Setup Pressure Control Switching Pressure Percentage Pn6A7 Setting Range Setting Unit Default Setting When Enabled Classific...

Page 82: ...s to torque pressure table operation when the pressure feed back detection value exceeds Pn6A7 Pn6D2 or the motor position exceeds Pn6A8 In the following example speed table operation is changed to torque pressure table operation when the motor position exceeds Pn6A8 Pn6D6 Pn6A8 Pn6C4 Pn6C0 Pn6B2 Pn6AE Pn6B0 Pn6AC Pn6A7 Pn6D2 Pn44C Pn6C2 Pn6D4 Pn6D2 Pn6DC Pn6DE Pn6E0 Pressure feedback Feedback spe...

Page 83: ... detection value falls to the setting for Pn44C Pressure Feedback Enable Level or less torque references are restricted to the setting of Pn6A5 Torque Pressure Reference during Speed Table Operation or less The pressure reference in Pn6A5 functions as the maximum limit when the pressure feedback detection value exceeds the value of Pn44C Speed table operation changes to torque pressure table opera...

Page 84: ...lassification 1 073 741 824 to 1 073 741 824 1 0 Immediately Setup Pn6D8 Torque Pressure Reference 4 Setting Range Setting Unit Default Setting When Enabled Classification 1 073 741 824 to 1 073 741 824 1 0 Immediately Setup Pn6DA Torque Pressure Reference 5 Setting Range Setting Unit Default Setting When Enabled Classification 1 073 741 824 to 1 073 741 824 1 0 Immediately Setup Pn6DC Torque Pres...

Page 85: ...for the torque pressure references and torque pressure reference times and set the parameters in ascending order of parameter numbers Torque Pressure Reference 5 Pn6DA Torque Pressure Reference 4 Pn6D8 Torque Pressure Reference 3 Pn6D6 Torque Pressure Reference 2 Pn6D4 Torque Pressure Reference 1 Pn6D2 Torque reference Time Torque Pressure ReferenceTime1 Pn6DC Torque Pressure ReferenceTime2 Pn6DE ...

Page 86: ... 12 Bit 11 Bit 10 Bit 9 Bit 8 Reserved 0 G SEL Bit 23 Bit 22 Bit 21 Bit 20 Bit 19 Bit 18 Bit 17 Bit 16 Reserved SO3 SO2 SO1 BANK_SEL Bit 31 Bit 30 Bit 29 Bit 28 Bit 27 Bit 26 Bit 25 Bit 24 Reserved 0 Speed Torque Pressure Table Operation Reference Speed Torque Pressure Table Operation Prepara tions Start Bit Reserved 0 Bit Command Value Setting When Enabled 28 Speed Torque Pres sure Table Operatio...

Page 87: ...eedback Loop Deviation Monitor 1 V 100 rated torque Pn824 Pn825 Signal Name Unit 0050h Pressure Feedback Detection Monitor 10 000 100 rated torque 0052h Control Method Change Monitor 0 Position or speed control 1 Torque control 3 Pressure feedback 0100h Speed Torque Pres sure Table Operation Monitor channel 1 channel 2 0101h Other Station Moni tor Data Signal Name Unit Pressure Feedback Torque Ref...

Page 88: ...y is turned ON The status will change to 1 when preparations for speed torque pressure table operation have been completed 2 Pressure Feedback Status 0 Torque force control 1 Pressure feedback control The status will be 1 when pressure feedback control is enable 3 CANCEL 0 Not canceled 1 Speed torque pressure table operation monitor canceled The status will change to 1 when a command to cancel spe...

Page 89: ...5 List of Warnings 5 39 5 1 6 Troubleshooting Warnings 5 42 5 1 7 Troubleshooting Based on the Operation and Conditions of the Servomotor 5 49 5 2 FT41 Specification 5 58 5 2 1 Alarm Displays 5 58 5 2 2 List of Alarms 5 58 5 2 3 Troubleshooting Alarms 5 64 5 2 4 Warning Displays 5 95 5 2 5 List of Warnings 5 95 5 2 6 Troubleshooting Warnings 5 98 5 2 7 Troubleshooting Based on the Operation and Co...

Page 90: ...of Alarms Status Indications Not lit Not lit Not lit Not lit Not lit Alarm Number Alarm Name Alarm Meaning Servo motor Stop ping Method Alarm Reset Possi ble A 020 Parameter Checksum Error There is an error in the parameter data in the SERVOPACK Gr 1 No A 021 Parameter Format Error There is an error in the parameter data format in the SERVOPACK Gr 1 No A 022 System Checksum Error There is an error...

Page 91: ...AC power supply input setting or DC power supply input setting is not correct The power supply wiring is not correct Gr 1 Yes A 400 Overvoltage The main circuit DC voltage is too high Gr 1 Yes A 410 Undervoltage The main circuit DC voltage is too low Gr 2 Yes A 510 Overspeed The motor exceeded the maximum speed Gr 1 Yes A 511 Encoder Output Pulse Overspeed The pulse output speed for the setting of...

Page 92: ... Gr 1 No A 8A0 External Encoder Error An error occurred in the external encoder Gr 1 Yes A 8A1 External Encoder Module Error An error occurred in the Serial Converter Unit Gr 1 Yes A 8A2 External Incremental Encoder Sensor Error An error occurred in the external encoder Gr 1 Yes A 8A3 External Absolute Encoder Position Error An error occurred in the position data of the external encoder Gr 1 Yes A...

Page 93: ...ommunications Error Communications between the encoder and SER VOPACK is not possible Gr 1 No A C91 Encoder Communications Position Data Acceleration Rate Error An error occurred in calculating the position data of the encoder Gr 1 No A C92 Encoder Communications Timer Error An error occurred in the communications timer between the encoder and SERVOPACK Gr 1 No A CA0 Encoder Parameter Error The pa...

Page 94: ...Error The setting of the MECHATROLINK station address is not correct Gr 2 No A E50 MECHATROLINK Syn chronization Error A synchronization error occurred during MECHA TROLINK communications Gr 2 Yes A E51 MECHATROLINK Syn chronization Failed Synchronization failed during MECHATROLINK communications Gr 2 Yes A E60 Reception Error in MECHATROLINK Commu nications Communications errors occurred continuo...

Page 95: ...R S or T when the main power supply was ON Gr 2 Yes A F50 Servomotor Main Circuit Cable Disconnection The Servomotor did not operate or power was not supplied to the Servomotor even though the SV_ON Servo ON command was input when the Servomotor was ready to receive it Gr 1 Yes FL 1 System Alarm An internal program error occurred in the SER VOPACK No FL 2 FL 3 FL 4 FL 5 FL 6 CPF00 Digital Operator...

Page 96: ...he SERVOPACK and caused failure of the internal components Check the installation conditions The SERVOPACK may be faulty Replace the SER VOPACK A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If the alarm still occurs the SERVOPACK may have failed The SERVOPACK may be faulty Replace the SER VOPACK A 021 Parameter For mat Error There is an error in the pa...

Page 97: ...ot using a Serial Converter Unit Check to see if the motor parameter file was written to the lin ear encoder Write the motor parame ter file to the linear encoder 1 A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK A parameter setting is outside of the setting range Check the setting ranges of the parame ters that have been changed Set the parameters to val ues...

Page 98: ...r bank members there are two consecutive members with nothing registered Change the number of bytes for bank members to an appropriate value The total amount of bank data exceeds 64 Pn900 Pn901 64 Reduce the total amount of bank data to 64 or less A 050 Combination Error The capacities of the SERVOPACK and Servomotor do not match The SERVOPACK and Servomotor capaci ties do not match each other Con...

Page 99: ... for a Rotary Servomotor and reset the motor type alarm Then turn the power supply to the SER VOPACK OFF and ON again 1 A 080 Linear Encoder Pitch Setting Error The setting of Pn282 Linear Encoder Scale Pitch has not been changed from the default setting Check the setting of Pn282 Correct the setting of Pn282 1 A 0b0 Invalid Servo ON Command Alarm The SV_ON Servo ON command was sent from the host ...

Page 100: ...K 1 The regenerative resistor is not wired correctly or there is faulty contact Check the wiring Correct the wiring 1 The dynamic brake DB emergency stop executed from the SERVOPACK was frequently activated or a DB overload alarm occurred Check the power con sumed by the DB resis tor to see how frequently the DB is being used Or check the alarm display to see if a DB overload alarm A 730 or A 731 ...

Page 101: ...ween the ground and cable phases U V and W The cable may be short circuited Replace the cable 1 There is a short circuit or ground fault inside the Servomotor Check for short circuits across Servomotor phases U V and W or between the ground and Servomotor phases U V or W The Servomotor may be faulty Replace the Servo motor 1 There is a short circuit or ground fault inside the SERVOPACK Check for s...

Page 102: ...00 Connect an External Regenerative Resistor and set Pn600 to an appropri ate value or connect a Regenerative Resistor Unit and set Pn600 to 0 1 The jumper between the regenerative resis tor terminals B2 and B3 was removed from one of the fol lowing SERVO PACKs SGD7S 3R8A 5R5A 7R6A 120A 180A 200A or 330A Check to see if the jumper is connected between power supply terminals B2 and B3 Correctly con...

Page 103: ... Servomotor during operation Reconsider the system including the servo machine and operating conditions The setting of Pn600 Regenerative Resis tor Capacity is smaller than the capacity of the Exter nal Regenerative Resistor Check to see if a Regenerative Resistor is connected and check the setting of Pn600 Correct the setting of Pn600 1 The setting of Pn603 Regenerative Resis tance is smaller tha...

Page 104: ...wer supply setting to match the actual power supply 1 AC power was sup plied when a DC power supply input was specified in the settings Check the power sup ply to see if it is an AC power supply Correct the power supply setting to match the actual power supply 1 Pn600 Regenerative Resistor Capacity is not set to 0 and an External Regenerative Resistor is not con nected to one of the following SERV...

Page 105: ...ratio or mass ratio exceeded the allow able value Check to see if the moment of inertia ratio or mass ratio is within the allowable range Increase the deceleration time or reduce the load A failure occurred in the SERVOPACK While the main circuit power supply is OFF turn the control power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVO PACK may be faulty Replace the SER...

Page 106: ...ting of Pn100 Speed Loop Gain 1 The setting of Pn103 Moment of Inertia Ratio is greater than the actual moment of inertia or was greatly changed Check the moment of inertia ratio or mass ratio Set Pn103 Moment of Inertia Ratio to an appro priate value 1 The vibration detec tion level Pn312 or Pn384 is not suitable Check that the vibra tion detection level Pn312 or Pn384 is suitable Set a suitable ...

Page 107: ...31 Dynamic Brake Overload An excessive power consump tion by the dynamic brake was detected The Servomotor was rotated by an external force Check the operation status Implement measures to ensure that the motor will not be rotated by an external force When the Servomo tor was stopped with the dynamic brake the rotational or linear kinetic energy exceeded the capac ity of the dynamic brake resistor...

Page 108: ... ture Error 2 Power Board Temperature Error The surrounding tem perature is too high Check the surrounding temperature using a thermostat Or check the operating status with the SERVOPACK installation environment monitor Decrease the surround ing temperature by improving the SERVO PACK installation condi tions 1 An overload alarm was reset by turning OFF the power sup ply too many times Check the a...

Page 109: ...red in the absolute encoder If the alarm still occurs after setting up the encoder again replace the Servomotor A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK A 820 Encoder Check sum Alarm Detected at the encoder A failure occurred in the encoder When Using an Abso lute Encoder Set up the encoder again If the alarm still occurs the Servomotor may be faulty R...

Page 110: ...iled Replace the polarity sen sor A 850 Encoder Over speed Detected at the encoder when the control power supply is turned ON Rotary Servomotor The Servomotor speed was 200 min 1 or higher when the control power supply was turned ON Check the motor speed when the power supply is turned ON Reduce the Servomotor speed to a value less than 200 min 1 and turn ON the control power supply Linear Servomo...

Page 111: ...re of the Servomotor to 40 or less The motor load is greater than the rated load Check the load with the accumulated load ratio on the Motion Monitor Tab Page on the Sig maWin Operate the Servo Drive so that the motor load remains within the speci fied range 1 A failure occurred in the Serial Converter Unit Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Serial...

Page 112: ...faulty Replace the SERVOPACK A b6A MECHATROLINK Communications ASIC Error 1 There is a fault in the SERVOPACK MECHATROLINK communications sec tion Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A b6b MECHATROLINK Communications ASIC Error 2 A malfunction occurred in the MECHATROLINK communications sec tion due to n...

Page 113: ... A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A bF6 System Alarm 6 A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A bF7 System Alarm 7 A failure occurred in t...

Page 114: ...e forward direction of the Mov ing Coil in the motor Check the setting of Pn080 n X Motor Phase Sequence Selection Check the installation orientation for the linear encoder and Moving Coil Change the setting of Pn080 n X Cor rectly reinstall the linear encoder or Moving Coil 1 The polarity sensor signal is being affected by noise Correct the FG wiring Implement countermea sures against noise for t...

Page 115: ...r Cable An external force was applied to the Moving Coil of the motor The polarity cannot be properly detected if the detection reference is 0 and the speed feedback is not 0 because of an external force such as cable tension applied to the Moving Coil Implement measures to reduce the external force so that the speed feed back goes to 0 If the external force can not be reduced increase the setting...

Page 116: ... Pn48E Polarity Detection Range Or increase the setting of Pn481 Polarity Detection Speed Loop Gain A C54 Polarity Detec tion Failure 2 An external force was applied to the Servo motor Increase the setting of Pn495 Polarity Detection Confirmation Force Refer ence Increase the setting of Pn498 Polarity Detection Allowable Error Range Increasing the allowable error will also increase the motor tempe...

Page 117: ...ncoder by separating the Encoder Cable from the Servomotor Main Cir cuit Cable or by ground ing the encoder 1 A failure occurred in the SERVOPACK Connect the Servomotor to another SERVOPACK and turn ON the control power supply If no alarm occurs the SERVOPACK may be faulty Replace the SERVOPACK A C91 Encoder Commu nications Posi tion Data Acceleration Rate Error Noise entered on the signal lines b...

Page 118: ...lty Replace the Servo motor or linear encoder A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A CA0 Encoder Parame ter Error A failure occurred in the encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Servomotor or linear encoder may be f...

Page 119: ...machine vibra tion Correctly install the Ser vomotor or linear encoder A failure occurred in the encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Servomotor or linear encoder may be faulty Replace the Servo motor or linear encoder A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERV...

Page 120: ...erter Unit A failure occurred in the SERVOPACK Replace the SERVO PACK A d00 Position Devia tion Overflow The setting of Pn520 Position Deviation Over flow Alarm Level was exceeded by the position devi ation while the servo was ON The Servomotor U V and W wiring is not correct Check the wiring of the Servomotor s Main Cir cuit Cables Make sure that there are no faulty contacts in the wiring for the...

Page 121: ... Level Adjust the values of Pn442 Pressure Feed back Loop Integral Time and other pres sure feedback control parameters 3 20 A d10 Motor Load Posi tion Deviation Overflow The motor direction and external encoder installation orientation are backward Check the motor direc tion and the external encoder installation ori entation Install the external encoder in the opposite direction or change the set...

Page 122: ...ntroller and reset rotary switches S1 and S2 to change the address to an appropriate value between 03 and EF 1 A E50 4 MECHATROLINK Synchronization Error The WDT data in the host controller was not updated normally Check to see if the WDT data is being updated at the host controller Correctly update the WDT data at the host controller A failure occurred in the SERVOPACK Turn the power supply to th...

Page 123: ...d Check the setting of the MECHATROLINK trans mission cycle Remove the cause of transmission cycle fluctu ation at the host control ler A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A E63 MECHATROLINK Synchronization Frame Not Received MECHATROLINK wir ing is not correct Check t...

Page 124: ... the Feedback Option Module A failure occurred in the SERVOPACK Replace the SERVO PACK A E74 Unsupported Safety Option Module A failure occurred in the Safety Option Module Replace the Safety Option Module An unsupported Safety Option Module was connected Refer to the catalog of the connected Safety Option Module Connect a compatible Safety Option Module A Eb1 Safety Function Signal Input Tim ing ...

Page 125: ...s unbalanced Measure the voltage for each phase of the three phase power sup ply Balance the power sup ply by changing phases A single phase power supply was input with out specifying a sig nal phase AC power supply input Pn00B n 1 Check the power sup ply and the parameter setting Match the parameter set ting to the power supply 1 A failure occurred in the SERVOPACK Turn the power supply to the SE...

Page 126: ...he connector contact Disconnect the connec tor and insert it again Or replace the cable A malfunction was caused by noise Keep the Digital Operator or the cable away from sources of noise CPF01 Digital Operator Communications Error 2 A failure occurred in the Digital Operator Disconnect the Digital Operator and then con nect it again If an alarm still occurs the Digital Operator may be faulty Repl...

Page 127: ...d This warning occurs before an overload alarm A 710 or A 720 occurs If the warning is ignored and operation is continued an alarm may occur Required A 911 Vibration Abnormal vibration was detected during motor opera tion The detection level is the same as A 520 Set whether to output an alarm or a warning by setting Pn310 Vibration Detection Selections Required A 912 Internal Temperature Warning 1...

Page 128: ... Automatically reset A 95b Command Warning 2 Unsupported Com mand An unsupported command was sent Automatically reset A 95d Command Warning 4 Command Interfer ence There was command interference particularly latch command interference Automatically reset A 95E Command Warning 5 Subcommand Not Possible The subcommand and main command interfere with each other Automatically reset A 95F Command Warni...

Page 129: ... Pn008 n X Function Selection for Undervoltage Not affected by the setting of Pn008 n X A 9A0 Pn00D n X Overtravel Warning Detection Selection Not affected by the setting of Pn008 n X A 9b0 Pn00F n X Preventative Maintenance Warning Selection Continued from previous page Warning Parameters That Must Be Set to Select Warning Detection ...

Page 130: ...uce the reference acceleration and try operating the SERVO PACK Reduce the acceleration of the position reference using a MECHATROLINK com mand Or smooth the posi tion reference acceleration by selecting the position reference filter ACCFIL using a MECHATROLINK command The excessive position deviation alarm level Pn520 Pn51E 100 is too low for the operating condi tions Check excessive posi tion de...

Page 131: ...ble Check that the over load warning level Pn52B is suitable Set a suitable overload warning level Pn52B A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 911 Vibration Abnormal vibra tion was detected during motor operation Check for abnormal motor noise and check the speed and torque waveforms during operation Reduce the motor speed Or reduce the servo gai...

Page 132: ... the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 913 Internal Tempera ture Warning 2 Power Board Tem perature Error The surrounding temperature is too high Check the surrounding temperature using a thermostat Or check the operating status with the SERVOPACK installation environ ment monitor Decrease the surrounding temperature by improving the SERVOPACK installa tion conditions...

Page 133: ...measures to ensure that the motor will not be rotated by an exter nal force When the Servo motor was stopped with the dynamic brake the rotational or linear kinetic energy exceeded the capacity of the dynamic brake resistor Check the power con sumed by the DB resis tor to see how frequently the DB is being used Reconsider the following Reduce the Servomotor command speed Decrease the moment of ine...

Page 134: ...meter number A 94b Data Setting Warn ing 2 Out of Range The set com mand data was clamped to the minimum or maxi mum value of the setting range Check the command that caused the warn ing Set the parameter within the setting range A 94C Data Setting Warn ing 3 Calculation Error The calculation result of the set ting is not correct Check the command that caused the warn ing Set the parameter within ...

Page 135: ...ck the MECHA TROLINK Communica tions Cable and FG wiring and implement counter measures to prevent noise from entering Attach a ferrite core to the MECHATROLINK Com munications Cable A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 971 Undervoltage For a 200 V SER VOPACK the AC power supply volt age dropped below 140 V Measure the power supply voltage Set t...

Page 136: ...ertravel Over travel status was detected Overtravel was detected while the servo was ON Check the status of the overtravel signals on the input signal moni tor Even if an overtravel signal is not shown by the input signal monitor momentary overtravel may have been detected Take the following precautions Do not specify move ments that would cause overtravel from the host controller Check the wiring...

Page 137: ... status Reduce the load or replace the Servomo tor with a Servomotor with a larger capacity The type of encoder that is being used does not agree with the setting of Pn002 n X Encoder Usage Check the type of the encoder that is being used and the setting of Pn002 n X Set Pn002 n X according to the type of the encoder that is being used There is a mistake in the input signal allocations Pn50A Pn50B...

Page 138: ...he motor Check the directions Change the setting of Pn080 n X Motor Phase Sequence Selection Match the linear encoder direction and motor direction Polarity detection was not performed correctly Check to see if electrical angle 2 electrical angle from polarity origin at any position is between 10 Correct the settings for the polarity detection related parameters Servomotor Speed Is Unstable There ...

Page 139: ...are any loose mounting screws Tighten the mounting screws The machine mounting is not secure Check to see if there is misalignment in the cou pling Align the coupling Check to see if the cou pling is balanced Balance the coupling The bearings are defective Check for noise and vibration around the bear ings Replace the Servomo tor There is a vibration source at the driven machine Check for any fore...

Page 140: ...s There is variation in the FG potential because of the influence of machines on the Servomotor side such as a welder Check to see if the machines are correctly grounded Properly ground the machines to separate them from the FG of the encoder There is a SERVOPACK pulse counting error due to noise Check to see if there is noise interference on the signal line from the encoder Implement counter meas...

Page 141: ...t on Starting and Stop ping The servo gains are not bal anced Check to see if the servo gains have been cor rectly tuned Perform autotuning without a host refer ence The setting of Pn100 Speed Loop Gain is too high Check the setting of Pn100 The default setting is Kv 40 0 Hz Set Pn100 to an appro priate value The setting of Pn102 Posi tion Loop Gain is too high Check the setting of Pn102 The defau...

Page 142: ...able was sub ject to excessive noise inter ference Check to see if the Encoder Cable is bundled with a high current line or installed near a high cur rent line Correct the cable lay out so that no surge is applied by high current lines There is variation in the FG potential because of the influence of machines on the Servomotor side such as a welder Check to see if the machines are correctly groun...

Page 143: ...Prohibit signal was input Check the external power supply 24 V voltage for the input signals Correct the external power supply 24 V voltage for the input signals Check the operating con dition of the overtravel limit switches Make sure that the overtravel limit switches operate correctly Check the wiring of the overtravel limit switches Correct the wiring of the overtravel limit switches Check the...

Page 144: ... shielded twisted pair wire cable or a screened twisted pair cable with conductors of at least 0 12 mm2 Use cables that satisfy the specifications Noise interference occurred because the Encoder Cable is too long Check the length of the Encoder Cable Rotary Servomotors The Encoder Cable length must be 50 m max Linear Servomotors Make sure that the Serial Converter Unit cable is no longer than 20 m...

Page 145: ...d twisted pair wire cable or a screened twisted pair cable with conductors of at least 0 12 mm2 Use cables that satisfy the specifications Noise interference occurred because an I O signal cable is too long Check the lengths of the I O signal cables The I O signal cables must be no longer than 3 m An encoder fault occurred The pulse count does not change Replace the Servomo tor or linear encoder A...

Page 146: ...of Alarms Status Indications Not lit Not lit Not lit Not lit Not lit Alarm Number Alarm Name Alarm Meaning Servo motor Stop ping Method Alarm Reset Possi ble A 020 Parameter Checksum Error There is an error in the parameter data in the SERVOPACK Gr 1 No A 021 Parameter Format Error There is an error in the parameter data format in the SERVOPACK Gr 1 No A 022 System Checksum Error There is an error...

Page 147: ... AC power supply input setting or DC power supply input setting is not correct The power supply wiring is not correct Gr 1 Yes A 400 Overvoltage The main circuit DC voltage is too high Gr 1 Yes A 410 Undervoltage The main circuit DC voltage is too low Gr 2 Yes A 510 Overspeed The motor exceeded the maximum speed Gr 1 Yes A 511 Encoder Output Pulse Overspeed The pulse output speed for the setting o...

Page 148: ... Gr 1 No A 8A0 External Encoder Error An error occurred in the external encoder Gr 1 Yes A 8A1 External Encoder Module Error An error occurred in the Serial Converter Unit Gr 1 Yes A 8A2 External Incremental Encoder Sensor Error An error occurred in the external encoder Gr 1 Yes A 8A3 External Absolute Encoder Position Error An error occurred in the position data of the external encoder Gr 1 Yes A...

Page 149: ...ommunications Error Communications between the encoder and SER VOPACK is not possible Gr 1 No A C91 Encoder Communications Position Data Acceleration Rate Error An error occurred in calculating the position data of the encoder Gr 1 No A C92 Encoder Communications Timer Error An error occurred in the communications timer between the encoder and SERVOPACK Gr 1 No A CA0 Encoder Parameter Error The pa...

Page 150: ...Error The setting of the MECHATROLINK station address is not correct Gr 2 No A E50 MECHATROLINK Syn chronization Error A synchronization error occurred during MECHA TROLINK communications Gr 2 Yes A E51 MECHATROLINK Syn chronization Failed Synchronization failed during MECHATROLINK communications Gr 2 Yes A E60 Reception Error in MECHATROLINK Commu nications Communications errors occurred continuo...

Page 151: ...R S or T when the main power supply was ON Gr 2 Yes A F50 Servomotor Main Circuit Cable Disconnection The Servomotor did not operate or power was not supplied to the Servomotor even though the SV_ON Servo ON command was input when the Servomotor was ready to receive it Gr 1 Yes FL 1 System Alarm An internal program error occurred in the SER VOPACK No FL 2 FL 3 FL 4 FL 5 FL 6 CPF00 Digital Operator...

Page 152: ...the SERVOPACK and caused failure of the internal components Check the installation conditions The SERVOPACK may be faulty Replace the SER VOPACK A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If the alarm still occurs the SERVOPACK may have failed The SERVOPACK may be faulty Replace the SER VOPACK A 021 Parameter For mat Error There is an error in the p...

Page 153: ...not using a Serial Converter Unit Check to see if the motor parameter file was written to the lin ear encoder Write the motor parame ter file to the linear encoder 1 A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK A parameter setting is outside of the setting range Check the setting ranges of the parame ters that have been changed Set the parameters to val ue...

Page 154: ...r bank members there are two consecutive members with nothing registered Change the number of bytes for bank members to an appropriate value The total amount of bank data exceeds 64 Pn900 Pn901 64 Reduce the total amount of bank data to 64 or less A 050 Combination Error The capacities of the SERVOPACK and Servomotor do not match The SERVOPACK and Servomotor capaci ties do not match each other Con...

Page 155: ... for a Rotary Servomotor and reset the motor type alarm Then turn the power supply to the SER VOPACK OFF and ON again 1 A 080 Linear Encoder Pitch Setting Error The setting of Pn282 Linear Encoder Scale Pitch has not been changed from the default setting Check the setting of Pn282 Correct the setting of Pn282 1 A 0b0 Invalid Servo ON Command Alarm The SV_ON Servo ON command was sent from the host ...

Page 156: ...K 1 The regenerative resistor is not wired correctly or there is faulty contact Check the wiring Correct the wiring 1 The dynamic brake DB emergency stop executed from the SERVOPACK was frequently activated or a DB overload alarm occurred Check the power con sumed by the DB resis tor to see how frequently the DB is being used Or check the alarm display to see if a DB overload alarm A 730 or A 731 ...

Page 157: ...ween the ground and cable phases U V and W The cable may be short circuited Replace the cable 1 There is a short circuit or ground fault inside the Servomotor Check for short circuits across Servomotor phases U V and W or between the ground and Servomotor phases U V or W The Servomotor may be faulty Replace the Servo motor 1 There is a short circuit or ground fault inside the SERVOPACK Check for s...

Page 158: ...00 Connect an External Regenerative Resistor and set Pn600 to an appropri ate value or connect a Regenerative Resistor Unit and set Pn600 to 0 1 The jumper between the regenerative resis tor terminals B2 and B3 was removed from one of the fol lowing SERVO PACKs SGD7S 3R8A 5R5A 7R6A 120A 180A 200A or 330A Check to see if the jumper is connected between power supply terminals B2 and B3 Correctly con...

Page 159: ... Servomotor during operation Reconsider the system including the servo machine and operating conditions The setting of Pn600 Regenerative Resis tor Capacity is smaller than the capacity of the Exter nal Regenerative Resistor Check to see if a Regenerative Resistor is connected and check the setting of Pn600 Correct the setting of Pn600 1 The setting of Pn603 Regenerative Resis tance is smaller tha...

Page 160: ...wer supply setting to match the actual power supply 1 AC power was sup plied when a DC power supply input was specified in the settings Check the power sup ply to see if it is an AC power supply Correct the power supply setting to match the actual power supply 1 Pn600 Regenerative Resistor Capacity is not set to 0 and an External Regenerative Resistor is not con nected to one of the following SERV...

Page 161: ...ratio or mass ratio exceeded the allow able value Check to see if the moment of inertia ratio or mass ratio is within the allowable range Increase the deceleration time or reduce the load A failure occurred in the SERVOPACK While the main circuit power supply is OFF turn the control power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVO PACK may be faulty Replace the SER...

Page 162: ...ting of Pn100 Speed Loop Gain 1 The setting of Pn103 Moment of Inertia Ratio is greater than the actual moment of inertia or was greatly changed Check the moment of inertia ratio or mass ratio Set Pn103 Moment of Inertia Ratio to an appro priate value 1 The vibration detec tion level Pn312 or Pn384 is not suitable Check that the vibra tion detection level Pn312 or Pn384 is suitable Set a suitable ...

Page 163: ...31 Dynamic Brake Overload An excessive power consump tion by the dynamic brake was detected The Servomotor was rotated by an external force Check the operation status Implement measures to ensure that the motor will not be rotated by an external force When the Servomo tor was stopped with the dynamic brake the rotational or linear kinetic energy exceeded the capac ity of the dynamic brake resistor...

Page 164: ... ture Error 2 Power Board Temperature Error The surrounding tem perature is too high Check the surrounding temperature using a thermostat Or check the operating status with the SERVOPACK installation environment monitor Decrease the surround ing temperature by improving the SERVO PACK installation condi tions 1 An overload alarm was reset by turning OFF the power sup ply too many times Check the a...

Page 165: ...red in the absolute encoder If the alarm still occurs after setting up the encoder again replace the Servomotor A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK A 820 Encoder Check sum Alarm Detected at the encoder A failure occurred in the encoder When Using an Abso lute Encoder Set up the encoder again If the alarm still occurs the Servomotor may be faulty R...

Page 166: ...iled Replace the polarity sen sor A 850 Encoder Over speed Detected at the encoder when the control power supply is turned ON Rotary Servomotor The Servomotor speed was 200 min 1 or higher when the control power supply was turned ON Check the motor speed when the power supply is turned ON Reduce the Servomotor speed to a value less than 200 min 1 and turn ON the control power supply Linear Servomo...

Page 167: ...re of the Servomotor to 40 or less The motor load is greater than the rated load Check the load with the accumulated load ratio on the Motion Monitor Tab Page on the Sig maWin Operate the Servo Drive so that the motor load remains within the speci fied range 1 A failure occurred in the Serial Converter Unit Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Serial...

Page 168: ...faulty Replace the SERVOPACK A b6A MECHATROLINK Communications ASIC Error 1 There is a fault in the SERVOPACK MECHATROLINK communications sec tion Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A b6b MECHATROLINK Communications ASIC Error 2 A malfunction occurred in the MECHATROLINK communications sec tion due to n...

Page 169: ... A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A bF6 System Alarm 6 A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A bF7 System Alarm 7 A failure occurred in t...

Page 170: ...e forward direction of the Mov ing Coil in the motor Check the setting of Pn080 n X Motor Phase Sequence Selection Check the installation orientation for the linear encoder and Moving Coil Change the setting of Pn080 n X Cor rectly reinstall the linear encoder or Moving Coil 1 The polarity sensor signal is being affected by noise Correct the FG wiring Implement countermea sures against noise for t...

Page 171: ...r Cable An external force was applied to the Moving Coil of the motor The polarity cannot be properly detected if the detection reference is 0 and the speed feedback is not 0 because of an external force such as cable tension applied to the Moving Coil Implement measures to reduce the external force so that the speed feed back goes to 0 If the external force can not be reduced increase the setting...

Page 172: ... Pn48E Polarity Detection Range Or increase the setting of Pn481 Polarity Detection Speed Loop Gain A C54 Polarity Detec tion Failure 2 An external force was applied to the Servo motor Increase the setting of Pn495 Polarity Detection Confirmation Force Refer ence Increase the setting of Pn498 Polarity Detection Allowable Error Range Increasing the allowable error will also increase the motor tempe...

Page 173: ...ncoder by separating the Encoder Cable from the Servomotor Main Cir cuit Cable or by ground ing the encoder 1 A failure occurred in the SERVOPACK Connect the Servomotor to another SERVOPACK and turn ON the control power supply If no alarm occurs the SERVOPACK may be faulty Replace the SERVOPACK A C91 Encoder Commu nications Posi tion Data Acceleration Rate Error Noise entered on the signal lines b...

Page 174: ...lty Replace the Servo motor or linear encoder A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A CA0 Encoder Parame ter Error A failure occurred in the encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Servomotor or linear encoder may be f...

Page 175: ...machine vibra tion Correctly install the Ser vomotor or linear encoder A failure occurred in the encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Servomotor or linear encoder may be faulty Replace the Servo motor or linear encoder A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERV...

Page 176: ...erter Unit A failure occurred in the SERVOPACK Replace the SERVO PACK A d00 Position Devia tion Overflow The setting of Pn520 Position Deviation Over flow Alarm Level was exceeded by the position devi ation while the servo was ON The Servomotor U V and W wiring is not correct Check the wiring of the Servomotor s Main Cir cuit Cables Make sure that there are no faulty contacts in the wiring for the...

Page 177: ...ection monitor or pressure feedback loop devia tion monitor Change the value of Pn447 Pressure Feed back Loop Deviation Overflow Level Adjust the values of Pn442 Pressure Feed back Loop Integral Time and other pres sure feedback control parameters 3 18 A d10 Motor Load Posi tion Deviation Overflow The motor direction and external encoder installation orientation are backward Check the motor direc ...

Page 178: ...ycle to an appropriate value A E41 MECHATROLINK Communications Data Size Setting Error The number of trans mission bytes set on DIP switch S3 is not correct Check the MECHA TROLINK communica tions data size of the host controller Reset DIP switch S3 to change the number of transmission bytes to an appropriate value 1 A E42 MECHATROLINK Station Address Setting Error The station address is outside o...

Page 179: ...r A MECHATROLINK data reception error occurred due to noise Implement countermea sures against noise Check the MECHA TROLINK Communica tions Cable and FG wiring and implement measures such as attach ing a ferrite core to the MECHATROLINK Com munications Cable A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be fa...

Page 180: ...Error from the Digital Operator or SigmaWin and then turn the power supply to the SERVO PACK OFF and ON again 1 A failure occurred in the Safety Option Module Replace the Safety Option Module A failure occurred in the SERVOPACK Replace the SERVO PACK A E72 Feedback Option Module Detec tion Failure There is a faulty con nection between the SERVOPACK and the Feedback Option Module Check the connecti...

Page 181: ...command only when the motor is not operating For fully closed loop control check the status of the external encoder when the command is exe cuted For other types of control check the status of the linear encoder when the command is exe cuted Execute the SENS_ON command only when an external rotary encoder or linear encoder is con nected A F10 Power Supply Line Open Phase The voltage was low for mo...

Page 182: ...ill occurs the SERVOPACK may be faulty Replace the SERVOPACK FL 2 5 System Alarm FL 3 5 System Alarm FL 4 5 System Alarm FL 5 5 System Alarm FL 6 5 System Alarm CPF00 Digital Operator Communications Error 1 There is a faulty con tact between the Digi tal Operator and the SERVOPACK Check the connector contact Disconnect the connec tor and insert it again Or replace the cable A malfunction was cause...

Page 183: ... Pn20E Pn210 Maximum motor speed min 1 Encoder resolution Approx 3 66 1012 Rated motor speed mm s 1 3 Linear encoder pitch μm Resolution of Serial Converter Unit 10 Pn20E Pn210 Pn385 100 mm s Linear encoder pitch μm Pn20E Pn210 Resolution of Serial Converter Unit Approx 6 10 10 5 Warning Number Warning Name Meaning Resetting A 900 Position Deviation Overflow The position deviation exceeded the per...

Page 184: ...Data Setting Warning 4 Parameter Size The data sizes do not match Automatically reset A 94E Data Setting Warning 5 Latch Mode Error A latch mode error was detected Required A 95A Command Warning 1 Unsatisfied Com mand Conditions A command was sent when the conditions for sending a command were not satisfied Automatically reset A 95b Command Warning 2 Unsupported Com mand An unsupported command was...

Page 185: ...e of the consumable parts has reached the end of its service life Required Warning Parameters That Must Be Set to Select Warning Detection A 911 Pn310 n X Vibration Detection Selection A 923 Not affected by the setting of Pn008 n X A 930 Pn008 n X Low Battery Voltage Alarm Warning Selection A 942 Pn423 n X Speed Ripple Compensation Information Disagreement Warning Detection Selection A 94A to A 96...

Page 186: ...uce the reference acceleration and try operating the SERVO PACK Reduce the acceleration of the position reference using a MECHATROLINK com mand Or smooth the posi tion reference acceleration by selecting the position reference filter ACCFIL using a MECHATROLINK command The excessive position deviation alarm level Pn520 Pn51E 100 is too low for the operating condi tions Check excessive posi tion de...

Page 187: ...ble Check that the over load warning level Pn52B is suitable Set a suitable overload warning level Pn52B A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 911 Vibration Abnormal vibra tion was detected during motor operation Check for abnormal motor noise and check the speed and torque waveforms during operation Reduce the motor speed Or reduce the servo gai...

Page 188: ...n the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 913 Internal Tempera ture Warning 2 Power Board Tem perature Error The surrounding temperature is too high Check the surrounding temperature using a thermostat Or check the operating status with the SERVOPACK installation environ ment monitor Decrease the surrounding temperature by improving the SERVOPACK installa tion condition...

Page 189: ...measures to ensure that the motor will not be rotated by an exter nal force When the Servo motor was stopped with the dynamic brake the rotational or linear kinetic energy exceeded the capacity of the dynamic brake resistor Check the power con sumed by the DB resis tor to see how frequently the DB is being used Reconsider the following Reduce the Servomotor command speed Decrease the moment of ine...

Page 190: ...ameter number A 94b Data Setting Warn ing 2 Out of Range The set com mand data was clamped to the minimum or maxi mum value of the setting range Check the command that caused the warn ing Set the parameter within the setting range A 94C Data Setting Warn ing 3 Calculation Error The calculation result of the set ting is not correct Check the command that caused the warn ing Set the parameter within...

Page 191: ...m the installation conditions Implement the following countermeasures against noise Check the MECHA TROLINK Communica tions Cable and FG wiring and implement counter measures to prevent noise from entering Attach a ferrite core to the MECHATROLINK Com munications Cable A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 964 Other Station Moni tor Data Communi ...

Page 192: ...the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 97A Command Warning 7 Phase Error A command that cannot be exe cuted in the cur rent phase was sent Send the command after the command conditions are satisfied A 97b Data Clamp Out of Range The set com mand data was clamped to the minimum or maxi mum value of the setting range Set the command data within the setting ranges A 9A0 O...

Page 193: ...d status Reduce the load or replace the Servomo tor with a Servomotor with a larger capacity The type of encoder that is being used does not agree with the setting of Pn002 n X Encoder Usage Check the type of the encoder that is being used and the setting of Pn002 n X Set Pn002 n X according to the type of the encoder that is being used There is a mistake in the input signal allocations Pn50A Pn50...

Page 194: ...he motor Check the directions Change the setting of Pn080 n X Motor Phase Sequence Selection Match the linear encoder direction and motor direction Polarity detection was not performed correctly Check to see if electrical angle 2 electrical angle from polarity origin at any position is between 10 Correct the settings for the polarity detection related parameters Servomotor Speed Is Unstable There ...

Page 195: ...are any loose mounting screws Tighten the mounting screws The machine mounting is not secure Check to see if there is misalignment in the cou pling Align the coupling Check to see if the cou pling is balanced Balance the coupling The bearings are defective Check for noise and vibration around the bear ings Replace the Servomo tor There is a vibration source at the driven machine Check for any fore...

Page 196: ...s There is variation in the FG potential because of the influence of machines on the Servomotor side such as a welder Check to see if the machines are correctly grounded Properly ground the machines to separate them from the FG of the encoder There is a SERVOPACK pulse counting error due to noise Check to see if there is noise interference on the signal line from the encoder Implement counter meas...

Page 197: ...ot on Starting and Stop ping The servo gains are not bal anced Check to see if the servo gains have been cor rectly tuned Perform autotuning without a host refer ence The setting of Pn100 Speed Loop Gain is too high Check the setting of Pn100 The default setting is Kv 40 0 Hz Set Pn100 to an appro priate value The setting of Pn102 Posi tion Loop Gain is too high Check the setting of Pn102 The defa...

Page 198: ...r Cable and correct the cable instal lation environment Check to see if the Encoder Cable is bundled with a high current line or installed near a high cur rent line Correct the cable lay out so that no surge is applied by high current lines There is variation in the FG potential because of the influence of machines on the Servomotor side such as a welder Check to see if the machines are correctly ...

Page 199: ...Prohibit signal was input Check the external power supply 24 V voltage for the input signals Correct the external power supply 24 V voltage for the input signals Check the operating con dition of the overtravel limit switches Make sure that the overtravel limit switches operate correctly Check the wiring of the overtravel limit switches Correct the wiring of the overtravel limit switches Check the...

Page 200: ...a shielded twisted pair wire cable or a screened twisted pair cable with conductors of at least 0 12 mm2 Use cables that satisfy the specifications Noise interference occurred because the Encoder Cable is too long Check the length of the Encoder Cable Rotary Servomotors The Encoder Cable length must be 50 m max Linear Servomotors Make sure that the Serial Converter Unit cable is no longer than 20 ...

Page 201: ...ed twisted pair wire cable or a screened twisted pair cable with conductors of at least 0 12 mm2 Use cables that satisfy the specifications Noise interference occurred because an I O signal cable is too long Check the lengths of the I O signal cables The I O signal cables must be no longer than 3 m An encoder fault occurred The pulse count does not change Replace the Servomo tor or linear encoder ...

Page 202: ...K III Common Parameters 6 3 6 2 FT40 Specification 6 4 6 2 1 List of Servo Parameters 6 4 6 2 2 List of MECHATROLINK III Common Parameters 6 48 6 2 3 Parameter Recording Table 6 56 6 3 FT41 Specification 6 70 6 3 1 List of Servo Parameters 6 70 6 3 2 List of MECHATROLINK III Common Parameters 6 116 6 3 3 Parameter Recording Table 6 124 Parameter Lists 6 ...

Page 203: ...ation Direction Selection Reference Movement Direction Selection 0 Use CCW as the forward direction Use the direction in which the linear encoder counts up as the for ward direction 1 Use CW as the forward direction Reverse Rotation Mode Use the direction in which the linear encoder counts down as the forward direction Reverse Movement Mode n X Reserved parameter Do not change n X Reserved paramet...

Page 204: ...tors to which the parameter applies Rotary Servomotor terms are used for parameters that are applicable to all Servomotors If you are using a Linear Servomotor you need to interpret the terms accordingly Refer to the following section for details Differences in Terms for Rotary Servomotors and Linear Servomotors on page xi Indicates when a change to the parameter will be effective After restart in...

Page 205: ...Selec tions 0 0000h to 10B1h 0000h All After restart Setup 1 Continued on next page n X Rotation Direction Selection Movement Direction Selection 0 Use CCW as the forward direction Use the direction in which the linear encoder counts up as the forward direc tion 1 Use CW as the forward direction Reverse Rotation Mode Use the direction in which the linear encoder counts down as the forward directio...

Page 206: ...he motor to a stop use the stopping method set in Pn001 n X 1 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque and then servo lock the motor 2 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque and then let the motor coast 3 Decelerate the motor to a stop using the deceleration time set in Pn30A and then servo lock the motor 4 Decel...

Page 207: ... Reserved setting Do not use n X Torque Control Option Applicable Motors Reference 0 Reserved setting Do not use All 2 1 Use the speed limit for torque control VLIM as the speed limit n X Encoder Usage Applicable Motors Reference 0 Use the encoder according to encoder specifica tions All 1 1 Use the encoder as an incremental encoder 2 Use the encoder as a single turn absolute encoder Rotary n X Ex...

Page 208: ...ition reference speed 1 V 1 000 mm s 06 Reserved setting Do not use 07 Load motor position deviation 0 01 V reference unit 08 Positioning completion positioning completed 5 V positioning not completed 0 V 09 Speed feedforward 1 V 1 000 min 1 Speed feedforward 1 V 1 000 mm s 0A Torque feedforward 1 V 100 rated torque Force feedforward 1 V 100 rated force 0B Active gain 1st gain 1 V 2nd gain 2 V 0C ...

Page 209: ...erence speed 1 V 1 000 mm s 06 Reserved setting Do not use 07 Load motor position deviation 0 01 V reference unit 08 Positioning completion positioning completed 5 V positioning not completed 0 V 09 Speed feedforward 1 V 1 000 min 1 Speed feedforward 1 V 1 000 mm s 0A Torque feedforward 1 V 100 rated torque Force feedforward 1 V 100 rated force 0B Active gain 1st gain 1 V 2nd gain 2 V 0C Completio...

Page 210: ...unction Selection for Undervoltage 0 Do not detect undervoltage 1 Detect undervoltage warning and limit torque at host controller 2 Detect undervoltage warning and limit torque with Pn424 and Pn425 i e only in SERVOPACK n X Warning Detection Selection 0 Detect warnings 1 Do not detect warnings except for A 971 n X Reserved parameter Do not change n X Reserved parameter Do not change n X Current Co...

Page 211: ...coast n X Stopping Method for Forced Stops 0 Apply the dynamic brake or coast the motor to a stop use the stopping method set in Pn001 n X 1 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque Use the setting of Pn001 n X for the status after stopping 2 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque and then let the motor coast 3 D...

Page 212: ...n for Test without a Motor Applicable Motors 0 Disable tests without a motor All 1 Enable tests without a motor n X Encoder Resolution for Tests without a Motor Applicable Motors 0 Use 13 bits Rotary 1 Use 20 bits 2 Use 22 bits 3 Use 24 bits n X Encoder Type Selection for Tests without a Motor Applicable Motors 0 Use an incremental encoder All 1 Use an absolute encoder n X Reserved parameter Do no...

Page 213: ... Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Reserved parameter Do not change n X Encoder Resolution Compatibility Selection Applicable Motors 0 Use the encoder resolution of the connected motor Rotary 1 Use a resolution of 20 bits when connected to an SGM7J SGM7A SGM7P or SGM7G Servomotor n X Reserved parameter Do not change n...

Page 214: ...0 0 1 Hz 0 All Immedi ately Tuning 1 Pn125 2 Friction Compensation Gain Correction 1 to 1 000 1 100 All Immedi ately Tuning 1 Pn131 2 Gain Switching Time 1 0 to 65 535 1 ms 0 All Immedi ately Tuning 1 Pn132 2 Gain Switching Time 2 0 to 65 535 1 ms 0 All Immedi ately Tuning 1 Pn135 2 Gain Switching Waiting Time 1 0 to 65 535 1 ms 0 All Immedi ately Tuning 1 Pn136 2 Gain Switching Waiting Time 2 0 t...

Page 215: ...utomatically from the second gain to the first gain when switching condition A is not satisfied n X Gain Switching Condition A 0 COIN Positioning Completion Output signal turns ON 1 COIN Positioning Completion Output signal turns OFF 2 NEAR Near Output signal turns ON 3 NEAR Near Output signal turns OFF 4 Position reference filter output is 0 and position reference input is OFF 5 Position referenc...

Page 216: ... 2 Anti Resonance Fre quency 10 to 20 000 0 1 Hz 1000 All Immedi ately Tuning 1 Pn162 2 Anti Resonance Gain Correction 1 to 1 000 1 100 All Immedi ately Tuning 1 Pn163 2 Anti Resonance Damp ing Gain 0 to 300 1 0 All Immedi ately Tuning 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi ficati...

Page 217: ...Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Tuning less Selection When Enabled 0 Disable tuning less function After restart 1 Enable tuning less function n X Speed Control Method When Enabled 0 Use for speed control After restart 1 Use for speed control and use host controller for posit...

Page 218: ... 0 1 min 1 500 Rotary Immedi ately Setup 1 Pn305 2 Soft Start Acceleration Time 0 to 10 000 1 ms 0 All Immedi ately Setup 2 Pn306 2 Soft Start Deceleration Time 0 to 10 000 1 ms 0 All Immedi ately Setup 2 Pn308 2 Speed Feedback Filter Time Constant 0 to 65 535 0 01 ms 0 All Immedi ately Setup 1 Pn30A 2 Deceleration Time for Servo OFF and Forced Stops 0 to 10 000 1 ms 0 All Immedi ately Setup 1 Pn3...

Page 219: ...e Constant 0 to 65 535 0 01 ms 100 All Immedi ately Tuning 1 Pn402 2 Forward Torque Limit 0 to 800 1 3 800 Rotary Immedi ately Setup 1 Pn403 2 Reverse Torque Limit 0 to 800 1 3 800 Rotary Immedi ately Setup 1 Pn404 2 Forward External Torque Limit 0 to 800 1 3 100 All Immedi ately Setup 1 Pn405 2 Reverse External Torque Limit 0 to 800 1 3 100 All Immedi ately Setup 1 Pn406 2 Emergency Stop Torque 0...

Page 220: ...n412 2 First Stage Second Torque Reference Filter Time Constant 0 to 65 535 0 01 ms 100 All Immedi ately Tuning 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Notch Filter Selection 1 When Enabled 0 Disable first stage notch filter Immedi ately 1 Enable first stage...

Page 221: ...1111h 0000h Rotary Setup 1 Pn424 2 Torque Limit at Main Cir cuit Voltage Drop 0 to 100 1 2 50 All Immedi ately Setup 1 Pn425 2 Release Time for Torque Limit at Main Circuit Voltage Drop 0 to 1 000 1 ms 100 All Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refe...

Page 222: ...ted force 0 All Immedi ately Setup 3 13 Pn44A 2 Pressure Feedback Fil ter 0 to 65 535 0 01 ms 0 All Immedi ately Setup 3 16 Pn44C 2 Pressure Feedback Enable Level 0 to 10 000 0 01 1000 All Immedi ately Setup 3 6 Pn44D 2 Pressure Feedback Overflow Detection Level 0 to 800 1 300 All Immedi ately Setup 3 16 Pn44E 2 Pressure Feedback Overflow Detection Time 0 to 5 000 0 1 ms 0 All Immedi ately Setup 3...

Page 223: ...me Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Pressure Feedback Control Mode Selection Switch 0 Set mode 1 1 Set mode 2 n X Pressure Feedback Type Selection Switch 0 Set pressure feedback control 1 1 Set pressure feedback control 2 n X Reserved parameter Do not change n X Reserved parameter Do not change n X Notch Filter Adjustment Sele...

Page 224: ...ning Pn490 2 Polarity Detection Load Level 0 to 20 000 1 100 Linear Immedi ately Tuning Pn495 2 Polarity Detection Con firmation Force Refer ence 0 to 200 1 100 Linear Immedi ately Tuning Pn498 2 Polarity Detection Allow able Error Range 0 to 30 1 deg 10 Linear Immedi ately Tuning Pn49F 2 Speed Ripple Compen sation Enable Speed 0 to 10 000 1 mm s 0 Linear Immedi ately Tuning 1 Pn4A0 2 Pressure Fee...

Page 225: ...Applicable Motors When Enabled Classi fication Refer ence n X Reserved parameter Do not change n X Reserved parameter Do not change n X Reserved parameter Do not change n X P OT Forward Drive Prohibit Signal Allocation 0 Enable forward drive when CN1 13 input signal is ON closed 1 Enable forward drive when CN1 7 input signal is ON closed 2 Enable forward drive when CN1 8 input signal is ON closed ...

Page 226: ... when CN1 8 input signal is OFF open C Enable reverse drive when CN1 9 input signal is OFF open D Enable reverse drive when CN1 10 input signal is OFF open E Enable reverse drive when CN1 11 input signal is OFF open F Enable reverse drive when CN1 12 input signal is OFF open n X Reserved parameter Do not change n X P CL Forward External Torque Limit Input Signal Allocation 0 Active when CN1 13 inp...

Page 227: ...ng Completion signal allocations n X TGON Rotation Detection Output Signal Allocation 0 to 6 The allocations are the same as the COIN Positioning Completion signal allocations n X S RDY Servo Ready Signal Allocation 0 to 6 The allocations are the same as the COIN Positioning Completion signal allocations n X CLT Torque Limit Detection Output Signal Allocation 0 Disabled the above signal output is ...

Page 228: ...ve when CN1 9 input signal is ON closed 4 Active when CN1 10 input signal is ON closed 5 Active when CN1 11 input signal is ON closed 6 Active when CN1 12 input signal is ON closed 7 The signal is always active 8 The signal is always inactive 9 Active when CN1 13 input signal is OFF open A Active when CN1 7 input signal is OFF open B Active when CN1 8 input signal is OFF open C Active when CN1 9 i...

Page 229: ... inverted n X Output Signal Inversion for CN1 23 and CN1 24 Terminals 0 The signal is not inverted 1 The signal is inverted n X Output Signal Inversion for CN1 25 and CN1 26 Terminals 0 The signal is not inverted 1 The signal is inverted n X Reserved parameter Do not change n X Reserved parameter Do not change n X Reserved parameter Do not change n X PM Preventative Maintenance Output Signal Alloc...

Page 230: ...to 100 1 20 Rotary Immedi ately Tuning 1 Pn52B 2 Overload Warning Level 1 to 100 1 20 All Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X FSTP Forced Stop Input Signal Allocation 0 Enable drive when CN1 13 input signal is ON closed 1 Enable drive ...

Page 231: ...ly Setup Pn560 2 Residual Vibration Detection Width 1 to 3 000 0 1 400 All Immedi ately Setup 1 Pn561 2 Overshoot Detection Level 0 to 100 1 100 All Immedi ately Setup 1 Pn581 2 Zero Speed Level 1 to 10 000 1 mm s 20 Linear Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi...

Page 232: ... All Immedi ately Setup 1 Pn601 2 Dynamic Brake Resis tor Allowable Energy Consumption 0 to 65 535 10 J 0 All After restart Setup 7 Pn603 2 Regenerative Resis tance 0 to 65 535 10 mΩ 0 All Immedi ately Setup 1 Pn604 2 Dynamic Brake Resis tance 0 to 65 535 10 mΩ 0 All After restart Setup 7 Pn61A 2 Reserved parameter Do not change 0000h Linear Pn61B 2 Reserved parameter Do not change 250 All Pn61C 2...

Page 233: ... speed table reference 1 Pn6AC through speed table reference 3 Pn6B0 for speed table operation 4 Use speed table reference 1 Pn6AC through speed table reference 4 Pn6B2 for speed table operation 5 Use speed table reference 1 Pn6AC through speed table reference 5 Pn6B4 for speed table operation 6 Use speed table reference 1 Pn6AC through speed table reference 6 Pn6B6 for speed table operation 7 Use...

Page 234: ...osition 2 0 to 2 147 483 647 1 refer ence unit s 0 All Immedi ately Setup 4 6 Pn6C4 4 Speed Table Switching Position 3 0 to 2 147 483 647 1 refer ence unit s 0 All Immedi ately Setup 4 6 Pn6C6 4 Speed Table Switching Position 4 0 to 2 147 483 647 1 refer ence unit s 0 All Immedi ately Setup 4 6 Pn6C8 4 Speed Table Switching Position 5 0 to 2 147 483 647 1 refer ence unit s 0 All Immedi ately Setup...

Page 235: ...heck Mask for Debugging 0 Do not mask 1 Ignore MECHATROLINK communications errors A E60 2 Ignore WDT errors A E50 3 Ignore both MECHATROLINK communications errors A E60 and WDT errors A E50 n X Warning Check Masks 0 Do not mask 1 Ignore data setting warnings A 94 2 Ignore command warnings A 95 3 Ignore both A 94 and A 95 warnings 4 Ignore communications warnings A 96 5 Ignore both A 94 and A 96 wa...

Page 236: ...tely 10 Setup 2 Pn80E 2 Second Stage Linear Deceleration Constant 1 to 65 535 10 000 refer ence units s2 100 All Immedi ately 10 Setup 2 Pn80F 2 Deceleration Constant Switching Speed 0 to 65 535 100 ref erence units s 0 All Immedi ately 10 Setup 2 Pn810 2 Exponential Accelera tion Deceleration Bias 0 to 65 535 100 ref erence units s 0 All Immedi ately 11 Setup 2 Pn811 2 Exponential Accelera tion D...

Page 237: ...Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence M2 13 n X Origin Return Direction 0 Return in forward direction 1 Return in reverse direction n X Reserved parameter Do not change n X Reserved parameter Do not change n X Reserved parameter Do not change M2 13 n X IO12 Signal Mapping 0 Do not map 1 Monitor CN1 13 input terminal 2 Monitor CN1 ...

Page 238: ...648 to 2 147 483 647 1 refer ence unit 0 All Immedi ately Setup 2 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence M2 13 n X Option Field Allocation 0 Disable option field allocation 1 Enable option field allocation n X Position Control Command TFF TLIM Allocation 0 Disabl...

Page 239: ...004 Rotational Angle 2 deg Electrical angle from polarity origin All Un004 Electrical Angle 2 deg Electrical angle from polarity origin 0015h Un005 Input Signal Monitor All 0016h Un006 Output Signal Monitor All 0017h Un007 Input Reference Speed min 1 All 0018h Un008 Position Deviation reference units All 0019h Un009 Accumulated Load Ratio All 001Ah Un00A Regenerative Load Ratio All 001Bh Un00B Dyn...

Page 240: ...2 encoder pulses All 0084h Continuous Latch Status EX STATUS All All Areas Other values Reserved settings Do not use All 0000h to 0084h The settings are the same as those for the Option Monitor 1 Selection M2 13 n X ACCFIL Allocation Option 0 Allocate bits 0 and 1 to ACCFIL 1 Allocate bits 1 and 2 to ACCFIL 2 Allocate bits 2 and 3 to ACCFIL 3 Allocate bits 3 and 4 to ACCFIL 4 Allocate bits 4 and 5...

Page 241: ...PPI 9 Allocate bit 9 to V_PPI A Allocate bit 10 to V_PPI B Allocate bit 11 to V_PPI C Allocate bit 12 to V_PPI D Allocate bit 13 to V_PPI E Allocate bit 14 to V_PPI F Allocate bit 15 to V_PPI n X V_PPI Allocation Enable Disable Selection 0 Disable V_PPI allocation 1 Enable V_PPI allocation n X P_PI_CLR Allocation Option 0 to F The settings are the same as for the V_PPI allocations n X P_PI_CLR All...

Page 242: ...Allocate bits 3 to 6 to BANK_SEL1 4 Allocate bits 4 to 7 to BANK_SEL1 5 Allocate bits 5 to 8 to BANK_SEL1 6 Allocate bits 6 to 9 to BANK_SEL1 7 Allocate bits 7 to 10 to BANK_SEL1 8 Allocate bits 8 to 11 to BANK_SEL1 9 Allocate bits 9 to 12 to BANK_SEL1 A Allocate bits 10 to 13 to BANK_SEL1 B Allocate bits 11 to 14 to BANK_SEL1 C Allocate bits 12 to 15 to BANK_SEL1 n X BANK_SEL1 Allocation Enable D...

Page 243: ...fer ence M2 13 n X Reserved parameter Do not change n X Reserved parameter Do not change n X OUT_SIGNAL Allocation Option 0 Allocate bits 0 to 2 to OUT_SIGNAL 1 Allocate bits 1 to 3 to OUT_SIGNAL 2 Allocate bits 2 to 4 to OUT_SIGNAL 3 Allocate bits 3 to 5 to OUT_SIGNAL 4 Allocate bits 4 to 6 to OUT_SIGNAL 5 Allocate bits 5 to 7 to OUT_SIGNAL 6 Allocate bits 6 to 8 to OUT_SIGNAL 7 Allocate bits 7 t...

Page 244: ...celeration Rate 0 to 50 1 0 All Immedi ately 10 Setup Pn850 2 Number of Latch Sequences 0 to 8 0 All Immedi ately Setup 2 Pn851 2 Continuous Latch Sequence Count 0 to 255 0 All Immedi ately Setup 2 Pn852 2 Latch Sequence 1 to 4 Settings 0000h to 3333h 0000h All Immedi ately Setup 2 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting...

Page 245: ...re the same as those for the Latch Sequence 5 Signal Selec tion M3 8 n X Input Signal Monitor Allocation for CN1 13 SVCMD_IO 0 Allocate bit 24 IO_STS1 to CN1 13 input signal monitor 1 Allocate bit 25 IO_STS2 to CN1 13 input signal monitor 2 Allocate bit 26 IO_STS3 to CN1 13 input signal monitor 3 Allocate bit 27 IO_STS4 to CN1 13 input signal monitor 4 Allocate bit 28 IO_STS5 to CN1 13 input signa...

Page 246: ...he same as the CN1 13 allocations n X CN1 9 Input Signal Monitor Enable Disable Selection 0 Disable allocation for CN1 9 input signal monitor 1 Enable allocation for CN1 9 input signal monitor M3 6 n X Input Signal Monitor Allocation for CN1 10 SVCMD_IO 0 to 7 The settings are the same as the CN1 13 allocations n X CN1 10 Input Signal Monitor Enable Disable Selection 0 Disable allocation for CN1 1...

Page 247: ...o CN1 1 CN1 2 output signal monitor 3 Allocate bit 27 IO_STS4 to CN1 1 CN1 2 output signal monitor 4 Allocate bit 28 IO_STS5 to CN1 1 CN1 2 output signal monitor 5 Allocate bit 29 IO_STS6 to CN1 1 CN1 2 output signal monitor 6 Allocate bit 30 IO_STS7 to CN1 1 CN1 2 output signal monitor 7 Allocate bit 31 IO_STS8 to CN1 1 CN1 2 output signal monitor n X CN1 1 CN1 2 Output Signal Monitor Enable Disa...

Page 248: ...e is stopped i e only if DEN is set to 1 12 Refer to the following manual for details Σ 7 Series MECHATROLINK II Communications Command Manual Manual No SIEP S800001 30 13 This parameter is valid only when the MECHATROLINK II compatible profile is used 14 The setting of Pn842 is valid while Pn817 is set to 0 15 The setting of Pn844 is valid while Pn818 is set to 0 Pn884 2 Communications Con trols ...

Page 249: ...d Type read only 0h or 1h All 04 PnA08 4 Rated Speed read only 0h to FFFFFFFFh 1 min 1 All 05 PnA0A 4 Maximum Output Speed read only 0h to FFFFFFFFh 1 min 1 All 06 PnA0C 4 Speed Multiplier read only 1 073 741 823 to 1 073 741 823 All Device information 07 PnA0E 4 Rated Torque read only 0h to FFFFFFFFh 1 N m All 08 PnA10 4 Maximum Output Torque read only 0h to FFFFFFFFh 1 N m All 09 PnA12 4 Torque ...

Page 250: ...se Software Limit 1 073 741 823 to 1 073 741 823 1 reference unit 1073741 823 All Immedi ately 29 PnA52 4 Reserved parameter Do not change 0 All Immedi ately 41 PnA82 4 Speed Unit 2 0h to 4h 0h All After restart Unit settings 42 PnA84 4 Speed Base Unit 3 4 Set the value of n from the following formula Speed unit 41 PnA82 10n 3 to 3 0 All After restart 43 PnA86 4 Position Unit 0h 0h All After resta...

Page 251: ...page Continued from previous page Parameter No Size Name Setting Range Setting Unit Resolution Default Setting Applicable Motors When Enabled Classi fication 0000h Reference units s2 0001h Percentage of rated torque 0002h Maximum torque 40000000h 5 Speed Units Bit 0 Reference units s 1 Enabled Bit 1 Reference units min 1 Enabled Bit 2 Percentage of rated speed 1 Enabled Bit 3 min 1 rpm 1 Enabled B...

Page 252: ...0 000 1 μs 0 1 ms 0 All Immedi ately 6 83 PnB06 4 Final Travel for Exter nal Input Positioning 1 073 741 823 to 1 073 741 823 1 reference unit 100 All Immedi ately 84 PnB08 4 Zero Point Return Approach Speed 0h to 3FFFFFFFh 10 3 min 1 5 000h reference units s con verted to 10 3 min 1 All Immedi ately 85 PnB0A 4 Zero Point Return Creep Speed 0h to 3FFFFFFFh 10 3 min 1 500h reference units s con ver...

Page 253: ...0h Phase 0 01h Phase 1 02h Phase 2 03h Phase 3 Byte 2 Current control mode 00h Position control mode 01h Speed control mode 02h Torque control mode Byte 3 Reserved Byte 4 Expansion signal monitor 0007h Reserved 0008h INIT_PGPOS Low Lower 32 bits of initial encoder position con verted to 64 bit position reference data 0009h INIT_PGPOS High Upper 32 bits of initial encoder position con verted to 64 ...

Page 254: ...ll Immedi ately 90 PnB20 4 SVCMD_ CTRL bit Enabled Disabled read only 0FFF3F3F h All Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Resolution Default Setting Applicable Motors When Enabled Classi fication 0000h to 0009h The settings are the same as those for SEL_MON Monitor Selection 1 Bit 0 CMD_PAUSE 1 Enabled Bit 1 CMD_CANCEL 1 Enabled Bits...

Page 255: ...sabled Bits 4 and 5 ACCFIL 1 Enabled Bits 6 and 7 Reserved 0 Disabled Bit 8 L_CMP1 1 Enabled Bit 9 L_CMP2 1 Enabled Bit 10 POS_RDY 1 Enabled Bit 11 PON 1 Enabled Bit 12 M_RDY 1 Enabled Bit 13 SV_ON 1 Enabled Bits 14 and 15 Reserved 0 Disabled Bits 16 to 19 SEL_MON1 1 Enabled Bits 20 to 23 SEL_MON2 1 Enabled Bits 24 to 27 SEL_MON3 1 Enabled Bits 28 to 31 Reserved 0 Disabled Bits 0 to 3 Reserved 0 D...

Page 256: ...while DEN is set to 1 If you change the setting during operation the reference output will be affected 93 PnB26 4 I O Bit Enabled Dis abled Input read only FF0FFEFE h All Command related parameters Continued from previous page Parameter No Size Name Setting Range Setting Unit Resolution Default Setting Applicable Motors When Enabled Classi fication Bit 0 Reserved 0 Disabled Bit 1 DEC 1 Enabled Bit...

Page 257: ...fter restart Pn00F 0000h Application Function Selec tions F After restart Pn021 0000h Reserved parameter Pn022 0000h Reserved parameter Pn040 0000h Σ V Compatible Function Switch After restart Pn080 0000h Application Function Selec tions 80 After restart Pn081 0000h Application Function Selec tions 81 After restart Pn100 400 Speed Loop Gain Immediately Pn101 2000 Speed Loop Integral Time Constant ...

Page 258: ...Pn142 1000 Model Following Control Gain Correction Immediately Pn143 1000 Model Following Control Bias in the Forward Direc tion Immediately Pn144 1000 Model Following Control Bias in the Reverse Direc tion Immediately Pn145 500 Vibration Suppression 1 Frequency A Immediately Pn146 700 Vibration Suppression 1 Frequency B Immediately Pn147 1000 Model Following Control Speed Feedforward Com pensatio...

Page 259: ...ion Function Selections After restart Pn231 0 Backlash Compensation Immediately Pn233 0 Backlash Compensation Time Constant Immediately Pn281 20 Encoder Output Resolution After restart Pn282 0 Linear Encoder Scale Pitch After restart Pn304 500 Jogging Speed Immediately Pn305 0 Soft Start Acceleration Time Immediately Pn306 0 Soft Start Deceleration Time Immediately Pn308 0 Speed Feedback Filter Ti...

Page 260: ...Q Value Immediately Pn40E 0 Second Stage Notch Filter Depth Immediately Pn40F 5000 Second Stage Second Torque Reference Filter Fre quency Immediately Pn410 50 Second Stage Second Torque Reference Filter Q Value Immediately Pn412 100 First Stage Second Torque Reference Filter Time Con stant Immediately Pn416 0000h Torque Related Function Selections 2 Immediately Pn417 5000 Third Stage Notch Filter ...

Page 261: ...mmediately Pn449 0 Pressure Feedback Sensor Gain Immediately Pn44A 0 Pressure Feedback Filter Immediately Pn44C 1000 Pressure Feedback Enable Level Immediately Pn44D 300 Pressure Feedback Over flow Detection Level Immediately Pn44E 0 Pressure Feedback Over flow Detection Time Immediately Pn450 0 Pressure Feedback Control 1 Pressure Feedback Loop Differential Time Immediately Pn451 100 Pressure Fee...

Page 262: ...me Immediately Pn48E 10 Polarity Detection Range Immediately Pn490 100 Polarity Detection Load Level Immediately Pn495 100 Polarity Detection Confir mation Force Reference Immediately Pn498 10 Polarity Detection Allowable Error Range Immediately Pn49F 0 Speed Ripple Compensa tion Enable Speed Immediately Pn4A0 1000 Pressure Feedback One Parameter Gain Level Immediately Pn4A3 100 Reserved parameter...

Page 263: ...tion Deviation Over flow Alarm Level Immediately Pn522 7 Positioning Completed Width Immediately Pn524 1073741824 Near Signal Width Immediately Pn526 5242880 Position Deviation Over flow Alarm Level at Servo ON Immediately Pn528 100 Position Deviation Over flow Warning Level at Servo ON Immediately Pn529 10000 Speed Limit Level at Servo ON Immediately Pn52A 20 Multiplier per Fully closed Rotation ...

Page 264: ...rgy Con sumption After restart Pn603 0 Regenerative Resistance Immediately Pn604 0 Dynamic Brake Resistance After restart Pn61A 0000h Reserved parameter Pn61B 250 Reserved parameter Pn61C 100 Reserved parameter Pn61D 0 Reserved parameter Pn6A4 0000h Table Operation Parameter Settings Immediately Pn6A5 0 Torque Pressure Refer ence during Speed Table Operation Immediately Pn6A7 0 Pressure Control Sw...

Page 265: ... ence 4 Immediately Pn6DA 0 Torque Pressure Refer ence 5 Immediately Pn6DC 0 Torque Pressure Refer ence Time 1 Immediately Pn6DE 0 Torque Pressure Refer ence Time 2 Immediately Pn6E0 0 Torque Pressure Refer ence Time 3 Immediately Pn6E2 0 Torque Pressure Refer ence Time 4 Immediately Pn800 1040h Communications Controls Immediately Pn801 0003h Application Function Selec tions 6 Software Limits Imme...

Page 266: ... 1 Selection Immediately Pn825 0000h Option Monitor 2 Selection Immediately Pn827 100 Linear Deceleration Con stant 1 for Stopping Immedi ately 3 Pn829 0 SVOFF Waiting Time for SVOFF at Deceleration to Stop Immediately Pn82A 1813h Option Field Allocations 1 After restart Pn82B 1D1Ch Option Field Allocations 2 After restart Pn82C 1F1Eh Option Field Allocations 3 After restart Pn82D 0000h Option Fie...

Page 267: ...itor Allocations 1 Immediately Pn869 0000h SVCMD_IO Output Signal Monitor Allocations 2 Immediately Pn880 Station Address Monitor for maintenance read only Pn881 Set Transmission Byte Count Monitor bytes for maintenance read only Pn882 Transmission Cycle Setting Monitor 0 25 μs for maintenance read only Pn883 Communications Cycle Setting Monitor transmis sion cycles for mainte nance read only Pn88...

Page 268: ...ale Pitch read only 21 PnA42 16 Electronic Gear Ratio Numerator After restart 22 PnA44 1 Electronic Gear Ratio Denominator After restart 23 PnA46 0 Absolute Encoder Origin Offset Immedi ately 2 24 PnA48 65535 Multiturn Limit Setting After restart 25 PnA4A 0000h Limit Setting After restart 26 PnA4C 1073741823 Forward Software Limit Immediately 27 PnA4E 0 Reserved parameter Do not change Immediately...

Page 269: ...on Deceleration Time Constant Immedi ately 3 82 PnB04 0 Movement Average Time Immedi ately 3 83 PnB06 100 External Positioning Final Travel Distance Immediately 84 PnB08 5 000h reference units s converted to 10 3 min 1 Origin Approach Speed Immediately 85 PnB0A 500h reference units s converted to 10 3 min 1 Origin Return Creep Speed Immediately 86 PnB0C 100 Final Travel Distance for Origin Return ...

Page 270: ...setting when the reference is stopped i e while DEN is set to 1 If you change the setting during operation the reference output will be affected 8F PnB1E 10000 Speed Coincidence Signal Detection Width Immediately 90 PnB20 0FFF3F3Fh Servo Command Control Field Enable Disable Selec tions read only 91 PnB22 0FFF3F33h Servo Status Field Enable Disable Selections read only 92 PnB24 007F01F0h Output Bit...

Page 271: ... Selec tions 0 0000h to 10B1h 0000h All After restart Setup 1 Continued on next page n X Rotation Direction Selection Movement Direction Selection 0 Use CCW as the forward direction Use the direction in which the linear encoder counts up as the forward direc tion 1 Use CW as the forward direction Reverse Rotation Mode Use the direction in which the linear encoder counts down as the forward directi...

Page 272: ...the motor to a stop use the stopping method set in Pn001 n X 1 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque and then servo lock the motor 2 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque and then let the motor coast 3 Decelerate the motor to a stop using the deceleration time set in Pn30A and then servo lock the motor 4 Dece...

Page 273: ... Reserved setting Do not use n X Torque Control Option Applicable Motors Reference 0 Reserved setting Do not use All 2 1 Use the speed limit for torque control VLIM as the speed limit n X Encoder Usage Applicable Motors Reference 0 Use the encoder according to encoder specifica tions All 1 1 Use the encoder as an incremental encoder 2 Use the encoder as a single turn absolute encoder Rotary n X Ex...

Page 274: ...sition reference speed 1 V 1 000 mm s 06 Reserved setting Do not use 07 Load motor position deviation 0 01 V reference unit 08 Positioning completion positioning completed 5 V positioning not completed 0 V 09 Speed feedforward 1 V 1 000 min 1 Speed feedforward 1 V 1 000 mm s 0A Torque feedforward 1 V 100 rated torque Force feedforward 1 V 100 rated force 0B Active gain 1st gain 1 V 2nd gain 2 V 0C...

Page 275: ...ference speed 1 V 1 000 mm s 06 Reserved setting Do not use 07 Load motor position deviation 0 01 V reference unit 08 Positioning completion positioning completed 5 V positioning not completed 0 V 09 Speed feedforward 1 V 1 000 min 1 Speed feedforward 1 V 1 000 mm s 0A Torque feedforward 1 V 100 rated torque Force feedforward 1 V 100 rated force 0B Active gain 1st gain 1 V 2nd gain 2 V 0C Completi...

Page 276: ...Function Selection for Undervoltage 0 Do not detect undervoltage 1 Detect undervoltage warning and limit torque at host controller 2 Detect undervoltage warning and limit torque with Pn424 and Pn425 i e only in SERVOPACK n X Warning Detection Selection 0 Detect warnings 1 Do not detect warnings except for A 971 n X Reserved parameter Do not change n X Reserved parameter Do not change n X Current C...

Page 277: ...coast n X Stopping Method for Forced Stops 0 Apply the dynamic brake or coast the motor to a stop use the stopping method set in Pn001 n X 1 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque Use the setting of Pn001 n X for the status after stopping 2 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque and then let the motor coast 3 D...

Page 278: ...n for Test without a Motor Applicable Motors 0 Disable tests without a motor All 1 Enable tests without a motor n X Encoder Resolution for Tests without a Motor Applicable Motors 0 Use 13 bits Rotary 1 Use 20 bits 2 Use 22 bits 3 Use 24 bits n X Encoder Type Selection for Tests without a Motor Applicable Motors 0 Use an incremental encoder All 1 Use an absolute encoder n X Reserved parameter Do no...

Page 279: ... Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Reserved parameter Do not change n X Encoder Resolution Compatibility Selection Applicable Motors 0 Use the encoder resolution of the connected motor Rotary 1 Use a resolution of 20 bits when connected to an SGM7J SGM7A SGM7P or SGM7G Servomotor n X Reserved parameter Do not change n...

Page 280: ...0 0 1 Hz 0 All Immedi ately Tuning 1 Pn125 2 Friction Compensation Gain Correction 1 to 1 000 1 100 All Immedi ately Tuning 1 Pn131 2 Gain Switching Time 1 0 to 65 535 1 ms 0 All Immedi ately Tuning 1 Pn132 2 Gain Switching Time 2 0 to 65 535 1 ms 0 All Immedi ately Tuning 1 Pn135 2 Gain Switching Waiting Time 1 0 to 65 535 1 ms 0 All Immedi ately Tuning 1 Pn136 2 Gain Switching Waiting Time 2 0 t...

Page 281: ...utomatically from the second gain to the first gain when switching condition A is not satisfied n X Gain Switching Condition A 0 COIN Positioning Completion Output signal turns ON 1 COIN Positioning Completion Output signal turns OFF 2 NEAR Near Output signal turns ON 3 NEAR Near Output signal turns OFF 4 Position reference filter output is 0 and position reference input is OFF 5 Position referenc...

Page 282: ... 2 Anti Resonance Fre quency 10 to 20 000 0 1 Hz 1000 All Immedi ately Tuning 1 Pn162 2 Anti Resonance Gain Correction 1 to 1 000 1 100 All Immedi ately Tuning 1 Pn163 2 Anti Resonance Damp ing Gain 0 to 300 1 0 All Immedi ately Tuning 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi ficati...

Page 283: ...Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Tuning less Selection When Enabled 0 Disable tuning less function After restart 1 Enable tuning less function n X Speed Control Method When Enabled 0 Use for speed control After restart 1 Use for speed control and use host controller for posit...

Page 284: ... 0 1 min 1 500 Rotary Immedi ately Setup 1 Pn305 2 Soft Start Acceleration Time 0 to 10 000 1 ms 0 All Immedi ately Setup 2 Pn306 2 Soft Start Deceleration Time 0 to 10 000 1 ms 0 All Immedi ately Setup 2 Pn308 2 Speed Feedback Filter Time Constant 0 to 65 535 0 01 ms 0 All Immedi ately Setup 1 Pn30A 2 Deceleration Time for Servo OFF and Forced Stops 0 to 10 000 1 ms 0 All Immedi ately Setup 1 Pn3...

Page 285: ...e Constant 0 to 65 535 0 01 ms 100 All Immedi ately Tuning 1 Pn402 2 Forward Torque Limit 0 to 800 1 3 800 Rotary Immedi ately Setup 1 Pn403 2 Reverse Torque Limit 0 to 800 1 3 800 Rotary Immedi ately Setup 1 Pn404 2 Forward External Torque Limit 0 to 800 1 3 100 All Immedi ately Setup 1 Pn405 2 Reverse External Torque Limit 0 to 800 1 3 100 All Immedi ately Setup 1 Pn406 2 Emergency Stop Torque 0...

Page 286: ...n412 2 First Stage Second Torque Reference Filter Time Constant 0 to 65 535 0 01 ms 100 All Immedi ately Tuning 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Notch Filter Selection 1 When Enabled 0 Disable first stage notch filter Immedi ately 1 Enable first stage...

Page 287: ...1111h 0000h Rotary Setup 1 Pn424 2 Torque Limit at Main Cir cuit Voltage Drop 0 to 100 1 2 50 All Immedi ately Setup 1 Pn425 2 Release Time for Torque Limit at Main Circuit Voltage Drop 0 to 1 000 1 ms 100 All Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refe...

Page 288: ...Immedi ately Setup 3 16 Pn44C 2 Pressure Feedback Enable Level 0 to 10 000 0 01 1000 All Immedi ately Setup 3 6 Pn44D 2 Pressure Feedback Overflow Detection Level 0 to 800 1 300 All Immedi ately Setup 3 16 Pn44E 2 Pressure Feedback Overflow Detection Time 0 to 5 000 0 1 ms 0 All Immedi ately Setup 3 16 Pn450 2 Pressure Feedback Control 1 Pressure Feedback Loop Differ ential Time 0 to 51 200 0 1 ms...

Page 289: ...B 2 Pressure Feedback Sensor Gain 5 0 to 10 000 1 0 Rotary Immedi ately Setup 3 13 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Pressure Feedback Control Mode Selection Switch 0 Set mode 1 1 Set mode 2 n X Pressure Feedback Type Selection Switch 0 Set pressure feed...

Page 290: ...ning Pn490 2 Polarity Detection Load Level 0 to 20 000 1 100 Linear Immedi ately Tuning Pn495 2 Polarity Detection Con firmation Force Refer ence 0 to 200 1 100 Linear Immedi ately Tuning Pn498 2 Polarity Detection Allow able Error Range 0 to 30 1 deg 10 Linear Immedi ately Tuning Pn49F 2 Speed Ripple Compen sation Enable Speed 0 to 10 000 1 mm s 0 Linear Immedi ately Tuning 1 Pn4A0 2 Pressure Fee...

Page 291: ...Applicable Motors When Enabled Classi fication Refer ence n X Reserved parameter Do not change n X Reserved parameter Do not change n X Reserved parameter Do not change n X P OT Forward Drive Prohibit Signal Allocation 0 Enable forward drive when CN1 13 input signal is ON closed 1 Enable forward drive when CN1 7 input signal is ON closed 2 Enable forward drive when CN1 8 input signal is ON closed ...

Page 292: ... when CN1 8 input signal is OFF open C Enable reverse drive when CN1 9 input signal is OFF open D Enable reverse drive when CN1 10 input signal is OFF open E Enable reverse drive when CN1 11 input signal is OFF open F Enable reverse drive when CN1 12 input signal is OFF open n X Reserved parameter Do not change n X P CL Forward External Torque Limit Input Signal Allocation 0 Active when CN1 13 inp...

Page 293: ...ng Completion signal allocations n X TGON Rotation Detection Output Signal Allocation 0 to 6 The allocations are the same as the COIN Positioning Completion signal allocations n X S RDY Servo Ready Signal Allocation 0 to 6 The allocations are the same as the COIN Positioning Completion signal allocations n X CLT Torque Limit Detection Output Signal Allocation 0 Disabled the above signal output is ...

Page 294: ...ve when CN1 9 input signal is ON closed 4 Active when CN1 10 input signal is ON closed 5 Active when CN1 11 input signal is ON closed 6 Active when CN1 12 input signal is ON closed 7 The signal is always active 8 The signal is always inactive 9 Active when CN1 13 input signal is OFF open A Active when CN1 7 input signal is OFF open B Active when CN1 8 input signal is OFF open C Active when CN1 9 i...

Page 295: ... inverted n X Output Signal Inversion for CN1 23 and CN1 24 Terminals 0 The signal is not inverted 1 The signal is inverted n X Output Signal Inversion for CN1 25 and CN1 26 Terminals 0 The signal is not inverted 1 The signal is inverted n X Reserved parameter Do not change n X Reserved parameter Do not change n X Reserved parameter Do not change n X PM Preventative Maintenance Output Signal Alloc...

Page 296: ...verload Warning Level 1 to 100 1 20 All Immedi ately Setup 1 Pn52C 2 Base Current Derating at Motor Overload Detection 10 to 100 1 100 All After restart Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X FSTP Forced Stop Input Signal Allocation 0 Enable drive whe...

Page 297: ... 2 Overshoot Detection Level 0 to 100 1 100 All Immedi ately Setup 1 Pn581 2 Zero Speed Level 1 to 10 000 1 mm s 20 Linear Immedi ately Setup 1 Pn582 2 Speed Coincidence Detection Signal Output Width 0 to 100 1 mm s 10 Linear Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Clas...

Page 298: ...rved parameter Do not change 0000h Linear Pn61B 2 Reserved parameter Do not change 250 All Pn61C 2 Reserved parameter Do not change 100 All Pn61D 2 Reserved parameter Do not change 0 All Pn621 to Pn628 4 Safety Module Related Parameters All Pn68E 4 Reserved parameter Do not change 0 Rotary Pn690 2 Reserved parameter Do not change 0 Rotary Pn692 2 Reserved parameter Do not change 0 Rotary Pn694 2 R...

Page 299: ... speed table reference 3 Pn6B0 for speed table operation 4 Use speed table reference 1 Pn6AC through speed table reference 4 Pn6B2 for speed table operation 5 Use speed table reference 1 Pn6AC through speed table reference 5 Pn6B4 for speed table operation 6 Use speed table reference 1 Pn6AC through speed table reference 6 Pn6B6 for speed table operation 7 Use speed table reference 1 Pn6AC through...

Page 300: ...ng Position 1 0 to 2 147 483 647 1 refer ence unit s 0 All Immedi ately Setup 4 6 Pn6C2 4 Speed Table Switching Position 2 0 to 2 147 483 647 1 refer ence unit s 0 All Immedi ately Setup 4 6 Pn6C4 4 Speed Table Switching Position 3 0 to 2 147 483 647 1 refer ence unit s 0 All Immedi ately Setup 4 6 Pn6C6 4 Speed Table Switching Position 4 0 to 2 147 483 647 1 refer ence unit s 0 All Immedi ately S...

Page 301: ...ation Refer ence n X MECHATROLINK Communications Check Mask for Debugging 0 Do not mask 1 Ignore MECHATROLINK communications errors A E60 2 Ignore WDT errors A E50 3 Ignore both MECHATROLINK communications errors A E60 and WDT errors A E50 n X Warning Check Masks 0 Do not mask 1 Ignore data setting warnings A 94 2 Ignore command warnings A 95 3 Ignore both A 94 and A 95 warnings 4 Ignore communica...

Page 302: ...tely 10 Setup 2 Pn80E 2 Second Stage Linear Deceleration Constant 1 to 65 535 10 000 refer ence units s2 100 All Immedi ately 10 Setup 2 Pn80F 2 Deceleration Constant Switching Speed 0 to 65 535 100 ref erence units s 0 All Immedi ately 10 Setup 2 Pn810 2 Exponential Accelera tion Deceleration Bias 0 to 65 535 100 ref erence units s 0 All Immedi ately 11 Setup 2 Pn811 2 Exponential Accelera tion D...

Page 303: ...Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence M2 13 n X Origin Return Direction 0 Return in forward direction 1 Return in reverse direction n X Reserved parameter Do not change n X Reserved parameter Do not change n X Reserved parameter Do not change M2 13 n X IO12 Signal Mapping 0 Do not map 1 Monitor CN1 13 input terminal 2 Monitor CN1 ...

Page 304: ... 648 to 2 147 483 647 1 refer ence unit 0 All Immedi ately Setup 2 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence M2 13 n X Option Field Allocation 0 Disable option field allocation 1 Enable option field allocation n X Position Control Command TFF TLIM Allocation 0 Disab...

Page 305: ...le 2 deg Electrical angle from polarity origin All Un004 Electrical Angle 2 deg Electrical angle from polarity origin 0015h Un005 Input Signal Monitor All 0016h Un006 Output Signal Monitor All 0017h Un007 Input Reference Speed min 1 All 0018h Un008 Position Deviation reference units All 0019h Un009 Accumulated Load Ratio All 001Ah Un00A Regenerative Load Ratio All 001Bh Un00B Dynamic Brake Resisto...

Page 306: ...2 encoder pulses All 0084h Continuous Latch Status EX STATUS All All Areas Other values Reserved settings Do not use All 0000h to 0084h The settings are the same as those for the Option Monitor 1 Selection M2 13 n X ACCFIL Allocation Option 0 Allocate bits 0 and 1 to ACCFIL 1 Allocate bits 1 and 2 to ACCFIL 2 Allocate bits 2 and 3 to ACCFIL 3 Allocate bits 3 and 4 to ACCFIL 4 Allocate bits 4 and 5...

Page 307: ...PPI 9 Allocate bit 9 to V_PPI A Allocate bit 10 to V_PPI B Allocate bit 11 to V_PPI C Allocate bit 12 to V_PPI D Allocate bit 13 to V_PPI E Allocate bit 14 to V_PPI F Allocate bit 15 to V_PPI n X V_PPI Allocation Enable Disable Selection 0 Disable V_PPI allocation 1 Enable V_PPI allocation n X P_PI_CLR Allocation Option 0 to F The settings are the same as for the V_PPI allocations n X P_PI_CLR All...

Page 308: ...Allocate bits 3 to 6 to BANK_SEL1 4 Allocate bits 4 to 7 to BANK_SEL1 5 Allocate bits 5 to 8 to BANK_SEL1 6 Allocate bits 6 to 9 to BANK_SEL1 7 Allocate bits 7 to 10 to BANK_SEL1 8 Allocate bits 8 to 11 to BANK_SEL1 9 Allocate bits 9 to 12 to BANK_SEL1 A Allocate bits 10 to 13 to BANK_SEL1 B Allocate bits 11 to 14 to BANK_SEL1 C Allocate bits 12 to 15 to BANK_SEL1 n X BANK_SEL1 Allocation Enable D...

Page 309: ...efer ence M2 13 n X Reserved parameter Do not change n X Reserved parameter Do not change n X OUT_SIGNAL Allocation Option 0 Allocate bits 0 to 2 to OUT_SIGNAL 1 Allocate bits 1 to 3 to OUT_SIGNAL 2 Allocate bits 2 to 4 to OUT_SIGNAL 3 Allocate bits 3 to 5 to OUT_SIGNAL 4 Allocate bits 4 to 6 to OUT_SIGNAL 5 Allocate bits 5 to 7 to OUT_SIGNAL 6 Allocate bits 6 to 8 to OUT_SIGNAL 7 Allocate bits 7 ...

Page 310: ...celeration Rate 0 to 50 1 0 All Immedi ately 10 Setup Pn850 2 Number of Latch Sequences 0 to 8 0 All Immedi ately Setup 2 Pn851 2 Continuous Latch Sequence Count 0 to 255 0 All Immedi ately Setup 2 Pn852 2 Latch Sequence 1 to 4 Settings 0000h to 3333h 0000h All Immedi ately Setup 2 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting...

Page 311: ...re the same as those for the Latch Sequence 5 Signal Selec tion M3 8 n X Input Signal Monitor Allocation for CN1 13 SVCMD_IO 0 Allocate bit 24 IO_STS1 to CN1 13 input signal monitor 1 Allocate bit 25 IO_STS2 to CN1 13 input signal monitor 2 Allocate bit 26 IO_STS3 to CN1 13 input signal monitor 3 Allocate bit 27 IO_STS4 to CN1 13 input signal monitor 4 Allocate bit 28 IO_STS5 to CN1 13 input signa...

Page 312: ...he same as the CN1 13 allocations n X CN1 9 Input Signal Monitor Enable Disable Selection 0 Disable allocation for CN1 9 input signal monitor 1 Enable allocation for CN1 9 input signal monitor M3 6 n X Input Signal Monitor Allocation for CN1 10 SVCMD_IO 0 to 7 The settings are the same as the CN1 13 allocations n X CN1 10 Input Signal Monitor Enable Disable Selection 0 Disable allocation for CN1 1...

Page 313: ...to CN1 1 CN1 2 output signal monitor 3 Allocate bit 27 IO_STS4 to CN1 1 CN1 2 output signal monitor 4 Allocate bit 28 IO_STS5 to CN1 1 CN1 2 output signal monitor 5 Allocate bit 29 IO_STS6 to CN1 1 CN1 2 output signal monitor 6 Allocate bit 30 IO_STS7 to CN1 1 CN1 2 output signal monitor 7 Allocate bit 31 IO_STS8 to CN1 1 CN1 2 output signal monitor n X CN1 1 CN1 2 Output Signal Monitor Enable Dis...

Page 314: ...to FFFFh 0000h All Immedi ately Setup 2 Pn9B1 2 Other Station Monitor 1 Station Address 0002h to FEEFh 0002h All After restart Setup 3 11 Pn9B2 2 Other Station Monitor 1 Number of Transmis sion Bytes 0000h to 0004h 0003h All After restart Setup 3 11 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled C...

Page 315: ...o 4 3 All After restart Setup 3 12 Pn9BC 2 Other Station Monitor 4 Monitor Information Set ting 0000h to 14FFh 1000h All After restart Setup 3 12 Pn9BD 2 Other Station Monitor 5 Station Address 0002h to FEEFh 0002h All After restart Setup 3 12 Pn9BE 2 Other Station Monitor 5 Number of Transmis sion Bytes 0 to 4 3 All After restart Setup 3 12 Continued on next page Continued from previous page Para...

Page 316: ... The parameter setting is enabled after SENS_ON command execution is completed 10 Change the setting when the reference is stopped i e while DEN is set to 1 If you change the setting during operation the reference output will be affected 11 The settings are updated only if the reference is stopped i e only if DEN is set to 1 12 Refer to the following manual for details Σ 7 Series MECHATROLINK II C...

Page 317: ...ed Type read only 0h or 1h All 04 PnA08 4 Rated Speed read only 0h to FFFFFFFFh 1 min 1 All 05 PnA0A 4 Maximum Output Speed read only 0h to FFFFFFFFh 1 min 1 All 06 PnA0C 4 Speed Multiplier read only 1 073 741 823 to 1 073 741 823 All Device information 07 PnA0E 4 Rated Torque read only 0h to FFFFFFFFh 1 N m All 08 PnA10 4 Maximum Output Torque read only 0h to FFFFFFFFh 1 N m All 09 PnA12 4 Torque...

Page 318: ...rse Software Limit 1 073 741 823 to 1 073 741 823 1 reference unit 1073741 823 All Immedi ately 29 PnA52 4 Reserved parameter Do not change 0 All Immedi ately 41 PnA82 4 Speed Unit 2 0h to 4h 0h All After restart Unit settings 42 PnA84 4 Speed Base Unit 3 4 Set the value of n from the following formula Speed unit 41 PnA82 10n 3 to 3 0 All After restart 43 PnA86 4 Position Unit 0h 0h All After rest...

Page 319: ... page Continued from previous page Parameter No Size Name Setting Range Setting Unit Resolution Default Setting Applicable Motors When Enabled Classi fication 0000h Reference units s2 0001h Percentage of rated torque 0002h Maximum torque 40000000h 5 Speed Units Bit 0 Reference units s 1 Enabled Bit 1 Reference units min 1 Enabled Bit 2 Percentage of rated speed 1 Enabled Bit 3 min 1 rpm 1 Enabled ...

Page 320: ...10 000 1 μs 0 1 ms 0 All Immedi ately 6 83 PnB06 4 Final Travel for Exter nal Input Positioning 1 073 741 823 to 1 073 741 823 1 reference unit 100 All Immedi ately 84 PnB08 4 Zero Point Return Approach Speed 0h to 3FFFFFFFh 10 3 min 1 5 000h reference units s con verted to 10 3 min 1 All Immedi ately 85 PnB0A 4 Zero Point Return Creep Speed 0h to 3FFFFFFFh 10 3 min 1 500h reference units s con ve...

Page 321: ...0h Phase 0 01h Phase 1 02h Phase 2 03h Phase 3 Byte 2 Current control mode 00h Position control mode 01h Speed control mode 02h Torque control mode Byte 3 Reserved Byte 4 Expansion signal monitor 0007h Reserved 0008h INIT_PGPOS Low Lower 32 bits of initial encoder position con verted to 64 bit position reference data 0009h INIT_PGPOS High Upper 32 bits of initial encoder position con verted to 64 ...

Page 322: ...All Immedi ately 90 PnB20 4 SVCMD_ CTRL bit Enabled Disabled read only 0FFF3F3F h All Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Resolution Default Setting Applicable Motors When Enabled Classi fication 0000h to 0009h The settings are the same as those for SEL_MON Monitor Selection 1 Bit 0 CMD_PAUSE 1 Enabled Bit 1 CMD_CANCEL 1 Enabled Bit...

Page 323: ...abled Bits 4 and 5 ACCFIL 1 Enabled Bits 6 and 7 Reserved 0 Disabled Bit 8 L_CMP1 1 Enabled Bit 9 L_CMP2 1 Enabled Bit 10 POS_RDY 1 Enabled Bit 11 PON 1 Enabled Bit 12 M_RDY 1 Enabled Bit 13 SV_ON 1 Enabled Bits 14 and 15 Reserved 0 Disabled Bits 16 to 19 SEL_MON1 1 Enabled Bits 20 to 23 SEL_MON2 1 Enabled Bits 24 to 27 SEL_MON3 1 Enabled Bits 28 to 31 Reserved 0 Disabled Bits 0 to 3 Reserved 0 Di...

Page 324: ...while DEN is set to 1 If you change the setting during operation the reference output will be affected 93 PnB26 4 I O Bit Enabled Dis abled Input read only FF0FFEFE h All Command related parameters Continued from previous page Parameter No Size Name Setting Range Setting Unit Resolution Default Setting Applicable Motors When Enabled Classi fication Bit 0 Reserved 0 Disabled Bit 1 DEC 1 Enabled Bit...

Page 325: ...fter restart Pn00F 0000h Application Function Selec tions F After restart Pn021 0000h Reserved parameter Pn022 0000h Reserved parameter Pn040 0000h Σ V Compatible Function Switch After restart Pn080 0000h Application Function Selec tions 80 After restart Pn081 0000h Application Function Selec tions 81 After restart Pn100 400 Speed Loop Gain Immediately Pn101 2000 Speed Loop Integral Time Constant ...

Page 326: ... Pn142 1000 Model Following Control Gain Correction Immediately Pn143 1000 Model Following Control Bias in the Forward Direc tion Immediately Pn144 1000 Model Following Control Bias in the Reverse Direc tion Immediately Pn145 500 Vibration Suppression 1 Frequency A Immediately Pn146 700 Vibration Suppression 1 Frequency B Immediately Pn147 1000 Model Following Control Speed Feedforward Com pensati...

Page 327: ...ion Function Selections After restart Pn231 0 Backlash Compensation Immediately Pn233 0 Backlash Compensation Time Constant Immediately Pn281 20 Encoder Output Resolution After restart Pn282 0 Linear Encoder Scale Pitch After restart Pn304 500 Jogging Speed Immediately Pn305 0 Soft Start Acceleration Time Immediately Pn306 0 Soft Start Deceleration Time Immediately Pn308 0 Speed Feedback Filter Ti...

Page 328: ... Q Value Immediately Pn40E 0 Second Stage Notch Filter Depth Immediately Pn40F 5000 Second Stage Second Torque Reference Filter Fre quency Immediately Pn410 50 Second Stage Second Torque Reference Filter Q Value Immediately Pn412 100 First Stage Second Torque Reference Filter Time Con stant Immediately Pn416 0000h Torque Related Function Selections 2 Immediately Pn417 5000 Third Stage Notch Filter...

Page 329: ...mmediately Pn449 0 Pressure Feedback Sensor Gain Immediately Pn44A 0 Pressure Feedback Filter Immediately Pn44C 1000 Pressure Feedback Enable Level Immediately Pn44D 300 Pressure Feedback Over flow Detection Level Immediately Pn44E 0 Pressure Feedback Over flow Detection Time Immediately Pn450 0 Pressure Feedback Control 1 Pressure Feedback Loop Differential Time Immediately Pn451 100 Pressure Fee...

Page 330: ...Pn484 30 Reverse Force Limit Immediately Pn485 20 Polarity Detection Refer ence Speed Immediately Pn486 25 Polarity Detection Refer ence Acceleration Deceler ation Time Immediately Pn487 0 Polarity Detection Con stant Speed Time Immediately Pn488 100 Polarity Detection Refer ence Waiting Time Immediately Pn48E 10 Polarity Detection Range Immediately Pn490 100 Polarity Detection Load Level Immediat...

Page 331: ...al Inverse Set tings After restart Pn514 0000h Output Signal Selections 4 After restart Pn516 8888h Input Signal Selections 7 After restart Pn51B 1000 Motor Load Position Devia tion Overflow Detection Level Immediately Pn51E 100 Position Deviation Over flow Warning Level Immediately Pn520 5242880 Position Deviation Over flow Alarm Level Immediately Pn522 7 Positioning Completed Width Immediately P...

Page 332: ...84 10000 Speed Limit Level at Servo ON Immediately Pn585 50 Program Jogging Move ment Speed Immediately Pn586 0 Motor Running Cooling Ratio Immediately Pn587 0000h Polarity Detection Execu tion Selection for Absolute Linear Encoder Immediately Pn600 0 Regenerative Resistor Capacity Immediately Pn601 0 Dynamic Brake Resistor Allowable Energy Con sumption After restart Pn603 0 Regenerative Resistanc...

Page 333: ...0 Speed Table Switching Position 7 Immediately Pn6CE 0 Speed Table Switching Position 8 Immediately Pn6D0 0 Speed Table Switching Position 9 Immediately Pn6D2 0 Torque Pressure Refer ence 1 Immediately Pn6D4 0 Torque Pressure Refer ence 2 Immediately Pn6D6 0 Torque Pressure Refer ence 3 Immediately Pn6D8 0 Torque Pressure Refer ence 4 Immediately Pn6DA 0 Torque Pressure Refer ence 5 Immediately Pn...

Page 334: ...Travel Distance for Origin Return Immedi ately 3 Pn81E 0000h Input Signal Monitor Selec tions Immediately Pn81F 0010h Command Data Allocations After restart Pn820 0 Forward Latching Area Immediately Pn822 0 Reverse Latching Area Immediately Pn824 0000h Option Monitor 1 Selection Immediately Pn825 0000h Option Monitor 2 Selection Immediately Pn827 100 Linear Deceleration Con stant 1 for Stopping Im...

Page 335: ...ocations 1 Immediately Pn861 0000h SVCMD_IO Input Signal Monitor Allocations 2 Immediately Pn862 0000h SVCMD_IO Input Signal Monitor Allocations 3 Immediately Pn863 0000h SVCMD_IO Input Signal Monitor Allocations 4 Immediately Pn868 0000h SVCMD_IO Output Signal Monitor Allocations 1 Immediately Pn869 0000h SVCMD_IO Output Signal Monitor Allocations 2 Immediately Pn880 Station Address Monitor for m...

Page 336: ...nformation Setting After restart Pn9B7 0002h Other Station Monitor 3 Station Address After restart Pn9B8 3 Other Station Monitor 3 Number of Transmission Bytes After restart Pn9B9 1000h Other Station Monitor 3 Monitor Information Setting After restart Pn9BA 0002h Other Station Monitor 4 Station Address After restart Pn9BB 3 Other Station Monitor 4 Number of Transmission Bytes After restart Pn9BC 1...

Page 337: ...6 PnA4C 1073741823 Forward Software Limit Immediately 27 PnA4E 0 Reserved parameter Do not change Immediately 28 PnA50 1073741823 Reverse Software Limit Immediately 29 PnA52 0 Reserved parameter Do not change Immediately 41 PnA82 0h Speed Unit Selection After restart 42 PnA84 0 Speed Base Unit Selection After restart 43 PnA86 0h Position Unit Selection After restart 44 PnA88 0 Position Base Unit S...

Page 338: ...10 3 min 1 Origin Approach Speed Immediately 85 PnB0A 500h reference units s converted to 10 3 min 1 Origin Return Creep Speed Immediately 86 PnB0C 100 Final Travel Distance for Origin Return Immediately 87 PnB0E 1h Fixed Monitor Selection 1 Immediately 88 PnB10 0h Fixed Monitor Selection 2 Immediately 89 PnB12 0h SEL_MON CMN1 Monitor Selection 1 Immediately 8A PnB14 0h SEL_MON CMN2 Monitor Select...

Page 339: ... Table 6 138 2 The parameter setting is enabled after SENS_ON command execution is completed 3 Change the setting when the reference is stopped i e while DEN is set to 1 If you change the setting during operation the reference output will be affected ...

Page 340: ...n 4 3 P parameters notation numeric settings xii notation selecting functions xii pressure command 3 3 pressure feedback control 3 3 gain adjustment 3 18 monitoring 3 23 setup procedure 3 10 pressure sensor amplifier 3 4 R Rotary Servomotor xi S Servo Drive xi servo lock xi servo OFF xi servo ON xi Servo System xi Servomotor xi SERVOPACK xi model designations 1 3 SigmaWin xi speed torque pressure ...

Page 341: ... back cover Date of Publication Rev No Web Rev No Section Revised Contents February 2017 2 0 All chapters Partly revised November 2016 1 0 All chapters Addition FT41 Specification May 2016 First edition MANUAL NO SIEP S800001 94B 1 0 Published in Japan November 2016 Date of publication Revision number WEB revision number ...

Page 342: ...0799 http www yaskawa co th YASKAWA ELECTRIC CHINA CO LTD 22F One Corporate Avenue No 222 Hubin Road Shanghai 200021 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 http www yaskawa com cn YASKAWA ELECTRIC CHINA CO LTD BEIJING OFFICE Room 1011 Tower W3 Oriental Plaza No 1 East Chang An Ave Dong Cheng District Beijing 100738 China Phone 86 10 8518 4086 Fax 86 10 8518 4082 YASKAWA ELECTRIC TAIWAN CO...

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