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Junma Users Manual

1. Byte EX_POSING Description Command Response 1 39H 39H Processing clas Motion com Synchronization Asynchronous sifications mand group classifications 2 LT_SGN ALARM Processing time Within commu Subcommand Can be used nications cycle 3 OPTION STATUS e Moves toward the target position TPOS at the target speed TSPD 4 When a latch signal is input midway positioning is performed according to the final travel distance for external position specified in the parame 5 TPOS MONITOR1 ter from the latch signal input position When no latch signal is input positioning is performed for the target position TPOS 6 e Can be used during phases 2 and 3 7 A command warning will occur and the command will be ignored in the 3 following cases If the SERVOPACK is Servo OFF Command warning 1 A 95A 9 TSPD MONITOR2 If the target speed TSPD exceeds the maximum speed Data setting 10 warning 2 A 94B e OPTION field cannot be used Set all bits to 0 u e The target position TPOS is a signed 4 bytes reference unit It is sent 12 by using an absolute position in the reference coordinate system e The target speed TSPD is an unsigned 4 bytes It is sent in the range 13 SELON SEMAN from 0 to the maximum speed reference unit s e After the latch is input any changes to the target position during motion 14 V O_MON will be ignored 15 e Use DEN output complete to confirm the com
2. Shield wire J Twisted pair wires IMPORTANT Prepare an external 24 VDC power supply The 24 VDC power supply is not built into the SERVOPACK e Specifications of the external power supply for sequence input signals 24 VDC 1 V 50 mA min The same power supply as that of the output circuit should be used 44 3 6 Connection Example of Output Signal 3 6 Connection Example of Output Signal Set the load so that the output current will fall within 50 mA or less Photocoupler output Per output signal e Max voltage 30 VDC e Max current 50 m ADC 24 VDC SERVOPACK Power Supply y 24v AOV Load 7 Load m 45 3 7 I O Signals 3 7 3 7 1 I O Signals Homing Deceleration Signal Input The usual connection for homing deceleration signal DEC is shown below A deceleration signal is input when the homing function ZRET command of MECHATROLINK II communications specifica tions is used 24 VDC power supply 24V SERVOPACK Oo 24VIN 5 o coupler CN1 2 3 3kQ 5o DEC X a l 7 mA oV Signal Name Signal Function Homing Deceleration DEC ON low level The signal turns ON Sig al Input OFF high level The signal turns OFF 3 7 2 External Latch Signal Input The usual connection for external latch signal input EXT1 is shown below This inp
3. Command sent Responce received Transmission cycle 1 ms A E i lo i Te i i i Master sent in Oooo doooon n doo oo ooo 40 Slave sent TOUUOU voa U i i i Position and signal data 625 us before 108 4 7 Operation Sequence This section describes outline of the operation sequence 4 7 Operation Sequence For details of command functions and settings refer to 4 2 Main Commands and 4 3 Subcommanas 4 7 1 Operation Sequence for Managing Parameters Using a Controller When the parameters are managed by a controller the parameters are transmitted to a controller when the power is turned ON With this operation sequence the settings of the SERVOPACK do not need to be changed when the SERVOPACK is replaced The following table shows the procedure circuit power supplies Proce Item Command Description Phase dure 1 Turn ON control and main NOP DISCONNECT 1 circuit power supplies 2 Establish connection CONNECT Establish communications 2or3 Start the WDT count 3 Check information such as ID_RD Read information such as device 2or3 device ID type 4 Set device PRM_WR Set the necessary parameters 2or3 Set up device CONFIG Enable the parameter settings 2or3 6 Turn ON encoder SENS_ON Turn ON encoder and obtain the 2or3 position data 7 Operate main circuit SV_ON Turn ON servomotor 2or3 8 Start operation 2or3 9
4. cont d Alarm Alarm Name Situation at Alarm Cause Corrective Actions Display Occurrence A d00 Position Occurred when the The SERVOPACK is faulty e Replace the SERVOPACK Error Pulse power supply was Contact your Omron Overflow turned ON Yaskawa representative Occurred when the Wiring of the servomotor U Correct the servomotor main servomotor ran at V and W is incorrect circuit cable wiring high speed aa F The encoder wiring and the Correct the encoder wiring contact are incorrect The SERVOPACK is faulty e Replace the SERVOPACK e Contact your Omron Yaskawa representative Occurred when the Wiring of the servomotor U Correct the servomotor main servomotor did not V and W is incorrect circuit cable wiring Tanwin poston ref The SERVOPACK is faulty Replace the SERVOPACK put e Contact your Omron Yaskawa representative Normal movement The input position refer Reduce the reference value but occurred with a ence was too large long distance refer 7 ence input The load is too large Reduce the load A E02 MECHA Occurred when Communications with the Turn the power supply OFF A EA2 TROLINK II MECHATROLINK II host controller disconnected and then ON again or send a Internal communications while the MECHATROLINK DISCONNECT command to Synchroni started or during II connection was estab release communications and zation Error MECHATROLINK II lished with a C
5. 21 3 3 Precautions on Wiring 3 3 3 Caution for Cable e For wiring use the specified cables Use cables that are as short as possible Do not bend or apply tension to cables The conductor of a signal cable is thin 0 08 to 0 12 mm so handle the cables carefully 3 3 4 Power Loss Power Loss with SERVOPACK Rated Output Main SERVOPACK Output Current Main Circuit Control Circuit Total Power Circuit Model T Effective Power Loss Power Loss Loss Power ode apacity Value Ww Ww W Supply A Single SJDE 01ANA OY 100 W 0 84 6 9 15 phase 200 V SJDE 02ANA OY 200 W 1 1 8 17 SJDE 04ANA OY 400 W 2 0 16 25 SJDE 08ANA OY 750 W 3 7 27 36 Note Values obtained with the servomotor rated output 3 3 5 SERVOPACKs and Applicable Peripheral Devices SERVOPACK Power Powersup Power Inrus Mag Noise Surge AC Type Capa Supply ply supply h netic Filter Protector Reactor city Capacity Capacity of Capacity Cur Contac per Molded and rent tor SERVO case Model of AO p PACK Circuit External kVA Breaker Fuse Arms 2 SJDE 100 W 0 40 4 OKLK 30 HI 11J R7A R C M X5052 01ANA OY 015 T FIZN105 601BQZ 4 SJDE 200W 0 75 15 Arms BE X5053 02ANA OY SJDE 400 W 1 2 8 X5054 04ANA OY SJDE 750 W 2 2 16 OKLK 60 HI 15J R7A X5056 O8ANA OY 030 T FIZN109 30 Arms BE Manufacturer Littelfuse Yaskawa Block
6. Model Length L Outer Diameter of the Weight cable R7A CPZ001S im 5 6 mm Approx 0 1 kg R7A CPZ002S 2m 5 6 mm Approx 0 2 kg mE Connection Configuration and Dimensions L Controller end C gt 39 Servo Driver end i A w r g A G t t 127 E Wiring No Wire Color Mark Color Signal Name 1 Orange Red EXT1 External Latch 2 Orange Black DEC Homing Deceleration 3 Gray Red N OT Reverse run prohibited 4 Gray Black P OT Forward run prohibited 5 White Red 24VIN 6 Yellow Black RUN 7 White Black OGND 8 Pink Red 9 Pink Black 10 Orange Red 11 Orange Black 12 Gray Red ALM 13 Gray Black BKIR 14 Yellow Red Connector plug 10114 3000VE Sumitomo 3M Connector case 10314 52A0 008 Sumitomo 3M Wires with the same wire color and the same number of marks are twisted pairs 3 4 Main Circuit Wiring E Connector Pin Arrangement 3 4 6 Wiring the MECHATROLINK II Communication Connectors CN6A and CN6B E Number of Stations A maximum of 30 slave stations can be connected when a repeater is connected The maximum num ber of slave stations that can be connected is determined by the MECHATROLINK II communications settings Refer to 3 8 Setting MECHATROLINK II Communications for details E Communication Cables Use the cables specified in the table below
7. Oo l Connector crimp type O Receptacle 5557 06R 210 O Terminal 5556T Chain or M4 crimped terminal 5556TL Loose wires Connector crimp type Molex Japan Co Ltd Receptacle F32FSS 04V KY Receptacle contact SF3F 01GF P2 0 or SF3F 41GF P2 0 J S T Mfg Co Ltd Servomotor End Connector Viewed from cab e insertion side SERVOPACK End Connector Viewed from cable insertion side 1 4 Lr u Pin No Signal Name Lead Color Shielded wire PinNo Signal Name Lead Color 1 Phase U Red n 1 Phase U Red 2 Phase V White 2 Phase V White 3 Phase W Blue 3 Phase W Blue 4 FG Green Yellow 4 n 5 Brake Black ____ 6 Brake Black Rates Crimped terminal FG t Green Yellow Crimped terminal Brake 2 Black Crimped terminal Brake 2 Black 1 Connect the FG pin to the grounding terminal of the SERVOPACK x2 No polarity for connection to the brake 37 3 4 Main Circuit Wiring 3 4 4 Wiring the Encoder Connector CN2 7 Controller Separate by 300 mm or more Power Supply IMPORTANT Separate the encoder cable at least 300 mm from power lines i e high voltage lines such as the power supply line and servomotor main ci
8. BK signal is output when the motor speed reaches 100 min or when 500 ms elapses after the servo turns OFF 112 5 Trial Operation A CAUTION e Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to avoid any unexpected accidents Failure to observe this caution may result in injury e During the JOG operation and the home position search operation using CX Drive the forward run prohibited P OT reverse run prohibited N OT and emergency stop E STP signals will be ignored Alternative measures must be taken in case of overtravel and emergency stop This chapter explains how to check the connections of the power supply servomotor main circuit and encoder cables Servomotor malfunction is often caused by incorrect wiring After having confirmed that the cables are correctly connected use CX Drive to perform a trial operation of the servomotor without connecting to a load using the following procedure Software used to perform trial operation change parameters and monitor the SERVO PACK operation and status Procedure Descriptions 1 Install the SERVOPACK and servomotor e Install the servomotor and SERVOPACK according to the installation instructions in the relevant manual see 2 2 Installation Method Fix the servomotor flange on the machine If the servomotor is not fixed it may flip over at operation start or stop Install the SERVOP
9. Byte SV_ON Description Command Response 1 31H 31H Processing clas Control com Synchronization Asynchronous sifications mand group classifications 2 ALARM Processing time Within 50 ms Subcommand Can be used 3 OPTION STATUS e Turns ON the power to the motor 4 e Can be used during phases 2 and 3 e A warning will occur and the command will be ignored in the following 5 MONITOR1 cases 6 During alarm occurrence when ALM of STATUS is 1 Command warning 1 A 95A 7 If the main power supply turns OFF when PON of STATUS is 0 Com 8 mand warning 1 A 95A If the emergency stop switch input turns ON when E STP of IO_MON 9 MONITOR2 is 1 Command warning 1 A 95A 10 e OPTION field cannot be used Set all bits to 0 11 e Upon completion of this command the reference position POS must be read and the controller coordinate system must be set up 12 e If a SV_ON command is sent when the servo has been already turned 13 SEL MON SEL MON ON from CX Drive the Servo ON Reference Invalid Alarm A 0b0 will 1 2 1 2 occur 14 O_MON 15 16 WDT RWDT 17 For sub For sub 18 commands commands 19 20 21 22 23 24 25 26 27 28 29 78 4 2 23 Servo OFF SV_OFF 32H 4 2 Main Commands Byte SV_OFF Description Command Response 1 32H 32H Processing clas Control com Sync
10. servomotor main circuit cable Red Phase U k 1 1 yo White Phase V gt 2 2 hii Blue Phase W k gt 3 5 3 Green Yellow FG t 4 O 4 Black Brake gt 5 Black Brake gt 6 1 CNB connector Green Yellow A Joa m 0 DA 24 VDC 1 I DC power 1 suppl Black ree Relay ai Varistor Motor ia Servomotor main circuit cable k for relay Note 1 A 24 VDC power supply must be prepared 2 Connect the varistor in parallel with the 24 VDC power supply terminal and the GND terminal to suppress the surge voltage caused by turning the holding brake ON and OFF 3 Confirm pin numbers on the connector as well 4 If using the servomotor to drive a vertical axis configure a circuit to turn the holding brake ON and OFF so that the movable section will not be pulled down by gravity when the power supply of the SERVOPACK is turned OFF 5 Turn the holding brake on the secondary side ON and OFF as shown in the figure above A varistor must be connected 36 3 4 Main Circuit Wiring Connection Diagram for Standard Servomotor Main Circuit Cable The connection diagram for the standard cable JZSP CHM030 O0 cable with connectors on both ends is shown below If the servomotor main circuit cable is prepared by the customer refer to the diagram below and wire the cable correctly Motor end L y 50 mm SERVOPACK end gt
11. Model Rated Output SJME 01 100 W x 9 5 0 6 x 104kgm SJME 02 200 W x 7 2 3 0 x 10 4kgm SJME 04 400 W x 7 1 5 0 x 104kgm SJME 08 750 W x 6 4 10 0 x 10kgm Note The values are for standard servomotors without brakes 165 10 3 Overload Characteristics 10 3 Overload Characteristics The SERVOPACK provides a function to protect the servomotor and SERVOPACK from overloads IMPORTANT If an overload alarm occurs remove the cause and wait for at least one minute until the servomotor temperature decreases And then turn ON the power supply If the start and stop operation of the servomotor is repeated in a short time of period the servomotor windings may burn out e Always use the SERVOPACK in combination with the correct servomotor model e The overload characteristics shown below are the values used when the servomotor is installed on an aluminum heat sink 250 x 250 x 6 mm at the ambient temperature of 40 C Use the SERVOPACK and servomotor under the same conditions to obtain the overload characteristics shown below The overload characteristics are shown below SJME 01 100 W 1000 Example If the motor torque is 300 an overload 100 alarm will occur in approximately two second Time s 10 yu Livia 100 150 200 250 300 Motor Torque SJME 02 200 W to SJME 08 750 W 1000 100 Time s 100 1
12. 22 0 rrr rrr rrr rr rer errs 90 4 3 2 Read Parameter PRM_RD 01H 22 rere errr ee 90 4 3 3 Write Parameter PRM_WR 02H 2 00 22 r rrr renee ee 91 4 3 4 Read Alarm or Warning ALM_RD 05H 91 4 3 5 Write Stored Parameter PPRM_WR 1CH 7 92 4 3 6 Request Latch Mode LTMOD_ON 28H 7 7 92 4 3 7 Release Latch Mode LTMOD_OFF 29H 93 4 3 8 Status Monitoring SMON 30H 2 0 errr errr rere ee 93 4 4 Combination of MECHATROLINK II Main Commands and Subcommands 94 4 5 Command Data Field 95 4 5 1 Latch Signal Field Specifications LT_SGN 95 4 5 2 Option Field Specifications OPTION 95 4 5 3 Status Field Specifications STATUS 96 4 5 4 Monitor Selection and Monitor Information Field Specifications SEL_MON1 2 3 4 MONITOR1 2 3 4 7 2 rrr errr re eee 101 4 5 5 IO Monitor Field Specifications O_MON 103 4 5 6 Substatus Field Specifications SUBSTATUS 104 4 5 7 Alarm Warning Field Specifications ALARM 105 4 6 Command and Response Timing rrr rrr rrr rr
13. SERVOPACK end Host controller end Plug 14P 10114 6000EL PA Shell Kit 10314 52A0 008 yo 3M SS Na D gu Applicable Wires AWG24 0 2 mm AWG26 0 12 mm AWG28 0 08 mm Pin VO Code Signal Name Lead Dot Mark No Color Number Color 1 Input EXT1 External_Latch Orange 1 Black SERVOPACK Connector Plug 2 Input DEC Homing Decelaration Red Viewed from soldered side 3 Input N OT Reverse run prohibit Light gray Black 8 9 1011121314 4 Input P OT1 Forward run prohibit Red AE pala j d 5 Input 24VIN_ External input power supply White Black g Pe a AN 6 Input E STP Emergency stop Red Fame tcl gD Ba cd Ue A 7 Output SG COM Output signal ground Yellow Black t 1234567 8 Red 9 Pink Black 10 Red 11 Orange 2 Black 12 Output ALM Servo alarm Red 13 Output BK Brake Light gray Black 14 Red Shell FG 39 3 4 Main Circuit Wiring Note Confirm pin numbers given on the connector as well E Connection Diagram and Description for the General purpose control cables R7A CPZ S supplied by OMRON Company A General purpose Control Cable connects to the Servo Driver s Control I O Connector CN1 There is no connector on the controller end Wire a connector to match the controller if you are connecting to a Position Control Unit and a compatible cable is not available or if the drive is connected to a control ler manufactured by another company E Cable Models
14. Blue White 7 4 Phase A Blue White 5 Phase B Yellow i 5 Phase B Yellow 1 6 Phase B Yellow White A 7 6 Phase B Yellow White 7 Phase Z Purple if Phase Z Purple 8 Phase U Gray 7 8 Phase U Gray 9 Phase V Green 1 9 Phase V Green Phase W Orange se 5 10 Phase W Orange Shield Peele an _ Shield wire te EG shield Note Confirm pin numbers on the connector as well 38 3 4 Main Circuit Wiring 3 4 5 Wiring the I O Signal Connector CN1 7 Controller or e l H Separate by 300 mm or more Power supply Do Note Do not pull or apply excessive force on the cable Damage to the cable or con nectors may cause the product to stop operating or malfunction IMPORTANT Separate the I O cable at least 300 mm from power lines i e high voltage lines such as the power supply line and servomotor main circuit cable e Be sure that the maximum wiring length of the I O cable is 3 m E Connection Diagram for Standard I O Cable Supplied by Yaskawa Electric The connection diagram connection diagram for the standard cable JZSP CHI003 O10 cable with connector is shown below If the I O signal cable is prepared by the customer refer to the diagram below and wire the cable correctly
15. To edit a certain parameter select the desired parameter in the grid and enter the new parameter value Once you have entered the new value click the ENTER key or the DOWN arrow key or simply select another parameter and the last edited parameter will be downloaded automatically to the Servopack Eg Workspoce Ot Orive Drive Anis SJDE O2ZANA OY VERI TI SIDE 4 Dee coe yew Gre Tod medw te Oe cae me gt one 64 Ot wee GEKA 68 eea I Dfas x PaARe Le OMe Ho MKNQY Js EE Promete Edis T Function Salacion Constants Pn304 JOG Speed I Posion Metated Constants amp Speed Reises Conitarti Sets rotahon speed duning jo operahon a Sequence Aeliyed Crayt Ld Motor Parameters t Gy MECHATROUNK 4 Conetorts Use it to set or modify motor speed when operating the servomotor from a Panel or gt Me Sime Dizital Operator GE ON iret Signal Honto 7 gf ON Outpt Sena Monto gi Moton Statue HETTE a TO Pesan 1 avarved Tes Run Pha AAW a Connection Via MC MECHATROLINK II Gateway Notice Controller Ethernet 9600 MUMIT O SUMIT 65 IP 10 83 0 10 MAO DAI 0 DA2 0 SBA 0 nooo a For Help press F1 CM SREGQANA CT VERIST 50E Nm You can upload all the parameters into the CX Drive by using the upload command gA button You can download all the parameters from the CX Drive to the Servopack by Eh using the download command button 128 7 2 List of Parameters 7 2 List
16. P OT signal selec tion Correct the setting of param eter Pn50A 3 Check the parameter Pn50B 0 N OT signal selec tion Correct the setting of param eter Pn50B 0 Improper position setting of the overtravel limit switch The distance to the over travel limit switch OTLS is too short considering the coasting distance Correct the OTLS position Noise interference because of incorrect specifications of encoder cable Check if twisted pair shielded wires with core of 0 12 mm are used Use the specified encoder cable Noise interference because the encoder cable wiring distance is out of the specifi cations range The encoder cable wiring distance must be 20 m max The wiring distance of the encoder cable must be within the specified range Noise interference because of damaged encoder cable Check if the encoder cable is not pinched bent or its sheath is not damaged Modify the encoder cable layout 154 8 4 Troubleshooting for Malfunction without Alarm Display cont d Malfunction Cause Inspection Corrective Actions Overtravel OT Excessive noise interfer Check if the encoder cable Change the encoder cable Movement ence to the encoder cable is not bundled with or too layout so that no surge volt over the zone closed to high voltage lines age is applied specified by ine Check if the machine is cor host controller FG po
17. Reduce the load Replace with the larger capacity servomotor and SERVOPACK Servomotor rotates without reference input The SERVOPACK is faulty The SERVOPACK board is faulty Replace the SERVOPACK Servomotor is The ambient temperature is Check if the ambient tem Keep the ambient tempera overheated high perature around the servo ture around the servomotor motor is 40 C max to 40 C max Use fan or air conditioner Insufficient ventilation Check if ventilation is not Maintain proper ventilation obstructed Overloaded Rotate the servomotor with Reduce the load out load after disconnecting Repl ith the the servomotor from the place Wi larger machine capacity servomotor and SERVOPACK Servomotor The power is being supplied Check if the power is being Configure the circuit so that holding brake does not oper ate to the holding brake supplied to the holding brake the power supply of the hold ing brake is turned OFF when holding the load with the holding brake at the ser vomotor stop The servomo tor does not stop or has dif ficulty to stop when the servo turns OFF while the ser vomotor is run ning Overloaded Check the following e Is the load too heavy e ls the servomotor speed too high Reconsider the load condi tions and replace the SER VOPACK The emergency stop circuit is faulty Replace the SERVO
18. E Setting Transmission Bytes The SW2 bit 2 switch sets the MECHATROLINK II transmission bytes as shown below Settings that have been changed are enabled when the power is turned OFF and ON 345 YO o Ww YG5S SW1 factory setting ON F Fp 1234 OFF SW2 factory setting sw2 Name Setting Description Factory Setting Bit 1 Reserved OFF Do not set ON ON Fixed Bit 2 Transmission bytes OFF 17 bytes ON ON 32 bytes Bit 3 Station address OFF Station address 40H SW1 OFF ON Station address 50H SW1 Bit 4 Selection of filter OFF Sets by using the FIL rotary switch invalid OFF setting method setting by PnOOA ON Sets by PnOOA invalid setting by using the FIL rotary switch E Setting Station Address The SW1 and SW2 bit 3 switches set the MECHATROLINK II station address SW2 Bit 3 Station Address OFF 40H SW1 ON 50H SW1 53 3 8 Setting MECHATROLINK II Communications 3 8 4 Transmission Cycle and Number of Stations The transmission cycle and number of stations that can be set with the SERVOPACK are shown below Transmission Bytes Transmission Cycle 1 0 ms 1 5 ms 2 0 ms 3 0 ms 4 0 ms 17 14 23 30 30 30 32 8 14 20 30 30 Note 1 If connecting more than 16 stations use the repeater 2 The number of stations indicated in the above table is the maximum
19. MECHATROLINK II Communication cable Shielded wire Servomotor Main circuit cable Shielded wire Encoder cable Shielded wire AC Line cable Shielded wire E Attaching the Ferrite Core Coil the servomotor main circuit cable as a connection around the ferrite core with two turns then attach them by the SERVOPACK Refer to the diagram in the previous page Cable two turns Ferrite core Note Recommended Ferrite core Model ESD SR 25 Tokin Corp 26 Cable joint 3 4 Main Circuit Wiring E Fixing the Cable Fix and ground the cable shield using a piece of conductive metal cable clamp e Example of Cable Clamp Shield cable sheath stripped Host controller side Fix and ground the cable shield d E using a piece of conductive metal il Ground plate Remove paint on mounting surface E Shield Box A shield box which is a closed metallic enclosure should be used for shielding magnetic interference EMI The structure of the box should allow the main body door and cooling unit to be attached to the ground The box opening should be as small as possible 3 3 8 Other Precautions e Whether the electricity is served or not to the motor do not use the motor being rotated from the outside e When restarting the power supply soon after turning OFF alarm may occur to the SERVOPACK Refer to the power supply holding time in the following table to restart the power s
20. Manual No TOEP C71080603 01 OY Mechatrolink I communications type Model SJDE OMANA OY USER S MANUAL TTR r a Copyright 2006 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 photo copying recording or otherwise without the prior written permission of Yaskawa No patent liability is assumed with respect to the use of the information contained herein Moreover because Yaskawa is constantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every pre caution 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 Introduction This instruction manual describes the JUNMA series AC SERVOPACKs To properly use the JUNMA series AC SERVOPACKs read these instructions thoroughly and retain for easy reference for inspections maintenance and so on Make sure that the end user receives this manual Related Manuals Refer to the following manuals as required Manual Name Manual Number JUNMA series AC SERVOMOTOR TOMPC23026100 INSTRUCTIONS or TOEPC23026101 Safety Information The following
21. SERVOPACK Power Loss 14 16 24 35 At rated output W Input Control Method Capacitor input type single phase full wave rectification with inrush current limiting resistor Output Control Method PWM control sine wave current driven Allowable Load Moment of Inertia 0 6 x 104 3x 104 5x 104 10x 104 kg m Leakage Power Supply 3 5 mA max Current Frequency 163 10 1 Specifications cont d SERVOPACK Model SJDE O1ANA OY O2ANA OY O4ANA OY O8ANA OY Built in Functions Dynamic Brake Activated when the power supply is turned OFF when the servo is turned OFF or when an alarm occurs Deactivated after the motor stops Activated if the power supply is turntd OFF Communications for Maintenance CX Drive Modification initialization of parameters JOG operation etc Regenerative Energy Processing Optional A regenerative unit is required when the regenerative energy is excessively large Emergency Stop Emergency stop E STP Overtravel OT Prevention Forward run prohibited P OT reverse run prohibited N OT Display Four LED indicator lamps PWR RDY COM and ALM Power Supply Status PWR_LED is unlit when the control main circuit power Monitor supply is OFF PWR_LED is lit when the control main circuit power sup ply is ON Servo ON OFF Monitor RDY_LED is lit when the servo is OFF RDY_LED blinks when the servo is ON MECHA
22. 1 Parameter Name Data Size Min Max Units Factory No Set Value Set Value Setting Pn80B Linear acceler 2 bytes 1 65535 10000 refer 100 ation constant ence units s2 Pn80E Linear deceler 2 bytes 1 65535 10000 refer 100 ation constant ence units s Max reference distance 2147483647 7FFFFFFFH reference units Fl Max acceleration 655350000 reference units s Reference speed Target speed TSPD oy Time 124 6 6 Software Limit Function 6 6 Software Limit Function The software limit function forcibly stops the servomotor zero speed stop in the same way as an overtravel signal when the machine movable section enters the software limit zone Stops the servomotor by setting reference to zero 0 6 6 1 Conditions Needed to Enable the Software Limit Function The software limits are detected under the following conditions Under all other circumstances they will not be detected and the software limit monitor in STATUS field will be fixed to 0 1 The homing ZRET operation has been completed 2 Coordinate setting has been completed after setting the reference point REFE 1 by using POS_SET coordinate setting 6 6 2 Parameters Related Software Limit Function The set value will be immediately written to the SERVOPACK Parame Name Data Min Max Units Factory Setting ter Size Set Value Set Value No Pn801 Function Selection 2 0000H 0113H 0003H Appli
23. 10 Specifications 7 7 7 163 10 1 Specifications 2 2 2 ee ere rrr er re rrr eens 163 10 2 Allowable Moment of Inertia 0 00 er rrr errr ee 165 10 3 Overload Characteristics 2 0 ccc ner rere scree 166 Revision History 12 1 1 Checking Products 1 Before Use 1 1 Checking Products Confirm that the following items have been delivered together with the SERVOPACK Verify that the ordered product as received by the model number marked on the nameplate on the SERVOPACK If you find any irregularities such as incorrect SERVOPACK model damages and missing parts or items contact your Omron Yaskawa representative or the dealer from whom you purchased the prod ucts SJDE SERVOPACK Nameplate SERVOPACK Applicable model power supply Applicable motor Order number O N 60A194 341 7 capacity Serial number S N 0001 23265990007 von MCE YASKAWA ELECTRIC MADE IN JAPAN NE One copy of this Instruction Manual 1 Connector Part Number JZSP CHG9 1 1 2 Warning Label A warning label is located on the side of the SERVOPACK SJDE SERVOPACK s Warning Label FORM AF WHS Ee ABO L Read manual before instal ling WR BEHLUBRT TA ARTENE BEORNAY WARNING Disconnect all power and wait 5 min before servicing May cause electric shock SE E EHe AGOBHHY CAUTION Do not touch heatsink when power is ON May ca
24. 53 3 8 4 Transmission Cycle and Number of Stations 54 3 8 5 MECHATROLINK II Communications Status Indicator COM LED 54 4 MECHATROLINK II Commands 55 4 1 Lists of Commands 22 r errr e ere eee N 55 4 1 1 Main Commands List eee ee errr eee ee 55 4 1 2 Subcommands List 57 4 2 Main Commands rr ree reer rer reer eer e eee 58 4 2 1 Communication Phases 58 4 2 2 No Operation NOP OOH eee errr rere eee 60 4 2 3 Read Parameter PRM_RD 01H 2 200 reer rene 61 4 2 4 Write Parameter PRM_WR 02H 62 4 2 5 Read ID ID_RD 03H 63 4 2 6 Setup Device CONFIG 04H 64 4 2 7 Read Alarm or Warning ALM_RD 05H 65 4 2 8 Clear Alarm or Warning ALM_CLR O6H 66 4 2 9 Start Synchronous Communication SYNC_SET ODH 67 4 2 10 Establish Connection CONNECT OEH 68 4 2 11 Release Connection DISCONNECT OFH 69 4 2 12 Write Stored Parameter PPRM_WR 1CH 69 4 2 13 Set Co
25. After setting the desired value click on Servo On button in the motor operation toolbar Then you can click on Forward or Reverse to start the JOG operation The jog speed is monitored in the motor operation tool bar You can click on the Stop but ton to stop the jog operation If you want to swith to a different switch Run operation use the following method Click the Servo Off button to disable the servo Pun Continuous Phan ycker coripsan m W 00 ae sl Fearne Jog Speed Accel Time Sec Decel Time Se 1000 0 0 MiAxisO Vriting PnJ 4 1000 axied Writing 304 500 Axied Vriting Paj 2000 Axic0 Vrating Pado 500 Axis0 Origis Search completed on 4141 PIMP Merope Mintory f 4 5 100 y 2 Run for n cycles where you can set up to 10 differ ent steps for a complex run operation When you select Run for n cycles the second tab Run Cycles is selected You will find a grid where you can set the desired Jog steps for each step you can define the acceleration deceleration and run time and the jog speed Click on Run Forward or Run Reverse to start the operation Finally you can use the Test Run View for the Search Origin operation Once you have the search Origin operation selected set the Servo in On state by click ing Servo On Then click on Forward or Reverse button to start the Search Origin operation A tex
26. Photocoupler output Max operating voltage 30 VDC per output Max output current SG COM 50 mA DC Signal Name Signal Meaning Function Brake Interlock BK Brake interlock output Releases the brake when ON close Output SG COM Output signal ground Applies the brake when OFF open 50 3 7 I O Signals E BK Signal Timing When the servo is turned OFF while the servomotor stops Servo OFF SV_OFF command Brake BK Motor power Servo ON Servo OFF Brake OFF Brake ON Motor power ON i Motor power OFF a Approx 130 ms When the servo is turned OFF while the servomotor is running Servo OFF SV_OFF command Motor speed min Approx 100 min Brake BK Servo ON Servo OFF BK Signal Output Conditions While the Servomotor is Rotating BK signal turns ON when either of the following is satisfied The servomotor speed decreases to a value 100 min or less after the servo has turned OFF 500 ms elapses after the servo has been turned OFF 51 3 8 Setting MECHATROLINK II Communications 3 8 Setting MECHATROLINK II Communications 3 8 1 MECHATROLINK IT Communications E Outline MECHATROLINK II is a field network that makes it possible for one factory automation controller C1 master station to control decentralized multiple factory automation devices slave stations such as servo drives inverters and I O mod
27. Pnooo n 10 Forward rotation is defined as counterclockwise CCW rotation as viewed from the load Factory setting n 1 Forward rotation is defined as clockwise CW rotation as viewed from the load Reverse Rotation Mode 119 6 3 Electronic Gear 6 3 Electronic Gear The electronic gear function enables the servomotor travel distance per input reference pulse from host controller to be set to any value One reference pulse from the host controller is the minimum unit and is called as one reference unit The electronic gear function allows the host controller generating pulses to be used for control without having to consider the machine deceleration ratio or the number of encoder pulses When the Electronic Gear is Not Used When the Electronic Gear is Used Workpiece Workpiece Reference unit 1 mm ECLI EIIE III rrr A k A R No of encoder pulses 8192 Ball screw pitch 6 mm No of encoder pulses 8192 Ball screw pitch 6 mm To move a workpiece 10 mm To move a workpiece 10 mm using reference units 1 revolution is 6 mm Therefore PE 10 6 1 6666 revolutions The reference unit is 1mm Therefore 8192 pulses is 1 revolution Therefore Lis ce a AOOO QOM 1 6666 x 8192 13653 pulses 10000 1 10000 pulses 13653 pulses are input as references Input 10000 pulses The equation must be calculated at the hos
28. Portugal Tel 351 21 942 94 00 www omron pt Russia Tel 7 095 745 26 64 www omron ru Spain Tel 34 913 777 900 www omron es Sweden Tel 46 0 8 632 35 00 www omron se Switzerland Tel 41 0 41 748 13 13 www omron ch Turkey Tel 90 0 216 474 00 40 Pbx www omron com tr United Kingdom Tel 44 0 870 752 08 61 www omron co uk 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 relevand 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 may apply Specifications are subject to change without notice for ongoing product modifications and improvements 2006 OMRON Yaskawa Motion Control All rights reserved Note Specifications subject to change without notice Manual No TOEP C71080603 01 OY y OMRON
29. Type Model Length MECHATROLINK Communication JEPMC W6002 D1 Specify the length in O00 Cable Refer to Page 31 for details JEPMC W6002 00 E Compliant with ROHS Directive MECHATROLINK Communication JEPMC W6003 O1 Cable with connectors at both ends with JEPMC W6003 L O E ferrite core Compliant with RoHS Directive with connectors at both ends without ferrite core E Cable Length The total cable length must be 50 m max The cable length between stations must be 0 5 m min E Terminator Install a terminator on the SERVOPACK connected at the end of communication cable Terminator Type Connector Type MECHATROLINK II Terminator JEMPC W6022 JEMPC W6022 E Compliant with RoHS Directive 41 3 4 Main Circuit Wiring CJ1 series Position control unit CJ1W NCF71 i ce Waa Terminator L1 L2 Ln 50m Cable length between stations 0 5 m min Max number of slaves 30 with repeaters connected IMPORTANT Keep a distance 300 mm min between power lines high voltage circuit such as power sup ply line and servomotor main circuit cable and MECHATROLINK II cable 42 3 4 Main Circuit Wiring 3 4 7 Wiring the Personal Computer Connector CN9 Prepare the specifi
30. input signal Turn ON either the P OT or the N OT input signal The power supply is OFF Check the PWR LED to see if the power supply is ON Turn the power supply ON Check the voltage between the power supply terminals Correct the power supply ON circuit The SERVOPACK is faulty The SERVOPACK board is faulty Replace the SERVOPACK Servomotor runs instanta neously and then stops The servomotor wiring is incorrect Check the servomotor wir ing Correct the servomotor wir ing The encoder wiring is incor rect Check the encoder wiring Check the encoder wiring 151 8 4 Troubleshooting for Malfunction without Alarm Display cont d Malfunction Cause Inspection Corrective Actions Servomotor The connection to the servo Check if the power line Retighten any loose termi speed is unsta ble motor is defective phase U V and W and encoder connectors are securely connected nals or connectors The concentricity of cou pling between the servomo tor and machine shafts or loose screws Check the coupled section of machine shaft Rotate the servomotor with out load after disconnecting the servomotor from the machine Correct or adjust the machine The load moment of inertia exceeds allowable value of the SERVOPACK Rotate the servomotor with out load after disconnecting the servomotor from the machine
31. 4 95H MECHATROLINK II Com A command was sent though the command sending conditions mand Warning 1 were not satisfied MECHATROLINK II Com An unsupported command was sent mand Warning 2 MECHATROLINK II Com A command especially latch command interferes mand Warning 4 MECHATROLINK II Com A sub command and main command interfere mand Warning 5 96H MECHATROLINK II Com A communications error occurred during MECHATROLINK commu munications Warning nications 107 4 6 Command and Response Timing 4 6 Command and Response Timing This section describes the execution timing for command data and the input timing for monitor data This timing is constant regardless of the transmission cycle and communications cycle 4 6 1 Command Data Execution Timing Motion commands POSING INTERPOLATE and the OPTION command data field are executed 625 us after they are received Command sent Response received K Transmission cycle 1 ms i D pooo i l M i Master sent qn Ooo oo oo j odo g on Slave sent i A OOU 00 i ay J i Received Sent y i i L i 625 us until the motor starts 4 6 2 Monitor Data Input Timing The monitor I O and status data is the data 625 us before the response is sent
32. 55 C or heat around the SERVO max PACK occurred A 7Ab SERVO Occurred when the The SERVOPACK built in Replace the cooling fan PACK Built power supply was fan stopped according to the descriptions in Fan Stop turned ON or while in 9 Inspections me servomotor WaR The air inlet outlet of the Inspect the cooling fan running A r i cooling fan is blocked with dirt or foreign matters A b33 Current Occurred when the The SERVOPACK is faulty e Replace the SERVOPACK Detection servo was turned e Contact your Omron Error ON Yaskawa representative The servomotor main cir Check and then correct the cuit cable is disconnected servomotor main circuit cable wiring A b6A MECHA Occurred when the MECHATROLINK II LSI is e Replace the SERVOPACK TROLINK II power supply was faulty e Contact your Omron Communi turned ON Yaskawa representative cation LSI Error 144 8 3 Alarm Warning Display and Troubleshooting cont d Alarm Alarm Name Situation at Alarm Cause Corrective Actions Display Occurrence A bFO System Occurred when the The SERVOPACK is faulty Replace the SERVOPACK Alarm 0 power supply was e Contact your Omron turned ON or while Yaskawa representative ADFT ayem the servomotor was am running A bF2 System alarm 2 A bF3 System Alarm 3 A bF4 System Alarm 4 A bFA System Alarm A A C10 Servo Over Occurred when the The SERVO
33. Can be nous used 32H SV_OFF Servo OFF C Asynchro Can be nous used 34H INTERPO Interpolation M Synchro Can be LATE Feed nous used 35H POSING Positioning M Asynchro Can be nous used 36H FEED Constant Speed M Asynchro Can be Feed nous used 38H LATCH Interpolation M Synchro Can be Feeding with nous used Position Detec tion 39H EX_ External Input M Synchro Can be POSING Positioning nous used 3AH ZRET Homing M Asynchro Can be nous used 3EH ADJ Adjustment D Asynchro Cannot nous be used lt Processing Classifications gt N Network command D Data communication command C Control command M Motion command X Compound command IMPORTANT If an unsupported command is received the warning A 95b will occur and the command will be ignored The servo is not OFF and the servomotor is not stopped if an unsupported command is received 56 4 1 Lists of Commands 4 1 2 Subcommands List Command Command Functions Remarks Code Name 00H NOP No Operation 01H PRM_RD Read Parameter 02H PRM_WR Write Parameter 05H ALM_RD Read Alarm or Warning 1CH PPRM_WR Write Stored Parameter 28H LTMOD_ON Request Latch Mode 29H LTMOD_OFF Release Latch Mode 30H SMON Status Monitoring 57 4 2 Main Commands 4 2 Main Commands The following sections describe main command specific items that are unique to the SJDE OOANA The MECHATROLINK II
34. Canadian Standards Association 1 6 2 European Directives Model Low Voltage EMC Directive Certification Directive EMI EMS SERVOPACK SJDE EN50178 EN55011 EN61000 6 2 TUV PS class A group 1 Servomotor SJME IEC60034 1 EN55011 EN61000 6 2 TUV PS IEC60034 5 class A group 1 IEC60034 8 IEC60034 9 TUV Product Services GmbH Note 1 Because SERVOPACKs and servomotors are built in type reconfirmation is required after being installed in the final product 16 2 1 Installation Conditions 2 Installation The following shows the installation location and method of the SERVOPACK 2 1 Installation Conditions Item Specifications Operating temperature 0 C to 55 C Operating humidity 90 RH or less with no condensation Storage temperature 20 C to 70 C Storage humidity 90 RH or less with no condensation Installation site Free of corrosive gases Free of dust and iron powder Not subjected to moisture or lubrication oil such as cutting oil Altitude 1000 m or below Vibration resistance 4 9m s2 Shock resistance 19 6m s2 Operating conditions Installation category overvoltage category II Pollution degree 2 Protection class IP1X EN50178 Installation Site Installation in a control panel Design the control panel size unit layout and cooling method so that the temperature around the SERVOPACK does not exceed 55 C Not
35. Drive Refer to 8 3 Alarm Warning Display and Troubleshooting for more information on the causes of alarm warning as well as corrective actions Alarm Alarm Name Meaning Display of Response 02H Parameter Error 0 The data of the parameter in the SERVOPACK is incorrect Parameter Error 1 The data of the parameter in the SERVOPACK is incorrect Parameter Error 2 The data of the parameter in the SERVOPACK is incorrect Parameter Error 3 The data of the parameter in the SERVOPACK is incorrect 03H Main Circuit Detector Error Detection data for the main circuit is incorrect 04H Parameter Setting Error The parameter setting is outside the allowable setting range 05H Unsupported Product SERVOPACK is faulty Alarm ObH Servo ON Reference After the servo ON signal was sent through the CX Drive the Invalid Alarm SV_ON command of the MECHATROLINK II was sent 10H Overcurrent An overcurrent flowed through the IGBT or the SERVOPACK heat sink was overheated 28H Emergency Stop An emergency stop signal was input while the servomotor were running 40H Overvoltage The main circuit DC voltage is excessively high 41H Undervoltage The power supply was turned ON again before the SERVOPACK power supply was cut off 51H Overspeed The servomotor speed is excessively high 71H Overload High load The servomotor was operating for several seconds to several tens of seconds under a torque largely exceedi
36. No software limit check using references 1 Software limit check using references 6 6 3 Monitoring Software Limit Confirm the software limit status in P_SOT and N_SOT in the STATUS field 126 6 7 Latching Area 6 7 Latching Area The latching area can be specified by setting the parameters listed below The setting will be immediately written to the SERVOPACK Parameter Name Data Size Min Max Units Factory No Set Value Set Value Setting Pn820 Latching area 4 bytes 2147483648 2147483647 Reference unit 0 upper limit Pn822 Latching area 4 bytes 2147483648 2147483647 Reference unit 0 lower limit When Pn820 gt Pn822 The latching area is between the latching area lower limit and latching area upper limit including the set value Pn822 Pn820 Latching area When Pn820 lt Pn822 The latching area is the latching area lower limit or above or the latching area upper limit or below Pn820 Pn822 Latching area Latching area 127 7 1 Parameter Editor 7 Parameters 7 1 Parameter Editor The parameters can be displayed and edited using the CX Drive parameter editor function Connect a computer with CX Drive installed to the SERVOPACK and start CX Drive Select the Parame ter Editor from the Tree project editor in the left pane The parameters are organized in categories that can be accessed from the Tree editor in the left pane project tree
37. Pulley diameter a P ons i ec nD 1 revolution Reference unit 1 revolution Reference unit 1 revolution Reference unit 5 Electronic gear ratio is given as B If the deceleration ratio of the servomotor and load shaft is given as m where the load shaft rotates n times when the servomotor shaft rotates m times i dBi 8192 m El ctroni gear rati o Travel distance per load shaft revolution reference unit a IMPORTANT Make sure that the electronic gear ratio satisfies the following equation 0 01 lt Electronic gear ratio B lt 100 The SERVOPACK will not operate properly if the electronic gear ratio is outside of this range Modify the load configuration or reference unit 121 6 3 Electronic Gear 6 Set the parameters Reduce the electronic gear ratio B to the lower terms so that both A and B are integers smaller than 1073741824 then set A and B in the respective parameters 0 Pn20E Electronic gear ratio Numerator gt w Pn210 Electronic gear ratio Denominator That is all that is required to set the electronic gear ratio Parameter Name Data Size Min Set Max Set Units Factory Setting No byte Value Value Pn20E Electronic Gear 4 1 1073741824 1 Ratio Numerator Pn210 Electronic Gear 4 1 1073741824 1 Ratio Denominator Set the electronic gear ratio according to the machine specifications as describ
38. Setting The command data is out of range Warning 2 A 94d MECHATROLINK II Data Setting Unmatched data size was detected Warning 4 A 95A MECHATROLINK II Command Warn A command was sent though the command sending ing 1 conditions were not satisfied A 95b MECHATROLINK II Command Warn An unsupported command was sent ing 2 A 95d MECHATROLINK II Command Warn A command especially latch command interferes ing 4 A 95E MECHATROLINK II Command Warn A sub command and main command interfere ing 5 A 960 MECHATROLINK II Communications A communications error occurred during MECHA TROLINK communications 138 8 3 Alarm Warning Display and Troubleshooting 8 3 Alarm Warning Display and Troubleshooting The corrective actions when an alarm or warning occurs are described below Contact your Omron Yaskawa representative if the problem cannot be solved by the described correc tive actions 8 3 1 Alarm Display and Troubleshooting Alarm Alarm Name Situation at Alarm Cause Corrective Actions Display Occurrence A 020 Parameter Occurred when the The power supply was Execute the initialize parame Error 0 power supply was turned OFF while changing ter function of CX Drive and turned ON the parameter then set the parameter again The number of times that e Replace the SERVOPACK the parameters were writ e Contact your Omron ten exceeded the upper Yaskawa representative limit For example t
39. Wiring A WARNING Be sure to correctly ground the SERVOPACK and the servomotor Wiring must be performed by an authorized person qualified in electrical work When using the servomotor for a vertical axis install safety devices to prevent workpieces from falling off because of alarms Workpiece s falling off may result in injury or malfunction Configure the interlock circuit so that the system is interlocked to avoid injury whenever the protective cover on the machine is opened or closed Use the emergency stop signal input E STP to forcibly turn OFF the servo from an external sequence such as host controller at occurrence of servo alarm or system emergency stop The residual voltage rotates the servomotor for a few seconds after the power supply has been turned OFF and may result in injury or damage to the equipment Be sure to com pletely stop the motor by turning OFF the servo using the emergency stop When executing the JOG operation and the home position search operation using CX Drive the E STP signal will be ignored Alternative measures must be taken in case an emer gency stop is needed Configure the circuits power supply to be automatically cut off if E STP signal is OFF at occurrence of emergency stop The residual voltage rotates the servomotor for a few seconds after the power supply has been turned OFF and may result in injury or damage to the equipment Position information is not stored in the SERVOPACK so th
40. cover the inlet or outlet parts of the SERVOPACK and prevent any foreign objects such as metallic fragment or combustibles from entering the product Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire Air outlet direction 50mm 4 Airinlet min direction y 18 3 1 System Configuration 3 Wiring 3 1 System Configuration Power supply Single phase 200 VAC L1 L2 Hl La L Surge protector Protects the system from lightening surge 1 AC reactor Used for a power supply harmonic suppression Fuse To protect the equipment always install fuses A WARNING Correctly connect the connectors CNA and CNB Incorrect wiring may result in electric shock injury or damage to the equipment After wiring install the connectors as explained in 3 8 Wiring the Power Supply Regenerative Unit Connector CNA and 3 9 Wiring the Servomotor Main Circuit Cable Connector CNB Used for a regenerative unit Regenerative unit Used if regenerative energy is high Molded case circuit breaker To protect the equipment and wiring always connect a molded case circuit breaker Noise filter Used to eliminate suppress noise from power lines fo Magnetic contactor Used to turn OFF the servo power supply when using a regenerative unit or an emergency stop SJDE SE
41. during phases 2 and 3 e Check that CMDRDY is 1 to confirm that the Release Latch Mode com 5 MONITOR1 mand has been received 6 e Interference with another latch mode command During the execution of a command such as LATCH ZRET or 7 EX_POSING the LTMOD_OFF command cannot be used If this com 8 mand is used during the execution of these commands the Command warning 4 A 95D will occur 9 MONITOR2 10 11 12 13 SEL_MON SEL_MON 1 2 1 2 14 IO_MON 15 16 WDT RWDT 17 For sub For sub 18 commands commands 19 20 21 22 23 24 25 26 27 28 29 76 4 2 21 Status Monitoring SMON 30H 4 2 Main Commands Byte SMON Description Command Response 1 30H 30H Processing clas Data communi Synchronization Asynchronous sifications cations com classifications mand group 2 ALARM Processing time Within commu Subcommand Can be used nications cycle 3 STATUS e Reads the current status of the SERVOPACK 4 e Can be used during phases 2 and 3 5 MONITOR1 6 7 8 9 MONITOR2 10 11 12 13 SEL_MON SEL_MON 1 2 1 2 14 IO_MON 15 16 WDT RWDT 17 For sub For sub 18 commands commands 19 20 21 22 23 24 25 26 27 28 29 77 4 2 Main Commands 4 2 22 Servo ON SV_ON 31H
42. e Contact your Omron Yaskawa representative A short circuit or ground fault e Between the grounding and U V or W of the ser vomotor e Between phases U V or Ww e Replace the SERVOPACK e Contact your Omron Yaskawa representative The overload or the regen erative power exceeds the regenerative power pro cessing capacity Reconsider the load and oper ation conditions The direction or the dis tance of the SERVOPACK to other devices is incorrect Heat around the SERVO PACK occurred Correct the installation condi tions so that the ambient tem perature for the SERVOPACK is 55 C max The output exceeds the rat ing Reduce the load Combination of SERVO PACK and servomotor is incorrect Check the relevant catalogue and select the correct combi nation 140 8 3 Alarm Warning Display and Troubleshooting cont d Alarm Alarm Name Situation at Alarm Cause Corrective Actions Display Occurrence A 100 Overcurrent Occurred when the The SERVOPACK is faulty Replace the SERVOPACK power supply was e Contact your Omron turned ON or while Yaskawa representative the servomotor was running The servomotor is faulty Check the resistance between lines of the servomotor and replace the servomotor if any unbalance is found A 280 Emergency Occurred during The emergency stop signal Wire correctly according to t
43. exceeds the maximum speed Data setting warning 2 A 94B 3 TSPD j MONITOR2 OPTION field cannot be used Set all bits to 0 10 e The target speed TSPD is a signed 4 bytes The direction is deter 11 mined by the sign The target speed is sent in the range from a negative maximum speed to a positive maximum speed reference unit s 12 e Changes can be made to the target speed during movement 13 SEL_MON SEL_MON Use DEN output complete to confirm the completion of position refer 12 12 ence output e For details on posing commands refer to 6 5 2 POSING Related Com 14 10_MON mands for details on the operation 15 16 WDT RWDT 17 For sub For sub 18 commands commands 19 20 21 22 23 24 25 26 27 28 29 E Related Parameters Parameter No Description Pn80B Linear Acceleration Parameter 82 4 2 Main Commands 4 2 27 Interpolation Feeding with Position Detection LATCH 38H Byte LATCH Description Command Response 1 38H 38H Processing clas Motion com Synchronization Synchronous sifications mand group classifications 2 LT_SGN ALARM Processing time Within commu Subcommand Can be used nications cycle 3 OPTION STATUS e Performs interpolation feeding and latches the position using the latch 4 signal specified in LT SGN e If the latch si
44. if E STP signal is OFF at occur rence of emergency stop Refer to 3 7 3 Emergency Stop Signal Input The residual voltage rotates the servomotor for a few seconds after the power supply has been turned OFF and may result in injury or damage to the equipment Be sure to completely stop the motor by turning OFF the servo using the emergency stop Position information is not stored in the SERVOPACK so this information will be lost if the power supply is turned OFF This information cannot be read again if the power supply is turned OFF When using the servomotor for a vertical axis install safety devices to prevent workpieces from fall ing off because of alarms Workpiece s falling off may result in injury or malfunction Configure the interlock circuit so that the system is interlocked to avoid injury whenever the protec tive cover on the machine is opened or closed 3 3 1 Protection for Power Supply Line e Use a molded case circuit breaker and fuse to protect the power supply line The SERVOPACK con nects directly to a commercial power supply without a transformer so always use a circuit breaker and fuse to protect the servo system from accidental high voltage 3 3 2 Caution for Grounding Consider the following conditions when grounding the SERVOPACK e For a ground wire use as thick a cable as possible 2 0 mm or thicker e A ground resistance of 100 Q or less is recommended e Ground to one point only 7
45. no 7 OSG Undervotage OI Fr000 6 Error Traceback Data Error Resut no 6 CEA2 MECHATROLNK I internal Synchronization OEA Frona Eror Traceback Date Error Rest no 0661 MECHATROUNK I Transmission Cycle Ero CE1 135 8 1 Alarm Displays 8 1 Alarm Displays Alarm displays names and meanings are listed below arm occurs the servomotor can be stopped by doing either of the following operations e Stop by dynamic brake Stops the servomotor immediately using the dynamic brake e Zero speed stop Stops the servomotor by setting the speed reference to 0 If an al Alarm Alarm Name Meaning Servomotor Alarm Display Stop Reset Method A 020 Parameter Error 0 The data of the parameter in the SERVO DB stop N A PACK is incorrect A 021 Parameter Error 1 The data of the parameter in the SERVO DB stop N A PACK is incorrect A 022 Parameter Error 2 The data of the parameter in the SERVO DB stop N A PACK is incorrect A 023 Parameter Error 3 The data of the parameter in the SERVO DB stop N A PACK is incorrect A 030 Main Circuit Detector Detection data for the main circuit is incor DB stop Available Error rect A 040 Parameter Setting Error The parameter setting is outside the allow DB stop N A able setting range A 051 Unsupported Product SERVOPACK is faulty DB stop N A Alarm A 0b0 Servo ON Reference After the servo ON si
46. number of stations that can be connected through MECHATROLINK communica tions The actual number of stations may differ depending on the Machine Controller Refer to the relevant Machine Controller s manual 3 8 5 MECHATROLINK II Communications Status Indicator COM LED The LED indicator COM green on the front of SERVOPACK lights up when MECHATROLINK II com munications with the host controller is established Status Indicator LED SERVOPACK Operation Status COM ALM RDY 2 seconds after the power turns ON COM ALM RDY Standby for establishment of communications COM MECHATROLINK II communications are busy me COM ALM RDY Servo ON status Power is being supplied Unlit Lit Ly Blinking 54 4 1 Lists of Commands 4 MECHATROLINK IT Commands 4 1 Lists of Commands 4 1 1 Main Commands List The MECHATROLINK II main commands are classified into three types Common commands com mon motion commands and servo standard commands Classifica Com Command Functions Process Synchroni Subcom Remarks tions mand Name ing Classi zation Clas mand Code fications sifications Common 00H NOP No Operation N Asynchro Can be Commands nous used 01H PRM_RD Read Parameter D Asynchro Cannot nous be used 02H PRM_WR Write Parameter D Asynchro C
47. of position refer 11 ence output e For details on interpolation refer to 6 5 1 INTERPOLATE Related Com 12 mands 13 SEL_MON SEL_MON Speed Feed Forward VFF cannot be used 1 2 1 2 If a VFF is input no compensation for speed feed forward will be applied 14 IO_MON 15 16 WDT RWDT 17 For sub For sub 18 commands commands 19 20 21 22 23 24 25 26 27 28 29 80 4 2 Main Commands 4 2 25 Positioning POSING 35H Byte POSING Description Command Response 1 35H 35H Processing clas Motion com Synchronization Asynchronous sifications mand group classifications 2 ALARM Processing time Within commu Subcommand Can be used nications cycle 3 OPTION STATUS e Performs positioning at the target position TPOS using the target 4 speed TSPD e Can be used during phases 2 and 3 5 TPOS MONITOR1 e A warning will occur and the command will be ignored in the following 6 cases If the SERVOPACK is Servo OFF Command warning 1 A 95A 7 If the target speed TSPD exceeds the maximum speed Data setting 8 warning 2 A 94B 9 TSPD MONITOR OPTION field cannot be used Set all bits to 0 e The target position TPOS is a signed 4 bytes It is sent by using an 10 absolute position in the reference coordinate system 11 e The target speed TSPD is an unsigned 4 bytes It is sent in the range from
48. oo On has the same function as the main command 3 4 3 4 20 MONITOR3 21 22 23 24 MONITOR4 25 26 27 28 29 92 4 3 7 Release Latch Mode LTMOD_OFF 29H 4 3 Subcommands Byte LTMOD_OFF Description Command Response 17 29H 29H Processing Control com Processing time Within commu classifications mand group nications cycle 18 SUBSTATUS Releases the modal latch mode f f 19 SEL MON SEL MON Hi el tol has the same function as the main command 3 4 3 4 20 MONITOR3 21 22 23 24 MONITOR4 25 26 27 28 29 4 3 8 Status Monitoring SMON 30H Byte SMON Description Command Response 17 30H 30H Processing Data communi Processing time Within commu classifications cations com nications cycle mand group 18 SUBSTATUS Reads the monitoring information specified in SEL_MON3 4 19 SEL MON SEL MON This command has the same function as the main command SMON 3 4 3 4 20 MONITOR3 21 22 23 24 MONITOR4 25 26 27 28 29 93 4 4 Combination of MECHATROLINK II Main Commands and Subcommands 4 4 Combination of MECHATROLINK II Main Commands and Subcommands MECHATROL
49. signal With a Junma series SERVOPACK position reference filter can be set using the FIL rotary switch or PnOOA 102 4 5 Command Data Field 4 5 5 10O Monitor Field Specifications O_MON The IO monitor field specifications IO_MON can be designated using the following commands SMON SV_ON SV_OFF HOLD INTERPOLATE FEED POSING LATCH EX_POSING ZRET SENS_ON SENS_OFF BRK_ON BRK_OFF LTMOD ON LTMOD OFF The IO monitor field is used to monitor the I O signal status of the SERVOPACK with the fourteenth to fif teenth byte reserved area of the above main commands E O Monitor Field D7 D6 D5 D4 D3 D2 D1 DO EXT1 DEC N OT P OT D15 D14 D13 D12 D11 D10 D9 D8 z z m E STP BK z Limit switch input signals P OT and N OT Indicates the forward and reverse limit switch input status DO Status P OT 0 Forward limit switch input OFF 1 Forward limit switch input ON D1 Status N OT 0 Reverse limit switch input OFF 1 Reverse limit switch input ON Deceleration limit switch input signal DEC Indicates the deceleration limit switch input signal status D2 Status 0 Deceleration limit switch input OFF 1 Deceleration limit switch input ON External latch input signal EXT1 Indicates the first external latch input signal status This signal is used to latch data D6 Status 0 First external lat
50. signal the SERVOPACK processing for stopping is exe cuted by the software As the safety specifications of some applications may not satisfy local safety requirements add external safety circuits as required 24 VDC power supply 24V SERVOPACK CN1 6 3 3kQ e ESTP J E l CIN P 7 MA ov Signal Name Signal Function Emergency Stop E STP ON low level Releases the emergency stop SignaliInput OFF high level Emergency stop Forced servo OFF e The command warning 1 A 95A will occur if a SV_ON command is sent while the SERVOPACK is in emergency stop status e The emergency stop alarm A 280 will occur if the emergency stop signal turns ON while the power is being supplied to the servomotor 47 3 7 I O Signals E Sequence at Occurrence of Emergency Stop A WARNING e Configure the circuits power supply to be automatically cut off if E STP signal is OFF at occur rence of emergency stop The residual voltage rotates the servomotor for a few seconds after the power supply has been turned OFF and may result in injury or damage to the equipment Position information is not stored in the SERVOPACK so this information will be lost if the power supply is turned OFF This information cannot be read again if the power supply is turned OFF IMPORTANT e Do not frequently start or stop the servomotor by turning ON or OFF the power supply or by u
51. using the above procedure the C1 master station detects a communication error The operations in alarm state and recovery from alarm state depend on the specifications of the device or application 59 4 2 Main Commands 4 2 2 No Operation NOP 00H Byte NOP Command Response Description 00H 00H Processing clas sifications Network com mand group Synchronization classifications Asynchronous oO O N OD aj A w fo os N wo ar A a ALARM Processing time Within transmis sion cycle Subcommand Can be used STATUS e gt WDT RWDT wk N ers o DS N N N N wo N EN N a N o N NI DS N o For sub commands For sub commands e Returns the status of the ALM WARNG and CMDRDY in STATUS bytes only All other bits are not used The response will be NOP when the power is turned ON until initialization has been completed and dur ing this time the following status will be returned CMDRDY 0 e Can be used during any phase 60 4 2 3 Read Parameter PRM_RD 01H 4 2 Main Commands Byte PRM_RD Description Command Response 1 01H 01H Processing clas Data communi Synch
52. 0 to the maximum speed reference unit s 12 e Changes can be made to the target position and target speed during 13 SEL_MON SEL_MON movement 1 2 1 2 e Use DEN output complete to confirm the completion of position refer ence output AG z IOMON e For details on posing commands refer to 6 5 2 POSING Related Com 15 mands 16 WDT RWDT 17 For sub For sub 18 commands commands 19 20 21 22 23 24 25 26 27 28 29 E Related Parameters Parameter No Description Pn80B Linear Acceleration Parameter Pn80E Linear Deceleration Parameter 81 4 2 Main Commands 4 2 26 Constant Speed Feed FEED 36H Byte FEED Description Command Response 1 36H 36H Processing clas Motion com Synchronization Asynchronous sifications mand group classifications 2 ALARM Processing time Within commu Subcommand Can be used nications cycle 3 OPTION STATUS e Performs constant speed feeding using the target speed TSPD The z servo performs constant speed feeding by position control Use the Stop Motion command HOLD 25H to stop the constant speed feeding 5 MONITOR1 Can be used during phases 2 and 3 6 A command warning will occur and the command will be ignored in the following cases 7 If the SERVOPACK is Servo OFF Command warning 1 A 95A 8 If the target speed TSPD
53. 1 master station Phase 4 If the C1 master station is turned OFF the C1 master station sends a DISCONNECT command to all slave stations The DISCONNECT command is also sent to any slave stations involved if there is a need to change the system configuration When the slave station receives the DISCONNECT command from the C1 master station they execute the reinitialization processing and then shift to connection wait state phase 1 Phase 5 When the C1 master and slave stations are turned OFF they switch to phase 5 The following two state changes depend on which station is turned OFF first e C1 Master Station Turned OFF First The C1 master station sends the DISCONNECT command to all slave stations before turning OFF the power supply Recommended Sequence A slave station receiving this command executes the reinitialization processing and then switches to connection wait state phase 1 When the DISCONNECT command has not been sent or has not been received by the slave station the slave station detects a communication error and shifts to an alarm state e Slave Station Turned OFF First After the C1 master station sends the DISCONNECT command to the slave station to be turned OFF the power supply of the slave station is turned OFF Recommended Sequence The slave station receiving the command executes the necessary initialization processing and then switches to connection wait state phase 1 If a slave station is turned OFF without
54. 15 16 WDT RWDT 69 4 2 Main Commands 4 2 13 Set Coordinates POS_SET 20H Byte POS_SET Description Command Response 1 20H 20H Processing clas Data communi Synchronization Asynchronous sifications cations com classifications mand group 2 ALARM Processing time Within commu Subcommand Cannot be used nication cycle STATUS e Sets coordinates REFE can also enable home position ZPOINT and software limits e Can be used during phases 2 and 3 5 PS_SUBC PS_SUBC PS SUBCWMD Refer to the following table for coordinate setting modes MD MD e Set position in POS_DATA 6 POS_DATA POS_DATA A warning will occur and the command will be ignored in the following cases ih If a number not within the range is set for PS_SUBCMD Data setting 8 warning 2 A 94B 9 10 11 12 13 14 15 16 WDT RWDT E Details of PS_SUBCMD D7 D6 D5 D4 D3 D2 D1 DO REFE POS_SEL e REFE Sets reference point 0 Does not set reference point 1 Sets reference point Decides the coordinates and ZPOINT home position and software limits are enabled e POS_SEL Selects coordinates 3 Sets POS_DATA to the reference point and the coordinate system POS MPOS APOS IPOS and TPOS if APOS machine coordinate system feedback position is selected The 3 APOS can only be selected for POS_SEL e Set all other bi
55. 16 1 6 1 North American Safety Standards UL CSA 16 1 6 2 European Directives 2 5 er rrr errr reer renner ee 16 2 Installation rrr ee rrr ree 17 2 1 Installation Conditions 2 022 een een eee err eens 17 2 2 Installation Method errr rere rrr rrr rrr nee 18 3 Wiring eter ere rr rrr ree eres 19 3 1 System Configuration erence ere ne eee M 19 3 2 Standard Connection 2 22 22 cere ere eee renee 20 3 3 Precautions on Wiring 2250 errr rrr rrr rrr rrr 21 3 3 1 Protection for Power Supply Line r eee 21 3 3 2 Caution for Grounding eee ee eee ee 21 3 3 3 Caution for Cable 22 errr ern renee cee cee 22 3 3 4 POWer LOSS 1 2 s1e ns Scie E cic a ie eee Se niente Si ee eines ore 22 3 3 5 SERVOPACKs and Applicable Peripheral Devices 22 3 3 6 Noise Prevention 2 25 2 errr reer rrr rere etree 23 3 3 7 Installation and Wiring Conditions on CE Marking 26 3 3 8 Other Precautions 20 ee rere eee eee ees 27 3 4 Main Circuit Wiring 2 2 2 er err rn rr recone 27 3 4 1 SERVOPACK Main Circuit Cables eee 27 3 4 2 Wiring Connector for the Power Supply Regenerative Unit CNA 32 3 4
56. 24V Sov Photocoupler Photocoupler output CN1 12 ALM r Max operating voltage 50 MA max 30 VDC per output Max output current CN1 7 SG COM 50 mA DC per output A 24 VDC power supply must be connected externally Signal Name Signal Meaning Function Servo Alarm Outputs ALM Servo alarm output Normal status when ON close SG COM Output signal ground Alarm output when OFF open Nee Open collector outputs are used for output signals 3 7 e At alarm occurrence an alarm code is output to the host controller through MECHATROLINK II transmission Take care that the SERVOPACK power supply is not turned OFF when the alarm out put signal turns ON Configure the system so that the SERVOPACK power supply is turned OFF by the contact signal between C1 and C2 of the regenerative unit or the contact signal of the thermometal cut out for the external resistor The power supply must be turned OFF and the emergency stop input signal must be open when using the system emergency stop 6 Brake Interlock Output The usual connection for brake interlock signal BK is shown below These signal turns ON when the servo turns ON and OFF when the servo turns OFF They are used to control the brake The brake can also be released by sending a release brake BRK_OFF com mand using MECHATROLINK II communications SERVOPACK 24 VDC power supply 24V Sov Photocoupler CN1 13 BK
57. 3 Wiring Connector for the Servomotor Main Circuit Cable CNB 34 3 4 4 Wiring the Encoder Connector CN2 38 3 4 5 Wiring the I O Signal Connector CN1 7 39 3 4 6 Wiring the MECHATROLINK II Communication Connectors CN6A and CN6B 41 9 3 4 7 Wiring the Personal Computer Connector CNQ 43 3 5 Connection Examples of Input Signal 44 3 6 Connection Example of Output Signal 45 3 7 I O Signals 2 eer ere ere ere rere creer eens 46 3 7 1 Homing Deceleration Signal Input 46 3 7 2 External Latch Signal Input 46 3 7 3 Emergency Stop Signal Input 47 3 7 4 Forward Reverse Run Prohibited Inputs Overtravel Inputs 49 3 7 5 Servo Alarm Output eer eee eee eee rere ee 50 3 7 6 Brake Interlock Output ee errr ee eee 50 3 8 Setting MECHATROLINK II Communications 52 3 8 1 MECHATROLINK II Communications 52 3 8 2 Wiring Specifications 52 3 8 3 Setting Communications Specifications
58. 50 200 250 300 Motor Torque Note The motor torque is a percentage to the rated torque 166 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover MANUAL NO TOEP C710806 03A Printed in Japan July 2006 06 06 Revision number Date of Date of original printing publication Date of Printing aa Section Revised Content June 2006 i First edition July 2006 D Preface Addition Trademarks of the MECHATROLINK Members Association January 2007 01 All Revision 01 for OYMC OMRON EUROPE BV Wegalaan 67 69 NL 2132 JD Hoofddorp The Netherlands Tel 31 0 23 568 13 00 Fax 31 0 23 568 13 88 www omron industrial com France Tel 33 0 1 56 63 70 00 www omron fr Austria Tel 43 0 1 80 19 00 www omron at Belgium Tel 32 0 2 466 24 80 www omron be Germany Tel 49 0 2173 680 00 www omron de Czech Republic Tel 420 234 602 602 www omron cz Hungary Tel 36 0 1 399 30 50 www omron hu Denmark Tel 45 43 44 00 11 www omron dk Italy Tel 39 02 32 681 www omron it Middle East amp Africa Tel 31 0 23 568 11 00 www omron industrial com Finland Tel 358 0 207 464 200 www omron fi Manufacturer YASKAWA ELECTRIC CORPORATION YASKAWA Netherlands Tel 31 0 23 568 11 00 www omron nl Norway Tel 47 0 22 65 75 00 www omron no Poland Tel 48 0 22 645 78 60 www omron com pl
59. ACK in the control panel e Wire the power supply servomotor main circuit and encoder cables according to the instructions in 3 Wir ing e Disconnect the I O signal connector CN1 e When using a servomotor with a brake wire the brake power supply cable and signal lines such as the relay 113 cont d Procedure Descriptions 3 Set and confirm the SERVOPACK station address Factory setting 41 e Use SW1 and bit 3 of SW2 to set the station address axis address Refer to 3 8 3 Setting Communica tions Specifications When using the factory setting check the setting as well 4 Turn ON the SERVOPACK power supply Turn ON the SERVOPACK power supply 5 Start CX Drive vie MC IMECHATROLINK A Semings Comerents Type your Orn conmert in hee a e Start CX Drive e Select File New and select Drive Type Servo and SGDE e Then select Drive Type Settings 114 cont d e Type Settings SIDE e In the Drive Type Settings menu enter your Junma Servo Drive details and confirm with OK e Now select the suitable connection type and click on Connection Type settings to specify the details 115 cont d Procedure Descriptions 6 Perform the trial operation g AxisO Online CM Parameter Editor 4 Function Selection Constants Position Related Con
60. INK II subcommands can be used by combining as listed below Code Main Subcommand Command NOP PRM_ PRM_ ALM_ PPRM_ LTMOD LTMOD SMON RD WR RD WR _ON _OFF 00 NOP v v v v v v v v 01 PRM_RD v 7 02 PRM_WR v 7 03 ID_RD v v v 04 CONFIG v Z 05 ALM_RD v v 06 ALM_CLR v v oD SYNC_SET v v 0E CONNECT v v OF DISCON NECT 1C PPRM_WR v x x x x x v Posse 7 a seson 7 25 HOLD v v v v v v v v OFF 30 SMON v v v v v v v v 31 SV_ON v v v v v v v v 32 SV_OFF v v v v v v v v 34 INTERPO v v v v v v v v LATE 35 POSING v v v v v 36 FEED v v v v v 38 LATCH v v v v v 39 EX_POSING v v v v v ZRET v v v v v 3A Note v Can be combined x Cannot be combined IMPORTANT If a command with a subcommand that cannot be combined is received the warning A 95d or A 95E see 8 3 2 Warning Display and Troubleshooting for details will occur and the command will be ignored The servo is not OFF and the servomotor is not stopped if a command with a subcommand that cannot be combined is received during operation 94 4 5 Command Data Field 4 5 Command Data Field This section describes command data in main commands and subcommands 4 5 1 Latch Signal Field Specifications LT_SGN The latch signal field specifications LT_SGN can be designated using the following commands LATCH EX_POSING ZRET LTMOD_ON The latch signal field is used to select latch signals for position data with the secon
61. Item Frequency Procedure Comments Exterior Loose Screws At least once a year Check for dust dirt and oil on the surfaces Clean with cloth or com pressed air Check for loose connector screws Tighten any loose screws 9 2 Part s Life Expectancy The following electric or electrical parts are subject to mechanical wear or deterioration over time If an unusual noise or vibration occurs refer to the life expectancy table and contact your Omron Yaskawa representative After examining the part in question we will determine whether the parts should be replaced or not When the part has expired before the expected time further inspection will be required Part Life Expectancy Comments Cooling Fan 30 000 hours Life depends on operation conditions Check that there is no unusual noise or vibration when inspecting Note 1 The life expectancy listed in the table is a reference period that may be affected by the environmental and operating conditions 2 The recommended models of the replacement cooling fans are SERVOPACK Model Manufacturer SJDE 04ANA OY JZSP CHF08 1 SUN WA TECHNOS CORPORATION SJDE 08ANA OY JZSP CHF08 2 156 9 3 Replacement of Cooling Fan 9 3 Replacement of Cooling Fan A CAUTION Do not open the SERVOPACK case for 5 minutes after the power supply indicator PWR LED goes out High voltage may rem
62. MON SEL_MON 1 2 1 2 14 IO_MON 15 16 WDT RWDT IMPORTANT motor continues running However if a Servo OFF command is sent later the brake will remain released because the BRK_OFF command is valid and may cause a critical situation When using a BRK_ON or BRK_OFF command always keep in mind the status of the com mand 72 BRK_ON and BRK_OFF become always valid as commands unless a warning occurs If a BRK_OFF command is sent while power is being supplied to the servomotor the servo 4 2 Main Commands 4 2 16 Turn Sensor ON SENS_ON 23H Byte SENS_ON Description Command Response 1 23H 23H Processing clas Control com Synchronization Asynchronous sifications mand group classifications 2 ALARM Processing time Within 1 s Subcommand Cannot be used 3 STATUS e Obtains the initial position data and creates the present position 4 e Can be used during phases 2 and 3 5 MONITOR 6 1 7 8 9 MONITOR 10 2 11 12 13 SEL_MON SEL_MON 1 2 1 2 14 IO_MON 15 16 WDT RWDT 4 2 17 Turn Sensor OFF SENS_OFF 24H Byte SENS_OFF Description Command Response 1 24H 24H Processing clas Control com Synchronization Asynchronous sifications mand group classifications 2 ALARM Processing time Within 1 s Subcommand Cannot be used 3 STATUS e The reference point h
63. MONITOR1 2 3 4 Monitor Codes Monitor Name Description Unit Codes 0 POS Reference position position after refer Reference units ence filter procedure 1 MPOS Reference position Reference units 2 PERR Position error Reference units 3 APOS Feedback position Reference units 4 LPOS Feedback latch position Reference units 5 IPOS Reference position position before refer Reference units ence filter procedure 6 TPOS Target position Reference units 7 2 Z 8 FSPD Feedback speed Reference units s 9 CSPD Reference speed Reference units s A TSPD Target speed Reference units s B TRQ Torque reference The rated torque is 100 C 7 D E F aad For the items to be monitored for the SEL_MON commands 1 to 4 assign their monitor codes to the parame ter 101 4 5 Command Data Field E Monitor Data 1 i Electronic iPERRi gear a Accel decel curve processing zx POSING related commands INTERPOLATE H Position g En ER Electronic o gt Kp gt k gt a i filter gear ee In servo OFF Fi Position Speed control control Feedback oct Wee Electronic APOS gear lt Counter aa Electronic pLPOS A tir ineniereannnnenndnsinnnaiaininninnnnnnniiarennnn dnenineraneananninerasnnddinioreknnnunnsiaseannn gear Counter 4 LATCH
64. ONNECT set up communications again communications command and then com munications was started again The MECHATROLINK II e Correct the MECHA wiring is incorrect TROLINK II communica tions cable wiring e Connect terminators cor rectly MECHATROLINK II data Take measures against noise receive error occurred e Reconsider wirings for because of noise interfer MECHATROLINK II commu ence nications cable and FG e Attach a ferrite core to the MECHATROLINK II commu nications cable The SERVOPACK is faulty e Replace the SERVOPACK e Contact your Omron Yaskawa representative A EDO MECHA Occurred when The SERVOPACK is faulty Replace the SERVOPACK TROLINK II MECHATROLINK II e Contact your Omron Internal communications Yaskawa representative Command started or during Error 0 MECHATROLINK II communications 146 8 3 Alarm Warning Display and Troubleshooting cont d Alarm Alarm Name Situation at Alarm Cause Corrective Actions Display Occurrence A ED1 MECHA Occurred when The SERVOPACK is faulty Replace the SERVOPACK TROLINK IE MECHATROLINK II e Contact your Omron Internal communications Yaskawa representative Command started or during Error 1 MECHATROLINK II communications A E40 MECHA Occurred when The setting of MECHA Set the MECHATROLINK II TROLINK IT MECHATROLINK II TROLINK II transmission transmission cycle to a proper Transmis communicati
65. Okaya Yaskawa Inc Controls Elek Electric Controls Co Ltd tronik Industries Co Ltd Co Ltd Note Itis recommended to use a general purpose circuit breaker of the sensed current 200 mA or more or a cir cuit breaker for inverters for high frequency 1 Nominal value at the rated load The specified derating is required to select the appropriate molded case circuit breaker 2 Cut off characteristics 25 C 200 two seconds min and 700 0 01 seconds min PORTANT Ground Fault The ground protection circuit is designed for ground fault inside the motor windings while the motor is running Therefore it may not protect the system under the following conditions e A ground fault occurs between the main circuit cable and connector for the servomotor e The power supply is turned ON during a ground fault To configure a safer system install an ground fault detector for protection against overloads 22 3 3 Precautions on Wiring and short circuit or install an ground fault detector combined with a wiring circuit breaker for ground protection 3 3 6 Noise Prevention E Example of Wiring for Noise Prevention SJDE Noise filter SERVOPACK Servomotor PN L1 U an a 200 VAC 2LF Vo t T BE l D L2 Min wire D ZJ size Casin m
66. PACK 152 8 4 Troubleshooting for Malfunction without Alarm Display cont d Malfunction Cause Inspection Corrective Actions The emer The switch for the external Check the switch for the Repair the switch for the gency stop emergency stop input is external emergency stop external emergency stop function does not operate faulty or incorrect wiring input or wiring input switch or correct the wiring Emergency stop input signal E STP is set to be dis abled Check the parameter Pn515 2 setting Correct the parameter Pn515 2 setting The SERVOPACK is faulty The SERVOPACK board is faulty Replace the SERVOPACK Abnormal noise from the servomotor or vibration from the coupled machine Incorrect mechanical instal lation Check if the servomotor mounting screws are not loose Retighten the mounting screws Check if the coupling is mis aligned Aligh the coupling Check if the coupling is well balanced Adjust and balance the cou pling Defective bearing Check for noise and vibra tion around the bearing If any abnormality is found contact your Omron Yaskawa representative Vibration source in the cou pled machine Check if there is no foreign matter damage deforma tion or looseness in the machine movable section Consult the machine manu facturer and repair Noise interference because of incorrect specifications
67. PACK is faulty e Replace the SERVOPACK run power supply was e Contact your Omron Detected turned ON Yaskawa representative Occurred when the The order of phases U V Correct the servomotor main servo was turned and W in the servomotor circuit cable wiring ON or when the ref wiring is incorrect erence was Input The encoder is faulty e Replace the servomotor e Contact your Omron Yaskawa representative The SERVOPACK is faulty e Replace the SERVOPACK e Contact your Omron Yaskawa representative A C20 Incorrect Occurred when the The encoder wiring andthe Correct the encoder wiring Phase power supply was contact are incorrect Detection turned ON or while Noise interference because Use twisted pair or twisted the servomotor was N neues p of incorrect specifications of pair shielded wire with a core A C50 Incorrect rpnnIng encoder cable fatl 12 mm2 Polarity of at least 0 12 mm Detection Noise interference because The wiring distance for the the wiring distance for the encoder cable must be 20 m A C90 Encoder encoder cable is too long max Signal Error The encoder cable is dis connected Replace the encoder cable The encoder is faulty e Replace the servomotor e Contact your Omron Yaskawa representative The SERVOPACK is faulty e Replace the SERVOPACK e Contact your Omron Yaskawa representative 145 8 3 Alarm Warning Display and Troubleshooting
68. Power Supply Regenerative Unit CNA for details and the procedure IMPORTANT The distance between the servomotor main circuit and the encoder cable as well as the O cable and MECHATROLINK II cable is 300 mm or more e Do not bundle or run the servomotor main circuit cable in the same duct with other cables e Be sure that the maximum wiring length of the servomotor main circuit cable is 20 m 34 3 4 Main Circuit Wiring E Servomotors without Brakes Connector for servomotor main circuit cable JZSP CHG9 1 Is supplied with the servopack S DIEN G Connector provided with A servomotor main circuit cable o Red Phase U gt 1 el 3 White Phase V _ gt 2 C 4 Blue Phase W _ gt 3 Green Yellow FG lt gt 4 B 5 Green Yellow LI S rs 7 J i Servomotor main circuit cable gt jal Joe 7 for relay ee Motor CNB connector Note Confirm pin numbers on the connector as well Connection Diagram for Standard Servomotor Main Circuit Cable The connection diagram for the standard cable JZSP CHMO000 HI0 cable with connectors on both ends is shown below If the servomotor main circuit cable is prepared by the
69. ROLINK II Command error inside the SERVOPACK Zero speed Available Internal Command Error 0 stop A ED1 MECHATROLINK II Command error inside the SERVOPACK Zero speed Available Internal Command Error 1 stop A E40 MECHATROLINK II The transmission cycle setting for Zero speed Available Transmission Cycle MECHATROLINK II communications is stop Setting Error incorrect A E50 MECHATROLINK II Synchronization error during MECHA Zero speed Available Synchronization Error TROLINK II communications stop A E51 MECHATROLINK II Failed to establish synchronization during Zero speed Available Synchronization Failed MECHATROLINK II communications stop A E60 MECHATROLINK II A communication error occurred during Zero speed Available Communications Error MECHATROLINK II communications stop A E61 MECHATROLINK II The transmission cycle has changed dur Zero speed Available Transmission Cycle Error ing MECHATROLINK II communications stop 137 8 2 Warning Displays 8 2 Warning Displays Warning displays with their names and meanings are listed below Warning Warning Warning Name Meaning Display A 910 Overload This warning occurs before the overload alarm A 710 or A 720 occurs If the warning is ignored and operation continues an overload alarm may occur A 94A MECHATROLINK II Data Setting An incorrect parameter number was set in the com Warning 1 mand A 94b MECHATROLINK II Data
70. RVOPACKs Used for a ZC servomotor with a brake Servomotor main circuit cable for relay e Connectors for servomotor main circuit cable CNB Connectors for power supply regenerative unit CNA To the control circuits of magnetic contactor Personal computer software CX One L CJ1 series Position control unit CJ1W NCF71 MECHATROLINK II connection 1 0 Signal cable Connects to CJ Series PLC y E SJME Servomotors 1 Prepare a 24 VDC power supply for the brake separately from the sequence power supply 19 3 2 Standard Connection 3 2 Standard Connection Power supply Single phase 200 VAC to 230 VAC 50 60Hz Li L2 x X ae Molded case circuit breaker Surge protector Noise AVR1 ilter 2 24 VDC power supply Ry1 24V ead 4 Varistor ov Fuse L14 lt Fuse L2 lt AVR2 200 VAC 24 VDC power 230 vac supply Controller MECHATROLINK II cable s Shielded wire Terminator Shielded wire Note 1 AVR1 24 VDC e Parts example power supply for brake Spark killer Okaya Electric Industries CRE 50500 AVR2 24 VDC power supply for sequence Co Ltd PBI Power OFF switch Flywheel Toshi
71. S P CHP300 03 E ga Motion vomotors Shielded cable JZSP CHP800 05 E 5m Control SMJE Bending radius BV 4 0 AMB4 dynamic gt JZSP CHP800 10 E 10m OY 10x diameter JZSP CHP800 15 E 15m Cycles gt 10 7 million JZSP CHP800 20 E Om Non flexible R7A CRZ003C 3m cables R7A CRZ005C 5m R7A CRZ0010C 10m Connector Motor end JZSP CHP9 1 2 Kit for crimp type Enporor SERVOPACK JZSP CHP9 2 pay Cable end CN2 H0 soldered type black SERVOPACK JZSP CHP9 3 Ema end CN2 TD soldered type gray I O Signal Cable JZSP CHI003 01 1m m Ra 4 F 2 a 4 JZSP CHI003 02 m sv JZSP CHI003 03 3m R7A CPZ001S 1m R7A CPZ001S 2m Connector SERVOPACK JZSP CHI9 1 S Kit for I O end soldered Signal Cable type CN1 30 3 4 Main Circuit Wiring SJDE 04ANA OY SER VOPACKs JZSP CHF08 02 for SJDE 08ANA OY SER VOPACKs cont d Name Specifications Type Length Appearance Manufac turer MECATRO Cable with con JEPMC W6002 00 7 iE xp Omron LINK II nectors at both z Yaskawa Communica ends JEPMC W6002 00 E 7 Motion tion Cable Without ferrite Compliant with RoHS Control core Directive BV 4 Cable with con JEPMC W6003 00 7 1o nectors at both z ends 6 JEPMC W6003 O00 E 7 With ferrite Compliant with ROHS core Directive Terminators JEPMC W6022 i L JEPMC W6022 E Compli
72. TROLINK Mon COM_LED is unlit when the MECHATROLINK II is not itor busy COM_LED is lit when the MECHATROLINK II is busy Feedback Incremental encoder 8192 pulses rev Reference Resolution Setting Electronic Gear 0 01 lt B A lt 100 Protection Overcurrent overvoltage undervoltage overload main circuit sensor error board temperature error excessive position error overflow overspeed encoder signal error overrun protection system error parameter error MECHATROLINK Communications Communications Protocol MECHATROLINK II Station Address 41H to 5FH Max number of slaves 30 Transmission Speed 10 Mbps Transmission Cycle 1 ms 1 5 ms 2 ms 3 ms 4 ms Data Length 17 bytes or 32 bytes Command Method Performance Position control through MECHATROLINK II communica tions MECHATROLINK II commands For sequence motion data setting reference monitor adjustment and other commands Sequence Input Signals Fixed inputs 5 points External latch signal homing deceleration sig nal forward run prohibited signal reverse fun prohibited signal and emergency stop signal Sequence Output Signals Fixed outputs 2 points Servo alarm and brake interlock 164 10 2 Allowable Moment of Inertia 10 2 Allowable Moment of Inertia Servomotor Multiplication of Rotor Moment of Inertia Allowable Load Moment of Inertia
73. TUS Writes a parameter 19 NO NO This command has the same function as the main command PRM_WR 20 21 SIZE SIZE 22 PARAME PARAME 23 TER TER 24 25 26 27 28 29 4 3 4 Read Alarm or Warning ALM_RD 05H Byte ALM_RD Description Command Response 17 05H 05H Processing Data communi Processing time 6 ms to 2 s classifications cations com mand group 18 SUBSTATUS Reads the alarm or warning 19 ALM_RD_ ALM_RD_ This command has the same function as the main command MOD MOD ALM_RD 20 ALM_DATA 21 22 23 24 25 26 27 28 29 91 4 3 Subcommands 4 3 5 Write Stored Parameter PPRM_WR 1CH Byte PPRM_WR Description Command Response 17 1CH 1CH Processing Data communi Processing time Within 200 ms classifications cations com mand group 18 SUBSTATUS Writes a parameter 19 NO NO This command has the same function as the main command PPRM_WR 20 21 SIZE SIZE 22 PARAME PARAME 23 TER TER 24 25 26 27 28 29 4 3 6 Request Latch Mode LTMOD_ON 28H Byte LTMOD_ON Description Command Response 17 28H 28H Processing Control com Processing time Within commu classifications mand group nications cycle 18 LT_SGN SUBSTATUS Sets the modal latch mode i 19 SEL MON SEL MON
74. This section describes the MECHATROLINK II subcommands applicable with SJDE OOANA OY SERVOPACK The MECHATROLINK II subcommands can be used by specifying them with the CONNECT com mand when MECHATROLINK II communications starts They use the seventeenth to the twenty ninth bytes of the command and response data No Operation NOP 00H 4 3 1 Byte NOP Command Response Description 17 00H 00H Processing classifications Network com mand group Processing time Within commu nications cycle 18 19 20 21 22 23 24 25 26 27 28 29 SUBSTATUS e Not operation command 4 3 2 Read Parameter PRM_RD 01H Byte PRM_RD Command Response Description 17 01H 01H Processing classifications Data communi cations com mand group Processing time Within 100 ms 18 SUBSTATUS 19 20 NO NO 21 SIZE SIZE 22 23 24 25 26 27 28 29 PARAME TER e Reads a parameter This command has the same function as the main command PRM_RD 90 4 3 Subcommands 4 3 3 Write Parameter PRM_WR 02H Byte PRM_WR Description Command Response 17 02H 02H Processing Data communi Processing time Within 100 ms classifications cations com mand group 18 SUBSTA
75. Turn OFF servomotor SV_OFF Turn OFF servomotor 2or3 10 Disconnect connection DISCONNECT Disconnect communications 4to1 11 Turn OFF control and main 5 If communication disconnects normally the NOP command is sent If communication does not disconnect nor mally the DISCONNECT command is sent for two or more communications cycles prior to connection then the CONNECT command is sent 109 4 7 Operation Sequence 4 7 2 Operation Sequence for Managing Parameters Using SERVOPACK When the parameters are managed by SERVOPACK non volatile memory the operation is performed E Step 1 Saving Parameters during Set up in two steps Proce Item Command Description Phase dure 1 Turn ON control and main NOP DISCON 1 circuit power supplies NECT 3 Establish connection CONNECT Establish communications 2or3 Start the WDT count 4 Check information such as ID_RD Read information such as device 2or3 device ID type 5 Set device PPRM_WR 2 Set the necessary parameters to 2or3 3 non volatile memory 6 Disconnect connection DISCONNECT Disconnect communications 4to1 7 Turn OFF control and main circuit power supplies 4 If communication disconnects normally the NOP command is sent If communication does not disconnect normally the DISCONNECT command is sent for two or more communications cycles prior to connection then the CONNECT comman
76. ain in the SERVOPACK after the power supply has been turned OFF e After turning OFF the power supply wait 15 minutes before replacing the cooling fan Failure to observe this caution may result in burns because the heat sink is hot e Mount the cooling fan in the correct way Improper mounting may result in the breakdown of the SERVOPACK m 400 W SERVOPACKs 1 Open the front cover of the SER VOPACK Press the tip of a flathead screwdriver against each of the two notches on the SERVO PACK to dislodge the hooks Insert the tip of a flathead screwdriver into the two notches on the SERVOPACK one at a time and pry the front cover off 2 Open the case of the SERVO PACK Insert the tip of a flathead screw driver into the two notches on the SERVOPACK one at a time and pry the hooks loose 157 9 3 Replacement of Cooling Fan 3 Lift up to remove the case 2 re iS c S D fe is o x 7 oO lt fe is 2 a v Lift the cable up oO c fej lt e 9 Oo oO c Q o amp x z S x g S gt lu 7 and then pull it out 5 Unscrew the cooling fan and remove it Cooling fan Mounting screw 158 9 3 Replacement of Cooling Fan 6 Install the new cooling fan L Type JZSP CHF08 01 Caution Before installing the new cooling fan make sure that the f arrows on the heat sink and th
77. alts or iron dust e Locations subject to exposure to water oil or chemicals e Locations subject to shock or vibration S e Do not hold the product by the cables or motor shaft while transporting it Failure to observe this caution may result in injury or malfunction S Do not place any load exceeding the limit specified on the packing box Failure to observe this caution may result in injury or malfunction E Installation A CAUTION Make sure to follow the conditions on 2 1 Installation Conditions Failure to observe this caution may result in electric shock fire or SERVOPACK s malfunc tion 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 parts of the SERVOPACK and prevent any foreign objects such as metallic fragment or combustibles from entering the product Failure to observe this caution may cause internal elements to deteriorate resulting in mal function 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 SERVOPACK and servomotor are precision equipment Do not apply any strong impact Failure to observe this caution may result in malfunction m
78. and cannot be changed 1 Rated output 2 Power supply voltage specifications 63 4 2 Main Commands 4 2 6 Setup Device CONFIG 04H Byte CONFIG Description Command Response 1 04H 04H Processing clas Control com Synchronization Asynchronous sifications mand group classifications 2 z ALARM Processing time Within 4 s o Subcommand Cannot be used 3 STATUS e Recalculates all currently set parameters and initializes positions output 4 signals etc e Can be used during phases 2 and 3 5 e The SERVOPACK will change to Servo OFF if this command is received 6 when the SERVOPACK is Servo ON e A warning will occur and the command will be ignored in the following 7 cases 8 lf parameters are changed mid operation with CX Drive Command warning 1 A 95A 9 10 11 12 13 14 15 16 WDT RWDT a is setting of the Brake reference Servo off delay time E Status and Output Signal during CONFIG Command Execution Status and Before CONFIG During CONFIG After CONFIG Output Signal ALM status Current status Current status Current status CMDRDY status 1 0 1 Other status Current status Not specified Current status ALARM code Alarms currently Alarms currently Alarms currently occurred occurred occurred ALM Current status Current status Current status CN1 output signal Other output signals Cu
79. annot nous be used 03H ID_RD Read ID D Asynchro Cannot nous be used 04H CONFIG Setup Device Cc Asynchro Cannot nous be used 05H ALM_RD Read Alarm or D Asynchro Cannot Warning nous be used 06H ALM_CLR Clear alarm or Cc Asynchro Cannot warning nous be used ODH SYNC_SET Start Synchro N Asynchro Cannot nous Communi nous be used cation OEH CONNECT Establish Con N Asynchro Cannot nection nous be used OFH DISCON Release Discon N Asynchro Cannot NECT nection nous be used 1CH PPRM_WR Write Stored D Asynchro Cannot Parameter nous be used Common 20H POS_SET Set Coordinates D Asynchro Cannot Motion nous be used Commands 21H BRK_ON Apply Brake C Asynchro Cannot nous be used 22H BRK_OFF Release Brake Cc Asynchro Cannot nous be used 23H SENS_ON Turn Sensor ON C Asynchro Cannot nous be used 24H SENS_OFF Turn Sensor OFF C Asynchro Cannot nous be used 25H HOLD Stop Motion M Asynchro Can be nous used 55 4 1 Lists of Commands Classifica Com Command Functions Process Synchroni Subcom Remarks tions mand Name ing Classi zation Clas mand Code fications sifications Common 28H LTMOD_ON Request Latch Cc Asynchro Cannot Motion Mode nous be used Commands 29H LTMOD_ Release Latch C Asynchro Cannot OFF Mode nous be used Servo 30H SMON Status Monitoring D Asynchro Can be Standard nous used Commands 37H SV_ON Servo ON C Asynchro
80. ant with RoHS Directive Cable for Cables JZSP CPS00 02 2m Personal 6 56 ft Computer I J HE Tool J FAT OT Cooling Fan JZSP CHF08 01 for R Note Contact the manufacturer for more detailed information such as external diameter ei Connectors for CNB CN1 and CN2 are not provided with the SERVOPACK The servomotor end connectors are not provided with the servomotor These connector kits must be purchased 2 Refer to pages that provide details for the applicable crimping tool type The crimping tool must be ordered separately 3 With an opening tool lever for wire 4 Omron Yaskawa Motion Control BV URL http www omronyaskawa com 5 J S t Mfg co Ltd URL http Awww jst mfg com 6 The total cable length must be 50 m 164 ft max and the cable length between stations 0 5 m 1 64 ft min 7 Specify the cable length in O0 when ordering as shown in the table below oO Cable Length m ft oo Cable Length m ft A5 0 5 1 64 10 10 32 8 01 1 3 28 20 20 65 6 03 3 9 84 30 30 98 4 05 5 16 4 40 40 131 07 7 30 0 50 50 164 31 3 4 Main Circuit Wiring 3 4 2 Wiring Connector for the Power Supply Regenerative Unit CNA A CAUTION e Observe the following precautions when wiring main circuit connector e Remove the connector from the SERVOPACK prior to wiring e Insert only one wire per terminal opening on the connector e Make sure that the exp
81. ar Acceleration Parameter Pn80E Linear Deceleration Parameter Pn816 Homing Direction Pn817 Homing Approach Speed 1 Pn818 Homing Approach Speed 2 Pn819 Final Travel Distance for Homing Pn820 Latching Area Upper Limit Pn822 Latching Area Lower Limit E Operation Reference speed Homi oming Approach Speed 1 Pn817 i Homing Approach Speed 2 Pn818 Final Travel Distance for Homing Pn819 DEC X g Latch signal 1 4 2 30 Adjusting ADJ 3EH Byte ADJ Description Command Response 1 3EH 3EH Processing clas Data communi Synchronization Asynchronous sifications cations com classifications mand group 2 SUBCODE ALARM Processing time Depends on Subcommand Cannot be used processing 87 4 2 Main Commands Byte ADJ Description Command Response 3 STATUS e This command is for maintenance Parameter initialization can be done 4 e Use as SUBCODE 01H e Refer to the next page for the way to use set this command 5 CCMD CANS A command warning will occur and the command will be ignored in the 6 following cases lf parameters are changed mid operation with CX Drive Command 7 a ee warning 1 A 95A 8 If CADDRESS is out of the range Parameter setting warning A 94A 9 CSIZE CSIZE If CSIZE does not match Parameter setting warning A 94D ERRCODE If CCMD or CDATA is out of the range Paramete
82. ations subject to possible exposure to radioactivity e Locations close to power supplies including power supply lines Do not reverse the polarity of the battery when wiring with regenerative unit Failure to observe this caution may result in damage to the product 6 E Operation A CAUTION Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to avoid any unexpected accidents Failure to observe this caution may result in injury During the JOG operation and the home position search operation using CX Drive the for ward run prohibited P OT reverse run prohibited N OT and emergency stop E STP signals will be ignored Alternative measures must be taken in case of overtravel and emer gency stop When using the servomotor for a vertical axis install safety devices to prevent workpieces from falling off because of alarms Workpiece s falling off may result in injury or malfunction Do not touch the SERVOPACK heat sinks regenerative unit 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 When an alarm occurs remove the cause turn OFF the power and ON again after confirm ing safety and then resume operation Failure to observe this caution may result in injury Do not use the holding brake of the servomotor for ordinary braking Failure to ob
83. ba Corporation 1NH42 PB2 Power ON switch diode MC1 Magnetic contactor Ry1 Brake relay Brake relay OMRON Corporation MY series Varistor NIPPON CHEMI CON TNR7V121K CORPORATION 20 3 3 Precautions on Wiring 2 The ground protection circuit is designed for ground fault inside the motor windings while the motor is running Therefore it may not protect the system under the following conditions e A low resistance ground fault occurs between the main circuit cable and con nector for the servomotor e The power supply is turned ON during a ground fault To configure a safer system install an earth leakage breaker for protection against overloads and short circuit or install an earth leakage breaker for ground protection combined with a wiring circuit breaker 3 Position information is not stored in the SERVOPACK so this information will be lost if the power supply is turned OFF If this information is required for the operation of the host controller make sure that the system has an emergency stop signal E STP that will stop operations without turning OFF the power supply 14 Prepare a 24 VDC power supply for sequence separately from the 24 VDC power supply for brake 3 3 Precautions on Wiring A WARNING Be sure to correctly ground the SERVOPACK and the servomotor Wiring must be performed by an authorized person qualified in electrical work Configure the circuits power supply to be automatically cut off
84. be received or not No command can be received if the SERVOPACK is in busy status The SERVOPACK will continue exe cuting the previously received command D2 Status 0 Command cannot be received busy 1 Command can be received ready Servo ON SVON Indicates the servo ON OFF status D3 Status 0 Servo OFF 1 Servo ON 96 4 5 Command Data Field Main power supply ON PON Indicates the status of the main power supply D4 Status 0 Main power supply OFF 1 Main power supply ON INFON D4 will remain set to 0 and the main power supply will be turned OFF for a maximum of 300 ms 7 Home position ZPOINT Indicates if the feedback position APOS is within or outside the home position range Home position P range gt Within range Pug Machine coordinate i ie system APOS z bl eee Home position 0 Home position width Pn803 D6 Status 0 The feedback position APOS is within the home position range 1 The feedback position APOS is outside the home position range The home position range can be set in the following parameter The setting will be immediately written in the SERVOPACK Parameter Name Data Size Min Max Units Factory No Set Value Set Value Setting Pn803 Home posi 2 bytes 0 250 Reference 10 tion range unit wroty After completion of the following operations a ZPOINT signal sho
85. cation 6 Software LS 4th 3rd 2nd ist digit digit digit digit Software Limit Function Refer to 7 3 3 Software Limit Settings 0 Forvardand Reverse software imitenabled Reserved Software Limit Check Using References Refer to 7 3 3 Software Limit Settings o No software limit check using references Software limit check using references Reserved Pn804 Forward Software 4 1073741823 1073741823 1 Reference 1073741823 Limit unit Pn806 Reverse Software 4 1073741823 1073741823 1 Reference 1073741823 Limit unit 125 6 6 Software Limit Function E Software Limit Function Pn801 0 Enable or disable the software limits The software limit function will not be performed in the direction for which the software limit function is disabled and the software limit monitor in the STATUS field will be fixed to 0 Setting of 1st digit of Pn801 Description 0 Software limits enabled in forward and reverse directions 1 Forward software limit disabled 2 Reverse software limit disabled 3 Forward and reverse software limits disabled Software Limit Check using Reference Pn801 2 If the target position set with POSING and INTERPOLATE commands is within the software limit zone positioning will be performed with the target position as the software limit Setting of 3rd digit of Pn801 Description 0
86. ch input OFF 1 First external latch input ON Brake output signal BK Indicates the brake output signal status D9 Status 0 Brake output OFF Releases the brake 1 Brake output ON Locks the brake 103 4 5 Command Data Field Emergency stop switch input signal E STP Indicates the emergency stop switch input signal status D10 Status 0 Emergency stop switch input OFF 1 Emergency stop switch input ON 4 5 6 Substatus Field Specifications SUBSTATUS The substatus field is used to monitor the subcommand status with the eighteenth byte reserved area of the subcommands E Substatus Field D7 D6 D5 D4 D3 D2 D1 DO E S SBCM SBWARNG SBALM DRDY Bit Name Description Set Status Value DO SBALM Subcommand alarm occurrence 0 None 1 Alarm occurs D1 SBWARNG Subcommand warning occurrence 0 None 1 Warning occurs D2 SBCMDRDY Subcommand ready 0 Subcommands cannot be Subcommand reception enabled received busy 1 Subcommand can be received ready 104 4 5 Command Data Field 4 5 7 Alarm Warning Field Specifications ALARM The alarm warning field is the second byte of main command response The SERVOPACK sets an alarm or warning code in this byte and returns the response To monitor detailed information on alarms or warnings use a command ALARM_RD 05H Read Alarm Warning or CX
87. conventions are used to indicate precautions in this manual Failure to heed these precau tions can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems Indicates precautions that if not heeded could possibly result in loss of life or seri ous injury A WARNING Indicates precautions that if not heeded could result in relatively serious or minor A CAUTION 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 this symbol PROHIBITED would be used as follows to indicate that fire is prohibited Indicates compulsory actions that must be performed For example this symbol MANDATORY would be used as follows to indicate that grounding is compulsory e Visual Aids The following aids are used to indicate certain types of information for easier reference IMPORTANT N e Indicates supplemental information INFO e Indicates important information that should be memorized including precautions such as alarm displays to avoid damaging the devices Trademarks MECHATROLINK is a trademark of the MECHATROLINK Members Association 1 Notes for Safe Operation Read these instructions thoroughly before checking products on delivery storage and transportation installation wiring operation and ins
88. ction specified in the parameter Pn816 and continues to move at the target speed 5 MONITOR1 2 Decelerates to homing approach speed 1 Pn817 at the DEC 1 6 3 Latch operation will start at the DEC 0 4 When a latch signal is input positioning is performed to define the 7 target position at the homing approach speed 2 Pn818 The target 8 position is calculated by adding the homing final travel distance Pn819 After the completion of positioning the coordinate system is 9 TSPD MONITOR2 set so that the position reached is 0 10 e Can be used during phases 2 and 3 A command warning will occur and the command will be ignored in the 11 following cases 12 If the SERVOPACK is Servo OFF Command warning 1 A 95A 13 SEL_MON SEL_MON If Mre arget apean TSPD exceeds the maximum speed Data setting 1 2 1 2 warning 2 A 94B e OPTION field cannot be used Set all bits to 0 14 10_MON e The target speed TSPD is an unsigned 4 bytes It is sent in the range 15 from 0 to the maximum speed reference unit s e Before DEC is input the target speed during motion can be changed 16 WDT RWDT e Use DEN output complete and ZPOINT home position to confirm the 17 For sub For sub completion of position reference output 18 commands commands 19 20 21 22 23 24 25 26 27 28 29 86 4 2 Main Commands E Related Parameters Parameter No Description Pn80B Line
89. customer refer to the diagram below and wire the cable correctly Motor end SERVOPACK end L 50 mm jt it mi 3 Connector crimp type M4 crimped terminal 59 Receptacle 5557 06R 210 Terminal 5556T Chain or Connector crimp type 5556TL Loose wires Receptacle F32FSS 04V KY Molex Japan Co Ltd Receptacle contact SF3F 01GF P2 0 or SF3F 41GF P2 0 JST Mfg Co Ltd Servomotor End Connector SERVOPACK End Connector Viewed from cable insertion side Viewed from cable insertion side u 4 5 6 1jl2j 3 Pin No Signal Name Lead Color Shielded wire Pin No Signal Name Lead Color 1 Phase U Red 4 Phase U Red 2 Phase V White 2 Phase V White 3 Phase W Blue 3 Phase W Blue 4 FG Green Yellow 4 5 6 Crimped terminal FG Green Yellow Connect the FG pin to the grounding terminal of the SERVOPACK 35 3 4 Main Circuit Wiring E Servomotors with Brakes Connector for servomotor main circuit cable JZSP CHG9 1 Is supplied with the servopack Connector provided with
90. d IMPORTANT Before taking corrective action for the cause of alarm turn OFF the power supply to reset the alarm and then turn it ON again The occurrence of an alarm or warning is indicated by the status indicator LEDs on the SERVOPACK s front panel Check the alarm or warning as displays described in the following table and take the corrective action Status Indicator LEDs SERVOPACK Status How to Check Alarm Warning Displays Alarm Check the alarm display on the host controller connected to the SERVOPACK through MECHATROLINK II communcia COM ALM tions Alarm Connect to the host controller and check the alarms using CX Drive COM ALM Warning Check the warning display on the host controller connected WZ to the SERVOPACK through MECHATROLINK II communci ations COM ALM Lit Unlit Ly Blinking 134 E Alarms The currently occurring alarm can be monitored usingCX Drive Connect a personal computer with CX Drive installed to the SERVOPACK and select Alarm Display from the project tree pane esos ie enie Date Error Reeut MO 0661 MECHATROLINK 4 Transmission a a Ea oneuarwme ne eee R _ Fron 4 Error Traceback Data Error Resut no 4 06A2 MECHATROUNK l Internal Synchronization OEA rrooos ore tmeesctOas arar anama 6 one unanese ono FOUU 6 Error Traceback Data Error Resut no 6 O10 Undervotage 0410 Fr000 7 Error Traceback Data Error Resut
91. d byte of the above main commands or the eighteenth byte reserved area of the subcommands Refer to the following table for details on bit allocation E Latch Signal Field D7 D6 D5 D4 D3 D2 D1 DO LT_SGN Latch Signal Selection D1 DO Latch Signal 0 0 Phase Z 0 1 EXT1 1 0 Reserved 1 1 Reserved INFO Set 0 for unused bits 4 5 2 Option Field Specifications OPTION The option field cannot be used Set 0 for all bits Refer to the following table for details on bit allocation E Option Field D7 D6 D5 D4 D3 D2 D1 DO 0 0 0 0 0 0 0 0 D15 D14 D13 D12 D11 D10 D9 D8 0 0 0 0 0 0 0 0 95 4 5 Command Data Field 4 5 3 Status Field Specifications STATUS The status field is used to monitor the Servo status with the third to fourth byte reserved area of the main commands Refer to the following table for details on bit allocation E Status Field D7 D6 D5 D4 D3 D2 D1 DO PSET ZPOINT PON SVON CMDRDY WARNG ALM D15 D14 D13 D12 D11 D10 D9 D8 N_SOT P_SOT NEAR L_CMP T_LIM DEN Alarm ALM Indicates alarm occurrence DO Status 0 No alarm Normal 1 Alarm occurred Warning WARNG Indicates the warning occurrence D1 Status 0 No warning Normal 1 Warning occurred Command ready CMDRDY Indicates whether the command can
92. d is sent 2 Do not use PRM_WR E Step 2 Ordinary Operation Sequence Proce Item Command Description Phase dure 1 Turn ON control and main NOP DISONNECT 1 circuit power supplies 2 Establish connection CONNECT Establish communications 2or3 Start the WDT count 3 Check information such as ID_RD Read information such as device 2or3 device ID type 4 Turn ON encoder SENS_ON Turn ON encoder and obtain the 2or3 position data 5 Turn ON servomotor SV_ON Turn ON servomotor 2or3 6 Start operation 2or3 7 Turn OFF servomotor SV_OFF Turn OFF servomotor 2or3 8 Disconnect connection DISCONNECT Disconnect communications 4to1 9 Turn OFF control and main circuit power supplies If communication disconnects normal y the NOP command is sent If communication does not disconnect nor mally the DISCONNECT command is sent for two or more communications cycles prior to connection then the CONNECT command is sent 110 4 7 Operation Sequence 4 7 3 Operation Sequence to Turn the Servo ON The host controller controls the servomotor using motion commands while the servo is ON while cur rent flows to the servomotor While the servo is OFF while current to the servomotor is interrupted the SERVOPACK manages position data so that the reference coordinate system POS MPOS and FB coordinate system APOS will be equal Therefore it is necessary to send a SMON command to read the servo referenc
93. e Command 8 PARAME PARAME warning 1 A 95A TER TER If NO is not within range Data setting warning 1 A 94A 9 If SIZE does not match Data setting warning 4 A 94D 10 If PARAMETER is not within range Data setting warning 2 A 94B 11 For details on NO SIZE and PARAMETER refer to 7 2 List of Parame ters 12 13 14 15 16 WDT RWDT 62 4 2 Main Commands 4 2 5 Read ID ID_RD 03H Byte ID_RD Description Command Response 1 03H 03H Processing clas Data communi Synchronization Asynchronous sifications cations com classifications mand group 2 ALARM Processing time Within commu Subcommand Cannot be used nication cycle 3 STATUS e Reads the ID The corresponding DEVICE_CODE is shown in the table below 5 DEVICE_ DEVICE_ CODE CODE 6 OFFSET OFFSET 7 SIZE SIZE 8 ID 9 10 11 12 13 14 15 16 WDT RWDT E Details of DEVICE_CODE Type Name SET 00 01 02 03 04 05 06 07 08 09 OA DEVI CODE SERVOPACK Model 00H S J D E 1 4 9 N A 00 Software 02H Ver Ver Encoder Software Ver 12H Ver Motor Model 20H e a 00 Reserved 50H 52H Note 1 2 3 Model numbers appear in ASCII code with the last section as 00 Spaces indicate unspecified data The version number of the encoder software is set to 00 binary
94. e To extend product life and maintain reli ability keep the temperature inside the control panel under 45 C Installation near a heating unit Minimize the heat radiating from the heating unit as well as any temperature rise caused by natural convection so that the temperature around the SERVOPACK does not exceed 55 C Installation near a source of vibration Install a vibration isolator beneath the SERVOPACK to avoid subjecting it to vibration Installation at a site ex posed to corrosive gas Corrosive gas does not have an immediate effect on the SERVOPACK but will eventually cause the electronic components and contactor related devices to malfunction Take appropriate action to avoid corro sive gas 2 2 Installation Method 2 2 Installation Method E Installation Method and Direction e Install the SERVOPACK perpendicular to the wall e Connect the mounting holes securely to the mounting surface with M4 screws SJDE 08ANA OY Three mounting holes SJDE 01 to O4ANA OY Two mounting holes SERVOPACK installation plate SERVOPACK installation plate N M4 screw N M4 screw I M4 screw a Sa 5 ii e Se Si Se M4 screw Ss M4 screw E Space between SERVOPACK Units e Be sure to keep a space between adjacent SERVOPACK units as shown the following figure if they are mounted inside the control panel This allows the units to cool A CAUTION e Do not
95. e arrow on the cooling fan face the direction as shown in the diagram Vy Fit the edge of the cooling fan into the position circled here Arrow on the heat sink Arrows on the cooling fan 7 Secure the new cooling fan to the SERVOPACK with mounting screws 8 Connect the cooling fan cable to the fan connector on the SERVO PACK 9 Reattach the case and cover to the SERVOPACK in their original positions 159 9 3 Replacement of Cooling Fan m 750 W SERVOPACKs 1 Remove the front cover of the SERVOPACK Press the tip of a flathead screwdriver against each of the notches on the SERVO PACK to dislodge the hooks Insert the tip of a flathead screwdriver into the notches on the SERVOPACK one at a time and pry the front cover off 2 Open the case of the SERVO PACK Insert the tip of a flathead screw driver into the two notches on the SERVOPACK one at a time and pry the hooks loose 3 Remove the case Lift up to pull the case of the SER VOPACK off 160 9 3 Replacement of Cooling Fan 4 Remove the six mounting screws Mounting screws 5 Disconnect the cooling fan cable from the fan connector on the Lift the cable up SERVOPACK and then pull it out 6 Remove two mounting screws on i the cooling fan Mounting screws 161 9 3 Replacement of Cooling Fa
96. e coordinates POS to send a motion command with an appropriate reference position Confirm that PON 1 Main power supply ON and ALM 0 No alarm in STATUS field and E STP 0 Emergency stop signal input OFF of I O monitor and then send a SV_ON command to turn the servo ON 4 7 4 Operation Sequence When OT Overtravel Limit Switch Signal k is Input When an OT signal is input the SERVOPACK prohibits the servomotor to rotate in the OT signal direc tion While rotation in the OT signal direction is being prohibited the SERVOPACK continues control ling the servomotor Carry out the following operations when an OT signal is input or to reset the OT signal Operation When an OT Signal is Input Monitor the OT signal and send a stop command if the OT signal is input Use either of the following stop commands Interpolation command INTERPOLATE or LATCH e The interpolation command keeps the interpolation position then stops As an alternative send a HOLD or SMON command Move command POSING etc other than interpolation commands Send a HOLD command Use the output complete flag DEN 1 to confirm the completion of SERVOPACK OT processing By also confirming that PSET 1 it is possible to detect motor stopping with absolute certainty The com mand used in number 1 above is held until these flags are complete Operation to Reset the OT Signal Retraction Use a move command to reset the OT signal retractio
97. ed 1 Torque not limited Latch completion L_CMP Indicates the latch completion status D10 Status 0 Latch not completed 1 Latch completed During execution of latch related command INFON When the power supply is turned ON the setting of D10 changes to 0 7 If a LATCH or EX_POSING command is changed to another command latching is cancelled and the setting of D10 is changed to 1 99 4 5 Command Data Field Positioning proximity NEAR Indicates whether the feedback position POS is within or out of the positioning proximity range Positioning proximity range Within range i i s Machine coordinate e system APOS Target position Positioning proximity width Pn524 D11 Status 0 The feedback position APOS is outside the positioning proximity range 1 The feedback position APOS is within the positioning proximity range The positioning proximity width can be set in the following parameter The setting will be immediately written to the SERVOPACK Parameter Name Data Size Min Max Units Factory No Set Value Set Value setting Pn524 Positioning 4 bytes 0 1073741824 reference unit 100 proximity Software limits P_SOT and N_SOT Indicates the status of the forward reverse software limit Refer to 6 6 Software Limit Function for details D12 Status P_SOT 0 Outside forward software
98. ed below SERVOPACK Input references Reference unit Electronic gear ratio n B _ Pn20E Electronic gear ratio 2 n210 e B 8192 x Servomotor shaft rotation speed e A Reference units Load travel distance per load shaft one revolution x Load shaft rotation speed 122 6 4 Position Management 6 4 Position Management E Range of Position Data The position data length used by MECHATROLINK II is 4 bytes During infinite length operation where the position data length exceeds 4 bytes the data becomes as shown below MECHATROLINK position data reference unit F00000000 FF80000000 007FFFFFFF 0100000000 Physical positions reference unit 80000000H The position data is 0 when the power supply is turned ON 123 6 5 Motion Commands 6 5 Motion Commands Motion operations in position control are classified into two types INTERPOLATE and POSING 6 5 1 INTERPOLATE Related Commands INTERPOLATE commands are as follows INTERPOLATE LATCH Position reference is output every communication cycle 6 5 2 POSING Related Commands POSING related commands are as follows POSING FEED EX_POSING ZRET HOLD POSING related commands execute positioning to the target position TPOS at the target speed TSPD with acceleration deceleration set in parameters Use the parameters listed below to set asymmetric acceleration deceleration The set value will be valid when DEN
99. ed cable to connect the SERVOPACK to a personal computer E Communication Cable Use the specified twisted pare and shielded twisted cable Type Model Length Personal Computer JZSP CPS00 02 2m Cable E Applicable Wires Tin coated annealed copper wires Conductor Size Sheath Outer Diameter Configuration of exposed wire AWG24 0 16 mm 90 9 to 1 45 mm AWG26 0 16 mm AWG28 0 127 mm E Recommended Wires UL1061 and UL1007 E Cable Configuration Remove the sheath to 1 7 to 2 3 mm from the cable configuration E Cable Form D sub connector 17JE 13090 02 D8A Connector Manufactured by DDK Ltd Socket DF11 4DS 2C Terminals DF11 2428SCF Manufactured by Hirose Electric Co Ltd Ph 7 y Se E Label Heat shrinkable tube 2 x M2 6 screws E Connector Specifications DOS V PC AT compatible SJDE SERVOPACK End Personal Computer End D SUB 9pin Signal Pin No oN Pin No Signal TXD 1 3 2 RXD RXD 2 TES 3 TXD GND 3 a ae 5 GND GND 4 1 7 RTS ae 8 CTS Case FG Shielded wire 43 3 5 Connection Examples of Input Signal 3 5 Connection Examples of Input Signal E Connection Examples Input current is 7 mA per point SERVOPACK Host Controller 24VIN gt Photocoupler Er 2 sh 3 k
100. ed sections Turn OFF the servo system power supply before perform ing the inspections and corrective actions Malfunction Cause Inspection Corrective Actions The PWR LED Incorrect wiring of the power Check if the power supply Correct the voltage range of does not light supply cable input is within the range of the power supply up when the the power supply voltage power supply Check if the wiring of the Correct the wiring turns ON power supply input is cor rect Incorrect wiring of the Check if the wiring of the Replace the SERVOPACK regenerative unit regenerative unit cable is and regenerative unit and correct correct the wiring Servomotor Incorrect wiring or discon Check if the connector is Correct the wiring of the con does not rotate nection of I O signal properly installed and wir ing is correct nector The servomotor and encoder wirings are discon nected Check the wiring Correct the wiring Overloaded Run the servomotor without load Reduce the load or replace the servomotor with a larger capacity Motion command was not sent Check the command sent from the host controller Send a motion command Servo ON SV_ON com mand was not sent Check the command sent from the host controller Send a servo ON SV_ON command Forward run prohibited P OT and reverse run prohib ited N OT input signals are OFF Check the P OT or the N OT
101. eleration the machine rigidity and the motor resolution 4 Select the correct servomotor capacity with these values if using a step reference that has no acceleration or deceleration time When setting reference filter using PnOOA Write a value in parameter PnOOA Filter Setting by using the PRM_WR or PPRM_WR command 118 6 2 Switching Servomotor Rotation Direction 6 2 Switching Servomotor Rotation Direction The SERVOPACK has a Reverse Rotation Mode that reverses the direction of servomotor rotation without rewiring Forward Rotation in the standard setting is defined as counterclockwise as viewed from the load With the Reverse Rotation Mode only the direction of servomotor rotation can be reversed In this case the physical direction of shaft motion is reversed The polarity of the monitor data from the SER VOPACK such as feedback position or feedback speed is not changed Standard Setting Reverse Rotation Mode Forward Reference ean Position data from ow Position data from SERVOPACK Cc SERVOPACK direction E direction a a Reverse Reference E cw Position data from i Position data from eo SERVOPAGK 4 SERVOPACK direction B r direction e Reverse Rotation Mode Setting Method Use the parameter Pn000 0 Use the following settings to select the direction of servomotor rotation Parameter Description
102. er servo was turned OFF vomotor was run ning Check if the servomotor is rotated by external force 143 8 3 Alarm Warning Display and Troubleshooting cont d Alarm Alarm Name Situation at Alarm Cause Corrective Actions Display Occurrence A 7AA Board Over Occurred when the The SERVOPACK is faulty Replace the SERVOPACK heated power supply was e Contact your Omron turned ON Yaskawa representative Overload alarm was often e Reconsider the load and reset by turning OFF the operation conditions power supply e Reconsider the servomotor capacity Occurred while the The load exceeds the rating Reconsider the load and servomotor was operation conditions running e Reconsider the servomotor capacity The ambient temperature Correct the installation condi around the SERVOPACK is tions so that the ambient tem 55 C or more perature around the SERVOPACK is kept to 55 C max The SERVOPACK is faulty e Replace the SERVOPACK e Contact your Omron Yaskawa representative Overload alarm was often e Reconsider the load and reset by turning OFF the operation conditions power supply e Reconsider the servomotor capacity The direction or the dis Correct the installation condi tance of the SERVOPACK tions so that the ambient tem to other devices is incorrect perature around the Heat radiation of the panel SERVOPACK is kept to
103. eshooting cont d Alarm Alarm Name Situation at Alarm Cause Corrective Actions Display Occurrence A 720 Overload Occurred when the The servomotor wiring is Correct the servomotor main Low load servo was turned incorrect or connection is circuit cable wiring ON faulty The encoder wiring is incor Correct the encoder wiring rect or connection is faulty The SERVOPACK is faulty e Replace the SERVOPACK e Contact your Omron Yaskawa representative Occurred when the The servomotor wiring is Correct the servomotor main servomotor did not incorrect or connection is circuit cable wiring run by the refer faulty ence input Peas Fastin mp The encoder wiring is incor Correct the encoder wiring rect or connection is faulty The starting torque exceeds Reconsider the load and oper the maximum torque ation conditions The SERVOPACK is faulty e Replace the SERVOPACK e Contact your Omron Yaskawa representative Occurred while the The effective torque excee Reconsider the load and oper servomotor was ds the rated torque or the ation conditions running starting torque largely exceeds the rated torque The SERVOPACK is faulty e Replace the SERVOPACK e Contact your Omron Yaskawa representative A 730 Dynamic Occurred when the The servomotor did not stop Reconsider the load and oper Brake Over servo was turns 3 seconds or more after the ation conditions load OFF while the s
104. fication modification and man ual improvement When this manual is revised the manual code is updated and the new manual is published as a next edition If the manual must be ordered due to loss or damage inform your nearest Omron Yaskawa repre sentative or one of the offices listed on the back of this manual Omron Yaskawa will not take responsibility for the results of unauthorized modifications of this product Omron Yaskawa shall not be liable for any damages or troubles resulting from unautho rized modification CONTENTS Introduction 5522 errr errr reer reece eee 1 Related Manuals se hm ea 5 8 Sem ae Ah 8 acer a fe Sal etree aap ae 1 Safety Information 22 errr re eter errr eee rene 1 Visual Aidsi Amen oaie as dS pata a aeaiee Sra eee aig 1 Trademarks msn eterna e ee ie eit A cere e a mm pat ae 1 Notes for Sate Operation 7 7 7 7 77 2 1 Before LIS mS cain re ac ma r ee ae Rete ah ge Ri eal 13 1 1 Checking Products 2 2 5 reer e 13 1 2 Warning Label gaea e dje n Ea aie eie reer reer ee 13 1 3 Model Designation rrr rere e rr rrr eer eee eer cceee 14 1 4 SERVOPACKs and Applicable Servomotors 7 7 77 7 14 1 5 Part Names and Functions 2252 r rrr renter rere 15 1 6 Applicable Standards 22 r errr errr renee
105. g Servomotor Alarm Display Stop Reset Method A b33 Current Detection Error Servomotor current detector is faulty or DB stop N A servomotor power line is disconnected A b6A MECHATROLINK II The MECHATROLINK II communications DB stop N A Communication LSI Error LSI is faulty A bFO System Alarm 0 The SERVOPACK is faulty DB stop N A A bF1 System Alarm 1 The SERVOPACK is faulty DB stop N A A bF2 System Alarm 2 The SERVOPACK is faulty DB stop N A A bF3 System Alarm 3 The SERVOPACK is faulty DB stop N A A bF4 System Alarm 4 The SERVOPACK is faulty DB stop N A A bFA System Alarm A The SERVOPACK is faulty DB stop N A A C10 Servo Overrun Detected The servomotor ran out of control DB stop Available A C20 Incorrect Phase Detection The servomotor phase signal was incor DB stop N A rectly detected A C50 Incorrect Polarity The servomotor polarity signal was incor DB stop N A Detection rectly detected A C90 Encoder Signal Error The amplitude of encoder output signal is DB stop N A faulty A d00 Position Error Pulse The position error exceeded the parame DB stop Available Overflow ter A E02 MECHATROLINK II Synchronization error during MECHA Zero speed N A Internal Synchronization TROLINK II communications with the stop Error 1 SERVOPACK A EA2 MECHATROLINK II Synchronization error during MECHA Zero speed Available Internal Synchronization TROLINK II communications with the stop Error 2 SERVOPACK A EDO MECHAT
106. gnal Mapping 4 Emergency stop when C1 6 input signal is OFF H level Always sets the signal to ON to disable emergency stop Reserved 8 Do not change Pn522 Positioning 4 0 1073741824 1 reference 10 A 98 Completion unit Width Pn524 NEAR Signal 4 1 1073741824 1 reference 100 A 100 Width unit Pn800 Communica 2 0000H OF73H 0040H A tion Control 131 7 2 List of Parameters cont d Param Name Data Min Max Units Factory Set Valida Refer eter Size Set Value Set Value ting tion ence No Page Pn801 Function 2 0000H 0103H 0003H A 125 Selection Application 6 Software LS 4th 3rd 2nd 1st digit digit digit digit n LLL Software Limit Function 0 Forward and reverse software limits enabled Forward software limit disabled Reverse software limit disabled Software limits disabled in both directions Reserved 0 Do not change Software Limit Check Using References 0 No software limit check using references Software limit check using references Reserved 0 Do not change Pn803 Origin Range 2 0 250 1 reference 10 A 97 unit Pn804 Forward Soft 4 1073741823 1073741823 1 reference 1073741823 A 125 ware Limit unit Pn806 Reverse Soft 4 1073741823 1073741823 1 reference 1073741823 A 125 ware Limit unit Pn80B Linear 2 1 65535 10000 refer 100 B 124 Acce
107. gnal is input the position when the signal is received is 5 TPOS MONITOR1 recorded as the feedback latch position LPOS of the machine coordi 6 nate system and the LPOS will forcibly be indicated as the MONITOR2 for one communications cycle 7 e Can be used during phase 3 8 A command warning will occur and the command will be ignored in the following cases 9 VFF MONITOR2 During phase 2 Command warning 1 A 95A 10 If the SERVOPACK is Servo OFF Command warning 1 A 95A 11 If the output speed the target position TPOS the current position IPOS exceeds the maximum speed Data setting warning 2 A 94B 12 e LT_SGN can be used Refer to 4 5 1 Latch Signal Field Specifications LT_SGN LT_SGN 1 EL_MON EL_MON 3 S 1 2 Q s 1 2 Si e OPTION field cannot be used Set all bits to 0 e Speed Feed Forward VFF cannot be used 14 1O_MON If a VFF is input no compensation for speed feed forward will be 15 applied e Use DEN output complete to confirm the motion completion 16 WDT RWDT e For details on interpolation refer to 6 5 1 INTERPOLATE Related Com 17 For sub For sub mands 18 commands commands 19 20 21 22 23 24 25 26 27 28 29 E Related Parameters Parameter No Description Pn820 Latching Area Upper Limit Pn822 Latching Area Lower Limit 83 4 2 Main Commands 4 2 28 External Input Positioning EX_POSING 39H
108. gnal was sent through DB stop Available Invalid Alarm the CX Drive the SV_ON command of the MECHATROLINK II was sent A 100 Overcurrent An overcurrent flowed through the IGBT or DB stop N A the SERVOPACK heat sink was over heated A 280 Emergency Stop An emergency stop signal was input while DB stop Available the servomotor were running A 400 Overvoltage The main circuit DC voltage is excessively DB stop Available high A 410 Undervoltage The power supply was turned ON again Zero speed Available before the SERVOPACK power supply was stop cut off A 510 Overspeed The servomotor speed is excessively high DB stop Available A 710 Overload High load The servomotor was operating for several Zero speed Available seconds to several tens of seconds under stop a torque largely exceeding the rating A 720 Overload Low load The servomotor was operating continu DB stop Available ously under a torque exceeding the rating A 730 Dynamic Brake Overload The servomotor did not stop three seconds Zero speed Available or more after the servo was turned OFF stop A 7AA Board Overheated The temperature inside the SERVOPACK Zero speed Available increased excessively stop A 7Ab SERVOPACK Built in Fan The SERVOPACK built in fan stopped Zero speed N A Stop stop 136 8 1 Alarm Displays cont d Alarm Alarm Name Meanin
109. he Stop execution of is not connected descriptions in 3 7 3 Emer MECHATROLINK II gency Stop Signal Input command SV_ON Occurred while the The emergency stop signal Refer to 4 7 5 Operation servomotor was was input Sequence When E STP Sig running nal is Input Malfunction occurred on the Check and then correct the emergency stop signal wiring A 400 Overvoltage Occurred when the The AC power supply volt Keep the AC power supply power supply was age is 290 V or more voltage to the specified range BESIN The SERVOPACK is faulty e Replace the SERVOPACK e Contact your Omron Yaskawa representative Occurred during AC power supply voltage Keep the AC power supply operation changed excessively voltage within the specified range The servomotor speed is e Reconsider the load and high and the load moment operation conditions of inertia is excessively Install a regenerative unit large insufficient regenera tive power processing capacity The SERVOPACK is faulty e Replace the SERVOPACK e Contact your Omron Yaskawa representative A 410 Undervolt Occurred when the The power supply was Turn ON the power supply age power supply was turned ON again before the again after the REF LED goes turned ON SERVOPACK power supply was turned OFF out A temporary power failure occurred Reset the alarm and then restart the operation The SERVOPACK is faulty e Replace the SERVOPACK e Contac
110. he It is also necessary to correct parameter was changed the parameter writing method every scan through the host controller by using PPRM_WR command The SERVOPACK is faulty e Replace the SERVOPACK e Contact your Omron Yaskawa representative A 021 Parameter Occurred when the The SERVOPACK is faulty Replace the SERVOPACK Error 1 power supply was e Contact your Omron turned ON Yaskawa representative A 022 Parameter Occurred when the The SERVOPACK is faulty Replace the SERVOPACK Error 2 power supply was e Contact your Omron turned ON Yaskawa representative A 023 Parameter Occurred when the The SERVOPACK is faulty e Replace the SERVOPACK Error 3 power supply was e Contact your Omron turned ON Yaskawa representative A 030 Main Cir Occurred when the The SERVOPACK is faulty e Replace the SERVOPACK cuit Detec power supply was e Contact your Omron tor Error turned ON or while Yaskawa representative the servomotor was running A 040 Parameter Occurred when the The parameter is set out of Seta value within the setting Setting power supply was the allowable range range Error tred ON The electronic gear ratio is The ratio must satisfy the set out of the allowable equation range 3 Pn20E 0 01 lt Pn210 lt 100 The SERVOPACK is faulty e Replace the SERVOPACK e Contact your Omron Yaskawa representative A 051 Unsup Occurred when the The SERVOPACK is faulty Replace the SERVOPACK ported powe
111. he parameter numbers or Set the correct parameter num TROLINK II PRM_RD addresses that cannot be bers and addresses Data Setting PRM_WR used for the command data Warning 1 PPRM_WR or was set ADJ command was sent A 94b MECHA Occurred when a_ A value outside of the set Set a value within the setting TROLINK II command was ting range was set in the range Data Setting sent command data Warning 2 A 94d MECHA Occurred when The data size that was setin Set a value with a correct data TROLINK II ID_RD PRM_RD the command data is incor size Data Setting PRM_WR rect Warning 4 PPRM_WR or ADJ command was sent 149 8 3 Alarm Warning Display and Troubleshooting cont d Warn Warning Situation at Warn Cause Corrective Actions ing Dis Name ing Occurrence play A 95A MECHA Occurred when a The conditions of the com e Send the command after the TROLINK II command was mand execution were not conditions of the command Command sent satisfied execution are satisfied Warning 1 e Refer to descriptions on each command for the execution conditions of the command A 95b MECHA Occurred whena The SERVOPACK received Do not sent unsupported com TROLINK II command was an unsupported command mands Command sent Warning 2 A 95d MECHA Occurred when The sending conditions for e Send the command after the TROLINK II LATCH latch related command were conditions of the c
112. hronization Asynchronous sifications mand group classifications 2 ALARM Processing time Within 50 ms Subcommand Can be used 3 STATUS e Turns OFF the power to the motor 4 e Can be used during phases 2 and 3 5 MONITOR1 6 F 8 9 MONITOR2 10 11 12 13 SEL_MON SEL_MON 1 2 1 2 14 IO_MON 15 16 WDT RWDT 17 For sub For sub 18 commands commands 19 20 21 22 23 24 25 26 27 28 29 79 4 2 Main Commands 4 2 24 Interpolation Feed INTERPOLATE 34H Byte INTERPOLATE Description Command Response 1 34H 34H Processing clas Motion com Synchronization Synchronous sifications mand group classifications 2 ALARM Processing time Within commu Subcommand Can be used nications cycle 3 OPTION STATUS e Starts interpolation feeding every communications cycle 4 e Can be used during phase 3 e A warning will occur and the command will be ignored in the following 5 TPOS MONITOR1 cases 6 During phase 2 Command warning 1 A 95A 7 lf the SERVOPACK is Servo OFF Command warning 1 A 95A If the output speed Target position TPOS Current position IPOS 8 exceeds the maximum speed Data setting warning 2 A 94B 9 VFF MONITOR OPTION field cannot be used Set all bits to 0 e The target position TPOS is indicated by signed 4 bytes 10 e Use DEN output complete to confirm the completion
113. ignment will be can celled 12 e Upon completion of this command the reference position POS must be read and the controller coordinate system must be set up 19 PEAN SE e The modal latch mode set by LTMOD_ON command stays effective 14 IO_MON 15 16 WDT RWDT 17 For sub For sub 18 commands commands 19 20 21 22 23 24 25 26 27 28 29 E Related Parameters Parameter No Description Pn80E Linear Deceleration Parameter 74 4 2 Main Commands 4 2 19 Request Latch Mode LTMOD_ON 28H Byte LTMOD_ON Description Command Response 1 28H 28H Processing clas Control com Synchronization Asynchronous sifications mand group classifications 2 LT_SGN ALARM Processing time Within commu Subcommand Cannot be used nications cycle 3 STATUS e Sets the modal latch mode If a latch signal is input during modal latch 4 mode position latching will be performed e Can be used during phases 2 and 3 5 MONITOR1 e A latch signal can be selected using LT_SGN Refer to Latch Signal 6 Field Specifications LT_SGN e Use CMDRDY 1 to confirm that the Request Latch Mode command 7 has been received 8 e Confirm that L_CMP is 1 in STATUS at the completion of latching When there is monitor data such as SMON or POSING appended to 9 MONITOR2 the command response LPOS is forcefully retu
114. is information will be lost if the power supply is turned OFF This information cannot be read again if the power supply is turned OFF When executing JOG operation and the home position search operation using CX Drive the P OT and N OT signals will be ignored Alternative measures must be taken in case of overtravel A CAUTION 60 QO Do not connect a three phase power supply to the U V or W output terminals Failure to observe this caution may result in injury or fire Securely connect the power supply terminals regenerative unit connection terminal and motor main circuit cable terminals Failure to observe this caution may result in fire Do not bundle or run power and signal lines together in the same duct Keep power and sig nal lines separated by at least 300 mm 11 81 in Failure to observe this caution may result in malfunction Use twisted pair shielded wires or multi core twisted pair shielded wires for I O signal cable and encoder cable The maximum length is 3 m 118 11 in for I O signal cable and is 20 m 787 40 in for encoder cable Do not touch the power terminals for five minutes after turning the power supply LED PWR are OFF because high voltage may still remain in the SERVOPACK Avoid frequently turning power ON and OFF Do not turn power ON or OFF more than once per minute Since the SERVOPACK has a capacitor in the power supply a high charging current flows when power is
115. leration ence units s Constant Pn80E Linear 2 1 65535 10000 refer 100 B 124 Deceleration ence units s Parameter Pn814 Final Travel 4 1073741823 1073741823 1 reference 100 B 85 Distance for unit External Input Positioning 132 7 2 List of Parameters cont d Param Name Data Min Max Units Factory Set Valida Refer eter Size Set Value Set Value ting tion ence No Page Pn816 Homing Mode 2 0000H 0001H _ 0000H B 87 Setting 4th 3rd 2nd 1st digit digit digit digit n LLL Homing Direction Po Fomai o Reserved 0 Do not change Reserved 0 Do not change Reserved 0 Do not change Pn817 Homing 2 0 65535 100 reference 50 B 87 Approach units s Speed 1 Pn818 Homing 2 0 65535 100 reference 5 B 87 Approach units s Speed 2 Pn819 Final Travel 4 1073741823 1073741823 1 reference 100 B 87 Distance for unit Homing Pn820 Latching Area 4 2147483648 2147483647 1 reference 0 A 87 Upper Limit unit Pn822 Latching Area 4 2147483648 2147483647 1 reference 0 A 87 Lower Limit unit 133 8 Troubleshooting If the servomotor does not run or stop properly during operation in combination with the JUNMA series SERVOPACK refer to the troubleshooting guide in this chapter and take corrective action Contact your Omron Yaskawa representative if the problem cannot be solved by this metho
116. less than allowable current in the table e 600 V Heat resistant Vinyl Cables HIV AWG Nominal Cross Configuration Conductive Allowable Current at Ambient Temperature Size Section Diameter Number of Resistance A mm wires mm Qmm 30 C 40 C 50 C 20 0 5 19 0 18 39 5 6 6 5 6 4 5 0 75 30 0 18 26 0 8 8 7 0 5 5 18 0 9 37 0 18 24 4 9 0 7 7 6 0 16 1 25 50 0 18 15 6 12 0 11 0 8 5 14 2 0 7 0 6 9 53 23 20 16 Note The values in the table are only for reference E Power Supply Input Terminals L1 L2 Motor Connection Terminals U V W and Regenerative Unit Connection Terminals Capacity SERVOPACK Type Terminal Symbol w L1 L2 U V W 100 SJDE 01ANA OY HIV1 25 mm HIV1 25mm HIV1 25mm 200 SJDE 02ANA OY Wiring length Wiring length 400 SJDE 04ANA OY aunt 20 m max 0 5 m max 750 SJDE 08ANA OY Note Connectors are used for all wiring E Ground Terminal Wire Size Terminal Screw Size Tightening Torque HIV 2 0 mm min M4 1 2 to 1 4N m 28 3 4 Main Circuit Wiring E Peripheral Devices List Name Specifications Type Length Appearance Manufac turer Power cable Flexible cables JZSP CHM000 01 5E 1 5m Omron for Junma standard nA 3m a x Yaskawa servomo UL CSA listed JESP Chere Motion tor
117. limit range 1 Within forward software limit range Reverse software limit range Forward software limit range APOS Pn806 APOS Pn804 Machine coordinate system APOS i i positive direction Reverse software limit Pn806 Forward software limit Pn804 D13 Status N_SOT 0 Outside reverse software limit range 1 Within reverse software limit range INFON After completion of the following operations the software limit function will be enabled A 1 Homing ZRET operation 2 Coordinates setting by having set the reference point REFE 1 by using POS_SET coordi nates setting 100 4 5 Command Data Field 4 5 4 Monitor Selection and Monitor Information Field Specifications SEL_MON1 2 3 4 MONITOR 1 2 3 4 The monitor selection and monitor information field specifications SEL_MON MONITOR can be designated using the following main commands SV_ON SV_OFF HOLD INTERPOLATE POSING FEED LATCH EX_POSING ZRET SMON SENS_ON SENS_OFF BRK_ON BRK_OFF LTMOD ON LTMOD OFF The monitor selection and monitor information field is used to select the Servo monitor information and monitor it with the thirteenth byte of the above main commands or the twenty seventh byte reserved area of the subcommands m SEL_MON1 2 3 4 Field D7 D6 D5 D4 D3 D2 D1 DO SEL_MON2 SEL_MON1 D7 D6 D5 D4 D3 D2 D1 DO SEL_MON4 SEL_MON3 Em
118. main commands use the first to the sixteenth bytes of the command and response data 4 2 1 Communication Phases The table below shows the relationship between communication phases and device level operations in the MECHATROLINK II during normal operations The C1 master station phases described here indi cate the communication state of the C1 master station in relation to the slave stations but do not indi cate the state of the C1 master station device Relationship between Communication Phase and Device level Operation C1 Master Station Phase Transition between Slave Station Phase Device Operation Command cvece ande ats Device Operation Phase 0 Power ON Power ON 0 1 Initialization state CONNECT ed ie Prepared for 1 CONNECT TT 2 3 Normal operation Normal l Normal opera 2 3 state operation tion state commands TT TT 4 Operate DISCON Stop 4 communication NECT communication 5 Power OFF Power OFF 5 58 4 2 Main Commands E Descriptions The communication state of the C master station in each phase is explained Phase 0 When the C1 master and slave stations are turned ON operation switches to phase 1 Phase 1 The C1 master station completes the internal initialization including the communication system and con firms the response state of all the connected slave stations that have no error Then the C1 master sta tion sends a CONNECT command to all the co
119. mo tor installation Incorrect filter setting Check if the setting for the reference filter FIL setting is correct Increase the value of the rotary switch Overtravel OT Movement over the zone specified by the host controller The forward reverse run pro hibited input signal does not change P OT CN1 4 or N OT CN1 3 is at H level Check if the voltage of 24 V external power supply for input signal is correct Connect to the 24 V exter nal power supply Check if the overtravel limit switch SW operates cor rectly Correct the overtravel limit switch SW Check if the wiring of the overtravel limit switch SW is correct Correct the overtravel limit switch SW wiring The forward reverse run pro hibited input signal does not operate normally P OT or N OT signal sometimes changes Check for the fluctuation of the voltage of the 24 V external power supply for input signal Stabilize the 24 V power supply voltage Check if the overtravel limit switch SW operates cor rectly Adjust the overtravel limit switch SW so that it oper ates correctly Check if the wiring of the overtravel limit switch SW is correct Check for dam aged cable or loose screws Correct the overtravel limit switch SW wiring The forward reverse run pro hibited input signal P OT N OT is set to Always enabled Check the parameter Pn50A 3
120. n 7 Install the new cooling fan Type JZSP CHF08 01 Thread the cooling fan cable through the opening as shown in Diagram A Caution Make sure that the arrow on the heat sink and the arrows on the cooling fan face the direction as shown in Diagram B Diagram B Make sure that the arrows face the same direction as the ribs of the heat sink Augy gt CO iry B G8 8 8 O0OeoaoQQOQOHDEBEE Make sure that the arrows face the same direction 8 Secure the cooling fan on the SERVOPACK with the mounting screws 9 Reattach the case and front cover to the SERVPACK in their original positions 162 10 1 Specifications 10 Specifications 10 1 Specifications SERVOPACK Model SJDE O1ANA OY O2ANA OY O4ANA OY O8ANA OY Basic Max Applicable Servomotor 0 1 0 2 0 4 0 75 Specifica Capacity kW tons Continuous Output Current Ams 0 84 1 1 2 3 7 Instantaneous Max Output Current 2 5 3 3 6 11 1 Ams Input Power Voltage Single phase 200 to 230 VAC 10 to 15 Supply O Common Frequency 50 60 Hz 5 for main cir Capacity 0 40 0 75 1 2 2 2 cuit and at rated output control cir kVA cuit
121. n Read out the current position POS to reset the reference coordinate system of the host controller and then send a move command 4 7 5 Operation Sequence When E STP Signal is Input If an E STP signal is input while the servo is ON the SERVOPACK will detect the emergency stop alarm A 280 and forcibly turn OFF the servo Carry out the following operations when an E STP sig nal is input or to reset the alarm Operations When an Emergency Stop Signal is Input Monitor the alarm status or SVON 0 in STATUS field in the same way as at occurrence of alarm If an error is detected send a command such as SV_OFF and HOLD During emergency stop monitor the SERVOPACK status using SMON command etc Operation to Reset the Emergency Stop Send an ALM_CLR command to reset the alarm status After the whole system including the host con troller is restored reset the E STP signal Then turn the servo ON according to the descriptions in 4 7 3 Operation Sequence to Turn the Servo ON 111 4 7 Operation Sequence E Operation Sequence OFF ON Emergency stop OFF E STP STATUS D3 i f SVON Servo ON Servo OFF 1 1 i STATUS D0 No alarm ALM Normal Alarm occurred i i 1 Brake OFF Brake ON BK i Motor speed 1 100 min i lt 1 1 1 1 200 ms _ Motor i stopped t A P Signal O s Restart of operation ystem recovery sequence poo sequence _ p ALM_CLR command SV_OFF HOLD command etc
122. n be applied at any time Also configure the circuit s power supply to be automatically cut off if E STP signal is OFF at occurrence of emergency stop Failure to observe this warning may result in injury Never touch the inside of the SERVOPACK Failure to observe this warning may result in electric shock Do not touch terminals for five minutes after the power is turned OFF Residual voltage may cause electric shock Follow the procedures and instructions for trial operation precisely as described in this man ual Malfunctions that occur after the servomotor is connected to the equipment not only dam age the equipment but may also cause an accident resulting in death or injury Do not remove cables connectors or optional items while the power is ON Failure to observe this warning may result in electric shock Installation wiring advice on inspection and malfunction must be performed only by autho rized personnel Failure to observe this warning may result in fire electric shock or injury Do not damage press exert excessive force or place heavy objects on the cables or the cables between other objects where they might be pinched Failure to observe this warning may result in electric shock stopping operation of the prod uct or burning A WARNING Provide an appropriate stopping device on the machine side to ensure safety A holding brake for a servomotor with brake is not a stopping device for ensu
123. n cycle 1 Read alarm status history Within 60 ms 10 items max sixth to fifteenth byte Warning history is not preserved 2 Gets the detailed information of current alarm or warning one by one Within 12 ms Set the occurrence order from 0 the latest to 9 for the alarm index Byte Command Response 6 Alarm index Alarm index 7 8 0 Alarm code 3 Gets the detailed information of alarm status history one by one Set the occurrence order from 0 the latest to 9 for the alarm index Byte Command Response 6 Alarm index Alarm index 7 8 0 Alarm code 65 4 2 Main Commands Each alarm code of the JUNMA series SERVOPACK is 2 byte long The data format of alarm code is as follows D15 D12 D11 D4 D3 D0O Reserved 0 Alarm code Detailed information Note 1 When ALM_RD_MOD 0 or 1 the alarm code 1 byte long is returned 2 When ALM_RD_MOD 2 or 3 the alarm code 2 byte long is returned 4 2 8 Clear Alarm or Warning ALM_CLR 06H Byte ALM_CLR Description Command Response 1 06H 06H Processing clas Control com Synchronization Asynchronous sifications mand group classifications 2 ALARM Processing time Refer to Subcommand Cannot be used E Details of ALM_CLR_MO D STATUS e Clears the following alarm or warning status Current alarm warning status Alarm status history warning history is not
124. n to a stop will be the servomotor maxi mum torque Note For forward reverse run prohibited inputs the SERVOPACK processing for stop ping is executed by the software As the safety specifications of some applica tions may not satisfy local safety requirements add external safety circuits as required 24 VDC power yey SERVOPACK 24VIN x CNS Profocoupler CNT 3 3ko iad P OT Ni 4 3 31 Ee ye ie ov Photocoupler Yk on N OT a 3850 i 7 mA OV Signal Name Signal Function Forward Run P OT ON at low L level Forward run allowed normal status Frohibitad Input OFF at high H level Forward run prohibited reverse run is allowed Reverse Run N OT ON at low L level Reverse run allowed normal status Prohibitad Input OFF at high H level Reverse run prohibited forward run is allowed E Related Parameters Parameter Descriptions Pn 50A n 201 Forward run permitted when CN1 4 input signal is ON L level n 801 Always forward run allowed Pn 50B n 041 Reverse run permitted when CN1 3 input signal is ON L level n 041 Always reverse run allowed 49 3 7 I O Signals 3 7 T T 5 Servo Alarm Output he usual connection for alarm related output signals is shown below hese signal is output when the SERVOPACK detects an error SERVOPACK 4 VDC power supply
125. ng the rating 72H Overload Low load The servomotor was operating continuously under a torque exceeding the rating 73H Dynamic Brake Overload The servomotor did not stop three seconds or more after the servo was turned OFF 7AH Board Overheated The temperature inside the SERVOPACK increased excessively SERVOPACK Built in Fan The SERVOPACK built in fan stopped Stop b3H Current Detection Error Servomotor current detector is faulty or servomotor power line is disconnected 105 4 5 Command Data Field cont d Alarm Alarm Name Meaning Display of Response bFH System Alarm 0 The SERVOPACK is faulty System Alarm 1 The SERVOPACK is faulty System Alarm 2 The SERVOPACK is faulty System Alarm 3 The SERVOPACK is faulty System Alarm 4 The SERVOPACK is faulty System Alarm A The SERVOPACK is faulty C1H Servo Overrun Detected The servomotor ran out of control C2H Incorrect Phase Detection The servomotor phase signal was incorrectly detected C5H Incorrect Polarity The servomotor polarity signal was incorrectly detected Detection C9H Encoder Signal Error The amplitude of encoder output signal is faulty dOH Position Error Pulse The position error exceeded the parameter Overflow b6H MECHATROLINK II The MECHATROLINK II communications LSI is faulty Communication LSI Error EOH MECHATROLINK II Synchronization error during MECHATROLINK II communicatio
126. nnected slave stations to establish communication The slave station completes the internal initialization including the communication system and then awaits the CONNECT command The slave station establishes the communication with the C1 master station and then switches to the phase specified by command Phase 2 Asynchronous Communication Phase The C1 master station uses only asynchronous commands supported by MECHATROLINK II compatible devices to exchange data needed for the operation and control of the devices The timing for the execu tion of each command is controlled by the C1 master station The slave stations exchange data and the control of devices by the commands sent from the C1 master station The transition to phase 3 or phase 4 is performed by commands from the C1 master station to the slave stations Phase 3 Synchronous Communication Phase The C1 master station can use all commands supported by MECHATROLINK II compatible devices to exchange data needed for the operation and control of devices Each command is updated in a constant cycle communication cycle and its timing for the execution is controlled by the C1 master station The slave stations exchange data and the control of devices by the commands sent from the C1 master station If there are any errors in communication synchronization the slave station automatically switches to phase 2 Synchronous communication is started again by sending SYNC_SET command from the C
127. ns Internal Synchronization with the SERVOPACK Error 1 EAH MECHATROLINK II Synchronization error during MECHATROLINK II communications Internal Synchronization with the SERVOPACK Error 2 EDH MECHATROLINK II Command error inside the SERVOPACK Internal Command Error 0 MECHATROLINK II Command error inside the SERVOPACK Internal Command Error 1 E4H MECHATROLINK II The transmission cycle setting for MECHATROLINK II communica Transmission Cycle tions is incorrect Setting Error E5H MECHATROLINK II Synchronization error during MECHATROLINK II communications Synchronization Error MECHATROLINK II Failed to establish synchronization during MECHATROLINK II Synchronization Failed communications E6H MECHATROLINK II A communication error occurred during MECHATROLINK II com Communications Error munications MECHATROLINK II The transmission cycle has changed during MECHATROLINK II Transmission Cycle Error communications 91A Overload This warning occurs before the overload alarm A 710 or A 720 occurs If the warning is ignored and operation continues an over load alarm may occur 106 4 5 Command Data Field cont d Alarm Alarm Name Meaning Display of Response 94H MECHATROLINK II Data An incorrect parameter number was set in the command Setting Warning 1 MECHATROLINK II Data The command data is out of range Setting Warning 2 MECHATROLINK II Data Unmatched data size was detected Setting Warning
128. of encoder cable Check if twisted pair shielded wires with core of 0 12 mm are used Use the specified encoder cable Noise interference because the encoder cable wiring distance is out of the specifi cations range Check the encoder cable length The encoder cable wiring distance must be 20 m max Noise interference on the signal line because the encoder cable is pinched bent or its sheath is dam aged Check if the encoder cable is not damaged Modify the encoder cable layout Excessive noise interfer ence to the encoder cable Check if the encoder cable is not bundled with or too closed to high voltage lines Change the encoder cable layout so that no surge volt age is applied FG potential varies by influ ence of machines such as welder installed on the ser vomotor side Check if the machine is cor rectly grounded check for faulty grounding Ground the machine sepa rately from PG side FG 153 8 4 Troubleshooting for Malfunction without Alarm Display cont d Malfunction Cause Inspection Corrective Actions Abnormal Excessive vibration and Check if the vibration from Reduce the machine vibra noise from the servomotor or vibration from the coupled machine shock to the encoder the machine occurred or if the servomotor installation is correct check for mount ing surface accuracy fixing and alignment tion or secure the servo
129. of Parameters lt Conditions to Validate Settings gt A Immediately validated after setting or changing B Validated when DEN 1 Do not change when DEN 0 If any change is made when DEN 0 safe operation cannot be secured C Validated when the power supply is turned OFF and then ON again or by sending CONFIG com mand Param Name Data Min Max Units Factory Set Valida Refer eter Size Set Value Set Value ting tion ence No Page Pn000 Function 2 0010 Cc 119 Selection Basic Switch 0 4th 3rd 2nd 1st digit digit digit digit Rotation Direction Selection 0 Sets CCW as forward direction 1 Sets CW as forward direction Reverse Rotation Mode 2 and 3 Reserved Do not change Reserved 1 Do not change Reserved o Do not change Reserved o Do not change PnOOA Filter Setting 2 0000H OOOFH 0000H A 118 Pn20E Electronic 4 1 1073741824 1 Cc 122 Gear Ratio Numerator Pn210 Electronic 4 1 1073741824 1 C 122 Gear Ratio Denominator Pn304 JOG Speed 2 0 10000 min 500 A The setting method is the same as for FIL rotary switch Refer to 6 1 Filter Setting 129 7 2 List of Parameters 3 Reverse run enabled when C1 3 input signal is N L level Reserved Reserved Rese
130. ome position ZPOINT and software limits will be 4 disabled e Can be used during phases 2 and 3 5 eae e A warning will occur and the command will be ignored in the following 6 case 7 While the SERVOPACK is servo ON Command warning 1 A 95A 8 9 MONITOR 10 2 11 12 13 SEL_MON SEL_MON 1 2 1 2 14 1O_MON 15 16 WDT RWDT 73 4 2 Main Commands 4 2 18 Stop Motion HOLD 25H Byte HOLD Description Command Response 1 25H 25H Processing clas Motion com Synchronization Asynchronous sifications mand group classifications 2 ALARM Processing time Within commu Subcommand Can be used nications cycle OPTION STATUS e Stops the servomotor for positioning according to the stop method set in HOLD_MOD e From current motion status performs a deceleration stop and position 5 HOLD_ MONITOR1 ing according to the deceleration speed set in the parameters MOD e The stop method can be selected using HOLD_MOD 6 0 Decelerate to a stop according to the deceleration parameter 1 Stop immediately output stop 7 e Can be used during phases 2 and 3 8 e OPTION field cannot be used Set all bits to 0 e Use DEN output complete to confirm position data output completion 9 MONITOR2 atch processing which is dependent on LATCH EX_POSING will be 10 cancelled Ti e ZRET latch processing and ZRET home position al
131. ommand Command EX_POSING not satisfied execution are satisfied Warning 4 ZRET e Refer to descriptions on each LTMOD_ON or command for the execution LTMOD_OFF conditions of the command command was sent A 95E MECHA Occurred whena The conditions for combin Send a subcommand accord TROLINK II command was ing a main command and ing to the specified conditions to Command sent subcommand were not sat combine with a main command Warning 5 isfied A 960 MECHA Occurred when The MECHATROLINK II e Correct the MECHATROLINK TROLINK II MECHA wiring is incorrect II communications cable wir Communi TROLINK II com ing cations munications e Connect correctly terminators Warning started or during communications MECHATROLINK II data reception error occurred because of noise interfer ence Take measures against noise e Reconsider wirings for MECHATROLINK II communi cations cable and FG e Attach a ferrite core to the MECHATROLINK II communi cations cable 150 8 4 Troubleshooting for Malfunction without Alarm Display 8 4 Troubleshooting for Malfunction without Alarm Display Troubleshooting for malfunctions that cause no alarm display on the host controller and CX Drive con nected to the SERVOPACK through MECHATROLINK II communications is listed below Contact your Omron Yaskawa representative if the problem cannot be solved by the described correc tive action Note For shad
132. ons cycle is out of the specifica value in the host controller sion Cycle started tions range Setting Error A E50 MECHA Occurred when WDT data of the host con Update the WDT data in the TROLINK II MECHATROLINK II troller for MECHATROLINK host controller correctly Synchroni communications II communications is not zation Error started or during updated correctly MECHATROLINK II communications A E51 MECHA Occurred when WDT data of the host con Update the WDT data in the TROLINKII MECHATROLINK II troller for MECHATROLINK host controller correctly Synchroni communications II communications is not zation started updated correctly Failed A E60 MECHA Occurred when Communications with the Turn the power supply OFF TROLINK II MECHATROLINK II host controller disconnected and then ON again or senda Communi communications while the MECHATROLINK DISCONNECT command to cations started or during II connection was estab release communications and Error MECHATROLINK II lished with a CONNECT set up communications again communications command and then com munications was started again The MECHATROLINK II wiring is incorrect e Correct the MECHA TROLINK II communica tions cable wiring e Connect terminators cor rectly MECHATROLINK II data receive error occurred because of noise interfer ence Take measures against noise e Reconsider wirings for MECHATROLINK II comm
133. ordinates POS_SET 20H 70 4 2 14 Apply Brake BRK_ON 21H 70 4 2 15 Release Brake BRK_OFF 22H 72 4 2 16 Turn Sensor ON SENS_ON 23H 73 4 2 17 Turn Sensor OFF SENS_OFF 24H 73 4 2 18 Stop Motion HOLD 25H 74 4 2 19 Request Latch Mode LTMOD_ON 28h 75 4 2 20 Release Latch Mode LTMOD_OFF 29H 76 4 2 21 Status Monitoring SMON 30H 77 4 2 22 Servo ON SV_ON 31H ee eee 78 4 2 23 Servo OFF SV_OFF 32H 79 4 2 24 Interpolation Feed INTERPOLATE 34H 80 4 2 25 Positioning POSING 35H eee 81 4 2 26 Constant Speed Feed FEED 36H rrr rrr eee 82 4 2 27 Interpolation Feeding with Position Detection LATCH 38H 83 4 2 28 External Input Positioning EX_POSING 39H 84 4 2 29 Homing ZRET 3AH 2 2 reece reer errr rte ee ccee 85 4 2 30 Adjusting ADJ 3EH 2 2 e cere errr terre errr eeeeee 87 4 3 Subcommands 2522 cr rere cee rere rete tere reece n ene 90 4 3 1 No Operation NOP 00H
134. osed wire is not electrically shorted to adjacent exposed wires Use the following procedure when connecting the SERVOPACK to the spring type connector for the power supply regenerative unit 1 Remove the connector from the SERVOPACK Be sure to remove the connector from the SERVOPACK when wiring 2 Strip the outer coating Straighten the exposed wire with your fingers to prevent the wires from unwinding 9 to 10 mm 3 Open the wire terminal on the power supply connector housing plug with the tool lever for wiring using the procedure shown in Fig A or B e Insert the connection hook end of the provided tool into the slot as shown in Fig A Tool must be purchased by the customer e Use a standard flat blade screwdriver blade width of 2 5 to 3 0 mm 0 09 to 0 12 in Put the blade into the slot as shown in Fig B and press down firmly to open the wire terminal Either the procedure shown in Fig A or B can be used to open the wire insert opening Tool Type J FAT OT J S T Mfg Co Ltd 4 Insert the exposed wire into the opening Insert the exposed wire into the opening and then close the opening by releasing the tool hook or removing the screwdriver E Wire Size Item Wire Size Conductor Twisted wire AWG14 to AWG22 eike Single wire 1 6mm to 0 65 mm Sheath Diameter 63 8 mm to 61 7 mm 32 3 4 Main Circuit Wiring 5 Attach the connector to the SERVOPACK After wiring
135. pection and disposal of the AC SERVOPACK A WARNING Be sure to correctly connect the SERVOPACK connectors Incorrect wiring may result in electric shock fire or damage to the equipment For the wir ing method refer to 3 4 Main Circuit Wiring Use the emergency stop signal input E STP to forcibly turn OFF the servo from an external sequence such as host controller at occurrence of servo alarm or system emergency stop The residual voltage rotates the servomotor for a few seconds after the power supply has been turned OFF and may result in injury or damage to the equipment Be sure to com pletely stop the motor by turning OFF the servo using the emergency stop Configure the circuit s power supply to be automatically cut off if E STP signal is OFF at occurrence of emergency stop The residual voltage rotates the servomotor for a few seconds after the power supply has been turned OFF and may result in injury or damage to the equipment Be sure to com pletely stop the motor by turning OFF the servo using the emergency stop Position information is not stored in the SERVOPACK so this information will be lost if the power supply is turned OFF This information cannot be read again if the power supply is turned OFF 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 ca
136. pletion of position refer ence output 16 WDT RWDT e For details on posing commands refer to 6 5 2 POSING Related Com 17 For sub For sub mands 18 commands commands 19 20 21 22 23 24 25 26 27 28 29 84 4 2 Main Commands E Related Parameters Parameter No Description Pn80B Linear Acceleration Parameter Pn80E Linear Deceleration Parameter Pn814 Final Travel Distance for External Positioning Pn820 Latching Area Upper Limit Pn822 Latching Area Lower Limit E Operation If a latch signal is input positioning is performed for the position calculated with the following equation latch signal input position LPOS final travel distance for external positioning specified in Pn814 When no latch signal is input positioning is performed for the target position TPOS Latch signal TJ 4 2 29 Homing ZRET 3AH Byte ZRET Description Command Response 1 3AH 3AH Processing clas Motion com Synchronization Asynchronous sifications mand group classifications 2 LT_SGN ALARM Processing time Within commu Subcommand Can be used nications cycle 85 4 2 Main Commands Byte ZRET Description Command Response 3 OPTION STATUS e Perform a homing using the following sequence 4 1 Accelerates to the target speed TSPD in the dire
137. preserved 5 ALM_CLR_ ALM_CLR_ The ALM_CLR_MOD specifications are shown in the following table MOD MOD A e A warning will occur and the command will be ignored in the following 6 cases 7 lf parameters are changed mid operation with CX Drive Command warning 1 A 95A 8 If ALM_CLR_MOD is not within range Data setting warning 2 A 94B 9 10 11 12 13 14 15 16 WDT RWDT Alarm occurrence history is saved in non volatile memory and will not be lost if power goes OFF E Details of ALM_CLR_MOD ALM_CLR_MOD Description Processing Time 0 Clear current alarm warning status Within 200 ms 1 Clear alarm status history Within 2 s 66 4 2 Main Commands 4 2 9 Start Synchronous Communication SGYNC_SET ODH Byte SYNC_SET Description Command Response 1 ODH ODH Processing clas Network com Synchronization Asynchronous sifications mand group classifications 2 a ALARM Processing time Transmission Subcommand Cannot be used cycle or more 3 STATUS e Starts synchronous communications Switches from phase 2 to phase 3 2 e Synchronization is established as values of each WDT in command and 5 response is detected 6 e During phase 3 the command will be ignored without a warning e During Servo ON in phase 2 the SERVOPACK will change to Servo 7 OFF if this command is received 8 e At the occur
138. r errr 108 4 6 1 Command Data Execution Timing r ree 108 4 6 2 Monitor Data Input Timing 22 rrr rer rrr errr ee 108 4 7 Operation Sequence rere ee eee eee ee 109 4 7 1 Operation Sequence for Managing Parameters Using a Controller 2 2 e rere eee eee eee eee 109 4 7 2 Operation Sequence for Managing Parameters Using SERVOPACK 2 22 etc rrr rer rrr rrr rrr eee e eee 110 4 7 3 Operation Sequence to Turn the Servo ON 111 4 7 4 Operation Sequence When OT Overtravel Limit Switch Signal is Input 111 4 7 5 Operation Sequence When E STP Signal is Input 111 5 Trial Operation 2 22 e rere eee 113 6 Functions 22 reer rrr ree 118 6 1 Filter Setting on en ee er ee nn ene eee 118 6 2 Switching Servomotor Rotation Direction 119 6 3 Electronic Gear 5 4 20 nee tee rere rr rn rn reece eee 120 6 3 1 Setting the Electronic Gear 2 2 creer errr ree rere ee 120 6 4 Position Management 222 rr rrr rr rere ee 123 6 5 Motion Commands 2 2 err eer rere rr reer centre eee 124 6 5 1 INTERPOLATE Related Commands rrr rere e 124 6 5 2 POSING Related Commands rrr rrr rr
139. r rrr ee 124 6 6 Software Limit Function 202s crc rrr reece 125 6 6 1 Conditions Needed to Enable the Software Limit Function 125 6 6 2 Parameters Related Software Limit Function 125 6 6 3 Monitoring Software Limit rrr reer rere 126 6 7 Latching Area 2220 reer rr rrr rrr rrr eres 127 7 Parameters lt ssamen s256 s es os ome ere sh ects seers e 128 7 1 Parameter Editor iia errr rrr rrr errr rr ee 128 7 2 List of Parameters 225 rr errr reer rere 129 8 Troubleshooting 134 8 1 Alarm Displays 2c rrr rrr ee re rr creer eee 136 8 2 Warning Displays 2 errr rere rete errr eee 138 8 3 Alarm Warning Display and Troubleshooting 139 8 3 1 Alarm Display and Troubleshooting 7 7 7 7 7 139 8 3 2 Warning Display and Troubleshooting 149 8 4 Troubleshooting for Malfunction without Alarm Display 151 9 Inspections s ss Sass see seers Se Sees a ee ee See Se eS pees 156 9 1 Regular Inspections 25 2 rrr rrr reer rr eee 156 9 2 Part s Life Expectancy 2 20 0 r rr rere rr errr reer eee 156 9 3 Replacement of Cooling Fan rrr rrr rrr rere ee 157
140. r setting warning 10 A 94B 11 CDATA CDATA 12 13 14 15 16 WDT RWDT 88 4 2 Main Commands E Setting Parameter Initialization Mode Using ADJ Commands Use the following procedure to select an operation mode 1 Set to Parameter Initialization mode Set the command fields to the following settings SUBCODE 01H fixed CCMD 0004H data setting fixed CADDRESS 2000H operation mode address 2000H fixed CSIZE 0002H size 2H fixed CDATA 1005H operation mode 1005H fixed After sending the data wait until CMDRDY of STATUS is equal to 1 and check ERRCODE to confirm that no error occurred 2 Execute the parameter initialization Set the command fields to the following settings SUBCODE 01H fixed CCMD 0004H data setting fixed CADDRESS 2001H operation mode address 2001H fixed CSIZE 0002H size 2H fixed CDATA 0001H operation mode execution 0001H fixed After sending the data wait until CMDRDY of STATUS is equal to 1 and check ERRCODE to confirm that no error occurred 3 Set to Normal mode after execution Set the command fields to the following settings SUBCODE 01H fixed CCMD 0004H data setting fixed CADDRESS 2000H operation mode address 2000H fixed CSIZE 0002H size 2H fixed CDATA 0000H normal mode fixed When CMDRDY of STATUS changes to 1 the execution is completed 89 4 3 Subcommands 4 3 Subcommands
141. r supply was e Contact your Omron Product turned ON Yaskawa representative Alarm 139 8 3 Alarm Warning Display and Troubleshooting cont d Alarm Alarm Name Situation at Alarm Cause Corrective Actions Display Occurrence A 0b0 Servo ON After executing JOG Sending the MECHA Turn the power supply OFF Reference or home position TROLINK II command and then ON again or release Invalid search function SV_ON causes an alarm the communications using Alarm through CX Drive after executing JOG or DISCONNECT command and the MECHA home position search func set up the communications TROLINK II com tion through CX Drive again mand SV_ON was sent A 100 Overcurrent Occurred when the The connection between Check and then correct the power supply was turned ON or while the servomotor was running grounding and U V or W is incorrect The grounding line has con tact with other terminals wiring A short circuit or ground fault e Between the grounding and U V or W of the ser vomotor main circuit cable Repair or replace the servo motor main circuit cable Note Always confirm that there is no short circuit or ground fault before turning ON the power supply again The wiring of the regenera tive unit is incorrect Check and then correct the wiring A short circuit between the grounding and U V or W of the SERVOPACK e Replace the SERVOPACK
142. rcuit cable e Do not bundle or run the encode cable in the same duct with power lines e Be sure that the maximum wiring length of the encoder cable is 20 m E Connection Diagram for Standard Encoder Cable The connection diagram for the standard cable JZSP CHP800 O10 cable with connectors on both ends is shown below If the encoder cable is prepared by the customer refer to the diagram below and wire the cable correctly Motor end For encoder power supply AWG22 0 33 mm For other signal wires AWG26 0 12 mm i Cable Finished Diameter p9 mm max SERVOPACK end Applicable wires e Crimp type Gray 1 Soldered type Black Receptacle 5557 12R 210 Plug and Cable Cover Set 54599 1005 Shell Kit 36310 3200 008 Terminals 5556T2 Chain or Plug Housing 51209 1001 l Receptacle 36210 0100FD 3M 5556T2L Loose wires Crimp Terminals 59351 8087 Chain or 1 Molex 59351 8187 Loose wires Molex 1 SERVOPACK End Connector Servomotor End Connector T Viewed from soldered side Viewed from cable insertion side 97531 APEA E amader TET E4210 108642 Signal Name Lead Color Pin No Signal Name Lead Color 1 PG5V Rea 14 PG5V Red 2 PGOV GND Black m 2 PGOV GND Black 3 Phase A Blue f 3 Phase A Blue 4 Phase A
143. rence of the following alarms this command must be trans mitted to restart synchronous communications 9 MECHATROLINK II Synchronization Error A E50 10 MECHATROLINK II Synchronization Failure A E51 11 MECHATROLINK II Communications Error A E60 MECHATROLINK II Transmission Cycle Error A E61 12 e In the following case a warning will occur and the command will be 13 ignored 14 During operation using CX Drive Command warning 1 A 95A 15 16 WDT RWDT 67 4 2 Main Commands 4 2 10 Establish Connection CONNECT OEH Byte CONNECT Description Command Response 1 OEH OEH Processing clas Network com Synchronization Asynchronous sifications mand group classifications 2 ALARM Processing time Communica Subcommand Cannot be used tions cycle or more 3 STATUS e Establishes a MECHATROLINK II connection Sets the communications z mode according to COM_MOD e VER Version 5 VER VER e Set VER to 21H Ver 2 1 6 COM_MOD COM_MOD COM_MOD Communications mode Refer to the following table e COM_TIM Communications cycle 7 COM_TIM COM_TIM Set the multiple number of transmission cycle in the range of 1 to 32 8 7 1 ms lt transmission cycle ms x COM_TIM lt 32 ms e A warning will occur and the command will be ignored in the following 9 cases 10 If COM_MOD is not within range Data setting warning 2 A 94B 11 If COM_TIM is no
144. ring safety Failure to observe this warning may result in injury e Do not come close to the machine immediately after resetting momentary power loss to avoid an unexpected restart Take appropriate measures to ensure safety against an unexpected restart Failure to observe this warning may result in injury Never modify the product Failure to observe this warning may result in injury or damage to the product e Be sure to correctly ground the SERVOPACK and the servomotor Connect the SERVOPACK s ground terminal to electrical codes ground resistance 100 Q or less Improper grounding may result in electric shock 2 m Checking on Delivery A CAUTION e Always use the servomotor and SERVOPACK in one of the specified combinations Failure to observe this caution may result in fire or malfunction m Storage and Transportation A CAUTION S e Do not store or install the product in the following places Failure to observe this caution may result in damage to the product e Locations subject to direct sunlight e Locations subject to temperatures outside the range specified in the storage or installa tion temperature conditions e Locations subject to humidity outside the range specified in the storage or installation humidity conditions e Locations subject to condensation as the result of extreme changes in temperature e Locations subject to corrosive or flammable gases e Locations subject to dust s
145. rned to MONITOR2 10 When there is no monitor data such as PRM_RD or ALM_RD appended to the command response confirm that L_CMP is 1 in STA 11 TUS then use a command that has monitor data such as SMON in the 12 response and select LPOS to confirm e Once the latch operation has been performed it will not be performed 13 ay ke ei again even if a latch signal is input Send a LTMOD_OFF command and then send a new LTMOD_ON command 14 IO_MON e Interference with another latch mode command 15 During the execution of a command such as LATCH ZRET or EX_POSING the LTMOD_ON command cannot be used If this com 16 WDT RWDT mand is used during the execution of these commands the Command 17 For sub For sub warning 4 A 95D will occur 18 commands commands 19 20 21 22 23 24 25 26 27 28 29 E Related Parameters Parameter No Description Pn820 Latching Area Upper Limit Pn822 Latching Area Lower Limit 75 4 2 Main Commands 4 2 20 Release Latch Mode LTMOD_OFF 29H Byte LTMOD_OFF Description Command Response 1 29H 29H Processing clas Control com Synchronization Asynchronous sifications mand group classifications 2 ALARM Processing time Within commu Subcommand Cannot be used nications cycle 3 STATUS e Releases the modal latch mode 4 e Can be used
146. ronization Asynchronous sifications cations com classifications mand group 2 ALARM Processing time 100 ms Subcommand Cannot be used 3 STATUS e Reads current operating parameters The latest set value however is 4 read for offline parameters The set value is enabled with the Setup Device command CONFIG 5 NO NO e A warning will occur and the command will be ignored in the following 6 cases If a warning occurs PARAMETER will not be dependable If NO is not within range Data setting warning 1 A 94A 7 SIZE SIZE If SIZE does not match Data setting warning 4 A 94D 8 PARAME For details on NO and SIZE refer to 7 2 List of Parameters TER 9 10 11 12 13 14 15 16 WDT RWDT 61 4 2 Main Commands 4 2 4 Write Parameter PRM_WR 02H Byte PRM_WR Description Command Response 1 02H 02H Processing clas Data communi Synchronization Asynchronous sifications cations com classifications mand group 2 ALARM Processing time 100 ms Subcommand Cannot be used 3 STATUS e Writes a parameter and does not store them in non volatile memory 4 A written parameter is enabled with the Setup Device command CON FIG transmission after setting 5 NO NO e Can be used during phases 2 and 3 6 A warning will occur and the command will be ignored in the following cases 7 SIZE SIZE If a parameter is changed mid operation with CX Driv
147. rrent status Not specified Current status 64 4 2 Main Commands 4 2 7 Read Alarm or Warning ALM_RD 05H Byte ALM_RD Description Command Response 1 05H 05H Processing clas Data communi Synchronization Asynchronous sifications cations com classifications mand group 2 ALARM Processing time Refer to Subcommand Cannot be used m Details of ALM_RD_MOD 3 STATUS e Reads the following alarm or warning status 4 Current alarm warning status 5 ALM RD ALM RD Alarm status history warning history is not preserved MOD MOD The ALM_RD_MOD specifications are shown in the following table 6 _ ALM DATA Alarm and warning codes are set in ALM_DATA from byte 6 in their order of detection and 0 is set in the bytes that are blank in the table Accord 7 ingly the data in byte 6 is for the latest alarm or warning codes 8 A warning will occur and the command will be ignored in the following 9 cases To If ALM_RD_MOD is not within range Data setting warning 2 A 94B 11 12 13 14 15 16 WDT RWDT Alarm occurrence history is saved in non volatile memory and will not be lost if power goes OFF E Details of ALM_RD_MOD ALM_RD_MOD Description Processing Time 0 Read current alarm warning status Within communica 10 items max sixth to fifteenth byte tio
148. rved 8 Always sets the signal to ON to enable reverse run 8 Do not change 8 Do not change 8 Do not change cont d Param Name Data Min Max Units Factory Set Valida Refer eter Size Set Value Set Value ting tion ence No Page Pn50A Input Signal 2 2881H 8881H 2881H C Selection 1 4th 3rd 2nd 1st digit digit digit digit n LILILILI Reserved 1 Do not change Reserved 8 Do not change Reserved 8 Do not change P OT Signal Mapping 2 Forward run enabled when CN1 4 input signal is N L level 8 Always sets the signal to ON to enable forward run Pn50B Input Signal 2 8883H 8888H 8883H Cc Selection 2 4th 3rd 2nd 1st digit digit digit digit n LJLILIL AROLE LEUE a 130 7 2 List of Parameters 4th 3rd 2nd 1st digit digit digit digit Reserved 0 Do not change Warning Check Mask fo Normal status O OO O e lonores both ASE and A960 SSS S Reserved Do not change Reserved 0 Do not change cont d Param Name Data Min Max Units Factory Set Valida Refer eter Size Set Value Set Value ting tion ence No Page Pn515 Input Signal 2 8488H 8888H 8488H Cc Selection 5 4th 3rd 2nd ist digit digit digit digit n O Reserved _8 Do not change Reserved 8 Do not change E STP Si
149. s without Shielded cable JZSP CHM000 05 E 5m Control brake Bending radius BV 4 SJME dynamic gt JZSP CHM000 10 E 10m O0 AMB41 10x diameter JZSP CHMO000 15 E 15m OY Cycles gt 10 million JZSP CHMO000 20 E 20m Power cable Flexible cables JZSP CHM030 01 5E 1 5m for Junma standard 7 TA 3m servomo UL CSA listed IFSP CHMOS009 E tors with Shielded cable JZSP CHM030 05 E 5m brake Bending radius SJME dynamic gt JZSP CHM030 10 E 10m 0 AMB4C 10x diameter JZSP CHM030 15 E 15m oY Cycles gt 10 million JZSP CHM030 20 E 20m Connector Motor end JZSP CHM9 1 2 S Kit for Ser crimp type Ce vomotor Common for Main servomotors Circuit Cable with or without 4 brakes SERVOPACK JZSP CHM9 2 9 end CNB G f spring type Common for servomotors with or without brakes SERVOPACK Refer to Page 35 1 4 J S T end CNB Mfg crimp type Co Ltd Common for 8 servomotors with or without brakes Connector SERVOPACK JZSP CHG9 1 3 _ Omron Kit for Power end CNA Yaskawa Supply spring type Motion Regenera Common for Control tive Unit servomotors BV 4 with or without brakes 29 3 4 Main Circuit Wiring cont d Name Specifications Type Length Appearance Manufac turer Encoder Flexible cables JZSP CHP800 01 5E 1 5m Omron Cable for standard Yaskawa 03 3m 0 Junma ser UL CSA listed JZ
150. serve this caution may result in malfunction m Maintenance and Inspection A CAUTION 0088 Do not open the SERVOPACK case for 5 minutes after the power supply indicator PWR LED goes out High voltage may remain in the SERVOPACK after the power supply has been turned OFF After turning OFF the power supply wait 15 minutes before replacing the cooling fan Failure to observe this caution may result in burns because the heat sink is hot Mount the cooling fan in the correct way explained in 9 3 Replacement of Cooling Fan Improper mounting may result in the breakdown of the SERVOPACK Do not attempt to change wiring while the power is ON Failure to observe this caution may result in electric shock or injury Do not touch the SERVOPACK heat sinks regenerative unit or servomotor while power is ON or soon after the power is turned OFF m Disposal A CAUTION e When disposing of the products treat them as general industrial waste m General Precautions Note the following to ensure safe application The drawings presented in this manual are sometimes shown without covers or protective guards Always replace the cover or protective guard as specified first and then operate the products in accordance with the manual The drawings presented in this manual are typical examples and may not match the product you received This manual is subject to change due to product improvement speci
151. servomotor main circuit Connector for power supply cable CNB regenerative unit CNA ona on Refer to 3 4 3 Wiring Connector for the Ser Refer to 3 4 2 Wiring Connector for the vomotor Main Circuit Cable CNB Power Supply Regenerative Unit HHS CNA Ground terminal E MECHATROLINK II Communications Settings The SW1 and the SW2 switches set the MECHATROLINK II communications settings Settings that have been changed are enabled when the power is turned OFF and then ON again DIP switch for MECHATROLINK II communications setting SW2 Refer to 3 8 Setting MECHATROLINK II Communications Rotary switch for MECHATROLINK II station address setting SW1 Refer to 3 8 Setting for MECHATROLINK II Communications Servo status indicator RDY Alarm indicator ALM Refer to 8 Troubleshooting Indicator for MECHATROLINK II communications status COM Refer to 3 8 5 MECHATROLINK II Communications Status Indicator COM LED and 8 Troubleshooting Connector for personal computer CN9 15 1 6 Applicable Standards 1 6 Applicable Standards JUNMA series SERVOPACKs comply with the following standards 1 6 1 North American Safety Standards UL CSA WAL US Model UL Standards UL File No CSA Standards Certification SERVOPACK SJDE UL508C E147823 CSA C22 2 No 14 UL Servomotor SJME UL1004 E165827 CSA C22 2 No 100 UL 1 Underwriters Laboratories Inc 2
152. sing the servo ON SV ON or servo OFF SV OFF signal Failure to observe this warning will cause deterioration of the SERVOPACK internal element Power supply Single phase 200 VAC to 230VAC 50 60 Hz L1 L2 Noise Filter Servo power Servo power Emergency ON OFF stop Ga m To MC1 EIA MC1 SUP SERVOPACK MCI CNA Ka 1 L1 i 1 Ya 2 L2 24 VDC cNi il 5 24VIN MCI Emergency stop 6 E STP N gt Set the following parameter to disable the emergency stop input signal if it is absolutely necessary Parameter Descriptions Pn 515 n 04 Emergency stop when CN1 6 input signal is OFF H level factory set ting n 08 Always sets the input signal ON to disable the emergency stop 48 3 7 I O Signals 3 7 4 Forward Reverse Run Prohibited Inputs Overtravel Inputs A WARNING e When executing JOG operation and the home position search operation using CX Drive the P OT and N OT signals will be ignored Alternative measures must be taken in case of overtravel The usual connection for forward reverse run prohibited inputs P OT and N OT is shown below Connect these signals to limit switches to forcibly stop the servomotor when the machine movable part travels beyond the allowable motion range The servomotor will decelerate to a stop and then the zero clamp is performed The maximum torque during deceleratio
153. splay and Troubleshooting Warn Warning Situation at Warn Cause Corrective Actions ing Dis Name ing Occurrence play A 910 Overload Occurred when The servomotor wiring is Correct the servomotor main Warning the servo was incorrect or connection is circuit cable wiring before the turned ON faulty overload The encoder wiring is incor Correct the encoder wiring alarm A 710 rect or connection is faulty or A 720 occurs The SERVOPACK is faulty e Replace the SERVOPACK e Contact your Omron Yaskawa representative The servomotor The servomotor wiring is Correct the servomotor main did not run with a incorrect or connection is circuit cable wiring reference input faulty The encoder wiring is incor Correct the encoder wiring rect or connection is faulty The starting torque exceeds Reconsider the load and opera the maximum torque tion conditions The SERVOPACK is faulty e Replace the SERVOPACK e Contact your Omron Yaskawa representative Occurred while The effective torque largely Reconsider the load and opera the servomotor exceeds the rated torque tion conditions mas TANUNg The temperature in the Correct the installation condi SERVOPACK panel is too tions so that the ambient tem high perature aroung the SERVOPACK is kept to 55 C max The SERVOPACK is faulty e Replace the SERVOPACK e Contact your Omron Yaskawa representative A 94A MECHA Occurred when T
154. stants 5 Speed Related Constants 4 Sequence Related Constants 4 Motion Parameters MECHATROLINK II Constants ng Status a CN1 Input Signal Monitor CN1 Output Signal Monitor Motion Status Motion Status 2 ae Alarms 6 Monitor Ja Real Time Trace o 5 Tuning Q CALITION Motor rotation wil sot siop serial communications are lost A Enpre extemal hordwere provpon is made to siop he motor jagod C 1Dagee T inbe hare do not show bi waning Check the following during trial operation e Are cables correctly connected e Servomotor rotation direction e Servomotor speed e Motor axis home position Used when alignment with the machine is required e Click on A innect button to go online with the Junma e Select Test Run from the tuning category in the Tree view pane e A warning message will be displayed by default e The Test Run View will appear e This view allows you to set Servo Mode On and choose between 3 possible run operations 116 cont d Procedure ssi xi H seve or E Forward fi Reverse E Stop Forward i ii Stop AF Servo ON fil Servo OF Reverse Descriptions 1 Run continuously basic jog operation To set the jog speed you need to enter the value in the Jog Speed edit box inside the Run Continuous Tab
155. t controller 6 3 1 Setting the Electronic Gear Calculate the electronic gear ratio B A using the following procedure and set the values in parame ters Pn20E and Pn210 1 Check the machine specifications Items related to the electronic gear e Deceleration ratio e Ball screw pitch e Pulley diameter etc Ball screw pitch Deceleration ratio 2 Check the number of encoder pulses for the servomotor Servomotor Model Number of Encoder Pulses pulses rev SJME 8192 120 6 3 Electronic Gear 3 Determine the reference unit to be used The reference unit is the minimum unit of the position data to move the load The minimum unit for ref erences from host controller To move a table in 0 001 mm units Reference unit 0 001 mm _ Determine the reference unit according to machine specifications and positioning accuracy e Use the following units of measurement in physics Examples 0 01 mm 0 001 mm 0 1 0 01 inch 4 Determine the load travel distance per load shaft revolution in reference units Travel distance by load shaft one revolution Reference unit Travel distance per load shaft revolution _ reference unit e When the ball screw pitch is 5 mm and the reference unit is 0 001 mm 5 5000 reference unit 0 001 Ball Screw Circular Table Belt and Pulley Load Shaft 7 E ad shatt xD SS rm YAD O P Pitch Load sat aeo D
156. t mes sage with the result of the operation will be displayed in the output window 117 6 1 Filter Setting 6 Functions 6 1 Filter Setting The factory setting for a filter can be normally used without changing Change the setting if there are problems such as overshoot There are two ways to set a filter Use the SW2 bit 4 to select the setting method SW2 Bit4 Description OFF Uses the FIL rotary switch to set a filter factory setting The setting of PnOOA is invalid ON Uses Pn00A The setting of the FIL rotary switch is invalid When setting the filter using the FIL rotary switch Ei Acceleration Approx Time between s Ea Deceleration Completing Reference and etting Time for Step Completing Positioning 2 Value Reference Settling Time on 100 to 200 ms FIL 1 110 to 220 ms 345 2 130 to 260 ms v a 3 150 to 300 ms oO SNES 4 170 to 340 ms Gos 5 200 to 400 ms 6 250 to 500 ms 7 500 to 1000 ms 8 to F Do not set 8 to F Description Small filter time constant short positioning time Large filter time constant little vibration with a long positioning time 1 The factory setting is 0 If the machine vibrates this value must be changed 2 If the machine vibrates when starting or stopping the machine set a larger value 3 The value depends on conditions such as the level of reference acceleration and dec
157. t within range Data setting warning 2 A 94B If the transmission bytes is 17 and SUBCMD is 1 Data setting warn 12 ing 2 A 94B 13 If VER is not equal to 21H in the MECHATROLINK communications mode Data setting warning 2 A 94B 14 During operation using CX Drive Command warning 1 A 95A 15 e The only commands that will be accepted are CONNECT DISCON NECT and NOP If any other command is issued NOP will be sent as a 16 WDT RWDT response y E Details of COM_MOD D7 D6 D5 D4 D3 D2 D1 DO SUBCMD DTMOD SYNCMOD e SYNCMOD 0 Asynchronous communication Transition to phase 2 Waring alarm 1 Synchronous communication Transition to phase 3 Phase 1 e DTMOD Data transfer method 00 11 Single transfer SYNCMOD 0 01 Consecutive transfer y e SUBCMD Phase 2 SYNCMOD 1 0 Subcommand not used 1 Subcommand used SYNC_SET e Set the 0 in the other bits Phase 3 68 4 2 Main Commands 4 2 11 Release Connection DISCONNECT OFH Byte DISCONNECT Description Command Response 1 OFH OFH Processing clas Network com Synchronization Asynchronous sifications mand group classifications 2 ALARM Processing time Communica Subcommand Cannot be used tions cycle or more 3 STATUS e Releases the MECHATROLINK II connection The SERVOPACK 4 changes communication to phase 1 e Can be
158. t your Omron Yaskawa representative 141 8 3 Alarm Warning Display and Troubleshooting cont d Alarm Alarm Name Situation at Alarm Cause Corrective Actions Display Occurrence A 510 Overspeed Occurred when the The SERVOPACK is faulty Replace the SERVOPACK power supply was e Contact your Omron turned ON Yaskawa representative Occurred when the The order of phases U V Correct the servomotor main servomotor started and W of the servomotor circuit cable wiring running or ran at wiring is incorrect high speed The encoder wiring is incor Correct the encoder wiring rect Malfunction occurred Take measures against noise because of noise interfer for the encoder line ence in the encoder line The input position refer Reduce the reference value ence was too large The SERVOPACK is faulty e Replace the SERVOPACK e Contact your Omron Yaskawa representative A 710 Overload Occurred when the The SERVOPACK is faulty Replace the SERVOPACK High load power supply was e Contact your Omron turned ON Yaskawa representative Occurred while the The effective torque Reconsider the load and oper servomotor was exceeds the rated torque or ation conditions running the starting torque largely exceeds the rated torque The SERVOPACK is faulty e Replace the SERVOPACK e Contact your Omron Yaskawa representative 142 8 3 Alarm Warning Display and Troubl
159. tential varies by influ ence of machines such as welder installed on the ser vomotor side rectly grounded check for faulty grounding Ground the machine sepa rately from PG side FG SERVOPACK pulse count error by influence of noise Check if the signal line from the encoder is not influ enced by noise Take measures against noise for the encoder wiring Excessive vibration and shock to the encoder Check if the vibration from the machine occurred or if the servomotor installation is correct check for mount ing surface accuracy fixing and alignment Reduce the machine vibra tion or secure the servomo tor installation The encoder is faulty The encoder is faulty Replace the servomotor The SERVOPACK is faulty The SERVOPACK is faulty Replace the SERVOPACK Position error without alarm Unsecured coupling between machine and ser vomotor Check if the coupling between the machine and servomotor is not displaced Secure the coupling between the machine and servomotor The encoder is faulty pulse count does not change Check if the encoder is faulty Replace the servomotor 155 9 1 Regular Inspections 9 Inspections 9 1 Regular Inspections For inspection and maintenance of the SERVOPACK follow the inspection procedures in the following table at least once every year Other routine inspections are not required
160. the connector attach the connector to the SERVOPACK Power supply Single phase 200 VAC L2 Li Molded case circuit breaker Noise filter Magnetic contactor AC reactor Fuse Fuse NA connector DJA1 Power supply Regenerative Unit connector JZSP CHG9 1 2 Regenerative Unit Is supplied with the Servopack 3 H Y3 4 Y4 L Y5 Gi At the occurrence of alarms such as those for LKq regenerative resistor disconnection regenerative C2 transistor Tr faults and overvoltage the contact between terminals C1 and C2 will be open Use this contact signal to turn OFF the SERVOPACK power supply Note 1 Pull lightly on the wires to confirm that they are securely connected 2 Make sure that none of the insulating sheaths of the wires are caught in the springs E Connector for Power Supply Regenerative Unit CNA Pin No Symbol Signal Name 1 L1 Power supply input terminals 2 L2 3 Regenerative unit connection 4 _ terminals 33 3 4 Main Circuit Wiring 3 4 3 Wiring Connector for the Servomotor Main Circuit Cable CNB Wire the connector for the servomotor main circuit cable CNB in the same way as the connector for the power supply regenerative unit CNA Refer to 3 4 2 Wiring Connector for the
161. ts to 0 4 2 14 Apply Brake BRK_ON 21H Byte BRK_ON Description Command Response 1 21H 21H Processing clas Control com Synchronization Asynchronous sifications mand group classifications 70 4 2 Main Commands Byte BRK_ON Description Command Response 2 ALARM Processing time Within commu Subcommand Cannot be used nications cycle 3 STATUS e Turns OFF the brake signal and locks the brake This command is 4 enabled only while the servo is OFF e Can be used during phases 2 and 3 5 MONITOR e Brake signal output timing 6 1 7 BRK_ON received y 9 MONITOR y 10 i 11 BK 12 Withina ms y i 13 SEL_MON SEL_MON 1 2 1 2 14 1O_MON 15 16 WDT RWDT 71 4 2 Main Commands 4 2 15 Release Brake BRK_OFF 22H Byte BRK_OFF Description Command Response 1 22H 22H Processing clas Control com Synchronization Asynchronous sifications mand group classifications 2 ALARM Processing time Within commu Subcommand Cannot be used nications cycle 3 STATUS e Turns ON the brake signal and releases the brake 4 e Can be used during phases 2 and 3 e Brake signal output timing 5 MONITOR 1 5 BRK_OFF received y 8 j 9 MONITOR i 2 I 10 BK 11 Withingms p 12 13 SEL_
162. turned ON Frequently turning power ON and OFF causes main power devices such as capacitors and fuses to deteriorate resulting in unexpected problems Observe the following precautions when wiring connector for power supply regenerative unit e Remove the connector for power supply regenerative unit from the SERVOPACK prior to wiring e Insert only one wire per terminal on the connector for power supply regenerative unit e Make sure that the core wire is not electrically shorted to adjacent core wires Be sure to wire correctly and securely Failure to observe this caution may result in motor overrun injury or malfunction Always use the specified power supply voltage of single phase 200 V to 230 V without con necting directly to the power supply of 400 V The SERVOPACK will be destroyed Take appropriate measures to ensure that the input power supply is supplied within the specified voltage fluctuation range An incorrect power supply may result in damage to the product Install external breakers or other safety devices against short circuit in external wiring Failure to observe this caution may result in fire Take appropriate and sufficient countermeasures for each when installing systems in the fol lowing locations Failure to observe this caution may result in damage to the product e Locations subject to static electricity or other forms of noise e Locations subject to strong electromagnetic fields and magnetic fields e Loc
163. u nications cable and FG e Attach a ferrite core to the MECHATROLINK II commu nications cable The SERVOPACK is faulty e Replace the SERVOPACK e Contact your Omron Yaskawa representative 147 8 3 Alarm Warning Display and Troubleshooting communications command and then com munications was started again cont d Alarm Alarm Name Situation at Alarm Cause Corrective Actions Display Occurrence A E61 MECHA Occurred when Communications with the Turn the power supply OFF TROLINK IT MECHATROLINK II host controller disconnected and then ON again or senda Transmis communications while the MECHATROLINK DISCONNECT command to sion Cycle started or during II connection was estab release communications and Error MECHATROLINK II lished with a CONNECT set up the communications again The MECHATROLINK II wiring is incorrect e Correct the MECHA TROLINK II communica tions cable wiring e Connect terminators cor rectly MECHATROLINK II data receive error occurred because of noise interfer ence Take measures against noise e Reconsider wirings for MECHATROLINK II commu nications cable and FG e Attach a ferrite core to the MECHATROLINK II commu nications cable The SERVOPACK is faulty e Replace the SERVOPACK e Contact your Omron Yaskawa representative 148 8 3 Alarm Warning Display and Troubleshooting 8 3 2 Warning Di
164. ufacturer Single SJDE 01ANA OY R7A FIZN105 BE Single phase 250 VAC 5A Block phase SJDE 02ANA OY Transformatoren 230 V 10 SJDE 04ANA OY Elektronik 50 60Hz SJDE 08ANA OY R7A FIZN109 BE Single phase 250 VAC 9A GMbH amp Co KG Filter dimensions for model R7A FIZN105 BE 24 3 3 Precautions on Wiring Filter dimensions for model R7A FIZN109 BE 25 3 3 Precautions on Wiring 3 3 7 Installation and Wiring Conditions on CE Marking E Installation Conditions of EMC Directives To adapt a combination of a SUME servomotor and a SJDE SERVOPACK to EMC Directives EN55011 group 1 class A and EN61000 6 2 the following conditions must be satisfied Because SERVOPACKs are built in type reconfirmation is required after being installed in the final product IMPORTANT The actual EMC level may differ depending on the actual system s configuration wiring and other conditions Cable joint Brake Servomotor 2o E5 Encoder oS rm Ground Plate Brake power supply SERVOPACK al A U V W 2o Power supply nons EN L2 H 58 Single phase 6 JG E 200 VAC Surge protector 2o a CN2 So uw Lo PE Regenerative CN6 CNt 2 I53 O Host controller Symbol Cable Name Specifications I O Signals cable Shielded wire
165. uld be detected If not the opera 7 tion was not successfully completed 1 Homing ZRET operation 2 Coordinates setting by having set the reference point REFE 1 by using POS_SET coordi nates setting 97 4 5 Command Data Field Positioning completion PSET Indicates the completion of positioning Positioning complete range _ a Q k i i Machine coordinate l i system APOS 7 Target position width Pn522 Positioning complete Within range D7 Status 0 Other than the status 1 positioning complete range 1 Output completion DEN 1 and the feedback position APOS are within the The positioning complete width can be set in the following parameter The setting will be immediately written in the SERVOPACK Parameter Name Data Size Min Max Units Factory No Set Value Set Value Setting Pn522 Positioning 4 bytes 0 1073741824 Reference 10 complete unit width 98 4 5 Command Data Field Output completion DEN Indicates the output completion D8 Status 0 While outputting position reference 1 Position reference output completed No position reference output and the reference position POS agrees with the target position TPOS INFON DEN 1 for move commands without the movement distance specified 7 Torque limit T_LIM Indicates if the torque is being limited or not D9 Status 0 Torque limit
166. ules E Configuration Bus connection with one C1 master station and a maximum of 30 slave stations e Install terminators at both ends of the network cable to reduce signal reflection e Connect repeaters for a network with a total distance exceeding 30 m regardless of whether the number of slaves is 17 or more or 16 or less of V A os C1 Master Slave station Slave station Slave station station FA device FA device FA device FA controller 1 2 30 3 8 2 Wiring Specifications E Terminators Install terminators at both ends of the network cable to reduce signal reflection some Mechatrolink controllers already have a terminating resistor built in Model External Appearance JEPMC W6022 a Ji JEPMC W6022 E Cne Compliant with RoHS Directive E Repeaters A repeater is needed in the network when the total distance between stations exceeds 30 m or when the number of slave stations is 17 or more Type External Appearance JEPMC REP2000 52 3 8 Setting MECHATROLINK II Communications Repeater Connection Example Total distance Total extended distance Master side network distance C1 Master station gt lt Slave station n Master side network Extended network 3 8 3 Setting Communications Specifications
167. upply correctly SERVOPACK Min Waiting Time before Restarting s SJDE 01ANA OY 100 W 20 SJDE O2ANA OY 200 W SJDE 04ANA OY 400 W SJDE O8ANA OY 750 W 30 3 4 Main Circuit Wiring e SJDE SERVOPACKs are suitable where the power supply is less than 5000 Arms 230 V max e SERVOPACKs must be used with UL listed fuses or molded case circuit breakers in accordance with the National Electrical Code NEC e Use 75 C heat resistant copper wires or an equivalent 3 4 1 SERVOPACK Main Circuit Cables E Cable Types Model Capacity Symbol Name Allowable Conductor Temperature PVC Normal vinyl cable IV 600 V vinyl cable 60 C HIV Temperature resistant vinyl cable 75 C e Wire sizes are selected for three cables per bundle at 40 C ambient temperature with the rated current e Use cables with a minimum withstand voltage of 600 V for main circuits e If cables are bundled in PVC or metal ducts consider the reduction ratio of the allowable current e Use heat resistant cables under high ambient or panel temperatures where normal vinyl cables will rapidly deteriorate and will not be able to use in a short period of time e Do not use cables under continuous regenerative state 27 3 4 Main Circuit Wiring E Wire Size and Allowable Current The following table shows the wire size and allowable current for three cables Use a cable whose specifications meet or are
168. use burn D DIP ARE L Use proper grounding techniques 13 1 3 Model Designation 1 3 Model Designation SJDE 02 A N A OY JUNMA series SJDE SERVOPACK Applicable servomotor capacity Power supply voltage A 200 VAC Interface specification N MECHATROLINK II Design revision order A Sold by OMRON YASKAWA Motion Control B V 1 4 SERVOPACKs and Applicable Servomotors Rated Servomotors SERVOPACKs Output 7 z Without Brakes With Brakes 100 W SJME 01AMO41 OY SJME 01AMO4C OY SJDE 01ANA OY 200 W SJME 02AM0O41 OY SJME 02AMO4C OY SJDE 02ANA OY 400 W SJME 04AM0O41 OY SJME 04AM04C OY SJDE 04ANA OY 750 W SJME 08AM0O41 OY SJME 08AMO4C OY SJDE 08ANA OY 14 1 5 Part Names and Functions 1 5 Part Names and Functions YomRoN Input voltage SERVOPACK O4ANA OY Model Rotary switch for reference filte eae setting FIL Fi Rs Refer to 6 1 Filter Setting s as Connector for MECHATROLINK II f communications CN6 Refer to 3 4 6 Wiring the MECHATROLINK fam II Communication Connectors CN6A and I O signal connector CN1 i CN6B Refer to 3 4 Main Circuit Wiring Co O ona Encoder connector CN2 Power supply indicator PWR Refer to 3 4 4 Wiring the Encoder Connec PWR tor CN2 L1 uU F Connector for
169. used during any phase 5 z e When this command is received the following operations will be per 6 formed 7 The SERVOPACK changes communication to phase 1 3 The SERVOPACK changes to Servo OFF 9 The reference point setting will become invalid The position data will be initialized 10 11 12 13 14 15 16 WDT RWDT 4 2 12 Write Stored Parameter PPRM_WR 1CH Byte PPRM_WR Description Command Response 1 1CH 1CH Processing clas Data communi Synchronization Asynchronous sifications cations com classifications mand group 2 ont ALARM Processing time Within 200 ms Subcommand Cannot be used 3 STATUS e Saves a parameter in non volatile memory If a parameter is online 4 parameters those parameters will become effective Offline parameters are enabled with the Set Up Device command CON 5 NO NO FIG transmission communication after setting 6 e Can be used during phases 2 and 3 7 SIZE SIZE eA warning will occur and the command will be ignored in the following cases 8 PARAME PARAME lf parameters are changed mid operation with CX Drive Command 9 TER TER warning 1 A 95A 10 If NO is not within range Data setting warning1 A 94A 11 If SIZE does not match Data setting warning 4 A 94D lf PARAMETER is not within range Data setting warning 2 A 94B 12 e For details on NO SIZE and PARAMETER refer to 7 2 List of Parame 13 ters 14
170. ut signal is used for the homing ZRET command and the external signal input positioning EX_POSING functions of MECHATROLINK II communications specifications 24 VDC power supply 24V 24VIN SERVOPACK Photo EXT1 gt coupler i yo ov Signal Name Signal Function External Latch Signal Input EXT1 ON low level The external signal is ON OFF high level The external signal is OFF 46 3 7 I O Signals 3 7 3 Emergency Stop Signal Input The usual connection for emergency stop signal input E STP is shown below When the signal turns OFF while the servomotor is rotating the servomotor will be stopped by the dynamic brake A WARNING e Use the emergency stop signal input E STP to forcibly turn OFF the servo from an external sequence such as host controller at occurrence of servo alarm or system emergency stop The residual voltage rotates the servomotor for a few seconds after the power supply has been turned OFF and may result in injury or damage to the equipment Be sure to completely stop the motor by turning OFF the servo using the emergency stop e When executing the JOG operation and the home position search operation using CX Drive the E STP signal will be ignored Alternative measures must be taken in case an emergency stop is needed Note For the emergency stop
171. y 23 5 mm 9 CN2 rot FG J i cu gr oO Operation relay sequence User signal generating circuit Mine wire Pa M 3 5 mm I P jH l l AAAA 1 iss E i 3 1 AVR l 1 Fl 1LF fe i Min wire A g i Brounding sive i aia eia 2 mm or larger 13 5 mm 4 zl Min wire size Casing Casing Casing 3 5 mm 1 Min wire size 3 5 mm 1 _ _Casing A _ eA Grounding plate Groudning Ground to one point only Min grounding resistance 100 Q 1 For the wires connected to the casings for installation purposes use wires with a diameter of 3 5 mm or larger Flat braided copper wires are recommended 2 Use twisted pair wires for section P E Correct Grounding e Servomotor frame grounding Be sure to connect the FG grounding terminal on the frame of the servomotor to the grounding ter minal on the SERVOPACK e Be sure to ground the grounding terminal of the SERVOPACK e Ifthe wires of the servomotor s main circuit are laid in a metal conduit ground the conduit and the grounding box One point grounding must be used 23 3 3 Precautions on Wiring E Noise Filters Use a block type noise filters to prevent any noise interference from the power supply line The following table lists the recommended noise filters for several SERVOPACK models Application of Noise Filters Power Supply SERVOPACK Recommended Noise Filters Vase Mostel Model Specifications Man

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