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1. Shield box Power supply c Brake Power Single phase S ee Supply 200 VAC ZS tee Surge SERVOPACK absorber Control o o power ess 5 24 v 0ov YV WI To slo Servomotor Power supply o One turn B O ka Ee cn filter 3 3 L1 L2 L3 E CN2 E la E Encoder absorber One turn nro Te 38 gt o Tx g v E EtherCAT E SHE Se controller o oO 352 CN1 CN8 COMES One turn Two turn Two turn Clamp Clamp o Host controller Safety unit Symbol Cable Name Specification O 1 0 signal cable Shield cable O Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Control power cable Shield cable Main circuit cable Shield cable Ethernet communication cable Shield cable zl Products that have received CE marking are recommended for the 24 VDC power supply 2 power supply Model number FN2070 6 07 SCHAFFNER 3 3 10 Install the following noise filter on the power line between the single phase 200 V power supply and the 24 VDC For more information on this filter refer to 3 V Series Product Catalog KAEP S800000 42 B Three phase 400 V SGDV OOODE1A OOO
2. Reserved Do not use Reserved Do not use EtherCAT secondary address Refer to 4 4 4 EtherCAT Secondary Address Settings LED Indicators Refer to 2 5 LED Indicators EtherCAT communication port Input CN11A EtherCAT communication port Output CN11B Reserved CN12 Do not use D Specifications 2 7 2 8 2 Specifications 2 5 LED Indicators This diagram shows details of the LED indicators ERR RUN OO 00 Link Activity CN11B Link Activity CN11A B RUN The RUN indicator shows the status of EtherCAT communication LED Indicator Description Display Pattern The EtherCAT CoE Network Module Off Continuously OFF iod init Stau On Blinkin The EtherCAT CoE Network Module 9 200 ms 200 ms is in Pre Operational state Off a The EtherCAT CoE Network Modul e Ether o etwork Module Double flash 200 ms 200 ms 200 msl 1000 ms is in Safe Operational state The EtherCAT CoE Network Module On Continuously ON is in Operational state 50 ms The EtherCAT CoE Network Module Flickering On is booting and has not yet entered the Init state Off B ERR The ERR indicator shows the error st
3. gt F p 7H Width varies with SERVOPACK model 30 mm or more Ln oo ER Cum rum e m1 ad d d zu AA AA E E 5 E E f iz B enu LN 40 mm or more 40 mm or more Leave sufficient space on each side and at the top and the bottom of each SERVOPACK The width on each side varies in accordance with the models of the SERVOPACKs used SERVOPACK Model SGDV Side Left Right Top and bottom R7OF R90F 2R1F R70A R90A 1R6A 2R8A mm or more 2R8F 3R8A 5R5A 7R6A mm or more 10 mm or more 120A 180A 200A 330A 470A 550A 590A 780A 1R9D 3R5D 5R4D 8R4D 120D 170D 210D 260D 280D 370D 10 mm or more 40 mm or more Also install cooling fans above the SERVOPACKs to disperse local pockets of warmer air around the SERVO PACKs Inside the Control Panel The conditions inside the control panel should be the same as the environmental conditions of the SERVO PACK Refer to 3 1 1 Installation Environment 3 3 EMC Installation Conditions 3 3 EMC Installation Conditions This section describes the recommended installation conditions that satisfy EMC guidelines for each model of the SGDV SERVOPACK The conditions required for the standard type base mounted of the SERVOPACK are described Refer to this section for other SERVOPACK models
4. i CN1 Pin Numbers i SUPU ia Names and Output Signal Invalid arameters 1 2 23 24 25 26 not use Brake Pn50F 2 dn S i CN1 Pin Numbers i Output Signal Names and Output Signal Invalid Parameters 1 2 23 24 25 26 not use Positioning Completion Pn50E 0 SON l S g Speed Coincidence Detection Pn50E 1 V CMP 1 2 3 Rotation Detection Pn50E 2 TGON 1 2 3 Servo Ready Pn50E 3 EE i d Torque Limit Detection Pn50F 0 yai l A 3 Speed Limit Detection Pn50F 4 CR i S S Brake Warning Pn50F 3 WARN 1 2 3 Near Pn510 0 NEAR 1 2 3 Output signal polarity inversion Polarity i fCNI 1 2 Pn512 0 1 olarity inversion o 1 2 Sui signal peon Polarity inversion of CN1 23 24 Not invert at Pn512 1 1 factory setting Output signal polarity inversion d Pn512 2 1 Polarity inversion of CN1 25 26 lt The signals not detected are considered as Invalid Inverting the polarity of the brake output signal BK i e positive logic will prevent the holding brake from working in case of its signal line disconnection IMPORTANT If this setting is absolutely necessary check the operation and confirm that there are no safety problems lt If two or more signals are allocated to the same output circuit a signal is output with OR logic circuit If the output signals are used as general purpose output signals for Digital Outp
5. Shield box Brake Power Supply SERVOPACK o U V W o 5 Power supply E Noise Is 5 Three phase 200 VAC 6 o filter Dole Es 2 Servomotor Surge L1C L2C neum absorber a CN2 Ez g S Encoder oj jo O Te O 2 PE 92 Tx EtherCAT e E controller 2S0 O ulz CN1 CN8 LE Core Core Two turn I Two turn Clamp 2 Host e controller Satoty Unit Symbol Cable Name Specification O 1 0 signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable Ethernet communication cable Shield cable n SERVOPACK Installation 3 SERVOPACK Installation B Three phase 200 V SGDV OODAE1A OOD 180 200 330 SGDV OCAO1A Shield box Brake Power Supply SERVOPACK UVW E Brake Power supply E Noise 111213 O om Three phase 200 VAC filter EE n 9 Servomotor Surge L1C L2C nedum absorber 5 0 CN2 5 tE Encoder O O gt Te 83 PE ES o 3 He EtherCAT E EE controller 3 o 5 2 PE CN1 CN8 E xq Core Core One turn Two turn um NTwo turn O O Host controller Satayiunit Symbol Cable Name Speci
6. 1 Sync Manager Communication Type 1C00h PDO Index Sub Name Data Type Access Value EEPROM Mapping Number of 9 used Sync Manager channels EE RO No NG Communication type sync 1 mailbok receive 1 manager 0 VANE RO No Master to slave No Communication type sync 2 mailbok send 1C00h 2 manager 1 USINT RO No Slave to master Be Communication type sync 3 process data output 3 manager 2 ES RO NG Master to slave IND Communication type sync 4 process data input S manager 3 Voie RO Do Slave to master No 2 Sync Manager PDO Assignment 1C10h to 1C13h Sync Manager PDO Assignment configuration defines which PDOs will be transferred for the process data communication PDO Index Sub Name Data Type Access Value EEPROM Mapping 1C10h Sync Manager PDO assignment 0 USINT RO No 0 No 1C11h Sync Manager PDO assignment 1 USINT RO No 0 No 0to2 0 Number of assigned PDOs USINT RW No Default 1 Yes PDO Mapping object index of 1600h to 1603h 1C12h 1 assigned RxPDO 1 UINT SS GE Default 1601h Ke PDO Mapping object index of 1600h to 1603h 2 assigned RxPDO 2 a ES No Default 1600h Tes 0to2 O Number of assigned PDOs USINT RW No Default 1 Yes PDO Mapping object index of 1A00h to 1A03h 1C13h 1 assigned TxPDO 1 UINT RW Ne Default 1A01h m 2 PDO Mapping object index of UINT RW No 1A00h to 1A03h Yes assigned TxPDO 2 Default 1A00h
7. pulse Controlword 6040h gt Homing Method 6098h Statusword 6041h gt gt Homing Speeds 6099h i E gt Homing Position Demand Internal Value 60FCh Homing Acceleration 609Ah gt or Position Demand Value 6062h gt Homing Offset 607Ch gt B Related Objects PDO Index Sub Name Access Mapping Units Type 6040h Controlword RW Yes UINT 6041h Statusword RO Yes UINT 607Ch Home Offset RW No Pos units DINT 6098h Homing Method RW Yes SINT Homing Speeds E 6099h Speed during search for switch RW Yes Velunits UDINT 2 Speed during search for zero RW Yes Velunits UDINT 609Ah Homing Acceleration RW Yes Acc units UDINT B Homing Method 6098h Value Definitions Explanation 0 No homing Default value Using this method the initial direction of movement shall be leftward if the neg ative limit switch is inactive The home position shall be at the first index pulse to the right of the position where the negative limit switch becomes inactive Homing on the i 1 negative limit switch i and index pulse Index pulse Negative limit switch i i o N OT 2 2 Using this method the initial direction of movement shall be rightward if the positive limit switch is inactive The position of home shall be at the first index E pulse to the left of the position where the po
8. 4 4 PCO 4 4 Probel 4 3 Probe2 4 3 ISTO 4 3 ISM 4 3 STA 4 3 SIS 4 3 SI6 4 3 SO 4 4 S02 4 4 S03 4 4 A absolute encoder 5 5 backup battery 4 5 home offset 5 5 settings 5 5 Acceleration User Unit 2703h 8 16 alarm list 9 2 9 6 alarm stopping method 9 2 ALM 4 4 altitude 2 5 3 2 ambient humidity 2 5 3 2 applicable communication standards 2 6 applicable SERVOPACKs 2 5 applicable standards xii 3 2 B base mounted 3 3 BAT 4 3 battery input signal
9. cont d Alarm A D Code arm Name Cause Investigative Action Corrective Action The synchronous timing Sync0 of the SERVO PACK and the EtherCAT Turn the power supply CoE Network Module OFF and ON again and fluctuated due to a fluctu then reestablish commu ation in the synchronous nication timing of EtherCAT com munication Command Option IF OEA2h Servo Synchronization Faulty connection Check the connection Error between the SERVO between the SERVO Reconnect the EtherCAT PACK and the EtherCAT PACK and the EtherCAT CoE Network Module CoE Network Module CoE Network Module Fault occurred in the Repair or replace the EtherCAT CoE Net EtherCAT CoE Net work Module work Module Fault occurred in the Repair or replace the SERVOPACK i SERVOPACK A communication error occurred between the SERVOPACK and the Implement countermea EtherCAT CoE Net i sures for noise work Module due to noise Faulty connection Check the connection 0EA3h Command Option IF between the SERVO between the SERVO Reconnect the EtherCAT Servo Data Error PACK and the EtherCAT PACK and the EtherCAT CoE Network Module CoE Network Module CoE Network Module Fault occurred in the Repair or replace the EtherCAT CoE Net EtherCAT CoF Net work Module work Module Fault occurred in the Repair or replace the SERVOPACK n SERVOPACK Synchronous timing Turn the power supply 0A10
10. 1 3 Chapter Z4 SpeciicatlonS 054 5 sau ae nea ee ers ek Pte UE A hee a 2 1 2 1 OVOrVIQW San Di a Laa dep eke a ent Pa GA sete ek nga ie Be dard aa Rall ees 2 2 2 2 CoOE Techinital EEN 2 3 22 1 CoE Technical TerMS inher yee eee ee co eee ed EA ee 2 3 222 Data AT 2 4 2 23 Data UNIS ocio np pe eR PEE RIPE y ee 2 4 2 3 Specifications of the EtherCAT CoE Network Module 2 5 2 3 1 General Specifications 2 5 2 3 2 Communication Specifications 2 6 2 4 Part Names of the EtherCAT CoE Network Module 2 7 2 9 WED SII CALONS c oii i ea o beds ed ee Sod e A Na Ee 2 8 Chapters SERVOPACOK Installation sete c c eee E es 3 1 3 1 SERVOPACK Installation Environment and Applicable Standards 3 2 311 1 Installation Environment eee a RES REESE 3 2 3 1 2 Installation Conditions for Applicable Standards 3 2 3 2 SERVOPACK Installation 3 3 3 2 1 Orientation a RID Rer Der Ban be ER be ad 3 3 3 2 2 Installation ANTAS EEN 3 4 3 3 EMC Installation Conditions 3 5 Chapter 4 Wiring and Connection 4 1 4 1 System Configuration Diagram 4 2 4 2 VO Signal Connections tdi Br Wash 8g ROR Ka 4 3 4 2 1 1 0 Signal CN1 Names a
11. Init a a a Pl IP v Pre Operational SI A PS SP y OP Safe Operational SO OS Operational State Description Init No mailbox communication is possible No process data communication is possible Master configures DL Address and SyncManager channels for Mailbox communication Master initializes DC clock synchronization Init to Pre Op Master requests Pre Operational state Master sets AL Control register Slave checks whether the mailbox was initialized correctly Pre operational Pre Op Mailbox communication is possible No process data communication is possible Pre Op to Safe Op Master configures SyncManager channels and FMMU channels for process data Master configures PDO mapping and the sync manager PDO assignment parameters via SDO Master requests Safe Operational state Slave checks whether the sync manager channels for process data communication and if required the distributed clocks settings are correct Safe Operational Safe Op Mailbox communication is possible Process Data communication is possible but only Inputs are evaluated Outputs remain in Safe state Safe Op to Op Master sends valid Outputs Master requests Operational state Operational Op Mailbox communication is possible Process data communication is possible 6 4 PDO Mapping 6 4 PDO Mapping PDO mappin
12. Obiect Facto Data Index Name Setting Range Units Sane When Enabled Tes Pn No 9 YP Program JOG Operation Related Switch 0000 to 0005 0000 Immediately UINT 4th 3rd 2nd 1st digit digit digit digit n Program JOG Operation Related Switch 0 Waiting time Pn535 Forward movement Pn531 x Number of times of movement Pn536 1 Waiting time Pn535 Reverse movement Pn531 x Number of times of movements Pn536 2 Waiting time Pn535 Forward movement Pn531 x Number of times of movements Pn536 Waiting time Pn535 Reverse movement Pn531 x Number of times of movements Pn536 2530h 3 Waiting time Pn535 Reverse movement Pn531 x Number of times of movements Pn536 Pn530 Waiting time Pn535 Forward movement Pn531 x Number of times of movements Pn536 4 Waiting time Pn535 Forward movement Pn531 gt Waiting time Pn535 gt Reverse movement Pn531 x Number of times of movement Pn536 5 Waiting time Pn535 Reverse movement Pn531 Waiting time Pn535 Forward movement Pn531 x Number of times of movement Pn536 Reserved Do not change Reserved Do not change Reserved Do not change 1 1 to 1073741824 alll Program JOG Movement Distance 30 reference 32768 Immediately UDINT Pn531 2 ai unit 2533h Wi l Program JOG Movement Speed 1 to 10000 1 min 500 Immediately UINT Pn533 2534h Program JOG Pn534 Acceleration Deceleration Time 410 10900 L ms 190 Immediately UINT eon Progr
13. 4 3 brake interlock signal 4 4 C cable clamp 3 12 cableshield 3 12 CANopen 2 2 CiA402 drive profile 2 6 7 2 CoE technical terms 2 3 data type 2 4 data units 2 4 common basic functions 5 2 control power supply for seguence signal 4 3 Controlword 6040h 8 21 cooling 3 4 corrosive gas 3 2 cycletime 8 13 cyclic sync torgue mode 7 15 cyclic synchronous position mode 7 8 8 37 cyclic synchronous velocity mode 7 13 8 38 D data type 2 4 data units 2 4 Index DC mode 6 7 6 8 device control 72 Digital Inputs 60FDh 8 43 digital inputs and outputs 7 16 digital inputs outputs 8 43 Digital Outputs 60FEh 8 44 Disable Ope
14. 2701 2 2701 1 B Related Objects PDO E Index Sub Name Access Mapping Units Type 6071h Target Torque RW Yes 0 1 INT 6087h Torque Slope RW Yes 0 1 s UDINT 6074h Torque Demand Value RO Yes 0 1 INT 6077h Torque Actual Value RO Yes 0 1 INT 6072h Mex Torque RW Yes 0 1 UINT 60E0h Positive Torque Limit Value RW Yes 0 1 UINT 60E1h Negative Torque Limit Value RW Yes 0 1 UINT The motor rated torque is 100 7 6 2 Cyclic Sync Torgue Mode In Cyclic Synchronous Torgue mode the master provides a target torgue to the drive device which performs torgue control 7 6 Torgue Control Modes Torgue Offset 60B2h Torque Target Torque 607 1h xS Demand Value 6074h ee sas kaa Max Torque 6072h function Torque Limit Values 60E0h 60E1h Torque Actual Value 6077h lt Velocity Actual Value geen Tei A 2702 2 2702 1 H Position Actual Value 6064h Position unit rearen ehe Eua iu ced xa NN multiplier ke ntemalValue 6063h 2701 2 2701 1 B Related Objects PDO r Index Sub Name Access Mapping Units Type 6071h Target Torque RW Yes 0 1 INT 6074h Torque Demand Value RO Yes 0 1 INT 6077h Torque Actual Value RO Yes 0 1 INT 60B2h Torque Offset RW Yes 0 1 INT 6072h Max Torque RW Yes 0 1 UINT 60
15. 8 14 receive PDO mapping 8 8 reverse run prohibited 4 3 RJAS 4 9 S safety function 5 6 SDO abort code list 10 30 servo alarm output signal 4 4 SERVOPACK alarm list 9 2 EMC installation conditions 3 5 installation conditions for applicable standards 3 2 installation environment 3 5 installation precautions 3 2 installation standards 3 4 orientation 3 3 parameters 10 9 SG 4 4 shield box 3 12 shock resistance 2 5 3 2 Shutdown Option Code 605Bh 8 26 signal ground 4 4 slave information IF 2 6 Software Position Limit 607Dh 8 30 state machine controlling command 7 3 status display 9 2 9 10 Statusword 6041h 7 3 8 23 storage humidity 2 5
16. Interpolation time Object 60C1 01h x 10 Object 60C1 02h eec 8 11 Cyclic Synchronous Position Mode 8 11 Cyclic Synchronous Position Mode 1 Velocity Offset 60B1h In Cyclic Synchronous Position mode this object sets the velocity feed forward value In Cyclic Synchronous Velocity mode this object sets the offset value to be added to the velocity reference Index Sub Name Data Type Access PDO Value EEPROM Mapping 2 147483648 to 60B1h 0 Velocity Offset DINT RW Yes 2147483647 No Default 0 Vel unit 2 Torque Offset 60B2h In Cyclic Synchronous Position mode and Cyclic Synchronous Velocity mode this object sets the torque feed forward value In Cyclic Synchronous Torque mode this object sets the offset value to be added to the torque reference PDO Index Sub Name Data Type Access Value EEPROM Mapping 32768 to 432767 60B2h 0 Torque Offset INT RW Yes Default 0 0 1 No a Object Dictionary 8 37 8 Object Dictionary 8 12 Profile Velocity Cyclic Synchronous Velocity Mode 1 Velocity Demand Value 606Bh This object provides the output value of the velocity trajectory generator or the output value of the position control function PDO Index Sub Name Data Type Access Mappi Value EEPROM apping 606Bh O Velocity Demand Value DINT RO Yes Vel unit No 2 Velocity Actual Valu
17. RxPDO Controlword Target Position 1601h 6040h 607Ah TxPDO Statusword Position Actual Value 1A01h 6041h 6064h 3rd PDO Mapping Cyclic synchronous Velocity RxPDO Controlword Target Velocity 1602h 6040h GOFFh TxPDO Statusword Position Actual Value 1A02h 6041h 6064h 4th PDO Mapping Cyclic synchronous Torque RxPDO Controlword Target Torque 1603h 6040h 6071h TxPDO Statusword Position Actual Value Torque Actual 1A03h 6041h 6064h 6077h 6 5 Synchronization with Distributed Clocks 6 5 Synchronization with Distributed Clocks The synchronization of EtherCAT communication is based on a mechanism called the Distributed Clock With the Distributed Clock all devices can be synchronized to each other by sharing the same reference clock System Time The slave devices synchronize internal applications to Sync0 event which are generated refer ence clock The following synchronization modes are available in the EtherCAT CoE Network Module for the SGDV SERVOPACK The synchronization mode can be changed by Sync Control registers ESC register 0x980 and 981 Free Run ESC register 0x980 0x0000 In Free Run mode the local cycle runs independent from the communication cycle and master cycle DC Mode ESC register 0x980 0x0300 In this mode the SERVOPACK can be synchronized to the EtherCAT master with the Sync0 event The following figure shows timing chart of this DC s
18. 7 8 TA HOMINO e Sine tracers ce ete a oe p P 7 9 7 5 Velocity Control Modes 7 12 7 5 1 Profile Velocity Mode WAWEKEA awa 7 12 7 5 2 Cyclic Synchronous Velocity Mode 7 13 7 6 Torque Control Modes 7 14 7 0 1 Profile Torque Mode gt cios rl eee bi ew abe eae Ee EIERE SAUER 7 14 7 6 2 Cyclic Sync Torque Mode 7 15 7 7 Torque Limit Function 7 16 7 8 Digital Inputs and Outputs 7 16 7 9 Touch Probe Function 7 17 7 10 Fully closed Control 7 19 CiA402 Drive Profile 7 2 7 CiA402 Drive Profile 7 1 Device Control The device control of the SGDV SERVOPACK can be used to carry out all the motion functions in the corre sponding modes The state machine is controlled through the Controlword Object 6040h The status of the state machine can be revealed by using the Statusword Object 6041h Power ON A Control power is on Not ready to Switch on Power is not supplied to the motor Servo off state STW xxxx xxxx x0xx 0000 gt Switch on Disabled 4 Fault reset gt STW xxxx xxxx x1xx 0000 bg 34 Disable voltage I or main power o A Fault e HWBB Si
19. 1 2 Nameplate and Model Designation B Nameplate Example Application Module model number Name SERVOPACK OPTION MODULE MODEL SGDV OCA01A ON 123456 1 1 a S N 123456789ABCDEF EtherCAn Use with SGDV SERVOPACK only Y YASKAWA ELECTRIC CORPORATION MADE IN JAPAN UHT Manufacturing number Nameplate 1 2 E Model Designation SGDV OC A01 A Series SGDV Y V Series 1 3 Nameplate Location L 6th digit Design Revision Order 3rd 4th 5th digits Interface Specifications ist 2nd digits Module Type i Code Module OC Command option module 1 3 Nameplate Location ANA As Qi efi Nets fx z 0 Nameplate Ratings Code Interface A01 EtherCAT CoE Interface ED OCAOTA Nameplate Model no Nameplate Component code Checking Products 1 3 2 Specifications This chapter gives an overview and describes the specifications of the EtherCAT CoE Network Module 2 1 OVerVIOW e ii EE esp Ee RATE ERG MR es 2 2 2 2 CoE Technical Terms 2 3 2 2 1 CoE Technical Terms ss sae ae eat ane a
20. 9 10 Index Index 3 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover MANUAL NO SIEP C720829 04A Published in Japan June 2009 09 6 Date of Date of original publication publication AC Servo Drives gt V Series USER S MANUAL EtherCAT CoE Network Module IRUMA BUSINESS CENTER SOLUTION CENTER 480 Kamifujisawa Iruma Saitama 358 8555 Japan Phone 81 4 2962 5696 Fax 81 4 2962 6138 YASKAWA ELECTRIC AMERICA INC 2121 Norman Drive South Waukegan IL 60085 U S A Phone 800 YASKAWA 800 927 5292 or 1 847 887 7000 Fax 1 847 887 7370 YASKAWA EL TRICO DO BRASIL LTDA Avenida Fagundes Filho 620 S o Paulo SP CEP 04304 000 Brazil Phone 55 11 3585 1100 Fax 55 11 5581 8795 YASKAWA ELECTRIC EUROPE GmbH Hauptstrafe 185 65760 Eschborn Germany Phone 49 6196 569 300 Fax 49 6196 569 398 YASKAWA ELECTRIC UK LTD 1 Hunt Hill Orchardton Woods Cumbernauld G68 9LF United Kingdom Phone 44 1236 735000 Fax 44 1236 458182 YASKAWA ELECTRIC KOREA CORPORATION 7F Doore Bldg 24 Yeoido dong Youngdungpo Ku Seoul 150 877 Korea Phone 82 2 784 7844 Fax 82 2 784 8495 YASKAWA ELECTRIC SINGAPORE PTE LTD 151 Lorong Chuan 04 01 New Tech Park 556741 Singapore Phone 65 6282 3003 Fax 65 6289 3003 YASKAWA ELECTRIC SHANGHAI CO LTD No 18 Xizang Zhong Road Room 1702 1707 Harbour Ring Plaza Shanghai 200001 China Phone 86 21 53
21. 8 12 The object 1C12h 1C13h can be changed only in the EtherCAT Pre Operational state Sub Index 1 or 2 has to be set after Sub Index 0 was written to 0 no assigned PDOs 8 4 Sync Manager Communication Objects 3 Sync Manager Synchronization 1C32h 1C33h B Sync Manager 2 Process Data Output Synchronization PDO Index Sub Name Data Type Access S Value EEPROM Mapping 0 Number of Synchronization USINT RO No 10 No Parameters SEN 0 Free Run DC unused 1 Synchronization type UINT RO No 2 DC Sync0 DC used No 2 Cycle time UDINT RO No Time between Synch No events ns 3 Shift time UDINT RO No 125000 ns No Bit 0 1 Free Run supported Bit 4 2 001 4 Synchronization types supported UINT RO No DC Sync0 supported No 1C32h Bit 6 5 00 No Output Shift sup ported 5 Minimum cycle time UDINT RO No 62500 ns No 6 Calc and copy time UDINT RO No 62500 ns No 7 Reserved UDINT RO No No 8 Reserved UINT RO No No 9 Delaytime UDINT RO No 0 ns No 10 Sync0 cycle time UDINT RO No same as 1C32h 02 No 11 Reserved UDINT RO No No 12 SM2 event miss count UDINT RO No No le Object Dictionary 8 13 8 Object Dictionary B Sync Manager 3 Process Data Input Synchronization Index Sub Name Data Type Access PDO Val
22. 5 1 Physical outputs UDINT RW Yes No 0 0 OxFFFFFFFF PnB8A 2 Bit mask UDINT RW No Yes 0x000C0000 0 OxFFFFFFFF PnB8C 60FFh 0 Target Velocity DINT RW Yes No 0 2147483648 2147483647 we PnB8E 6502h 0 Supported Drive Modes UDINT RO No No 0x03ED PnB90 zl Write Save into the object 1010h The current parameter data will be saved as a batch in the EEPROM If the objects are modified by the digital ope 2 Pn No is the number o the parameter used rator or SigmaWin the data will be directly stored in the EEPROM or the digital operator and SigmaWin 10 2 SERVOPACK Parameters 10 2 SERVOPACK Parameters The following table lists the SERVOPACK parameters All parameters can be accessed by SDO communication lt Note gt Use the object 1010h to write the parameters via SDO communication and store the setting values in the non volatile memory in the SERVOPACK If the parameters are modified by the digital operator or SigmaWin the data will be directly stored in the non volatile memory All SERVOPACK parameters have the following access attributes Read Write enabled PDO mapping disabled Enabled to be stored in the EEPROM non volatile memory excluding object 2587h Pn587 In the EtherCAT CoE Network Module the reference units of the SERVOPACK parameters are encoder pulses units inc Object Index Name Setting Range Units Eus Y When Enabled x aa Pn No
23. 8 34 Position Actual Value 6064h 8 34 Position Demand Internal Value 60FCh 8 34 Position Demand Value 6062h 8 34 Position User Unit 2701h 8 15 Position Window 6067h 8 35 Position Window Time 6068h 8 35 Positive Torque Limit Value 60E0h 8 40 POT iia at 4 3 5 7 power specifications 2 5 power supply method 2 5 probe 1 latch signal 4 3 probe 2 latch signal 4 3 process data 2 6 Profile Acceleration 6083h 8 31 Profile Deceleration 6084h 8 31 profile position mode 7 5 8 30 profile torque mode 7 14 Profile Velocity 6081h 8 31 profile velocity mode 7 12 8 38 protection class 2 5 32 Q quick stop command 8 31 Quick Stop Deceleration 6085h 8 31 quick stop function 8 25 Quick Stop Option Code 605Ah 8 25 R rack mounted 3 3 receive SM2 event
24. 4 6 torque limit detection 4 8 torque limit function 5 2 torque limit function 7 16 8 40 Torque Offset 60B2h 8 37 Torque Slope 6087h 8 39 Touch Probe 1 Position Value 60BAh 8 42 Touch Probe 2 Position Value 60BCh 8 42 touch probe function 7 17 7 18 example of handshaking procedure 7 18 Touch Probe Function 60B8h 8 41 Touch Probe Status 60B9h 8 42 transmit PDO mapping 8 10 trigger events 7 17 troubleshooting 9 11 U UL standards xii 3 2 update cycle of the interpolated position reference 8 36 V Velocity Actual Value 606Ch 8 38 Velocity Demand Value 606Bh 8 38 Velocity Offset 60Blh 8 37 Velocity User Unit 2702h 8 16 Velocity Window 606Dh 8 38 Velocity Window Time 606Eh 8 38 vibration resistance 2 5 3 2 vibration source 3 2 9 12 W warning list
25. 0 Reserved 0 The motion is ezecuted or continued id 1 Stop axis according to halt option code 605Dh 9 0 Reserved 3 Statusword 6041h The Statusword indicates the current state of the drive No bits are latched The Statusword consist of bits for the current state of the drive and the operating state of the mode Index Sub Name Data Type Access oasis Value EEPROM 6041h O Statusword UINT RO Yes 0 No W Statusword Bits Bit Status Description 0 Ready to switch on 1 Switched on 2 Operation enabled 3 Fault Voltage enabled See lt Details on Bits 0 to 7 gt 5 Quick stop 6 Switch on disabled 7 Warning 8 Reserved 9 Remote Controlword 6040h is processed 10 Operation mode specific See lt Details on Bits 10 12 and 13 gt 11 Internal limit active See lt Details on Bit 11 gt 12 to 13 Operation mode specific See Details on Bits 10 12 and 13 gt 14 Torque limit active A WA ama 15 Reserved lt Details on Bits 0 to 7 gt Bit 0 to 7 for the current state of the drive Bit Bit Bits Bit4 Bits Bit2 Biti BitO Drive State gt 0 0 0 0 0 Not ready to switch on 1 0 0 0 0 Switch on disabled 0 1 0 0 0 1 Ready to switch on 0 1 0 0 1 1 Switched on 0 1 0 1 1 1 Operation enabled 0 0 0 1 1 1 Quick stop active 0
26. 1 Acc unit 2703 01h 2703 02h x 104 inc sec This is the encoder pulse unit For a 20 bit encoder the resolution will be 1048576 inc per revolution 2 3 Specifications of the EtherCAT CoE Network Module 2 3 Specifications of the EtherCAT CoE Network Module 2 3 1 General Specifications This table lists the general specifications of the Ether CAT CoE Network Module Applicable SERVOPACK 2 V Series SGDV OHOOEIO SERVOPACK For rotational servomotor Z V Series SGDV OOHOOESO SERVOPACK For linear servomotor Placement Attached to the SERVOPACK Power Specification Power Supply Method Supplied from the control power supply of the SGDV SERVOPACK Surrounding Air Storage ro o o Temperature 0 C to 55 C 20 C to 85 C Rs 90 RH or less with no condensation Vibration Shock 2 2 Resistance 4 9 m s 19 6 m s Operating Protection class IP10 Pollution degree 2 Conditions An environment that satisfies the following conditions Protection Class EF f s losi Pollution Degree ree of corrosive or explosive gases Free of exposure to water oil or chemicals Free of dust salts or iron dust Altitude 1000 m or less Free of static electricity strong electromagnetic fields magnetic fields or exposure to Others FACE radioactivity Number of iit Channels 7 channels Seguence Signals The signal allocation and positive negative logic can be modified Input Which can Functio
27. 4 5 connector terminal layout 4 4 input signal allocations 4 6 input signals 4 3 names and functions 4 3 output signal allocations 4 8 outputsignals 4 4 installation conditions 3 2 interpolated position mode 7 7 8 36 interpolated positioning 7 8 interpolation 7 1 Interpolation Data Record 60CIh 8 36 Interpolation time period 8 24 interpolation time period 7 8 Interpolation Time Period 60C2h 8 36 L LED indicators 2 6 2 7 2 8 low voltage directive xii 3 2 M mailbox 2 6 Max Profile Velocity 607Fh 8 30 Max Torque 6072h 8 40 model designation 1 3 modes of operation 7 4 Modes of Operation 6060h 8 28 Modes of Operation Display 6061h 8 28 Motor Rated Torque 6076h 8 39 mounting SERVOPACKs side by side 3 4 N namepla
28. Do not hold the product by the cables motor shaft or detector while transporting it Failure to observe this caution may result in injury or malfunction Do not place any load exceeding the limit specified on the packing box Failure to observe this caution may result in injury or malfunction If disinfectants or insecticides must be used to treat packing materials such as wooden frames pal lets or plywood the packing materials must be treated before the product is packaged and meth ods other than fumigation must be used Example Heat treatment where materials are kiln dried to a core temperature of 56 C for 30 minutes or more If the electronic products which include stand alone products and products installed in machines are packed with fumigated wooden materials the electrical components may be greatly damaged by the gases or fumes resulting from the fumigation process In particular disinfectants containing halogen which includes chlo rine fluorine bromine or iodine can contribute to the erosion of the capacitors B Installation N CAUTION Never use the product in an environment subject to water corrosive gases inflammable gases or combustibles Failure to observe this caution may result in electric shock or fire Do not step on or place a heavy object on the product Failure to observe this caution may result in injury Do not cover the inlet or outlet ports and prevent any foreign objects fr
29. Pn10A Feedforward Filter Time Constant 0 to 6400 0 01 ms 0 Immediately UINT A Function for Gain Select 0000 to 5334 0000 B UINT Ath 3rd 2nd 1st digit digit digit digit n 3 When Mode Switch Selection Data Type 210Bh Uses acceleration as the condition Level setting Pn10E ad DINI Pn10B Uses position error pulse as the condition Level setting Pn10F No mode switch function available Speed Loop Control Method Data Type I P control After restart UNIT 2 and 3 Reserved Do not change Reserved Do not change Reserved Do not change 210Ch o 6 Pn10C Mode Switch torque reference 0 to 800 1 200 Immediately UINT AUD Mode Switch speed reference 0 to 10000 in 0 Immediately UINT Pn10D ode Switch speed reference o 1 min ediately AMEN Mode Switch acceleration 0 to 30000 in 0 Immediately UINT Pn10E ode ch acceleratio o 1 min s ediately 210Fh f E ai Pn10F Mode Switch position error pulse 0 to 10000 reference unit 0 Immediately UNIT ZEN Position I ral Ti 0 to 50000 0 1 0 I diatel INT Pn11F osition Integral Time Constant to l ms mmediately U 2121h TC e S Pn121 Friction Compensation Gain 10 to 1000 1 100 Immediately UINT 2122h SA o Pn122 2nd Gain for Friction Compensation 10 to 1000 196 100 Immediately UINT 2123h DE is o Pn123 Friction Compensation Coefficient 0 to 100 1 0 Immediately UINT ep 4 He ah aka Fr guericy 10000 to 10000 0 1 Hz 0 Immediately UINT 2125h D e Pn125
30. SERVOPACKs Are all wiring and connections correct Is the correct power supply voltage being supplied to the SERVOPACK 5 2 2 Trial Operation via EtherCAT CoE Communication An example of drive operation procedure via EtherCAT is shown below This example is described in Profile Position mode Step Operation Reference Confirm whether the power line Encoder I O signal and EtherCAT cables are correctly connected 4 2 I O Signal Connections 4 4 Connection Example of EtherCAT Communication Turn ON the power supply to the SERVOPACK If the power supply is normal the CHARGE indicator on the SER VOPACK will light Change the EtherCAT communication state to Operational 6 3 EtherCAT State Machine Set the Modes of operation to Profile Position mode 8 6 9 Modes of Operation 6060h Change the drive state to Operation enabled by command of the Controlword When the power is supplied to the motor the Statusword indicates Operation enabled state Chapter 7 CiA402 Drive Profile 7 1 Device Control 8 6 2 Controlword 6040h 8 6 3 Statusword 6041h Set the Target position Profile velocity Profile acceleration and Profile acceleration and then set Controlword to start positioning 8 6 2 Controlword 6040h 8 7 1 Target Position 607Ah 8 7 4 Profile Velocity 6081h 8 7 3 Profile Acceleration 6083h 8 7 6 Profile Deceleration 6084h Check the fol
31. U ewe ame ame ama e ama ama ama ama ama di ama ama ame am am ama ame wm dam ame ame ama ama ame ama am ama H ke em am ama ama em ama ama ama ame am ama e Output delay 125 us aa r Inputs Latch Outputs Valid 6 6 Emergency Messages Emergency Messages The emergency messages are triggered by the alarms and warnings detected within the SGDV servo drive The transmission is executed via the mailbox interface The Emergency Telegram consists of eight bytes with the data as shown in table below Byte 0 1 2 3 4 5 6 7 Error Manufacturer Specific Error Field Emergency Error Register SGDV Content Ri d Code FF00h Object eee Alarm Warning E 1001h Code 1 Manufacturer specific error code FFOOh is always used 2 For details on alarms and warnings of the SERVOPACK refer to Chapter 9 Troubleshooting o EtherCAT Communication 6 9 YA CiA402 Drive Profile 7 1 Device Control 7 2 7 2 Modes of Operation 7 4 7 3 Position Control Modes 7 5 7 3 1 Profile Position Mode 7 5 7 3 2 Interpolated Position Mode 7 7 7 3 3 Cyclic Synchronous Position Mode
32. 1 1 1 1 Fault reaction active 0 1 0 0 0 Fault 1 Main Power On 1 Warning is occurred a Object Dictionary 8 23 8 Object Dictionary lt Details on Bit 11 gt Bit11 Internal limit active The internal limit is active in the following cases Target position was limited with Software position limits N OT P OT signals were activated Over Interpolation speed only for Interpolated position and cyclic position mode If the reference speed of interpolation exceeds the following speed range the target position will be ignored Target position position demand value x 2701h 01 2701h 02 Interpolation time period lt 4194304 inc ms Details on Bits 10 12 and 13 Bit 10 12 and13 for Profile position mode Bit No Description Value Definition 0 Halt Bit 8 in Controlword 0 Target position not reached Halt Bit 8 in Controlword 1 Axis decelerates 10 Target reached 4 Halt Bit 8 in Controlword 0 Target position reached Halt Bit 8 in Controlword 1 Velocity of axis is 0 42 Set point 0 Previous set point already processed waiting for new set point acknowledge 1 Previous set point still in process set point overwriting shall be accepted 13 Following 0 No following error error 1 Following error Bit 10 12 and 13 for Homing mode Bit13 Bit12 Bit
33. Probe2 11 Probe 2 latch signal counter SI5 Home Home switch input SI6 12 signal Connects the Home signal for homing 7 4 Control power sup Control power supply input for sequence signals The 24 24VIN 6 ply for sequence sig VDC power supply is not included nal Allowable voltage fluctuation range 11 to 25 V Battery input sig BAT 14 nal BAT 15 Battery ES input sig Connecting pin for the absolute encoder backup battery nal ISIO 13 General purpose ISI3 9 input signal General purpose input signal 8 16 1 Note 1 The functions allocated to P OT N OT Probel Probe2 and Home input signals can be changed by using the parameters Refer to 4 3 1 Input Signal Allocations 2 Ifthe Forward run prohibited Reverse run prohibited function is used the software can be used to stop the SER VOPACK If the application does not satisfy the safety requirements add an external circuit for safety reasons as required Wiring and Connection 4 3 4 Wiring and Connection 4 2 2 1 0 Signal Connector CN1 Terminal Layout 2 Output Signals Refer Signal Pin No Name Function ence Section AMT o alle alarm output Turns OFF when an error is detected ALM 4 signal BK 1 Controls the brake The brake is released when the signal WOH Brake interlock signal Ume ON BK 5 8 Allocation can be changed to general purpose output signals SO1 SO1 SOI SO2 23
34. Velocity User Unit 0 Number of entries USINT RO No No 2 1 Numerator UDINT RW No Yes 1 1 1073741823 PnB06 2 Denominator UDINT RW No Yes 1 1 1073741823 PnB08 2703h Acceleration User Unit O Number of entries USINT RO No No 2 1 Numerator UDINT RW No Yes 1 1 1073741823 PnBOA 2 Denominator UDINT RW No Yes 1 1 1073741823 PnBOC 2710h SERVOPACK Adjusting Command 0 Number of entries USINT RO No No 3 E 1 Command STRING RW No No 0 0 OxFF 2 Status USINT RO No No 3 Reply STRING RO No No m 27E0h Diag Mode UINT RW No No 0 0 OxFFFF PnCFE 603Fh 0 Error Code UINT RO Yes No PnB10 6040h 0 Controlword UINT RW Yes No 0 0 OxFFFF PnB11 6041h 0 Statusword UINT RO Yes No PnB12 605Ah 0 Quick Stop Option Code INT RW No Yes 2 0 4 PnB13 605Bh 0 Shutdown Option Code INT RW No Yes 0 0 1 PnB14 605Ch o Zeie Operation Option INT RW No Yes 1 0 1 PnBI5 605Dh 0 Halt Option Code INT RW No Yes 1 0 4 PnB16 605Eh 0 Fault Reaction Option Code INT RW No Yes 0 0 0 PnB17 6060h 0 Modes of Operation SINT RW Yes Yes 0 0 10 PnB18 6061h 0 Modes of Operation Display SINT RO Yes No 0 PnB19 6062h 0 Position Demand Value DINT RO Yes No e PnB20 6063h o Position Actual Internal DINT RO Yes No S Inc PnB22 Value 6064h 0 Position Actual Value DINT RO Yes No PnB24 6065h 0 Following Error Window U
35. 0 1 Same setting as Pn001 0 Stops the motor by applying DB or by coasting Power Supply Method for Three phase SERVOPACK 0 Three phase power supply 1 Single phase power supply Semi closed Encoder Usage Method 0 Uses the encoder connected to the SERVOPACK 1 Uses the encoder connected to the feedback option module Application Function Select Switch C 0000 to 0111 0000 After restart UINT Ath 3rd 2nd 1st digit digit digit digit n Selection of Test without Motor 0 Test without motor disabled 1 Test without motor enabled 200Ch Pn00C Encoder Resolution for Test without Motor 0 13 bits 1 20 bits Encoder Type for Test without Motor Incremental encoder 00 01 Absolute encoder Reserved Do not change 5 Appendix 10 13 10 Appendik Object Index Name Setting Range Units E When Enabled gt Pn No 9 yp Application Function Select Switch D 0000 to 0001 0000 After restart UINT Ath 3rd 2nd 1st digit digit digit digit n O D Stand alone Mode Test Operation Selection 200Dh 0 Enables connection with the command option module US 1 Disables connection with the command option module Reserved Do not change Reserved Do not change Reserved Do not change 2010h Axis Address Selection i Pn010 for UART USB communication Ge i D Buren UNI Application Function Select Switch 80 0000 to 1111 0000 After restart UINT 4th
36. 1 Yes Available value range 1 128 Numerator Denominator lt 524288 Alarm A A20 is detected when the setting value exceeds it 5 Acceleration User Unit 2703h This object sets the user defined acceleration reference unit Acc unit The user defined acceleration reference unit is calculated by the following formula 1 Acc unit Numerator Denominator x 10 inc sec PDO Index Sub Name Data Type Access Value EEPROM Mapping O Number of entries USINT RO No 2 No to 1073741823 2703h 1 Numerator UDINT RW No Default 1 Yes 2 Denominator UDINT RW No 11 1073741923 Yes Default 1 Available value range 1 128 lt Numerator Denominator lt 16384 Alarm A A20 is detected when the setting value exceeds it 8 5 Manufacturer Specific Objects 6 Usage of User Units The setting methods of user defined reference units are explained by using the following two cases as exam ples Case 1 Linear mechanism system with ball screw Case 2 Rotary mechanism system with rotary table B Case 1 Linear Mechanism System with Ball Screw User Requirements and Application Assumptions User defined position reference unit 0 001 mm User defined velocity reference unit 0 1 mm s lt User defined acceleration reference unit 0 1 mm s Application assumption data Encoder resolution 20 bits 1048576 inc Ball screw pitch 6 mm Deceleration ratio 2 1 load shaft will rotate onc
37. Encoder cable Shield cable Main circuit cable Shield cable Ethernet communication cable Shield cable n SERVOPACK Installation 3 5 3 SERVOPACK Installation 3 6 B Three phase 200 V SGDV LIEITIAE1A OOO R70 R90 1R6 2R8 3R8 5R5 7R6 SGDV OCA01A Shield box Sup SERVO Power supply o AA E Three phase 200 VAC 6 o filter Noise Core absorber Core Fa L1C L2C PE EtherCAT controller Clamp CN11 One turn Two turn EtherCAT CoE Network Module Brake Power Luis ply PACK U VW S jes Brake 6 amp amp om O O E Servomotor One E oma Encoder ter m PE Clamp O Bes Safety unit Symbol Cable Name Specification O VO signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable Ethernet communication cable Shield cable 3 3 EMC Installation Conditions B Three phase 200 V e SGDV LILILIAE1A OOO 120 SGDV OCA01A
38. a Object Dictionary 8 43 8 Object Dictionary 2 Digital Outputs 60FEh This object controls the digital outputs state of CN1 of the SGDV SERVOPACK Sub index 1 is used to control the physical outputs state Sub index 2 determines which physical bits of Sub Index 1 are enabled If the SERVOPACK status output functions in objects 250Eh 250Fh and 2510h Pn50E Pn50F and Pn510 are assigned the status will be output using the set value of this object as well as OR logic Ifany of these sig nals are assigned to functions that are enabled by objects 250Eh 250Fh or 2510h use the Bit mask sub Index 2 to disable the corresponding signals so that these signals do not overlap PDO Index Sub Name Data Type Access 5 Value EEPROM Mapping O Number of entries USINT RO No 2 No 0 to OXFFFFFFFF f 1 sopen 1 Physical outputs UDINT RW Yes Default 0 No 0 to OXFFFFFFFF i 2 2 Bit mask UDINI RW NG Default 0x000C0000 ER zl Data description of Physical outputs Bit Signal Description 0to16 Reserved 17 SO1 CN1 1 2 pin 0 Switch off 1 Switch on 18 SO2 CN1 23 24 pin 0 Switch off 1 Switch on 19 SO3 CN1 25 26 pin 0 Switch off 1 Switch on 20 to 31 Reserved 2 Data description of Output mask Bit Signal Description 0to16 Reserved 17 SO1 CN1 1 2 pin 0 Disable physical output 1 Enable 18 SO2 CN1 23 24 pin 0 Disable physical output 1 Enable 19
39. comparator Target Velocity GOFFh S Velocity unit Max Profile Velocity 607Fn Velocty Melani ume HE RE limit function 2702 1 2702 2 elocity Demand Value Profile Acceleration 6083h Velocity 606Dh Velocity Torque Profile Deceleration 6084h Acceleration Acc unit geen unit 40 inc s trajectory gt control control gt Motor multiplier Quick Stop Deceleration 6085h limit function 27034127032 gt generator loop 1008 Quick Stop Option Code 605Ah i 1 e 1 1 LI 1 A secs ETE E ae as ees an ee E ce ee sa eae case eee es ores eee E cosas E E EEY WR a A Velocity Actual Value 606Ch Velocity unit lt multiplier 4 Output of velocity 2702 2 2702 1 l limit function y 1 1 Target Reached in Velocity reached i giatusword 604 1h Velocity Window M window le Aen H i 1 1 1 1 Position Actual Position Actual Value 6064 aana ET adntemal Value 6063h 2701 2 2701 1 B Related Objects Index Sub Name Access hase Units Type 60FFh Target Velocity RW Yes Vel units DINT 607Fh Max Profile Velocity RW No Vel units UDINT 6083h Profile Acceleration RW Yes Acc units UDINT 6084h Profile Deceleration RW Yes Acc units UDINT 6085h Quick Stop Deceleration RW Yes Acc units UDINT 606Bh Velocity Demand Value R
40. insert a connection cable specifically for the safety function es ee Safety function devices ES Motor main circuit cable SGMJV SGMAV SGMPS SGMGV SGMSV SGMCS Servomotor sl Use a 24 VDC power supply not included 2 Before connecting an external regenerative resistor to the SERVOPACK refer to 3 V Series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 Note The connections and wiring of the power supply of the main circuit and that of the controls differ in accordance with the SERVOPACK to be used For details refer to LH Series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 4 2 4 2 4 2 1 UO Signal Connections 4 2 1 0 Signal Connections This section describes the names and functions of I O signals CN1 Also terminal layout and connection examples by control method are shown I O Signal CN1 Names and Functions The following table shows the names and functions of I O signals CN1 Input Signals Refer Signal Pin No Name Function ence Section Forward run P OT 7 prohibited Overtravel prohibited Stops servomotor when movable part 57 N OT 8 Reverse run travels beyond the allowable range of motion prohibited Probe1 SI4 10 Probe 1 latch signal Connects the Probe signals to latch the value of the feedback 79
41. n SERVOPACK Installation 3 11 3 12 3 SERVOPACK Installation Attachment Methods of Ferrite Cores One turn Two turn Cable Ferrite core Ferrite core Recommended Ferrite Core Cable Name Ferrite Core Model Manufacturer Motor main circuit cable ESD SR 250 NEC TOKIN Corp Recommended Noise Filter and Surge Absorber For more information on recommended noise filters and surge absorbers refer to 3 V Series Product Catalog KAEP S800000 42 Fixing the Cable Fix and ground the cable shield using a piece of conductive metal Example of Cable Clamp Shield cable sheath stripped Host controller side d Fix and ground the cable shield x K using a piece of conductive metal Remove paint on mounting surface Shield Box A shield box which is a closed metallic enclosure is effective as reinforced shielding against electromagnetic interference EMI from SERVOPACKs The structure of the box should allow the main body door and cool ing unit to be attached to the ground The box opening should be as small as possible lt Note gt Do not connect the digital operator and the analog monitor cable to the SERVOPACK during operations Connect them only when the machinery is stopped during maintenance A Wiring and Connection This chapter describes an example of how a system is configured using the EtherCAT CoE Network Module how the I O
42. storage temperature 2 5 Supported Drive Modes 6502h 8 29 surge absorber 4 2 recommended surge absorber 3 12 surrounding air temperature 2 5 3 2 Sync Error Setting IF01h 8 14 sync manager communication objects 8 12 Sync Manager Communication Type 1C00h 8 12 Sync Manager PDO Assignment 1C10h to 1C13h 8 12 sync manager Settings 6 2 Sync Manager Synchronization 1C32h 1C33h 8 13 SyncO event 6 7 synchronization with distributed clocks 6 7 example of PDO data exchange timing with DC mode 6 8 SyncManager 2 6 system configuration 4 2 T Target Position 607Ah 8 30 Target Torque 6071h 8 39 Target Velocity 60FFh 8 38 test without motor function 5 4 Torque Actual Value 6077h 8 39 Torque Demand Value 6074h 8 39 torque limit forward external torque limit 4 6 limiting torque 5 4 reserve external torque limit
43. the power to the motor will be forcibly shut off and the motor will be stopped according to the setting of the 1 digit of parameter Pn001 The following diagram shows the status of the safety functions when the EtherCAT CoE Network Module is connected When an HWBB Signal is Input during Motor Operation OFF HWBB1 ON HWBB function ON HWBB2 HWBB function Request HWBB function No request No request Controlword a Switch on 6040h Enable operation Shutdown Enable operation Statusword f V Switch on l 6041h Operation enabled Disabled Ready to Switch on Operation enabled Digital inputs 0 1 0 60FDh bit 24 25 SERVOPACK status Motor power ON Motor power OFF Motor power ON When an HWBB Signal is Input while Motor Power is OFF HWBB1 ON OFF ON HWBB2 HWBB function HWBB function Request HWBB function No request H No request Controlword H Switch on 6040h Shutdown Enable operation Statusword Ready to Switch on Switched on 6041h y Operation enabled Digital inputs 0 4 0 60FDh bit 24 25 SERVOPACK status Motor power OFF Motor power ON For details refer to 4 6 Safety Function in 2 V series User 5 Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 5 6 5 7 Overtravel 5 7 Overtravel The overtravel limit
44. trajectory e Motor generator j Profile Acceleration 6083h Profile Deceleration 6084h Acceleration Ace unit Acceleration unit gies i i i limit function multiplier i Quick Stop Deceleration 6085h 2703 1 2703 2 1 Controlword 6040h J j 2 Quick Stop Option Code 605Ah A V i 1 i 1 A AA ege GC Velocity Actual Value 606Ch Velocity unit i EE multiplier ke r2 4 K 3 e 5 1 2702 2 2702 1 Position Actual H Position Actual Value 6064h Position unit Internal Value 6063h De ea rege tont ITE ul aioe a A Output of position E i Position Window 6067h limit function d Target Reached in i i Statusword 6041 position Window Position reached d 4 K 4 e Time 6068h comparator 1 Position Demand Following Error Actual Value 60F4h Y Value 6062h Position unit gt ee oe multiplier l Following Error Window 6065h E 2701 2 2701 1 Following Error in ES 1 Statusword 6041h Following Wind ollowing error ue Time Out 6066 f 7 window P B Related Objects Index Sub Name Access PDO Units Type Mapping 6040h Controlword RW Yes UINT 6041h Statusword RO Yes UINT 607Ah Target Position RW Yes Pos units DINT Software Position Limit 607Dh Min position limit RW No Pos units DINT 2 Max position limit RW No Pos units DINT 607Fh Mex Profile Velocity
45. 210 260 280 370 SGDV OCAO1A 3 3 EMC Installation Conditions Shield box Power supply Noise Brake Power Single phase Aer Supply 200 VAC filter c coa SERVOPACK absorber ontro power U VW kel Brake 24V 0V Ve amp E supply CH O m 24 VDC 1 Servomotor Power supply Noi Three phase Gees L1 L2 L3 400 VAC CN2 E Encoder S absorber Regenerative D resistor unit o PE o2 e 22 o EtherCAT i Lal 5 ES P controller O O Oo Eo ZS0 ouz CNS One turn Clamp E Host controller Safety unit Symbol Cable Name Specification O 1 0 signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Control power cable Shield cable O Main circuit cable Shield cable O Regenerative resistor unit cable Non shield cable Ethernet communication cable Shield cable Products that have received CE marking are recommended for the 24 VDC power supply 2 Install the following noise filter on the power line between the single phase 200 V power supply and the 24 VDC power supply Model number FN2070 6 07 SCHAFFNER 3 For more information on this filter refer to 2 V Series Product Catalog KAEP S800000 42
46. 8 36 8 11 Cyclic Synchronous Position Mode 8 37 8 12 Profile Velocity Cyclic Synchronous Velocity Mode 8 38 8 13 Profile Torque Cyclic Synchronous Torque Mode 8 39 8 14 Torque Limit Function 8 40 8 15 Touch Probe Function 8 41 8 16 Digital Inputs Outputs 8 43 a Object Dictionary 8 Object Dictionary 8 1 Object Dictionary List The following table shows the object dictionaries Object Dictionaries Refer to Device Type 1000h 8 2 Error Register 1001h 8 2 Manufacturer Device Name 1008h 8 2 General Objects Manufacturer Software Version 100Ah 8 2 Store Parameters 1010h 8 2 Restore Default Parameters 1011h 8 2 Identity Object 1018h 8 2 Y Receive PDO Mapping 1600h to 1603h 8 3 PDO Mapping Objects Transmit PDO Mapping 1A00h to 1A03h 8 3 Sync Manager Communication Type 1C00h 8 4 Sync Manager Sync Manager PDO Assignment 1C10h to 1C13h 8 4 Communication Objects Sync Manager Synchronization 1C32h 1C33h 8 4 Sync Error Setting 1F01h 8 4 SERVOPACK Parameters 2000h to 26FFh 8 5 User Parameter Configuration 2700h 8 5 Manufacturer Specific Position User Unit 2701h 8 5 Objects Velocity User Unit 2702h 8 5 Acceleration User Unit 2703h 8 5 S
47. APWR FPWR BWR LWR ARMW FRMW Note APRW FPRW BRW LRW Commands are not supported Process Data Variable PDO mapping Mailbox CoE Emergency Message SDO Request SDO Response SDO information Note TxPDO RxPDO and Remote TxPDO RxPDO are not supported Distributed Clocks Free run DC mode Can be selected Supported DC cycle 125 us to 4 ms every 125 us cycle Slave Information IF 256 bytes For reading only LED Indicator EtherCAT Link Activity indicator L A x 2 EtherCAT RUN indicator RUN x 1 EtherCAT ERR indicator ERR x 1 CiA402 Drive Profile Homing mode Profile position mode Interpolated position mode Profile velocity mode Profile torque mode Cyclic synchronous position mode Cyclic synchronous velocity mode Cyclic synchronous torque mode Touch probe function Torque limit function 2 4 Part Names of the EtherCAT CoE Network Module 2 4 Part Names of the EtherCAT CoE Network Module The following figure shows the part names of the EtherCAT CoE Network Module With front cover open V uwa oov SC
48. EtherCAl Communication r a 6 1 6 1 CANopen over EtherCAT Device Architecture 6 2 6 2 EtherCAT Slave Information 6 3 6 3 EtherCAT State Machine 6 4 6 4 BER ET Le DEET 6 5 6 5 Synchronization with Distributed Clocks 6 7 6 6 Emergency Messages 6 9 Chapter t CiAd02 Drive Prolene ae ere yore EE 7 1 7 1 Device Control 7 2 7 2 Modes of PA ANE ea ga ra eens 7 4 7 3 Position Control Modes 7 5 7 3 1 Profile PositionMode 7 5 7 3 2 Interpolated Position Mode 7 7 7 3 3 Cyclic Synchronous Position Mode 7 8 TA NUON BEE 7 9 7 5 Velocity Control Modes 0 AA Deed ES 7 12 Ka Wa ia Wa Mode 2 2 dE WAA E RE INS 7 12 7 5 2 Cyclic Synchronous Velocity Mode 7 13 7 6 Torque Control Modes 7 14 7 6 1 Profile Torque Mode 7 14 7 6 2 Cyclic Sync Torque Mode 7 15 7 7 Torque Limit Function as maa ai ngasa Penak anan Gaga eee 7 16 7 8 Digital Inputs and Outputs 7 16 7 9 Touch Probe Function 7 17 12105 Eullysclosed Control ci uite REPE EC
49. Friction Compensation Gain Correction 1 to 1000 196 100 Immediately UINT 2131h NGA Pn131 Gain Switching Time 1 0 to 65535 1 ms 0 Immediately UINT 2132h Pn132 Gain Switching Time 2 0 to 65535 1 ms 0 Immediately UINT sl In the EtherCAT CoE Network Module the reference units of the SERVOPACK parameters are encoder pulses units inc 3 This parameter is exclusive for SERVOPACKs to be used with rotational servomotors model SGDV 000081 Appendix 10 15 10 Appendik Object Index Name Setting Range Units Er When Enabled gt Pn No 9 YP 2135h Ge D Pn135 Gain Switching Waiting Time 1 0 to 65535 1 ms 0 Immediately UINT 2136h eg T f Pn136 Gain Switching Waiting Time 2 0 to 65535 1 ms 0 Immediately UINT Automatic Gain Changeover Related 0000 to 0052 o 0000 Immediately UINT Switch 1 4th 3rd 2nd 1st digit digit digit digit n Gain Switching Selection Switch Manual gain switching Cannot be used with the EtherCAT CoE Network Module Reserved Do not change Automatic gain switching pattern 1 Changes automatically 1st gain to 2nd gain when the switching condition A is satisfied 2139h Changes automatically 2nd gain to 1st gain when the switching condition A is not satisfied Pn139 Gain Switching Condition A 0 Positioning completion signal COIN ON 1 Positioning completion signal COIN OFF 2 NEAR signal NEAR ON 3 NEAR s
50. ON when CNI ON when CNI ON when CNI ON when CN1 13 input signal is ON L level 7 input signal is ON L level 8 input signal is ON L level 9 input signal is ON L level 10 input signal is ON L level 11 input signal is ON L level 12 input signal is ON L level Sets signal ON Sets signal OFF owed when CN1 13 input signal is OFF H level owed when CN1 10 input signal is OFF H level owed when CN1 11 input signal is OFF H level owed when CN1 12 input signal is OFF H level mimjocjoj uj wo o o oc co nm OFF when CNI 13 input signal is OFF H level OFF when CNI 7 input signal is OFF H level OFF when CNI 8 input signal is OFF H level OFF when CN1 9 input signal is OFF H level OFF when CNI 10 input signal is OFF H level OFF when CN1 11 input signal is OFF H level OFF when CNI 12 input signal is OFF H level N CL Signal Mapping Refer to 4 2 3 Oto F Same as P CL signal mapping 10 24 10 2 SERVOPACK Parameters Object Index Pn No Units Factory When Enabled Data Name Setting Range Setting Type Output Signal Selection 1 0000 to 3333 0000 After restart UINT 250Eh Pn50E Ath 3rd 2nd 1st digit digit digit digit n Positioning Completion Signal Mapping COIN Disabled the above signal is not used Outputs the signal from CNI 1 2 output terminal Outputs the signal from CN1 23 24 output terminal Outputs the signa
51. Position Mode Torque Offset 60B2h 8 11 Velocity Demand Value 606Bh 8 12 Profile Velocity Cyclic Velocity Actual Value 606Ch 8 12 Synchronous Velocity Velocity Window 606Dh 8 12 Mode Velocity Window Time 606Eh 8 12 Target Velocity 60FFh 8 12 Target Torgue 6071h 8 13 Profile Torgue Cyclic Torgue Demand Value 6074h 8 13 Synchronous Velocity Torgue Slope 6087h 8 13 Mode Motor Rated Torgue 6076h 8 13 Torgue Actual Value 6077h 8 13 Maz Torgue 6072h 8 14 Torgue Limit Function Positive Torgue Limit Value 60E0h 8 14 Negative Torque Limit Value 60E1h 8 14 Touch Probe Function 60B8h 8 15 Touch Probe Status 60B9h 8 15 Touch Probe Function Touch Probe 1 Position Value 60BAh 8 15 Touch Probe 2 Position Value 60BCh 8 15 Digital Digital Inputs 60FDh 8 16 Inputs Outputs Digital Outputs 60FEh 8 16 le Object Dictionary 8 3 8 Object Dictionary 8 2 General Objects 1 Device Type 1000h The object at index 1000h describes the type of device and its functionality PDO Index Sub Name Data Type Access Mapping Value EEPROM 1000h 0 Device Type UDINT RO No 0x00020192 No B Data Description Bit 31 16 15 0 Additional information Device profile number Additional information 0002 Servo drive Device profile number 0192 DS402 2 Error Register 1001h This object is an error register for the device The value ofthis object is stored in a part of
52. SO3 CN1 25 26 pin 0 Disable physical output 1 Enable 20 to 31 Reserved 8 44 9 Troubleshooting 9 1 Troubleshooting 9 2 9 1 1 Alarm List for SERVOPACKs with Command Option Attachable Type 9 2 9 1 2 List of the EtherCAT CoE Network Module Alarms 9 6 9 1 3 Troubleshooting of the EtherCAT CoE Network Module Alarms 9 6 9 2 Warning Displays 9 10 9 3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor 9 11 n Troubleshooting 9 1 9 Troubleshooting 9 1 1 Alarm List for SERVOPACKs with Command Option Attachable Type 9 1 Troubleshooting The SERVOPACK stops the servomotor by one of the methods described below and displays the alarm status W Status Display SERVOPACK Panel Display The alarm code is displayed Example A 0190 Digital Operator The alarm code is displayed Statusword Object 6041h Statusword bit 3 Fault turns 1 Bit 3 1s 0 when operation is normal Error Code Object 603Fh The alarm code for the current error is stored in object 603Fh Emergency Message notified The controller is notified of the alarm that occurred When EtherCAT communication is not stable the controller may not be B Alarm Stopping Method Gr 1 The servomotor is stopp
53. Value 6063h This object provides the current feedback position in encoder pulse units inc PDO Index Sub Name Data Type Access Value EEPROM Mapping 6063h O Position Actual Internal Value DINT RO Yes inc No 3 Position Actual Value 6064h This object represents the actual value of the encoder position in defined user position units PDO Index Sub Name Data Type Access Value EEPROM Mapping 6064h O Position Actual Value DINT RO Yes Pos unit No Position Demand Internal Value 60FCh This object provides the output of the trajectory generator in position mode This value is given in increments 4 of the position encoder Index Sub Name Data Type Access PBO Value EEPROM Mapping 60FCh O Position Demand Internal Value DINT RO Yes inc No 5 Following Error Window 6065h This parameter specifies the accepted detection range for the following error bit 13 of Statusword If the actual value is out of the following error window a following error occurs A following error may occur when a drive is blocked unreachable profile velocity occurs or at wrong closed loop coefficients Index Sub Name Data Type Access FDO Value EEPROM Mapping 0 to 1073741823 6065h O Following Error Window UDINT RW No Default 5242880 Yes Pos unit 6 Following Error Time Out 6066h A position actual value outs
54. Value Data Description 0 Disable drive function transit into Switch On Disabled 1 Slow down on slow down ramp and transit into Switch On Disabled Y zl The drive always stops by option code 0 switch off the drive power stage in Profile Torque and Cyclic Torque mode 2 The slow down deceleration is defined as the following object Profile Position Interpolated Position Cyclic Position Cyclic Velocity mode Object 6084h Homing mode Object 609Ah 8 6 Device Control Halt Option Code 605Dh The parameter halt option code determines what action should be taken if the bit 8 halt in the Controlword is 7 active PDO ndex Sub Name Data Type Access Mapping Value EEPROM f 0 to 4 605Dh 0 Halt Option Code INT RW No Default 1 Yes E Data Description Value Data Description 1 Slow down on slow down ramp and stay in Operation Enabled 2 Slow down on quick stop ramp and stay in Operation Enabled 3 Slow down on the torque limit and stay in Operation Enabled zl Ifthe halt is active in Profile Torque and Cyclic Torque mode the torque demand value is down to zero 2 The slow down deceleration is defined as the following object Profile Position Interpolated Position Cyclic Position Cyclic Velocity mode Object 6084h Homing mode Object 609Ah 3 The Quick stop deceleration Object 6085h value is used as quick stop ramp in any mode Fault
55. bit4 1 Homing will be started immediately Interpolated Position mode Controlword bit4 0 Operation mode is changed but motor will be stopped Controlword bit4 1 New positioning will be started immediately Profile Velocity mode New operation mode will be started immediately Torque Profile mode New operation mode will be started immediately Cyclic Sync Position mode New operation mode will be started immediately Cyclic Sync Velocity mode New operation mode will be started immediately Cyclic Sync Torque mode New operation mode will be started immediately 7 3 7 3 1 Position Control Modes Profile Position Mode 7 3 Position Control Modes The Profile Position mode is used to start positioning to the Target position with the Profile velocity and the Profile acceleration The following figure shows the block diagram of the Profile Position mode Target Position 607Ah Position Pos unit Position unit inc Software Position Limit 607Dh limit function tr TA Demand Internal Profile Velocity 6081h z z H 3 Velocity Vel unit Velocity unit finc s Value Max Profile Velocity 607Fh limi multiplier Position 60FCh limit function 3 2702 1 2702 2
56. cung ype Basic Function Select Switch 0 0000 to 00B3 0000 After restart UINT 4th 3rd 2nd lst digit digit digit digit L Direction Selection Forward reference for forward rotation Forward reference for reverse rotation Reverse rotation mode 2000h Pn000 1 2 to 3 Reserved Do not use Reserved Do not change Reserved Do not change Reserved Do not change E Appendix 10 9 10 Appendik Object o Fach Dat Index Name Setting Range Units Ka When Enabled T 2 3 Pn No 9 YP Application Function Select Switch 1 0000 to 1122 0000 After restart UINT 4th 3rd 2nd 1st digit digit digit digit n Servomotor power OFF or Alarm Gr 1 Stop Mode 0 Stops the motor by applying DB dynamic brake 1 Stops the motor by applying dynamic brake DB and then releases DB 2 Makes the motor coast to a stop state without using the dynamic brake DB Overtravel OT Stop Mode 2001h Pn001 0 Same setting as Pn001 0 Stops the motor by applying DB or by coasting 1 Sets the torque of Pn406 to the maximum value decelerate the servomotor to a stop and then sets it to servolock state 2 Sets the torque of Pn406 to the maximum value decelerates the servomotor to a stop and then sets it to coasting state AC DC Power Input Selection 0 Not applicable to DC power input Input AC power supply through L1 L2 and L3 terminals 1 Applicable to
57. function forces movable machine parts to stop by turning on a limit switch if they exceed the allowable range of motion IC 4 Motor forward rotation direction SERVOPACK Limit Limit Tva NI Switch Limit NOTIS P 0T 7 Servomotor lt Note gt Overtravel may not be required for rotating applications such as rotary tables and conveyors If overtravel is not required disable the overtravel signal allocations in parameters Pn50A and Pn50B For details on overtravel wiring signal settings and stopping methods refer to 4 2 3 Overtravel in 2 V series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP 800000 60 1 Status during Overtravel When an overtravel signal is input the status of the following objects will be set to 1 Then the servomotor will stop according to the overtravel stop method selected in object 2001h Pn001 If the overtravel signal is turned OFF these statuses will change to 0 zero Statusword Object 604 1h Internal limit active bit 11 Digital Inputs Object 60FDh Negative limit switch bit 0 or Positive limit switch bit 1 2 Behavior for Overtravel in Each Mode Operation Mode Description When an overtravel signal is input the current positioning to the target position will be canceled The motor will be stopped and then Target reached in the Statuswor
58. is detected 2 Outputs alarm 520h when vibration is detected Reserved Do not change Reserved Do not change Reserved Do not change 2311h 0 Pn311 Vibration Detection Sensibility 50 to 500 1 100 Immediately UINT 2312h 2x Pn312 Vibration Detection Level 0 to 5000 min 50 Immediately UINT Gen SE ot Inertia Calculating Start 0 to 20000 1 300 Immediately UINT 2 Ge JOG Speed 0 to 10000 1 mm s 50 Immediately UINT 2384h7 Vibration Detection Level 0 to 5000 1 mm 10 Immediately UINT Pn384 on Detectio e 0 s e y 2 2385h Motor Max Speed 1 to 100 100 mm s 50 After restart UINT Pn385 p PARUI E Reference Filter 0 to 65535 0 01 ms 100 Immediately UINT 3 n Forward Torque Limit 0 to 800 1 800 Immediately UINT Pn402 a y EJ 2403h Reverse Torque Limit 0 to 800 196 800 Immediatel UINT Pn403 S y zn F dE IT Limi 0 to 800 19 100 I diatel INT Pn404 orward External Torque Limit to Yo 0 mmediately U 2405h E 0 Pn405 Reverse External Torque Limit 0 to 800 194 100 Immediately UINT 2406h 0 Pn406 Emergency Stop Torque 0 to 800 194 800 Immediately UINT 2407h T Lu Pn407 Speed Limit during Torque Control 0 to 10000 1 min 10000 Immediately UINT 2 This parameter is exclusive for SERVOPACKs to be used with linear servomotors model SGDV 000085 3 This parameter is exclusive for SERVOPACKs to be used with rotational servomotors model SGDV LILILILIEI 10 20 10 2 SERVO
59. of EtherCAT state machine E OD Object Dictionary PDO Process Data Object PREOP Pre Operational state of EtherCAT state machine Pioc ss data EE a c aa objects designated to be transferred cyclically for the purpose of measure RJ45 FCC Registered Jack standard Ethernet connector RXPDO Receive PDO i e Process Data that will be received by ESC SAFEOP Safe Operational state of EtherCAT state machine SDO Service Data Object SyncManager ESC unit for coordinated data exchange between master and slave controller TXPDO Transmit PDO i e Process Data that will be transmitted by ESC 2 3 2 4 2 Specifications 2 2 2 Data Type 2 2 2 Data Type This table lists the data types and ranges used in this manual Code Data Type Range SINT Signed 8 bit 128 to 127 INT Signed 16 bit 32768 to 432767 DINT Signed 32 bit 2147483648 to 42147483627 USINT Unsigned 8 bit 0 to 255 UINT Unsigned 16 bit 0 to 65535 UDINT Unsigned 32 bit 0 to 4294967295 STRING String value 2 2 3 Data Units This table describes the data units used in this manual Units Description Pos unit This is the user defined position reference unit set by object 2701h 1 Pos unit 2701 01h 2701 02h inc Vel unit This is the user defined velocity reference unit set by object 2702h 1 Vel unit 2702 01h 2702 02h inc sec This is the user defined acceleration reference unit set by object 2703h Acc unit inc
60. signals are connected and how the cable for EtherCAT communication is connected For details on the main circuit encoders safety devices and regenerative resistors refer to the following manual For more information on safe and stable usage of the servo system be sure to read the precautions in the section labelled Q IMPORTANT in the following manual e 2 V Series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type Chapter 3 Wiring and Connection SIEP S800000 60 4 1 System Configuration Diagram 4 2 4 2 VO Signal Connections 4 3 4 2 1 1 0 Signal CN1 Names and Functions 4 3 4 2 2 1 0 Signal Connector CN1 Terminal Layout 4 4 4 2 3 Example of I O Signal Connections 4 5 4 3 WO Signal Allocations 4 6 4 3 1 Input Signal Allocations 4 6 4 3 2 Output Signal Allocations 3 e a cee WEE EN 4 8 4 4 Connection Example of EtherCAT Communication 4 9 4 4 1 Connection Example iii UA a eet 4 9 4 4 2 EtherCAT Connector RJ45 wi niwa EN na aa a a a aaa aa a abana 4 9 4 4 3 Ethernet Cable sasa aas aterm te a ek eee he RO IA 4 10 4 4 4 EtherCAT Secondary Address Settings 4 10 5 Wiring and Co
61. source at the driven machine Noise interference due to incorrect input output signal cable specifica tions Noise interference due to length of input output signal cable Noise interference due to incorrect encoder cable specifications Noise interference due to length of encoder cable wiring Noise interference due to damaged encoder cable Excessive noise to the encoder cable FG potential varies because of influence of machines such as weld ers at the servomotor SERVOPACK pulse counting error due to noise interference Excessive vibration and shock to the encoder An encoder fault occurred Check the servomotor speed wave form Check if there are any loose mount ing screws Check if there is misalignment of couplings Check if there are unbalanced cou plings Check for noise and vibration around the bearings Check for any foreign matter dam age or deformations on the machin ery s movable parts The input output signal cables must be tinned annealed copper twisted pair or shielded twisted pair cables with a core of 0 12 mm min Check the length of the input output cable The encoder cable must be tinned annealed copper twisted pair or shielded twisted pair cables with a core of 0 12 mm min Check the length of the encoder cable Check if the encoder cable is dam aged or bent Check if the encoder cable is bun dled with high current li
62. such as the rack mounted types as well This section describes the EMC installation conditions satisfied in test conditions prepared by Yaskawa The actual EMC level may differ depending on the actual system s configuration wiring and other condi tions However because this product is built in check that the following conditions are still met after being installed in the user s product The applicable standards are EN55011 A2 group 1 class A EN61800 3 and EN61000 6 2 E Single phase 100 V SGDV OOOFE1A O00 R70 R90 2R1 2R8 SGDV OCA01A Shield box Brake Power Supply One turn SERVOPACK e N gt U V W o P E Mm Brake Power supply E Noise 8 le LA 12 Q 8 jm O al O te Single phase 100 VAC o filter o Servomotor D Surge 5 ll L1C L2C One tum absorber eo a Two turn o CN2 ra 5 5 Encoder ojl o O qe 83 PE z EtherCAT E e LLLI controller gt O 250 O OWZ cry CN8 PE I Core Core One turn I Two turn Two turn Clamp O Host controller Safety unit Symbol Cable Name Specification O 1 0 signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable
63. warning may result in injury Connect the ground terminal according to local electrical codes 100 Q or less for a SERVOPACK with a 100 V 200 V power supply 10 Q or less for a SERVOPACK with a 400 V power supply Improper grounding may result in electric shock or fire Installation disassembly or repair must be performed only by authorized personnel Failure to observe this warning may result in electric shock or injury The person who designs a system using the safety function Hard Wire Baseblock function must have full knowledge of the related safety standards and full understanding of the instructions in this manual Failure to observe this warning may result in injury W Storage and Transportation N CAUTION Do not store or install the product in the following locations Failure to observe this caution may result in fire electric shock or damage to the product Locations subject to direct sunlight Locations subject to ambient operating temperatures outside the range specified in the storage installation temperature conditions Locations subject to humidity outside the range specified in the storage installation humidity conditions Locations subject to condensation as the result of extreme changes in temperature Locations subject to corrosive or flammable gases Locations subject to dust salts or iron dust Locations subject to exposure to water oil or chemicals Locations subject to shock or vibration
64. when OFF 23 S024 Probe 1 latch signal Latch when ON Probe 2 latch signal Latch when ON NC Home SI6 Home switch input signal AS PAO_ Encoder output pulses Latch when ON i i i 19 PBO Applicable line receiver IPBO SN75ALS175 manufactured by e Texas Instruments or an MC3486 a pco equivalent PCO 16 e SG__ Signal ground General purpose input SIO gt General purpose input SI3 2 BAT Backup battery 2 8 to 4 5 V Switch EZ 24V fuse Safety function signal 4 DV SERVOPACK FG Connect shield to connector shell T2 represents twisted pair wires Connect when using an absolute encoder When the encoder cable for the battery case is connected do not connect a backup battery The 24 VDC power supply is not included Use a power supply with double insulation or reinforced insulation To turn the servomotor power ON a safety device must be connected and the wiring to activate the safety function must be done When not using the safety function use the SERVOPACK with the plug JZSP CVHOS E provided as an accessory inserted into the CN8 Note The functions allocated to the input signals P OT N OT Probel Probe2 and Home and the output signals SO1 SO2 and SO3 can be changed by using the parameters Refer to 4 3 1 Input Signal Allocations and 4 3 2 Output Signal Allocations Wiring and Connection 4 Wiring and Connection 4 3 1 Input Signal Al
65. 000000 to em OxFFFFFFFF 3 Save application parameters UDINT RW No Default No 0x00000001 0x00000000 to 4 Save manufacturer defined UDINT RW No OxFFFFFFFF No parameters Default 0x00000001 By reading data of an object entry the SERVOPACK provides its capability to save parameters Bit Value Meaning 1 0 The SGDV SERVOPACK does not save parameters autonomously 0 The SGDV SERVOPACK does not save parameters on command 1 The SGDV SERVOPACK saves parameters on command In order to avoid storage of parameters by mistake storage is only executed when a specific signature is writ ten to the appropriate sub index The signature that shall be written 1s save Signature MSB LSB ASCII e V a S hex 65h 76h 61h 73h By writing save to Sub Index 1 all parameters are stored By writing save to Sub Index 2 the communication parameters Object 1000h to 1FFFh are stored By writing save to Sub Index 3 the application parameters Object 27xxh and 6xxxh are stored By writing save to Sub Index 4 the SERVOPACK parameters Object 2000h to 26FFh are stored Note 1 Ifa wrong signature is written the SGDV SERVOPACK refuses to store and responds with Abort SDO Transfer 2 Ifthe storing parameters are executing 0 will be returned by read this object 3 Sub Index 1 and Sub Index 4 can be written only in Switch on Disabled state Servo off state 4 After
66. 10 Homing Homing Target Definition error attained reached 0 0 0 Homing procedure is in progress 0 0 1 Homing procedure is interrupted or not started 0 1 0 Homing is attained but target is not reached 0 1 1 Homing procedure is completed successfully 1 0 0 Homing error occurred velocity is not 0 1 0 1 Homing error occurred velocity is 0 Bit 10 12 and 13 for Cyclic synchronous position velocity and torque mode Bit Status Value Definition 0 Target position velocity torque not yet reached 10 Target reached 1 Target position velocity torque reached Target 0 Target value position velocity torque ignored 12 value 7 ignored 1 Target value shall be used as input to position control loop 13 Following 0 No following error always 0 in cyclic velocity and torque mode error Following error 8 24 Bit 10 12 and 13 for Interpolated position mode 8 6 Device Control Bit Status Value Definition 0 Halt Bit 8 in Controlword 0 Target position not reached Halt Bit 8 in Controlword 1 Axis decelerates 10 Target reached 4 Halt Bit 8 in Controlword 0 Target position reached Halt Bit 8 in Controlword 1 Velocity of azis is 0 i Ip mode 0 Interpolation inactive active 1 Interpolation active 13 0 Reserved Bit 10 12 and 13 for Profile velocity mode Bit Status Value Definition 0 Halt Bit 8 in Controlword 0 Target not reached Halt Bit 8 in Controlw
67. 147483648 to 607Ah O Target Position DINT RW Yes 12147483647 No Default 0 Pos unit Software Position Limit 607Dh This object specifies the absolute position limit values for the position demand value Every target position is checked against these limits The limit positions are specified in user defined position reference units the same as for target position and are always a relative value to the machine home position The limit values are corrected internally by the Home Offset as follows The target positions are compared with the corrected values Corrected min position limit min position limit home offset Object 607Ch Corrected max position limit max position limit home offset Object 607Ch Software position limit is enabled at the following cases Homing is completed Absolute encoder is connected If the following setting software limit 1s disabled Min position limit 2 Max position limit 8 30 Index Sub Name Data Type Access PBO Value EEPROM Mapping O Number of entries USINT RO No 2 No 536870912 to 1 Min position limit DINT RW No 536870911 Yes 607Dh Default 0 Pos unit 536870912 to 2 Max position limit DINT RW No 536870911 Yes Default 0 Pos unit 3 Max Profile Velocity 607Fh The max profile velocity is the maximum allowed speed in either direction during a profiled move In
68. 2 1 Pn20A FS gt S Unit ae Multiplier a Pn20A 256 or x512 Position Actual Value 6064h Position unit i inc or multiplier k ssen E e 2701 2 2701 1 E Setting Parameters The basic setting procedure of related parameters is shown below Step Description Setting Parameters 1 Set the speed feedback method during fully closed loop control Object 222Ah Pn22A ee Object 2000h Pn000 0 2 Set the motor rotating direction Object 2002h Pn002 3 3 ES number of pitches cycles of the sine wave for the external Object 220Ah Pn20A A Object 2701 01h PnB02 4 Set the electronic gear Object 2701 02h PnB04 Object 251Bh Pn51B 5 Set the alarm detection level for the external encoder Object 252Ah Pn52A 7 10 Fully closed Control CiA402 Drive Profile 7 19 6 Object Dictionary 8 1 Object Dictionary List 8 2 8 2 General Objects 8 4 8 3 PDO Mapping Objects 8 8 8 4 Sync Manager Communication Objects 8 12 8 5 Manufacturer Specific Objects 8 15 8 6 Device Control s cied aa ri is ie 8 21 8 7 Profile Position Mode 8 30 8 8 Homing de EE 8 32 8 9 Position Control Function 8 34 8 10 Interpolated Position Mode
69. 24 f Pn51B nolot aid Load Position 230 re SCH 1000 Immediately UDINT uni 251Eh Sa gt 0 Pn51E Excessive Position Error Warning Level 10 to 100 1 100 Immediately UINT 1 1 to 1073741823 Zon Excessive Position Error Alarm Level S 230 1 reference 5242880 Immediately UDINT unit 1 0 to 1073741824 EN Positioning Completed Width S 23 reference 7 Immediately UDINT unit 1 1 to 1073741824 CE 4 NEAR Signal Width 4 239 reference Wi Immediately UDINT unit 1 2526h Excessive Position Error Alarm Level 1 to 1073741823 f Pn526 at Servo ON 230 1 re m 5242880 Immediately UDINT unit 5 oe EEN do us Error Warning Level 10 to 100 1 100 Immediately UINT 2529h ics Wi Pn529 Speed Limit Level at Servo ON 0 to 10000 1 min 10000 Immediately UINT E 4 Gen E per One Na 0 to 100 1 20 Immediately UINT Ganz Overload Warning Level 1 to 100 1 20 Immediately UINT Gs E SE 10 to 100 1 100 After restart UINT zl In the EtherCAT CoE Network Module the reference units of the SERVOPACK parameters are encoder pulses units inc 3 This parameter is exclusive for SERVOPACKs to be used with rotational servomotors model SGDV LILILILIEI 5 Ifthe EtherCAT CoE Network Module is used this parameter is not required to be set Use the factory setting for this parameter Appendix 10 27 10 Appendik
70. 3rd 2nd 1st digit digit digit digit n Hall Sensor Selection 0 Enables selection 1 Disables selection 2080h 2 Motor Phase Selection Pn080 0 Sets phase A lead as phase sequence of U V W 1 Sets phase B lead as phase sequence of U V W Reserved Do not change Calculation Method for Maximum Speed or Divided Output Pulses 0 Determines divided output pulses with fixed maximum speed 1 Determines maximum speed with fixed divided output pulses zn Speed Loop Gain 10 to 20000 0 1 Hz 400 Immediatel UINT Pn100 p p y 2101h Pn101 Speed Loop Integral Time Constant 15 to 51200 0 01 ms 2000 Immediately UINT UU Position L Gai 10 to 20000 0 1 400 I diatel UINT Pn102 osition Loop Gain o Lis mmediately a Moment of Inertia Ratio 0 to 20000 1 100 Immediatel UINT Pn103 y an 2nd Speed Loop Gain 10 to 20000 0 1 Hz 400 Immediatel UINT Pn104 E E Y 2105h E Pn105 2nd Speed Loop Integral Time Constant 15 to 51200 0 01 ms 2000 Immediately UINT Sih 2nd Position Loop Gain 10 to 20000 0 1 5 400 Immediatel UINT Pn106 P y 2109h A Pn109 Feedforward Gain 0 to 100 1 0 Immediately UINT 2 This parameter is exclusive for SERVOPACKs to be used with linear servomotors model SGDV 000085 10 14 10 2 SERVOPACK Parameters Object Index Name Setting Range Units FINI When Enabled Daie Pn No Setting Type 210Ah f
71. 6064h Position unit i Mis aan asas an kanan sen e ah Gan kn an padan ah sa A a e a pa a ban ke ah bak aa an ad multiplier aaa aaa 2701 2 2701 1 B Related Objects Index Sub Name Access S Units Type 60FFh Target Velocity RW Yes Vel units DINT 60B1h Velocity Offset RW Yes Velunits DINT 60B2h Torque Offset RW Yes 0 1 INT 6084h Profile Deceleration RW Yes Acc units UDINT 6085h Quick Stop Deceleration RW Yes Acc units UDINT 606Bh Velocity Demand Value RO Yes Vel units DINT 606Ch Velocity Actual Value RO Yes Vel units DINT 606Dh Velocity Window RW No Vel units UINT 606Eh Velocity Window Time RW No ms UINT The motor rated torque is 100 CiA402 Drive Profile 7 CiA402 Drive Profile 7 6 1 Profile Torgue Mode 7 6 Torque Control Modes 7 6 1 Profile Torque Mode In the Profile Torque mode the torque is output to the target torque based on the torque slope setting The following figure shows the block diagram of the Profile Torque mode Torque Target Torque 6071h x Demand Torque Slope 6087h Value 6074h Torque gt uso trajectory Max Torque 6072h generalor ee Torque Limit Values 60EOh 60E1h control e P cio s TR Agen Actual Value aa e 2702 2 2702 1 Position Actual Position Actual Value 6064h Position unit Internal Value 6063h i qn nn multiplier
72. 7 YASKAWA AC Servo Drives gt V Series USER S MANUAL EtherCAT CoE Network Module Model SGDV OCA01A Checking Products MI Eis Specificati E pecifications ES o Ib e SERVOPACK Installation EN un d 3 f eu oa UL e Wiring and Connection EN sch les en e EIS f Operation l5 ya en ih EtherCAT Communication EB LL ef SEI CiA402 Drive Profile Object Dictionary 8 Troubleshooting ER Appendik EC MANUAL NO SIEP C720829 04A Copyright O 2009 YASKAWA ELECTRIC CORPORATION All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of Yaskawa No patent liability is assumed with respect to the use of the information contained herein Moreover because Yaskawa is con stantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless Yaskawa assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publication A
73. 85 2200 Fax 86 21 5385 3299 YASKAWA ELECTRIC SHANGHAI CO LTD BEIJING OFFICE Room 1011A 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 CORPORATION 9F 16 Nanking E Rd Sec 3 Taipei Taiwan Phone 886 2 2502 5003 Fax 886 2 2505 1280 YASKAWA ELECTRIC CORPORATION YASKAWA In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations Therefore be sure to follow all procedures and submit all relevant documentation according to any and all rules regulations and laws that may apply Specifications are subject to change without notice for ongoing product modifications and improvements 2009 YASKAWA ELECTRIC CORPORATION All rights reserved MANUAL NO SIEP C720829 04A Published in Japan June 2009 09 6 09 1
74. C22h Disagreement Magnetic detection failed Gr 1 N A C50h 1 Polarity Detection Error Magnetic detection failed Gr 1 N A C51h Sak A GE al An overtravel signal was detected during polarity detection Gr 1 Available Polarity Detection The servo has been turned ON while polarity detection was 1 C52h Uncompleted not yet complete Gil Available Out of Range for Polarity The moving distance exceeded the set value of Pn48E in 1 C53h Detection middle of detection SS NA C54h Polarity Detection Error 2 Magnetic detection failed Gr 1 N A Absolute Encoder Clear Error C80h and Multi turn Limit Setting rt SE for the absolute encoder was not properly Grl N A Error cleared or set C90h Encoder Communications Communications between the SERVOPACK and the Gri N A Error encoder is not possible C91h Shen GE E An encoder position data calculation error occurred Gr 1 N A Encoder Communications An error occurs in the communications timer between the ci Timer Error encoder and the SERVOPACK Gri BA CAOh Encoder Parameter Error Encoder parameters are faulty Gr 1 N A CbOh Encoder Echoback Error Contents of communications with encoder is incorrect Gr 1 N A REG Different multi turn limits have been set in the encoder and 2 E CCOh Multi turn Limit Disagreement the SERVOPACK Gr 1 N A Feedback Option Module CF1n Communications Error Reception from the feedback option module is faulty Gr 1 N A Reception error Feedback Option Module s 4 CF2h Commu
75. CAT Device Architecture The following figure shows the device architecture of the SGDV CANopen over the EtherCAT CoE Net work Module SGDV application CANopen service CoE Object dictionary EtherCAT Application layer State umet CANopen DS402 Machine ervice data objects SDO PDO mapping Registers Mailbox Process data FMMU 2 FMMU 0 FMMU 1 Data link layer EtherCAT SyncMan o SyncMan 1 SyncMan 2 SyncMan 3 EtherCAT data link layer EtherCAT physical layer The EtherCAT CoE Network Module is composed of the EtherCAT communication in the data link layer and CANopen drive profile DS402 in the application layer The object dictionary in the application layer includes parameters application data and PDO mapping infor mation between the process data interface and the application data The process data object PDO is composed of objects in the object dictionary that can be mapped to the PDO and the content of the process data is defined by the PDO mapping The process data communication is cyclic communication to write and read the PDO The mailbox communi cation SDO is acyclic communication to write and read the data entry in the object dictionary Note 1 The EtherCAT CoE Network Module does not support EtherCAT ReadWrite commands APRW FPRW BRW LRW 2 For SDO and PDO communication via EtherCAT data link laye
76. DC power input Input DC power supply between B1 and or input DC power supply between Bl and 2 Reserved Do not change Application Function Select Switch 2 0000 to 4113 0000 After restart UINT 4th 3rd 2nd st digit digit digit digit n Torque Limit Reference Selection for EtherCAT CoE Network Module 1 Enables the torque limit reference from the command option module Automatically set by the EtherCAT CoE Network Module Speed Limit Reference Selection for EtherCAT CoE Network Module 0 Disables the speed limit reference when torque limit is used from the command option module Automatically set by the EtherCAT CoE Network Module 2002h IY Pn002 Absolute Encoder Usage Uses absolute encoder as an absolute encoder Uses absolute encoder as an incremental encoder External Encoder Usage 0 Do not use external encoder 1 Uses external encoder in forward rotation direction 2 Reserved Do not change 3 Uses external encoder in reversed rotation direction 4 Reserved Do not change 10 10 10 2 SERVOPACK Parameters ject peus Name Setting Range Units aad When Enabled e am Pn No 9 ype Application Function Select Switch 6 0000 to 005F 0002 Immediately UINT 4th 3rd 2nd 1st digit digit digit digit n Analog Monitor 1 Signal Selection 00 Motor speed 1 V 1000 min 01 Speed reference 1 V 1000 min 02 Torque reference 1 V 100 03 Position er
77. DINT RW No Yes 5242880 0 1073741823 e PnB26 6066h 0 Following Error Time Out UINT RW No Yes 0 0 65535 ms PnB28 6067h 0 Position Window UDINT RW No Yes 30 0 1073741823 ee PnB2A 6068h 0 Position Window Time UINT RW No Yes 0 0 65535 ms PnB2C 606Bh 0 Velocity Demand Value DINT RO Yes No Uu PnB2E 606Ch 0 Velocity Actual Value DINT RO Yes No UE PnB30 606Dh 0 Velocity Window UINT RW No Yes 20000 0 65535 ui PnB32 zl Write Save into the object 1010h The current parameter data will be saved as a batch in the EEPROM If the objects are modified by the digital operator or SigmaWin the data will be directly stored in the EEPROM 2 Pn No is the number of the parameter used for the digital operator and SigmaWin 10 1 Object List Sub Data PDO EEPROM Default 2 Index didas Name Type Access Mapping E Value Lower Limit Upper Limit Unit Pn No 606Eh 0 Velocity Window Time UINT RW No Yes 0 0 65535 ms PnB34 6071h 0 Target Torque INT RW Yes No 0 32168 32767 0 1 PnB36 6072h 0 Max Torque UINT RW Yes No do 0 65535 0 196 PnB38 6074h 0 Torque Demand Value INT RO Yes No 0 1 PnB3A 6076h 0 Motor Rated Torque UDINT RO No No o PnB3C 6077h 0 Torque Actual Value INT RO Yes No 0 1 PnB3E 607Ah 0 Target Position DINT RW Yes No 0 2147483648 2147483647 a PnB40 607Ch Home Offs
78. DO Index Sub Name Data Type Access Mapping Value EEPROM 6061h O Modes of Operation Display SINT RO Yes 0 No 8 28 11 Supported Drive Modes 6502h This object gives an overview of the implemented operating modes in the device 8 6 Device Control Index Sub Name Data Type Access GC Value EEPROM 6502h O Supported Drive Modes UDINT RO No 03EDh No B Data Description Bit Supported Modes Definition 0 Pp Profile Position mode 1 Supported 1 VI Velocity mode 0 Not supported 2 Pv Profile Velocity mode 1 Supported 3 Tq Torque Profile mode 1 Supported 4 Reserved 0 5 Hm Homing mode 1 Supported 6 Ip Interpolated Position mode 1 Supported 7 Csp Cyclic Sync Position mode 1 Supported 8 Csv Cyclic Sync Velocity mode 1 Supported 9 Cst Cyclic Sync Torque mode 1 Supported 10 to 31 Reserved 0 le Object Dictionary 8 29 8 Object Dictionary 8 7 Profile Position Mode Target Position 607Ah This object is the target position in the Profile Position mode and Cyclic Synchronous Position mode In Profile Position mode the value ofthis object is interpreted as either an absolute or relative value depend ing on the abs rel flag of Controlword In Cyclic Synchronous Position mode it is always interpreted as an absolute value Index Sub Name Data Type Access MDO Value EEPROM Mapping 2
79. E0h Positive Torque Limit Value RW Yes 0 1 UINT 60E1h Negative Torque Limit Value RW Yes 0 1 UINT The motor rated torque is 100 CiA402 Drive Profile 7 15 7 16 7 CiA402 Drive Profile 7 7 Torque Limit Function The following figure shows the block diagram of the torque limit function The torque is limited by the lowest limiting values dads Ge gt A 5 Torque limits Torque Ox60E0h Ox60E1h 0x6072h offset Positive Torque Negative Torque Max Torque Limit Value Limit Value B Position demand value gt e Ee gt P3 Torque e B Related Objects PDO a Index Sub Name Access Mapping Units Type 6072h Max Torque RW Yes 0 1 UINT 60E0h Positive Torque Limit Value RW Yes 0 1 UINT 60E1h Negative Torque Limit Value RW Yes 0 1 UINT The motor rated torque is 100 7 8 Digital Inputs and Outputs The Digital Inputs and Digital Outputs are used to control the I O signals of the SERVOPACK CNI Index Sub Name Access S Units Type 60FDh Digital Inputs RO Yes UDINT Digital Outputs 60FEh 1 Physical outputs RW Yes UDINT 2 Bit mask RW No UDINT 7 9 7 9 Touch Probe Function Touch Probe Function The feedback position can be latched with the following trigger events Trigger with touch p
80. ER AS 7 19 Chapter OC EIERE 8 1 8 1 Object Dictionary List 8 2 E ECH 8 4 8 3 PDO Mapping Objects 8 8 8 4 Sync Manager Communication Objects 8 12 8 5 Manufacturer Specific Objects 8 15 8 6 Device Control 8 21 8 7 Profile Position Mode 8 30 8 8 Homing Mode 4s xo etes ie a a ee are ok ei ad a 8 32 8 9 Position Control Function 8 34 8 10 Interpolated Position Mode 8 36 8 11 Cyclic Synchronous Position Mode 8 37 8 12 Profile Velocity Cyclic Synchronous Velocity Mode 8 38 8 13 Profile Torque Cyclic Synchronous Torque Mode 8 39 8 14 Torque Limit Function 8 40 8 15 Touch Probe Function si ima Ta aa a TA AA oo 8 41 8 16 Digital Inputs Outputs 8 43 hapters9mlroubleshooting EE 9 1 SE Troubleshooting amp Ae Tang a NE pri 10 8 tout Ados de ious AA 9 2 9 1 1 Alarm List for SERVOPACKs with Command Option Attachable Type 9 2 9 1 2 List of the EtherCAT CoE Network Module Alarms 9 6 9 1 3 Troubleshooting of the EtherCAT CoE Network Module Alarms 9 6 9 2 Warning DISPlays E EE Pd Baga 9 10 9 3 Troublesh
81. ERVOPACK Adjusting Command 2710h 8 5 Error Code 603Fh 8 6 Controlword 6040h 8 6 Statusword 6041h 8 6 Quick Stop Option Code 605Ah 8 6 Shutdown Option Code 605Bh 8 6 Device Control Disable Operation Option Code 605Ch 8 6 Halt Option Code 605Dh 8 6 Fault Reaction Option Code 605Eh 8 6 Modes of Operation 6060h 8 6 Modes of Operation Display 6061h 8 6 Supported Drive Modes 6502h 8 6 Target Position 607Ah 8 7 Software Position Limit 607Dh 8 7 Max Profile Velocity 607Fh 8 7 Profile Position Mode Profile Velocity 6081h 8 7 Profile Acceleration 6083h 8 7 Profile Deceleration 6084h 8 7 Quick Stop Deceleration 6085h 8 7 Home Offset 607Ch 8 8 p Homing Method 6098h 8 8 Homing Mode Homing Speeds 6099h 8 8 Homing Acceleration 609Ah 8 8 8 2 8 1 Object Dictionary List Object Dictionaries Refer to Position Demand Value 6062h 8 9 Position Actual Internal Value 6063h 8 9 Position Actual Value 6064h 8 9 Position Demand Internal Value 60FCh 8 9 Position Control Function Following Error Window 6065h 8 9 Following Error Time Out 6066h 8 9 Following Error Actual Value 60F4h 8 9 Position Window 6067h 8 9 Position Window Time 6068h 8 9 Interpolated Position Interpolation Data Record 60C1h 8 10 Mode Interpolation Time Period 60C2h 8 10 Cyclic Synchronous Velocity Offset 60B1h 8 11
82. Echo back of CADDRESS RDATA Read data 8 to 15 c RROCODE le Object Dictionary 8 19 8 20 8 Object Dictionary B Executable Adjustments Request Preparation Processing se Adjustment Code Before execution Tine Execution Conditions When using an incremental encoder impossible Absolute encoder reset 1008H Required 5smax to reset the dacoderswhile tuo seio ON Adjustment is disabled Automatic offset adjustment While the main circuit power supply is OFF of motor current detection 100EH None 5 s max signals While the servo is ON While the servomotor is running When using an incremental encoder the setting is Multiturn limit setting 1013H Required 5smax disabled unless A CCO Multiturn limit disagree ment occurs B How to Send an Command for Adjustment 1 Send the following data and set the request code of the adjustment to be executed CCMD 0001H CADDRESS 2000H CSIZE 0002H CDATA Request code of the adjustment to be executed When the slave station receives the command normally status field will be returned to 1 If an error occurs carry out the operation in step 4 to abort execution For adjustment that requires a preparation process send the following data If the preparation before execution is not required carry out the operation in step 3 CCMD 0001H CADDRESS 2001H CSIZE 0002H CDATA 0002H When the slave station receives the c
83. Ethernet Cable 4 4 3 Ethernet Cable Ethernet cables in CATSe guality can be used as the connection cables Also reguirements ofa cable is follows Shield type S STP or S UTP Length Max 50 m between the nodes Recommended cables are shown below Manufacturer Model Beckhoff ZB9020 4 4 4 EtherCAT Secondary Address Settings The EtherCAT secondary address Station Alias can be used for identification or for addressing of a device 11 EtherCAT secondary address upper 4 bit 12 EtherCAT secondary address lower 4 bit 1 General Identification Process during Start Up During start up the master detects the slaves by using the Auto Increment Addressing The Identity object will be read from the slave and compared with the values from the master s configuration which was provided by the EtherCAT configuration tool before So the order of the slaves in the network has to be the same as in the master s configuration To allow a different network topology a Station Alias 1s defined 2 Example Scenario With a machining center there might be two identical drives to work in X and Y direction It might happen that the cabling order is mixed up after a device replacement To avoid that the drives receive wrong process data an explicit address of the device is used with a Station Alias 3 Identification of Devices with Station Alias The master reads the Station Alias by us
84. FF PnC20 2 Mapping entry 2 UDINT RW No Yes 0x607A0020 0 OxFFFFFFFF PnC22 3 Mapping entry 3 UDINT RW No Yes 0x60FF0020 0 OxFFFFFFFF PnC24 4 Mapping entry 4 UDINT RW No Yes 0x60710010 0 OxFFFFFFFF PnC26 5 Mapping entry 5 UDINT RW No Yes 0x60720010 0 OxFFFFFFFF PnC28 6 Mapping entry 6 UDINT RW No Yes 0x60600008 0 OxFFFFFFFF PnC2A 7 Mapping entry 7 UDINT RW No Yes 0x00000008 0 OxFFFFFFFF PnC2C 8 Mapping entry 8 UDINT RW No Yes 0x60B80010 0 OxFFFFFFFF PnC2E zl Write Save into the object 1010h The current parameter data will be saved as a batch in the EEPROM If the objects are modified by the digital operator or SigmaWin the data will be directly stored in the EEPROM 2 Pn No is the number of the parameter used for the digital operator and SigmaWin 3 Cannot be written by digital operator 4 For SGDV LILILILIE 1 0x02200001 For SGDV LILILILIES 0x02200002 10 1 Object List Index nu Name mee Access SS SEH GC Lower Limit Upper Limit Unit Pn No 2 1601h 2nd Receive PDO Mapping o JNumberofobjeets im fus USINT rw Ne Yes 2 0 8 PnCAI 1 Mapping entry 1 UDINT RW No Yes 0x60400010 0 OxFFFFFFFF PnC30 2 Mapping entry 2 UDINT RW No Yes 0x607A0020 0 OxFFFFFFFF PnC32 3 Mapping entry 3 UDINT
85. INT 2142h Model Following Control Gain Pn142 Compensation 500 to 2000 0 196 1000 Immediately UINT 2143h Model Following Control Bias a Pn143 Forward Direction 0 to 10000 0 196 1000 Immediately UINT 2144h Model Following Control Bias a Pn144 Reverse Direction 0 to 10000 0 1 1000 Immediately UINT 2145h Ze Pn145 Vibration Suppression Freguency A 10 to 2500 0 1 Hz 500 Immediately UINT 2146h 6 Pn146 Vibration Suppression Freguency B 10 to 2500 0 1 Hz 700 Immediately UINT 2147h Model Following Control Speed a Pn147 Feedforward Compensation 0 to 10000 0 1 1000 Immediately UINT 2148h Pn148 2nd Model Following Control Gain 10 to 20000 0 1 s 500 Immediately UINT 2149h 2nd Model Following Control Gain Pn149 Compensation 500 to 2000 0 196 1000 Immediately UINT 214Ah E A Vibration Suppression 2 Frequency 10 to 2000 0 1 Hz 800 Immediately UINT Pn14A 214Bh Au 6 Pn14B Vibration Suppression 2 Compensation 10 to 1000 196 100 Immediately UINT E Appendix 10 17 10 Appendik Object Index Name Setting Range Units Er When Enabled gt Pn No 9 yp Anti Resonance Control Related Switch 0000 to 0011 0010 After restart UINT 4th 3rd 2nd 1st digit digit digit digit n Anti Resonance Control Selection 0 Does not use anti resonance control 2160h 1 Uses
86. O Yes Vel units DINT 606Ch Velocity Actual Value RO Yes Vel units DINT 606Dh Velocity Window RW No Vel units UINT 606Eh Velocity Window Time RW No ms UINT 7 5 Velocity Control Modes 7 5 2 Cyclic Synchronous Velocity Mode In Cyclic Synchronous Velocity mode the master provides a target velocity to the drive device which per forms velocity control In this mode additive torque values can be provided by the master to allow for torque feed forward The following figure shows the block diagram of the Cyclic Synchronous Velocity mode Torque Offset 60B2h Velocity Offset 60B 1h Target Velocity GOFFh A IVel H ander inc s one 2702 1 2702 2 Value Velocity 606Dh A y Quick Stop Deceleration 6085h limit bas Get ee gt Motor or Profile Deceleration 6084h Acceleration unit 04 ince s _ function M multiplier F i Quick Stop Option Code 605Ah 0921092 7 1 1 1 Enc Torgue Actual Value 6077h pr cele slo eee eet ses eee et eee ee eee eee te oe ee eb E et eee eee d AUWAWA H EE pl ql lesa 2702 2 2702 1 Position Actual i Velocity Window 606Dh Target velocity Internal Value 6063h 1 Target Reached in y A i Statusword 6041h Velocity Window Velocity reached pem PRES parator i 1 1 Position Actual Value
87. Option Object 2405h Pn405 Attachable Type SIEP S800000 60 ka Object 6040h PnB11 eer See E enabled 6 2 Controlword 6040h Object 2404h Pn404 y Object 2405h Pn405 Object 6072h PnB38 Torque limit controlled from controller 7 7 Torque Limit Function Object 60E0h PnB80 Object 60E1h PnB82 5 5 Absolute Encoders 5 5 Absolute Encoders For details on absolute encoder settings refer to 4 5 Absolute Encoders in LH series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 B Absolute Encoder Home Offset When an absolute encoder is used an offset can be set between the encoder position and the machine position Position actual value Object 6064h The offset value is set by the reference unit and is added to the Position actual value Object 6064h after turning the power supply OFF and ON again or enabling the parameter with Object 2700h Sub Data Default Index index Name Type Access Setting Range Value EEPROM 536870912 to 607Ch 0 Home offset DINT RW 536870911 0 Yes Zero Position actual value Object 6064h NI 1 Home offset I I Object 607Ch PnB46 Encoder position Encoder position E 1 1 Encoder home on Operation 5 5 5 Operation 5 6 Safety Function Safety functions are hard wired into the SGDV SERVOPACK If an HWBBI or HWBB2 signal is input dur ing motor operation
88. PACK Parameters Object Index Name Setting Range Units Pao When Enabled Daie Setting Type Pn No Torque Related Function Switch 0000 to 1111 0000 UNIT Ath 3rd 2nd 1st digit digit digit digit n 6 Wh 1st Step Notch Filter Selection E d Data Type N A Immediately Uses 1st step notch filter for torque reference mins Ben Wh Speed Limit Selection Ge Data Type parameter Pn407 as speed limit value Pn408 After restart UINT Uses the smaller value between over A detection speed and parameter Pn407 as A limit value a e When Data T 2nd Step Notch Filter Selection Enabled ata Type N A Immediately Uses 2nd step notch filter for torque reference EN e Wh Friction Compensation Function Selection En Ge d Data Type Disables use friction compesation function wa Immediately UINT Enables friction compsation function agoan 1st Notch Filter Frequenc 50 to 5000 1 Hz 5000 Immediatel UINT Pn409 guency y 240Ah Pn40A Ist Notch Filter Q Value 50 to 1000 0 01 70 Immediately UINT 240Bh Pn40B Ist Notch Filter Depth 0 to 1000 0 001 0 Immediately UINT ZI 2nd Notch Filter Frequenc 50 to 5000 1 Hz 5000 Immediatel UINT Pn40C Send y ON 2nd Notch Filter Q Value 50 to 1000 0 01 70 Immediately UINT Pn40D 240Eh i Pn40E 2nd Notch Filter Depth 0 to 1000 0 001 0 Immediately UINT 240Fh 2nd Step 2nd Torque Refer
89. RW No Velunits UDINT 6081h Profile Velocity RW Yes Vel units UDINT 6083h Profile Acceleration RW Yes Acc units UDINT 6084h Profile Deceleration RW Yes Acc units UDINT 6085h Quick Stop Deceleration RW Yes Acc units UDINT CiA402 Drive Profile 7 CiA402 Drive Profile 7 3 1 Profile Position Mode In Profile Position mode the following two methods can be used to start positioning Single Set point change set immediately bit of Controlword is 1 When a set point is in progress and a new set point is validated by the new set point bit 4 in the Control word the new set point shall be processed immediately Motor speed New set point bit 4 t Target positon set point t Current target A position processed gt t Set point acknowledge bit 12 t Target A reached bit 10 st Set of Set points change set immediately bit of Controlword is 0 When a set point is in progress and a new set point is validated by the new set point bit 4 in the Control word the new set point shall be processed only after the previous has been reached The additional dotted line segment in the following figure shows the actual speed if the change of set point bit bit 9 is set to 1 Motor speed New set point bit 4 LAl fl y 5 4 t Target set point t Current target AA position processed gt t Set point a
90. RW No Yes 0 0 OxFFFFFFFF PnC34 4 Mapping entry 4 UDINT RW No Yes 0 0 OxFFFFFFFF PnC36 5 Mapping entry 5 UDINT RW No Yes 0 0 OxFFFFFFFF PnC38 6 Mapping entry 6 UDINT RW No Yes 0 0 OxFFFFFFFF PnC3A 7 Mapping entry 7 UDINT RW No Yes 0 0 OxFFFFFFFF PnC3C 8 Mapping entry 8 UDINT RW No Yes 0 0 OxFFFFFFFF PnC3E 1602h 3rd Receive PDO Mapping o Number of objects inthis et Rw No Yes 2 0 8 PnCA2 1 Mapping entry 1 UDINT RW No Yes 0x60400010 0 OxFFFFFFFF PnC40 2 Mapping entry 2 UDINT RW No Yes 0x60FF0020 0 OxFFFFFFFF PnC42 3 Mapping entry 3 UDINT RW No Yes 0 0 OxFFFFFFFF PnC44 4 Mapping entry 4 UDINT RW No Yes 0 0 OxFFFFFFFF PnC46 5 Mapping entry 5 UDINT RW No Yes 0 0 OxFFFFFFFF PnC48 6 Mapping entry 6 UDINT RW No Yes 0 0 OxFFFFFFFF PnC4A 7 Mapping entry 7 UDINT RW No Yes 0 0 OxFFFFFFFF PnC4C 8 Mapping entry 8 UDINT RW No Yes 0 0 OxFFFFFFFF PnC4E 1603h 4th Receive PDO Mapping o Ngmberofobjectsinthis Leer RW No Yes 2 0 8 PnCA3 1 Mapping entry 1 UDINT RW No Yes 0x60400010 0 OxFFFFFFFF PnC50 2 Mapping entry 2 UDINT RW No Yes 0x60710010 0 OxFFFFFFFF PnC52 3 Mapping entry 3 UDINT RW No Yes 0 0 OxFFFFFFFF PnC54 4 Mapping entry 4 UDINT RW No Yes 0 0 OxFFFFFFFF PnC56 5 _ Mapping entry 5 UDINT RW No Yes 0 0 OxFFFFFFFF PnC58 6 Mapping entry 6 UDINT RW No Yes 0 0 OxFFFFFFFF PnC5A 7 Mapping entry 7 UDINT RW No Ye
91. Reaction Option Code 605Eh The parameter determines what action is performed when fault is detected in the SGDV drive system 8 PD Index Sub Name Data Type Access a Value EEPROM Mapping 605Eh 0 Fault Reaction Option Code INT RW No 0 Yes B Data Description Value Data Description 0 Disable drive function motor is free to rotate Turns the servo OFF le Object Dictionary 8 27 8 Object Dictionary 9 Modes of Operation 6060h The master writes to the modes of operation object in order to select the operation mode The drive device pro vides the modes of operation display object to indicate the actual activated operation mode PDO Index Sub Name Data Type Access Mapping Value EEPROM 6060h 0 Modes of Operation SINT RW Y DS UR Y P 35 Default 0 E B Data Description Value Data Description 0 No mode change no mode assigned 1 Profile Position mode 2 Reserved keep last mode 3 Profile Velocity mode 4 Torque Profile mode 6 Homing mode 7 Interpolated Position mode 8 Cyclic Sync Position mode 9 Cyclic Sync Velocity mode 10 Cyclic Sync Torque mode Other Reserved keep last mode 10 Modes of Operation Display 6061h The modes of operation display show the current mode of operation The meaning of the returned value corresponds to that of the modes of operation option code index 6060h P
92. S02 24 General purpose General purpose output signal 8 16 2 SO3 25 output signal Note Set the parameter to allocate a function i S03 26 EN e Phase A signal IPAO 18 Output signals of the 90 phase differential for the dividing PBO 19 pulse of the encoder PBO 20 Phase B signal PCO 21 ds PCO 22 Phase C signal Output signal for origin pulse of the encoder SG 16 Signal ground Control circuit 0 V Connected to frame ground if the shield wire of the I O signal 8 SS Sheli Frame ground cable is connected to the connector shell Note For more information on the allocation of SO1 SO2 and SO3 refer to 4 3 2 Output Signal Allocations 4 2 2 I O Signal Connector CN1 Terminal Layout The following table shows the terminal layout of I O signal connectors CN1 1 WC Brake output 14 BAT CC 2 801 Brake output 15 BAT hu 0 3 ALM Servo alarm Signal ground output Servo alarm 16 SG GE Encoder 4 ALM fil 17 PAO output pulse e outpu Encoder Phase A Control power 18 PAO ae Geen Encoder 6 24VIN supply for sequence FEF 19 PBO output pulse B signal input ncoder Phase B 7 P OT Forward run 20 PBO output pulse SI1 prohibited input R Phase B Encoder g N OT everse run 21 PCO output pulse S SI2 prohibited input Encoder Phase C General purpose 9 SI3 inp
93. Servomotor Corrective Actions Ezecute the advanced autotuning Reduce the speed loop gain Pn100 Problem Probable Cause Investigative Actions Unbalanced servo gains Check to see if the servo gains have been correctly adjusted Speed loop gain value Pn100 too eal m speed loop gain value high m 8 E Factory setting Kv 40 0 Hz Vibrates at x Check the position loop gain value Frequency of EE loop gain value Pn102 Pn102 Approx 200 to 400 en Factory setting Kp 40 0 s Hz Reduce the position loop gain Pn102 Incorrect speed loop integral time constant Pn101 setting Check the speed loop integral time constant Pn101 Factory setting Ti 20 0 ms Correct the speed loop integral time constant Pn101 setting Incorrect moment of inertia ratio data Pn103 Check the moment of inertia ratio setting Pn103 Correct the moment of inertia ratio Pn103 setting High Rotation Speed Overshoot on Starting and Stopping Unbalanced servo gains Check to see if the servo gains have been correctly adjusted m the advanced autotuning Speed loop gain value Pn100 too high Check the speed loop gain value Pn100 Factory setting Kv 40 0 Hz Reduce the speed loop gain Pn100 Position loop gain value Pn102 too high Check the position loop gain value Pn102 Factory setting Kp 40 0 s Reduce the position loop gain Pn102 Incorrect spe
94. T Ath 3rd 2nd 1st digit digit digit digit n Reserved Do not change 222Ah Pn22A Reserved Do not change Reserved Do not change Speed Feedback Selection at Fully closed Control 0 Uses motor encoder speed 1 Uses external encoder speed 2281h Pn281 Encoder Output Resolution 1 to 4096 1 P pitch 20 After restart UINT 2282n omis l Linear Scale Pitch 0 00 to 65536 00 0 01 um 0 After restart UINT Pn282 2 This parameter is exclusive for SERVOPACKs to be used with linear servomotors model SGDV LILILILIES 3 This parameter is exclusive for SERVOPACKs to be used with rotational servomotors model SGDV LILILILIEI 4 This parameter is automatically set to 1 by the EtherCAT CoE Network Module E Appendix 10 19 10 Appendik Object naex ame etting Range nits en Enable Ind N Setting R Unit Factory When Enabled Data Pn No Setting Type 3 eae 4 los Speed 0 to 10000 min 500 Immediately UINT 2305h fi Jerati iatel Pn305 Soft Start Acceleration Time 0 to 10000 1 ms 0 Immediately UINT 2306h fi Jerati iatel Pn306 Soft Start Deceleration Time 0 to 10000 1 ms 0 Immediately UINT Vibration Detection Switch 0000 to 0002 0000 Immediately UINT 4th 3rd 2nd 1st digit digit digit digit n Vibration Detection Selection 0 No detection 2310h Du Pn310 1 Outputs warning 911h when vibration
95. T RW Yes Default 1000 Yes Acc unit le Object Dictionary 8 31 8 Object Dictionary 8 8 Homing Mode 1 Home Offset 607Ch The home offset is the difference between the zero position for the application and the machine home position found during homing PDO Index Sub Name Data Type Access Mappi Value EEPROM apping 536870912 to 607Ch 0 Home Offset DINT RW No 536870911 Yes Default 0 Pos unit For Incremental Encoder During the homing the machine home position is found and once the homing is completed the zero position is offset from the home position by adding the home offset to the home position For Absolute Encoder When an absolute encoder is connected to the SERVOPACK the home offset is added to the encoder absolute position the position actual value in power up phase Home Zero position position home_offset 2 Homing Method 6098h This object specifies the homing method For details refer to 7 4 Homing PDO Index Sub Name Data Type Access Mapping Value EEPROM 6098h 0 Homing Method SINT RW Y 9193 N 9 ES Default 35 2 B Data Description Value Method Data Description 0 No homing operation required 1 Homing on the negative limit switch and index pulse 2 Homing on the positive limit switch and index pulse 7 to 14 Homing on the home switch and index pu
96. Type Access PDO Value EEPROM Mapping A d Oto 8 O Number of objects in this PDO USINT RW No Default 2 Yes Oto OXFFFFFFFF 1 Mapping entry 1 UDINT RW No Default Yes 0x60410010 1A01h Oto OXFFFFFFFF 2 Mapping entry 2 UDINT RW No Default Yes 0x60640020 3 Mapping entry 3 to lto UDINT RW No Bose Yes 8 Mapping entry 8 B 3rd Transmit PDO Mapping 8 3 PDO Mapping Objects PDO Index Sub Name Data Type Access Mapping Value EEPROM Oto 8 O Number of objects in this PDO USINT RW No Default 2 Yes Oto OXFFFFFFFF 1 Mapping entry 1 UDINT RW No Default Yes 0x60410010 1A02h Oto OXFFFFFFFF 2 Mapping entry 2 UDINT RW No Default Yes 0x60640020 3 Mapping entry 3 to to UDINT RW No RR Yes 8 Mapping entry 8 i E 4th Transmit PDO Mapping Index Sub Name Data Type Access PDO Value EEPROM Mapping P 0to 8 O Number of objects in this PDO USINT RW No Default 3 Yes Oto OXFFFFFFFF 1 Mapping entry 1 UDINT RW No Default Yes 0x60410010 Oto OXFFFFFFFF 1A03h 2 Mapping entry 2 UDINT RW No Default Yes 0x60640020 Oto OXFFFFFFFF 3 Mapping entry 3 UDINT RW No Default Yes 0x60770010 4 Mapping entry 4 to to UDINT RW No Roc ie Yes 8 Mapping entry 8 le Object Dictionary 8 11 8 Object Dictionary 8 4 Sync Manager Communication Objects
97. a a aaa Ee aaa eee eee 2 3 22 2 Dala UE 2 4 2 2 3 Data Units 2 0000 a mpl EEN E E EN I KB da bone ba ba 2 4 2 3 Specifications of the EtherCAT CoE Network Module 2 5 2 3 1 General Specifications 2 5 2 3 2 Communication Specifications 2 6 2 4 Part Names of the EtherCAT CoE Network Module 2 7 2 5 LED Indicators 2 2 dE ia KUIA EIA 2 6 D Specifications 2 1 2 2 2 Specifications 2 1 Overview The 2 V series EtherCAT CoE Network Module implements the CANopen drive profile CiA402 in Ether CAT communication real time Ethernet communication In addition to basic position velocity and torque control synchronous position velocity and torque control can be performed You can select the appropriate form of control for your system from simple positioning to high speed high precision locus control Moreover the 2 V high servo control performance advanced tuning function and wide range of actuator con trols can be performed via EtherCAT 2 2 CoE Technical Terms 2 2 CoE Technical Terms 2 2 1 CoE Technical Terms This table lists the terms used in this manual for the EtherCAT and the CANopen Abbreviation Description APRD Auto Increment Physical Read a command of EtherCAT Data lin
98. age See Details on Bits 0 to 3 gt 2 Quick stop 3 Enable operation 4to6 Operation mode specific See Details on Bits 4 to 97 7 Fault reset 0 gt 1 Alarm Warning reset 8 Halt See lt Details on Bits 4 to 9 gt 9 Operation mode specific 10 Reserved YA 0 Torgue Limit parameter Object 2404h is inactive 1 EE 1 Torgue Limit parameter Object 2404h is active zs 0 Torque Limit parameter Object 2405h is inactive 12 Negative Torque Limit 1 Torque Limit parameter Object 2405h is active 13 to 15 Reserved lt Details on Bits 0 to 3 gt Bit 0 to 3 for the controlling command of the drive state Bit of the Controlword Command Bit7 Bit3 Bit2 Biti Bito Shutdown 0 1 1 0 Switch on 0 0 1 1 1 eer og Disable voltage 0 0 Quick stop 0 0 1 Disable operation 0 0 1 1 1 Enable operation 0 1 1 1 1 a Object Dictionary 8 21 8 Object Dictionary lt Details on Bits 4 to 9 gt Bit 4 5 and 9 for the controlling of Profile position mode Bit9 Bit5 Bit4 Definition 0 0 0 gt 1 Start the next positioning after the current positioning completes target reached 1 0 gt 1 Start the next positioning immediately 4 0 0 gt 1 Positioning with current profile velocity up to the current set point is proceeded and then next positioning will be applied Bit 6 and 8 for the controlling of Pr
99. allowed when CN1 11 input signal is OFF H level F Forward run allowed when CN1 12 input signal is OFF H level 3 This parameter is exclusive for SERVOPACKs to be used with rotational servomotors model SGDV LILILILIEI E Appendix 10 23 10 Appendik Object Index Pn No Name Setting Range Units Factory Setting Data When Enabled Type 250Bh Pn50B Input Signal Selection 2 0000 to FFFF 8882 After restart UINT 4th 3rd 2nd 1st digit digit digit digit n N OT Signal Mapping 0 Reverse run al Reverse run al Reverse run al Reverse run al Reverse run al Reverse run al Reverse run al Reverse run pr Reverse run al Reverse run al Reverse run al Reverse run al Reverse run al Reverse run al Reverse run al mimijocijoj oj wovoljo o o 25l lol m Reverse run al owed when CN1 13 input signal is ON L level owed when CN1 7 input signal is ON L level owed when CNI 8 input signal is ON L level owed when CN1 9 input signal is ON L level owed when CN1 10 input signal is ON L level owed when CN1 11 input signal is ON L level owed when CN1 12 input signal is ON L level ohibited owed owed when CN1 7 input signal is OFF H level owed when CNI 8 input signal is OFF H level owed when CN1 9 input signal is OFF H level Reserved Do not change P CL Signal Mapping 0 ON when CN1 ON when CNI ON when CNI
100. am JOG Waiting Time 0 to 10000 1 ms 100 Immediately UINT Pn535 2536h Number of Times of Program JOG A i Pn536 Movement 0 to 1000 1 time 1 Immediately UINT aoe l i ff 1 iatel Pn550 Analog Monitor 1 Offset Voltage 10000 to 10000 0 1 V 0 0 Immediately UNIT 2551h Pn551 Analog Monitor 2 Offset Voltage 10000 to 10000 0 1V 0 0 Immediately UINT 2552h Pn552 Analog Monitor Magnification x1 10000 to 10000 x0 01 100 Immediately UINT Se Analog Monitor Magnificati 2 1000 10000 1 100 I diatel INT Pn553 nalog Monitor Magnification lt 2 0 to 1000 x0 0 mmediately U Zagal Remained Vibration D ion Width 1 to 300 19 4 I diatel INT Pn560 emained Vibration Detection Widt to 0 0 1 00 mmediately U Zoe Overshoot Detection Level 0 to 100 1 100 Immediatel UINT Pn561 9 y 2582h 2 Speed Coincidence Signal Output Pn582 Width 0 to 100 1 mm s 10 Immediately UINT 2 DER Brake Reference Output Speed Level 0 to 10000 1 mm s 10 Immediately UINT 10 28 1 In the EtherCAT CoE Network Module the reference units of the SERVOPACK parameters are encoder pulses units inc 2 This parameter is exclusive for SERVOPACKs to be used with linear servomotors model SGDV LILILILTES 3 This parameter is exclusive for SERVOPACKs to be used with rotational servomotors model SGDV OOOOE 10 2 SERVOPACK Parameters Object Factor Data Index Name Setting Range Units Ory when Enab
101. ance and Inspection Name 2 V Series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 Z V Series Option Module Safety Precautions Y TOBP C720829 00 2 V Series Command Option Module Installation Guide TOBP C720829 01 2 V Series User s Manual Setup Rotational Motor Y Y SIEP S800000 43 Z V Series Product Catalog Y Y KAEP S800000 42 2 V Series User s Manual Operation of Digital Operator SIEP S800000 55 Z V Series AC SERVOPACK SGDV Safety Precautions TOBP C710800 10 2 Series Digital Operator Safety Precautions v TOBP C730800 00 AC SERVOMOTOR Safety Precautions Y Y TOBP C230200 00 W Safety Information The following conventions are used to indicate precautions in this manual Failure to heed precautions pro vided in this manual can result in serious or possibly even fatal injury or damage to the products or to related eguipment and systems Indicates precautions that if not heeded could possibly result in loss of AN WARNING life or serious injury Indicates precautions that if not heeded could result in relatively serious N CAUTION or minor injury damage to the product or faulty operation In some situations the precautions indicated could have serious consequences if not heeded Indicates prohibited actions that must not be performed For example S PROH B ITED this sy
102. anti resonance control Pn160 Anti Resonance Control Adjustment Selection 0 Does not use adjust anti resonance control automatically using utility function 1 Adjusts anti resonance control automatically using utility function Reserved Do not change Reserved Do not change 2161h Pn161 Anti Resonance Frequency 10 to 20000 0 1 Hz 1000 Immediately UINT 2162h Pn162 Anti Resonance Gain Compensation 1 to 1000 1 100 Immediately UINT 2163h Anti Resonance Damping Gain 0 to 300 196 0 Immediately UINT Pn163 2164h Anti Resonance Filter Time Constant 1 A Pn164 Compensation 1000 to 1000 0 01 ms 0 Immediately UINT 2165h Anti Resonance Filter Time Constant 2 Pn165 Compensation 1000 to 1000 0 01 ms 0 Immediately UINT Tuning less Function Rated Switch 0000 to 2411 1401 UINT 4th 3rd 2nd 1st digit digit digit digit n Tuning less Function Selection Enabled Data Type After UINT 1 restart 2170h Pn170 Control Method during Speed Control Enabled Data Type After 1 Uses as speed control and uses the host controller for position control restart Tuning less Tuning Level Enabled Data Type 0 to 4 Sets tuning less tuning level Immediately UINT When Tuning less Load Level Data Type 2 Tre 1 Mode Switch Speed Reference 0 to 10000 1 mm s 0 Immediately UINT 10 18 2 This parameter is exclusive for SERVOPACKs to be used with linear servomotors model SGDV LILILILIES 10 2 SERVOPACK P
103. apping entry 2 UDINT RW No Default Yes 0x607A0020 Oto OXFFFFFFFF 3 Mapping entry 3 UDINT RW No Default Yes 0x60FF0020 Oto OXFFFFFFFF 4 Mapping entry 4 UDINT RW No Default Yes 1609 0x60710010 Oto OXFFFFFFFF 5 Mapping entry 5 UDINT RW No Default Yes 0x60720010 Oto OXFFFFFFFF 6 Mapping entry 6 UDINT RW No Default Yes 0x60600008 Oto OXFFFFFFFF 7 Mapping entry 7 UDINT RW No Default Yes 0x00000008 0 to OXFFFFFFFF 8 Mapping entry 8 UDINT RW No Default Yes 0x60B80010 B 2nd Receive PDO Mapping 8 3 PDO Mapping Objects PDO Index Sub Name Data Type Access Mapping Value EEPROM A A 0 to 8 O Number of objects in this PDO USINT RW No Default 2 Yes 0 to OXFFFFFFFF 1 Mapping entry 1 UDINT RW No Default Yes 0x60400010 1601h 0 to OxFFFFFFFF 2 Mapping entry 2 UDINT RW No Default Yes 0x607A0020 3 Mapping entry 3 to to UDINT RW No RR Yes 8 Mapping entry 8 i E 3rd Receive PDO Mapping Index Sub Name Data Type Access PDO Value EEPROM Mapping e Oto 8 O Number of objects in this PDO USINT RW No Default 2 Yes 0 to OXFFFFFFFF 1 Mapping entry 1 UDINT RW No Default Yes 0x60400010 1602h 0 to OXFFFFFFFF 2 Mapping entry 2 UDINT RW No Default Yes 0x60FF0020 3 Mapping entry 3 to
104. arameters Object Index Name Setting Range Units Ger When Enabled PR Pn No 9 yp 2182h 2 l l 2 Mode Switch Acceleration 0 to 30000 1 mm s 0 Immediately UINT Pn182 3 aa Multiturn Limit 0 to 65535 1 rev 65535 Afterrestart UINT Pn205 Position Control Function Switch 0000 to 2210 0010 After restart UINT Ath 3rd 2nd 1st digit digit digit digit n Reserved Do not change Reserved Do not change 2207h Pn207 Reserved Do not change COIN Output Timing 0 Outputs when the position error absolute value is the same or less than the positioning completion width Pn522 1 Outputs when the position error absolute value is the position completion width Pn522 or less and the reference after position reference filtering is 0 2 When the absolute value of the position error is below the positioning completed width setting Pn522 and the position reference input is 0 220Ah l 1 Number of External Encoder Pitch 4 to 1048576 32768 After restart UDINT Pn20A pitch rev 4 1 to 1073741824 CUR Electronic Gear Ratio Numerator 230 1 4 After restart UDINT 4 1 to 1073741824 2210h Electronic Gear Ratio Denominator 3 30 1 1 After restart UDINT Pn210 27 3 16 to 2212h Encoder Output Pulses 1073741824 P rev 2048 After restart UDINT Pn21 2 30 27 Fully closed Control Selection Switch 0000 to 1003 0000 After restart UIN
105. ases The main power supply was turned off HWBB signal was inputted Note 1 shows state 2 STW means the Statusword of Object 6041h 3 underline means the control command of Object 6040h 1 2 3 State Machine Controlling Command Command Bits of the Controlword 6040h Bit7 Bit3 Bit2 Bit1 BitO Shutdown 0 1 1 0 Switch on 0 0 1 1 1 Switch on Enable operation 0 Disable voltage Quick stop Disable operation Enable operation Fault reset 0 0 0 0 5 021 Bits of Statusword 6041h 7 1 Device Control Bit No Data Description Note Ready to switch on Switched on Operation enabled Fault Voltage enabled Quick stop Switch on disabled Warning co Jl ol ol Ei WwW N O O Remote o Target reached Internal limit active 13 12 Operation mode specific 14 Torque limit active 15 For details refer to 8 6 3 Statusword 6041h Related Objects Index Sub Name Access AERE Units Type 6040h Controlword RW Yes UINT 6041h Statusword RO Yes UINT 605Ah Quick Stop Option Code RW No INT 605Bh Shutdown Option Code RW No INT 605Ch Disable Operation Option Code RW No INT 605Dh Halt Option Code RW No INT 605E
106. atus of EtherC AT communication 2 5 LED Indicators LED Indicator Description Display Pattern Off Continuously OFF The EtherCAT communication is in working condition 50 ms Flickering On Booting Error was detected Off On State change commanded by master is Blinking 200 ms 1200 mel impossible due to register or object set Off tings On Synchronization Error the EtherCAT Single flash Moo mel 1000 ms CoE Network Module enters Safe Off Operational state automatically Sn An application Sync Manager watch n application Sync Manager watch Geer of 200 ms 200 ms 200 ms 1000 ms dog timeout has occurred On Continuously ON A PDI Watchdog timeout has occurred E Link Activity The Link Activity indicators show the status of the physical link and show activity on this link LED Indicator Description Display Pattern A communication cable is not physi Off Continuously OFF cally connected A EtherCAT controller is not started up 50 ms Flickering On Data are being exchanged Off A communication cable is physically On Continuously ON connected but no data being exchanged D Specifications 2 9 3 SERVOPACK Installation This chapter describes how to install the SERVOPACK 3 1 SERVOPACK Installati
107. be memorized as well as precautions such as alarm displays that do not involve potential damage to equipment Notation Used in this Manual Reverse Symbol Notation In this manual the names of reverse signals ones that are valid when low are written with a forward slash before the signal name as shown in the following example Example The notation for BK is BK Parameter Notation The following two types of notations are used for parameter digit places and settings Example Notation Example for Pn000 Pn000 n 0000 Digit Notation Set Value Notation L Notation Method Meaning Notation Method Meaning m i iai Indicates that digit 1 of the Digit Pn000 0 Indicates digit 1 Pn000 0 x f of the parameter Pn000 or n OOOx parameter Pn000 is x Digit2 Pn000 1 Indicates digit 2 Pn000 1 x Indicates that digit 2 of the of the parameter Pn000 or n OOxO parameter Pn000 is x ai Indicates digit 3 Pn000 2 x Indicates that digit 3 of the Digit 3 T SE of the parameter Pn000 or n OxOO parameter Pn000 is x Digit4 Pn000 3 Indicates digit 4 Pn000 3 x Indicates that digit 4 of the of the parameter Pn000 or n xOOO parameter Pn000 is x B Manuals Related to the 2 V Series Refer to the following manuals as required Selecting Trial Models and Ratings and Panels and Trial Operation Peripheral Specifications Wiring Operation and Servo Devices Adjustment Mainten
108. bout this Manual This manual describes informations reguired for designing and maintaining the EtherCAT CoF Network Module for 2 V series SERVOPACKs Be sure to refer to this manual and perform design and maintenance to select devices correctly Keep this manual in a location where it can be accessed for reference whenever required Description of Technical Terms The following table shows the meanings of terms used in this manual Term Meaning EtherCAT CoE Network Module EtherCAT CoE Network Module for 2 V series SERVOPACKs Cursor A mark that indicates the input position of data displayed on the digital operator 2 V Series SGMJV SGMAV SGMPS SGMGV SGMSV or SGMCS Direct Drive servomotor SE Linear Y Series SGLGW SGLFW SGLTW or SGLC servomotor SERVOPACK 2 V Series SGDV SERVOPACK Servo drive A set including a servomotor and SERVOPACK i e a servo amplifier Servo System A servo control system that includes the combination of a servo drive with a host controller and peripheral devices Servo ON When power is being supplied to the servomotor Servo OFF When power is not being supplied to the servomotor Base block Turning OFF the power by shutting OFF the base current of the IGBT for the current amplifier IMPORTANT Explanations The following icon is displayed for explanations requiring special attention 0 IMPORTANT Indicates important information that should
109. bration Source To prevent vibration from being transmitted to the SERVOPACK install a vibration isolator underneath the SERVOPACK Mounting to a Location Exposed to Corrosive Gas Take measures to prevent exposure to corrosive gas Corrosive gases will not immediately affect the SERVO PACK but will eventually cause electronic components and contactor related devices to malfunction Other Locations Do not mount the SERVOPACK in locations subject to high temperatures high humidity dripping water cut ting oil dust iron filings or radiation lt Note gt When storing the SERVOPACK with the power OFF store it in an environment with the following tempera ture and humidity 20 to 85 C 90 RH or less with no condensation Installation Conditions for Applicable Standards Applicable ULS08C EN50178 ENS5011 A2 group classA EN61000 6 2 EN61800 3 EN61800 5 1 EN954 1 Standards IEC61508 1 to 4 i It t III Operating is ks dd Conditions ollution degree Protection class IP10 UL Standard and Low Voltage Directive Satisfy the conditions outlined in EH Series AC SERVOPACK SGDV Safety Precautions TOBP Installation C710800 10 Conditions EMC Directive Certification is required after installation in the user s machine under the conditions outlined in 3 3 EMC Installation Conditions 3 2 SERVOPACK Installation 3 2 SERVOPACK Installation 3 2 1 Orientation The SERVOPACK is available in m
110. chable Type SIEP S800000 60 4 2 10 SEMI F47 Function Torque Limit SEMI F47 Function Function for Low Power Supply Voltage for Object 2008h Pn008 8 Torque Limit Function for Main Circuit in 2 V series User s Manual Object 2424h Pn424 Low Power Supply Voltage Design and Maintenance Rotational Motor Object 2425h Pn425 for Main Circuit Command Option Attachable Type SIEP Object 2509h Pn509 S800000 60 4 2 11 Setting Motor Overload Detection Setting Motor Overload Level in 2 V series User s Manual Design 9 8 and Maintenance Rotational Motor Com Object 252Bh Pn52B Detection Level mand Option Attachable Type SIEP S800000 60 Note After the above basic functions have been set to activate these settings you must turn the power supply OFF and ON or write 1 to object 2700h 5 2 5 2 1 Trial Operation Inspection before Trial Operation 5 2 Trial Operation Check the following items If any problems ezist take appropriate measures before trial operation Servomotors Are all wiring and connections correct Are all nuts and bolts securely tightened Note Ifa motor with an oil seal is used check whether the oil shield is not damaged and if there is an oil coat When per forming operation on a servomotor that has been stored for a long period of time perform the maintenance and inspection according to the procedures described in LH Series User s Manual Setup Rotational Motor SIEP S800000 43
111. ck the timing ofthe set value object 1011h interrupted during param e power interruption and then input the param eter writing a eter again Repair or replace the The number of parame SERVOPACK ters written exceeded the Correct the parameter maximum value 3e writing method 0A48h EEPROM Parameter Set the power supply Data Error The power supply voltage momentarily dropped Measure the power sup ply voltage voltage within the speci fications and initialize the parameter set value object 1011h Fault occurred in the EtherCAT CoE Net work Module Repair or replace the EtherCAT CoE Net work Module Fault occurred in the SERVOPACK Repair or replace the SERVOPACK n Troubleshooting 9 9 9 10 9 Troubleshooting 9 2 Warning Displays When a warning is detected the SERVOPACK indicates the warning status as described below and continues operating the servomotor W Status Display SERVOPACK Panel Display The warning code is displayed Example A gt 9 gt 1 gt 0 Digital Operator The warning code is displayed Statusword Object 6041h Statusword bit 7 Warning turns ON Bit 7 is OFF when operation is normal Error Code Object 603Fh The warning code for the current error is stored in object 603Fh Emergency Message The controller is notified of the warning that occurred When EtherCAT communication is not stab
112. cknowledge bit 12 t Target A reached bit 10 st 7 6 7 3 Position Control Modes 7 3 2 Interpolated Position Mode The Interpolated Position mode is used to control multiple coordinated axes or a single axis with the need for time interpolation of set point data The Interpolated Position mode normally uses time synchronization mechanisms for a time coordination of the related drive units The interpolation time period defines the update cycle of the interpolation data The intercycle interpolation will be performed based on this settings The interpolation data is interpreted as absolute value The following figure shows the block diagram of the Interpolated Position mode Interpolation Data 60C1h e Input ES Position Interpolation Time buffer es eem m Demand Period 60C2h Position Resun de rg Internal limit function 2701 1 2701 2 Value Software Position Limit 607Dh Position 60FCh Position Velocity Torque d trajectory o gt control gt control control Motor generator loop loop loop Controlword 6040h gt A A D H d e ton dn Acc unit Acceleration unit 104ino s i gt multiplier i 2703 1 2703 2 d Quick Stop Option Code 605Ah JJ i i
113. cremented by 1 The Internal Error Counter is reset when the ESM state is transited to OP from SAFEOP An example of Internal Error Counter is shown below Receive SM2 Event 1 0 0 1 0 SERVOPACK Internal 0 5 4 6 9 9 9 9 Error Counter error Error Counter Limit 9 In this example a failure in receiving the process data repeats in each DC Sync0 cycle After 8 DC cycles the internal error count reaches the Sync Error Count Limit and the SERVOPACK issued an alarm No alarm will be detected when the DC mode is disabled and or when the Sync error count limit is set to 0 8 5 8 5 Manufacturer Specific Objects Manufacturer Specific Objects 1 SERVOPACK Parameters 2000h 26FFh Object 2000h to 26FFh are mapped to SGDV SERVOPACK parameters Pnxxx An object index 2xxxh is corresponding to a Pnxxx in SGDV SERVOPACK parameter e g Object 2100h is same as Pn100 2 User Parameter Configuration 2700h This object enables all User parameter settings and initializes the all position values Before restarting operation without turning the power supply OFF and then ON again after having changed the following objects this object must be executed to enable new settings Object 2701h 2702h and 2703h SERVOPACK parameters which need power on reset Index Sub Name Data Type Access PDO Value EEPROM Mapping 2700h O User Parameter Co
114. ct 2702 02 lt 524288 Check whether the setting is within the following The acceleration unitis _ range Correct the setting of set out of range 1 128 lt Object object 2703h 2703 01 Object 2703 02 lt 16384 NU Fault occurred in the Repair or replace the OA4on System Initialization EtherCAT CoE Net EtherCAT CoE Net work Module work Module C ication Devi Fault occurred in the Repair or replace the OAM Mh Ba ad ya ES vice EtherCAT CoE Net EtherCAT CoE Net SES work Module work Module Object 2700h was eze cuted while an utility function FnLILILT was _ Turn the power supply being executed using the OFF and ON again digital operator or Sig maWin The power supply was turned ON or object ie Reconnect the encoder 2700h was ezecuted Check the wiring of the and then turn ON the encoder d Loading Servo while the encoder was not power supply again 0A47h information Error connected The power supply was EE Reset the parameter and 2700h was ezecuted Check the setting of the P then turn ON the power while alarm 040h parameter Parameter Setting Error 1 occurred supply again Fault occurred in the EtherCAT CoE Net work Module Repair or replace the EtherCAT CoE Net work Module 9 1 Troubleshooting contd Alarm A N iaative Acti ive Acti Code arm Name Cause nvestigative Action Corrective Action Th jos Initialize the parameter es was Che
115. d on the index pulse but only depend on the relevant home or limit switch transi tions F Home switch 7 P Hom i mE Positive limit switch d i P OT 7 10 7 4 Homing Value Definitions Explanation This method is same as method 12 except that the home position does not depend on the index pulse but only depend on the relevant home or limit switch transi tions Homing on home 28 switch negative initial motion Home switch Home Negative limit switch J4 N OT H 33 34 Homing on index pulse e i Index pulse 35 Homing on the current In this method the current position shall be taken to be the home position This position method does not require the drive device to be in operational enabled state Note The index pulse is recognized as the encoder zero signal phase C CiA402 Drive Profile 7 11 7 CiA402 Drive Profile 7 5 1 Profile Velocity Mode 7 5 Velocity Control Modes 7 5 1 Profile Velocity Mode In the Profile Velocity mode the speed is output in accordance with the Profile acceleration and Profile decel eration until it reaches the target velocity The following figure shows the block diagram of the Profile Velocity mode Time 606Eh
116. d technological understanding at the time of ship ment from Yaskawa 6 Events for which Yaskawa is not responsible such as natural or human made disasters Limitations of Liability 1 Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product 2 Yaskawa shall not be responsible for programming including parameter settings or the results of program execution if a programmable Yaskawa product was programmed by the user or by a third party Suitability for Use 1 It is the customer s responsibility to confirm conformity with any standards codes or regulations that apply if the Yaskawa product is used in combination with any other products 2 The customer must confirm that the Yaskawa product is suitable for the systems machines and equipment used by the customer 3 Consult with Yaskawa to determine whether use in the following applications is acceptable If use in the application is acceptable use the product with extra allowance in ratings and specifications and provide safety measures to minimize hazards in the event of failure Outdoor use use involving potential chemical contamination or electrical interference or use in condi tions or environments not described in product catalogs or manuals Nuclear energy control systems combustion systems railroad systems aviation systems vehicle sys tems medical equipment amusement machine
117. d will be set In the overtravel state positioning return operations will start only when a target posi tion is specified in the reverse direction of the present overtravel signal for Position actual value e g for P OT a command to move in the negative direction When Homing method 1 11 12 13 14 28 or 34 is executed When a P OT signal is input Homing error bit 13 in Statusword object 6041h will turn 1 the homing will be canceled and the operation will stop When Homing method 2 7 8 9 10 24 or 33 is executed When an N OT signal is input Homing error bit 13 in Statusword object 6041h will turn 1 the homing will be can celed and the operation will stop Profile position mode Homing mode When an overtravel signal is input the current positioning to the target position will be canceled The motor will be stopped and then Target reached in the Statusword object 6041h will be set In the overtravel state positioning return operations will start only when a target posi tion is specified in the reverse direction of the present overtravel signal for Position actual value e g for P OT a command to move in the negative direction Interpolated position mode Cyclic synchronous position mode Operation In the overtravel state the motor will start only when a speed is specified in the reverse Profile velocity mode Cyclic direction of the overtravel signal e g for P OT a target ve
118. dex Sub Name Data Type Access PDO Value EEPROM Mapping 0 to 4294967295 607Fh O Max Profile Velocity UDINT RW Yes Default 2147483647 Yes Vel unit 8 7 Profile Position Mode 4 Profile Velocity 6081h The profile velocity is the velocity normally attained at the end of the acceleration ramp during a profiled move and is valid for both directions of motion PDO Index Sub Name Data Type Access Maoni Value EEPROM apping e 0 to 4294967295 6081h O Profile Velocity UDINT RW Yes Default 0 Vel unit Yes 5 Profile Acceleration 6083h This object specifies the acceleration for profile modes PDO Index Sub Name Data Type Access Manni Value EEPROM apping 0 to 4294967295 6083h O Profile Acceleration UDINT RW Yes Default 1000 Yes Acc unit 6 Profile Deceleration 6084h This object specifies the deceleration for profile modes PDO Index Sub Name Data Type Access Value EEPROM Mapping 0 to 4294967295 6084h O Profile Deceleration UDINT RW Yes Default 1000 Yes Acc unit 7 Quick Stop Deceleration 6085h The quick stop deceleration is the deceleration used to stop the motor if the Quick Stop command is given and the Quick Stop Option Code see 605 Ah is set to 2 PDO Index Sub Name Data Type Access Value EEPROM Mapping 0 to 4294967295 6085h O Quick Stop Deceleration UDIN
119. drawings presented in this manual are typical examples and may not match the product you received Ifthe manual must be ordered due to loss or damage inform your nearest Yaskawa representative or one of the offices listed on the back of this manual Warranty 1 Details of Warranty E Period of Warranty The period of warranty for a product that was purchased hereafter delivered product is one year from the time of delivery to the location specified by the customer or 18 months from the time of shipment from the Yaskawa factory whichever is sooner Scope of Warranty Yaskawa shall replace or repair a defective product free of change if a defect attributable to Yaskawa occurs during the period of warranty above Defects due to the delivered product reaching the end of its service life and replacement of parts that require replacement or that have a limited service life are also outside the scope of this warranty Failures that occur for any of the following causes are outside the scope of the warranty 1 Using or handling the product under conditions or in environments not described in product catalogs or manuals or separately agreed upon specifications Causes not attributable to the delivered product itself Modifications or repairs not performed by Yaskawa Using the delivered product in a manner in which it was not originally intended DD A vc N Causes that were not foreseeable with the scientific an
120. dule Alarm Servomotor Alarm Code AEN NEME Meaning Stop Method Reset The initial sequence between the EtherCAT CoE Network Command Option IF e OEAOh Servo Unit Initial Error SE and the SERVOPACK was not completed within Gr 1 N A OEA1h Command Option IF The communication memory of the EtherCAT CoE Net Grl NA Memory Check Error work Module and the SERVOPACK is broken Command Option IF Pa The data exchange between the EtherCAT CoE Network A 0EA2h See aa A Module and the SERVOPACK was not synchronized pus Available Command Option IF The communication data between the EtherCAT CoE Net OEASh Servo Data Error work Module and the SERVOPACK was inappropriate on SS 0A10h EtherCAT DC Synchronization The Sync0 event and the SERVOPACK cannot be synchro Grl Available Error nized The EtherCAT AL state became not Operational while the 0A11h EtherCAT State Error DS402 drive state is in Operation enabled Gr 1 Available EtherCAT Outputs Data The events receive process data and sync0 do not synchro e 0A12h Synchronization Error nize Failed to receive the process data Gr Available 0A20h Parameter Setting Error The parameter setting is out of range Gr 1 N A 0A40h System Initialization Error The initialization at power on sequence was failed Gr 1 N A 0A41h Communication Device The ESC initialization was failed Gr 1 N A Initialization Error 0A47h EAM Servo Information The
121. e 606Ch This object provides the actual velocity value derived from the position encoder PDO Index Sub Name Data Type Access Mann Value EEPROM apping 606Ch O Velocity Actual Value DINT RO Yes Vel unit No 3 Velocity Window 606Dh This object indicates the configured velocity window When the time specified by the Velocity Window Time Object 606Eh has passed after the difference between the target velocity and the velocity actual value falls within the value of this object bit 10 Target reached of Statusword is set to 1 PDO Index Sub Name Data Type Access SG Value EEPROM apping 0t0 65535 606Dh O Velocity Window UINT RW No Default 20000 Vel Yes unit 4 Velocity Window Time 606Eh When the time specified by the Velocity Window Time Object 606Eh has passed after the difference between the target velocity and the velocity actual value falls within the value of this object bit 10 Target reached of Statusword is set to 1 Index Sub Name Data Type Access ADA Value EEPROM Mapping 4 0 to 65535 606Eh O Velocity Window Time UINT RW No Default 0 ms Yes 5 Target Velocity 60FFh This object specifies the target velocity for Profile Velocity mode and Cyclic Synchronous Velocity mode in user defined velocity reference units PDO Index Sub Name Data Type Access 3 Value EEPROM Mappin
122. e SM2 event 8 14 Sync event 6 7 trigger events 7 17 F Fault Reaction Option Code 605Eh 8 27 FG 4 4 Fieldbus connection 2 6 fixing the cable 3 12 EMMU ena a a a te is 2 6 FMMU settings 6 2 Following Error Actual Value 60F4h 8 35 Following Error Time Out 6066h 8 34 Following Error Window 6065h 8 34 forward run prohibited 4 3 frame ground 4 4 freerunmode 6 7 G general purpose input signal 4 3 general purpose output signal 4 4 H Halt Option Code 605Dh 8 27 Home Offset 607Ch 8 32 home switch input signal 4 3 homing 7 9 Homing Acceleration 609Ah 8 33 Homing Method 6098h 7 9 8 32 homing mode 8 32 Index Homing Speeds 6099h 8 33 I O signals connection example
123. e encoder battery voltage is lowered This warning occurs before Undervoltage 410h alarm occurs 971h Undervoltage If the warning is ignored and operation continues an undervolt age alarm may occur Note 1 Warning code is not outputted without setting Pn001 3 1 Outputs both Alarm Codes and Warning Codes 2 If Pn008 2 1 Do not detect warning is selected no warnings will be detected 9 3 9 3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor Conditions of the Servomotor Troubleshooting Malfunction Based on Operation and Troubleshooting for the malfunctions based on the operation and conditions of the servomotor is provided in this section Be sure to turn OFF the servo system before troubleshooting items shown in bold lines in the table Problem Probable Cause Investigative Actions Corrective Actions Servomotor Does Not Start A servo ON command was not input Check that the Controlword object 6040h is set to Operation enabled Set the Controlword object 6040h value correctly The torque limit reference is set too low Check the torque limit reference The torque limit reference is set too high The Operation mode is not set Check whether the Operation mode object 6060h is set Set the Operation mode object 6060h correctly A software limit is in effect Check whether the target position exceeds the limit Specify a target posi
124. e for SERVOPACKs to be used with rotational servomotors model SGDV OOOOE 10 2 SERVOPACK Parameters Tus Name Setting Range Units n When Enabled e an Pn No 3 Mss cu Brake Reference Output Speed Level 0 to 10000 1 min 100 Immediately UINT Gen Ee i Brake Signal When 10 to 100 10 ms 50 Immediately UINT E Instantaneous Power Cut Hold time 20 to 1000 1 ms 20 Immediately UINT Input Signal Selection 1 0000 to FFF1 1881 After restart UINT 4th 3rd 2nd 1st digit digit digit digit n Reserved Do not change Reserved Do not change Reserved Do not change P OT Signal Mapping 0 Forward run allowed when CN1 13 input signal is ON L level 1 Forward run allowed when CN1 7 input signal is ON L level 250Ah 2 Forward run allowed when CN1 8 input signal is ON L level Pn50A 3 Forward run allowed when CN1 9 input signal is ON L level 4 Forward run allowed when CN1 10 input signal is ON L level 5 Forward run allowed when CN1 11 input signal is ON L level 6 Forward run allowed when CN1 12 input signal is ON L level 7 Forward run prohibited 8 Forward run allowed 9 Forward run allowed when CN1 13 input signal is OFF H level A Forward run allowed when CN1 7 input signal is OFF H level B Forward run allowed when CN 1 8 input signal is OFF H level C Forward run allowed when CN1 9 input signal is OFF H level D Forward run allowed when CN1 10 input signal is OFF H level E Forward run
125. e for each time the motor shaft rotates twice Settings Position User Unit 2701h The number of encoder pulses for each user defined position reference unit Encoder resolution x Deceleration ratio inc Movement amount per one rotation of load shaft Pos unit _ 1048576 inc x 2 1 6 mm 0 001 mm _ 2097152 6000 Therefore the object is set as follows Object 2701h 01 Nominator 2097152 Object 2701h 02 Denominator 6000 inc Velocity User Unit 2702h By converting one user defined velocity reference unit 0 1 mm s into inc s 1 Vel unit _ 1048576 inc x 2 1 6 mm _ 2097152 60 x 0 1 mm s inc s Therefore the object is set as follows Object 2702h 01 Nominator 2097152 Object 2702h 02 Denominator 60 Acceleration User Unit 2703h By converting one user defined acceleration reference unit 0 1 mm s into 104 inc s 1 Acc unit _ 1048576 inc x 2 1 6 mm x 0 1 mm s x 10 2097152 104 inc s 6 x 10 Therefore the object is set as follows Object 2703h 01 Nominator 2097152 Object 2703h 02 Denominator 600000 le Object Dictionary 8 17 8 Object Dictionary W Case 2 Rotary Mechanism System with Rotary Table User Requirements and Application Assumptions User defined position reference unit 0 001 deg User defined velocity reference unit 1 deg s User defined acceleration reference unit 1 deg s Application assumpti
126. ect 250Ah Pn50A Object 250Bh Pn50B 2 Overtravel 5 7 Overtravel Object 2001h Pn001 Object 2406h Pn406 8 5 6 Usage of User Units Position Note The SERVOPACK electroni Object 2701 01h PnB02 ote The electronic gear f function is not used with the EtherCAT EE 3 Unit Settings CoE Network Module f A Object 2702 01h PnB06 Velocity 8 5 6 Usage of User Units Object 2702 02h PnBO8 Accelera Object 2703 01h PnBOA tion Bin 0 Usage of User Units Object 2703 02h PnBOC 4 2 5 Encoder Output Pulses and 4 2 6 Encoder Output Pulse Setting in 2 V series 4 Encoder Output Pulses User s Manual Design and Maintenance Object 2212h Pn212 Rotational Motor Command Option Attach able Type SIEP S800000 60 4 2 7 Holding Brakes in X V series User s Object 250Fh Pn50F 5 Holding Brakes Manual Design and Maintenance Rotational Object 2506h Pn506 5 Motor Command Option Attachable Type Object 2507h Pn507 STEP S800000 60 Object 2508h Pn508 4 2 8 Stopping Servomotor after Servo OFF Stopping Servomotor after Command or Alarm Occurrence in zy Object 2001h Pn001 6 Servo OFF Command or series User s Manual Design and Mainte Object 200Bh Pn00B Alarm Occurrence nance Rotational Motor Command Option Jec Pn00B Attachable Type SIEP S800000 60 4 2 9 Instantaneous Power Interruption Set a Power tings in LH series User s Manual Design 7 EN E i id and Maintenance Rotational Motor Com Object 2509h Pn509 SS EECH mand Option Atta
127. ed according to the setting in Pn001 0 if an alarm occurs Pn001 0 is factory set to stop the servomotor by applying the DB Gr 2 The servomotor is stopped according to the setting in PnOOB 1 if an alarm occurs PnOOB 1 is factory set to stop the servomotor by setting the speed reference to 0 The servomotor under torque control will always use the Gr 1 method to stop By setting Pn00B 1 to 1 the servomotor stops using the same method as Gr 1 When coordinating a number of servomotors use this alarm stop method to prevent machine damage that may result due to differences in the stop method 9 1 1 Alarm List for SERVOPACKs with Command Option Attachable Type The following table provides a list of SERVOPACK alarms For details on causes of SERVOPACK alarms and countermeasures to take refer to 2 V series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 Servomotor Alarm a Alarm Alarm Name Meaning Stop Code Method Reset 020h Parameter Checksum Error 1 The data of the parameter in the SERVOPACK is incorrect Gr 1 N A 021h Parameter Format Error 1 The data of the parameter in the SERVOPACK is incorrect Gr 1 N A 022h System Checksum Error 1 The data of the parameter in the SERVOPACK is incorrect Gr 1 N A 030h Main Circuit Detector Error Detection data for power circuit is incorrect Gr 1 Available 040h Parameter Setting Error 1 The parameter se
128. ed loop integral time constant Pn101 setting Check the speed loop integral time constant Pn101 Factory setting Ti 20 0 ms Correct the speed loop integral time constant setting Pn101 Incorrect moment of inertia ratio data Pn103 Check the moment of inertia ratio setting Pn103 Correct the moment of inertia ratio setting Pn103 Overtravel OT Forward or reverse run prohibited signal is input Check the external power supply 24 V voltage for the input signal Correct the external power supply 24 V voltage Check if the overtravel limit switch operates properly Correct the overtravel limit switch Check if the overtravel limit switch is wired correctly Correct the overtravel limit switch wiring Check the settings for Pn50A and Pn50B Set the parameters correctly Forward or reverse run prohibited signal malfunctioning Check the fluctuation of the input signal external power supply 24 V voltage Stabilize the external power supply 24 V voltage Check if the overtravel limit switch operates correctly Stabilize the operation of the over travel limit switch Check if the overtravel limit switch wiring is correct check for dam aged cables or loose screws Correct the overtravel limit switch wiring Incorrect forward or reverse run prohibited signal P OT N OT allocation parameters Pn50A 3 Pn50B 0 Check if the P OT si
129. ed_ The overspeed from the external encoder occurred Gr 1 Available 8A6h 3 External Encoder Overheated The overheat from the external encoder occurred Gr 1 Available b31h Curen Detection Errar The current detection circuit for phase U is faulty Gr 1 N A Phase U n Troubleshooting 9 3 9 4 9 Troubleshooting 9 1 1 Alarm List for SERVOPACKs with Command Option Attachable Type Servomotor Ba Alarm Name Meaning Stop Se Method Current Detection Error 2 Ds a b32h Phase V The current detection circuit for phase V is faulty Gr 1 N A Current Detection Error 3 ka i E b33h Current detector The detection circuit for the current is faulty Gr 1 N A bFOh System Alarm 0 Internal program error 0 occurred in the SERVOPACK Gr 1 N A bF1h System Alarm 1 Internal program error 1 occurred in the SERVOPACK Gr 1 N A bF2h System Alarm 2 Internal program error 2 occurred in the SERVOPACK Gr 1 N A bF3h System Alarm 3 Internal program error 3 occurred in the SERVOPACK Gr 1 N A bF4h System Alarm 4 Internal program error 4 occurred in the SERVOPACK Gr 1 N A C10h Servo Overrun Detected The servomotor ran out of control Gr 1 Available c20h 1 Phase Detection Error An error occurred in phase detection Gr 1 N A Cc21h 1 Hall Sensor Error A hall sensor error occurred Gr 1 N A Phase Information A 1
130. eed Loop Gain 1 0 to 2000 0 0 1 Hz 40 0 Immediately UINT 2482h 2 Polarity Detection Speed Loop Integral Pn482 Time Constant 0 15 to 512 00 0 01 ms 30 00 Immediately UINT 2 EUN Forward Force Limit 0 to 800 196 30 Immediately UINT 2 CU 4 Reverse Force Limit 0 to 800 196 30 Immediately UINT 2485h l l Polarity Detection Reference Speed 0 to 100 1 mm s 20 Immediately UINT Pn485 2486h 2 Polarity Detection Reference Pn486 Accel Dacel Time 0 to 100 1 ms 25 Immediately UINT 2487h 2 e A Polarity Detection Constant Speed Time 0 to 300 1 ms 0 Immediately UINT Pn487 2 f 2488h Polarity Detection Reference Waiting 50A 500 idus 100 Immediately UINT Pn488 Time 2 A Polarity Detection Range 1t0 65535 1 mm 10 Immediately UINT 2490h 7 i Polarity Detection Load Level 0 to 20000 1 100 Immediately UINT Pn490 2495h 2 Polarity Detection Confirmation Force e Pn495 Reference 0 to 200 1 100 Immediately UINT 2498h 2 Polarity Detection Allowable Error Pn498 Range 0 to 30 1 deg 10 Immediately UINT 2502h Rotation Detection Level 1 to 10000 1 min 20 Immediately UINT Pn502 2503h Speed Coincidence Signal Output SN Pn503 Width 0 to 100 1 min 10 Immediately UINT 2506h Brake Reference Servo OFF Delay Pn506 Time 0 to 50 10 ms 0 Immediately UINT 10 22 2 This parameter is exclusive for SERVOPACKs to be used with linear servomotors model SGDV 000085 3 This parameter is exclusiv
131. emergency message PDO Index Sub Name Data Type Access Mapping Value EEPROM 1001h O Error Register USINT RO No 0x00 No B Data Description Bit Data Meaning Explanation 0 Generic error 0 No error 1 Error 1 7 Reserved 0 Always 3 Manufacturer Device Name 1008h This object contains the SERVOPACK model name such as SGDV 1R6AEIA PDO Index Sub Name Data Type Access Mapping Value EEPROM 1008h O Manufacturer Device Name STRING RO No No 4 Manufacturer Software Version 100Ah This object contains the software version of the SERVOPACK Index Sub Name Data Type Access PDO Value EEPROM Mapping 100Ah O Manufacturer Software Version STRING RO No No B Data Description The following string is stored xxxx D 0000 Xxxx software version of the EtherCAT CoE Network Module 0000 software version of the SERVOPACK 8 4 5 8 2 General Objects Store Parameters 1010h With this object the setting value of parameters can be stored in the non volatile memory Index Sub Name Data Type Access EDO Value EEPROM Mapping 1010h O Largest subindex supported USINT RO No 4 No 0x00000000 to 1 Save all parameters UDINT RW No UZEFEFEREF No Default 0x00000001 0x00000000 to 2 Save communication parameters UDINT RW No pd No Default 0x00000001 0x00
132. ence Filter Pn40F Frequency 100 to 5000 1 Hz 5000 Immediately UINT 2410h 2nd Step 2nd Torque Reference Filter Q Pn410 Value 50 to 100 0 01 50 Immediately UINT 2412h 1st Step 2nd Torque Reference Filter a Pn412 Time Constant 0 to 65535 0 01 ms 100 Immediately UINT 2424h Torque Limit at Main Circuit Voltage Pn424 Drop 0 to 100 196 50 Immediately UINT 2425h Release Time for Torque Limit at Pn425 Main Circuit Voltage Drop 0 to 1000 1 ms 100 Immediately UINT 2456h Pn456 Sweep Torque Reference Amplitude 1 to 800 1 15 Immediately UINT Appendix 10 21 10 Appendik Object Index Name Setting Range Units Er When Enabled gt Pn No 9 yp Notch Filter Adjustment Switch 0000 to 0101 0101 Immediately UINT 4th 3rd 2nd 1st digit digit digit digit n Notch Filter Adjustment Selection 1 0 1st step notch filter is not adjusted automatically with utility function 2460h 1 Ist step notch filter is adjusted automatically with utility function Pn460 Reserved Do not change Notch Filter Adjustment Selection 2 0 2nd step notch filter is not adjusted automatically with utility function 1 2nd step notch filter is adjusted automatically with utility function Reserved Do not change 2480h 2 l Pn480 Speed Limit during Force Control 0 to 10000 1 mm s 10000 Immediately UINT 2481h 2 a l Pn481 Polarity Detection Sp
133. et DINT RW No Yes 0 536870912 536870911 Pos PnB46 607Dh Software Position Limit O Number of entries USINT RO No No 2 1 Min position limit DINT RW No Yes 0 536870912 536870911 e PnB48 2 Max position limit DINT RW No Yes 0 536870912 536870911 SE PnB4A 607Fh 0 Max Profile Velocity UDINT RW Yes Yes 2147483647 0 4294967295 ms PnB4C 6081h 0 Profile Velocity UDINT RW Yes Yes 0 0 4294967295 Ud PnB4E 6083h 0 Proble Acceleration UDINT RW Yes Yes 1000 0 4294967295 PnB50 6084h 0 Profile Deceleration UDINT RW Yes Yes 1000 0 4294967295 SEH PnB52 6085h 0 Quick Stop Deceleration UDINT RW Yes Yes 1000 0 4294967295 SE PnB54 6087h 0 Torgue Slope UDINT RW Yes Yes 1000 0 4294967295 yA PnB56 6098h 0 Homing Method SINT RW Yes No 35 0 35 PnB58 6099h Homing Speeds O Number of entries USINT RO No No 2 e p Speed during search for UDINT RW Yes Yes 500000 0 4294967295 VEL PnB5A switch Unit 2 Speed during search for zero UDINT RW Yes Yes 100000 0 4294967295 Ge PnB5C 609Ah 0 Homing Acceleration UDINT RW Yes Yes 1000 0 4294967295 ou PnBSE 60B1h 0 Velocity Offset DINT RW Yes No 0 2147483648 2147483647 Un PnB60 60B2h 0 Torque Offset INT RW Yes No 0 32768 32767 0 1 PnB62 60B8h 0 Touch Probe Function UINT RW Yes No 0 0 OxFFFF PnB64 60B9h 0 Touch Probe Status UINT RO Yes No PnB66 60BAh o Louch Probe position DINT RO Yes No e Pos PnB68 Value unit 60BCh o ouch Probe 2 posi
134. f Handshaking Procedure for the Touch Probe Function Single Trigger Mode 60B8h biti 0 or bit9 0 60B8h Bit 0 Bit 8 1 1 60B8h Bit 4 i Bit 12 1 i A N A Latch start Latch start 60B9h Bit 0 T H Bit 8 1 H H 60B9h Bit 1 V Q Bit 9 Z YA D ya 60BAh IJAN Latched position 1 1 Latched position 3 60BCh H Lt Probe input H H H Continuous Trigger Mode 60B8h biti 1 or bit9 1 60B8h Bit 0 Bit 8 d i 60B8h Bit 4 i Bit 12 A 1 JA n i Latch start 60B9h Bit 0 Bit 8 n i 1 60B9h Bit 1 x ft Bit 9 o 1 1 1 60BAh Latched position 1 e Latched position 2 Latched position 3 60BCh j 1 1 H 1 Si H gt gt gt d 60B9h Bit 7 d s 1 b V Bit 15 w i Probe input 1 2 3 7 10 Fully closed Control The following figure shows the block diagram of the fully closed control Option Module SERVOPACK FS gt S Unit Velocity offset or Multiplier Velocity demand value Pn20A Position demand Position FS gt S Unit P Velocity Torque intemal value control Multiplier control control M Machine loop Pn20A loop loop A baa cd Pn22a Pm2A er n 0000 5 Fs E Sl Velocity Actual Value 606Ch Velocity unit S gt FS Unit JL p O multiplier k Multiplier lak AA 2702 2 270
135. fficient countermeasures for each form of potential interference when installing systems in the following locations Locations subject to static electricity or other forms of noise Locations subject to strong electromagnetic fields and magnetic fields Locations subject to possible exposure to radioactivity Locations close to power supplies Failure to observe this caution may result in damage to the product Do not reverse the polarity of the battery when connecting it Failure to observe this caution may damage the battery the SERVOPACK the servomotor or cause an explo sion Wiring or inspection must be performed by a technical expert Use a 24 VDC power supply with double insulation or reinforced insulation B Operation N CAUTION Always use the servomotor and SERVOPACK in one of the specified combinations Failure to observe this caution so may result in fire or malfunction Conduct trial operation on the servomotor alone with the motor shaft disconnected from the machine to avoid accidents Failure to observe this caution may result in injury During trial operation confirm that the holding brake works correctly Furthermore secure system safety against problems such as signal line disconnection Before starting operation with a machine connected change the settings to match the parameters of the machine Starting operation without matching the proper settings may cause the machine to run out of con
136. fication O VO signal cable Shield cable O Safety signal cable Shield cable Motor main circuit cable Shield cable Fncoder cable Shield cable Main circuit cable Shield cable Ethernet communication cable Shield cable 3 8 3 3 EMC Installation Conditions B Three phase 200 V SGDV OODAE1A OOO 470 550 590 780 SGDV OCA01A Shield box g S Brake Power z Cooling fan Supply SERVOPACK E U VW E E Brake Qa i D D Power supply Noise L1 L2 L3 EO Three phase 200 VAC filter Servomotor Surge L1C L2C absorber a CN2 E Encoder Oo Regenerative resistor unit o 53 B1 B2 PE Qo ES EtherCAT S controller EE PE OwZ CN1 CNS Clamp Clamp r O O Host controller Safety Unit Symbol Cable Name Specification O 1 0 signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable O Main circuit cable Shield cable O Regenerative resistor unit cable Non shield cable Cooling fan cable Shield cable Ethernet communication cable Shield cable n SERVOPACK Installation 3 SERVOPACK Installation B Three phase 400 V SGDV OOODE1A OOO 1R9 3R5 5R4 8R4 120 170 SGDV OCA01A
137. g 2147483648 to 60FFh O Target Velocity DINT RW Yes 12147483647 No Default 0 Vel unit 8 38 8 13 Profile Torgue Cyclic Synchronous Torgue Mode 8 13 Profile Torgue Cyclic Synchronous Torgue Mode Target Torgue 6071h This object specifies the input value of torgue reference value for Torgue Control mode Set the value in units of 0 1 of the motor rated torque Index Sub Name Data Type Access EDO Value EEPROM Mapping 32768 to 32767 6071h O Target Torque INT RW Yes Default 0 0 19 No 2 Torque Demand Value 6074h This object indicates the currently output torque reference value The value is indicated in units of 0 1 of the motor rated torque Index Sub Name Data Type Access PDO Value EEPROM Mapping 6074h O Torque Demand Value INT RO Yes 0 1 No 3 Torque Slope 6087h This object sets the torque output slope to be used in Profile Torque mode Set the amount of change per sec ond in units of 0 1 of the motor rated torque Index Sub Name Data Type Access PDO Value EEPROM Mapping 0 to 4294967295 6087h O Torque Slope UDINT RW Yes Default 1000 0 1 s Yes 4 Motor Rated Torque 6076h This object indicates the motor rated torque rated force for linear servomotors The value is indicated in units of m Nm for rotational servomotors and m N for linear servomotor
138. g refers to the mapping of application objects real time process data from the object dictionary to the PDOs The PDO mapping tables are allocated to index 1600h to 1603h for the RxPDOs and 1A00h to 1A03h for the TxPDOs in the object dictionary The following figure shows an example of a PDO mapping Object Dictionary Fi Index Sub Object Contents al Ox1A00 1 Ox6TTT OxTT amp 0x1A00 2 Ox6UUU OxUU 8 Ox1A00 3 OxYYYY OxYY eer PDO Length 32 Bits PDO_1 Object A ObjectB Object D Ox6TTT OxTT Object A _ 5 oxeUUU JoxUU Object B eo amp Joksvvv loxvv Object C c ox6YYY oxvv Object D amp loxezzz loxzz Object E a a In addition to above PDO mappings PDOs have to be assigned to Sync Manager for the EtherCAT process data exchange The Sync Manager PDO Assign objects 1C12h and 1C13h establish the relationship between these PDOs and the Sync Manager The following figure shows an example of Sync Manager PDO mappings o Object Dictionary a KZ 2 8 Index Sub Object Contents oa PO 0x1013 1 0x1A00 cc S O9 0xtc13 2 0x1A01 o2 Sync Manager Entity z E 9 PDO 1 PDO 2 P 3 Ox1A00 PDO 1 0x1A01 PDO 2 oxtao2 PDO 3 8 0x1A03 PDO 4 N CAUTION The PDO mapping objects index 1600h to 1603h 1A00h to 1A03h and the Sync Manager PDO assign ob
139. gnal Go Shutdown Disable voltage or Quick stopped or Quick stop STW xxxx xxxx x0xx 1000 A Dea Ready to Switch on Disable voltage a or Quick stop STW xxxx xxxx x01x 0001 Disable mes e cuan pave Gi A y EVE onal in ut 4 or SERVO JOG operation 2 9 P Switch on GER and main circuit power on and ECAT OP state 3 Switched on STW xxxx xx 1x x011 0011 Fault reaction active STW xxxx xxxx x0xx 1111 Quick stop active STW xxxx xxxx x00x 0111 2 3 4 Operation enabled STW xxxx xx1x x011 0111 In Quick stop Active state the SGDV SERVOPACK automatically transits to the Switch on Disabled state at the fol lowing cases The main power supply was turned off HWBB signal was inputted The motor was stopped In Switched on state the SGDV SERVOPACK automatically transits to the Switch on Disabled state at the following cases The main power supply was turned off Motor operation was already enabled by the digital operator or the engineering tool SigmaWin In Ready to Switch on state the SGDV SERVOPACK transits to the next state in the following cases The main power supply was turned on EtherCAT State Machine ESM is in Operational state The servomotor is not run by the digital operator on SigmaWin In Operation Enabled state the SGDV SERVOPACK automatically transits to the Switch on Disabled state at the fol lowing c
140. gnal is allo If another signal is allocated in cated in Pn50A 3 Pn50A 3 select P OT Check if the N OT signal is allo If another signal is allocated in cated in Pn50B 0 Pn50B 0 select N OT Incorrect servomotor stop method selection Check Pn001 0 and Pn001 1 when the servomotor power is OFF Select a servo mode stop method other than coast to stop Check Pn001 0 and Pn001 1 when in torque control Select a servo mode stop method other than coast to stop Servomotor Overheated Ambient temperature too high Servomotor surface dirty Servomotor overloaded Measure the servomotor ambient temperature Visually check the surface Check the load status with monitor Reduce the ambient temperature to 40 C or less Clean dust and oil from the surface n Troubleshooting If overloaded reduce load or replace the SERVOPACK and the servomotor with larger capacity 9 13 10 Appendix 10 1 Object List sasis ea ia ge See eeh Zeg 10 2 10 2 SERVOPACK Parameters 10 9 10 3 SDO Abort Code LiSt wi AAA kaa Kan ma kn 10 30 E Appendix 10 1 10 2 10 Appendix 40 1 Object List Index SS Name Toe Access Mapi 5 EEPROM perau Lower Limit Upper Limit Unit Pn No 2 1000h 0 Device Type UDINT RO No N
141. h Fault Reaction Option Code RW No INT CiA402 Drive Profile 7 3 7 4 7 CiA402 Drive Profile 7 2 Modes of Operation The SGDV SERVOPACK supports the following modes of operation Profile Position mode Homing mode nterpolated Position mode Profile Velocity mode Torque Profile mode Cyclic Sync Position mode Cyclic Sync Velocity mode Cyclic Sync Torque mode B Related Objects Index Sub Name Access S Units Type 6060h Modes of Operation RW Yes SINT 6061h Modes of Operation Display RO Yes SINT 6502h Supported Drive Modes RO No UDINT B Dynamic Mode Change The operation mode can be switched by writing the Object 6060h The master has the responsibility to update all operation mode specific process data objects together with the selection of the operation mode at the same time If the master selects a new operation mode the SGDV SERVOPACK changes to the new operation mode immediately The following table shows the behavior at the changing a new operation mode from the other mode New Operation Mode Behavior at the Changing a New Operation Mode Profile Position mode Controlword bit4 0 Operation mode is changed but motor will be stopped Controlword bit4 1 New positioning will be started immediately Homing mode Controlword bit4 0 Operation mode is changed but motor will be stopped Controlword
142. h EtherCAT DC Sync0 fluctuated for o OFF and ON again and Synchronization Error EtherCAT communica then reestablish commu tion nication EtherCAT communica tion was not in Opera Reset the alarm and then 0A11h EtherCAT State Error tional state while the reestablish communica servomotor was operat tion ing An EtherCAT communi Correct the EtherCAT cation error occurred due wiring and apply counter to noise measures for noise EtherCAT Outputs The controller did not Check the process data s ee Se 0A12h Data Synchronization update process data in the that the controller is out Ed dk Dee Error regular cycle interval putting data in the regular cycle interval There is a fault in the EtherCAT cable or con nector wiring Check the EtherCAT cable and connector wir ing Correct the wiring n Troubleshooting 9 7 9 8 9 Troubleshooting 9 1 3 Troubleshooting of the EtherCAT CoE Network Module Alarms cont d cm Alarm Name Cause Investigative Action Corrective Action Check whether the setting is within the following The position unit is set range Correct the setting of out of range 1 4096 Object object 2701h 2701 01 Object 2701 02 lt 4096 Check whether the setting is within the following 0A20h Parameter Setting The velocity unit is set range Correct the setting of Error out of range 1 128 lt Object object 2702h 2702 01 Obje
143. his USNT RW No Yes 2 0 8 PnCAS 1 Mapping entry 1 UDINT RW No Yes 0x60410010 0 OxFFFFFFFF PnC70 2 Mapping entry 2 UDINT RW No Yes 0x60640020 0 OxFFFFFFFF PnC72 3 Mapping entry 3 UDINT RW No Yes 0 0 OxFFFFFFFF PnC74 4 Mapping entry 4 UDINT RW No Yes 0 0 OxFFFFFFFF PnC76 5 Mapping entry 5 UDINT RW No Yes 0 0 OxFFFFFFFF PnC78 6 Mapping entry 6 UDINT RW No Yes 0 0 OxFFFFFFFF PnC7A 7 Mapping entry 7 UDINT RW No Yes 0 0 OxFFFFFFFF PnC7C 8 Mapping entry 8 UDINT RW No Yes 0 0 OxFFFFFFFF PnC7E 1A02h 3rd Transmit PDO Mapping o Aamberofobjectsinthis UNI Rw No Yes 2 0 8 PnCA6 1 Mapping entry 1 UDINT RW No Yes 0x60410010 0 OxFFFFFFFF PnC80 2 Mapping entry 2 UDINT RW No Yes 0x60640020 0 OxFFFFFFFF PnC82 3 Mapping entry 3 UDINT RW No Yes 0 0 OxFFFFFFFF PnC84 4 Mapping entry 4 UDINT RW No Yes 0 0 OxFFFFFFFF PnC86 5 Mapping entry 5 UDINT RW No Yes 0 0 OxFFFFFFFF PnC88 6 Mapping entry 6 UDINT RW No Yes 0 0 OxFFFFFFFF PnC8A 7 Mapping entry 7 UDINT RW No Yes 0 0 OxFFFFFFFF PnC8C 8 Mapping entry 8 UDINT RW No Yes 0 0 OxFFFFFFFF PnC8E 1A03h 4th Transmit PDO Mapping o Number ofobjectsinthis USINT Rw No Yes 3 0 8 PnCA7 1 Mapping entry 1 UDINT RW No Yes 0x60410010 0 OxFFFFFFFF PnC90 2 Mapping entry 2 UDINT RW No Yes 0x60640020 0 OxFFFFFFFF PnC92 3 Mapping entry 3 UDINT RW No Yes 0x60770010 0 OxFFFFFFFF PnC94 4 Mapp
144. i d Torgue Actual Value 6077h a P gs Be e To b ee ERN 1 Velocity unit Velocity Actual Value 606Ch 2 multipher 1 Position Actual Value 6064h Position unit H TTT puto posiion Jeff SC SS s Position Window 6067h Output of positon 2701 1 i 1 1 Target Reached in i ert Bi osten Winton tee het T comparator Position Demand i Following Error Actual Value 60F4h 0 0 9 Value 6062 PIN e Following Error Window 6065h si 2701 2 2701 1 Folowng r Gi Following error ERR Following Window d KEEN Time Oe Eum zc B Related Objects Index Sub Name Access PDO Units Type Mapping 6040h Controlword RW Yes UINT 6041h Statusword RO Yes E UINT 60C1h 1 Interpolation Data RW Yes Pos units DINT Software Position Limit 607Dh 1 Min position limit RW No Pos units DINT 2 Max position limit RW No Pos units DINT 6084h Profile Deceleration RW Yes Acc units UDINT 6085h Quick Stop Deceleration RW Yes Acc units UDINT Interpolation Time Period 60C2h 1 Interpolation time period RO No USINT 2 Interpolation time index RO No SINT CiA402 Drive Profile 7 CiA402 Drive Profile 7 3 3 Cyclic Synchronous Position Mode 7 3 3 Cyclic Synchronous Position Mode The Cyclic Synchronous Position mode is used for the interpolated positioning in the same way as Interpo lated Position mode In this mode addit
145. ide the allowed range of the following error window around a position demand value for longer than the following error time out will result in setting bit 13 following error in the Status word to 1 PDO Index Sub Name Data Type Access Value EEPROM Mapping A 0 to 65535 6066h O Following Error Time Out UINT RW No Default 0 ms Yes 8 34 8 9 Position Control Function 7 Following Error Actual Value 60F4h This object provides the actual value of the following error PDO Index Sub Name Data Type Access Mappi Value EEPROM apping 60F4h O Following Error Actual Value DINT RO Yes Pos unit No 8 Position Window 6067h This object specifies the positioning completed width for the target position When the drive complets output ting of the reference to the target position and the time specified by object 6068h has passed after the distance between the Target Position and the Position Actual Value falls within the value of this object bit 10 Target reached of Statusword is set to 1 PDO Index Sub Name Data Type Access Maopi Value EEPROM apping ai e 0 to 1073741823 6067h 0 Position Window UDINT RW No Default 30 Pos unit Yes 9 Position Window Time 6068h When the drive completed outputting the reference to the target position and the time specified by this object has passed after the distance between the Ta
146. ignal NEAR OFF 4 Position reference filter output 0 and reference input OFF 5 Position reference input ON Reserved Do not change Reserved Do not change 213Dh Pn13D Current Gain Level 100 to 2000 1 2000 Immediately UINT 10 16 10 2 SERVOPACK Parameters Object Index Name Setting Range Units FINI When Enabled Daie Setting Type Pn No Model Following Control Related 0000 to 1121 0100 Immediately UINT Switch Ath 3rd 2nd 1st digit digit digit digit n Model Following Control Selection gt _ gt Following Control Selection Does not use model following control Uses model following control Vibration Suppression Selection 8 Suppression Selection 2140h uw gegen Pn140 0 Does not perform vibration suppression 1 Performs vibration suppression over the specified frequency 2 Performs vibration suppression over two different kinds of frequencies Vibration Suppression Adjustment Selection 0 Does not adjust vibration suppression automatically using utility function 1 Adjusts vibration suppression automatically using utility function Selection of Speed Feedforward VFF Torque Feedforward TFF 0 Does not use model following control and speed torque feedforward together 1 Uses model following control and speed torque feedforward together 2141h Pn141 Model Following Control Gain 10 to 20000 0 1 s 500 Immediately U
147. ing entry 4 UDINT RW No Yes 0 0 OxFFFFFFFF PnC96 5 Mapping entry 5 UDINT RW No Yes 0 0 OxFFFFFFFF PnC98 6 Mapping entry 6 UDINT RW No Yes 0 0 OxFFFFFFFF PnC9A 7 Mapping entry 7 UDINT RW No Yes 0 0 OxFFFFFFFF PnC9C 8 Mapping entry 8 UDINT RW No Yes 0 0 OxFFFFFFFF PnC9E 1C00h Sync Manager Communication Type o Number of used Sync USINT RO No No 4 8 E d e Manager channels j Communication typesyhe AR No No 1 3 PnCBO manager 0 2 Communication type syne USINT RO No No 2 z PnCBl manager 1 3 Communication type syne USNT RO No No 3 PnCB2 manager 2 4 Communication type syne USINT RO No No 4 PnCB3 manager 3 1C10h o Sync Manager PDO USINT RO No No 0 E 3 E assignment 0 DN o Sync Manager PDO USINT RO No No 0 x assignment 1 10 4 1 2 Write Save into the object 1010h The current parameter data will be saved as a batch in the EEPROM If the objects are modified by the digital operator or SigmaWin the data will be directly stored in the EEPROM Pn No is the number of the parameter used for the digital operator and SigmaWin 10 1 Object List Index nu Name Tye Access SS SEH GE Lower Limit Upper Limit Unit Pn No 2 1C12h Sync Manager PDO Assignment2 0 Number of assig
148. ing the Auto Increment Addressing The detected Station Alias will be compared with the values from the master s configuration to get the relation of the network topology and the configured topology Station Alias in Register 0x0012 Station Alias is set to the Configured Station Alias register of ESC during power on The value can be read with the following formula Configured Station Alias S11 setting x 16 S12 setting 4 10 D Operation 5 1 Settings for Common Basic Functions 5 2 5 2 Trial Operation 5 3 5 2 1 Inspection before Trial Operation 5 3 5 2 2 Trial Operation via EtherCAT CoE Communication 5 3 5 3 Test Without Motor Function 5 4 5 4 ee D el Rer UE 5 4 5 5 Absolute Encoders 5 5 5 6 Safety Function 5 6 5 7 Ove rtrav l nrc 5 7 a Operation 5 2 5 Operation 5 1 Settings for Common Basic Functions The following table lists basic parameters to be set up for motor operation Step Items Reference Objects Parameters 4 2 2 Servomotor Rotation Direction in 2 V Servomotor Rotation series User s Manual Design and Mainte 1 Direction nance Rotational Motor Command Option SEH Attachable Type SIEP S800000 60 Obj
149. ion is executing touch probe 1 function cannot be used If touch probe 1 function was already enabled touch probe 1 will be disabled a Object Dictionary 8 41 8 Object Dictionary 2 Touch Probe Status 60B9h This object provides the status of the touch probe Index Sub Name Data Type Access ik Value EEPROM 60B8h O Touch Probe Status UINT RO Yes No B Data Description Bit Value Definition 0 Touch probe 1 is switched off 1 Touch probe 1 is enabled 0 Touch probe 1 no value stored 1 Touch probe 1 value stored 2106 Reserved 7 0 1 toggle with every update of Touch probe 1 value stored 0 Touch probe 2 is switched off S 1 Touch probe 2 is enabled 0 Touch probe 2 no value stored A 1 Touch probe 2 value stored 10 to 14 Reserved 15 1 toggle with every update of Touch probe 2 value stored 3 Ir the continuous latch is enabled Object 60B8 bat 1 or bit9 1 bit7 or bit15 of Object 60B9h is toggled with every update of touch probe value stored Touch Probe 1 Position Value 60BAh This object provides the position value of the touch probe 1 The value is given in user position units Index Sub Name Data Type Access Bee Value EEPROM Mapping 60BAh O Touch Probe 1 Position Value DINT RO Yes Pos unit No 4 Touch Probe 2 Position Value 60BCh This object provides the positi
150. ion module 5 E70h GE a ous Detection of the command option module failed Gr 1 N A E71h Saa iD Detection of the safety option module failed Gr 1 N A E72h gt Silesian ae ee Detection of the feedback option module failed Gr 1 N A E73h Unsupported Command j Option Module Alarm A non supported command option module was connected Gr 1 N A E74h aa a Option A non supported safety option module was connected Gr 1 N A E75h UE uo m Option A non supported feedback option module was connected Gr 1 N A Command Option Module The command option module was replaced with a different ES Detection Disagreement Alarm model Gr NS Eb1h SC awa Signal Input an error in the timing of the safety function input Gri N A Main Circuit Cable Open With the main power supply ON voltage was low for more Eu Phase than 1 second in phase R S or T Une ian Digital Operator Transmission CPF00 N A Error 1 Digital operator JUSP OP05A fails to communicate with iai issi the SERVOPACK e g CPU error cpro1 Digital Operator Transmission e g E NIA Error 2 May occur if a linear servomotor is connected 2 May occur if a rotational servomotor is connected 3 May occur if a fully closed option module is mounted n Troubleshooting 9 5 9 Troubleshooting 9 1 2 List of the EtherCAT CoE Network Module Alarms 9 1 2 List of the EtherCAT CoE Network Module Alarms This table lists the alarms of the EtherCAT CoE Network Mo
151. irectory 0x06 04 00 41 The object cannot be mapped into the PDO 0x06 04 00 42 The number and length of the objects to be mapped would exceed the PDO length 0x06 04 00 43 General parameter incompatibility reason 0x06 04 00 47 General internal incompatibility in the device 0x06 06 00 00 Access failed due to a hardware error 0x06 07 00 10 Data type does not match length of service parameter does not match 0x06 07 00 12 Data type does not match length of service parameter too high 0x06 07 00 13 Data type does not match length of service parameter too low 0x06 09 00 11 Subindex does not exist 0x06 09 00 30 Value range of parameter exceeded only for write access 0x06 09 00 31 Value of parameter written too high 0x06 09 00 32 0x06 09 00 36 Value of parameter written too low Maximum value is less than minimum value 0x08 00 00 00 0x08 00 00 20 General error Data cannot be transferred or stored to the application 0x08 00 00 21 Data cannot be transferred or stored to the application because of local control 0x08 00 00 22 Data cannot be transferred or stored to the application because of the present device Symbols 24VIN 4 3 IBK 4 4 Home 4 3 PAO 4 4 PBO
152. ition Interpolated Position Cyclic Position Cyclic Velocity mode Object 6084h Homing mode Object 609Ah 3 The Quick stop deceleration Object 6085h value is used as quick stop ramp in any mode le Object Dictionary 8 25 8 26 8 Object Dictionary 5 Shutdown Option Code 605Bh The parameter determines what action is performed if there is a transition from Operation Enable state to Ready to Switch On state PDO Index Sub Name Data Type Access Mapping Value EEPROM 0 to 1 605Bh 0 Shutdown Option Code INT RW No Default 0 Yes Data Description Value Data Description 0 Disable drive function transit into Switch On Disabled 1 Slow down on slow down ramp and transit into Switch On Disabled 1 Y zl The drive always stops by option code 0 switch off the drive power stage in Profile Torque and Cyclic Torque mode 2 The slow down deceleration is defined as the following object Profile Position Interpolated Position Cyclic Position Cyclic Velocity mode Object 6084h Homing mode Object 609Ah Disable Operation Option Code 605Ch The parameter determines what action is performed if there is a transition from Operation Enable state to Switched On state Index Sub Name Data Type Access FDO Value EEPROM Mapping F Otol 605Ch O Disable Operation Option Code INT RW No Default 1 Yes B Data Description
153. ive velocity and torque values can be provided by the master to allow for velocity and torque feed forward The interpolation time period defines the interval at which the target position is updated Interpolation is per formed in accordance with this setting The target position is interpreted as absolute value The following figure shows the block diagram of the Cyclic Synchronous Position mode Torque Offset 60B2h Velocity Offset 60B1h Vel unit Velocity unit inc s gt multiplier 2702 1 2702 2 Target Position 607Ah sl Position Position Pos unit Position unit inc de ition Limi limit function o rnd Sua Software Position Limit 607Dh gt 2701 1 2701 2 Value Positon concn 3 E ick Stop Decelerati 085h Position Velocity Torque or Profile Deccleraiton AN Acceleration unitfl0ffinc s trajectry H gt control POP control control en i gt roses generator i Quick Stop Option Code 605Ah i or Profile Deceleraiton 6084h el A H 1 1 Interpolation Time Period 60C2h nc 1 1 1 Torque Actual Value 6077h e LLL cc ccce ccce ccce DNE A ES Een BE 1 Velocity Actual Value 606Ch Velocity unit DL a C LED A EE EECH multiplier TEE 2702 2 2702 1 Position Actual i Position Actual Value 6064h Position unit Inte
154. jects index 1C12h and 1C13h can be written only in Pre Operation state o EtherCAT Communication 6 5 6 6 6 EtherCAT Communication Setup Procedure of PDO Mapping 1 Disable the assignment of the Sync manager and PDO Set subindex 0 of object 1C12h and 1C13h to 0 Set all the mapping entry in PDO mapping objects Set object 1600h to 1603h 1A00h to 1A03h Set the number of mapping entries in PDO mapping objects Set subindex 0 of object 1600h to 1603h 1A00h to 1A03h 1C13h Enable the assignment of the Sync manager and PDO Set subindex 0 of object 1C12h and 1C13h to 1 Default PDO Mappings The following table shows the default PDO mappings for the SGDV SERVOPACK The default is defined in the EtherCAT Slave Information file XML file 1st PDO Mapping Position Velocity Torque Torque limit Touch probe 2 3 4 Set the assignment of the Sync manager and PDO Set subindex 1 of object 1C12h and 5 Touch RxPDO Controlword Target Position Target Velocity ae Toa o Guer Padding Probe 1600h 6040h 607Ah 60FFh 6071h 6072h 6060h 8bit Function 60B8h Following Mode of Touch Touch TxPDO Statusword Position Actual Value SE Error Actual Operation Padding Probe Probe 1A00h 6041h 6064h 6077h Value Display 8bit Status Value 60F4h 6061h 60B9h 60BAh 2nd PDO Mapping Cyclic synchronous Position default PDO assignment
155. k layer APWR Auto Increment Physical Write a command of EtherCAT Data link layer APRW Auto Increment Physical ReadWrite a command of EtherCAT Data link layer ARMW Auto Increment Physical Read Multiple Write a command of EtherCAT Data link layer BRD Broadcast Read a command of EtherCAT Data link layer BWR Broadcast Write a command of EtherCAT Data link layer BRW Broadcast ReadWrite a command of EtherCAT Data link layer CiA CAN in Automation CoE CANopen over EtherCAT DC Distributed Clocks Mechanism to synchronize EtherCAT slaves and master ECAT EtherCAT EEPROM Electrically Erasable Programmable Read Only Memory ESC EtherCAT Slave Controller ESM EtherCAT State Machine ETG EtherCAT Technology Group http www ethercat org EtherCAT Real time Standard for Industrial Ethernet Control Automation Technology Ethernet for Control Automation Technology FMMU Fieldbus Memory Management Unit FPRD Configured Address Physical Read a command of EtherCAT Data link layer FPWR Configured Address Physical Write a command of EtherCAT Data link layer FPRW Configured Address Physical ReadWrite a command of EtherCAT Data link layer FRMW Configured Address Physical Read Multiple Write a command of EtherCAT Data link layer 2 INIT INIT state of EtherCAT state machine LRD Logical Read a command of EtherCAT Data link layer LWR Logical Write a command of Ether CAT Data link layer 2 LRW Logical ReadWrite a command of EtherCAT Data link layer OP Operational state
156. l from CN1 25 26 output terminal Speed Coincidence Detection Signal Mapping V CMP 0 to 3 Same as COIN Servomotor Rotation Detection Signal Mapping TGON 0 to 3 Same as COIN Servo Ready Signal Mapping S RDY 0 to 3 Same as COIN 250Fh Pn50F 0000 to 3333 0100 After restart UINT Output Signal Selection 2 Ath 3rd 2nd 1st digit digit digit digit n Torque Limit Detection Signal Mapping CLT Disabled the above signal is not used Outputs the signal from CNI 1 2 output terminal Outputs the signal from CN1 23 24 output terminal Outputs the signal from CN1 25 26 output terminal Speed Limit Detection Signal Mapping VLT 0 to 3 Same as CLT Brake Signal Mapping BK 0 to 3 Same as CLT Warning Signal Mapping WARN 0 to 3 Same as CLT 5 Appendix 10 25 10 Appendik Object Facto Data Index Name Setting Range Units ory When Enabled Setting Type Pn No Output Signal Selection 3 0000 to 0033 0000 After restart UINT 4th 3rd 2nd 1st digit digit digit digit n Near Signal Mapping NEAR 0 Disabled the above signal is not used 2510h 1 Outputs the signal from CN1 1 2 terminal Pn510 2 Outputs the signal from CN1 23 24 terminal 3 Outputs the signal from CN1 25 26 terminal Reserved Do not change Reserved Do not change Reserved Do not change Input Signal Selecti
157. le the controller may not be notified W List of Warnings The following table provides a list of SERVOPACK warnings For details on causes of SERVOPACK warnings and countermeasures to take refer to 2 V series User s Man ual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 Warning Code Warning Name Meaning m Position error pulse exceeded the parameter settings 900h Position Error Pulse Overflow Pn520 x Pn51E 100 901h Position Error Pulse Overflow When the servo turns ON the position error pulses exceeded the Alarm at Servo ON parameter setting Pn526 x Pn528 100 This warning occurs before the overload alarms 710h or 720h 910h Overload occur If the warning is ignored and operation continues an overload alarm may occur Abnormal vibration at the motor speed was detected The detec 911h Vibration tion level is the same as 520h Set whether to output an alarm or warning by Vibration Detection Switch of Pn310 This warning occurs before the regenerative overload alarm 920h Regenerative Overload 320h occurs If the warning is ignored and operation contin ues a regenerative overload alarm may occur This warning occurs before Dynamic Brake Overload 731h 921h Dynamic Brake Overload alarm occurs Ifthe warning is ignored and operation continues a dynamic brake overload alarm may occur 930h Absolute Encoder Battery Error This warning occurs when the absolut
158. led Setting Type Pn No 2584h 2 Speed Limit Level at Servo ON 0 to 10000 1 mm s 10000 Immediately UINT Pn584 2585h 2 Program JOG Movement Speed 1 to 10000 1 mm s 50 Immediately UINT Pn585 2586h 2 S Motor Running Air cooling Ratio 0 to 100 1 maxvel 0 Immediately UINT Pn586 Polarity Detection for Absolute Scale 0000 to 0001 8 0000 Immediately UINT Selection 4th 3rd 2nd 1st digit digit digit digit n E Detection for Absolute Scale Selection 22 2587h Does not detect polarity Pn587 Detects polarity Reserved Do not change Do not change Reserved Do not change Reserved Do not change 2600h Depends on Regenerative Resistor Capacity SERVOPACK 10 W 0 Immediately UINT Pn600 Capacity 2 This parameter is exclusive for SERVOPACKs to be used with linear servomotors model SGDV 400085 E Appendix 10 29 10 Appendix 10 30 10 3 SDO Abort Code List The following table shows the SDO abort codes for SDO communication errors Value Meaning 0x05 03 00 00 Toggle bit not changed 0x05 04 00 00 SDO protocol timeout 0x05 04 00 01 Client Server command specifier not valid or unknown 0x05 04 00 05 Out of memory 0x06 01 00 00 Unsupported access to an object 0x06 01 00 01 Attempt to read to a write only object 0x06 01 00 02 Attempt to write to a read only object 0x06 02 00 00 The object does not exist in the object d
159. loading of SERVOPACK information was failed Gr 1 N A 0A48h GE Parameter Data The checksum in EEPROM is broken Gr 1 N A Ifan error is detected the status of EtherCAT communication changes to SAFEOP 9 1 3 Troubleshooting of the EtherCAT CoE Network Module Alarms Refer to the following table to identify the cause of an alarm and the action to be taken Contact your Yaskawa representa tive if the problem cannot be solved by the described corrective action psu Alarm Name Cause Investigative Action Corrective Action Faulty connection Check the connection between the SERVO between the SERVO Reconnect the EtherCAT PACK and the EtherCAT PACK and the EtherCAT CoE Network Module CoE Network Module CoE Network Module OEAOh Ge Fault occurred in the Repair or replace the ervo HEUSER EtherCAT CoE Net EtherCAT CoE Net work Module work Module Fault occurred in the 8 Repair or replace the SERVOPACK SERVOPACK Faulty connection Check the connection between the SERVO between the SERVO Reconnect the EtherCAT PACK and the EtherCAT PACK and the EtherCAT CoE Network Module CoE Network Module CoE Network Module OEA1h RE Lin IF Fault occurred in the Repair or replace the emory erh EITOT EtherCAT CoE Net EtherCAT CoE Net work Module work Module Fault occurred in the B Repair or replace the SERVOPACK SERVOPACK 9 6 9 1 Troubleshooting
160. locations 4 3 O Signal Allocations This section describes the 1 0 signal allocations 4 3 1 Input Signal Allocations Input signals are allocated as shown in the following table Refer to the nterpreting the Input Signal Allocation Tables and change the allocations accordingly lt Interpreting the Input Signal Allocation Tables gt The parameter set values to be used are shown Signals are allocated to CN1 pins according to the selected set values Values in cells in bold lines are the factory settings Level at which input signal allocations are valid Connection Not Required CN1 Pin Numbers SERVOPACK Input Signal Names judges the and Parameters connection Forward Run Prohibited Pn50A 3 If always ON 7 or always OFF 8 is set signals will be processed in the SERVOPACK which will eliminate the need for wiring changes Connection Not Required es CN1 Pin Numbers SERVOPACK Input Signal Names Validity Input judges the and Parameters Level Signal connection Always Always 13 7 8 9 10 11 12 ON OFE Forward Run Prohibited H P OT 0 2 3 4 6 7 8 Pn50A 3 L POT 9 A B c np EJj F Reverse Run H moro 1 gt 3 14 5 6 Prohibited 7 8 Pn50B 0 L NOT 0 AB ee Do E FF Forward External L P CL 0 1 2 3 4 5 6 Torgue Limit 7 Pn50B 2 H BCL 9 A B C D E F Rese
161. locity in the negative direc synchronous velocity mode tion Profile torque mode Cyclic In the overtravel state torque will be generated only when torque is specified in the synchronous torque mode reverse direction of the overtravel signal e g for P OT torque in the negative direction For safety when using the overtravel function monitor the Statusword object Q 6041h or OT signal status in Digital Inputs at the host controller and use the Halt command Controlword bit 8 1 to stop the motor if overtravel occurs Do not output IMPORTANT any other commands until the motor stops After the motor stops perform a reset operation If the OT signal status changes within a short period the host controller may not monitor the change of the OT signal Be sure to correctly select install and wire the limit switch to prevent chattering malfunction and other problems 5 7 6 EtherCAT Communication 6 1 CANopen over EtherCAT Device Architecture 6 2 6 2 EtherCAT Slave Information 6 3 6 3 EtherCAT State Machine 6 4 6 4 PDO Mapping 6 5 6 5 Synchronization with Distributed Clocks 6 7 6 6 Emergency Messages 6 9 o EtherCAT Communication 6 EtherCAT Communication 6 1 CANopen over Ether
162. lowing points while performing in step 6 Check whether the motor is moving to the reference direction If motor is moving to reverse direction to the reference then change the setting of servomotor direction rotation Check to make sure that there is no abnormal vibration noise or heating If any abnormality is found refer to 9 3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomo tor to clear the problem Operation Use PDO for objects that are PDO mapped The values will not be changed even if SDO is changed For details on PDO mapping refer to 6 4 PDO Mapping 5 3 5 4 5 Operation 5 3 Test Without Motor Function The test without motor function is used to check the operation ofthe hostand peripheral devices by simulating the operation of the motor in the SERVOPACK i e without actually operating the motor This function enables checking wiring and verifying the system and parameters when errors occur while debugging the sys tem thus shortening the time required for setup work and preventing damage to the equipment that may result from possible malfunctions The operation of the motor can be checked during performing this function regardless of whether the motor is actually connected or not For details refer to 4 3 Test Without Motor Function in 2 V series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 SERVOPACK El Refere
163. lse 24 Homing on the home switch Same homing as Method 8 without an index pulse 28 Homing on the home switch Same homing as Method 12 without an index pulse 33 34 Homing on index pulse 35 Homing on the current position 8 32 8 8 Homing Mode 3 Homing Speeds 6099h This object entries define the speeds used during homing and is given in user velocity units PDO Index Sub Name Data Type Access Manni Value EEPROM apping O Number of entries USINT RO No 2 No 0 to 4294967295 1 Speed during search for switch UDINT RW Yes Default 500000 Yes 6099h Vel unit 0 to 4294967295 2 Speed during search for zero UDINT RW Yes Default 100000 Yes Vel unit 4 Homing Acceleration 609Ah This object specifies the acceleration and deceleration for homing in user defined acceleration reference units PDO Index Sub Name Data Type Access Value EEPROM Mapping 0 to 4294967295 609Ah O Homing Acceleration UDINT RW Yes Default 1000 Yes Acc unit a Object Dictionary 8 33 8 Object Dictionary 8 9 Position Control Function Position Demand Value 6062h This object provides the demanded position value in user position units 1 Index Sub Name Data Type Access PDO Value EEPROM Mapping 6062h O Position Demand Value DINT RO Yes Pos unit No 2 Position Actual Internal
164. m cycle time UDINT RO No No 62500 6 Calc and copy time UDINT RO No No 62500 7 Reserved UDINT RO No No 0 8 Reserved UINT RO No No 0 x 9 Delay time UDINT RO No No 0 E 8 10 Sync0 cycle time UDINT RO No No 1F01h Sync Error Settings 0 Number of entries USINT RO No No 2 1 Reserved UDINT RO No No 0 ES 2 Sync error count limit UDINT RW No No 9 0 15 PnCCC 7 x 00h 0 SERVOPACK Parameter 8 8 8 8 8 7 Radon 26FFh Enodis ENGER Pn6FF 2700h 0 Keess UDINT RW No No 0 0 OxFFFFFFFF PnB00 Write Save into the object 1010 h The current parameter data will be saved as a batch in the EEPROM If the objects are modified by the digital operator or SigmaWin the data will be directly stored in the EEPROM 2 Pn No is the number of the parameter used for the digital operator and SigmaWin E Appendix 10 5 10 6 10 Appendix Sub Data PDO EEPROM Default E RES A Index ES Name Type Access Mapping 2 Value Lower Limit Upper Limit Unit Pn No 2701h Position User Unit O Number of entries USINT RO No No 2 1 Numerator UDINT RW No Yes 1 1 1073741823 PnB02 2 Denominator UDINT RW No Yes 1 1 1073741823 PnB04 2702h
165. mbol would be used to indicate that fire is prohibited as follows E Indicates compulsory actions that must be performed For ekample this Q MAN DATO RY symbol would be used as follows to indicate that grounding is compulsory vi Safety Precautions These safety precautions are very important Read them before performing any procedures such as checking products on delivery storage and transportation installation wiring Operation and inspection or disposal Be sure to always observe these precautions thoroughly N WARNING og Never touch any rotating motor parts while the motor is running Failure to observe this warning may result in injury Before starting operation with a machine connected make sure that an emergency stop can be applied at any time Failure to observe this warning may result in injury or damage to the product Never touch the inside of the SERVOPACKs Failure to observe this warning may result in electric shock Do not remove the cover of the power supply terminal block while the power is ON Failure to observe this warning may result in electric shock After the power is turned OFF or after a voltage resistance test do not touch terminals while the charge indicator is ON Residual voltage may cause electric shock Follow the procedures and instructions provided in this manual for trial operation Failure to do so may result not only in faulty operation and damage to equipment bu
166. ming safety and then resume operation Failure to observe this caution may result in damage to the product fire or injury Do not use the brake of the servomotor for braking Failure to observe this caution may result in malfunction An alarm or warning may be generated if communications are executed with the host controller dur ing operation using SigmaWin or the digital operator If an alarm or warning is generated the process currently being executed may be aborted and the system may stop B Maintenance and Inspection N CAUTION Do not disassemble the SERVOPACK Failure to observe this caution may result in electric shock or injury Do not change wiring while the power is ON Failure to observe this caution may result in electric shock or injury When replacing the SERVOPACK resume operation only after copying the previous SERVOPACK parameters to the new SERVOPACK Failure to observe this caution may result in damage to the product B Disposal N CAUTION When disposing of the products treat them as ordinary industrial waste B General Precautions Observe the following general precautions to ensure safe application The products shown in illustrations in this manual are sometimes shown without covers or protective guards Always replace the cover or protective guard as specified first and then operate the products in accordance with the manual The
167. must be no longer than 50 m and control power supply cables for the SERVOPACK with a 400 V power supply 24 V 0 V must be no longer than 10 m Do not touch the power terminals while the charge indicator is ON after turning power OFF because high voltage may still remain in the SERVOPACK Make sure the charge indicator is off first before starting an inspection Observe the following precautions when wiring main circuit terminal blocks of the SERVOPACK Remove the detachable main circuit terminal blocks from the SERVOPACK prior to wiring Insert only one main power line per opening in the main circuit terminals Make sure that no part of the core wire comes into contact with 1 e short circuit adjacent wires Install a battery at either the host controller or the SERVOPACK but not both It is dangerous to install batteries at both ends simultaneously because that sets up a loop circuit between the batteries Always use the specified power supply voltage An incorrect voltage may result in fire or malfunction Take appropriate measures to ensure that the input power supply is supplied within the specified voltage fluctuation range Be particularly careful in places where the power supply is unstable An incorrect power supply may result in damage to the product Install external breakers or other safety devices against short circuiting in external wiring Failure to observe this caution may result in fire Take appropriate and su
168. nce EA Reference g x Response fg B Related Parameters 5 4 without motor The following parameters are used for the test without motor Simulates the operation Object Index Meaning Wien Pn No Enabled n OOOO Disables the test without motor Factory setting n0001 Enables the test without motor n0000 Sets 13 bits as encoder resolution for the test without motor Factory setting er n0010 Sets 20 bits as encoder resolution for the test without motor After restart n Bonn ao E as encoder type for the test without motor n 0100 Sets absolute encoder as encoder type for the test without motor External encoders such as encoders for fully closed loop control are used as incremental encoders Limiting Torque The SERVOPACK provides the following four methods for limiting output torque to protect the machine Each method uses the set minimum torque to limit the output Limiting Method Reference Objects Parameters 4 4 1 Internal Torque Limit in 2 V series Torque limited by parameter setting User s Manual Design and Maintenance Object 2402h Pn402 only Rotational Motor Command Option Object 2403h Pn403 Attachable Type SIEP S800000 60 4 4 2 External Torque Limit in EH series Torque limit set by parameter enabled User s Manual Design and Maintenance Object 2404h Pn404 by I O input signal Rotational Motor Command
169. nd Functions 4 3 4 2 2 O Signal Connector CN 1 Terminal Layout 4 4 4 2 3 Example of I O Signal Connections 4 5 4 3 I O Signal Allocations 4 6 4 3 1 Input Signal Allocations 4 6 4 3 2 Output Signal Allocations 4 6 4 4 Connection Example of EtherCAT Communication 4 9 4 4 1 Connection Example EIA KA a Ta aa Wa a KG a a E AI 4 9 4 4 2 EtherCAT Connector RJ45 4 9 4 4 3 Ethernet Cabl IA ocu aer pero A sk des kaa 4 10 4 4 4 EtherCAT Secondary Address Settings 4 10 xiii xiv Chapter EI On vs EE 5 1 5 1 Settings for Common Basic Functions 5 2 5 2 rial Operation sus Eius Ba tee Pee ae nep b E Poste t P BENG AEST dg 5 3 5 2 1 Inspection before Trial Operation 5 3 5 2 2 Trial Operation via EtherCAT CoE Communication 5 3 5 3 Test Without Motor Function 5 4 D4 Limiting Ree EP rm 5 4 5 5 Absolute Encoders vais ieren valle ca Ka a Bk BN seed dened Pen a 5 5 5 6 Safety Function EE 5 6 5 f COVER AV Ol iia AA Ee Aa AOE Ta ee AA 5 7 Chapter o
170. ne or near a high current line Check if the machines are correctly grounded Check if there is noise interference on the input output signal line from the encoder Check if vibration from the machine occurred or servomotor installation is incorrect mounting surface accu racy fixing alignment etc Correct the parameter setting Replace the SERVOPACK and lighten the load To prevent the resistor from being disconnected take measures to reduce the load Replace the SERVOPACK Reduce the load so that the moment of inertia ratio becomes within the allowable value or increase the load level or lower the tuning level for the tuning less level setting Fn200 Tighten the mounting screws Align the couplings Balance the couplings Replace the servomotor Contact the machine manufacturer Use the specified input signal wires The input output cable length must be no more than 3 m Use the specified encoder cable The encoder cable must be no more than 20 m Replace the encoder cable and mod ify the encoder cable layout Correct the encoder cable layout so that no surge is applied Ground machines correctly and prevent diversion to the FG at the PG side Take measures against noise in the encoder wiring Reduce vibration from the machine or secure the servomotor installa tion Replace the servomotor 9 3 Troubleshooting Malfunction Based on Operation and Conditions of the
171. ned PDOs USINT RW No Yes 1 0 2 PnCB5 1 Index of assigned RxPDO 1 UINT RW No Yes 0x1601 0x1600 0x1603 PnCB6 2 Index of assigned RxPDO 2 UINT RW No Yes 0x1600 0x1600 0x1603 x PnCB7 1C13h Sync Manager PDO Assignment3 0 Number of assigned PDOs USINT RW No Yes 1 0 2 PnCBB 1 Index of assigned TxPDO 1 UINT RW No Yes Ox1A01 0x1A00 0x1A03 PnCBC 2 Index of assigned TxPDO 2 UINT RW No Yes 0x1A00 0x1A00 0x1A03 PnCBD 1C32h Sync Manager 2 process data output Synchronization 0 a synchronization USINT RO No No 10 1 Synchronization type UINT RO No No z x PnCCO 2 Cycle time UDINT RO No No SS PnCC2 3 Shift time UDINT RO No No 125000 PnCC4 4 a m types UINT RO No No 0x0005 5 Minimum cycle time UDINT RO No No 62500 SS 6 Calc and copy time UDINT RO No No 62500 7 Reserved UDINT RO No No 0 8 Reserved UINT RO No No 0 E 9 Delay time UDINT RO No No 0 10 Sync0 cycle time UDINT RO No No PnCC6 11 Reserved UDINT RO No No 0 12 SM2 event miss count UDINT RO No No PnCC8 1C33h Sync Manager 3 process data input Synchronization 0 mn synchronization USINT RO No No 10 1 Synchronization type UINT RO No No 2 Cycle time UDINT RO No No Sync0 3 Shift time UDINT RW No Yes 0 0 event cycle PnCCA 125000 4 aa types UINT RO No No 0x0025 5 Minimu
172. nfiguration UDINT RW No DEE No Default 0 E Procedure 1 Change FSA state to Switch on Disabled 2 Setnew parameter setting value 3 Set object 2700h to 1 for activating the new user settings When processing is completed the value of object 2700h is reset to 0 3 Position User Unit 2701h This object sets the user defined position reference unit Pos unit The user defined position reference unit is calculated by the following formula 1 Pos unit Numerator Denominator inc PDO Index Sub Name Data Type Access Value EEPROM Mapping O Number of entries USINT RO No 2 No to 1073741823 2701h 1 Numerator UDINT RW No Default 1 Yes to 1073741823 2 Denominator UDINT RW No Default 1 Yes Available value range 1 4096 Numerator Denominator 4096 Alarm A A20 is detected when the setting value exceeds it le Object Dictionary 8 15 8 16 8 Object Dictionary 4 Velocity User Unit 2702h This object sets the user defined velocity reference unit Vel unit The user defined velocity reference unit is calculated by the following formula 1 Vel unit Numerator Denominator inc sec Index Sub Name Data Type Access PD Value EEPROM Mapping O Number of entries USINT RO No 2 No 1 to 1073741823 2702h 1 Numerator UDINT RW No Default 1 Yes lt 1 to 1073741823 2 Denominator UDINT RW No Default
173. nications Error Timer Timer for communications with the feedback option module Grl N A is faulty stop do0h Position Error Pulse Overflow Position error pulses exceeded parameter Pn520 Gr 1 Available Position Error Pulse Overflow e d01h Alarm at Servo ON Position error pulses accumulated too much Gr 1 Available After a position error pulse has been input Pn529 limits the d02h Alarm by Speed Limit at Servo TC SPS T gt Boss po Gr 2 Available ON references are input and the number of position error pulses exceeds the value set for parameter Pn520 Excessive Posi tion Error Alarm Level Motor load Position Error Position error between motor and load is excessive when 3 d10h Pulse Overflow fully closed position control is used One Available d30h 1 Position Data Overflow The position data exceeded 41879048 192 Gr 1 N A 9 1 Troubleshooting Servomotor Alarm A Alarm Alarm Name Meaning Stop Code Method Reset E00h Command Option Module IF Communications initialization failed between the SERVO Gr2 Available Initialization Timeout Error PACK and the command option module Command Option Module IF A synchronization error occurred between the SERVOPACK BUZI Synchronization Error 1 and the command option module SS CR E03h Command Option Module IF An error occurred in the data of communications between Grl Availabi Communications Data Error the SERVOPACK and the command opt
174. nnection 4 1 4 Wiring and Connection 4 1 System Configuration Diagram B Connecting to SGDV OOOOE1A SERVOPACK Power supply Three phase 200 VAC RST Molded case circuit breaker MCCB Protects the power supply line by shutting the circuit OFF when overcurrent is detected SGDV OOOOE1A Noise filter SERVOPACK Used to eliminate external noise from the power line O ga p Magnetic y Y in contactor e Turns the servo ON and OFF Install a surge D E absorber Regenerative resistor 2 200 VAC Brake power supply Used for a servomotor with a brake Magnetic contactor Turns the brake power supply ON and OFF Install a surge absorber Battery case when an absolute encoder is used Digital operator Connection cable for digital operator Personal To computer Connect to the EtherCAT supported devices Connection cable for personal computer I O signal cable C b External LED indicator external device etc When not using the safety function use the SERVOPACK with the safety function jumper connector JZSP CVHO5 E provided as an accessory inserted t When using the safety function
175. nor Version The major version identifies a specific CANopen over EtherCAT CoE behavior If the CoE functionality is expanded the major version has to be increased The minor version number identifies different versions with the same behavior 3 Serial number is not used always 0 le Object Dictionary 8 8 8 Object Dictionary 8 3 PDO Mapping Objects The CANopen over EtherCAT protocol allows the user to map objects into Process Data Objects PDOs to use these PDOS for real time data transfer PDO Mapping configuration defines which objects in a PDO will include Each Mapping entry Sub Index 1 to 8 is defined as follows Bit 31 1615 8 7 0 Object index Sub Index Length Bit 0 7 Length of the mapped objects in bits for a gap in a PDO shall have the bit length of the gap Bit 8 15 Sub index of the mapped object 0 in case of a gap in a PDO Bit 16 31 Index of the mapped object for a gap in a PDO shall be zero PDO mapping objects can be changed only in the EtherCAT Pre Operational state Mapping entries Sub Index 1 8 has to be set after Sub Index 0 was written to 0 1 Receive PDO Mapping 1600h to 1603h B ist Receive PDO Mapping PDO Mapping Value EEPROM Index Sub Name Data Type Access e e Oto 8 O Number of objects in this PDO USINT RW No Default 8 Yes Oto OXFFFFFFFF 1 Mapping entry 1 UDINT RW No Default Yes 0x60400010 Oto OXFFFFFFFF 2 M
176. ns Forward run prohibited P OT reverse run prohibited N OT probe 1 be allocated latch signal SI4 probe 2 latch signal SIS home switch input signal SI6 general purpose input signal SIO SIB VO Signals Fixed Output Servo alarm ALM Number of 3 ch 1 S Channels WEE utpu TT Signals The signal allocation and positive negative logic can be modified P which can Positioning completion COIN speed coincidence detection V CMP be allocated Functions servomotor rotation detection TGON servo ready S RDY torque limit detection CLT speed limit detection VLT brake BK warning WARN near NEAR D Specifications 2 5 2 6 2 Specifications 2 3 2 Communication Specifications 2 3 2 Communication Specifications EtherCAT Communication Applicable Communication Standards IEC 61158 Type12 IEC 61800 7 CiA402 Drive Profile Physical Layer 100BASE TX IEEE802 3 Fieldbus Connection CNI1A RJ45 EtherCAT Signal IN CN11B RJ45 EtherCAT Signal OUT CATS STP 4 pair Gable Note Cables are automatically recognized by the AUTO MDIX function E EE SMO Mailbox output SM1 Mailbox input y 9 SM2 Process data outputs SM3 Process data inputs FMMUO Mapped to the process data output RxPDO area FMMU FMMU Mapped to the process data input TxPDO area FMMU2 Mapped to the mailbox status EtherCAT Commands Data Link Layer APRD FPRD BRD LRD
177. o 0x00020192 1001h 0 Error Register USINT RO No No 1008h 0 Manufacturer Device Name STRING RO No No 100Ah o Manufacturer Software STRING RO No No z z 1010h Store Parameters 0 Largest subindex supported USINT RO No No 4 T 1 Save all parameters UDINT RW No No 0x00000001 0x00000000 OXFFFFFFFF PnC00 5 2 du ka UDINT RW No No 0x00000001 0x00000000 0xFFFFFFFF Pnc02 3 Save application parameters UDINT RW No No 0x00000001 0x00000000 OxFFFFFFFF Pnco4 3 4 ae defined UDNT RW No No 0x00000001 0x00000000 OxFFFFFFFF PnC06 1011h Restore Default Parameters 0 Largest subindex supported USINT RO No No 4 1 pa a dean UDINT RW No No 0x00000001 0x00000000 OxFFFFFFFF PnC08 2 d de UDINT RW No No 0x00000001 0x00000000 OxFFFFFFFF pncoA 3 3 Ta E default UDNT RW No No 0x00000001 0x00000000 OxFFFFFFFF PnC0C 4 Reso E UDINT RW No No 0x00000001 0x00000000 OxFFFFFFFF PnCOE 1018h Identity Object 0 Number of entries USINT RO No No 4 1 Vendor ID UDINT RO No No 0x539 2 Product code UDINT RO No No 0x0220000 4 3 Revision number UDINT RO No No 4 Serial number UDINT RO No No 0 1600h Ist Receive PDO Mapping 0 Dumba ofobjectsinthis gmt rw No Yes 8 0 8 PnCAO 1 Mapping entry 1 UDINT RW No Yes 0x60400010 0 OxFFFFFF
178. odels that are base mounted models that are rack mounted and models that are duct ventilated In any case mount the SERVOPACK with a vertical orientation Firmly secure the SERVOPACK to the mounting surface using either two or four mounting holes depending on the SERVOPACK capacity Base mounted A E e as 1 Rack mounted Air flow WOOO ZA ONIS Duct ventilated tt 7 Duct e o A ji T p d OI MU Air flow n SERVOPACK Installation 3 4 3 SERVOPACK Installation 3 2 2 Installation Standards 3 2 2 Installation Standards Observe the standards for mounting SERVOPACKs in control panels including those for the mounting SER VOPACKs side by side in one control panel as shown in the following illustration e SERVOPACK Mounting Orientation Mount the SERVOPACK vertically to the wall with the front panel the side with the panel operator display facing out Cooling Refer to the following diagram and leave sufficient space for cooling by fans and natural convection Mounting SERVOPACKs Side by Side in a Control Panel Fan Fan
179. ofile position mode Bit Function Value Definition 0 Target position is an absolute value 6 Abs rel 1 Target position is a relative value 0 Positioning is executed or continued 8 Halt 1 Stop axis according to halt option code 605Dh Bit 4 5 6 8 and 9 for the controlling of Homing mode Bit Function Value Definition Homing operation 0 Do not start homing procedure start 1 Start or continue homing procedure 0 Reserved 6 0 Reserved 8 E 0 Enable bit 4 1 Stop azis according to halt option code 605Dh 9 0 Reserved Bit 4 5 6 8 and 9 for the controlling of Cyclic synchronous position velocity torque mode Bit Function Value Definition 4 0 Reserved 0 Reserved 0 Reserved 0 The motion is executed or continued 8 Halt 1 Stop axis according to halt option code 605Dh 9 0 Reserved Bit 4 5 6 8 and 9 for the controlling of Interpolated position mode Bit Function Value Definition 4 Enable 0 Disable interpolation interpolation 1 Enable interpolation 0 Reserved 0 Reserved A P 0 Execute instruction of bit 4 1 Stop axis according to halt option code 605Dh 9 0 Reserved 8 22 8 6 Device Control Bit 4 5 6 8 and 9 for the controlling of Profile velocity torque mode Bit Function Value Definition 0 Reserved 5 0 Reserved
180. om entering the product Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire Be sure to install the product in the correct direction Failure to observe this caution may result in malfunction Provide the specified clearances between the SERVOPACK and the control panel or with other devices Failure to observe this caution may result in fire or malfunction Do not apply any strong impact Failure to observe this caution may result in malfunction vii viii B Wiring N CAUTION Be sure to wire correctly and securely Failure to observe this caution may result in motor overrun injury or malfunction Do not connect a commercial power supply to the U V or W terminals for the servomotor connec tion Failure to observe this caution may result in injury or fire Securely connect the main circuit power supply terminal screws control power supply terminal screws and servomotor connection terminal screws Failure to observe this caution may result in fire Do not bundle or run the main circuit cables together with the input output signal cables or the encoder cables in the same duct Keep them separated by at least 30 cm Failure to do so may result in malfunction Use shielded twisted pair wires or multi core shielded twisted pair wires for input output signal cables and the encoder cables I O signal cables must be no longer than 3 m encoder cables
181. ommand normally status field will be returned to 1 If an error occurs carry out the operation in step 4 to abort execution Send the following data to execute adjustment CCMD 0001H CADDRESS 2001H CSIZE 0002H CDATA 0001H When the slave station receives the command normally status field will be returned to 1 If an error occurs carry out the operation in step 4 to abort execution Send the following data to abort the execution CCMD 0001H CADDRESS 2000H CSIZE 0002H CDATA 0000H When the slave station receives the command normally status field will be returned to 1 Note If no command can be received in 10 seconds after step1 adjustment operation will be automatically aborted 8 6 Device Control 1 Error Code 603Fh 8 6 Device Control This provides the SGDV SERVOPACK s alarm warning code of the last error which occurred in device PDO Index Sub Name Data Type Access Mapping Value EEPROM 603Fh O0 Error Code UINT RO Yes 0 No 2 Controlword 6040h The Controlword consists of bits for the controlling of the drive state the controlling of operating modes and manufacturer specific options PDO Index Sub Name Data Type Access Mapping Value EEPROM 0 to OXFFFF 6040h O Controlword UINT RW Yes Default 0 No B Controlword Bits Bit No Function Description 0 Switch on 1 Enable volt
182. on 5 0000 to FFFF 6543 After restart UINT 4th 3rd 2nd 1st digit digit digit digit n Reserved Do not change Input Signal Mapping for Probe1 SI4 4 Inputs the signal from CNI 10 input terminal 5 Inputs the signal from CNI 11 input terminal Inputs the signal from CNI 12 input terminal 2511h Sets signal ON Pn511 Inputs the reverse signal from CN1 10 input terminal 6 7 8 Sets signal OFF D E Inputs the reverse signal from CNI 11 input terminal F Inputs the reverse signal from CNI 12 input terminal E io 2 Sets signal OFF Input Signal Mapping for Probe2 SI5 0 to F Same as Probel signal mapping Input Signal Mapping for Home SI6 OtoF Same as Probel signal mapping 10 26 10 2 SERVOPACK Parameter S Object Factor Data Index Name Setting Range Units Setti Y When Enabled T Pn No rds ype Output Signal Inverse Setting 0000 to 0111 0000 After restart UINT Ath 3rd 2nd 1st digit digit digit digit n Output Signal Inversion for CN1 1 or 2 Terminals 0 Does not inverse outputs 1 Inverses outputs 2512h Pn512 Output Signal Inversion for CN1 23 or 24 Terminals 0 Does not inverse outputs 1 Inverses outputs Output Signal Inversion for CN1 25 or 26 Terminals 0 Does not inverse outputs 1 Inverses outputs Reserved Do not change 1 251Bh Excessive Error Level Between Servo 1 to 10737418
183. on Environment and Applicable Standards 3 2 3 1 1 Installation Environment 3 2 3 1 2 Installation Conditions for Applicable Standards 3 2 3 2 SERVOPACK Installation 3 3 3 2 1 Orientation Sei AAA EEN episc E ede dace a Roble de 3 3 3 2 2 Installation Standards 3 4 3 3 EMC Installation Conditions 3 5 n SERVOPACK Installation 3 2 3 SERVOPACK Installation 3 1 1 Installation Environment 3 1 3 1 1 3 1 2 SERVOPACK Installation Environment and Applicable Standards SERVOPACK installation environment and applicable standards are as follows Installation Environment Surrounding air temperature 0 to 55 C Ambient humidity 90 RH or less with no condensation Altitude 1 000 m or less Vibration resistance 4 9 m s Shock resistance 19 6 m s Installation Precautions Mounting in a Control Panel To prevent the temperature around the SERVOPACK from exceeding 55 C take into account the size of the control panel the layout of the SERVOPACK and the cooling method For details refer to 3 2 SERVOPACK Installation Mounting Near a Heating Unit To prevent the temperature around the SERVOPACK from exceeding 55 C suppress radiant heat from the heating unit and temperature rise due to convection Mounting Near a Vi
184. on data Encoder 20 bits 1048576 inc Degree of rotary table movement for each rotation of the load shaft 360 deg Deceleration ratio 3 1 one load shaft rotation per three motor shaft rotations Setting Position User Unit 2701h Number of encoder increments per one user defined position reference unit Encoder resolution x Deceleration ratio inc Movement amount per one rotation of load shaft Pos unit _ 1048576 inc x 3 1 360 deg 0 001 deg 3145728 tinc 360000 Therefore the object is set as follows Object 2701h 01 Nominator 3145728 Object 2701h 02 Denominator 360000 Velocity User Unit 2702h By converting one user defined velocity reference unit 1 deg s into inc s 1 Vel unit _ 1048576 inc x 3 1 360 deg x 1 deg s 3145728 pech 360 Therefore the object is set as follows Object 2702h 01 Nominator 3145728 Object 2702h 02 Denominator 360 Acceleration User Unit 2703h By converting one user defined acceleration reference unit into inc s 1 Acc unit _ 1048576 inc x 3 1 360 deg _ 3145728 360 x 10 Therefore the object is set as follows Object 2703h 01 Nominator 3145728 Object 2703h 02 Denominator 3600000 x 1 deg s x 104 10 inc s 8 18 7 SERVOPACK Adjusting Command 2710h 8 5 Manufacturer Specific Objects This object should be used for SERVOPACK adjusting services e g Encoder setup Multi
185. on value of the touch probe 2 The value is given in user position units PDO Index Sub Name Data Type Access Mapping Value EEPROM 60BCh O Touch Probe 2 Position Value DINT RO Yes Pos unit No 8 42 8 16 Digital Inputs Outputs 8 16 Digital Inputs Outputs 1 Digital Inputs 60FDh This object indicates the digital inputs state of CN1 of the SGDV SERVOPACK Index Sub Name Data Type Access PDO Value EEPROM Mapping 60FDh 0 Digital Inputs UDINT RO Yes No B Data Description Bit Signal Description 0 N OT Negative limit switch 0 Switched off 1 Switched on 1 P OT Positive limit switch 0 Switched off 1 Switched on 2 Home switch 0 Switched off 1 Switched on 3 to 15 Reserved ES 0 Switched off Open 16 SI0 CN1 13pin 1 Switched on Close mpm 0 Switched off Open T SEELEN 1 Switched on Close BE 0 Switched off Open 18 SI2 CN1 8pin 1 Switched on Close e Oni 0 Switched off Open 19 SI3 CN1 9pin 1 Switched on Close 0 Switched off Open 20 S14 CN1 10pin 1 Switched on Close BTS 0 Switched off Open 21 Sis stp 1 Switched on Close SCH 0 Switched off Open E SI6 CN1 12pin 1 Switched on Close 23 Reserved Hardwired base block signal input 1 24 RER 0 Open 1 Close Hardwired base block signal input 2 25 SE 0 Open 1 Close 26 to 31 Reserved
186. ooting Malfunction Based on Operation and Conditions OF the Servomlotor Eege A EE 9 11 Chapter Aere re EE 10 1 10 1 ObjectLiStio ria riadas 10 2 10 2 SERVOPACK Parameters 10 9 10 3 SDO Abort Code st 10 30 ake A Ee Index 1 Revision History KV 1 LL T Checking Products This chapter describes how to check products upon delivery 1 1 Checking Products on Delivery 1 2 1 2 Nameplate and Model Designation 1 2 1 3 Nameplate Location 1 3 Checking Products 1 1 1 Checking Products 1 1 Checking Products on Delivery 1 When the EtherCAT CoE Network Module is Not Connected to the SERVOPACK 1 Mount the EtherCAT CoE Network Module to the SERVOPACK as described in the enclosed 2 V Series Command Option Module Installation Guide TOBP C720829 01 For the location of the nameplate refer to 1 3 Nameplate Location 2 Check the nameplate to confirm that the product is the one that was ordered For the nameplate refer to 1 2 Nameplate and Model Designation 2 When the EtherCAT CoE Network Module is Connected to the SERVOPACK Check the nameplate to confirm that the Module that is mounted is the EtherCAT CoE Network Module The nameplate is located in the following position
187. ord 1 Axis decelerates 10 Target reached 4 Halt Bit 8 in Controlword 0 Target reached Halt Bit 8 in Controlword 1 Velocity of axis is 0 0 Speed is not equal 0 12 Speed 1 Speed is equal 0 13 0 Reserved Bit 10 12 and 13 for Profile torque mode Bit Status Value Definition 0 Halt Bit 8 in Controlword 0 Target torque not reached Halt Bit 8 in Controlword 1 Axis decelerates 10 Target reached 4 Halt Bit 8 in Controlword 0 Target torque reached Halt Bit 8 in Controlword 1 Velocity of axis is 0 12 Reserved 13 Reserved 4 Quick Stop Option Code 605Ah The parameter guick stop option code determines what action should be taken if the Ouick Stop function is executed PDO Index Sub Name Data Type Access R Value EEPROM Mapping e F 0to4 605Ah 0 Quick Stop Option Code INT RW No Default 2 Yes B Data Description Value Data Description 0 Disable drive function transit into Switch On Disabled 1 Slow down on slow down ramp and transit into Switch On Disabled Y 2 Slow down on quick stop ramp and transit into Switch On Disabled 3 Slow down on the torque limit and transit into Switch On Disabled zl The drive always stops by option code 0 switch off the drive power stage in Profile Torque and Cyclic Torque mode 2 The slow down deceleration is defined as the following object Profile Pos
188. plicable Standards W North American Safety Standards UL Uus WAN LISTED M UL Standards So UL File No SERVOPACK SGDV ULSOSC E147823 SGMIV lt SGMAV Servomotor SGMPS UL1004 E165827 SGMGV lt SGMSV Underwriters Laboratories Inc Note Applicable when the EtherCAT CoE Network Module is attached to the SERVOPACKs for the command option attachable type B European Standards Model Low Voltage EMC Directive Safety Directive EMI EMS Standards EN55011 A2 EN50178 EN61800 3 EN954 1 Gel SODY EN61800 5 1 SUP class A EN61000 6 2 IEC61508 1 to 4 EN61800 3 RSC 1EC60034 1 SGMAV SG IEC60034 5 E EN61800 3 Servomotor SGMPS group 1 class A 1EC60034 8 Seu EN61000 6 2 SGMGV 1EC60034 9 e SGMSV Note 1 Because SERVOPACKs and servomotors are built into machines certification is required after installation in the final product 2 Applicable when the EtherCAT CoE Network Module is attached to SERVOPACKs for the command option attachable type xii CONTENTS About this Manual mii AA EA iii Safety Precautions ta A A A UIN Saas eee vi El CIE xi Applicable Standards xii Chapter I Checking Pro EE 1 1 1 1 Checking Products on Delivery 1 2 1 2 Nameplate and Model Designation 1 2 1 3 Nameplate Location
189. r FMMU and Sync Manager have to configure as follows Sync Manager Settings 6 2 Sync Manager Assignment Fixed Size Start Address Fixed Sync Manager 0 Assigned to Receive Mailbox 128byte fixed 0x1000 Sync Manager 1 Assigned to Transmit Mailbox 128byte fixed 0x1080 Sync Manager 2 Assigned to Receive PDO 0 to 200byte 0x1100 Sync Manager 3 Assigned to Transmit PDO 0 to 200byte 0x1358 FMMU Settings FMMU Settings FMMU 0 Mapped to Receive PDO FMMU 1 Mapped to Transmit PDO FMMU 2 Mapped to Fill Status of Transmit Mailbox 6 2 6 2 EtherCAT Slave Information EtherCAT Slave Information The EtherCAT Slave Information file KML file is available for configuring the EtherCAT master The KML based file contains general information about EtherCAT communication settings when setting the SGDV SERVOPACK The following two files are provided for the SGDV SERVOPACK For Rotary drive SGDV E Yaskawa_SGDV El_CoE xml For Linear drive SGDV E5 Yaskawa_SGDV E5_CoE xml o EtherCAT Communication 6 3 6 4 6 EtherCAT Communication 6 3 EtherCAT State Machine The EtherCAT State Machine ESM is responsible for the coordination of master and slave applications at start up and during operation State changes are typically initiated by reguests of the master The states of the EtherCAT State Machine are as follows Power ON gt Ol
190. ration Option Code 605Ch 8 26 distributed clocks 2 6 drive profile 2 6 7 2 duct ventilated 3 3 E EMC directive xii 3 2 EMC installation conditions 3 5 emergency messages 6 9 Error Code 603Fh 8 21 EtherCAT CoE Network Module alarm M t Eeer een Siete Sede 9 6 communication specifications 2 6 general specifications 2 5 model designation 1 3 nameplate 122 part names 2 7 EtherCAT commands 2 6 EtherCAT communication 2 6 connection example 4 9 connector 4 9 Ethernet cable 4 10 EtherCAT communication port Input 27 EtherCAT communication port Output 2 7 EtherCAT connector 4 9 EtherCAT secondary address 2 7 4 10 EtherCAT state machine 6 4 Ethernet cable 4 10 event cycle time 8 13 receiv
191. rget Position and the Position Actual Value became within the value of object 6067h the bit 10 Target reached of Statusword is set to 1 PDO Index Sub Name Data Type Access Mappi Value EEPROM apping m 0 to 65535 6068h O Position Window Time UINT RW No Default 0 ms Yes a Object Dictionary 8 35 8 36 8 Object Dictionary 8 10 Interpolated Position Mode 1 Interpolation Data Record 60C1h This object represents the interpolation position reference in Interpolated Position mode PDO Index Sub Name Data Type Access SG Value EEPROM apping O Number of entries USINT RO No 1 No 60C1h 2147483648 to 1 Interpolation data record DINT RW Yes 2147483647 No Default 0 Pos unit 2 Interpolation Time Period 60C2h This object defines the update cycle of the interpolated position reference If DC Sync0 mode is selected the interpolation time period value is automatically stored as the SyncO cycle time If DC Free run mode is selected the interpolation time period has to be set by the master as the master appli cation cycle time This object can be changed only in Switch on Disabled state PDO Index Sub Name Data Type Access Mashi Value EEPROM apping O Highest sub index supported USINT RO No 2 No 60C2h 1 Interpolation time period USINT RW No 1 to 250 Default 125 No 2 Interpolation time index SINT RW No 6 to Default 3 No
192. rnal Value 6063h ASAS AAA e 7 multiplier e 4 1 2701 2 2701 1 i Position Demand i Following Error Actual Value 60F4h Value 6062h Position unit H Serenan ana man eege an mg aan ae wai hai maan wa ma ani bi mah BA Ja multiplier E Following Error Window Time Out 6066h 2701 2 2701 1 Following Error in Fdo _Statusword 6041h Faliowing Wind ollowing error AS Tine be 477 Window P B Related Objects Index Sub Name Access PDO Units Type Mapping 607Ah Target Position RW Yes Pos units DINT Software Position Limit 607Dh 1 Min position limit RW No Pos units DINT 2 Max position limit RW No Pos units DINT 6084h Profile Deceleration RW Yes Acc units UDINT 6085h Quick Stop Deceleration RW Yes Acc units UDINT 60B1h Velocity Offset RW Yes Vel units DINT 60B2h Torque Offset RW Yes 0 1 INT Interpolation Time Period 60C2h 1 Interpolation time period RO No USINT 2 Interpolation time index RO No SINT The motor rated torque is 100 7 8 7 4 Homing 7 4 Homing The following figure shows the defined input objects as well as the output objects The user may specify the speeds acceleration and the method of homing There is a further object home offset which allows the user to displace zero in the user s coordinate system from the home position
193. robe 1 input SERVOPACK CNI Probel SI4 signal Trigger with touch probe 2 input SERVOPACK CNI Probe2 SIS signal Trigger with encoder zero signal C phase The following two touch probe functions can be used at the same time Touch Probe 1 Latch function Latch Control object 60B8h Bit 0 to 7 Latch Status object 60B9h Bit 0 to 7 Latch Position is always stored to the Touch Probel Position Value 60BAh Trigger signal Encoder zero signal or Probel signal SI4 Touch Probe 2 Latch function Latch Control object 60B8h Bit 8 to 15 Latch Status object 60B9h Bit 8 to 15 Latch Position is always stored to the Touch Probe2 Position Value 60BCh Trigger signal Probe2 signal SIS Connector pin allocations and positive negative logics of Probel SI4 and Probe2 SIS signals can be changed on the SERVOPACK object 2511h Pn511 Note When the homing function is executing touch probe 1 function cannot be used If touch probe 1 function was already enabled touch probe 1 will be switched off B Related Objects PDO Index Sub Name Access Mapping Units Type 60B8h Touch Probe Function RW Yes e UINT 60B9h TouchProbe Status RO Yes UINT 60BAh Touch Probe 1 Position Value RO Yes Posunits DINT 60BCh TouchProbe 2 Position Value RO Yes Posunits DINT CiA402 Drive Profile 7 18 7 CiA402 Drive Profile B Example o
194. ror 0 05 V 1 reference unit RK 04 Position amplifier error after electronic gears 0 05 V 1 encoder pulse unit 2006h 05 Position reference speed 1 V 1000 min Pn006 06 Reserved Do not change 07 Motor load position error 0 01 V 1 reference unit a 08 Positioning completion positioning completed 5 V positioning not completed 0 V 09 Speed feedforward 1 V 1000 min OA Torque feedforward 1 V 100 OB Active gain Ist gain 1 V 2nd gain 2 V OC Completion of position reference completed 5 V not completed 0 V OD External encoder speed 1 V 1000 min Reserved Do not change Reserved Do not change Application Function Select Switch 7 0000 to 005F 0000 Immediately UINT 4th 3rd 2nd 1st digit digit digit digit n Analog Monitor 2 Signal Selection 00 Motor speed 1 V 1000 min 01 Speed reference 1 V 1000 min 02 Torque reference 1 V 100 03 Position error 0 05 V 1 reference unit M 04 Position amplifier error after electronic gears 0 05 V 1 encoder pulse unit 2007h 05 Position reference speed 1 V 1000 min Pn007 06 Reserved Do not use 07 Motor load position error 0 01 V 1 reference unit d 08 Positioning completion positioning completed 5 V positioning not completed 0 V 09 Speed feedforward 1 V 1000 min OA Torque feedforward 1 V 100 OB Active gain Ist gain 1 V 2nd gain 2 V OC Completion of position reference completed 5 V not completed 0 V OD E
195. rve External L N CL 0 1 2 3 4 5 6 Torgue Limit 7 Pn50B 3 H NCL 9 A B C D EF i L Probl 5 6 Probe 1 Latch Signal robe 4 i 8 Pn511 1 H Probel D E F i L Probe2 t id 4 5 6 Probe 2 Latch Signal robe 8 8 Pn511 2 H Probe2 D E F Home Switch Signal L Home t n 4 5 KI 7 e Pn511 3 H Home D E F Always set to OFF 4 3 I O Signal Allocations 0 IMPORTANT 2 When two or more signals are allocated to the same input circuit input signal level is 1 Inverting the polarity of Forward Run Prohibited and Reverse Run Prohibited signals Le positive logic will prevent the holding brake from working in case of its signal line disconnection If this setting is absolutely necessary check the operation and confirm that there are no safety problems valid for all allocated signals Wiring and Connection 4 7 4 8 4 Wiring and Connection 4 3 2 Output Signal Allocations 4 3 2 Output Signal Allocations Output signals are allocated as shown in the following table Refer to the Interpreting the Output Signal Allocation Tables and change the allocations accordingly lt Interpreting the Output Signal Allocation Tables gt The parameter set values to be used are shown Signals are allocated to CN1 pins according to the selected set values Values in cells in bold lines are the factory settings
196. s Index Sub Name Data Type Access du Value EEPROM Mapping 6076h O Motor Rated Torque UDINT RO No mNm or mN No 5 Torque Actual Value 6077h For SGDV SERVOPACKs this object specifies the same setting as the torque reference output value Index Sub Name Data Type Access MDO Value EEPROM Mapping 6077h O Torque Actual Value INT RO Yes 0 1 No le Object Dictionary 8 39 8 Object Dictionary 8 14 Torque Limit Function 1 Max Torque 6072h This object sets the maximum output torque to the motor Set the value in units of 0 1 of the motor rated torque The maximum motor torque is automatically set in this object when the power is turned ON Index Sub Name Data Type Access EDO Value EEPROM Mapping 0 to 65535 6072h 0 Max Torque UINT RW Yes Default max motor No torque 0 1 2 Positive Torque Limit Value GOEOh This object sets the positive torque limit value Set the value in units of 0 1 of the motor rated torque Index Sub Name Data Type Access PDO Value EEPROM Mapping Gei PE 0 to 65535 60E0h O Positive Torque Limit Value UINT RW Yes Default 8000 0 1 Yes 3 Negative Torque Limit Value 60E 1h This object sets the negative torque limit value Set the value in units of 0 1 of the motor rated torque Index Sub Name Data Type Access PDO Val
197. s Fixed value 6 Calc and copy time RO No UDINT _ Time for the copying of the input process data to the SyncManager 3 area 6 7 6 8 6 EtherCAT Communication Master Network Slave Master am ama am am am am am am ame de ame ame ame ame ama H Master User Network H H ajan em ap am e e ame e ame ame ama ame ame ama ame em amah am a we we e we aman aman ame ame e ame ama ame am Slave B Example of PDO Data Exchange Timing with DC Mode DC Cycle Time 1ms Input Shift Time 500 us Master application task 1C33 03 500 us Shift time Master User Shift time od Frame U Calc Copy time 62 us Input delay Master application task SyncOshift time Frame U H Master application task Cycle time 1C32 02 1 ms Cycle time Calc Copy time 62 us Output delay TT Inputs Latch 500 ps 1 ms DC Cycle Time 125 us Input Shift Time 0 us Master application task Calc Copy time 62 us v Shift time Frame U Input delay 125 us Master application task Sync shift time YY 125 us m 4 PN Outputs Valid Master application task Frame Cycle time 1C32 02 125 us Cycle time 125 us Y Frame
198. s and installations subject to separate industry or gov ernment regulations Systems machines and equipment that may present a risk to life or 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 4 Never use the product for an application involving serious risk to life or property without first ensuring that the required safety has been designed into the system with risk warnings and redundancy and that the Yaskawa product is properly rated and installed 5 The circuit examples and other application examples described in product catalogs and manuals are for ref erence Check the functionality and safety of the actual devices and equipment to be used before using the product 6 Read and understand all use prohibitions and precautions and operate the Yaskawa product correctly to prevent accidental harm to third parties Changes to Specifications The names specifications appearance and accessories of products in product catalogs and manuals may be changed at any time based on improvements and other reasons When a catalog or a manual is revised the cat alog or manual code is updated and the new catalog or manual is published as a next edition Consult with your Yaskawa representative to confirm the actual specifications before purchasing a product xi Ap
199. s 0 0 OxFFFFFFFF PnC5C 8 Mapping entry 8 UDINT RW No Yes 0 0 OxFFFFFFFF PnC5E 1A00h 1st Transmit PDO Mapping o Number ofobjects inthis USINE Rw No Yes 8 0 8 PnCA4 1 Mapping entry 1 UDINT RW No Yes 0x60410010 0 OxFFFFFFFF PnC60 2 Mapping entry 2 UDINT RW No Yes 0x60640020 0 OxFFFFFFFF PnC62 3 Mapping entry 3 UDINT RW No Yes 0x60770010 0 OxFFFFFFFF PnC64 4 Mapping entry 4 UDINT RW No Yes 0x60F40020 0 OxFFFFFFFF PnC66 5 Mapping entry 5 UDINT RW No Yes 0x60610008 0 OxFFFFFFFF PnC68 6 Mapping entry 6 UDINT RW No Yes 0x00000008 0 OxFFFFFFFF PnC6A 7 Mapping entry 7 UDINT RW No Yes 0x60B90010 0 OxFFFFFFFF PnC6C 8 Mapping entry 8 UDINT RW No Yes 0x60BA0020 0 OxFFFFFFFF PnC6E zl Write Save into the object 1010h The current parameter data will be saved as a batch in the EEPROM If the objects are modified by the digital operator or SigmaWin the data will be directly stored in the EEPROM 2 Pn No is the number of the parameter used for the digital operator and SigmaWin Appendix 10 3 10 Appendix Sub Data PDO EEPROM Default q Di Index TES Name Type Access Mapping Value Lower Limit Upper Limit Unit Pn No 1A01h 2nd Transmit PDO Mapping o Number ofobjectsint
200. s U V and W and encoder connectors Change the EtherCAT communica tion state to Operational Turn P OT or N OT input signal ON Or disable the P OT and N OT input signal allocations Set the HWBB1 or HWBB2 input signal to ON When not using the safety function mount the safety function jumper connector provided as an acces sory on the CNS Remove the cause of the alarm and then restart operation Reduce load or replace with larger capacity servomotor Correct the wiring Wire the main circuit power supply correctly Wire the control power supply cor rectly Correct the wiring Correct the EtherCAT cable and connector wiring Send the reference data in the regu lar cycle Tighten any loose terminals or con nectors n Troubleshooting 9 11 9 12 9 Troubleshooting Problem Probable Cause Investigative Actions Corrective Actions Dynamic Brake Does Not Operate Improper Pn001 0 setting DB resistor disconnected DB drive circuit fault Check the setting of parameter Pn001 0 Check if excessive moment of iner tia motor overspeed or DB fre quently activated occurred If any of these occurred it is possible that DB resistance may have been dis connected Abnormal Noise from Servomotor The servomotor largely vibrated during execution of tuning less function Mounting is not secured Bearings are defective Vibration
201. sitive limit switch becomes inactive m o i Homing on the positive o 2 limit switch and index Index pulse Positive limit switch P OT 7 9 7 CiA402 Drive Profile Value Definitions Explanation 7 to 10 Homing on home switch and index pulse positive initial motion Using the methods 7 to 10 the initial direction of movement shall be to the right except if the home switch is active at the start of the motion In this case the ini tial direction of motion shall be dependent on the edge being sought The home position shall be at the index pulse on either side of the rising or falling edges of the home switch If the initial direction of movement leads away from the home switch the drive shall reverse on encountering the relevant limit switch 1 DEE d Index pulse H H 7 Home switch H Home i 7 Positive limit switch i po P OT 7 11 to 14 Homing on home switch and index pulse negative initial motion This method is similar to methods 7 to 10 except that the initial direction of movement shall be to the left Index pulse Home switch i Home i i 7 N OT 77 Negative limit switch 24 Homing on home switch positive initial motion This method is same as method 8 except that the home position does not depen
202. t CES Overload of Surge DE i a 740h Current Limit Resistor The main circuit power was frequently turned ON and OFF Gr 1 Available 7A0h Heat Sink Overheated The heat sink of the SERVOPACK exceeded 100 C Gr 2 Available 7ABh EE The fan inside the SERVOPACK stopped Gr 1 Available Stopped All the power supplies for the absolute encoder have failed 2 p pp 810h Encoder Backup Error and position data was cleared Gr 1 N A 820h Encoder Checksum Error The checksum results of encoder memory is incorrect Gr 1 N A Absolute Encoder Battery The battery voltage was lower than the specified value after 2 830h Error the control power supply is turned ON grl Available 840h Encoder Data Error Data in the encoder is incorrect Gr 1 N A 850h Encoder Overspeed The encoder was rotating at high speed when the power was CH N A turned ON 860h Encoder Overheated The internal temperature of encoder is too high Gr 1 N A 890h Encoder Scale Error A linear scale fault occurred Gr 1 N A 891h 1 Encoder Module Error An encoder fault occurred Gr 1 N A 8A0h 3 External Encoder Error External encoder is faulty Gr 1 Available 8A1h External Encoder Error of Serial converter unit is faulty Gr 1 Available Module External Encoder Error of 3 8A2h Sensor Incremental External encoder is faulty Gr 1 Available External Encoder Error of oe og 3 8A3h Position Absolute The external encoder position data is incorrect Gr 1 Available 8A5h 3 External Encoder Overspe
203. t also in personal injury The multi turn serial data output range for the X V Series absolute position detecting system is dif ferent from that of earlier systems with 15 bit and 12 bit encoders In particular change the system to configure the 2 Series infinite length positioning system with the 2 V Series The multi turn limit value need not be changed except for special applications Changing it inappropriately or unintentionally can be dangerous If the Multi turn Limit Disagreement alarm occurs check the setting of parameter Pn205 in the SER VOPACK to be sure that it is correct If Fn013 is executed when an incorrect parameter value is set an incorrect value will be set in the encoder The alarm will disappear even if an incorrect value is set but incorrect positions will be detected resulting in a dangerous situation where the machine will move to unexpected positions Do not remove the front cover cables connectors or optional items from the upper front of the SERVOPACK while the power is ON Failure to observe this warning may result in electric shock Do not damage press exert excessive force on or place heavy objects on the cables Failure to observe this warning may result in electric shock stopping operation of the product or fire Provide an appropriate stopping device on the machine side to ensure safety The holding brake on a servomotor with a brake is not a braking device for ensuring safety Failure to observe this
204. te 1 2 Negative Torque Limit Value 60Elh 8 40 noise filter 3 10 3 11 recommended noise filter 3 12 rone 4 3 5 7 O object dictionary 6 5 object dictionary list 8 2 object list 10 2 over interpolation speed 8 24 overtravel 5 7 P PAO 4 4 parameters 10 9 PBO 4 4 PCO 4 4 PDO mapping 6 5 8 8 default PDO mappings 6 6 object dictionary 6 5 object dictionary list 8 2 setup procedure 6 6 PDO mapping Objects 8 8 phase A signal 4 4 phase B signal 4 4 phase C signal 4 4 physical layer 2 6 placement 2 5 pollution degree 2 5 3 2 Index 2 Position Actual Internal Value 6063h
205. the storing parameters by Sub Index 1 or Sub Index 4 power on reset or executing the parameter configu ration Object 2700h is necessary to transit into the Operation Enabled state le Object Dictionary 8 5 8 Object Dictionary 6 Restore Default Parameters 1011h With this object the default values of parameters can be restored Index PDO Mapping Value EEPROM Sub Name Data Type Access 1011h O Largest subindex supported USINT RO No 4 No 0x00000000 to 1 Restore all default parameters UDINT RW No mM No Default 0x00000001 0x00000000 to 2 Restore communication default UDINT RW No OxFFFFFFFF No parameters Default 0x00000001 0x00000000 to Restore application default OxFFFFFFFF parameters UDINI RW No Default No 0x00000001 0x00000000 to Restore manufacturer defined OxFFFFFFFF default parameters UDINI RW No Default No 0x00000001 8 6 By reading data of an object entry the SERVOPACK provides its capability to restore default parameters Bit Value Meaning 0 0 Device does not restore default parameters 1 Device restores default parameters In order to avoid restoring of parameters by mistake restoring is only executed when a specific signature is written to the appropriate sub index The signature that shall be written is load Signature MSB LSB ASCII d a o hex 64h 61h 6Fh 6Ch By wri
206. ting load to Sub Index 1 all default parameter values are restored By writing load to Sub Index 2 the default values of communication parameters Object 1xxxh are restored By writing load to Sub Index 3 the default values of application parameters Object 27xxh and 6xxxh are restored By writing load to Sub Index 4 the default values of SERVOPACK parameters Object 2000h to 26FFh are restored Note 1 Ifa wrong signature is written the SGDV SERVOPACK refuses to restore and responds with Abort SDO Trans fer 2 Sub Index 1 and Sub Index 4 can be written only in Switch on Disabled state Servo off state 3 Ifthe restoring parameters are executing 0 will be returned by read this object 4 The default values are set as valid after the SGDV SERVOPACK has been reset or power cycled 8 2 General Objects 7 Identity Object 1018h The object contains general information about the device Index Sub Name Data Type Access Ta Value EEPROM O Number of entries USINT RO No 4 No 1 Vendor ID UDINT RO No 0x00000539 No 1018h 2 Product code UDINT RO No 0x0220000 No 3 Revision number 2 UDINT RO No No 4 Serial number 3 UDINT RO No 0x00000000 No zl The following product code is stored SGDV E Rotary drive type 0x02200001 SGDV E5 Linear drive type 0x02200002 2 The revision number is stored as follows Bit 31 1615 0 Major Version Mi
207. tion DINT RO Yes No e Pos PnB6A Value unit 60C1h Interpolation Data Record O Number of entries USINT RO No No 1 x 1 Interpolation data record DINT RW Yes No 0 2147483648 2147483647 e PnB70 Write Save into the object 1010h The current parameter data will be saved as a batch in the EEPROM If the objects are modified by the digital operator or SigmaWin the data will be directly stored in the EEPROM 2 Pn No is the number of the parameter used for the digital operator and SigmaWin Appendix 10 7 10 Appendix 10 8 Sub Data PDO EEPROM Default fem Aa 4 Di Index TES Name Type Access Mapping Value Lower Limit Upper Limit Unit Pn No 60C2h Interpolation Time Period 0 Highest sub index supported USINT RO No No 2 H 1 Interpolation time period USINT RW No No 125 1 250 E PnB6E 2 Interpolation time index SINT RW No No 6 6 3 PnB6F 60E0h 0 Positive Torque Limit Value UINT RW Yes Yes 8000 0 65535 0 1 PnB80 60E1h 0 Negative Torque Limit Value UINT RW Yes Yes 8000 0 65535 0 1 PnB82 60F4h o Following Error Actual DINT RO Yes No gt S Pos pnpga Value unit 60FCh o Position Demand Internal pint RO Yes No z z Inc PnB86 60FDh 0 Digital Inputs UDINT RO Yes No PnB88 60FEh Digital Outputs 0 Number of entries USINT RO No No 2
208. tion within the limit range The EtherCAT communication is not established The forward run prohibited P OT and reverse run prohibited N OT input signals are turned OFF The safety input signal HWBB1 or HWBB2 remains OFF An alarm is occurring Overloaded Servomotor or encoder wiring dis connected The main circuit power supply is not ON The control power supply is not ON Servomotor Moves Instantaneously and then Stops Servomotor wiring is incorrect Servomotor Speed Unstable An EtherCAT communication error may have occurred and the refer ence may not be updated The controller is not updating the reference data in the regular cycle Wiring connection to servomotor is defective Check whether the EtherCAT indi cators show Operational state Check the P OT and N OT input signals and the input signal alloca tion parameters Pn50A Pn50B Check the HWBB1 or HWBB2 input signal Check the panel display to see whether an alarm is occurring Run under no load and check the load status Check the wiring Check whether the main circuit power supply is connected Check whether the control power supply is connected Check the servomotor wiring Check the EtherCAT cable and con nector wiring Trace the reference data and check whether it is being updated in the regular cycle Check connections of main circuit cable phase
209. to UDINT RW No o Yes 8 Mapping entry 8 i B 4th Receive PDO Mapping Index Sub Name Data Type Access PDO Value EEPROM Mapping 0to 8 0 Number of objects in this PDO USINT RW No Default 2 Yes Oto OXFFFFFFFF 1 Mapping entry 1 UDINT RW No Default Yes 0x60400010 1603h Oto OXFFFFFFFF 2 Mapping entry 2 UDINT RW No Default Yes 0x60710010 3 Mapping entry 3 to to UDINT RW No ue Yes 8 Mapping entry 8 le Object Dictionary 8 9 8 10 8 Object Dictionary 2 Transmit PDO Mapping 1A00h to 1A03h E ist Transmit PDO Mapping PDO Index Sub Name Data Type Access Mapping Value EEPROM S Oto 8 O Number of objects in this PDO USINT RW No Default 8 Yes Oto OXFFFFFFFF 1 Mapping entry 1 UDINT RW No Default Yes 0x60410010 Oto OXFFFFFFFF 2 Mapping entry 2 UDINT RW No Default Yes 0x60640020 Oto OXFFFFFFFF 3 Mapping entry 3 UDINT RW No Default Yes 0x60770010 Oto OXFFFFFFFF 1A00h 4 Mapping entry 4 UDINT RW No Default Yes 0x60F40020 Oto OXFFFFFFFF 5 Mapping entry 5 UDINT RW No Default Yes 0x60610008 Oto OXFFFFFFFF 6 Mapping entry 6 UDINT RW No Default Yes 0x00000008 Oto OXFFFFFFFF 7 Mapping entry 7 UDINT RW No Default Yes 0x60B90010 0 to OXFFFFFFFF 8 Mapping entry 8 UDINT RW No Default Yes 0x60BA0020 m 2nd Transmit PDO Mapping Index Sub Name Data
210. trol or mal function lt Do not frequently turn power ON and OFF Since the SERVOPACK has a capacitor in the power supply a high charging current flows when power is turned ON Frequently turning power ON and OFF causes main power devices like capacitors and fuses to deteriorate resulting in unexpected problems When using JOG operations Fn002 search operations Fn003 or EasyFFT operations Fn206 the dynamic brake function does not work for reverse overtravel or forward overtravel Take neces sary precautions When using the servomotor for a vertical axis install safety devices to prevent workpieces from fall ing due to alarms or overtravels Set the servomotor so that it will stop in the zero clamp state when overtravel occurs Failure to observe this caution may cause workpieces to fall due to overtravel When not using turning less function set to the correct moment of inertia ratio Pn103 Setting to an incorrect moment of inertia ratio may cause machine vibration lt Do not touch the SERVOPACK heatsinks regenerative resistor or servomotor while power is ON or soon after the power is turned OFF Failure to observe this caution may result in burns due to high temperatures Do not make any extreme adjustments or setting changes of parameters Failure to observe this caution may result in injury or damage to the product due to unstable operation When an alarm occurs remove the cause reset the alarm after confir
211. tting is outside the allowable setting range Gr 1 N A The encoder output pulse setting pulse unit Pn212 is out 041h Ere Output Pulse Setting side the allowable setting range or not satisfies the setting Gr 1 N A conditions 042h Parameter Combination Error Combination of some parameters exceeds the setting range Gr 1 N A Semi closed Fully closed Loop 044h Control Parameter Setting The settings of the fully closed option module and Pn00B 3 Gr1 N A E Pn002 3 do not match rror 04Ah Parameter Setting Error 2 EI an error in settings of parameters reserved by the Gri N A 050h Combination Error The SERVOPACK and the servomotor capacities do not Gr1 Available match each other 051h Unsupported Device Alarm The device unit unsupported was connected Gr 1 N A Linear Scale Pitch Setting The setting of the linear scale pitch Pn282 has not been 1 080h Error changed from the default setting Sri NA The Host controller reference was sent to turn the Servo ON 0b0h Cancelled Servo ON after the Servo ON function was used with the utility func Gr 1 Available Command Alarm tion 9 2 9 1 Troubleshooting Servomotor om Alarm Name Meaning Stop aom Method 100h Overcurrent or Heat Sink An overcurrent flowed through the IGBT Grl NA Overheated Heat sink of the SERVOPACK was overheated i 300h Regeneration Error Regenerati
212. turn reset and so on Writes the data into the Sub Index 1 to start the command execution Also reads the Sub Index 3 to accept the response If the response is not available when reading Sub Index 3 the first byte of the reply data could give information about the progress Index Sub Name Data Type Access PDO Mapping Value EEPROM 0 Number of entries USINT RO No 3 No 1 Command STRING 16 RW Byte 0 to n Service Request Data No A write access to the No command data will exe cute the command 2710h 2 Status USINT RO 0 last command completed no errors no reply 1 last command completed no errors reply there 2 last command No completed error no reply 3 last command completed error reply there 255 command is executing 3 Reply STRING 16 RO Byte 0 as Subindex 2 Byte 1 unused No 2 to n Service Response Data B Command Reply data format Command data Service Request data Byte Description 0 Reserved 1 Reserved CCMD Command code 00 Read request 01 Write request CSIZE CDATA length in byte 4to7 CADDRESS Address 8to 15 CDATA Writing data Reply data Service Response data Byte Description 0 Status As Subindex 2 1 Reserved 2 RCMD Echo back of CCMD 3 RSIZE R_DATA length in byte RADDRESS 4107
213. ue EEPROM Mapping inp 0 to 65535 60E1h O Negative Torque Limit Value UINT RW Yes Default 8000 0 1 Yes 8 40 8 15 Touch Probe Function 8 15 Touch Probe Function 1 Touch Probe Function 60B8h This object indicates the configured function of the touch probe Index Sub Name Data Type Access S Value EEPROM 60B8h 0 Touch Probe Function UINT RW Yes a No E Data Description Bit Value Definition 0 0 Switch off touch probe 1 1 Enable touch probe 1 4 0 Single trigger mode Latches the position at the first trigger event 1 Continuous trigger mode Latches the position every trigger event 5 0 Triggers with the probe 1 input SERVOPACK CN1 Probe 1 S14 signal 1 Triggers with the encoder zero signal phase C 3 Reserved 4 0 Switch off sampling at touch probe 1 1 Enable sampling at touch probe 1 5 to 7 Reserved 8 0 Switch off touch probe 2 1 Enable touch probe 2 0 Single trigger mode Latches the position at the first trigger event i 1 Continuous trigger mode Latches the position every trigger event 10 0 Triggers with the probe 2 input SERVOPACK CN1 Probe 2 S15 signal 1 Reserved 11 E Reserved 10 0 Switch off sampling at touch probe 2 1 Enable sampling at touch probe 2 13to 15 Reserved Note Bit 0 to 7 For touch probe 1 Bit 8 to 15 For touch probe 2 When the homing funct
214. ue EEPROM Mapping 0 Number of Synchronization USINT RO No 10 No Parameters Synchronization type UINT RO No same as 1C32 01 No 2 Cycle time UDINT RO No same as 1C32 02 No 125000 n ns 3 Shift time UDINT RW no Ebr bo Yes Range 0 to Sync0 event cycle time 125000 Bit0 1 Free Run supported 1C33h Bit 4 2 001 4 Synchronization types supported UINT RO No DC Sync0 supported No Bit 6 5 01 Input Shift with local timer supported 5 Minimum cycle time UDINT RO No same as 1C32h 05 No 6 Calc and copy time UDINT RO No 62500 ns No 7 Reserved UDINT RO No No 8 Reserved UINT RO No No 9 Delay time UDINT RO No 0 No 10 SyncO cycle time UDINT RO No same as 1C32h 10 No 4 Sync Error Setting 1F01h PDO Index Sub Name Data Type Access Value EEPROM Mapping O Number of entries USINT RO No 2 No 4FOth 1 Reserved UDINT RO No 0 No 2 Sync Error Count Limit UDINT RW No dida Yes Default 9 8 14 B Ox10F1 2 Sync Error Count Limit This object defines the tolerable level of failure when receiving the process data If the value of the Internal Error Counter in the SERVOPACK exceeds the value of this object the SERVOPACK will issue an alarm A12h and change the ESM state to SAFEOP The Internal Error Counter is incremented by 3 if the process output data is not updated a no Receive SM2 event occurs at SyncO event When the process output data is normally updated the Internal Error Counter is de
215. ut Object 60FEh disable the settings for Pn50E Pn50F and Pn510 4 4 4 4 1 4 4 Connection Example of EtherCAT Communication Connection Example of EtherCAT Communication Connection Example The following figure shows an example of connections between a host controller and a SERVOPACK using the EtherCAT communication Connect the connector of the EtherCAT communications cable to the connectors CN11A and CN11B Connect CN11A to the master and CN11B to the slave If reversed communication will not be successfully performed u Eo AA CHARGE o EtherCAT controller o ou on ou oo on ou ou 2 O on ou ou EC TL me Note The maximum length of cables between stations L1 to Ln is 50 m 4 4 2 EtherCAT Connector RJ45 Connector Description CN11A EtherCAT signal input CN11B EtherCAT signal output Connector Pin Arrangement Pin No Signal Name Remarks 1 TD 5 T Send data 3 RD Receive data 4 N C 5 N C 6 RD Receive data 7 gt N C 8 N C Pins denoted as N C do not connect to any signal Wiring and Connection 4 9 4 Wiring and Connection 4 4 3
216. ut 22 PCO output pulse 10 Probet Probe 1 latch Phase C 23 S024 General purpose SI4 signal input input 41 Probe2 Probe 2 latch General purpose S15 signal input 24 SO2 signal mpu Home Home switch input JSO34 General purpose General purpose ls ES ias G S pu eneral purpose 13 SIO input 26 SO3 input oe Note 1 Do not use unused terminals 2 Connect the shield of the I O signal cable to the connector shell Connect to the FG frame ground at the SERVOPACK connector 3 The functions allocated to the following input signals can be changed by using the parameters Input signals P OT N OT Probel Probe2 Home 4 The output signals SO1 SO2 and SO3 can be used as the output signal COIN V CMP TGON S RDY CLT VLT BK WARN or NEAR by setting the parameter Pn50E PnSOF or Pn510 For details refer to 4 3 2 Output Signal Allocations 4 2 1 0 Signal Connections 4 2 3 Example of I O Signal Connections The following diagram shows a typical connection ezample x 2 43 44 Photocoupler output Max operating voltage SGDV SERVOPACK 30 VDE Max operating current 50 mADC Control power supply 24VIN 24Vl 6 for sequence signal Wi 3 ALM lt Servo alarm output Sr 7 OFF for an alarm P OT ALM Prohibited when OFF rohibited when aa BKE Brake output SO1 BK Brake released when ON Reverse run prohibited C Prohibited
217. ve circuit or regenerative resistor is faulty Gr 1 Available 320h Regenerative Overload Regenerative energy exceeds regenerative resistor capacity Gr 2 Available Main Circuit Power Setting of AC input DC input is incorrect VS Supply Wiring Error Power supply wiring is incorrect Go ERR 400h Overvoltage Main circuit DC voltage is excessively high Gr 1 Available 410h Undervoltage Main circuit DC voltage is excessively low Gr 2 Available Main Circuit RE 450h Capacitor Overvoltage The capacitor of the main circuit has deteriorated or is faulty Gr 1 N A 510h Overspeed The servomotor speed is excessively high Gr 1 Available Overspeed of Encoder Output The motor speed upper limit of the set encoder output pulse vun Pulse Rate pulse unit Pn212 is exceeded Ss Available 520h Vibration Alarm Vibration at the motor speed was detected Gr 1 Available 521h Autotuning Alarm e was detected while performing tuning less func Gr1 Available 550h 1 Maximum Speed Setting Error The Pn385 setting is greater than the maximum speed Gr 1 Available 710h Overload High Load The motor was operating for several seconds to several tens Gr2 Available of seconds under a torque largely exceeding ratings 720h Overload Low Load The motor was operating continuously under a torque Grl Available largely exceeding ratings 730h When the dynamic brake was applied rotational energy f 731h Dynamic Brake Overload exceeded the capacity of dynamic brake resistor os
218. xternal encoder speed 1 V 1000 min Reserved Do not change Reserved Do not change sl In the EtherCAT CoE Network Module the reference units of the SERVOPACK parameters are encoder pulses units inc Appendix 10 11 10 Appendik Object Index Pn No Data Type Factory Setting When Enabled Name Setting Range Units 2008h Pn008 2009h Pn009 Application Function Select Switch 8 0000 to 7121 4000 After restart UNIT 4th 3rd 2nd 1st digit digit digit digit n Lowered Battery Voltage Alarm Warning Selection Outputs alarm A 830 for lowered battery voltage Does not detect warning Reserved Do not change Application Function Select Switch 9 0000 to 0111 0010 After restart UINT 4th 3rd 2nd 1st digit digit digit digit n Reserved Do not change Current Control Method Selection Current control method 1 Speed detection 2 Reserved Do not change 10 12 10 2 SERVOPACK Parameters Object Index Name Setting Range Units Pao When Enabled aes Pn No Setting ype Application Function Select Switch B 0000 to 1111 0000 After restart UINT 4th 3rd 2nd 1st digit digit digit digit n Parameter Display Selection 0 Setup parameters 1 All parameters Alarm Gr 2 Stop Method Selection 200Bh Pn00B 0 Stops the motor by setting the speed reference to
219. ynchronization Master Master application task Master application task Master application task Master user shift time Network Frame U U Frame Slave Synco shift time U SyncO U Synco U SyncO event Cycle time 1C32 02 event Cycle time 1C32 02 event Cycle time 1C32 02 Shift time 1C32 03 Shift time 1C33 03 Calc Copy time 1C33 06 Calc 4 Copy time TT 1C32 06 ll Inputs Latch Outputs Valid PDO Mapping 1C32h Sync Manager channel 2 process data output Synchronization Current status of DC mode tue RO No UINT 0 Free run yp 2 DC Mode Synchronous with Sync0 Index Sub Name Access Type Value Synchronization Sync0 event cycle ns 2 Cycle time RO No UDINT The value is set by master via ESC register range 125000 n n 1 32 ns 125000 ns Fixed value Time between Sync0 event and the Outputs 3 Shift time RO No UDINT Valid At the Outputs Valid the outputs are available for the SERVOPACK 62500 ns Fixed value 6 Calc and copy time RO No UDINT Time for reading the outputs from SyncMan ager 2 at Sync0 event o EtherCAT Communication 1C33h Sync Manager channel 3 process data input Synchronization 125000 n n 1 32 ns Range 0 to Synq0 event cycle 125000 ns 3 Shift time RW No UDINT Time between Sync0 event and the Inputs Latch At the Inputs Latch the inputs are acquired from the SERVOPACK 62500 n

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